From 09b5dc05cb91a53e2381eea3ad66babd734dfed7 Mon Sep 17 00:00:00 2001
From: Andrew Torgesen <atorgesen@anduril.com>
Date: Mon, 30 Dec 2024 14:04:20 -0800
Subject: [PATCH 01/11] Release 1.0 Features and Docs

---
 include/signals/Integration.h |  26 ++++++-
 include/signals/Models.h      |  40 +++-------
 include/signals/Signal.h      |  74 +++++++-----------
 include/signals/State.h       | 138 +++++++++++-----------------------
 tests/IntegrationTest.cpp     |  26 +++++++
 5 files changed, 132 insertions(+), 172 deletions(-)

diff --git a/include/signals/Integration.h b/include/signals/Integration.h
index 7105ea9..7afe8b0 100644
--- a/include/signals/Integration.h
+++ b/include/signals/Integration.h
@@ -70,11 +70,29 @@ struct TrapezoidalIntegratorSpec
                           const bool&                                         insertIntoHistory)
     {
         double dt = tf - t0;
-        return xInt.update(tf, xInt() + (xInt.dot() + x(tf)) * dt / 2.0, x(tf), insertIntoHistory);
+        return xInt.update(tf, xInt() + (x(t0) + x(tf)) * dt / 2.0, x(tf), insertIntoHistory);
     }
 };
 
-// TODO SimpsonIntegratorSpec
+struct SimpsonIntegratorSpec
+{
+    template<typename BaseSignalSpec, typename TangentSignalSpec>
+    static bool integrate(Signal<BaseSignalSpec, TangentSignalSpec>&          xInt,
+                          const Signal<TangentSignalSpec, TangentSignalSpec>& x,
+                          const double&                                       t0,
+                          const double&                                       tf,
+                          const bool&                                         insertIntoHistory)
+    {
+        double dt = tf - t0;
+        return xInt.update(tf,
+                           xInt() + (x(t0) + 4.0 * x((t0 + tf) / 2.0) + x(tf)) * dt / 6.0,
+                           x(tf),
+                           insertIntoHistory);
+    }
+};
+
+#define MAKE_INTEGRATOR(IntegratorName) typedef Integrator<IntegratorName##IntegratorSpec> IntegratorName##Integrator;
 
-typedef Integrator<EulerIntegratorSpec>       EulerIntegrator;
-typedef Integrator<TrapezoidalIntegratorSpec> TrapezoidalIntegrator;
+MAKE_INTEGRATOR(Euler)
+MAKE_INTEGRATOR(Trapezoidal)
+MAKE_INTEGRATOR(Simpson)
diff --git a/include/signals/Models.h b/include/signals/Models.h
index ec318b8..200b7ae 100644
--- a/include/signals/Models.h
+++ b/include/signals/Models.h
@@ -356,31 +356,15 @@ struct RigidBodyDynamics6DOF
     }
 };
 
-template<typename T>
-using Translational1DOFModel = Model<TranslationalDynamics1DOF<T>>;
-
-template<typename T>
-using Translational2DOFModel = Model<TranslationalDynamics2DOF<T>>;
-
-template<typename T>
-using Translational3DOFModel = Model<TranslationalDynamics3DOF<T>>;
-
-template<typename T>
-using Rotational1DOFModel = Model<RotationalDynamics1DOF<T>>;
-
-template<typename T>
-using Rotational3DOFModel = Model<RotationalDynamics3DOF<T>>;
-
-template<typename T>
-using RigidBody3DOFModel = Model<RigidBodyDynamics3DOF<T>>;
-
-template<typename T>
-using RigidBody6DOFModel = Model<RigidBodyDynamics6DOF<T>>;
-
-typedef Translational1DOFModel<double> Translational1DOFModeld;
-typedef Translational2DOFModel<double> Translational2DOFModeld;
-typedef Translational3DOFModel<double> Translational3DOFModeld;
-typedef Rotational1DOFModel<double>    Rotational1DOFModeld;
-typedef Rotational3DOFModel<double>    Rotational3DOFModeld;
-typedef RigidBody3DOFModel<double>     RigidBody3DOFModeld;
-typedef RigidBody6DOFModel<double>     RigidBody6DOFModeld;
+#define MAKE_MODEL(ModelBaseName, ModelDOF)                                                                            \
+    template<typename T>                                                                                               \
+    using ModelBaseName##ModelDOF##Model = Model<ModelBaseName##Dynamics##ModelDOF<T>>;                                \
+    typedef ModelBaseName##ModelDOF##Model<double> ModelBaseName##ModelDOF##Modeld;
+
+MAKE_MODEL(Translational, 1DOF)
+MAKE_MODEL(Translational, 2DOF)
+MAKE_MODEL(Translational, 3DOF)
+MAKE_MODEL(Rotational, 1DOF)
+MAKE_MODEL(Rotational, 3DOF)
+MAKE_MODEL(RigidBody, 3DOF)
+MAKE_MODEL(RigidBody, 6DOF)
diff --git a/include/signals/Signal.h b/include/signals/Signal.h
index 292b0ea..7f029f9 100644
--- a/include/signals/Signal.h
+++ b/include/signals/Signal.h
@@ -1,5 +1,6 @@
 #pragma once
 #include <algorithm>
+#include <limits>
 #include <Eigen/Core>
 #include <SO2.h>
 #include <SO3.h>
@@ -635,7 +636,7 @@ struct VectorSignalSpec
     }
     static Type NansType()
     {
-        return Type::Zero(); // TODO fix
+        return Type::Constant(std::numeric_limits<T>::quiet_NaN());
     }
 };
 
@@ -649,7 +650,7 @@ struct ManifoldSignalSpec
     }
     static Type NansType()
     {
-        return Type::identity(); // TODO fix
+        return Type::nans();
     }
 };
 
@@ -683,47 +684,28 @@ inline std::ostream& operator<<(std::ostream& os, const ManifoldSignal<T, Manifo
     return os;
 }
 
-template<typename T>
-using Vector1Signal = VectorSignal<T, 1>;
-template<typename T>
-using Vector2Signal = VectorSignal<T, 2>;
-template<typename T>
-using Vector3Signal = VectorSignal<T, 3>;
-template<typename T>
-using Vector4Signal = VectorSignal<T, 4>;
-template<typename T>
-using Vector5Signal = VectorSignal<T, 5>;
-template<typename T>
-using Vector6Signal = VectorSignal<T, 6>;
-template<typename T>
-using Vector7Signal = VectorSignal<T, 7>;
-template<typename T>
-using Vector8Signal = VectorSignal<T, 8>;
-template<typename T>
-using Vector9Signal = VectorSignal<T, 9>;
-template<typename T>
-using Vector10Signal = VectorSignal<T, 10>;
-template<typename T>
-using SO2Signal = ManifoldSignal<T, SO2<T>, 1>;
-template<typename T>
-using SO3Signal = ManifoldSignal<T, SO3<T>, 3>;
-template<typename T>
-using SE2Signal = ManifoldSignal<T, SE2<T>, 3>;
-template<typename T>
-using SE3Signal = ManifoldSignal<T, SE3<T>, 6>;
-
-typedef ScalarSignal<double>   ScalardSignal;
-typedef Vector1Signal<double>  Vector1dSignal;
-typedef Vector2Signal<double>  Vector2dSignal;
-typedef Vector3Signal<double>  Vector3dSignal;
-typedef Vector4Signal<double>  Vector4dSignal;
-typedef Vector5Signal<double>  Vector5dSignal;
-typedef Vector6Signal<double>  Vector6dSignal;
-typedef Vector7Signal<double>  Vector7dSignal;
-typedef Vector8Signal<double>  Vector8dSignal;
-typedef Vector9Signal<double>  Vector9dSignal;
-typedef Vector10Signal<double> Vector10dSignal;
-typedef SO2Signal<double>      SO2dSignal;
-typedef SO3Signal<double>      SO3dSignal;
-typedef SE2Signal<double>      SE2dSignal;
-typedef SE3Signal<double>      SE3dSignal;
+#define MAKE_VECTOR_SIGNAL(Dimension)                                                                                  \
+    template<typename T>                                                                                               \
+    using Vector##Dimension##Signal = VectorSignal<T, Dimension>;                                                      \
+    typedef Vector##Dimension##Signal<double> Vector##Dimension##dSignal;
+
+#define MAKE_MANIF_SIGNAL(Manif, Dimension)                                                                            \
+    template<typename T>                                                                                               \
+    using Manif##Signal = ManifoldSignal<T, Manif<T>, Dimension>;                                                      \
+    typedef Manif##Signal<double> Manif##dSignal;
+
+typedef ScalarSignal<double> ScalardSignal;
+MAKE_VECTOR_SIGNAL(1)
+MAKE_VECTOR_SIGNAL(2)
+MAKE_VECTOR_SIGNAL(3)
+MAKE_VECTOR_SIGNAL(4)
+MAKE_VECTOR_SIGNAL(5)
+MAKE_VECTOR_SIGNAL(6)
+MAKE_VECTOR_SIGNAL(7)
+MAKE_VECTOR_SIGNAL(8)
+MAKE_VECTOR_SIGNAL(9)
+MAKE_VECTOR_SIGNAL(10)
+MAKE_MANIF_SIGNAL(SO2, 1)
+MAKE_MANIF_SIGNAL(SO3, 3)
+MAKE_MANIF_SIGNAL(SE2, 3)
+MAKE_MANIF_SIGNAL(SE3, 6)
diff --git a/include/signals/State.h b/include/signals/State.h
index 84008be..b6e86d9 100644
--- a/include/signals/State.h
+++ b/include/signals/State.h
@@ -30,6 +30,14 @@ struct State
         return x;
     }
 
+    static State nans()
+    {
+        State x;
+        x.pose  = PoseTypeSpec::NansType();
+        x.twist = TwistTypeSpec::NansType();
+        return x;
+    }
+
     State& operator*=(const double& s)
     {
         pose *= s;
@@ -130,37 +138,6 @@ inline std::ostream& operator<<(std::ostream& os, const ManifoldStateType<T, Man
     return os;
 }
 
-template<typename T>
-using ScalarState = ScalarStateType<T>;
-template<typename T>
-using Vector1State = VectorStateType<T, 1>;
-template<typename T>
-using Vector2State = VectorStateType<T, 2>;
-template<typename T>
-using Vector3State = VectorStateType<T, 3>;
-template<typename T>
-using Vector4State = VectorStateType<T, 4>;
-template<typename T>
-using Vector5State = VectorStateType<T, 5>;
-template<typename T>
-using Vector6State = VectorStateType<T, 6>;
-template<typename T>
-using Vector7State = VectorStateType<T, 7>;
-template<typename T>
-using Vector8State = VectorStateType<T, 8>;
-template<typename T>
-using Vector9State = VectorStateType<T, 9>;
-template<typename T>
-using Vector10State = VectorStateType<T, 10>;
-template<typename T>
-using SO2State = ManifoldStateType<T, SO2<T>, 2, 1>;
-template<typename T>
-using SO3State = ManifoldStateType<T, SO3<T>, 4, 3>;
-template<typename T>
-using SE2State = ManifoldStateType<T, SE2<T>, 4, 3>;
-template<typename T>
-using SE3State = ManifoldStateType<T, SE3<T>, 7, 6>;
-
 template<typename T>
 struct ScalarStateSignalSpec
 {
@@ -171,7 +148,7 @@ struct ScalarStateSignalSpec
     }
     static Type NansType()
     {
-        return Type::identity(); // TODO fix
+        return Type::nans();
     }
 };
 
@@ -185,7 +162,7 @@ struct VectorStateSignalSpec
     }
     static Type NansType()
     {
-        return Type::identity(); // TODO fix
+        return Type::nans();
     }
 };
 
@@ -199,7 +176,7 @@ struct ManifoldStateSignalSpec
     }
     static Type NansType()
     {
-        return Type::identity(); // TODO fix
+        return Type::nans();
     }
 };
 
@@ -234,64 +211,37 @@ inline std::ostream& operator<<(std::ostream& os, const ManifoldStateSignal<T, M
     return os;
 }
 
+#define MAKE_VECTOR_STATES(Dimension)                                                                                  \
+    template<typename T>                                                                                               \
+    using Vector##Dimension##State = VectorStateType<T, Dimension>;                                                    \
+    template<typename T>                                                                                               \
+    using Vector##Dimension##StateSignal = VectorStateSignal<T, Dimension>;                                            \
+    typedef Vector##Dimension##State<double>       Vector##Dimension##dState;                                          \
+    typedef Vector##Dimension##StateSignal<double> Vector##Dimension##dStateSignal;
+
+#define MAKE_MANIF_STATES(Manif, Dimension, TangentDimension)                                                          \
+    template<typename T>                                                                                               \
+    using Manif##State = ManifoldStateType<T, Manif<T>, Dimension, TangentDimension>;                                  \
+    template<typename T>                                                                                               \
+    using Manif##StateSignal = ManifoldStateSignal<T, Manif<T>, Dimension, TangentDimension>;                          \
+    typedef Manif##State<double>       Manif##dState;                                                                  \
+    typedef Manif##StateSignal<double> Manif##dStateSignal;
+
 template<typename T>
-using Vector1StateSignal = VectorStateSignal<T, 1>;
-template<typename T>
-using Vector2StateSignal = VectorStateSignal<T, 2>;
-template<typename T>
-using Vector3StateSignal = VectorStateSignal<T, 3>;
-template<typename T>
-using Vector4StateSignal = VectorStateSignal<T, 4>;
-template<typename T>
-using Vector5StateSignal = VectorStateSignal<T, 5>;
-template<typename T>
-using Vector6StateSignal = VectorStateSignal<T, 6>;
-template<typename T>
-using Vector7StateSignal = VectorStateSignal<T, 7>;
-template<typename T>
-using Vector8StateSignal = VectorStateSignal<T, 8>;
-template<typename T>
-using Vector9StateSignal = VectorStateSignal<T, 9>;
-template<typename T>
-using Vector10StateSignal = VectorStateSignal<T, 10>;
-template<typename T>
-using SO2StateSignal = ManifoldStateSignal<T, SO2<T>, 2, 1>;
-template<typename T>
-using SO3StateSignal = ManifoldStateSignal<T, SO3<T>, 4, 3>;
-template<typename T>
-using SE2StateSignal = ManifoldStateSignal<T, SE2<T>, 4, 3>;
-template<typename T>
-using SE3StateSignal = ManifoldStateSignal<T, SE3<T>, 7, 6>;
-
-// TODO Macro-ize all these types of declarations and put them in Signals.h?
-typedef ScalarState<double>   ScalardState;
-typedef Vector1State<double>  Vector1dState;
-typedef Vector2State<double>  Vector2dState;
-typedef Vector3State<double>  Vector3dState;
-typedef Vector4State<double>  Vector4dState;
-typedef Vector5State<double>  Vector5dState;
-typedef Vector6State<double>  Vector6dState;
-typedef Vector7State<double>  Vector7dState;
-typedef Vector8State<double>  Vector8dState;
-typedef Vector9State<double>  Vector9dState;
-typedef Vector10State<double> Vector10dState;
-typedef SO2State<double>      SO2dState;
-typedef SO3State<double>      SO3dState;
-typedef SE2State<double>      SE2dState;
-typedef SE3State<double>      SE3dState;
-
-typedef ScalarStateSignal<double>   ScalardStateSignal;
-typedef Vector1StateSignal<double>  Vector1dStateSignal;
-typedef Vector2StateSignal<double>  Vector2dStateSignal;
-typedef Vector3StateSignal<double>  Vector3dStateSignal;
-typedef Vector4StateSignal<double>  Vector4dStateSignal;
-typedef Vector5StateSignal<double>  Vector5dStateSignal;
-typedef Vector6StateSignal<double>  Vector6dStateSignal;
-typedef Vector7StateSignal<double>  Vector7dStateSignal;
-typedef Vector8StateSignal<double>  Vector8dStateSignal;
-typedef Vector9StateSignal<double>  Vector9dStateSignal;
-typedef Vector10StateSignal<double> Vector10dStateSignal;
-typedef SO2StateSignal<double>      SO2dStateSignal;
-typedef SO3StateSignal<double>      SO3dStateSignal;
-typedef SE2StateSignal<double>      SE2dStateSignal;
-typedef SE3StateSignal<double>      SE3dStateSignal;
+using ScalarState = ScalarStateType<T>;
+typedef ScalarState<double>       ScalardState;
+typedef ScalarStateSignal<double> ScalardStateSignal;
+MAKE_VECTOR_STATES(1)
+MAKE_VECTOR_STATES(2)
+MAKE_VECTOR_STATES(3)
+MAKE_VECTOR_STATES(4)
+MAKE_VECTOR_STATES(5)
+MAKE_VECTOR_STATES(6)
+MAKE_VECTOR_STATES(7)
+MAKE_VECTOR_STATES(8)
+MAKE_VECTOR_STATES(9)
+MAKE_VECTOR_STATES(10)
+MAKE_MANIF_STATES(SO2, 2, 1)
+MAKE_MANIF_STATES(SO3, 4, 3)
+MAKE_MANIF_STATES(SE2, 4, 3)
+MAKE_MANIF_STATES(SE3, 7, 6)
diff --git a/tests/IntegrationTest.cpp b/tests/IntegrationTest.cpp
index df9f5ab..3562b50 100644
--- a/tests/IntegrationTest.cpp
+++ b/tests/IntegrationTest.cpp
@@ -58,4 +58,30 @@ BOOST_AUTO_TEST_CASE(TestTrapezoidalIntegrator)
     BOOST_CHECK_CLOSE(v_int(3. * M_PI / 4.), v_ref(3. * M_PI / 4.), 1.);
 }
 
+BOOST_AUTO_TEST_CASE(TestSimpsonIntegrator)
+{
+    const double dt = 0.001;
+    double       t  = 0.;
+    double       tf = 5. * M_PI / 4.;
+
+    ScalardSignal v_ref, v_int;
+
+    while (t <= tf)
+    {
+        BOOST_CHECK(v_ref.update(t, sin(t), cos(t), true));
+        t += dt;
+    }
+
+    ScalardSignal v_ref_dot = v_ref.dotSignal();
+
+    BOOST_CHECK(v_int.update(0., 0.));
+
+    BOOST_CHECK(SimpsonIntegrator::integrate(v_int, v_ref_dot, t, dt, true));
+
+    BOOST_CHECK_CLOSE(v_int(0.), v_ref(0.), 1.);
+    BOOST_CHECK_CLOSE(v_int(M_PI / 4.), v_ref(M_PI / 4.), 1.);
+    BOOST_CHECK_CLOSE(v_int(M_PI / 2.), v_ref(M_PI / 2.), 1.);
+    BOOST_CHECK_CLOSE(v_int(3. * M_PI / 4.), v_ref(3. * M_PI / 4.), 1.);
+}
+
 BOOST_AUTO_TEST_SUITE_END()

From 48a392ea2ac586a147a94de7979fe4d57ce31722 Mon Sep 17 00:00:00 2001
From: Andrew Torgesen <atorgesen@anduril.com>
Date: Mon, 30 Dec 2024 19:47:31 -0800
Subject: [PATCH 02/11] add docs base

---
 Doxyfile                                      |   24 +
 README.md                                     |   75 +-
 docs/Integration_8h.html                      |  188 ++
 docs/Integration_8h_source.html               |  230 ++
 docs/Models_8h.html                           |  473 ++++
 docs/Models_8h_source.html                    |  583 +++++
 docs/Signal_8h.html                           | 1028 ++++++++
 docs/Signal_8h_source.html                    |  956 +++++++
 docs/Signals_8h.html                          |  100 +
 docs/Signals_8h_source.html                   |  110 +
 docs/State_8h.html                            | 1692 +++++++++++++
 docs/State_8h_source.html                     |  439 ++++
 docs/Utils_8h.html                            |  111 +
 docs/Utils_8h_source.html                     |  122 +
 docs/annotated.html                           |  116 +
 docs/bc_s.png                                 |  Bin 0 -> 676 bytes
 docs/bc_sd.png                                |  Bin 0 -> 635 bytes
 docs/classModel-members.html                  |  106 +
 docs/classModel.html                          |  464 ++++
 docs/classSignal-members.html                 |  121 +
 docs/classSignal.html                         |  935 +++++++
 docs/classes.html                             |  114 +
 docs/clipboard.js                             |   61 +
 docs/closed.png                               |  Bin 0 -> 132 bytes
 docs/cookie.js                                |   58 +
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 docs/doc.svg                                  |   12 +
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 docs/doxygen.css                              | 2225 +++++++++++++++++
 docs/doxygen.svg                              |   28 +
 docs/doxygen_crawl.html                       |  154 ++
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 docs/functions.html                           |  207 ++
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 docs/globals.html                             |  282 +++
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 docs/globals_func.html                        |   94 +
 docs/globals_type.html                        |  228 ++
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diff --git a/Doxyfile b/Doxyfile
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+# Project-related information
+PROJECT_NAME           = "signals-cpp"
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+EXTRACT_ALL            = YES                # Extract all code comments
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diff --git a/README.md b/README.md
index 4086328..340705d 100644
--- a/README.md
+++ b/README.md
@@ -4,73 +4,30 @@
 
 Header-only templated C++ library implementing rigid-body dynamics, derivatives, integrals, and interpolation.
 
-**Under construction**
+View the library documentation [HERE](https://andrewtorgesen.com/signals-cpp).
 
-## Implemented Types
+## Installation
 
-### Signal Types
+This code is meant to be built as a static library with CMake. It should be compatible with the latest versions of
+Eigen and Boost (unit test framework only).
+The library [manif-geom-cpp](https://github.com/goromal/manif-geom-cpp) must also be installed.
 
-Scalar signal type:
+Install with
 
-```cpp
-ScalarSignal<T> x;
+```bash
+mkdir build
+cd build
+cmake ..
+make # or make install
 ```
 
-Vector signal types:
+By default, building will also build and run the unit tests, but this can be turned off with the CMake option `BUILD_TESTS`.
 
-```cpp
-Vector1Signal<T> x;
-Vector2Signal<T> x;
-Vector3Signal<T> x;
-Vector4Signal<T> x;
-Vector5Signal<T> x;
-Vector6Signal<T> x;
-Vector7Signal<T> x;
-Vector8Signal<T> x;
-Vector9Signal<T> x;
-Vector10Signal<T> x;
-```
-
-Manifold signal types:
-
-```
-SO3Signal<T> x;
-SE3Signal<T> x;
-```
-
-### Integrators
+## Docs Generation
 
-Euler integrator:
+Generate updated docs in the `docs/` directory with
 
-```cpp
-IntegrateEuler f;
-f(SignalType &xInt, TangentSignalType x, double t, bool insertHistory = false);
-f(SignalType &xInt, TangentSignalType x, double t, double dt, bool insertHistory = false);
+```bash
+doxygen Doxyfile
 ```
 
-Trapezoidal integrator:
-
-```cpp
-IntegrateTrapezoidal f;
-f(SignalType &xInt, TangentSignalType x, double t, bool insertHistory = false);
-f(SignalType &xInt, TangentSignalType x, double t, double dt, bool insertHistory = false);
-```
-
-### Models
-
-*Pending implementations:*
-
-- `TranslationalDynamics1DOF<T>`
-  - Point mass system confined to a straight line.
-- `TranslationalDynamics2DOF<T>`
-  - Point mass system confined to a plane.
-- `TranslationalDynamics3DOF<T>`
-  - Point mass system in a 3-dimensional space.
-- `RotationalDynamics1DOF<T>`
-  - Single-axis rotating mass system fixed in space.
-- `RotationalDynamics3DOF<T>`
-  - Rotating mass fixed in 3D space.
-- `RigidBodyDynamics3DOF<T>`
-  - Rigid body system confined to a plane (unicycle model).
-- `RigidBodyDynamics6DOF<T>`
-  - Rigid body system in 3D space.
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+<a href="#nested-classes">Classes</a> &#124;
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+  <div class="headertitle"><div class="title">Integration.h File Reference</div></div>
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+<div class="textblock"><code>#include &quot;<a class="el" href="Signal_8h_source.html">signals/Signal.h</a>&quot;</code><br />
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+<tr class="memitem:aa77358d3cb26c8b8992d44c2079a2a49" id="r_aa77358d3cb26c8b8992d44c2079a2a49"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structIntegrator.html">Integrator</a>&lt; <a class="el" href="structEulerIntegratorSpec.html">EulerIntegratorSpec</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aa77358d3cb26c8b8992d44c2079a2a49">EulerIntegrator</a></td></tr>
+<tr class="separator:aa77358d3cb26c8b8992d44c2079a2a49"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a95780a5b17730ea091c504cc3ab98b84" id="r_a95780a5b17730ea091c504cc3ab98b84"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structIntegrator.html">Integrator</a>&lt; <a class="el" href="structTrapezoidalIntegratorSpec.html">TrapezoidalIntegratorSpec</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a95780a5b17730ea091c504cc3ab98b84">TrapezoidalIntegrator</a></td></tr>
+<tr class="separator:a95780a5b17730ea091c504cc3ab98b84"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa29ec69e4ec01e7fe15ed9bbc59fd93b" id="r_aa29ec69e4ec01e7fe15ed9bbc59fd93b"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structIntegrator.html">Integrator</a>&lt; <a class="el" href="structSimpsonIntegratorSpec.html">SimpsonIntegratorSpec</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aa29ec69e4ec01e7fe15ed9bbc59fd93b">SimpsonIntegrator</a></td></tr>
+<tr class="separator:aa29ec69e4ec01e7fe15ed9bbc59fd93b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Macro Definition Documentation</h2>
+<a id="ac22028f5bd0a2ecee786d53a348e4073" name="ac22028f5bd0a2ecee786d53a348e4073"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac22028f5bd0a2ecee786d53a348e4073">&#9670;&#160;</a></span>MAKE_INTEGRATOR</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAKE_INTEGRATOR</td>
+          <td>(</td>
+          <td class="paramtype"></td>          <td class="paramname"><span class="paramname">IntegratorName</span></td><td>)</td>
+          <td>&#160;&#160;&#160;typedef <a class="el" href="structIntegrator.html">Integrator</a>&lt;IntegratorName##IntegratorSpec&gt; IntegratorName##<a class="el" href="structIntegrator.html">Integrator</a>;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Typedef Documentation</h2>
+<a id="aa77358d3cb26c8b8992d44c2079a2a49" name="aa77358d3cb26c8b8992d44c2079a2a49"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa77358d3cb26c8b8992d44c2079a2a49">&#9670;&#160;</a></span>EulerIntegrator</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="structIntegrator.html">Integrator</a>&lt; <a class="el" href="structEulerIntegratorSpec.html">EulerIntegratorSpec</a>&gt; <a class="el" href="#aa77358d3cb26c8b8992d44c2079a2a49">EulerIntegrator</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aa29ec69e4ec01e7fe15ed9bbc59fd93b" name="aa29ec69e4ec01e7fe15ed9bbc59fd93b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa29ec69e4ec01e7fe15ed9bbc59fd93b">&#9670;&#160;</a></span>SimpsonIntegrator</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="structIntegrator.html">Integrator</a>&lt; <a class="el" href="structSimpsonIntegratorSpec.html">SimpsonIntegratorSpec</a>&gt; <a class="el" href="#aa29ec69e4ec01e7fe15ed9bbc59fd93b">SimpsonIntegrator</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a95780a5b17730ea091c504cc3ab98b84" name="a95780a5b17730ea091c504cc3ab98b84"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a95780a5b17730ea091c504cc3ab98b84">&#9670;&#160;</a></span>TrapezoidalIntegrator</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="structIntegrator.html">Integrator</a>&lt; <a class="el" href="structTrapezoidalIntegratorSpec.html">TrapezoidalIntegratorSpec</a>&gt; <a class="el" href="#a95780a5b17730ea091c504cc3ab98b84">TrapezoidalIntegrator</a></td>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_661483514bb8dea267426763b771558e.html">signals</a></li>  </ul>
+</div>
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+  <div class="headertitle"><div class="title">Integration.h</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="Integration_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#include &quot;<a class="code" href="Signal_8h.html">signals/Signal.h</a>&quot;</span></div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span> </div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> IntegratorType&gt;</div>
+<div class="foldopen" id="foldopen00005" data-start="{" data-end="};">
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"><a class="line" href="structIntegrator.html">    5</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structIntegrator.html">Integrator</a></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span>{</div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
+<div class="foldopen" id="foldopen00008" data-start="{" data-end="}">
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"><a class="line" href="structIntegrator.html#ab3bebaa347f6019f3d2da2b2bcee5918">    8</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structIntegrator.html#ab3bebaa347f6019f3d2da2b2bcee5918">integrate</a>(<a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp;          xInt,</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span>                          <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a>&amp; x,</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       tf,</div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span>                          <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;                                         insertIntoHistory = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>    {</div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>        <span class="keywordtype">double</span> t0 = xInt.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>();</div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>        <span class="keywordtype">double</span> dt;</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>        <span class="keywordflow">if</span> (!<a class="code hl_function" href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">signal_utils::getTimeDelta</a>(dt, t0, tf))</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>        {</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>        }</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>        <span class="keywordflow">return</span> IntegratorType::integrate(xInt, x, t0, tf, insertIntoHistory);</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    }</div>
+</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span> </div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
+<div class="foldopen" id="foldopen00023" data-start="{" data-end="}">
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="structIntegrator.html#a8266e6bf3abd90d83fa7eb6b9270c0c4">   23</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structIntegrator.html#a8266e6bf3abd90d83fa7eb6b9270c0c4">integrate</a>(<a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp;          xInt,</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>                          <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a>&amp; x,</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       tf,</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       dt,</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>                          <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;                                         insertIntoHistory = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    {</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <span class="keywordtype">double</span> t_k     = xInt.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>();</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        <span class="keywordtype">bool</span>   success = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>        <span class="keywordflow">while</span> (t_k &lt; tf &amp;&amp; success)</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>        {</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>            <span class="keywordtype">double</span> dt_k;</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>            <span class="keywordflow">if</span> (<a class="code hl_function" href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">signal_utils::getTimeDelta</a>(dt_k, t_k, tf, dt))</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>            {</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>                <span class="keywordtype">double</span> t_kp1 = t_k + dt_k;</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>                success &amp;= IntegratorType::integrate(xInt, x, t_k, t_kp1, insertIntoHistory);</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>                t_k = t_kp1;</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>            }</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>            <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>            {</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>                success = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>            }</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>        }</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>        <span class="keywordflow">return</span> success;</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    }</div>
+</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>};</div>
+</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
+<div class="foldopen" id="foldopen00049" data-start="{" data-end="};">
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="structEulerIntegratorSpec.html">   49</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structEulerIntegratorSpec.html">EulerIntegratorSpec</a></div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>{</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
+<div class="foldopen" id="foldopen00052" data-start="{" data-end="}">
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="structEulerIntegratorSpec.html#a6c8d7aa2ecf83f7a348a575e5023639f">   52</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structEulerIntegratorSpec.html#a6c8d7aa2ecf83f7a348a575e5023639f">integrate</a>(<a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp;          xInt,</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>                          <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a>&amp; x,</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       t0,</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       tf,</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>                          <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;                                         insertIntoHistory)</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    {</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>        <span class="keywordtype">double</span> dt = tf - t0;</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        <span class="keywordflow">return</span> xInt.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xInt() + x(tf) * dt, x(tf), insertIntoHistory);</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    }</div>
+</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>};</div>
+</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
+<div class="foldopen" id="foldopen00063" data-start="{" data-end="};">
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="structTrapezoidalIntegratorSpec.html">   63</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structTrapezoidalIntegratorSpec.html">TrapezoidalIntegratorSpec</a></div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>{</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
+<div class="foldopen" id="foldopen00066" data-start="{" data-end="}">
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"><a class="line" href="structTrapezoidalIntegratorSpec.html#a38c21a876135bae55c62ec43c3a18a86">   66</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structTrapezoidalIntegratorSpec.html#a38c21a876135bae55c62ec43c3a18a86">integrate</a>(<a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp;          xInt,</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>                          <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a>&amp; x,</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       t0,</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       tf,</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>                          <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;                                         insertIntoHistory)</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    {</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        <span class="keywordtype">double</span> dt = tf - t0;</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        <span class="keywordflow">return</span> xInt.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xInt() + (x(t0) + x(tf)) * dt / 2.0, x(tf), insertIntoHistory);</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    }</div>
+</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>};</div>
+</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
+<div class="foldopen" id="foldopen00077" data-start="{" data-end="};">
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="structSimpsonIntegratorSpec.html">   77</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structSimpsonIntegratorSpec.html">SimpsonIntegratorSpec</a></div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>{</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
+<div class="foldopen" id="foldopen00080" data-start="{" data-end="}">
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="structSimpsonIntegratorSpec.html#a6194da52902a391e4a9b251c05e6abf2">   80</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structSimpsonIntegratorSpec.html#a6194da52902a391e4a9b251c05e6abf2">integrate</a>(<a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp;          xInt,</div>
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+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>        <span class="keywordflow">return</span> xInt.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf,</div>
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+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>};</div>
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+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span> </div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="Integration_8h.html#ac22028f5bd0a2ecee786d53a348e4073">   94</a></span><span class="preprocessor">#define MAKE_INTEGRATOR(IntegratorName) typedef Integrator&lt;IntegratorName##IntegratorSpec&gt; IntegratorName##Integrator;</span></div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
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+<div class="ttc" id="aSignal_8h_html"><div class="ttname"><a href="Signal_8h.html">Signal.h</a></div></div>
+<div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:35</div></div>
+<div class="ttc" id="aclassSignal_html_a058783faf86f369b296c50d4e72c0881"><div class="ttname"><a href="classSignal.html#a058783faf86f369b296c50d4e72c0881">Signal::t</a></div><div class="ttdeci">double t() const</div><div class="ttdef"><b>Definition</b> Signal.h:102</div></div>
+<div class="ttc" id="aclassSignal_html_ab91f52b80939a6c67b6863ee463b4ff0"><div class="ttname"><a href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">Signal::update</a></div><div class="ttdeci">bool update(const double &amp;_t, const BaseType &amp;_x, bool insertHistory=false)</div><div class="ttdef"><b>Definition</b> Signal.h:171</div></div>
+<div class="ttc" id="anamespacesignal__utils_html_ad7667542f893604d059a5d0022d2890c"><div class="ttname"><a href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">signal_utils::getTimeDelta</a></div><div class="ttdeci">bool getTimeDelta(double &amp;dt, const double &amp;t0, const double &amp;tf, const double &amp;dt_max=std::numeric_limits&lt; double &gt;::max())</div><div class="ttdef"><b>Definition</b> Utils.h:7</div></div>
+<div class="ttc" id="astructEulerIntegratorSpec_html"><div class="ttname"><a href="structEulerIntegratorSpec.html">EulerIntegratorSpec</a></div><div class="ttdef"><b>Definition</b> Integration.h:50</div></div>
+<div class="ttc" id="astructEulerIntegratorSpec_html_a6c8d7aa2ecf83f7a348a575e5023639f"><div class="ttname"><a href="structEulerIntegratorSpec.html#a6c8d7aa2ecf83f7a348a575e5023639f">EulerIntegratorSpec::integrate</a></div><div class="ttdeci">static bool integrate(Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;t0, const double &amp;tf, const bool &amp;insertIntoHistory)</div><div class="ttdef"><b>Definition</b> Integration.h:52</div></div>
+<div class="ttc" id="astructIntegrator_html"><div class="ttname"><a href="structIntegrator.html">Integrator</a></div><div class="ttdef"><b>Definition</b> Integration.h:6</div></div>
+<div class="ttc" id="astructIntegrator_html_a8266e6bf3abd90d83fa7eb6b9270c0c4"><div class="ttname"><a href="structIntegrator.html#a8266e6bf3abd90d83fa7eb6b9270c0c4">Integrator::integrate</a></div><div class="ttdeci">static bool integrate(Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;tf, const double &amp;dt, const bool &amp;insertIntoHistory=false)</div><div class="ttdef"><b>Definition</b> Integration.h:23</div></div>
+<div class="ttc" id="astructIntegrator_html_ab3bebaa347f6019f3d2da2b2bcee5918"><div class="ttname"><a href="structIntegrator.html#ab3bebaa347f6019f3d2da2b2bcee5918">Integrator::integrate</a></div><div class="ttdeci">static bool integrate(Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;tf, const bool &amp;insertIntoHistory=false)</div><div class="ttdef"><b>Definition</b> Integration.h:8</div></div>
+<div class="ttc" id="astructSimpsonIntegratorSpec_html"><div class="ttname"><a href="structSimpsonIntegratorSpec.html">SimpsonIntegratorSpec</a></div><div class="ttdef"><b>Definition</b> Integration.h:78</div></div>
+<div class="ttc" id="astructSimpsonIntegratorSpec_html_a6194da52902a391e4a9b251c05e6abf2"><div class="ttname"><a href="structSimpsonIntegratorSpec.html#a6194da52902a391e4a9b251c05e6abf2">SimpsonIntegratorSpec::integrate</a></div><div class="ttdeci">static bool integrate(Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;t0, const double &amp;tf, const bool &amp;insertIntoHistory)</div><div class="ttdef"><b>Definition</b> Integration.h:80</div></div>
+<div class="ttc" id="astructTrapezoidalIntegratorSpec_html"><div class="ttname"><a href="structTrapezoidalIntegratorSpec.html">TrapezoidalIntegratorSpec</a></div><div class="ttdef"><b>Definition</b> Integration.h:64</div></div>
+<div class="ttc" id="astructTrapezoidalIntegratorSpec_html_a38c21a876135bae55c62ec43c3a18a86"><div class="ttname"><a href="structTrapezoidalIntegratorSpec.html#a38c21a876135bae55c62ec43c3a18a86">TrapezoidalIntegratorSpec::integrate</a></div><div class="ttdeci">static bool integrate(Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;t0, const double &amp;tf, const bool &amp;insertIntoHistory)</div><div class="ttdef"><b>Definition</b> Integration.h:66</div></div>
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+  <div class="headertitle"><div class="title">Models.h File Reference</div></div>
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+<div class="contents">
+<div class="textblock"><code>#include &lt;optional&gt;</code><br />
+<code>#include &quot;<a class="el" href="State_8h_source.html">signals/State.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="Integration_8h_source.html">signals/Integration.h</a>&quot;</code><br />
+</div>
+<p><a href="Models_8h_source.html">Go to the source code of this file.</a></p>
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+<tr class="separator:a06f4823dd2b571a8718ccad09ce44fe7"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aa8b7fa1f2cfd2453d95d80ce49abd8fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a7768cd6b33a5d94a677357664052d096"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aae658b45855be04ff99456f612008b96"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a3c501b1f5d946eb9aa36b92d2ec611c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a44917fd68b589ce4fc82e69e00c41201"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:af9b104589a404874af160185cf8a725c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5282fd410476dbdd8381772a38ac2f1" id="r_ad5282fd410476dbdd8381772a38ac2f1"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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+<tr class="separator:ad5282fd410476dbdd8381772a38ac2f1"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a51e40a2924a4b6ff134878368461bb1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a253b3866118f6e70cfc4f08b471c2975" id="r_a253b3866118f6e70cfc4f08b471c2975"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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+<tr class="separator:a253b3866118f6e70cfc4f08b471c2975"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a46f2319cb159c02e4eb4801d850d54d9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:ac6b34f1aa0a10dcb6e9fda4a2814a9b3"><td class="memTemplItemLeft" align="right" valign="top">using&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#ac6b34f1aa0a10dcb6e9fda4a2814a9b3">RigidBody6DOFModel</a> = <a class="el" href="classModel.html">Model</a>&lt; <a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a> &lt;T&gt;&gt;</td></tr>
+<tr class="separator:ac6b34f1aa0a10dcb6e9fda4a2814a9b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a40c2fc8d427c1bd6dfee02295ccb3cb6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Macro Definition Documentation</h2>
+<a id="a01637abb86bd3009fcff2cebc8a8735a" name="a01637abb86bd3009fcff2cebc8a8735a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a01637abb86bd3009fcff2cebc8a8735a">&#9670;&#160;</a></span>MAKE_MODEL</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAKE_MODEL</td>
+          <td>(</td>
+          <td class="paramtype"></td>          <td class="paramname"><span class="paramname">ModelBaseName, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"></td>          <td class="paramname"><span class="paramname">ModelDOF</span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Value:</b><div class="fragment"><div class="line">    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;                                                                                               \</div>
+<div class="line">    <span class="keyword">using </span>ModelBaseName##ModelDOF##<a class="code hl_class" href="classModel.html">Model</a> = <a class="code hl_class" href="classModel.html">Model&lt;ModelBaseName##Dynamics##ModelDOF&lt;T&gt;</a>&gt;;                                \</div>
+<div class="line">    <span class="keyword">typedef</span> ModelBaseName##ModelDOF##<a class="code hl_class" href="classModel.html">Model&lt;double&gt;</a> ModelBaseName##ModelDOF##Modeld;</div>
+<div class="ttc" id="aclassModel_html"><div class="ttname"><a href="classModel.html">Model</a></div><div class="ttdef"><b>Definition</b> Models.h:10</div></div>
+</div><!-- fragment -->
+</div>
+</div>
+<h2 class="groupheader">Typedef Documentation</h2>
+<a id="a253b3866118f6e70cfc4f08b471c2975" name="a253b3866118f6e70cfc4f08b471c2975"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a253b3866118f6e70cfc4f08b471c2975">&#9670;&#160;</a></span>RigidBody3DOFModel</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a253b3866118f6e70cfc4f08b471c2975">RigidBody3DOFModel</a> = <a class="el" href="classModel.html">Model</a>&lt; <a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a> &lt;T&gt;&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a46f2319cb159c02e4eb4801d850d54d9" name="a46f2319cb159c02e4eb4801d850d54d9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a46f2319cb159c02e4eb4801d850d54d9">&#9670;&#160;</a></span>RigidBody3DOFModeld</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a253b3866118f6e70cfc4f08b471c2975">RigidBody3DOFModel</a>&lt;double&gt; <a class="el" href="#a46f2319cb159c02e4eb4801d850d54d9">RigidBody3DOFModeld</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac6b34f1aa0a10dcb6e9fda4a2814a9b3" name="ac6b34f1aa0a10dcb6e9fda4a2814a9b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac6b34f1aa0a10dcb6e9fda4a2814a9b3">&#9670;&#160;</a></span>RigidBody6DOFModel</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#ac6b34f1aa0a10dcb6e9fda4a2814a9b3">RigidBody6DOFModel</a> = <a class="el" href="classModel.html">Model</a>&lt; <a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a> &lt;T&gt;&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a40c2fc8d427c1bd6dfee02295ccb3cb6" name="a40c2fc8d427c1bd6dfee02295ccb3cb6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40c2fc8d427c1bd6dfee02295ccb3cb6">&#9670;&#160;</a></span>RigidBody6DOFModeld</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#ac6b34f1aa0a10dcb6e9fda4a2814a9b3">RigidBody6DOFModel</a>&lt;double&gt; <a class="el" href="#a40c2fc8d427c1bd6dfee02295ccb3cb6">RigidBody6DOFModeld</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a44917fd68b589ce4fc82e69e00c41201" name="a44917fd68b589ce4fc82e69e00c41201"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a44917fd68b589ce4fc82e69e00c41201">&#9670;&#160;</a></span>Rotational1DOFModel</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a44917fd68b589ce4fc82e69e00c41201">Rotational1DOFModel</a> = <a class="el" href="classModel.html">Model</a>&lt; <a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a> &lt;T&gt;&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af9b104589a404874af160185cf8a725c" name="af9b104589a404874af160185cf8a725c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af9b104589a404874af160185cf8a725c">&#9670;&#160;</a></span>Rotational1DOFModeld</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a44917fd68b589ce4fc82e69e00c41201">Rotational1DOFModel</a>&lt;double&gt; <a class="el" href="#af9b104589a404874af160185cf8a725c">Rotational1DOFModeld</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad5282fd410476dbdd8381772a38ac2f1" name="ad5282fd410476dbdd8381772a38ac2f1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad5282fd410476dbdd8381772a38ac2f1">&#9670;&#160;</a></span>Rotational3DOFModel</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#ad5282fd410476dbdd8381772a38ac2f1">Rotational3DOFModel</a> = <a class="el" href="classModel.html">Model</a>&lt; <a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a> &lt;T&gt;&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a51e40a2924a4b6ff134878368461bb1a" name="a51e40a2924a4b6ff134878368461bb1a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a51e40a2924a4b6ff134878368461bb1a">&#9670;&#160;</a></span>Rotational3DOFModeld</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#ad5282fd410476dbdd8381772a38ac2f1">Rotational3DOFModel</a>&lt;double&gt; <a class="el" href="#a51e40a2924a4b6ff134878368461bb1a">Rotational3DOFModeld</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a06f4823dd2b571a8718ccad09ce44fe7" name="a06f4823dd2b571a8718ccad09ce44fe7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a06f4823dd2b571a8718ccad09ce44fe7">&#9670;&#160;</a></span>Translational1DOFModel</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a06f4823dd2b571a8718ccad09ce44fe7">Translational1DOFModel</a> = <a class="el" href="classModel.html">Model</a>&lt; <a class="el" href="#aac436ed3df206f07f93110e3daffe773">TranslationalDynamics1DOF</a> &lt;T&gt;&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab405c6c48aa770f74c7e942302b956c5" name="ab405c6c48aa770f74c7e942302b956c5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab405c6c48aa770f74c7e942302b956c5">&#9670;&#160;</a></span>Translational1DOFModeld</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a06f4823dd2b571a8718ccad09ce44fe7">Translational1DOFModel</a>&lt;double&gt; <a class="el" href="#ab405c6c48aa770f74c7e942302b956c5">Translational1DOFModeld</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aa8b7fa1f2cfd2453d95d80ce49abd8fc" name="aa8b7fa1f2cfd2453d95d80ce49abd8fc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa8b7fa1f2cfd2453d95d80ce49abd8fc">&#9670;&#160;</a></span>Translational2DOFModel</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#aa8b7fa1f2cfd2453d95d80ce49abd8fc">Translational2DOFModel</a> = <a class="el" href="classModel.html">Model</a>&lt; <a class="el" href="#ae3889fdff8dd169aef62fcdf6340e0e1">TranslationalDynamics2DOF</a> &lt;T&gt;&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7768cd6b33a5d94a677357664052d096" name="a7768cd6b33a5d94a677357664052d096"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7768cd6b33a5d94a677357664052d096">&#9670;&#160;</a></span>Translational2DOFModeld</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#aa8b7fa1f2cfd2453d95d80ce49abd8fc">Translational2DOFModel</a>&lt;double&gt; <a class="el" href="#a7768cd6b33a5d94a677357664052d096">Translational2DOFModeld</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aae658b45855be04ff99456f612008b96" name="aae658b45855be04ff99456f612008b96"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aae658b45855be04ff99456f612008b96">&#9670;&#160;</a></span>Translational3DOFModel</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#aae658b45855be04ff99456f612008b96">Translational3DOFModel</a> = <a class="el" href="classModel.html">Model</a>&lt; <a class="el" href="#ad1ba77eac61f5da29df59b8b4b0d7a0d">TranslationalDynamics3DOF</a> &lt;T&gt;&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3c501b1f5d946eb9aa36b92d2ec611c5" name="a3c501b1f5d946eb9aa36b92d2ec611c5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3c501b1f5d946eb9aa36b92d2ec611c5">&#9670;&#160;</a></span>Translational3DOFModeld</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#aae658b45855be04ff99456f612008b96">Translational3DOFModel</a>&lt;double&gt; <a class="el" href="#a3c501b1f5d946eb9aa36b92d2ec611c5">Translational3DOFModeld</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aac436ed3df206f07f93110e3daffe773" name="aac436ed3df206f07f93110e3daffe773"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aac436ed3df206f07f93110e3daffe773">&#9670;&#160;</a></span>TranslationalDynamics1DOF</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#aac436ed3df206f07f93110e3daffe773">TranslationalDynamics1DOF</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"> </div>
+<div class="line">    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;ScalarSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;T&gt;</a>, 1, <a class="code hl_struct" href="structRigidBodyParams1D.html">RigidBodyParams1D</a>&gt;</div>
+<div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:35</div></div>
+<div class="ttc" id="astructRigidBodyParams1D_html"><div class="ttname"><a href="structRigidBodyParams1D.html">RigidBodyParams1D</a></div><div class="ttdef"><b>Definition</b> Models.h:107</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html"><div class="ttname"><a href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a></div><div class="ttdef"><b>Definition</b> Models.h:131</div></div>
+</div><!-- fragment -->
+</div>
+</div>
+<a id="ae3889fdff8dd169aef62fcdf6340e0e1" name="ae3889fdff8dd169aef62fcdf6340e0e1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae3889fdff8dd169aef62fcdf6340e0e1">&#9670;&#160;</a></span>TranslationalDynamics2DOF</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#ae3889fdff8dd169aef62fcdf6340e0e1">TranslationalDynamics2DOF</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"> </div>
+<div class="line">    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;Vector2Signal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector2StateSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector2StateSignal&lt;T&gt;</a>, 2, <a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a>&gt;</div>
+<div class="ttc" id="astructRigidBodyParams2D_html"><div class="ttname"><a href="structRigidBodyParams2D.html">RigidBodyParams2D</a></div><div class="ttdef"><b>Definition</b> Models.h:114</div></div>
+</div><!-- fragment -->
+</div>
+</div>
+<a id="ad1ba77eac61f5da29df59b8b4b0d7a0d" name="ad1ba77eac61f5da29df59b8b4b0d7a0d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1ba77eac61f5da29df59b8b4b0d7a0d">&#9670;&#160;</a></span>TranslationalDynamics3DOF</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#ad1ba77eac61f5da29df59b8b4b0d7a0d">TranslationalDynamics3DOF</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"> </div>
+<div class="line">    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;Vector3Signal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>, 3, <a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a>&gt;</div>
+<div class="ttc" id="astructRigidBodyParams3D_html"><div class="ttname"><a href="structRigidBodyParams3D.html">RigidBodyParams3D</a></div><div class="ttdef"><b>Definition</b> Models.h:122</div></div>
+</div><!-- fragment -->
+</div>
+</div>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
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diff --git a/docs/Models_8h_source.html b/docs/Models_8h_source.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_661483514bb8dea267426763b771558e.html">signals</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">Models.h</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="Models_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#include &lt;optional&gt;</span></div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;<a class="code" href="State_8h.html">signals/State.h</a>&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;<a class="code" href="Integration_8h.html">signals/Integration.h</a>&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">using namespace </span>Eigen;</div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> DynamicsType&gt;</div>
+<div class="foldopen" id="foldopen00009" data-start="{" data-end="};">
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"><a class="line" href="classModel.html">    9</a></span><span class="keyword">class </span><a class="code hl_class" href="classModel.html">Model</a></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span>{</div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"><a class="line" href="classModel.html#ac990dd4740b30e4477bca86fc6172970">   12</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="classModel.html#ac990dd4740b30e4477bca86fc6172970">InputSignalType</a>    = <span class="keyword">typename</span> DynamicsType::InputSignalType;</div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="classModel.html#a8abdf37c6158386a9f1d2c6c506f6839">   13</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="classModel.html#a8abdf37c6158386a9f1d2c6c506f6839">StateDotSignalType</a> = <span class="keyword">typename</span> DynamicsType::StateDotSignalType;</div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="classModel.html#a643e1a47ddbb10c5c10844f9aea5be98">   14</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="classModel.html#a643e1a47ddbb10c5c10844f9aea5be98">StateSignalType</a>    = <span class="keyword">typename</span> DynamicsType::StateSignalType;</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="classModel.html#aec20251d98505785fa51c52eb81dd3a2">   15</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="classModel.html#aec20251d98505785fa51c52eb81dd3a2">ParamsType</a>         = <span class="keyword">typename</span> DynamicsType::ParamsType;</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">   17</a></span>    <a class="code hl_typedef" href="classModel.html#a643e1a47ddbb10c5c10844f9aea5be98">StateSignalType</a>    <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>;</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">   18</a></span>    <a class="code hl_typedef" href="classModel.html#a8abdf37c6158386a9f1d2c6c506f6839">StateDotSignalType</a> <a class="code hl_variable" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">xdot</a>;</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
+<div class="foldopen" id="foldopen00020" data-start="{" data-end="}">
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="classModel.html#a3cbccc00606661a35110dbe111af54ad">   20</a></span>    <a class="code hl_function" href="classModel.html#a3cbccc00606661a35110dbe111af54ad">Model</a>() : params_{std::nullopt}</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    {</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>        <a class="code hl_function" href="classModel.html#a823536a9764d6a35cce173573ee62e90">reset</a>();</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    }</div>
+</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
+<div class="foldopen" id="foldopen00025" data-start="{" data-end="}">
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="classModel.html#a96533143a30ab87c379e411fcae59643">   25</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classModel.html#a96533143a30ab87c379e411fcae59643">setParams</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classModel.html#aec20251d98505785fa51c52eb81dd3a2">ParamsType</a>&amp; params)</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    {</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>        params_ = params;</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    }</div>
+</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
+<div class="foldopen" id="foldopen00030" data-start="{" data-end="}">
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">   30</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">hasParams</a>()</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    {</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>        <span class="keywordflow">return</span> params_.has_value();</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    }</div>
+</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
+<div class="foldopen" id="foldopen00035" data-start="{" data-end="}">
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="classModel.html#a823536a9764d6a35cce173573ee62e90">   35</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classModel.html#a823536a9764d6a35cce173573ee62e90">reset</a>()</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    {</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>        <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>.reset();</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>        <a class="code hl_variable" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">xdot</a>.reset();</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    }</div>
+</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
+<div class="foldopen" id="foldopen00041" data-start="{" data-end="}">
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="classModel.html#a7661852411b9ffd59240d5d5ca0e4dd3">   41</a></span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classModel.html#a7661852411b9ffd59240d5d5ca0e4dd3">t</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>        <span class="keywordflow">return</span> <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>.t();</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    }</div>
+</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> IntegratorType&gt;</div>
+<div class="foldopen" id="foldopen00047" data-start="{" data-end="}">
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="classModel.html#ac7446138b27c8feba779ebfe8e82b99d">   47</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classModel.html#ac7446138b27c8feba779ebfe8e82b99d">simulate</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classModel.html#ac990dd4740b30e4477bca86fc6172970">InputSignalType</a>&amp; u,</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>                  <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>                  <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>                  <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    {</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>        <span class="keywordflow">if</span> (!<a class="code hl_function" href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">hasParams</a>())</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>        <span class="keywordtype">double</span> t0 = <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>.t();</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>        <span class="keywordtype">double</span> dt;</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>        <span class="keywordflow">if</span> (!<a class="code hl_function" href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">signal_utils::getTimeDelta</a>(dt, t0, tf))</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>        {</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        }</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>        <span class="keywordflow">if</span> (!DynamicsType::update(<a class="code hl_variable" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">xdot</a>, <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>, u, t0, tf, params_.value(), insertIntoHistory, calculateXddot))</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>        {</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>        }</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        <span class="keywordflow">if</span> (!IntegratorType::integrate(<a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>, <a class="code hl_variable" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">xdot</a>, tf, insertIntoHistory))</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>        {</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>        }</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    }</div>
+</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> IntegratorType&gt;</div>
+<div class="foldopen" id="foldopen00072" data-start="{" data-end="}">
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classModel.html#ac2550ae8ed888d167450160ce55286df">   72</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classModel.html#ac2550ae8ed888d167450160ce55286df">simulate</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classModel.html#ac990dd4740b30e4477bca86fc6172970">InputSignalType</a>&amp; u,</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>                  <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>                  <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          dt,</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>                  <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>                  <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    {</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>        <span class="keywordflow">if</span> (!<a class="code hl_function" href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">hasParams</a>())</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>        <span class="keywordtype">double</span> t_k = <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>.t();</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>        <span class="keywordflow">while</span> (t_k &lt; tf)</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>        {</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>            <span class="keywordtype">double</span> dt_k;</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>            <span class="keywordflow">if</span> (!<a class="code hl_function" href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">signal_utils::getTimeDelta</a>(dt_k, t_k, tf, dt))</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>            {</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>            }</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>            <span class="keywordtype">double</span> t_kp1 = t_k + dt_k;</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>            <span class="keywordflow">if</span> (!DynamicsType::update(<a class="code hl_variable" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">xdot</a>, <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>, u, t_k, t_kp1, params_.value(), insertIntoHistory, calculateXddot))</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>            {</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>            }</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>            <span class="keywordflow">if</span> (!IntegratorType::integrate(<a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>, <a class="code hl_variable" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">xdot</a>, t_kp1, insertIntoHistory))</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>            {</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>            }</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>            t_k = t_kp1;</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>        }</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    }</div>
+</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    std::optional&lt;ParamsType&gt; params_;</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>};</div>
+</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span> </div>
+<div class="foldopen" id="foldopen00106" data-start="{" data-end="};">
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"><a class="line" href="structRigidBodyParams1D.html">  106</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRigidBodyParams1D.html">RigidBodyParams1D</a></div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>{</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"><a class="line" href="structRigidBodyParams1D.html#ab2b9c3eb89bcbf0ac06a33e95725e0eb">  108</a></span>    <a class="code hl_function" href="structRigidBodyParams1D.html#ab2b9c3eb89bcbf0ac06a33e95725e0eb">RigidBodyParams1D</a>() : <a class="code hl_variable" href="structRigidBodyParams1D.html#a2f5a1c0e6320c14d72d0ff98ad979332">m</a>(1), <a class="code hl_variable" href="structRigidBodyParams1D.html#a823d208bcbabadd83d3cc8f222973c95">g</a>(0) {}</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="structRigidBodyParams1D.html#a2f5a1c0e6320c14d72d0ff98ad979332">  109</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structRigidBodyParams1D.html#a2f5a1c0e6320c14d72d0ff98ad979332">m</a>;</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"><a class="line" href="structRigidBodyParams1D.html#a823d208bcbabadd83d3cc8f222973c95">  110</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structRigidBodyParams1D.html#a823d208bcbabadd83d3cc8f222973c95">g</a>;</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>};</div>
+</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span> </div>
+<div class="foldopen" id="foldopen00113" data-start="{" data-end="};">
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="structRigidBodyParams2D.html">  113</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a></div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>{</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="structRigidBodyParams2D.html#a6febaa8c9f355105b908979da3dd1255">  115</a></span>    <a class="code hl_function" href="structRigidBodyParams2D.html#a6febaa8c9f355105b908979da3dd1255">RigidBodyParams2D</a>() : <a class="code hl_variable" href="structRigidBodyParams2D.html#a5e37a979a1a69333bcc5576d14397185">m</a>(1), <a class="code hl_variable" href="structRigidBodyParams2D.html#aaefd836b5e013be87bc317aaba261a25">J</a>(1), <a class="code hl_variable" href="structRigidBodyParams2D.html#ab212f53241edb1bf232499a6ba963258">g</a>(Vector2d::Zero()) {}</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="structRigidBodyParams2D.html#a5e37a979a1a69333bcc5576d14397185">  116</a></span>    <span class="keywordtype">double</span>   <a class="code hl_variable" href="structRigidBodyParams2D.html#a5e37a979a1a69333bcc5576d14397185">m</a>;</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="structRigidBodyParams2D.html#aaefd836b5e013be87bc317aaba261a25">  117</a></span>    <span class="keywordtype">double</span>   <a class="code hl_variable" href="structRigidBodyParams2D.html#aaefd836b5e013be87bc317aaba261a25">J</a>;</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"><a class="line" href="structRigidBodyParams2D.html#ab212f53241edb1bf232499a6ba963258">  118</a></span>    Vector2d <a class="code hl_variable" href="structRigidBodyParams2D.html#ab212f53241edb1bf232499a6ba963258">g</a>;</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>};</div>
+</div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span> </div>
+<div class="foldopen" id="foldopen00121" data-start="{" data-end="};">
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"><a class="line" href="structRigidBodyParams3D.html">  121</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a></div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>{</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="structRigidBodyParams3D.html#a8aa76fea7a0790ead025bf79e767d0cf">  123</a></span>    <a class="code hl_function" href="structRigidBodyParams3D.html#a8aa76fea7a0790ead025bf79e767d0cf">RigidBodyParams3D</a>() : <a class="code hl_variable" href="structRigidBodyParams3D.html#acfa4c165c3278306dac4c0f51819e694">m</a>(1), <a class="code hl_variable" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">J</a>(Matrix3d::Identity()), <a class="code hl_variable" href="structRigidBodyParams3D.html#a87b9c6a467ebcd6805a1d9419e6149d1">g</a>(Vector3d::Zero()) {}</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"><a class="line" href="structRigidBodyParams3D.html#acfa4c165c3278306dac4c0f51819e694">  124</a></span>    <span class="keywordtype">double</span>   <a class="code hl_variable" href="structRigidBodyParams3D.html#acfa4c165c3278306dac4c0f51819e694">m</a>;</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"><a class="line" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">  125</a></span>    Matrix3d <a class="code hl_variable" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">J</a>;</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="structRigidBodyParams3D.html#a87b9c6a467ebcd6805a1d9419e6149d1">  126</a></span>    Vector3d <a class="code hl_variable" href="structRigidBodyParams3D.html#a87b9c6a467ebcd6805a1d9419e6149d1">g</a>;</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>};</div>
+</div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span> </div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> IST, <span class="keyword">typename</span> SST, <span class="keyword">typename</span> SDST, <span class="keywordtype">size_t</span> d, <span class="keyword">typename</span> PT&gt;</div>
+<div class="foldopen" id="foldopen00130" data-start="{" data-end="};">
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html">  130</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a></div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>{</div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#aac403e4db54adf389b8f1fa3700f6f6a">  132</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#aac403e4db54adf389b8f1fa3700f6f6a">InputSignalType</a>    = IST;</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#a3870f6b57fcb6cb578b3640401331a39">  133</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a3870f6b57fcb6cb578b3640401331a39">StateDotSignalType</a> = SST;</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#a1f0fdd4bbfb73f52878c7e5c7e459f16">  134</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a1f0fdd4bbfb73f52878c7e5c7e459f16">StateSignalType</a>    = SDST;</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span> </div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#ac57d5ab2e4cf3e6afe4a5ae550e858bb">  136</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#ac57d5ab2e4cf3e6afe4a5ae550e858bb">InputType</a>       = <span class="keyword">typename</span> InputSignalType::BaseType;</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#aabb958cc98babacfc8478a04fb7a37dd">  137</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#aabb958cc98babacfc8478a04fb7a37dd">StateType</a>       = <span class="keyword">typename</span> StateSignalType::BaseType;</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#a25c6532290d222c25e727394a0afa0b7">  138</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a25c6532290d222c25e727394a0afa0b7">StateDotType</a>    = <span class="keyword">typename</span> StateDotSignalType::BaseType;</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#a4ae3874e31bcc97d54f4cebea0606002">  139</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a4ae3874e31bcc97d54f4cebea0606002">StateDotDotType</a> = <span class="keyword">typename</span> StateDotSignalType::TangentType;</div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span> </div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#a4ba374f05dd1f5c4168adf3d6a15ef0c">  141</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a4ba374f05dd1f5c4168adf3d6a15ef0c">ParamsType</a> = PT;</div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span> </div>
+<div class="foldopen" id="foldopen00143" data-start="{" data-end="}">
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#a3f1e02018ec014fe38ba851dc0d5b2ed">  143</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structTranslationalDynamicsBase.html#a3f1e02018ec014fe38ba851dc0d5b2ed">update</a>(<a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a3870f6b57fcb6cb578b3640401331a39">StateDotSignalType</a>&amp;    xdot,</div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a1f0fdd4bbfb73f52878c7e5c7e459f16">StateSignalType</a>&amp; x,</div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structTranslationalDynamicsBase.html#aac403e4db54adf389b8f1fa3700f6f6a">InputSignalType</a>&amp; u,</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          t0,</div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a4ba374f05dd1f5c4168adf3d6a15ef0c">ParamsType</a>&amp;      params,</div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    {</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>        <a class="code hl_typedef" href="structTranslationalDynamicsBase.html#ac57d5ab2e4cf3e6afe4a5ae550e858bb">InputType</a> u_k = u(t0);</div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>        <a class="code hl_typedef" href="structTranslationalDynamicsBase.html#aabb958cc98babacfc8478a04fb7a37dd">StateType</a> x_k = x(t0);</div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span> </div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>        <a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a25c6532290d222c25e727394a0afa0b7">StateDotType</a> xdot_k;</div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>        xdot_k.pose  = x_k.twist;</div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>        xdot_k.twist = -params.g + u_k / params.m;</div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span> </div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>        <span class="keywordflow">if</span> (calculateXddot)</div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>        {</div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>            <span class="keywordflow">return</span> xdot.update(tf, xdot_k, insertIntoHistory);</div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>        }</div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>        {</div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>            <span class="keywordflow">return</span> xdot.update(tf, xdot_k, StateDotDotType::identity(), insertIntoHistory);</div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>        }</div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>    }</div>
+</div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>};</div>
+</div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span> </div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"><a class="line" href="Models_8h.html#aac436ed3df206f07f93110e3daffe773">  171</a></span><span class="keyword">using </span><a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamics1DOF</a> =</div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;ScalarSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;T&gt;</a>, 1, <a class="code hl_struct" href="structRigidBodyParams1D.html">RigidBodyParams1D</a>&gt;;</div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span> </div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"><a class="line" href="Models_8h.html#ae3889fdff8dd169aef62fcdf6340e0e1">  175</a></span><span class="keyword">using </span><a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamics2DOF</a> =</div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;Vector2Signal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector2StateSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector2StateSignal&lt;T&gt;</a>, 2, <a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a>&gt;;</div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span> </div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"><a class="line" href="Models_8h.html#ad1ba77eac61f5da29df59b8b4b0d7a0d">  179</a></span><span class="keyword">using </span><a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamics3DOF</a> =</div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;Vector3Signal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>, 3, <a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a>&gt;;</div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span> </div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00183" data-start="{" data-end="};">
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html">  183</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a></div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>{</div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a80b5f730e292fda15bdcf1e8b96fe02e">  185</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">InputSignalType</a>    = <a class="code hl_class" href="classSignal.html">Vector1Signal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#ac321d27d0098cb3e8e64ea0d98500cb6">  186</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateSignalType</a>    = <a class="code hl_class" href="classSignal.html">SO2StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a32c4979bf8f6aa3f9c1b0f2818ba4abd">  187</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateDotSignalType</a> = <a class="code hl_class" href="classSignal.html">Vector1StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span> </div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#ad43b9ce6a37b65d677d01ceafe448259">  189</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics1DOF.html#ad43b9ce6a37b65d677d01ceafe448259">InputType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#aada86d78db85576298e606afda8c928d">  190</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics1DOF.html#aada86d78db85576298e606afda8c928d">StateType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a7df05f9db990eecd331f506d1a17597e">  191</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics1DOF.html#a7df05f9db990eecd331f506d1a17597e">StateDotType</a>    = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a5e2f1cd471e7be99dc9e0f3f29f146f3">  192</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics1DOF.html#a5e2f1cd471e7be99dc9e0f3f29f146f3">StateDotDotType</a> = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a>;</div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span> </div>
+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a38ff3a3028dc85817407d15587bf3451">  194</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structRigidBodyParams2D.html">ParamsType</a> = <a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a>;</div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span> </div>
+<div class="foldopen" id="foldopen00196" data-start="{" data-end="}">
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a433f042fafdcff07948eb952e47f13b6">  196</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structRotationalDynamics1DOF.html#a433f042fafdcff07948eb952e47f13b6">update</a>(<a class="code hl_class" href="classSignal.html">StateDotSignalType</a>&amp;    xdot,</div>
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">StateSignalType</a>&amp; x,</div>
+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">InputSignalType</a>&amp; u,</div>
+<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          t0,</div>
+<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
+<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>                       <span class="keyword">const</span> <a class="code hl_struct" href="structRigidBodyParams2D.html">ParamsType</a>&amp;      params,</div>
+<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
+<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span>    {</div>
+<div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>        <a class="code hl_typedef" href="structRotationalDynamics1DOF.html#ad43b9ce6a37b65d677d01ceafe448259">InputType</a> u_k = u(t0);</div>
+<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>        <a class="code hl_typedef" href="structRotationalDynamics1DOF.html#aada86d78db85576298e606afda8c928d">StateType</a> x_k = x(t0);</div>
+<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span> </div>
+<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>        <a class="code hl_typedef" href="structRotationalDynamics1DOF.html#a7df05f9db990eecd331f506d1a17597e">StateDotType</a> xdot_k;</div>
+<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>        xdot_k.pose  = x_k.twist;</div>
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>        xdot_k.twist = u_k / params.<a class="code hl_variable" href="structRigidBodyParams2D.html#aaefd836b5e013be87bc317aaba261a25">J</a>;</div>
+<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span> </div>
+<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>        <span class="keywordflow">if</span> (calculateXddot)</div>
+<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>        {</div>
+<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, insertIntoHistory);</div>
+<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>        }</div>
+<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>        {</div>
+<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, StateDotDotType::identity(), insertIntoHistory);</div>
+<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>        }</div>
+<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>    }</div>
+</div>
+<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>};</div>
+</div>
+<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span> </div>
+<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00224" data-start="{" data-end="};">
+<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html">  224</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a></div>
+<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>{</div>
+<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#aac317f9992071217ce644f6b9ccd8763">  226</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">InputSignalType</a>    = <a class="code hl_class" href="classSignal.html">Vector3Signal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a2814e21ab959a4cb71fdc2682d1cad69">  227</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateSignalType</a>    = <a class="code hl_class" href="classSignal.html">SO3StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a6b1ce3427c65404128d15a66c3d11621">  228</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateDotSignalType</a> = <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span> </div>
+<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#aafaa22bb44de6a10f6293f66da5c52e5">  230</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics3DOF.html#aafaa22bb44de6a10f6293f66da5c52e5">InputType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#aaee29651f3b1671b6ab4e10656ea6f9a">  231</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics3DOF.html#aaee29651f3b1671b6ab4e10656ea6f9a">StateType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a40c9649794d2d6e82da6451d17c32bb5">  232</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics3DOF.html#a40c9649794d2d6e82da6451d17c32bb5">StateDotType</a>    = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a6e75764a6e9b0ec406d716dfb60943b1">  233</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics3DOF.html#a6e75764a6e9b0ec406d716dfb60943b1">StateDotDotType</a> = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a>;</div>
+<div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span> </div>
+<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a2ac951c964726729410488c2bfcfa156">  235</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structRigidBodyParams3D.html">ParamsType</a> = <a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a>;</div>
+<div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span> </div>
+<div class="foldopen" id="foldopen00237" data-start="{" data-end="}">
+<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#aee5958f7949268650c00097b2a871252">  237</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structRotationalDynamics3DOF.html#aee5958f7949268650c00097b2a871252">update</a>(<a class="code hl_class" href="classSignal.html">StateDotSignalType</a>&amp;    xdot,</div>
+<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">StateSignalType</a>&amp; x,</div>
+<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">InputSignalType</a>&amp; u,</div>
+<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          t0,</div>
+<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
+<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>                       <span class="keyword">const</span> <a class="code hl_struct" href="structRigidBodyParams3D.html">ParamsType</a>&amp;      params,</div>
+<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
+<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>    {</div>
+<div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>        <a class="code hl_typedef" href="structRotationalDynamics3DOF.html#aafaa22bb44de6a10f6293f66da5c52e5">InputType</a> u_k = u(t0);</div>
+<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>        <a class="code hl_typedef" href="structRotationalDynamics3DOF.html#aaee29651f3b1671b6ab4e10656ea6f9a">StateType</a> x_k = x(t0);</div>
+<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span> </div>
+<div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>        <a class="code hl_typedef" href="structRotationalDynamics3DOF.html#a40c9649794d2d6e82da6451d17c32bb5">StateDotType</a> xdot_k;</div>
+<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>        xdot_k.pose  = x_k.twist;</div>
+<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span>        xdot_k.twist = params.<a class="code hl_variable" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">J</a>.inverse() * (-x_k.twist.cross(params.<a class="code hl_variable" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">J</a> * x_k.twist) + u_k);</div>
+<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span> </div>
+<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>        <span class="keywordflow">if</span> (calculateXddot)</div>
+<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>        {</div>
+<div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, insertIntoHistory);</div>
+<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>        }</div>
+<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span>        {</div>
+<div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, StateDotDotType::identity(), insertIntoHistory);</div>
+<div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span>        }</div>
+<div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>    }</div>
+</div>
+<div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>};</div>
+</div>
+<div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span> </div>
+<div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00265" data-start="{" data-end="};">
+<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html">  265</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a></div>
+<div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>{</div>
+<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a4341d5e4a676e15edc8f8faafef5431a">  267</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">InputSignalType</a>    = <a class="code hl_class" href="classSignal.html">Vector3Signal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a0c346a983bc929f1f7a6e5d2be3a0841">  268</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateSignalType</a>    = <a class="code hl_class" href="classSignal.html">SE2StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a28d138392ca0069c5e6274f78fd08e29">  269</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateDotSignalType</a> = <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span> </div>
+<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#aa90232643a368b1d4b9fd618ae8d57f7">  271</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#aa90232643a368b1d4b9fd618ae8d57f7">InputType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a448c5efb998f492d1518eb0d2d7ded74">  272</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a448c5efb998f492d1518eb0d2d7ded74">StateType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a7a9fa29ba97531d856e87560806a805c">  273</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a7a9fa29ba97531d856e87560806a805c">StateDotType</a>    = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a562a8cc5e6e8dca19982509022a22ba4">  274</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a562a8cc5e6e8dca19982509022a22ba4">StateDotDotType</a> = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a>;</div>
+<div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span> </div>
+<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#afa1ade3cc027b78a2d2c65df867d52b0">  276</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structRigidBodyParams2D.html">ParamsType</a> = <a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a>;</div>
+<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span> </div>
+<div class="foldopen" id="foldopen00278" data-start="{" data-end="}">
+<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#acafe68f9e9ea78f54bc70d64a1b39d9c">  278</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structRigidBodyDynamics3DOF.html#acafe68f9e9ea78f54bc70d64a1b39d9c">update</a>(<a class="code hl_class" href="classSignal.html">StateDotSignalType</a>&amp;    xdot,</div>
+<div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">StateSignalType</a>&amp; x,</div>
+<div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">InputSignalType</a>&amp; u,</div>
+<div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          t0,</div>
+<div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
+<div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>                       <span class="keyword">const</span> <a class="code hl_struct" href="structRigidBodyParams2D.html">ParamsType</a>&amp;      params,</div>
+<div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
+<div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>    {</div>
+<div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span>        <a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#aa90232643a368b1d4b9fd618ae8d57f7">InputType</a> u_k = u(t0);</div>
+<div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>        <a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a448c5efb998f492d1518eb0d2d7ded74">StateType</a> x_k = x(t0);</div>
+<div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span> </div>
+<div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span>        <a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a7a9fa29ba97531d856e87560806a805c">StateDotType</a> xdot_k;</div>
+<div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>        xdot_k.pose                             = x_k.twist;</div>
+<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>        xdot_k.twist.template block&lt;2, 1&gt;(0, 0) = -(x_k.pose.q().inverse() * params.<a class="code hl_variable" href="structRigidBodyParams2D.html#ab212f53241edb1bf232499a6ba963258">g</a>) -</div>
+<div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>                                                  x_k.twist(2) * Matrix&lt;T, 2, 1&gt;(-x_k.twist(1), x_k.twist(0)) +</div>
+<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>                                                  1.0 / params.<a class="code hl_variable" href="structRigidBodyParams2D.html#a5e37a979a1a69333bcc5576d14397185">m</a> * u_k.template block&lt;2, 1&gt;(0, 0);</div>
+<div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span>        xdot_k.twist(2) = u_k(2) / params.<a class="code hl_variable" href="structRigidBodyParams2D.html#aaefd836b5e013be87bc317aaba261a25">J</a>;</div>
+<div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span> </div>
+<div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>        <span class="keywordflow">if</span> (calculateXddot)</div>
+<div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>        {</div>
+<div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, insertIntoHistory);</div>
+<div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>        }</div>
+<div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>        {</div>
+<div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, StateDotDotType::identity(), insertIntoHistory);</div>
+<div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span>        }</div>
+<div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span>    }</div>
+</div>
+<div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span>};</div>
+</div>
+<div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span> </div>
+<div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00309" data-start="{" data-end="};">
+<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html">  309</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a></div>
+<div class="line"><a id="l00310" name="l00310"></a><span class="lineno">  310</span>{</div>
+<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#a8927301269f2ce616317819c769b9364">  311</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">InputSignalType</a>    = <a class="code hl_class" href="classSignal.html">Vector6Signal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#ad4e0605bf2a0c90acbe9a1a333b9b952">  312</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateSignalType</a>    = <a class="code hl_class" href="classSignal.html">SE3StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#afcafc7961087b27b239ad998e436da9a">  313</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateDotSignalType</a> = <a class="code hl_class" href="classSignal.html">Vector6StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span> </div>
+<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#ac8780c98b59889f8329aa467a5b375fe">  315</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#ac8780c98b59889f8329aa467a5b375fe">InputType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#adf5c3e5f6090032d18019c7aeab91f51">  316</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#adf5c3e5f6090032d18019c7aeab91f51">StateType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#aa664579d3d691fcd4c5824b242dd2061">  317</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#aa664579d3d691fcd4c5824b242dd2061">StateDotType</a>    = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#a32c92b85c94f66739358385a0a3a07fc">  318</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#a32c92b85c94f66739358385a0a3a07fc">StateDotDotType</a> = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a>;</div>
+<div class="line"><a id="l00319" name="l00319"></a><span class="lineno">  319</span> </div>
+<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#ad252337a912dcd1cfaa097d9c2d5814e">  320</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structRigidBodyParams3D.html">ParamsType</a> = <a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a>;</div>
+<div class="line"><a id="l00321" name="l00321"></a><span class="lineno">  321</span> </div>
+<div class="foldopen" id="foldopen00322" data-start="{" data-end="}">
+<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#ae0d9bb27da7f804a1f8dc4923546a95d">  322</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structRigidBodyDynamics6DOF.html#ae0d9bb27da7f804a1f8dc4923546a95d">update</a>(<a class="code hl_class" href="classSignal.html">StateDotSignalType</a>&amp;    xdot,</div>
+<div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">StateSignalType</a>&amp; x,</div>
+<div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">InputSignalType</a>&amp; u,</div>
+<div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          t0,</div>
+<div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
+<div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>                       <span class="keyword">const</span> <a class="code hl_struct" href="structRigidBodyParams3D.html">ParamsType</a>&amp;      params,</div>
+<div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
+<div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span>    {</div>
+<div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>        <a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#ac8780c98b59889f8329aa467a5b375fe">InputType</a> u_k = u(t0);</div>
+<div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span>        <a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#adf5c3e5f6090032d18019c7aeab91f51">StateType</a> x_k = x(t0);</div>
+<div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span> </div>
+<div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span>        <span class="comment">// The entire xdot vector is in the body-frame, since we&#39;re using it as a local perturbation</span></div>
+<div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>        <span class="comment">// vector for the oplus and ominus operations from SE(3). i.e., we increment the translation</span></div>
+<div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>        <span class="comment">// vector and attitude jointly, unlike with many filter/controller implementations.</span></div>
+<div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span>        <a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#aa664579d3d691fcd4c5824b242dd2061">StateDotType</a> xdot_k;</div>
+<div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span>        xdot_k.pose = x_k.twist;</div>
+<div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span>        xdot_k.twist.template block&lt;3, 1&gt;(0, 0) =</div>
+<div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span>            -(x_k.pose.q().inverse() * params.<a class="code hl_variable" href="structRigidBodyParams3D.html#a87b9c6a467ebcd6805a1d9419e6149d1">g</a>) -</div>
+<div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span>            x_k.twist.template block&lt;3, 1&gt;(3, 0).cross(x_k.twist.template block&lt;3, 1&gt;(0, 0)) +</div>
+<div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span>            1.0 / params.<a class="code hl_variable" href="structRigidBodyParams3D.html#acfa4c165c3278306dac4c0f51819e694">m</a> * u_k.template block&lt;3, 1&gt;(0, 0);</div>
+<div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>        xdot_k.twist.template block&lt;3, 1&gt;(3, 0) =</div>
+<div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>            params.<a class="code hl_variable" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">J</a>.inverse() *</div>
+<div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span>            (-x_k.twist.template block&lt;3, 1&gt;(3, 0).cross(params.<a class="code hl_variable" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">J</a> * x_k.twist.template block&lt;3, 1&gt;(3, 0)) +</div>
+<div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>             u_k.template block&lt;3, 1&gt;(3, 0));</div>
+<div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span> </div>
+<div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span>        <span class="keywordflow">if</span> (calculateXddot)</div>
+<div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span>        {</div>
+<div class="line"><a id="l00350" name="l00350"></a><span class="lineno">  350</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, insertIntoHistory);</div>
+<div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>        }</div>
+<div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00353" name="l00353"></a><span class="lineno">  353</span>        {</div>
+<div class="line"><a id="l00354" name="l00354"></a><span class="lineno">  354</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, StateDotDotType::identity(), insertIntoHistory);</div>
+<div class="line"><a id="l00355" name="l00355"></a><span class="lineno">  355</span>        }</div>
+<div class="line"><a id="l00356" name="l00356"></a><span class="lineno">  356</span>    }</div>
+</div>
+<div class="line"><a id="l00357" name="l00357"></a><span class="lineno">  357</span>};</div>
+</div>
+<div class="line"><a id="l00358" name="l00358"></a><span class="lineno">  358</span> </div>
+<div class="foldopen" id="foldopen00359" data-start="" data-end="">
+<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"><a class="line" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">  359</a></span><span class="preprocessor">#define MAKE_MODEL(ModelBaseName, ModelDOF)                                                                            \</span></div>
+<div class="line"><a id="l00360" name="l00360"></a><span class="lineno">  360</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
+<div class="line"><a id="l00361" name="l00361"></a><span class="lineno">  361</span><span class="preprocessor">    using ModelBaseName##ModelDOF##Model = Model&lt;ModelBaseName##Dynamics##ModelDOF&lt;T&gt;&gt;;                                \</span></div>
+<div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span><span class="preprocessor">    typedef ModelBaseName##ModelDOF##Model&lt;double&gt; ModelBaseName##ModelDOF##Modeld;</span></div>
+</div>
+<div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span> </div>
+<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"><a class="line" href="Models_8h.html#a06f4823dd2b571a8718ccad09ce44fe7">  364</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Translational, 1DOF)</div>
+<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"><a class="line" href="Models_8h.html#aa8b7fa1f2cfd2453d95d80ce49abd8fc">  365</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Translational, 2DOF)</div>
+<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"><a class="line" href="Models_8h.html#aae658b45855be04ff99456f612008b96">  366</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Translational, 3DOF)</div>
+<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"><a class="line" href="Models_8h.html#a44917fd68b589ce4fc82e69e00c41201">  367</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Rotational, 1DOF)</div>
+<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"><a class="line" href="Models_8h.html#ad5282fd410476dbdd8381772a38ac2f1">  368</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Rotational, 3DOF)</div>
+<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"><a class="line" href="Models_8h.html#a253b3866118f6e70cfc4f08b471c2975">  369</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(RigidBody, 3DOF)</div>
+<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"><a class="line" href="Models_8h.html#ac6b34f1aa0a10dcb6e9fda4a2814a9b3">  370</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(RigidBody, 6DOF)</div>
+<div class="ttc" id="aIntegration_8h_html"><div class="ttname"><a href="Integration_8h.html">Integration.h</a></div></div>
+<div class="ttc" id="aModels_8h_html_a01637abb86bd3009fcff2cebc8a8735a"><div class="ttname"><a href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a></div><div class="ttdeci">#define MAKE_MODEL(ModelBaseName, ModelDOF)</div><div class="ttdef"><b>Definition</b> Models.h:359</div></div>
+<div class="ttc" id="aState_8h_html"><div class="ttname"><a href="State_8h.html">State.h</a></div></div>
+<div class="ttc" id="aclassModel_html"><div class="ttname"><a href="classModel.html">Model</a></div><div class="ttdef"><b>Definition</b> Models.h:10</div></div>
+<div class="ttc" id="aclassModel_html_a3cbccc00606661a35110dbe111af54ad"><div class="ttname"><a href="classModel.html#a3cbccc00606661a35110dbe111af54ad">Model::Model</a></div><div class="ttdeci">Model()</div><div class="ttdef"><b>Definition</b> Models.h:20</div></div>
+<div class="ttc" id="aclassModel_html_a4f059d658bfda1665bf44a36b7aaf8e5"><div class="ttname"><a href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">Model::hasParams</a></div><div class="ttdeci">bool hasParams()</div><div class="ttdef"><b>Definition</b> Models.h:30</div></div>
+<div class="ttc" id="aclassModel_html_a643e1a47ddbb10c5c10844f9aea5be98"><div class="ttname"><a href="classModel.html#a643e1a47ddbb10c5c10844f9aea5be98">Model::StateSignalType</a></div><div class="ttdeci">typename DynamicsType::StateSignalType StateSignalType</div><div class="ttdef"><b>Definition</b> Models.h:14</div></div>
+<div class="ttc" id="aclassModel_html_a7661852411b9ffd59240d5d5ca0e4dd3"><div class="ttname"><a href="classModel.html#a7661852411b9ffd59240d5d5ca0e4dd3">Model::t</a></div><div class="ttdeci">double t() const</div><div class="ttdef"><b>Definition</b> Models.h:41</div></div>
+<div class="ttc" id="aclassModel_html_a823536a9764d6a35cce173573ee62e90"><div class="ttname"><a href="classModel.html#a823536a9764d6a35cce173573ee62e90">Model::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdef"><b>Definition</b> Models.h:35</div></div>
+<div class="ttc" id="aclassModel_html_a8abdf37c6158386a9f1d2c6c506f6839"><div class="ttname"><a href="classModel.html#a8abdf37c6158386a9f1d2c6c506f6839">Model::StateDotSignalType</a></div><div class="ttdeci">typename DynamicsType::StateDotSignalType StateDotSignalType</div><div class="ttdef"><b>Definition</b> Models.h:13</div></div>
+<div class="ttc" id="aclassModel_html_a96533143a30ab87c379e411fcae59643"><div class="ttname"><a href="classModel.html#a96533143a30ab87c379e411fcae59643">Model::setParams</a></div><div class="ttdeci">void setParams(const ParamsType &amp;params)</div><div class="ttdef"><b>Definition</b> Models.h:25</div></div>
+<div class="ttc" id="aclassModel_html_ab8bb4819a03ed642326295c28bea6fa7"><div class="ttname"><a href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">Model::xdot</a></div><div class="ttdeci">StateDotSignalType xdot</div><div class="ttdef"><b>Definition</b> Models.h:18</div></div>
+<div class="ttc" id="aclassModel_html_abfe8871b9f0eac35c76af3f5cfcdea35"><div class="ttname"><a href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">Model::x</a></div><div class="ttdeci">StateSignalType x</div><div class="ttdef"><b>Definition</b> Models.h:17</div></div>
+<div class="ttc" id="aclassModel_html_ac2550ae8ed888d167450160ce55286df"><div class="ttname"><a href="classModel.html#ac2550ae8ed888d167450160ce55286df">Model::simulate</a></div><div class="ttdeci">bool simulate(const InputSignalType &amp;u, const double &amp;tf, const double &amp;dt, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdef"><b>Definition</b> Models.h:72</div></div>
+<div class="ttc" id="aclassModel_html_ac7446138b27c8feba779ebfe8e82b99d"><div class="ttname"><a href="classModel.html#ac7446138b27c8feba779ebfe8e82b99d">Model::simulate</a></div><div class="ttdeci">bool simulate(const InputSignalType &amp;u, const double &amp;tf, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdef"><b>Definition</b> Models.h:47</div></div>
+<div class="ttc" id="aclassModel_html_ac990dd4740b30e4477bca86fc6172970"><div class="ttname"><a href="classModel.html#ac990dd4740b30e4477bca86fc6172970">Model::InputSignalType</a></div><div class="ttdeci">typename DynamicsType::InputSignalType InputSignalType</div><div class="ttdef"><b>Definition</b> Models.h:12</div></div>
+<div class="ttc" id="aclassModel_html_aec20251d98505785fa51c52eb81dd3a2"><div class="ttname"><a href="classModel.html#aec20251d98505785fa51c52eb81dd3a2">Model::ParamsType</a></div><div class="ttdeci">typename DynamicsType::ParamsType ParamsType</div><div class="ttdef"><b>Definition</b> Models.h:15</div></div>
+<div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:35</div></div>
+<div class="ttc" id="aclassSignal_html_a9bda97fe7663f5481807259ca8bcd8cb"><div class="ttname"><a href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">Signal::BaseType</a></div><div class="ttdeci">typename BaseSignalSpec::Type BaseType</div><div class="ttdef"><b>Definition</b> Signal.h:37</div></div>
+<div class="ttc" id="aclassSignal_html_aa0094b1c69fd482de9de83b99634996a"><div class="ttname"><a href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">Signal::TangentType</a></div><div class="ttdeci">typename TangentSignalSpec::Type TangentType</div><div class="ttdef"><b>Definition</b> Signal.h:38</div></div>
+<div class="ttc" id="aclassSignal_html_ab91f52b80939a6c67b6863ee463b4ff0"><div class="ttname"><a href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">Signal::update</a></div><div class="ttdeci">bool update(const double &amp;_t, const BaseType &amp;_x, bool insertHistory=false)</div><div class="ttdef"><b>Definition</b> Signal.h:171</div></div>
+<div class="ttc" id="anamespacesignal__utils_html_ad7667542f893604d059a5d0022d2890c"><div class="ttname"><a href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">signal_utils::getTimeDelta</a></div><div class="ttdeci">bool getTimeDelta(double &amp;dt, const double &amp;t0, const double &amp;tf, const double &amp;dt_max=std::numeric_limits&lt; double &gt;::max())</div><div class="ttdef"><b>Definition</b> Utils.h:7</div></div>
+<div class="ttc" id="astructRigidBodyDynamics3DOF_html"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a></div><div class="ttdef"><b>Definition</b> Models.h:266</div></div>
+<div class="ttc" id="astructRigidBodyDynamics3DOF_html_a448c5efb998f492d1518eb0d2d7ded74"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#a448c5efb998f492d1518eb0d2d7ded74">RigidBodyDynamics3DOF::StateType</a></div><div class="ttdeci">typename StateSignalType::BaseType StateType</div><div class="ttdef"><b>Definition</b> Models.h:272</div></div>
+<div class="ttc" id="astructRigidBodyDynamics3DOF_html_a562a8cc5e6e8dca19982509022a22ba4"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#a562a8cc5e6e8dca19982509022a22ba4">RigidBodyDynamics3DOF::StateDotDotType</a></div><div class="ttdeci">typename StateDotSignalType::TangentType StateDotDotType</div><div class="ttdef"><b>Definition</b> Models.h:274</div></div>
+<div class="ttc" id="astructRigidBodyDynamics3DOF_html_a7a9fa29ba97531d856e87560806a805c"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#a7a9fa29ba97531d856e87560806a805c">RigidBodyDynamics3DOF::StateDotType</a></div><div class="ttdeci">typename StateDotSignalType::BaseType StateDotType</div><div class="ttdef"><b>Definition</b> Models.h:273</div></div>
+<div class="ttc" id="astructRigidBodyDynamics3DOF_html_aa90232643a368b1d4b9fd618ae8d57f7"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#aa90232643a368b1d4b9fd618ae8d57f7">RigidBodyDynamics3DOF::InputType</a></div><div class="ttdeci">typename InputSignalType::BaseType InputType</div><div class="ttdef"><b>Definition</b> Models.h:271</div></div>
+<div class="ttc" id="astructRigidBodyDynamics3DOF_html_acafe68f9e9ea78f54bc70d64a1b39d9c"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#acafe68f9e9ea78f54bc70d64a1b39d9c">RigidBodyDynamics3DOF::update</a></div><div class="ttdeci">static bool update(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdef"><b>Definition</b> Models.h:278</div></div>
+<div class="ttc" id="astructRigidBodyDynamics6DOF_html"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a></div><div class="ttdef"><b>Definition</b> Models.h:310</div></div>
+<div class="ttc" id="astructRigidBodyDynamics6DOF_html_a32c92b85c94f66739358385a0a3a07fc"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#a32c92b85c94f66739358385a0a3a07fc">RigidBodyDynamics6DOF::StateDotDotType</a></div><div class="ttdeci">typename StateDotSignalType::TangentType StateDotDotType</div><div class="ttdef"><b>Definition</b> Models.h:318</div></div>
+<div class="ttc" id="astructRigidBodyDynamics6DOF_html_aa664579d3d691fcd4c5824b242dd2061"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#aa664579d3d691fcd4c5824b242dd2061">RigidBodyDynamics6DOF::StateDotType</a></div><div class="ttdeci">typename StateDotSignalType::BaseType StateDotType</div><div class="ttdef"><b>Definition</b> Models.h:317</div></div>
+<div class="ttc" id="astructRigidBodyDynamics6DOF_html_ac8780c98b59889f8329aa467a5b375fe"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#ac8780c98b59889f8329aa467a5b375fe">RigidBodyDynamics6DOF::InputType</a></div><div class="ttdeci">typename InputSignalType::BaseType InputType</div><div class="ttdef"><b>Definition</b> Models.h:315</div></div>
+<div class="ttc" id="astructRigidBodyDynamics6DOF_html_adf5c3e5f6090032d18019c7aeab91f51"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#adf5c3e5f6090032d18019c7aeab91f51">RigidBodyDynamics6DOF::StateType</a></div><div class="ttdeci">typename StateSignalType::BaseType StateType</div><div class="ttdef"><b>Definition</b> Models.h:316</div></div>
+<div class="ttc" id="astructRigidBodyDynamics6DOF_html_ae0d9bb27da7f804a1f8dc4923546a95d"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#ae0d9bb27da7f804a1f8dc4923546a95d">RigidBodyDynamics6DOF::update</a></div><div class="ttdeci">static bool update(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdef"><b>Definition</b> Models.h:322</div></div>
+<div class="ttc" id="astructRigidBodyParams1D_html"><div class="ttname"><a href="structRigidBodyParams1D.html">RigidBodyParams1D</a></div><div class="ttdef"><b>Definition</b> Models.h:107</div></div>
+<div class="ttc" id="astructRigidBodyParams1D_html_a2f5a1c0e6320c14d72d0ff98ad979332"><div class="ttname"><a href="structRigidBodyParams1D.html#a2f5a1c0e6320c14d72d0ff98ad979332">RigidBodyParams1D::m</a></div><div class="ttdeci">double m</div><div class="ttdef"><b>Definition</b> Models.h:109</div></div>
+<div class="ttc" id="astructRigidBodyParams1D_html_a823d208bcbabadd83d3cc8f222973c95"><div class="ttname"><a href="structRigidBodyParams1D.html#a823d208bcbabadd83d3cc8f222973c95">RigidBodyParams1D::g</a></div><div class="ttdeci">double g</div><div class="ttdef"><b>Definition</b> Models.h:110</div></div>
+<div class="ttc" id="astructRigidBodyParams1D_html_ab2b9c3eb89bcbf0ac06a33e95725e0eb"><div class="ttname"><a href="structRigidBodyParams1D.html#ab2b9c3eb89bcbf0ac06a33e95725e0eb">RigidBodyParams1D::RigidBodyParams1D</a></div><div class="ttdeci">RigidBodyParams1D()</div><div class="ttdef"><b>Definition</b> Models.h:108</div></div>
+<div class="ttc" id="astructRigidBodyParams2D_html"><div class="ttname"><a href="structRigidBodyParams2D.html">RigidBodyParams2D</a></div><div class="ttdef"><b>Definition</b> Models.h:114</div></div>
+<div class="ttc" id="astructRigidBodyParams2D_html_a5e37a979a1a69333bcc5576d14397185"><div class="ttname"><a href="structRigidBodyParams2D.html#a5e37a979a1a69333bcc5576d14397185">RigidBodyParams2D::m</a></div><div class="ttdeci">double m</div><div class="ttdef"><b>Definition</b> Models.h:116</div></div>
+<div class="ttc" id="astructRigidBodyParams2D_html_a6febaa8c9f355105b908979da3dd1255"><div class="ttname"><a href="structRigidBodyParams2D.html#a6febaa8c9f355105b908979da3dd1255">RigidBodyParams2D::RigidBodyParams2D</a></div><div class="ttdeci">RigidBodyParams2D()</div><div class="ttdef"><b>Definition</b> Models.h:115</div></div>
+<div class="ttc" id="astructRigidBodyParams2D_html_aaefd836b5e013be87bc317aaba261a25"><div class="ttname"><a href="structRigidBodyParams2D.html#aaefd836b5e013be87bc317aaba261a25">RigidBodyParams2D::J</a></div><div class="ttdeci">double J</div><div class="ttdef"><b>Definition</b> Models.h:117</div></div>
+<div class="ttc" id="astructRigidBodyParams2D_html_ab212f53241edb1bf232499a6ba963258"><div class="ttname"><a href="structRigidBodyParams2D.html#ab212f53241edb1bf232499a6ba963258">RigidBodyParams2D::g</a></div><div class="ttdeci">Vector2d g</div><div class="ttdef"><b>Definition</b> Models.h:118</div></div>
+<div class="ttc" id="astructRigidBodyParams3D_html"><div class="ttname"><a href="structRigidBodyParams3D.html">RigidBodyParams3D</a></div><div class="ttdef"><b>Definition</b> Models.h:122</div></div>
+<div class="ttc" id="astructRigidBodyParams3D_html_a049fb70b2897579849053dfe2ea840e6"><div class="ttname"><a href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">RigidBodyParams3D::J</a></div><div class="ttdeci">Matrix3d J</div><div class="ttdef"><b>Definition</b> Models.h:125</div></div>
+<div class="ttc" id="astructRigidBodyParams3D_html_a87b9c6a467ebcd6805a1d9419e6149d1"><div class="ttname"><a href="structRigidBodyParams3D.html#a87b9c6a467ebcd6805a1d9419e6149d1">RigidBodyParams3D::g</a></div><div class="ttdeci">Vector3d g</div><div class="ttdef"><b>Definition</b> Models.h:126</div></div>
+<div class="ttc" id="astructRigidBodyParams3D_html_a8aa76fea7a0790ead025bf79e767d0cf"><div class="ttname"><a href="structRigidBodyParams3D.html#a8aa76fea7a0790ead025bf79e767d0cf">RigidBodyParams3D::RigidBodyParams3D</a></div><div class="ttdeci">RigidBodyParams3D()</div><div class="ttdef"><b>Definition</b> Models.h:123</div></div>
+<div class="ttc" id="astructRigidBodyParams3D_html_acfa4c165c3278306dac4c0f51819e694"><div class="ttname"><a href="structRigidBodyParams3D.html#acfa4c165c3278306dac4c0f51819e694">RigidBodyParams3D::m</a></div><div class="ttdeci">double m</div><div class="ttdef"><b>Definition</b> Models.h:124</div></div>
+<div class="ttc" id="astructRotationalDynamics1DOF_html"><div class="ttname"><a href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a></div><div class="ttdef"><b>Definition</b> Models.h:184</div></div>
+<div class="ttc" id="astructRotationalDynamics1DOF_html_a433f042fafdcff07948eb952e47f13b6"><div class="ttname"><a href="structRotationalDynamics1DOF.html#a433f042fafdcff07948eb952e47f13b6">RotationalDynamics1DOF::update</a></div><div class="ttdeci">static bool update(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdef"><b>Definition</b> Models.h:196</div></div>
+<div class="ttc" id="astructRotationalDynamics1DOF_html_a5e2f1cd471e7be99dc9e0f3f29f146f3"><div class="ttname"><a href="structRotationalDynamics1DOF.html#a5e2f1cd471e7be99dc9e0f3f29f146f3">RotationalDynamics1DOF::StateDotDotType</a></div><div class="ttdeci">typename StateDotSignalType::TangentType StateDotDotType</div><div class="ttdef"><b>Definition</b> Models.h:192</div></div>
+<div class="ttc" id="astructRotationalDynamics1DOF_html_a7df05f9db990eecd331f506d1a17597e"><div class="ttname"><a href="structRotationalDynamics1DOF.html#a7df05f9db990eecd331f506d1a17597e">RotationalDynamics1DOF::StateDotType</a></div><div class="ttdeci">typename StateDotSignalType::BaseType StateDotType</div><div class="ttdef"><b>Definition</b> Models.h:191</div></div>
+<div class="ttc" id="astructRotationalDynamics1DOF_html_aada86d78db85576298e606afda8c928d"><div class="ttname"><a href="structRotationalDynamics1DOF.html#aada86d78db85576298e606afda8c928d">RotationalDynamics1DOF::StateType</a></div><div class="ttdeci">typename StateSignalType::BaseType StateType</div><div class="ttdef"><b>Definition</b> Models.h:190</div></div>
+<div class="ttc" id="astructRotationalDynamics1DOF_html_ad43b9ce6a37b65d677d01ceafe448259"><div class="ttname"><a href="structRotationalDynamics1DOF.html#ad43b9ce6a37b65d677d01ceafe448259">RotationalDynamics1DOF::InputType</a></div><div class="ttdeci">typename InputSignalType::BaseType InputType</div><div class="ttdef"><b>Definition</b> Models.h:189</div></div>
+<div class="ttc" id="astructRotationalDynamics3DOF_html"><div class="ttname"><a href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a></div><div class="ttdef"><b>Definition</b> Models.h:225</div></div>
+<div class="ttc" id="astructRotationalDynamics3DOF_html_a40c9649794d2d6e82da6451d17c32bb5"><div class="ttname"><a href="structRotationalDynamics3DOF.html#a40c9649794d2d6e82da6451d17c32bb5">RotationalDynamics3DOF::StateDotType</a></div><div class="ttdeci">typename StateDotSignalType::BaseType StateDotType</div><div class="ttdef"><b>Definition</b> Models.h:232</div></div>
+<div class="ttc" id="astructRotationalDynamics3DOF_html_a6e75764a6e9b0ec406d716dfb60943b1"><div class="ttname"><a href="structRotationalDynamics3DOF.html#a6e75764a6e9b0ec406d716dfb60943b1">RotationalDynamics3DOF::StateDotDotType</a></div><div class="ttdeci">typename StateDotSignalType::TangentType StateDotDotType</div><div class="ttdef"><b>Definition</b> Models.h:233</div></div>
+<div class="ttc" id="astructRotationalDynamics3DOF_html_aaee29651f3b1671b6ab4e10656ea6f9a"><div class="ttname"><a href="structRotationalDynamics3DOF.html#aaee29651f3b1671b6ab4e10656ea6f9a">RotationalDynamics3DOF::StateType</a></div><div class="ttdeci">typename StateSignalType::BaseType StateType</div><div class="ttdef"><b>Definition</b> Models.h:231</div></div>
+<div class="ttc" id="astructRotationalDynamics3DOF_html_aafaa22bb44de6a10f6293f66da5c52e5"><div class="ttname"><a href="structRotationalDynamics3DOF.html#aafaa22bb44de6a10f6293f66da5c52e5">RotationalDynamics3DOF::InputType</a></div><div class="ttdeci">typename InputSignalType::BaseType InputType</div><div class="ttdef"><b>Definition</b> Models.h:230</div></div>
+<div class="ttc" id="astructRotationalDynamics3DOF_html_aee5958f7949268650c00097b2a871252"><div class="ttname"><a href="structRotationalDynamics3DOF.html#aee5958f7949268650c00097b2a871252">RotationalDynamics3DOF::update</a></div><div class="ttdeci">static bool update(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdef"><b>Definition</b> Models.h:237</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html"><div class="ttname"><a href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a></div><div class="ttdef"><b>Definition</b> Models.h:131</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html_a1f0fdd4bbfb73f52878c7e5c7e459f16"><div class="ttname"><a href="structTranslationalDynamicsBase.html#a1f0fdd4bbfb73f52878c7e5c7e459f16">TranslationalDynamicsBase::StateSignalType</a></div><div class="ttdeci">SDST StateSignalType</div><div class="ttdef"><b>Definition</b> Models.h:134</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html_a25c6532290d222c25e727394a0afa0b7"><div class="ttname"><a href="structTranslationalDynamicsBase.html#a25c6532290d222c25e727394a0afa0b7">TranslationalDynamicsBase::StateDotType</a></div><div class="ttdeci">typename StateDotSignalType::BaseType StateDotType</div><div class="ttdef"><b>Definition</b> Models.h:138</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html_a3870f6b57fcb6cb578b3640401331a39"><div class="ttname"><a href="structTranslationalDynamicsBase.html#a3870f6b57fcb6cb578b3640401331a39">TranslationalDynamicsBase::StateDotSignalType</a></div><div class="ttdeci">SST StateDotSignalType</div><div class="ttdef"><b>Definition</b> Models.h:133</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html_a3f1e02018ec014fe38ba851dc0d5b2ed"><div class="ttname"><a href="structTranslationalDynamicsBase.html#a3f1e02018ec014fe38ba851dc0d5b2ed">TranslationalDynamicsBase::update</a></div><div class="ttdeci">static bool update(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdef"><b>Definition</b> Models.h:143</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html_a4ae3874e31bcc97d54f4cebea0606002"><div class="ttname"><a href="structTranslationalDynamicsBase.html#a4ae3874e31bcc97d54f4cebea0606002">TranslationalDynamicsBase::StateDotDotType</a></div><div class="ttdeci">typename StateDotSignalType::TangentType StateDotDotType</div><div class="ttdef"><b>Definition</b> Models.h:139</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html_a4ba374f05dd1f5c4168adf3d6a15ef0c"><div class="ttname"><a href="structTranslationalDynamicsBase.html#a4ba374f05dd1f5c4168adf3d6a15ef0c">TranslationalDynamicsBase::ParamsType</a></div><div class="ttdeci">PT ParamsType</div><div class="ttdef"><b>Definition</b> Models.h:141</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html_aabb958cc98babacfc8478a04fb7a37dd"><div class="ttname"><a href="structTranslationalDynamicsBase.html#aabb958cc98babacfc8478a04fb7a37dd">TranslationalDynamicsBase::StateType</a></div><div class="ttdeci">typename StateSignalType::BaseType StateType</div><div class="ttdef"><b>Definition</b> Models.h:137</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html_aac403e4db54adf389b8f1fa3700f6f6a"><div class="ttname"><a href="structTranslationalDynamicsBase.html#aac403e4db54adf389b8f1fa3700f6f6a">TranslationalDynamicsBase::InputSignalType</a></div><div class="ttdeci">IST InputSignalType</div><div class="ttdef"><b>Definition</b> Models.h:132</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html_ac57d5ab2e4cf3e6afe4a5ae550e858bb"><div class="ttname"><a href="structTranslationalDynamicsBase.html#ac57d5ab2e4cf3e6afe4a5ae550e858bb">TranslationalDynamicsBase::InputType</a></div><div class="ttdeci">typename InputSignalType::BaseType InputType</div><div class="ttdef"><b>Definition</b> Models.h:136</div></div>
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+<a href="#nested-classes">Classes</a> &#124;
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+<div class="textblock"><code>#include &lt;algorithm&gt;</code><br />
+<code>#include &lt;limits&gt;</code><br />
+<code>#include &lt;Eigen/Core&gt;</code><br />
+<code>#include &lt;SO2.h&gt;</code><br />
+<code>#include &lt;SO3.h&gt;</code><br />
+<code>#include &lt;SE2.h&gt;</code><br />
+<code>#include &lt;SE3.h&gt;</code><br />
+<code>#include &quot;<a class="el" href="Utils_8h_source.html">Utils.h</a>&quot;</code><br />
+</div>
+<p><a href="Signal_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structSignal_1_1SignalDP.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;::SignalDP</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structScalarSignalSpec.html">ScalarSignalSpec&lt; T &gt;</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structVectorSignalSpec.html">VectorSignalSpec&lt; T, d &gt;</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structManifoldSignalSpec.html">ManifoldSignalSpec&lt; ManifoldType &gt;</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="define-members" name="define-members"></a>
+Macros</h2></td></tr>
+<tr class="memitem:a45ef87a3bf4ac7938147e95995f76849" id="r_a45ef87a3bf4ac7938147e95995f76849"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(Dimension)</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="typedef-members" name="typedef-members"></a>
+Typedefs</h2></td></tr>
+<tr class="memitem:a19e9e3fdf9dac462c6fb79ee572d2b4c" id="r_a19e9e3fdf9dac462c6fb79ee572d2b4c"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:a19e9e3fdf9dac462c6fb79ee572d2b4c"><td class="memTemplItemLeft" align="right" valign="top">using&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a19e9e3fdf9dac462c6fb79ee572d2b4c">ScalarSignal</a> = <a class="el" href="classSignal.html">Signal</a>&lt;<a class="el" href="structScalarSignalSpec.html">ScalarSignalSpec</a>&lt;T&gt;, <a class="el" href="structScalarSignalSpec.html">ScalarSignalSpec</a>&lt;T&gt;&gt;</td></tr>
+<tr class="separator:a19e9e3fdf9dac462c6fb79ee572d2b4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a1fbce3445fc6d54d3dfc2aa95fdcc37f" id="r_a1fbce3445fc6d54d3dfc2aa95fdcc37f"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="#afca3faa089af1abf0b808bcb6be5e740">SO3Signal</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a1fbce3445fc6d54d3dfc2aa95fdcc37f">SO3dSignal</a></td></tr>
+<tr class="separator:a1fbce3445fc6d54d3dfc2aa95fdcc37f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad643119cf3272132185b21288c55d408" id="r_ad643119cf3272132185b21288c55d408"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:ad643119cf3272132185b21288c55d408"><td class="memTemplItemLeft" align="right" valign="top">using&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#ad643119cf3272132185b21288c55d408">SE2Signal</a> = <a class="el" href="#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal</a>&lt;T, SE2 &lt;T&gt;, 3 &gt;</td></tr>
+<tr class="separator:ad643119cf3272132185b21288c55d408"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a27317de3cebe688fdf9b1f89e8d749ea" id="r_a27317de3cebe688fdf9b1f89e8d749ea"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="#ad643119cf3272132185b21288c55d408">SE2Signal</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a27317de3cebe688fdf9b1f89e8d749ea">SE2dSignal</a></td></tr>
+<tr class="separator:a27317de3cebe688fdf9b1f89e8d749ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a765b6ae13329153a6b634a059a9402a3" id="r_a765b6ae13329153a6b634a059a9402a3"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:a765b6ae13329153a6b634a059a9402a3"><td class="memTemplItemLeft" align="right" valign="top">using&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a765b6ae13329153a6b634a059a9402a3">SE3Signal</a> = <a class="el" href="#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal</a>&lt;T, SE3 &lt;T&gt;, 6 &gt;</td></tr>
+<tr class="separator:a765b6ae13329153a6b634a059a9402a3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13875f09fcdcc6dd114766bacc38f01b" id="r_a13875f09fcdcc6dd114766bacc38f01b"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="#a765b6ae13329153a6b634a059a9402a3">SE3Signal</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a13875f09fcdcc6dd114766bacc38f01b">SE3dSignal</a></td></tr>
+<tr class="separator:a13875f09fcdcc6dd114766bacc38f01b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="enum-members" name="enum-members"></a>
+Enumerations</h2></td></tr>
+<tr class="memitem:aa0081e804011c551ea0f4a596a64b284" id="r_aa0081e804011c551ea0f4a596a64b284"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aa0081e804011c551ea0f4a596a64b284">InterpolationMethod</a> { <a class="el" href="#aa0081e804011c551ea0f4a596a64b284ad873f8ab97a3f6e892c8b834b23db574">ZERO_ORDER_HOLD</a>
+, <a class="el" href="#aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb">LINEAR</a>
+, <a class="el" href="#aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc">CUBIC_SPLINE</a>
+ }</td></tr>
+<tr class="separator:aa0081e804011c551ea0f4a596a64b284"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+, <a class="el" href="#a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f">ZEROS</a>
+, <a class="el" href="#a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3">CLOSEST</a>
+ }</td></tr>
+<tr class="separator:a9943b8bd1a1a1cdb774553d44c12cde4"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+, <a class="el" href="#a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e">FINITE_DIFF</a>
+ }</td></tr>
+<tr class="separator:a35d05b0e727a39b86907d8669e9e1242"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="func-members" name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:aa4dc7aa056ee91a7dc4ec540b6bc9cd3" id="r_aa4dc7aa056ee91a7dc4ec540b6bc9cd3"><td class="memTemplParams" colspan="2">template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </td></tr>
+<tr class="memitem:aa4dc7aa056ee91a7dc4ec540b6bc9cd3"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#aa4dc7aa056ee91a7dc4ec540b6bc9cd3">operator+</a> (const <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;l, const <a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;r)</td></tr>
+<tr class="separator:aa4dc7aa056ee91a7dc4ec540b6bc9cd3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afd611b1d0ab8c1f43be72184926ec8ac" id="r_afd611b1d0ab8c1f43be72184926ec8ac"><td class="memTemplParams" colspan="2">template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </td></tr>
+<tr class="memitem:afd611b1d0ab8c1f43be72184926ec8ac"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#afd611b1d0ab8c1f43be72184926ec8ac">operator-</a> (const <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;l, const <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;r)</td></tr>
+<tr class="separator:afd611b1d0ab8c1f43be72184926ec8ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad77fa5fab1a3e9a6ca4d7e87364003b9" id="r_ad77fa5fab1a3e9a6ca4d7e87364003b9"><td class="memTemplParams" colspan="2">template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </td></tr>
+<tr class="memitem:ad77fa5fab1a3e9a6ca4d7e87364003b9"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#ad77fa5fab1a3e9a6ca4d7e87364003b9">operator*</a> (const double &amp;l, const <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;r)</td></tr>
+<tr class="separator:ad77fa5fab1a3e9a6ca4d7e87364003b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae0b0bee5051aeec3c9cff9fd148d8cb5" id="r_ae0b0bee5051aeec3c9cff9fd148d8cb5"><td class="memTemplParams" colspan="2">template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </td></tr>
+<tr class="memitem:ae0b0bee5051aeec3c9cff9fd148d8cb5"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#ae0b0bee5051aeec3c9cff9fd148d8cb5">operator*</a> (const <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;l, const double &amp;r)</td></tr>
+<tr class="separator:ae0b0bee5051aeec3c9cff9fd148d8cb5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47318c97bced9b7ee828c94c1a4eeb29" id="r_a47318c97bced9b7ee828c94c1a4eeb29"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:a47318c97bced9b7ee828c94c1a4eeb29"><td class="memTemplItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a47318c97bced9b7ee828c94c1a4eeb29">operator&lt;&lt;</a> (std::ostream &amp;os, const <a class="el" href="#a19e9e3fdf9dac462c6fb79ee572d2b4c">ScalarSignal</a>&lt; T &gt; &amp;x)</td></tr>
+<tr class="separator:a47318c97bced9b7ee828c94c1a4eeb29"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aeb7f6d79d7e692981221b685c0863d54" id="r_aeb7f6d79d7e692981221b685c0863d54"><td class="memTemplParams" colspan="2">template&lt;typename T , size_t d&gt; </td></tr>
+<tr class="memitem:aeb7f6d79d7e692981221b685c0863d54"><td class="memTemplItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#aeb7f6d79d7e692981221b685c0863d54">operator&lt;&lt;</a> (std::ostream &amp;os, const <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt; T, d &gt; &amp;x)</td></tr>
+<tr class="separator:aeb7f6d79d7e692981221b685c0863d54"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6a76598b459ea2e14353617de437c808" id="r_a6a76598b459ea2e14353617de437c808"><td class="memTemplParams" colspan="2">template&lt;typename T , typename ManifoldType , size_t d&gt; </td></tr>
+<tr class="memitem:a6a76598b459ea2e14353617de437c808"><td class="memTemplItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a6a76598b459ea2e14353617de437c808">operator&lt;&lt;</a> (std::ostream &amp;os, const <a class="el" href="#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal</a>&lt; T, ManifoldType, d &gt; &amp;x)</td></tr>
+<tr class="separator:a6a76598b459ea2e14353617de437c808"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Macro Definition Documentation</h2>
+<a id="adf89e7a1e286d52fa755d04f0c087ea3" name="adf89e7a1e286d52fa755d04f0c087ea3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adf89e7a1e286d52fa755d04f0c087ea3">&#9670;&#160;</a></span>MAKE_MANIF_SIGNAL</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAKE_MANIF_SIGNAL</td>
+          <td>(</td>
+          <td class="paramtype"></td>          <td class="paramname"><span class="paramname">Manif, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"></td>          <td class="paramname"><span class="paramname">Dimension</span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Value:</b><div class="fragment"><div class="line">    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;                                                                                               \</div>
+<div class="line">    <span class="keyword">using </span>Manif##<a class="code hl_class" href="classSignal.html">Signal</a> = <a class="code hl_class" href="classSignal.html">ManifoldSignal&lt;T, Manif&lt;T&gt;</a>, Dimension&gt;;                                                      \</div>
+<div class="line">    <span class="keyword">typedef</span> Manif##<a class="code hl_class" href="classSignal.html">Signal&lt;double&gt;</a> Manif##dSignal;</div>
+<div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:35</div></div>
+</div><!-- fragment -->
+</div>
+</div>
+<a id="a45ef87a3bf4ac7938147e95995f76849" name="a45ef87a3bf4ac7938147e95995f76849"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a45ef87a3bf4ac7938147e95995f76849">&#9670;&#160;</a></span>MAKE_VECTOR_SIGNAL</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAKE_VECTOR_SIGNAL</td>
+          <td>(</td>
+          <td class="paramtype"></td>          <td class="paramname"><span class="paramname">Dimension</span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Value:</b><div class="fragment"><div class="line">    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;                                                                                               \</div>
+<div class="line">    <span class="keyword">using </span>Vector##Dimension##<a class="code hl_class" href="classSignal.html">Signal</a> = <a class="code hl_class" href="classSignal.html">VectorSignal&lt;T, Dimension&gt;</a>;                                                      \</div>
+<div class="line">    <span class="keyword">typedef</span> Vector##Dimension##<a class="code hl_class" href="classSignal.html">Signal&lt;double&gt;</a> Vector##Dimension##dSignal;</div>
+</div><!-- fragment -->
+</div>
+</div>
+<h2 class="groupheader">Typedef Documentation</h2>
+<a id="a278e5023dd90a58b58ce28b413ecec4a" name="a278e5023dd90a58b58ce28b413ecec4a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a278e5023dd90a58b58ce28b413ecec4a">&#9670;&#160;</a></span>ManifoldSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename ManifoldType , size_t d&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal</a> = <a class="el" href="classSignal.html">Signal</a>&lt;<a class="el" href="structManifoldSignalSpec.html">ManifoldSignalSpec</a>&lt;ManifoldType&gt;, <a class="el" href="structVectorSignalSpec.html">VectorSignalSpec</a>&lt;T, d&gt;&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5d3a7fde60e049b3fb16e62c397585a0" name="a5d3a7fde60e049b3fb16e62c397585a0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5d3a7fde60e049b3fb16e62c397585a0">&#9670;&#160;</a></span>ScalardSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a19e9e3fdf9dac462c6fb79ee572d2b4c">ScalarSignal</a>&lt;double&gt; <a class="el" href="#a5d3a7fde60e049b3fb16e62c397585a0">ScalardSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a19e9e3fdf9dac462c6fb79ee572d2b4c" name="a19e9e3fdf9dac462c6fb79ee572d2b4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19e9e3fdf9dac462c6fb79ee572d2b4c">&#9670;&#160;</a></span>ScalarSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a19e9e3fdf9dac462c6fb79ee572d2b4c">ScalarSignal</a> = <a class="el" href="classSignal.html">Signal</a>&lt;<a class="el" href="structScalarSignalSpec.html">ScalarSignalSpec</a>&lt;T&gt;, <a class="el" href="structScalarSignalSpec.html">ScalarSignalSpec</a>&lt;T&gt;&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a27317de3cebe688fdf9b1f89e8d749ea" name="a27317de3cebe688fdf9b1f89e8d749ea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a27317de3cebe688fdf9b1f89e8d749ea">&#9670;&#160;</a></span>SE2dSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#ad643119cf3272132185b21288c55d408">SE2Signal</a>&lt;double&gt; <a class="el" href="#a27317de3cebe688fdf9b1f89e8d749ea">SE2dSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad643119cf3272132185b21288c55d408" name="ad643119cf3272132185b21288c55d408"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad643119cf3272132185b21288c55d408">&#9670;&#160;</a></span>SE2Signal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#ad643119cf3272132185b21288c55d408">SE2Signal</a> = <a class="el" href="#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal</a>&lt;T, SE2 &lt;T&gt;, 3 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a13875f09fcdcc6dd114766bacc38f01b" name="a13875f09fcdcc6dd114766bacc38f01b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13875f09fcdcc6dd114766bacc38f01b">&#9670;&#160;</a></span>SE3dSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a765b6ae13329153a6b634a059a9402a3">SE3Signal</a>&lt;double&gt; <a class="el" href="#a13875f09fcdcc6dd114766bacc38f01b">SE3dSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a765b6ae13329153a6b634a059a9402a3" name="a765b6ae13329153a6b634a059a9402a3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a765b6ae13329153a6b634a059a9402a3">&#9670;&#160;</a></span>SE3Signal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a765b6ae13329153a6b634a059a9402a3">SE3Signal</a> = <a class="el" href="#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal</a>&lt;T, SE3 &lt;T&gt;, 6 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a43a8b3bb4241f080c75114c98502e21b" name="a43a8b3bb4241f080c75114c98502e21b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a43a8b3bb4241f080c75114c98502e21b">&#9670;&#160;</a></span>SO2dSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#ac36c4f295327639b98a801301e288845">SO2Signal</a>&lt;double&gt; <a class="el" href="#a43a8b3bb4241f080c75114c98502e21b">SO2dSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac36c4f295327639b98a801301e288845" name="ac36c4f295327639b98a801301e288845"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac36c4f295327639b98a801301e288845">&#9670;&#160;</a></span>SO2Signal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#ac36c4f295327639b98a801301e288845">SO2Signal</a> = <a class="el" href="#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal</a>&lt;T, SO2 &lt;T&gt;, 1 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1fbce3445fc6d54d3dfc2aa95fdcc37f" name="a1fbce3445fc6d54d3dfc2aa95fdcc37f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1fbce3445fc6d54d3dfc2aa95fdcc37f">&#9670;&#160;</a></span>SO3dSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#afca3faa089af1abf0b808bcb6be5e740">SO3Signal</a>&lt;double&gt; <a class="el" href="#a1fbce3445fc6d54d3dfc2aa95fdcc37f">SO3dSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="afca3faa089af1abf0b808bcb6be5e740" name="afca3faa089af1abf0b808bcb6be5e740"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afca3faa089af1abf0b808bcb6be5e740">&#9670;&#160;</a></span>SO3Signal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#afca3faa089af1abf0b808bcb6be5e740">SO3Signal</a> = <a class="el" href="#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal</a>&lt;T, SO3 &lt;T&gt;, 3 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a75b25f1facc38a02d21c155ec05655cc" name="a75b25f1facc38a02d21c155ec05655cc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a75b25f1facc38a02d21c155ec05655cc">&#9670;&#160;</a></span>Vector10dSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#ae39387d9fa8cf1afc6a66334312b3e68">Vector10Signal</a>&lt;double&gt; <a class="el" href="#a75b25f1facc38a02d21c155ec05655cc">Vector10dSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae39387d9fa8cf1afc6a66334312b3e68" name="ae39387d9fa8cf1afc6a66334312b3e68"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae39387d9fa8cf1afc6a66334312b3e68">&#9670;&#160;</a></span>Vector10Signal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#ae39387d9fa8cf1afc6a66334312b3e68">Vector10Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 10 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a22bc2b41e336fe6237cfa41ac7b57d0b" name="a22bc2b41e336fe6237cfa41ac7b57d0b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a22bc2b41e336fe6237cfa41ac7b57d0b">&#9670;&#160;</a></span>Vector1dSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a655827b9e6d4727905cbaae6a996df8f">Vector1Signal</a>&lt;double&gt; <a class="el" href="#a22bc2b41e336fe6237cfa41ac7b57d0b">Vector1dSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a655827b9e6d4727905cbaae6a996df8f" name="a655827b9e6d4727905cbaae6a996df8f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a655827b9e6d4727905cbaae6a996df8f">&#9670;&#160;</a></span>Vector1Signal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a655827b9e6d4727905cbaae6a996df8f">Vector1Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 1 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a718e737386d2321f3e31df01ffe2fd61" name="a718e737386d2321f3e31df01ffe2fd61"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a718e737386d2321f3e31df01ffe2fd61">&#9670;&#160;</a></span>Vector2dSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#af705b24c209ce15ac1b412cbe7e52615">Vector2Signal</a>&lt;double&gt; <a class="el" href="#a718e737386d2321f3e31df01ffe2fd61">Vector2dSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af705b24c209ce15ac1b412cbe7e52615" name="af705b24c209ce15ac1b412cbe7e52615"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af705b24c209ce15ac1b412cbe7e52615">&#9670;&#160;</a></span>Vector2Signal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#af705b24c209ce15ac1b412cbe7e52615">Vector2Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 2 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="addff0c3095fce02a8ae3d8669292ea8a" name="addff0c3095fce02a8ae3d8669292ea8a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#addff0c3095fce02a8ae3d8669292ea8a">&#9670;&#160;</a></span>Vector3dSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a6f00143250c4d5856a25417d2fb5908f">Vector3Signal</a>&lt;double&gt; <a class="el" href="#addff0c3095fce02a8ae3d8669292ea8a">Vector3dSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6f00143250c4d5856a25417d2fb5908f" name="a6f00143250c4d5856a25417d2fb5908f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6f00143250c4d5856a25417d2fb5908f">&#9670;&#160;</a></span>Vector3Signal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a6f00143250c4d5856a25417d2fb5908f">Vector3Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 3 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a785560e5ddb26fcf9edc2eb9f34e7ec8" name="a785560e5ddb26fcf9edc2eb9f34e7ec8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a785560e5ddb26fcf9edc2eb9f34e7ec8">&#9670;&#160;</a></span>Vector4dSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a30e3e4193a15b7c565df9edcf0b1a81b">Vector4Signal</a>&lt;double&gt; <a class="el" href="#a785560e5ddb26fcf9edc2eb9f34e7ec8">Vector4dSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a30e3e4193a15b7c565df9edcf0b1a81b" name="a30e3e4193a15b7c565df9edcf0b1a81b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a30e3e4193a15b7c565df9edcf0b1a81b">&#9670;&#160;</a></span>Vector4Signal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a30e3e4193a15b7c565df9edcf0b1a81b">Vector4Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 4 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad0b807d45bcfe07cc9a2f54648dd4821" name="ad0b807d45bcfe07cc9a2f54648dd4821"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad0b807d45bcfe07cc9a2f54648dd4821">&#9670;&#160;</a></span>Vector5dSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#ab517aee0ae3891deb305ebd61de6f0e4">Vector5Signal</a>&lt;double&gt; <a class="el" href="#ad0b807d45bcfe07cc9a2f54648dd4821">Vector5dSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab517aee0ae3891deb305ebd61de6f0e4" name="ab517aee0ae3891deb305ebd61de6f0e4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab517aee0ae3891deb305ebd61de6f0e4">&#9670;&#160;</a></span>Vector5Signal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#ab517aee0ae3891deb305ebd61de6f0e4">Vector5Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 5 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="acb50cf2886559fdfc3aba4ee722f511a" name="acb50cf2886559fdfc3aba4ee722f511a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acb50cf2886559fdfc3aba4ee722f511a">&#9670;&#160;</a></span>Vector6dSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a74174cf187bc4e74b3e7494b247e0284">Vector6Signal</a>&lt;double&gt; <a class="el" href="#acb50cf2886559fdfc3aba4ee722f511a">Vector6dSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a74174cf187bc4e74b3e7494b247e0284" name="a74174cf187bc4e74b3e7494b247e0284"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a74174cf187bc4e74b3e7494b247e0284">&#9670;&#160;</a></span>Vector6Signal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a74174cf187bc4e74b3e7494b247e0284">Vector6Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 6 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="afea76be78e2b329344fb610a62c421e9" name="afea76be78e2b329344fb610a62c421e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afea76be78e2b329344fb610a62c421e9">&#9670;&#160;</a></span>Vector7dSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a992c3596420601f0271876e30a152c1b">Vector7Signal</a>&lt;double&gt; <a class="el" href="#afea76be78e2b329344fb610a62c421e9">Vector7dSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a992c3596420601f0271876e30a152c1b" name="a992c3596420601f0271876e30a152c1b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a992c3596420601f0271876e30a152c1b">&#9670;&#160;</a></span>Vector7Signal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a992c3596420601f0271876e30a152c1b">Vector7Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 7 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad2214d5fb3267b191128fcccb515448b" name="ad2214d5fb3267b191128fcccb515448b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad2214d5fb3267b191128fcccb515448b">&#9670;&#160;</a></span>Vector8dSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#afaa686fc5ec63962f7da9907e6093e65">Vector8Signal</a>&lt;double&gt; <a class="el" href="#ad2214d5fb3267b191128fcccb515448b">Vector8dSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="afaa686fc5ec63962f7da9907e6093e65" name="afaa686fc5ec63962f7da9907e6093e65"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afaa686fc5ec63962f7da9907e6093e65">&#9670;&#160;</a></span>Vector8Signal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#afaa686fc5ec63962f7da9907e6093e65">Vector8Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 8 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="acd349d949f45a7bce633414d05043cc3" name="acd349d949f45a7bce633414d05043cc3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd349d949f45a7bce633414d05043cc3">&#9670;&#160;</a></span>Vector9dSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a20d6ecf779577c444e3d1299861a3f8b">Vector9Signal</a>&lt;double&gt; <a class="el" href="#acd349d949f45a7bce633414d05043cc3">Vector9dSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a20d6ecf779577c444e3d1299861a3f8b" name="a20d6ecf779577c444e3d1299861a3f8b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a20d6ecf779577c444e3d1299861a3f8b">&#9670;&#160;</a></span>Vector9Signal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a20d6ecf779577c444e3d1299861a3f8b">Vector9Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 9 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a51a32a4dd69ee28867dba6202c812c5a" name="a51a32a4dd69ee28867dba6202c812c5a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a51a32a4dd69ee28867dba6202c812c5a">&#9670;&#160;</a></span>VectorSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , size_t d&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a> = <a class="el" href="classSignal.html">Signal</a>&lt;<a class="el" href="structVectorSignalSpec.html">VectorSignalSpec</a>&lt;T, d&gt;, <a class="el" href="structVectorSignalSpec.html">VectorSignalSpec</a>&lt;T, d&gt;&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Enumeration Type Documentation</h2>
+<a id="a35d05b0e727a39b86907d8669e9e1242" name="a35d05b0e727a39b86907d8669e9e1242"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a35d05b0e727a39b86907d8669e9e1242">&#9670;&#160;</a></span>DerivativeMethod</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum <a class="el" href="#a35d05b0e727a39b86907d8669e9e1242">DerivativeMethod</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<table class="fieldtable">
+<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c" name="a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c"></a>DIRTY&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e" name="a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e"></a>FINITE_DIFF&#160;</td><td class="fielddoc"></td></tr>
+</table>
+
+</div>
+</div>
+<a id="a9943b8bd1a1a1cdb774553d44c12cde4" name="a9943b8bd1a1a1cdb774553d44c12cde4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9943b8bd1a1a1cdb774553d44c12cde4">&#9670;&#160;</a></span>ExtrapolationMethod</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum <a class="el" href="#a9943b8bd1a1a1cdb774553d44c12cde4">ExtrapolationMethod</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<table class="fieldtable">
+<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a9943b8bd1a1a1cdb774553d44c12cde4af4517d0db561241ccfcf150e1629767f" name="a9943b8bd1a1a1cdb774553d44c12cde4af4517d0db561241ccfcf150e1629767f"></a>NANS&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f" name="a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f"></a>ZEROS&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3" name="a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3"></a>CLOSEST&#160;</td><td class="fielddoc"></td></tr>
+</table>
+
+</div>
+</div>
+<a id="aa0081e804011c551ea0f4a596a64b284" name="aa0081e804011c551ea0f4a596a64b284"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa0081e804011c551ea0f4a596a64b284">&#9670;&#160;</a></span>InterpolationMethod</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum <a class="el" href="#aa0081e804011c551ea0f4a596a64b284">InterpolationMethod</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<table class="fieldtable">
+<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="aa0081e804011c551ea0f4a596a64b284ad873f8ab97a3f6e892c8b834b23db574" name="aa0081e804011c551ea0f4a596a64b284ad873f8ab97a3f6e892c8b834b23db574"></a>ZERO_ORDER_HOLD&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb" name="aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb"></a>LINEAR&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc" name="aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc"></a>CUBIC_SPLINE&#160;</td><td class="fielddoc"></td></tr>
+</table>
+
+</div>
+</div>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="ad77fa5fab1a3e9a6ca4d7e87364003b9" name="ad77fa5fab1a3e9a6ca4d7e87364003b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad77fa5fab1a3e9a6ca4d7e87364003b9">&#9670;&#160;</a></span>operator*() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; operator* </td>
+          <td>(</td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>r</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae0b0bee5051aeec3c9cff9fd148d8cb5" name="ae0b0bee5051aeec3c9cff9fd148d8cb5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae0b0bee5051aeec3c9cff9fd148d8cb5">&#9670;&#160;</a></span>operator*() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; operator* </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>r</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aa4dc7aa056ee91a7dc4ec540b6bc9cd3" name="aa4dc7aa056ee91a7dc4ec540b6bc9cd3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa4dc7aa056ee91a7dc4ec540b6bc9cd3">&#9670;&#160;</a></span>operator+()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; operator+ </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>r</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="afd611b1d0ab8c1f43be72184926ec8ac" name="afd611b1d0ab8c1f43be72184926ec8ac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afd611b1d0ab8c1f43be72184926ec8ac">&#9670;&#160;</a></span>operator-()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt; operator- </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>r</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6a76598b459ea2e14353617de437c808" name="a6a76598b459ea2e14353617de437c808"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a76598b459ea2e14353617de437c808">&#9670;&#160;</a></span>operator&lt;&lt;() <span class="overload">[1/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename ManifoldType , size_t d&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::ostream &amp; operator&lt;&lt; </td>
+          <td>(</td>
+          <td class="paramtype">std::ostream &amp;</td>          <td class="paramname"><span class="paramname"><em>os</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal</a>&lt; T, ManifoldType, d &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a47318c97bced9b7ee828c94c1a4eeb29" name="a47318c97bced9b7ee828c94c1a4eeb29"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a47318c97bced9b7ee828c94c1a4eeb29">&#9670;&#160;</a></span>operator&lt;&lt;() <span class="overload">[2/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::ostream &amp; operator&lt;&lt; </td>
+          <td>(</td>
+          <td class="paramtype">std::ostream &amp;</td>          <td class="paramname"><span class="paramname"><em>os</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#a19e9e3fdf9dac462c6fb79ee572d2b4c">ScalarSignal</a>&lt; T &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aeb7f6d79d7e692981221b685c0863d54" name="aeb7f6d79d7e692981221b685c0863d54"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeb7f6d79d7e692981221b685c0863d54">&#9670;&#160;</a></span>operator&lt;&lt;() <span class="overload">[3/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , size_t d&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::ostream &amp; operator&lt;&lt; </td>
+          <td>(</td>
+          <td class="paramtype">std::ostream &amp;</td>          <td class="paramname"><span class="paramname"><em>os</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt; T, d &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+<div class="contents">
+<a href="Signal_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#include &lt;algorithm&gt;</span></div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;limits&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;SO2.h&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;SO3.h&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;SE2.h&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;SE3.h&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &quot;<a class="code" href="Utils_8h.html">Utils.h</a>&quot;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="keyword">using namespace </span>Eigen;</div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
+<div class="foldopen" id="foldopen00013" data-start="{" data-end="};">
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284">   13</a></span><span class="keyword">enum</span> <a class="code hl_enumeration" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284">InterpolationMethod</a></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>{</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284ad873f8ab97a3f6e892c8b834b23db574">   15</a></span>    <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284ad873f8ab97a3f6e892c8b834b23db574">ZERO_ORDER_HOLD</a>,</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb">   16</a></span>    <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb">LINEAR</a>,</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc">CUBIC_SPLINE</a></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc">   18</a></span>};</div>
+</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
+<div class="foldopen" id="foldopen00020" data-start="{" data-end="};">
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4">   20</a></span><span class="keyword">enum</span> <a class="code hl_enumeration" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4">ExtrapolationMethod</a></div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>{</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4af4517d0db561241ccfcf150e1629767f">   22</a></span>    <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4af4517d0db561241ccfcf150e1629767f">NANS</a>,</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f">   23</a></span>    <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f">ZEROS</a>,</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>    <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3">CLOSEST</a></div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3">   25</a></span>};</div>
+</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="foldopen" id="foldopen00027" data-start="{" data-end="};">
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242">   27</a></span><span class="keyword">enum</span> <a class="code hl_enumeration" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242">DerivativeMethod</a></div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>{</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c">   29</a></span>    <a class="code hl_enumvalue" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c">DIRTY</a>,</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    <a class="code hl_enumvalue" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e">FINITE_DIFF</a></div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e">   31</a></span>};</div>
+</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
+<div class="foldopen" id="foldopen00034" data-start="{" data-end="};">
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"><a class="line" href="classSignal.html">   34</a></span><span class="keyword">class </span><a class="code hl_class" href="classSignal.html">Signal</a></div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>{</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">   37</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>    = <span class="keyword">typename</span> BaseSignalSpec::Type;</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">   38</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> = <span class="keyword">typename</span> TangentSignalSpec::Type;</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
+<div class="foldopen" id="foldopen00040" data-start="{" data-end="};">
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="structSignal_1_1SignalDP.html">   40</a></span>    <span class="keyword">struct </span><a class="code hl_struct" href="structSignal_1_1SignalDP.html">SignalDP</a></div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    {</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="structSignal_1_1SignalDP.html#ac9d0651b25c9bcf14fcfc65a32fcfa86">   42</a></span>        <span class="keywordtype">double</span>      <a class="code hl_variable" href="structSignal_1_1SignalDP.html#ac9d0651b25c9bcf14fcfc65a32fcfa86">t</a>;</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="structSignal_1_1SignalDP.html#a9b7c7d507ee5f16f1909dccdae98e649">   43</a></span>        <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>    <a class="code hl_variable" href="structSignal_1_1SignalDP.html#a9b7c7d507ee5f16f1909dccdae98e649">x</a>;</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="structSignal_1_1SignalDP.html#a31d004bf32039463b33344e4c10bd5bb">   44</a></span>        <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> <a class="code hl_variable" href="structSignal_1_1SignalDP.html#a31d004bf32039463b33344e4c10bd5bb">xdot</a>;</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    };</div>
+</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    <span class="keyword">struct</span></div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    {</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="classSignal.html#a2d222b24cb25f6f228a0c69d71d95918">operator()</a>(<a class="code hl_struct" href="structSignal_1_1SignalDP.html">SignalDP</a> a, <a class="code hl_struct" href="structSignal_1_1SignalDP.html">SignalDP</a> b)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span><span class="keyword">        </span>{</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>            <span class="keywordflow">return</span> a.<a class="code hl_variable" href="structSignal_1_1SignalDP.html#ac9d0651b25c9bcf14fcfc65a32fcfa86">t</a> &lt; b.<a class="code hl_variable" href="structSignal_1_1SignalDP.html#ac9d0651b25c9bcf14fcfc65a32fcfa86">t</a>;</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>        }</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">   53</a></span>    } <a class="code hl_variable" href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">SignalDPComparator</a>;</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">   55</a></span>    <a class="code hl_enumeration" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284">InterpolationMethod</a> <a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a>;</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">   56</a></span>    <a class="code hl_enumeration" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4">ExtrapolationMethod</a> <a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a>;</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"><a class="line" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">   57</a></span>    <a class="code hl_enumeration" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242">DerivativeMethod</a>    <a class="code hl_variable" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a>;</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
+<div class="foldopen" id="foldopen00059" data-start="{" data-end="}">
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">   59</a></span>    <a class="code hl_function" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal</a>()</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    {</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>        <a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a> = <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb">InterpolationMethod::LINEAR</a>;</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>        <a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a> = <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f">ExtrapolationMethod::ZEROS</a>;</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>        <a class="code hl_variable" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a>    = <a class="code hl_enumvalue" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c">DerivativeMethod::DIRTY</a>;</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        <a class="code hl_function" href="classSignal.html#a914fd7f09ae0723c88fce310fd7c79fd">reset</a>();</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    }</div>
+</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
+<div class="foldopen" id="foldopen00067" data-start="{" data-end="}">
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="classSignal.html#a81a95abda92d3efc0bd4b4ccba77e303">   67</a></span>    <a class="code hl_function" href="classSignal.html#a81a95abda92d3efc0bd4b4ccba77e303">Signal</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal</a>&amp; other)</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    {</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        this-&gt;interpolationMethod = other.<a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a>;</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>        this-&gt;extrapolationMethod = other.<a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a>;</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>        this-&gt;derivativeMethod    = other.<a class="code hl_variable" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a>;</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        this-&gt;t_                  = other.t_;</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        this-&gt;x_                  = other.x_;</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        this-&gt;xdot_               = other.xdot_;</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>        this-&gt;signalHistory_      = other.signalHistory_;</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>        this-&gt;needsSort_          = other.needsSort_;</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    }</div>
+</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
+<div class="foldopen" id="foldopen00079" data-start="{" data-end="}">
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="classSignal.html#a95241f68d33194232ba1eea1747a5231">   79</a></span>    <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a> <a class="code hl_function" href="classSignal.html#a95241f68d33194232ba1eea1747a5231">dotSignal</a>()</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    {</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>        <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a> signalDot;</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>        <span class="keywordflow">for</span> (<span class="keyword">auto</span> signalDP : signalHistory_)</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>        {</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>            signalDot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(signalDP.t, signalDP.xdot, <span class="keyword">true</span>);</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>        }</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        signalDot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>(), <a class="code hl_function" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>());</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>        <span class="keywordflow">return</span> signalDot;</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    }</div>
+</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span> </div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BSS, <span class="keyword">typename</span> TSS&gt;</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="classSignal.html#aead0dbc78a90fbd6ad3f86ab61ed65f7">   91</a></span>    <span class="keyword">friend</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a> <a class="code hl_friend" href="classSignal.html#aead0dbc78a90fbd6ad3f86ab61ed65f7">operator+</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a>&amp; l, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TSS, TSS&gt;</a>&amp; r);</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BSS, <span class="keyword">typename</span> TSS&gt;</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classSignal.html#a22d02130c5fec79a084ef4d1a28521dc">   94</a></span>    <span class="keyword">friend</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TSS, TSS&gt;</a> <a class="code hl_friend" href="classSignal.html#a22d02130c5fec79a084ef4d1a28521dc">operator-</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a>&amp; l, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a>&amp; r);</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BSS, <span class="keyword">typename</span> TSS&gt;</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classSignal.html#ad61a2749da48601dcf27bedaa0cf54fd">   97</a></span>    <span class="keyword">friend</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a> <a class="code hl_friend" href="classSignal.html#ad61a2749da48601dcf27bedaa0cf54fd">operator*</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; l, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a>&amp; r);</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BSS, <span class="keyword">typename</span> TSS&gt;</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="classSignal.html#ae5d88905516fd17257964442b0830584">  100</a></span>    <span class="keyword">friend</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a> <a class="code hl_friend" href="classSignal.html#ae5d88905516fd17257964442b0830584">operator*</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r);</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
+<div class="foldopen" id="foldopen00102" data-start="{" data-end="}">
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">  102</a></span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>        <span class="keywordflow">return</span> t_;</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    }</div>
+</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span> </div>
+<div class="foldopen" id="foldopen00107" data-start="{" data-end="}">
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"><a class="line" href="classSignal.html#a2d222b24cb25f6f228a0c69d71d95918">  107</a></span>    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> <a class="code hl_function" href="classSignal.html#a2d222b24cb25f6f228a0c69d71d95918">operator()</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>        <span class="keywordflow">return</span> x_;</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    }</div>
+</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span> </div>
+<div class="foldopen" id="foldopen00112" data-start="{" data-end="}">
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"><a class="line" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">  112</a></span>    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> <a class="code hl_function" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>        <span class="keywordflow">return</span> xdot_;</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    }</div>
+</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span> </div>
+<div class="foldopen" id="foldopen00117" data-start="{" data-end="}">
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="classSignal.html#ad32d0b6b6bbc54ab8bd0fa63ed3039b9">  117</a></span>    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> <a class="code hl_function" href="classSignal.html#ad32d0b6b6bbc54ab8bd0fa63ed3039b9">operator()</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>        <span class="keywordflow">return</span> xAt(<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>);</div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    }</div>
+</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span> </div>
+<div class="foldopen" id="foldopen00122" data-start="{" data-end="}">
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="classSignal.html#a8989cbb307917a9c1f6331be2a5ae4e9">  122</a></span>    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> <a class="code hl_function" href="classSignal.html#a8989cbb307917a9c1f6331be2a5ae4e9">dot</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>        <span class="keywordflow">return</span> xDotAt(<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>);</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    }</div>
+</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span> </div>
+<div class="foldopen" id="foldopen00127" data-start="{" data-end="}">
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"><a class="line" href="classSignal.html#abf8612dae8c835fa349c6f26201016eb">  127</a></span>    std::vector&lt;BaseType&gt; <a class="code hl_function" href="classSignal.html#abf8612dae8c835fa349c6f26201016eb">operator()</a>(<span class="keyword">const</span> std::vector&lt;double&gt;&amp; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>        std::vector&lt;BaseType&gt; xInterp;</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>.size(); i++)</div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>        {</div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>            xInterp.push_back(xAt(<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>[i]));</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>        }</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>        <span class="keywordflow">return</span> xInterp;</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    }</div>
+</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span> </div>
+<div class="foldopen" id="foldopen00137" data-start="{" data-end="}">
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"><a class="line" href="classSignal.html#aad31a21f4a7d572da1e06e407ccacecd">  137</a></span>    std::vector&lt;TangentType&gt; <a class="code hl_function" href="classSignal.html#aad31a21f4a7d572da1e06e407ccacecd">dot</a>(<span class="keyword">const</span> std::vector&lt;double&gt;&amp; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>        std::vector&lt;TangentType&gt; xDotInterp;</div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>.size(); i++)</div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>        {</div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>            xDotInterp.push_back(xDotAt(<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>[i]));</div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>        }</div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>        <span class="keywordflow">return</span> xDotInterp;</div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>    }</div>
+</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span> </div>
+<div class="foldopen" id="foldopen00147" data-start="{" data-end="}">
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"><a class="line" href="classSignal.html#af336f3d6a2d643040dff9fb5b4c20558">  147</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classSignal.html#af336f3d6a2d643040dff9fb5b4c20558">setInterpolationMethod</a>(<a class="code hl_enumeration" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284">InterpolationMethod</a> method)</div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    {</div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>        <a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a> = method;</div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    }</div>
+</div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span> </div>
+<div class="foldopen" id="foldopen00152" data-start="{" data-end="}">
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="classSignal.html#ac3be206ae717ad5e977d8a108de9b9e4">  152</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classSignal.html#ac3be206ae717ad5e977d8a108de9b9e4">setExtrapolationMethod</a>(<a class="code hl_enumeration" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4">ExtrapolationMethod</a> method)</div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    {</div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>        <a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a> = method;</div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    }</div>
+</div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span> </div>
+<div class="foldopen" id="foldopen00157" data-start="{" data-end="}">
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"><a class="line" href="classSignal.html#a8c25f302d3c4feaa1a4c1f6d59381d89">  157</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classSignal.html#a8c25f302d3c4feaa1a4c1f6d59381d89">setDerivativeMethod</a>(<a class="code hl_enumeration" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242">DerivativeMethod</a> method)</div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    {</div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>        <a class="code hl_variable" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a> = method;</div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    }</div>
+</div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span> </div>
+<div class="foldopen" id="foldopen00162" data-start="{" data-end="}">
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"><a class="line" href="classSignal.html#a914fd7f09ae0723c88fce310fd7c79fd">  162</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classSignal.html#a914fd7f09ae0723c88fce310fd7c79fd">reset</a>()</div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    {</div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>        t_    = -1.0;</div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>        x_    = BaseSignalSpec::ZeroType();</div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>        xdot_ = TangentSignalSpec::ZeroType();</div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>        signalHistory_.clear();</div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>        needsSort_ = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>    }</div>
+</div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span> </div>
+<div class="foldopen" id="foldopen00171" data-start="{" data-end="}">
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"><a class="line" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">  171</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; _t, <span class="keyword">const</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>&amp; _x, <span class="keywordtype">bool</span> insertHistory = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>    {</div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>        <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> _xdot;</div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>        <span class="keywordflow">if</span> (!calculateDerivative(_t, _x, _xdot))</div>
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>        {</div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>        }</div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(_t, _x, _xdot, insertHistory);</div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>    }</div>
+</div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span> </div>
+<div class="foldopen" id="foldopen00181" data-start="{" data-end="}">
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"><a class="line" href="classSignal.html#a6c7174c9bb20970ebb3de64687f771d8">  181</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classSignal.html#a6c7174c9bb20970ebb3de64687f771d8">update</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; _t, <span class="keyword">const</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>&amp; _x, <span class="keyword">const</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a>&amp; _xdot, <span class="keywordtype">bool</span> insertHistory = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>    {</div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>        t_    = _t;</div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>        x_    = _x;</div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>        xdot_ = _xdot;</div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>        <span class="keywordflow">if</span> (insertHistory)</div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>        {</div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>            <span class="keywordflow">if</span> (insertIntoHistory(_t, _x, _xdot))</div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>            {</div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>                <span class="keywordflow">if</span> (needsSort_)</div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>                {</div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>                    std::sort(signalHistory_.begin(), signalHistory_.end(), <a class="code hl_variable" href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">SignalDPComparator</a>);</div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>                    needsSort_ = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>                }</div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>                <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>            }</div>
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>            <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>            {</div>
+<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>            }</div>
+<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>        }</div>
+<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>    }</div>
+</div>
+<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span> </div>
+<div class="foldopen" id="foldopen00205" data-start="{" data-end="}">
+<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"><a class="line" href="classSignal.html#a5530308ef517fd0021f510d47c390dc0">  205</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classSignal.html#a5530308ef517fd0021f510d47c390dc0">update</a>(<span class="keyword">const</span> std::vector&lt;double&gt;&amp; _tHistory, <span class="keyword">const</span> std::vector&lt;BaseType&gt;&amp; _xHistory)</div>
+<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>    {</div>
+<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span>        <span class="keywordtype">size_t</span> nTH = _tHistory.size();</div>
+<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>        <span class="keywordtype">size_t</span> nXH = _xHistory.size();</div>
+<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>        <span class="keywordflow">if</span> (nTH != nXH)</div>
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>        {</div>
+<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>        }</div>
+<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; nXH; i++)</div>
+<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>        {</div>
+<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>            <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> _xdot;</div>
+<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>            <span class="keywordflow">if</span> (!calculateDerivative(_tHistory[i], _xHistory[i], _xdot))</div>
+<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>            {</div>
+<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>            }</div>
+<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>            <span class="keywordflow">if</span> (!insertIntoHistory(_tHistory[i], _xHistory[i], _xdot))</div>
+<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>            {</div>
+<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>            }</div>
+<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>        }</div>
+<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>        <span class="keywordflow">if</span> (needsSort_)</div>
+<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>        {</div>
+<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>            std::sort(signalHistory_.begin(), signalHistory_.end(), <a class="code hl_variable" href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">SignalDPComparator</a>);</div>
+<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>            needsSort_ = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>        }</div>
+<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>    }</div>
+</div>
+<div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span> </div>
+<div class="foldopen" id="foldopen00233" data-start="{" data-end="}">
+<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"><a class="line" href="classSignal.html#a74929b7332876f5aeddc9a05d26d3d32">  233</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classSignal.html#a74929b7332876f5aeddc9a05d26d3d32">update</a>(<span class="keyword">const</span> std::vector&lt;double&gt;&amp;      _tHistory,</div>
+<div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span>                <span class="keyword">const</span> std::vector&lt;BaseType&gt;&amp;    _xHistory,</div>
+<div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span>                <span class="keyword">const</span> std::vector&lt;TangentType&gt;&amp; _xdotHistory)</div>
+<div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span>    {</div>
+<div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span>        <span class="keywordtype">size_t</span> nTH  = _tHistory.size();</div>
+<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span>        <span class="keywordtype">size_t</span> nXH  = _xHistory.size();</div>
+<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>        <span class="keywordtype">size_t</span> nXDH = _xdotHistory.size();</div>
+<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>        <span class="keywordflow">if</span> (nXH != nXDH || nXDH != nTH)</div>
+<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>        {</div>
+<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>        }</div>
+<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; nXH; i++)</div>
+<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>        {</div>
+<div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>            <span class="keywordflow">if</span> (!insertIntoHistory(_tHistory[i], _xHistory[i], _xdotHistory[i]))</div>
+<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>            {</div>
+<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>            }</div>
+<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>        }</div>
+<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span>        <span class="keywordflow">if</span> (needsSort_)</div>
+<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>        {</div>
+<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>            std::sort(signalHistory_.begin(), signalHistory_.end(), <a class="code hl_variable" href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">SignalDPComparator</a>);</div>
+<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>            needsSort_ = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span>        }</div>
+<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>    }</div>
+</div>
+<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span> </div>
+<div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span>    <span class="keywordtype">double</span>                t_;</div>
+<div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>              x_;</div>
+<div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a>           xdot_;</div>
+<div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span>    std::vector&lt;SignalDP&gt; signalHistory_;</div>
+<div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>    <span class="keywordtype">bool</span>                  needsSort_;</div>
+<div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span> </div>
+<div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>    <span class="keywordtype">bool</span> insertIntoHistory(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; _t, <span class="keyword">const</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>&amp; _x, <span class="keyword">const</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a>&amp; _xdot)</div>
+<div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span>    {</div>
+<div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span>        <span class="keywordflow">if</span> (_t &gt; t_)</div>
+<div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>        {</div>
+<div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span>            t_    = _t;</div>
+<div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span>            x_    = _x;</div>
+<div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>            xdot_ = _xdot;</div>
+<div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>        }</div>
+<div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>        <span class="keywordflow">if</span> (signalHistory_.size() &gt; 0)</div>
+<div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>        {</div>
+<div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>            <span class="keywordtype">double</span> mostRecentTime = signalHistory_[signalHistory_.size() - 1].t;</div>
+<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>            <span class="keywordflow">if</span> (_t == mostRecentTime)</div>
+<div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span>            {</div>
+<div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>            }</div>
+<div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (_t &lt; mostRecentTime)</div>
+<div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>            {</div>
+<div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>                needsSort_ = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span>            }</div>
+<div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span>        }</div>
+<div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>        signalHistory_.push_back({_t, _x, _xdot});</div>
+<div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>    }</div>
+<div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span> </div>
+<div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span>    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> xAt(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>        <span class="keywordflow">if</span> (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> == t_)</div>
+<div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>        {</div>
+<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>            <span class="keywordflow">return</span> x_;</div>
+<div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span>        }</div>
+<div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (signalHistory_.size() &gt; 0)</div>
+<div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>        {</div>
+<div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>            <span class="keywordtype">int</span> idx = getInterpIndex(<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>);</div>
+<div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>            <span class="keywordflow">if</span> (idx &lt; 0 || idx &gt;= <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(signalHistory_.size()))</div>
+<div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>            {</div>
+<div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span>                <span class="keywordflow">switch</span> (<a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a>)</div>
+<div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>                {</div>
+<div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4af4517d0db561241ccfcf150e1629767f">ExtrapolationMethod::NANS</a>:</div>
+<div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span>                    <span class="keywordflow">return</span> BaseSignalSpec::NansType();</div>
+<div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3">ExtrapolationMethod::CLOSEST</a>:</div>
+<div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span>                    <span class="keywordflow">if</span> (idx &lt; 0)</div>
+<div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span>                    {</div>
+<div class="line"><a id="l00309" name="l00309"></a><span class="lineno">  309</span>                        <span class="keywordflow">return</span> signalHistory_[0].x;</div>
+<div class="line"><a id="l00310" name="l00310"></a><span class="lineno">  310</span>                    }</div>
+<div class="line"><a id="l00311" name="l00311"></a><span class="lineno">  311</span>                    <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span>                    {</div>
+<div class="line"><a id="l00313" name="l00313"></a><span class="lineno">  313</span>                        <span class="keywordflow">return</span> signalHistory_[signalHistory_.size() - 1].x;</div>
+<div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span>                    }</div>
+<div class="line"><a id="l00315" name="l00315"></a><span class="lineno">  315</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00316" name="l00316"></a><span class="lineno">  316</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f">ExtrapolationMethod::ZEROS</a>:</div>
+<div class="line"><a id="l00317" name="l00317"></a><span class="lineno">  317</span>                <span class="keywordflow">default</span>:</div>
+<div class="line"><a id="l00318" name="l00318"></a><span class="lineno">  318</span>                    <span class="keywordflow">return</span> BaseSignalSpec::ZeroType();</div>
+<div class="line"><a id="l00319" name="l00319"></a><span class="lineno">  319</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00320" name="l00320"></a><span class="lineno">  320</span>                }</div>
+<div class="line"><a id="l00321" name="l00321"></a><span class="lineno">  321</span>            }</div>
+<div class="line"><a id="l00322" name="l00322"></a><span class="lineno">  322</span>            <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span>            {</div>
+<div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span>                <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>    y = xAtIdx(idx);</div>
+<div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span>                <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> dy;</div>
+<div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span>                <span class="keywordflow">switch</span> (<a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a>)</div>
+<div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>                {</div>
+<div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284ad873f8ab97a3f6e892c8b834b23db574">InterpolationMethod::ZERO_ORDER_HOLD</a>: {</div>
+<div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>                    dy = TangentSignalSpec::ZeroType();</div>
+<div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>                }</div>
+<div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb">InterpolationMethod::LINEAR</a>: {</div>
+<div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span>                    <span class="keywordtype">double</span>   t1 = tAtIdx(idx);</div>
+<div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span>                    <span class="keywordtype">double</span>   t2 = tAtIdx(idx + 1);</div>
+<div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>                    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> y1 = xAtIdx(idx);</div>
+<div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>                    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> y2 = xAtIdx(idx + 1);</div>
+<div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span>                    dy          = (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> - t1) / (t2 - t1) * (y2 - y1);</div>
+<div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span>                }</div>
+<div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc">InterpolationMethod::CUBIC_SPLINE</a>: {</div>
+<div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span>                    <span class="keywordtype">double</span>   t0 = tAtIdx(idx - 1);</div>
+<div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span>                    <span class="keywordtype">double</span>   t1 = tAtIdx(idx);</div>
+<div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>                    <span class="keywordtype">double</span>   t2 = tAtIdx(idx + 1);</div>
+<div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>                    <span class="keywordtype">double</span>   t3 = tAtIdx(idx + 2);</div>
+<div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span>                    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> y0 = xAtIdx(idx - 1);</div>
+<div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>                    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> y1 = xAtIdx(idx);</div>
+<div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span>                    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> y2 = xAtIdx(idx + 1);</div>
+<div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span>                    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> y3 = xAtIdx(idx + 2);</div>
+<div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span>                    dy =</div>
+<div class="line"><a id="l00350" name="l00350"></a><span class="lineno">  350</span>                        (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> - t1) / (t2 - t1) *</div>
+<div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>                        ((y2 - y1) + (t2 - <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>) / (2. * (t2 - t1) * (t2 - t1)) *</div>
+<div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span>                                         (((t2 - <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>) * (t2 * (y1 - y0) + t0 * (y2 - y1) - t1 * (y2 - y0))) / (t1 - t0) +</div>
+<div class="line"><a id="l00353" name="l00353"></a><span class="lineno">  353</span>                                          ((<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> - t1) * (t3 * (y2 - y1) + t2 * (y3 - y1) - t1 * (y3 - y2))) / (t3 - t2)));</div>
+<div class="line"><a id="l00354" name="l00354"></a><span class="lineno">  354</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00355" name="l00355"></a><span class="lineno">  355</span>                }</div>
+<div class="line"><a id="l00356" name="l00356"></a><span class="lineno">  356</span>                }</div>
+<div class="line"><a id="l00357" name="l00357"></a><span class="lineno">  357</span>                <span class="keywordflow">return</span> y + dy;</div>
+<div class="line"><a id="l00358" name="l00358"></a><span class="lineno">  358</span>            }</div>
+<div class="line"><a id="l00359" name="l00359"></a><span class="lineno">  359</span>        }</div>
+<div class="line"><a id="l00360" name="l00360"></a><span class="lineno">  360</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00361" name="l00361"></a><span class="lineno">  361</span>        {</div>
+<div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span>            <span class="keywordflow">return</span> BaseSignalSpec::ZeroType();</div>
+<div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span>        }</div>
+<div class="line"><a id="l00364" name="l00364"></a><span class="lineno">  364</span>    }</div>
+<div class="line"><a id="l00365" name="l00365"></a><span class="lineno">  365</span> </div>
+<div class="line"><a id="l00366" name="l00366"></a><span class="lineno">  366</span>    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> xDotAt(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00368" name="l00368"></a><span class="lineno">  368</span>        <span class="keywordflow">if</span> (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> == t_)</div>
+<div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span>        {</div>
+<div class="line"><a id="l00370" name="l00370"></a><span class="lineno">  370</span>            <span class="keywordflow">return</span> xdot_;</div>
+<div class="line"><a id="l00371" name="l00371"></a><span class="lineno">  371</span>        }</div>
+<div class="line"><a id="l00372" name="l00372"></a><span class="lineno">  372</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (signalHistory_.size() &gt; 0)</div>
+<div class="line"><a id="l00373" name="l00373"></a><span class="lineno">  373</span>        {</div>
+<div class="line"><a id="l00374" name="l00374"></a><span class="lineno">  374</span>            <span class="keywordtype">int</span> idx = getInterpIndex(<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>);</div>
+<div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span>            <span class="keywordflow">if</span> (idx &lt; 0 || idx &gt;= <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(signalHistory_.size()))</div>
+<div class="line"><a id="l00376" name="l00376"></a><span class="lineno">  376</span>            {</div>
+<div class="line"><a id="l00377" name="l00377"></a><span class="lineno">  377</span>                <span class="keywordflow">switch</span> (<a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a>)</div>
+<div class="line"><a id="l00378" name="l00378"></a><span class="lineno">  378</span>                {</div>
+<div class="line"><a id="l00379" name="l00379"></a><span class="lineno">  379</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4af4517d0db561241ccfcf150e1629767f">ExtrapolationMethod::NANS</a>:</div>
+<div class="line"><a id="l00380" name="l00380"></a><span class="lineno">  380</span>                    <span class="keywordflow">return</span> TangentSignalSpec::NansType();</div>
+<div class="line"><a id="l00381" name="l00381"></a><span class="lineno">  381</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3">ExtrapolationMethod::CLOSEST</a>:</div>
+<div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span>                    <span class="keywordflow">if</span> (idx &lt; 0)</div>
+<div class="line"><a id="l00384" name="l00384"></a><span class="lineno">  384</span>                    {</div>
+<div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span>                        <span class="keywordflow">return</span> signalHistory_[0].xdot;</div>
+<div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span>                    }</div>
+<div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span>                    <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span>                    {</div>
+<div class="line"><a id="l00389" name="l00389"></a><span class="lineno">  389</span>                        <span class="keywordflow">return</span> signalHistory_[signalHistory_.size() - 1].xdot;</div>
+<div class="line"><a id="l00390" name="l00390"></a><span class="lineno">  390</span>                    }</div>
+<div class="line"><a id="l00391" name="l00391"></a><span class="lineno">  391</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00392" name="l00392"></a><span class="lineno">  392</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f">ExtrapolationMethod::ZEROS</a>:</div>
+<div class="line"><a id="l00393" name="l00393"></a><span class="lineno">  393</span>                <span class="keywordflow">default</span>:</div>
+<div class="line"><a id="l00394" name="l00394"></a><span class="lineno">  394</span>                    <span class="keywordflow">return</span> TangentSignalSpec::ZeroType();</div>
+<div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span>                }</div>
+<div class="line"><a id="l00397" name="l00397"></a><span class="lineno">  397</span>            }</div>
+<div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span>            <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00399" name="l00399"></a><span class="lineno">  399</span>            {</div>
+<div class="line"><a id="l00400" name="l00400"></a><span class="lineno">  400</span>                <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> y = xDotAtIdx(idx);</div>
+<div class="line"><a id="l00401" name="l00401"></a><span class="lineno">  401</span>                <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> dy;</div>
+<div class="line"><a id="l00402" name="l00402"></a><span class="lineno">  402</span>                <span class="keywordflow">switch</span> (<a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a>)</div>
+<div class="line"><a id="l00403" name="l00403"></a><span class="lineno">  403</span>                {</div>
+<div class="line"><a id="l00404" name="l00404"></a><span class="lineno">  404</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284ad873f8ab97a3f6e892c8b834b23db574">InterpolationMethod::ZERO_ORDER_HOLD</a>: {</div>
+<div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span>                    dy = TangentSignalSpec::ZeroType();</div>
+<div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span>                }</div>
+<div class="line"><a id="l00408" name="l00408"></a><span class="lineno">  408</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb">InterpolationMethod::LINEAR</a>: {</div>
+<div class="line"><a id="l00409" name="l00409"></a><span class="lineno">  409</span>                    <span class="keywordtype">double</span>      t1 = tAtIdx(idx);</div>
+<div class="line"><a id="l00410" name="l00410"></a><span class="lineno">  410</span>                    <span class="keywordtype">double</span>      t2 = tAtIdx(idx + 1);</div>
+<div class="line"><a id="l00411" name="l00411"></a><span class="lineno">  411</span>                    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> y1 = xDotAtIdx(idx);</div>
+<div class="line"><a id="l00412" name="l00412"></a><span class="lineno">  412</span>                    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> y2 = xDotAtIdx(idx + 1);</div>
+<div class="line"><a id="l00413" name="l00413"></a><span class="lineno">  413</span>                    dy             = (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> - t1) / (t2 - t1) * (y2 - y1);</div>
+<div class="line"><a id="l00414" name="l00414"></a><span class="lineno">  414</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00415" name="l00415"></a><span class="lineno">  415</span>                }</div>
+<div class="line"><a id="l00416" name="l00416"></a><span class="lineno">  416</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc">InterpolationMethod::CUBIC_SPLINE</a>: {</div>
+<div class="line"><a id="l00417" name="l00417"></a><span class="lineno">  417</span>                    <span class="keywordtype">double</span>      t0 = tAtIdx(idx - 1);</div>
+<div class="line"><a id="l00418" name="l00418"></a><span class="lineno">  418</span>                    <span class="keywordtype">double</span>      t1 = tAtIdx(idx);</div>
+<div class="line"><a id="l00419" name="l00419"></a><span class="lineno">  419</span>                    <span class="keywordtype">double</span>      t2 = tAtIdx(idx + 1);</div>
+<div class="line"><a id="l00420" name="l00420"></a><span class="lineno">  420</span>                    <span class="keywordtype">double</span>      t3 = tAtIdx(idx + 2);</div>
+<div class="line"><a id="l00421" name="l00421"></a><span class="lineno">  421</span>                    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> y0 = xDotAtIdx(idx - 1);</div>
+<div class="line"><a id="l00422" name="l00422"></a><span class="lineno">  422</span>                    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> y1 = xDotAtIdx(idx);</div>
+<div class="line"><a id="l00423" name="l00423"></a><span class="lineno">  423</span>                    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> y2 = xDotAtIdx(idx + 1);</div>
+<div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span>                    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> y3 = xDotAtIdx(idx + 2);</div>
+<div class="line"><a id="l00425" name="l00425"></a><span class="lineno">  425</span>                    dy =</div>
+<div class="line"><a id="l00426" name="l00426"></a><span class="lineno">  426</span>                        (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> - t1) / (t2 - t1) *</div>
+<div class="line"><a id="l00427" name="l00427"></a><span class="lineno">  427</span>                        ((y2 - y1) + (t2 - <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>) / (2. * (t2 - t1) * (t2 - t1)) *</div>
+<div class="line"><a id="l00428" name="l00428"></a><span class="lineno">  428</span>                                         (((t2 - <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>) * (t2 * (y1 - y0) + t0 * (y2 - y1) - t1 * (y2 - y0))) / (t1 - t0) +</div>
+<div class="line"><a id="l00429" name="l00429"></a><span class="lineno">  429</span>                                          ((<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> - t1) * (t3 * (y2 - y1) + t2 * (y3 - y1) - t1 * (y3 - y2))) / (t3 - t2)));</div>
+<div class="line"><a id="l00430" name="l00430"></a><span class="lineno">  430</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00431" name="l00431"></a><span class="lineno">  431</span>                }</div>
+<div class="line"><a id="l00432" name="l00432"></a><span class="lineno">  432</span>                }</div>
+<div class="line"><a id="l00433" name="l00433"></a><span class="lineno">  433</span>                <span class="keywordflow">return</span> y + dy;</div>
+<div class="line"><a id="l00434" name="l00434"></a><span class="lineno">  434</span>            }</div>
+<div class="line"><a id="l00435" name="l00435"></a><span class="lineno">  435</span>        }</div>
+<div class="line"><a id="l00436" name="l00436"></a><span class="lineno">  436</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span>        {</div>
+<div class="line"><a id="l00438" name="l00438"></a><span class="lineno">  438</span>            <span class="keywordflow">return</span> TangentSignalSpec::ZeroType();</div>
+<div class="line"><a id="l00439" name="l00439"></a><span class="lineno">  439</span>        }</div>
+<div class="line"><a id="l00440" name="l00440"></a><span class="lineno">  440</span>    }</div>
+<div class="line"><a id="l00441" name="l00441"></a><span class="lineno">  441</span> </div>
+<div class="line"><a id="l00442" name="l00442"></a><span class="lineno">  442</span>    <span class="comment">// Implementation note: signal history size must &gt; 0</span></div>
+<div class="line"><a id="l00443" name="l00443"></a><span class="lineno">  443</span>    <span class="keywordtype">int</span> getInterpIndex(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00444" name="l00444"></a><span class="lineno">  444</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00445" name="l00445"></a><span class="lineno">  445</span>        <span class="keywordflow">if</span> (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> &lt; signalHistory_[0].<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)</div>
+<div class="line"><a id="l00446" name="l00446"></a><span class="lineno">  446</span>        {</div>
+<div class="line"><a id="l00447" name="l00447"></a><span class="lineno">  447</span>            <span class="keywordflow">return</span> -1;</div>
+<div class="line"><a id="l00448" name="l00448"></a><span class="lineno">  448</span>        }</div>
+<div class="line"><a id="l00449" name="l00449"></a><span class="lineno">  449</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> &gt; signalHistory_[signalHistory_.size() - 1].t)</div>
+<div class="line"><a id="l00450" name="l00450"></a><span class="lineno">  450</span>        {</div>
+<div class="line"><a id="l00451" name="l00451"></a><span class="lineno">  451</span>            <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(signalHistory_.size());</div>
+<div class="line"><a id="l00452" name="l00452"></a><span class="lineno">  452</span>        }</div>
+<div class="line"><a id="l00453" name="l00453"></a><span class="lineno">  453</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00454" name="l00454"></a><span class="lineno">  454</span>        {</div>
+<div class="line"><a id="l00455" name="l00455"></a><span class="lineno">  455</span>            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; signalHistory_.size(); i++)</div>
+<div class="line"><a id="l00456" name="l00456"></a><span class="lineno">  456</span>            {</div>
+<div class="line"><a id="l00457" name="l00457"></a><span class="lineno">  457</span>                <span class="keywordtype">double</span> t_i   = signalHistory_[i].t;</div>
+<div class="line"><a id="l00458" name="l00458"></a><span class="lineno">  458</span>                <span class="keywordtype">double</span> t_ip1 = tAtIdx(i + 1);</div>
+<div class="line"><a id="l00459" name="l00459"></a><span class="lineno">  459</span>                <span class="keywordflow">if</span> (t_i &lt;= t &amp;&amp; t_ip1 &gt; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)</div>
+<div class="line"><a id="l00460" name="l00460"></a><span class="lineno">  460</span>                {</div>
+<div class="line"><a id="l00461" name="l00461"></a><span class="lineno">  461</span>                    <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(i);</div>
+<div class="line"><a id="l00462" name="l00462"></a><span class="lineno">  462</span>                }</div>
+<div class="line"><a id="l00463" name="l00463"></a><span class="lineno">  463</span>            }</div>
+<div class="line"><a id="l00464" name="l00464"></a><span class="lineno">  464</span>            <span class="keywordflow">return</span> -1;</div>
+<div class="line"><a id="l00465" name="l00465"></a><span class="lineno">  465</span>        }</div>
+<div class="line"><a id="l00466" name="l00466"></a><span class="lineno">  466</span>    }</div>
+<div class="line"><a id="l00467" name="l00467"></a><span class="lineno">  467</span> </div>
+<div class="line"><a id="l00468" name="l00468"></a><span class="lineno">  468</span>    <span class="keywordtype">double</span> tAtIdx(<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; idx)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00469" name="l00469"></a><span class="lineno">  469</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00470" name="l00470"></a><span class="lineno">  470</span>        <span class="keywordflow">if</span> (idx &lt; 0)</div>
+<div class="line"><a id="l00471" name="l00471"></a><span class="lineno">  471</span>        {</div>
+<div class="line"><a id="l00472" name="l00472"></a><span class="lineno">  472</span>            <span class="keywordflow">return</span> signalHistory_[0].t + <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(idx);</div>
+<div class="line"><a id="l00473" name="l00473"></a><span class="lineno">  473</span>        }</div>
+<div class="line"><a id="l00474" name="l00474"></a><span class="lineno">  474</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (idx &gt;= signalHistory_.size())</div>
+<div class="line"><a id="l00475" name="l00475"></a><span class="lineno">  475</span>        {</div>
+<div class="line"><a id="l00476" name="l00476"></a><span class="lineno">  476</span>            <span class="keywordflow">return</span> signalHistory_[signalHistory_.size() - 1].t +</div>
+<div class="line"><a id="l00477" name="l00477"></a><span class="lineno">  477</span>                   <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(idx - <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(signalHistory_.size() - 1));</div>
+<div class="line"><a id="l00478" name="l00478"></a><span class="lineno">  478</span>        }</div>
+<div class="line"><a id="l00479" name="l00479"></a><span class="lineno">  479</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00480" name="l00480"></a><span class="lineno">  480</span>        {</div>
+<div class="line"><a id="l00481" name="l00481"></a><span class="lineno">  481</span>            <span class="keywordflow">return</span> signalHistory_[idx].t;</div>
+<div class="line"><a id="l00482" name="l00482"></a><span class="lineno">  482</span>        }</div>
+<div class="line"><a id="l00483" name="l00483"></a><span class="lineno">  483</span>    }</div>
+<div class="line"><a id="l00484" name="l00484"></a><span class="lineno">  484</span> </div>
+<div class="line"><a id="l00485" name="l00485"></a><span class="lineno">  485</span>    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> xAtIdx(<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; idx)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00486" name="l00486"></a><span class="lineno">  486</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00487" name="l00487"></a><span class="lineno">  487</span>        <span class="keywordflow">if</span> (idx &lt; 0)</div>
+<div class="line"><a id="l00488" name="l00488"></a><span class="lineno">  488</span>        {</div>
+<div class="line"><a id="l00489" name="l00489"></a><span class="lineno">  489</span>            <span class="keywordflow">return</span> signalHistory_[0].x;</div>
+<div class="line"><a id="l00490" name="l00490"></a><span class="lineno">  490</span>        }</div>
+<div class="line"><a id="l00491" name="l00491"></a><span class="lineno">  491</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (idx &gt;= signalHistory_.size())</div>
+<div class="line"><a id="l00492" name="l00492"></a><span class="lineno">  492</span>        {</div>
+<div class="line"><a id="l00493" name="l00493"></a><span class="lineno">  493</span>            <span class="keywordflow">return</span> signalHistory_[signalHistory_.size() - 1].x;</div>
+<div class="line"><a id="l00494" name="l00494"></a><span class="lineno">  494</span>        }</div>
+<div class="line"><a id="l00495" name="l00495"></a><span class="lineno">  495</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00496" name="l00496"></a><span class="lineno">  496</span>        {</div>
+<div class="line"><a id="l00497" name="l00497"></a><span class="lineno">  497</span>            <span class="keywordflow">return</span> signalHistory_[idx].x;</div>
+<div class="line"><a id="l00498" name="l00498"></a><span class="lineno">  498</span>        }</div>
+<div class="line"><a id="l00499" name="l00499"></a><span class="lineno">  499</span>    }</div>
+<div class="line"><a id="l00500" name="l00500"></a><span class="lineno">  500</span> </div>
+<div class="line"><a id="l00501" name="l00501"></a><span class="lineno">  501</span>    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> xDotAtIdx(<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; idx)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00502" name="l00502"></a><span class="lineno">  502</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00503" name="l00503"></a><span class="lineno">  503</span>        <span class="keywordflow">if</span> (idx &lt; 0)</div>
+<div class="line"><a id="l00504" name="l00504"></a><span class="lineno">  504</span>        {</div>
+<div class="line"><a id="l00505" name="l00505"></a><span class="lineno">  505</span>            <span class="keywordflow">return</span> signalHistory_[0].xdot;</div>
+<div class="line"><a id="l00506" name="l00506"></a><span class="lineno">  506</span>        }</div>
+<div class="line"><a id="l00507" name="l00507"></a><span class="lineno">  507</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (idx &gt;= signalHistory_.size())</div>
+<div class="line"><a id="l00508" name="l00508"></a><span class="lineno">  508</span>        {</div>
+<div class="line"><a id="l00509" name="l00509"></a><span class="lineno">  509</span>            <span class="keywordflow">return</span> signalHistory_[signalHistory_.size() - 1].xdot;</div>
+<div class="line"><a id="l00510" name="l00510"></a><span class="lineno">  510</span>        }</div>
+<div class="line"><a id="l00511" name="l00511"></a><span class="lineno">  511</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00512" name="l00512"></a><span class="lineno">  512</span>        {</div>
+<div class="line"><a id="l00513" name="l00513"></a><span class="lineno">  513</span>            <span class="keywordflow">return</span> signalHistory_[idx].xdot;</div>
+<div class="line"><a id="l00514" name="l00514"></a><span class="lineno">  514</span>        }</div>
+<div class="line"><a id="l00515" name="l00515"></a><span class="lineno">  515</span>    }</div>
+<div class="line"><a id="l00516" name="l00516"></a><span class="lineno">  516</span> </div>
+<div class="line"><a id="l00517" name="l00517"></a><span class="lineno">  517</span>    <span class="comment">// Implementation note: should always be followed by a call to update()</span></div>
+<div class="line"><a id="l00518" name="l00518"></a><span class="lineno">  518</span>    <span class="keywordtype">bool</span> calculateDerivative(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; _t, <span class="keyword">const</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>&amp; _x, <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a>&amp; _xdot)</div>
+<div class="line"><a id="l00519" name="l00519"></a><span class="lineno">  519</span>    {</div>
+<div class="line"><a id="l00520" name="l00520"></a><span class="lineno">  520</span>        <span class="keyword">const</span> <span class="keyword">static</span> <span class="keywordtype">double</span> sigma = 0.05;</div>
+<div class="line"><a id="l00521" name="l00521"></a><span class="lineno">  521</span>        <span class="keywordflow">if</span> (_t &lt;= t_)</div>
+<div class="line"><a id="l00522" name="l00522"></a><span class="lineno">  522</span>        {</div>
+<div class="line"><a id="l00523" name="l00523"></a><span class="lineno">  523</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00524" name="l00524"></a><span class="lineno">  524</span>        }</div>
+<div class="line"><a id="l00525" name="l00525"></a><span class="lineno">  525</span>        <span class="keywordflow">if</span> (t_ &gt;= 0)</div>
+<div class="line"><a id="l00526" name="l00526"></a><span class="lineno">  526</span>        {</div>
+<div class="line"><a id="l00527" name="l00527"></a><span class="lineno">  527</span>            <span class="keyword">const</span> <span class="keywordtype">double</span>      dt = _t - t_;</div>
+<div class="line"><a id="l00528" name="l00528"></a><span class="lineno">  528</span>            <span class="keyword">const</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> dx = _x - x_;</div>
+<div class="line"><a id="l00529" name="l00529"></a><span class="lineno">  529</span>            <span class="keywordflow">switch</span> (<a class="code hl_variable" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a>)</div>
+<div class="line"><a id="l00530" name="l00530"></a><span class="lineno">  530</span>            {</div>
+<div class="line"><a id="l00531" name="l00531"></a><span class="lineno">  531</span>            <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c">DerivativeMethod::DIRTY</a>:</div>
+<div class="line"><a id="l00532" name="l00532"></a><span class="lineno">  532</span>                _xdot = (2. * sigma - dt) / (2. * sigma + dt) * xdot_ + 2. / (2. * sigma + dt) * dx;</div>
+<div class="line"><a id="l00533" name="l00533"></a><span class="lineno">  533</span>                <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00534" name="l00534"></a><span class="lineno">  534</span>            <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e">DerivativeMethod::FINITE_DIFF</a>:</div>
+<div class="line"><a id="l00535" name="l00535"></a><span class="lineno">  535</span>                _xdot = dx / dt;</div>
+<div class="line"><a id="l00536" name="l00536"></a><span class="lineno">  536</span>                <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00537" name="l00537"></a><span class="lineno">  537</span>            }</div>
+<div class="line"><a id="l00538" name="l00538"></a><span class="lineno">  538</span>        }</div>
+<div class="line"><a id="l00539" name="l00539"></a><span class="lineno">  539</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00540" name="l00540"></a><span class="lineno">  540</span>        {</div>
+<div class="line"><a id="l00541" name="l00541"></a><span class="lineno">  541</span>            _xdot = TangentSignalSpec::ZeroType();</div>
+<div class="line"><a id="l00542" name="l00542"></a><span class="lineno">  542</span>        }</div>
+<div class="line"><a id="l00543" name="l00543"></a><span class="lineno">  543</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00544" name="l00544"></a><span class="lineno">  544</span>    }</div>
+<div class="line"><a id="l00545" name="l00545"></a><span class="lineno">  545</span>};</div>
+</div>
+<div class="line"><a id="l00546" name="l00546"></a><span class="lineno">  546</span> </div>
+<div class="line"><a id="l00547" name="l00547"></a><span class="lineno">  547</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
+<div class="foldopen" id="foldopen00548" data-start="{" data-end="}">
+<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"><a class="line" href="Signal_8h.html#aa4dc7aa056ee91a7dc4ec540b6bc9cd3">  548</a></span><a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a> <a class="code hl_function" href="Signal_8h.html#aa4dc7aa056ee91a7dc4ec540b6bc9cd3">operator+</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp;    l,</div>
+<div class="line"><a id="l00549" name="l00549"></a><span class="lineno">  549</span>                                                    <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a>&amp; r)</div>
+<div class="line"><a id="l00550" name="l00550"></a><span class="lineno">  550</span>{</div>
+<div class="line"><a id="l00551" name="l00551"></a><span class="lineno">  551</span>    <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a> lpr = l;</div>
+<div class="line"><a id="l00552" name="l00552"></a><span class="lineno">  552</span>    lpr.x_ += r(l.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>());</div>
+<div class="line"><a id="l00553" name="l00553"></a><span class="lineno">  553</span>    lpr.xdot_ += r.<a class="code hl_function" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>(l.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>());</div>
+<div class="line"><a id="l00554" name="l00554"></a><span class="lineno">  554</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; signalDP : lpr.signalHistory_)</div>
+<div class="line"><a id="l00555" name="l00555"></a><span class="lineno">  555</span>    {</div>
+<div class="line"><a id="l00556" name="l00556"></a><span class="lineno">  556</span>        signalDP.x += r(signalDP.t);</div>
+<div class="line"><a id="l00557" name="l00557"></a><span class="lineno">  557</span>        signalDP.xdot += r.<a class="code hl_function" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>(signalDP.t);</div>
+<div class="line"><a id="l00558" name="l00558"></a><span class="lineno">  558</span>    }</div>
+<div class="line"><a id="l00559" name="l00559"></a><span class="lineno">  559</span>    <span class="keywordflow">return</span> lpr;</div>
+<div class="line"><a id="l00560" name="l00560"></a><span class="lineno">  560</span>}</div>
+</div>
+<div class="line"><a id="l00561" name="l00561"></a><span class="lineno">  561</span> </div>
+<div class="line"><a id="l00562" name="l00562"></a><span class="lineno">  562</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
+<div class="foldopen" id="foldopen00563" data-start="{" data-end="}">
+<div class="line"><a id="l00563" name="l00563"></a><span class="lineno"><a class="line" href="Signal_8h.html#afd611b1d0ab8c1f43be72184926ec8ac">  563</a></span><a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a> <a class="code hl_function" href="Signal_8h.html#afd611b1d0ab8c1f43be72184926ec8ac">operator-</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp; l,</div>
+<div class="line"><a id="l00564" name="l00564"></a><span class="lineno">  564</span>                                                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp; r)</div>
+<div class="line"><a id="l00565" name="l00565"></a><span class="lineno">  565</span>{</div>
+<div class="line"><a id="l00566" name="l00566"></a><span class="lineno">  566</span>    <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a> lmr;</div>
+<div class="line"><a id="l00567" name="l00567"></a><span class="lineno">  567</span>    lmr.<a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a> = l.<a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a>;</div>
+<div class="line"><a id="l00568" name="l00568"></a><span class="lineno">  568</span>    lmr.<a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a> = l.<a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a>;</div>
+<div class="line"><a id="l00569" name="l00569"></a><span class="lineno">  569</span>    lmr.<a class="code hl_variable" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a>    = l.<a class="code hl_variable" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a>;</div>
+<div class="line"><a id="l00570" name="l00570"></a><span class="lineno">  570</span>    lmr.needsSort_          = l.needsSort_;</div>
+<div class="line"><a id="l00571" name="l00571"></a><span class="lineno">  571</span>    lmr.t_                  = l.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>();</div>
+<div class="line"><a id="l00572" name="l00572"></a><span class="lineno">  572</span>    lmr.x_                  = l() - r(l.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>());</div>
+<div class="line"><a id="l00573" name="l00573"></a><span class="lineno">  573</span>    lmr.xdot_               = l.<a class="code hl_function" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>() - r.<a class="code hl_function" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>(l.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>());</div>
+<div class="line"><a id="l00574" name="l00574"></a><span class="lineno">  574</span>    std::vector&lt;double&gt;                           tHistory;</div>
+<div class="line"><a id="l00575" name="l00575"></a><span class="lineno">  575</span>    std::vector&lt;typename TangentSignalSpec::Type&gt; xHistory;</div>
+<div class="line"><a id="l00576" name="l00576"></a><span class="lineno">  576</span>    std::vector&lt;typename TangentSignalSpec::Type&gt; xdotHistory;</div>
+<div class="line"><a id="l00577" name="l00577"></a><span class="lineno">  577</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; signalDP : l.signalHistory_)</div>
+<div class="line"><a id="l00578" name="l00578"></a><span class="lineno">  578</span>    {</div>
+<div class="line"><a id="l00579" name="l00579"></a><span class="lineno">  579</span>        tHistory.push_back(signalDP.t);</div>
+<div class="line"><a id="l00580" name="l00580"></a><span class="lineno">  580</span>        xHistory.push_back(signalDP.x - r(signalDP.t));</div>
+<div class="line"><a id="l00581" name="l00581"></a><span class="lineno">  581</span>        xdotHistory.push_back(signalDP.xdot - r.<a class="code hl_function" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>(signalDP.t));</div>
+<div class="line"><a id="l00582" name="l00582"></a><span class="lineno">  582</span>    }</div>
+<div class="line"><a id="l00583" name="l00583"></a><span class="lineno">  583</span>    lmr.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tHistory, xHistory, xdotHistory);</div>
+<div class="line"><a id="l00584" name="l00584"></a><span class="lineno">  584</span>    <span class="keywordflow">return</span> lmr;</div>
+<div class="line"><a id="l00585" name="l00585"></a><span class="lineno">  585</span>}</div>
+</div>
+<div class="line"><a id="l00586" name="l00586"></a><span class="lineno">  586</span> </div>
+<div class="line"><a id="l00587" name="l00587"></a><span class="lineno">  587</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
+<div class="foldopen" id="foldopen00588" data-start="{" data-end="}">
+<div class="line"><a id="l00588" name="l00588"></a><span class="lineno"><a class="line" href="Signal_8h.html#ad77fa5fab1a3e9a6ca4d7e87364003b9">  588</a></span><a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a> <a class="code hl_function" href="Signal_8h.html#ad77fa5fab1a3e9a6ca4d7e87364003b9">operator*</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; l, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp; r)</div>
+<div class="line"><a id="l00589" name="l00589"></a><span class="lineno">  589</span>{</div>
+<div class="line"><a id="l00590" name="l00590"></a><span class="lineno">  590</span>    <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a> lr = r;</div>
+<div class="line"><a id="l00591" name="l00591"></a><span class="lineno">  591</span>    lr.x_ *= l;</div>
+<div class="line"><a id="l00592" name="l00592"></a><span class="lineno">  592</span>    lr.xdot_ *= l;</div>
+<div class="line"><a id="l00593" name="l00593"></a><span class="lineno">  593</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; signalDP : lr.signalHistory_)</div>
+<div class="line"><a id="l00594" name="l00594"></a><span class="lineno">  594</span>    {</div>
+<div class="line"><a id="l00595" name="l00595"></a><span class="lineno">  595</span>        signalDP.x *= l;</div>
+<div class="line"><a id="l00596" name="l00596"></a><span class="lineno">  596</span>        signalDP.xdot *= l;</div>
+<div class="line"><a id="l00597" name="l00597"></a><span class="lineno">  597</span>    }</div>
+<div class="line"><a id="l00598" name="l00598"></a><span class="lineno">  598</span>    <span class="keywordflow">return</span> lr;</div>
+<div class="line"><a id="l00599" name="l00599"></a><span class="lineno">  599</span>}</div>
+</div>
+<div class="line"><a id="l00600" name="l00600"></a><span class="lineno">  600</span> </div>
+<div class="line"><a id="l00601" name="l00601"></a><span class="lineno">  601</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
+<div class="foldopen" id="foldopen00602" data-start="{" data-end="}">
+<div class="line"><a id="l00602" name="l00602"></a><span class="lineno"><a class="line" href="Signal_8h.html#ae0b0bee5051aeec3c9cff9fd148d8cb5">  602</a></span><a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a> <a class="code hl_function" href="Signal_8h.html#ad77fa5fab1a3e9a6ca4d7e87364003b9">operator*</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
+<div class="line"><a id="l00603" name="l00603"></a><span class="lineno">  603</span>{</div>
+<div class="line"><a id="l00604" name="l00604"></a><span class="lineno">  604</span>    <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a> lr = l;</div>
+<div class="line"><a id="l00605" name="l00605"></a><span class="lineno">  605</span>    lr.x_ *= r;</div>
+<div class="line"><a id="l00606" name="l00606"></a><span class="lineno">  606</span>    lr.xdot_ *= r;</div>
+<div class="line"><a id="l00607" name="l00607"></a><span class="lineno">  607</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; signalDP : lr.signalHistory_)</div>
+<div class="line"><a id="l00608" name="l00608"></a><span class="lineno">  608</span>    {</div>
+<div class="line"><a id="l00609" name="l00609"></a><span class="lineno">  609</span>        signalDP.x *= r;</div>
+<div class="line"><a id="l00610" name="l00610"></a><span class="lineno">  610</span>        signalDP.xdot *= r;</div>
+<div class="line"><a id="l00611" name="l00611"></a><span class="lineno">  611</span>    }</div>
+<div class="line"><a id="l00612" name="l00612"></a><span class="lineno">  612</span>    <span class="keywordflow">return</span> lr;</div>
+<div class="line"><a id="l00613" name="l00613"></a><span class="lineno">  613</span>}</div>
+</div>
+<div class="line"><a id="l00614" name="l00614"></a><span class="lineno">  614</span> </div>
+<div class="line"><a id="l00615" name="l00615"></a><span class="lineno">  615</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00616" data-start="{" data-end="};">
+<div class="line"><a id="l00616" name="l00616"></a><span class="lineno"><a class="line" href="structScalarSignalSpec.html">  616</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structScalarSignalSpec.html">ScalarSignalSpec</a></div>
+<div class="line"><a id="l00617" name="l00617"></a><span class="lineno">  617</span>{</div>
+<div class="line"><a id="l00618" name="l00618"></a><span class="lineno"><a class="line" href="structScalarSignalSpec.html#a4a319643aeb76b94214f8b41d64d5402">  618</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structScalarSignalSpec.html#a4a319643aeb76b94214f8b41d64d5402">Type</a> = T;</div>
+<div class="foldopen" id="foldopen00619" data-start="{" data-end="}">
+<div class="line"><a id="l00619" name="l00619"></a><span class="lineno"><a class="line" href="structScalarSignalSpec.html#a941ad7ca4c5943d3b2244e1126d1febf">  619</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structScalarSignalSpec.html#a4a319643aeb76b94214f8b41d64d5402">Type</a> <a class="code hl_function" href="structScalarSignalSpec.html#a941ad7ca4c5943d3b2244e1126d1febf">ZeroType</a>()</div>
+<div class="line"><a id="l00620" name="l00620"></a><span class="lineno">  620</span>    {</div>
+<div class="line"><a id="l00621" name="l00621"></a><span class="lineno">  621</span>        <span class="keywordflow">return</span> (T)0.0;</div>
+<div class="line"><a id="l00622" name="l00622"></a><span class="lineno">  622</span>    }</div>
+</div>
+<div class="foldopen" id="foldopen00623" data-start="{" data-end="}">
+<div class="line"><a id="l00623" name="l00623"></a><span class="lineno"><a class="line" href="structScalarSignalSpec.html#a040a016b3023c9df47a913599e9af1e2">  623</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structScalarSignalSpec.html#a4a319643aeb76b94214f8b41d64d5402">Type</a> <a class="code hl_function" href="structScalarSignalSpec.html#a040a016b3023c9df47a913599e9af1e2">NansType</a>()</div>
+<div class="line"><a id="l00624" name="l00624"></a><span class="lineno">  624</span>    {</div>
+<div class="line"><a id="l00625" name="l00625"></a><span class="lineno">  625</span>        <span class="keywordflow">return</span> (T)1. / 0.;</div>
+<div class="line"><a id="l00626" name="l00626"></a><span class="lineno">  626</span>    }</div>
+</div>
+<div class="line"><a id="l00627" name="l00627"></a><span class="lineno">  627</span>};</div>
+</div>
+<div class="line"><a id="l00628" name="l00628"></a><span class="lineno">  628</span> </div>
+<div class="line"><a id="l00629" name="l00629"></a><span class="lineno">  629</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="foldopen" id="foldopen00630" data-start="{" data-end="};">
+<div class="line"><a id="l00630" name="l00630"></a><span class="lineno"><a class="line" href="structVectorSignalSpec.html">  630</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec</a></div>
+<div class="line"><a id="l00631" name="l00631"></a><span class="lineno">  631</span>{</div>
+<div class="line"><a id="l00632" name="l00632"></a><span class="lineno"><a class="line" href="structVectorSignalSpec.html#ac21d15d01635665373eaf23b62f3d440">  632</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structVectorSignalSpec.html#ac21d15d01635665373eaf23b62f3d440">Type</a> = Matrix&lt;T, d, 1&gt;;</div>
+<div class="foldopen" id="foldopen00633" data-start="{" data-end="}">
+<div class="line"><a id="l00633" name="l00633"></a><span class="lineno"><a class="line" href="structVectorSignalSpec.html#a4c535f5d5b25faa7148f8719d74693fd">  633</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structVectorSignalSpec.html#ac21d15d01635665373eaf23b62f3d440">Type</a> <a class="code hl_function" href="structVectorSignalSpec.html#a4c535f5d5b25faa7148f8719d74693fd">ZeroType</a>()</div>
+<div class="line"><a id="l00634" name="l00634"></a><span class="lineno">  634</span>    {</div>
+<div class="line"><a id="l00635" name="l00635"></a><span class="lineno">  635</span>        <span class="keywordflow">return</span> Type::Zero();</div>
+<div class="line"><a id="l00636" name="l00636"></a><span class="lineno">  636</span>    }</div>
+</div>
+<div class="foldopen" id="foldopen00637" data-start="{" data-end="}">
+<div class="line"><a id="l00637" name="l00637"></a><span class="lineno"><a class="line" href="structVectorSignalSpec.html#a3a25051bf64d2677fc511bd026b7f6a2">  637</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structVectorSignalSpec.html#ac21d15d01635665373eaf23b62f3d440">Type</a> <a class="code hl_function" href="structVectorSignalSpec.html#a3a25051bf64d2677fc511bd026b7f6a2">NansType</a>()</div>
+<div class="line"><a id="l00638" name="l00638"></a><span class="lineno">  638</span>    {</div>
+<div class="line"><a id="l00639" name="l00639"></a><span class="lineno">  639</span>        <span class="keywordflow">return</span> Type::Constant(std::numeric_limits&lt;T&gt;::quiet_NaN());</div>
+<div class="line"><a id="l00640" name="l00640"></a><span class="lineno">  640</span>    }</div>
+</div>
+<div class="line"><a id="l00641" name="l00641"></a><span class="lineno">  641</span>};</div>
+</div>
+<div class="line"><a id="l00642" name="l00642"></a><span class="lineno">  642</span> </div>
+<div class="line"><a id="l00643" name="l00643"></a><span class="lineno">  643</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> ManifoldType&gt;</div>
+<div class="foldopen" id="foldopen00644" data-start="{" data-end="};">
+<div class="line"><a id="l00644" name="l00644"></a><span class="lineno"><a class="line" href="structManifoldSignalSpec.html">  644</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structManifoldSignalSpec.html">ManifoldSignalSpec</a></div>
+<div class="line"><a id="l00645" name="l00645"></a><span class="lineno">  645</span>{</div>
+<div class="line"><a id="l00646" name="l00646"></a><span class="lineno"><a class="line" href="structManifoldSignalSpec.html#ae6292debacd46f629429d03cf7e9a342">  646</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structManifoldSignalSpec.html#ae6292debacd46f629429d03cf7e9a342">Type</a> = ManifoldType;</div>
+<div class="foldopen" id="foldopen00647" data-start="{" data-end="}">
+<div class="line"><a id="l00647" name="l00647"></a><span class="lineno"><a class="line" href="structManifoldSignalSpec.html#a445c0d7b5e23264b3a08b881f3c68a72">  647</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structManifoldSignalSpec.html#ae6292debacd46f629429d03cf7e9a342">Type</a> <a class="code hl_function" href="structManifoldSignalSpec.html#a445c0d7b5e23264b3a08b881f3c68a72">ZeroType</a>()</div>
+<div class="line"><a id="l00648" name="l00648"></a><span class="lineno">  648</span>    {</div>
+<div class="line"><a id="l00649" name="l00649"></a><span class="lineno">  649</span>        <span class="keywordflow">return</span> Type::identity();</div>
+<div class="line"><a id="l00650" name="l00650"></a><span class="lineno">  650</span>    }</div>
+</div>
+<div class="foldopen" id="foldopen00651" data-start="{" data-end="}">
+<div class="line"><a id="l00651" name="l00651"></a><span class="lineno"><a class="line" href="structManifoldSignalSpec.html#a8131da54a75205e3f61547afee1ccfcc">  651</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structManifoldSignalSpec.html#ae6292debacd46f629429d03cf7e9a342">Type</a> <a class="code hl_function" href="structManifoldSignalSpec.html#a8131da54a75205e3f61547afee1ccfcc">NansType</a>()</div>
+<div class="line"><a id="l00652" name="l00652"></a><span class="lineno">  652</span>    {</div>
+<div class="line"><a id="l00653" name="l00653"></a><span class="lineno">  653</span>        <span class="keywordflow">return</span> Type::nans();</div>
+<div class="line"><a id="l00654" name="l00654"></a><span class="lineno">  654</span>    }</div>
+</div>
+<div class="line"><a id="l00655" name="l00655"></a><span class="lineno">  655</span>};</div>
+</div>
+<div class="line"><a id="l00656" name="l00656"></a><span class="lineno">  656</span> </div>
+<div class="line"><a id="l00657" name="l00657"></a><span class="lineno">  657</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a id="l00658" name="l00658"></a><span class="lineno"><a class="line" href="Signal_8h.html#a19e9e3fdf9dac462c6fb79ee572d2b4c">  658</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">ScalarSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ScalarSignalSpec&lt;T&gt;</a>, <a class="code hl_struct" href="structScalarSignalSpec.html">ScalarSignalSpec&lt;T&gt;</a>&gt;;</div>
+<div class="line"><a id="l00659" name="l00659"></a><span class="lineno">  659</span> </div>
+<div class="line"><a id="l00660" name="l00660"></a><span class="lineno">  660</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00661" data-start="{" data-end="}">
+<div class="line"><a id="l00661" name="l00661"></a><span class="lineno"><a class="line" href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">  661</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">ScalarSignal&lt;T&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00662" name="l00662"></a><span class="lineno">  662</span>{</div>
+<div class="line"><a id="l00663" name="l00663"></a><span class="lineno">  663</span>    os &lt;&lt; <span class="stringliteral">&quot;ScalarSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: &quot;</span> &lt;&lt; x();</div>
+<div class="line"><a id="l00664" name="l00664"></a><span class="lineno">  664</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00665" name="l00665"></a><span class="lineno">  665</span>}</div>
+</div>
+<div class="line"><a id="l00666" name="l00666"></a><span class="lineno">  666</span> </div>
+<div class="line"><a id="l00667" name="l00667"></a><span class="lineno">  667</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="line"><a id="l00668" name="l00668"></a><span class="lineno"><a class="line" href="Signal_8h.html#a51a32a4dd69ee28867dba6202c812c5a">  668</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">VectorSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;VectorSignalSpec&lt;T, d&gt;</a>, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, d&gt;</a>&gt;;</div>
+<div class="line"><a id="l00669" name="l00669"></a><span class="lineno">  669</span> </div>
+<div class="line"><a id="l00670" name="l00670"></a><span class="lineno">  670</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="foldopen" id="foldopen00671" data-start="{" data-end="}">
+<div class="line"><a id="l00671" name="l00671"></a><span class="lineno"><a class="line" href="Signal_8h.html#aeb7f6d79d7e692981221b685c0863d54">  671</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">VectorSignal&lt;T, d&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00672" name="l00672"></a><span class="lineno">  672</span>{</div>
+<div class="line"><a id="l00673" name="l00673"></a><span class="lineno">  673</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: &quot;</span> &lt;&lt; x().transpose();</div>
+<div class="line"><a id="l00674" name="l00674"></a><span class="lineno">  674</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00675" name="l00675"></a><span class="lineno">  675</span>}</div>
+</div>
+<div class="line"><a id="l00676" name="l00676"></a><span class="lineno">  676</span> </div>
+<div class="line"><a id="l00677" name="l00677"></a><span class="lineno">  677</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="line"><a id="l00678" name="l00678"></a><span class="lineno"><a class="line" href="Signal_8h.html#a278e5023dd90a58b58ce28b413ecec4a">  678</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">ManifoldSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ManifoldSignalSpec&lt;ManifoldType&gt;</a>, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, d&gt;</a>&gt;;</div>
+<div class="line"><a id="l00679" name="l00679"></a><span class="lineno">  679</span> </div>
+<div class="line"><a id="l00680" name="l00680"></a><span class="lineno">  680</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="foldopen" id="foldopen00681" data-start="{" data-end="}">
+<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"><a class="line" href="Signal_8h.html#a6a76598b459ea2e14353617de437c808">  681</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">ManifoldSignal&lt;T, ManifoldType, d&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00682" name="l00682"></a><span class="lineno">  682</span>{</div>
+<div class="line"><a id="l00683" name="l00683"></a><span class="lineno">  683</span>    os &lt;&lt; <span class="stringliteral">&quot;ManifoldSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: &quot;</span> &lt;&lt; x();</div>
+<div class="line"><a id="l00684" name="l00684"></a><span class="lineno">  684</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00685" name="l00685"></a><span class="lineno">  685</span>}</div>
+</div>
+<div class="line"><a id="l00686" name="l00686"></a><span class="lineno">  686</span> </div>
+<div class="foldopen" id="foldopen00687" data-start="" data-end="">
+<div class="line"><a id="l00687" name="l00687"></a><span class="lineno"><a class="line" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">  687</a></span><span class="preprocessor">#define MAKE_VECTOR_SIGNAL(Dimension)                                                                                  \</span></div>
+<div class="line"><a id="l00688" name="l00688"></a><span class="lineno">  688</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
+<div class="line"><a id="l00689" name="l00689"></a><span class="lineno">  689</span><span class="preprocessor">    using Vector##Dimension##Signal = VectorSignal&lt;T, Dimension&gt;;                                                      \</span></div>
+<div class="line"><a id="l00690" name="l00690"></a><span class="lineno">  690</span><span class="preprocessor">    typedef Vector##Dimension##Signal&lt;double&gt; Vector##Dimension##dSignal;</span></div>
+</div>
+<div class="line"><a id="l00691" name="l00691"></a><span class="lineno">  691</span> </div>
+<div class="foldopen" id="foldopen00692" data-start="" data-end="">
+<div class="line"><a id="l00692" name="l00692"></a><span class="lineno"><a class="line" href="Signal_8h.html#adf89e7a1e286d52fa755d04f0c087ea3">  692</a></span><span class="preprocessor">#define MAKE_MANIF_SIGNAL(Manif, Dimension)                                                                            \</span></div>
+<div class="line"><a id="l00693" name="l00693"></a><span class="lineno">  693</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
+<div class="line"><a id="l00694" name="l00694"></a><span class="lineno">  694</span><span class="preprocessor">    using Manif##Signal = ManifoldSignal&lt;T, Manif&lt;T&gt;, Dimension&gt;;                                                      \</span></div>
+<div class="line"><a id="l00695" name="l00695"></a><span class="lineno">  695</span><span class="preprocessor">    typedef Manif##Signal&lt;double&gt; Manif##dSignal;</span></div>
+</div>
+<div class="line"><a id="l00696" name="l00696"></a><span class="lineno">  696</span> </div>
+<div class="line"><a id="l00697" name="l00697"></a><span class="lineno"><a class="line" href="Signal_8h.html#a5d3a7fde60e049b3fb16e62c397585a0">  697</a></span><span class="keyword">typedef</span> <a class="code hl_class" href="classSignal.html">ScalarSignal&lt;double&gt;</a> <a class="code hl_typedef" href="Signal_8h.html#a5d3a7fde60e049b3fb16e62c397585a0">ScalardSignal</a>;</div>
+<div class="line"><a id="l00698" name="l00698"></a><span class="lineno"><a class="line" href="Signal_8h.html#a22bc2b41e336fe6237cfa41ac7b57d0b">  698</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(1)</div>
+<div class="line"><a id="l00699" name="l00699"></a><span class="lineno"><a class="line" href="Signal_8h.html#a718e737386d2321f3e31df01ffe2fd61">  699</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(2)</div>
+<div class="line"><a id="l00700" name="l00700"></a><span class="lineno"><a class="line" href="Signal_8h.html#addff0c3095fce02a8ae3d8669292ea8a">  700</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(3)</div>
+<div class="line"><a id="l00701" name="l00701"></a><span class="lineno"><a class="line" href="Signal_8h.html#a785560e5ddb26fcf9edc2eb9f34e7ec8">  701</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(4)</div>
+<div class="line"><a id="l00702" name="l00702"></a><span class="lineno"><a class="line" href="Signal_8h.html#ad0b807d45bcfe07cc9a2f54648dd4821">  702</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(5)</div>
+<div class="line"><a id="l00703" name="l00703"></a><span class="lineno"><a class="line" href="Signal_8h.html#acb50cf2886559fdfc3aba4ee722f511a">  703</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(6)</div>
+<div class="line"><a id="l00704" name="l00704"></a><span class="lineno"><a class="line" href="Signal_8h.html#afea76be78e2b329344fb610a62c421e9">  704</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(7)</div>
+<div class="line"><a id="l00705" name="l00705"></a><span class="lineno"><a class="line" href="Signal_8h.html#ad2214d5fb3267b191128fcccb515448b">  705</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(8)</div>
+<div class="line"><a id="l00706" name="l00706"></a><span class="lineno"><a class="line" href="Signal_8h.html#acd349d949f45a7bce633414d05043cc3">  706</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(9)</div>
+<div class="line"><a id="l00707" name="l00707"></a><span class="lineno"><a class="line" href="Signal_8h.html#a75b25f1facc38a02d21c155ec05655cc">  707</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(10)</div>
+<div class="line"><a id="l00708" name="l00708"></a><span class="lineno"><a class="line" href="Signal_8h.html#a43a8b3bb4241f080c75114c98502e21b">  708</a></span><a class="code hl_define" href="Signal_8h.html#adf89e7a1e286d52fa755d04f0c087ea3">MAKE_MANIF_SIGNAL</a>(SO2, 1)</div>
+<div class="line"><a id="l00709" name="l00709"></a><span class="lineno"><a class="line" href="Signal_8h.html#a1fbce3445fc6d54d3dfc2aa95fdcc37f">  709</a></span><a class="code hl_define" href="Signal_8h.html#adf89e7a1e286d52fa755d04f0c087ea3">MAKE_MANIF_SIGNAL</a>(SO3, 3)</div>
+<div class="line"><a id="l00710" name="l00710"></a><span class="lineno"><a class="line" href="Signal_8h.html#a27317de3cebe688fdf9b1f89e8d749ea">  710</a></span><a class="code hl_define" href="Signal_8h.html#adf89e7a1e286d52fa755d04f0c087ea3">MAKE_MANIF_SIGNAL</a>(SE2, 3)</div>
+<div class="line"><a id="l00711" name="l00711"></a><span class="lineno"><a class="line" href="Signal_8h.html#a13875f09fcdcc6dd114766bacc38f01b">  711</a></span><a class="code hl_define" href="Signal_8h.html#adf89e7a1e286d52fa755d04f0c087ea3">MAKE_MANIF_SIGNAL</a>(SE3, 6)</div>
+<div class="ttc" id="aSignal_8h_html_a35d05b0e727a39b86907d8669e9e1242"><div class="ttname"><a href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242">DerivativeMethod</a></div><div class="ttdeci">DerivativeMethod</div><div class="ttdef"><b>Definition</b> Signal.h:28</div></div>
+<div class="ttc" id="aSignal_8h_html_a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e"><div class="ttname"><a href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e">FINITE_DIFF</a></div><div class="ttdeci">@ FINITE_DIFF</div><div class="ttdef"><b>Definition</b> Signal.h:30</div></div>
+<div class="ttc" id="aSignal_8h_html_a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c"><div class="ttname"><a href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c">DIRTY</a></div><div class="ttdeci">@ DIRTY</div><div class="ttdef"><b>Definition</b> Signal.h:29</div></div>
+<div class="ttc" id="aSignal_8h_html_a45ef87a3bf4ac7938147e95995f76849"><div class="ttname"><a href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a></div><div class="ttdeci">#define MAKE_VECTOR_SIGNAL(Dimension)</div><div class="ttdef"><b>Definition</b> Signal.h:687</div></div>
+<div class="ttc" id="aSignal_8h_html_a47318c97bced9b7ee828c94c1a4eeb29"><div class="ttname"><a href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const ScalarSignal&lt; T &gt; &amp;x)</div><div class="ttdef"><b>Definition</b> Signal.h:661</div></div>
+<div class="ttc" id="aSignal_8h_html_a5d3a7fde60e049b3fb16e62c397585a0"><div class="ttname"><a href="Signal_8h.html#a5d3a7fde60e049b3fb16e62c397585a0">ScalardSignal</a></div><div class="ttdeci">ScalarSignal&lt; double &gt; ScalardSignal</div><div class="ttdef"><b>Definition</b> Signal.h:697</div></div>
+<div class="ttc" id="aSignal_8h_html_a9943b8bd1a1a1cdb774553d44c12cde4"><div class="ttname"><a href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4">ExtrapolationMethod</a></div><div class="ttdeci">ExtrapolationMethod</div><div class="ttdef"><b>Definition</b> Signal.h:21</div></div>
+<div class="ttc" id="aSignal_8h_html_a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f"><div class="ttname"><a href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f">ZEROS</a></div><div class="ttdeci">@ ZEROS</div><div class="ttdef"><b>Definition</b> Signal.h:23</div></div>
+<div class="ttc" id="aSignal_8h_html_a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3"><div class="ttname"><a href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3">CLOSEST</a></div><div class="ttdeci">@ CLOSEST</div><div class="ttdef"><b>Definition</b> Signal.h:24</div></div>
+<div class="ttc" id="aSignal_8h_html_a9943b8bd1a1a1cdb774553d44c12cde4af4517d0db561241ccfcf150e1629767f"><div class="ttname"><a href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4af4517d0db561241ccfcf150e1629767f">NANS</a></div><div class="ttdeci">@ NANS</div><div class="ttdef"><b>Definition</b> Signal.h:22</div></div>
+<div class="ttc" id="aSignal_8h_html_aa0081e804011c551ea0f4a596a64b284"><div class="ttname"><a href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284">InterpolationMethod</a></div><div class="ttdeci">InterpolationMethod</div><div class="ttdef"><b>Definition</b> Signal.h:14</div></div>
+<div class="ttc" id="aSignal_8h_html_aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc"><div class="ttname"><a href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc">CUBIC_SPLINE</a></div><div class="ttdeci">@ CUBIC_SPLINE</div><div class="ttdef"><b>Definition</b> Signal.h:17</div></div>
+<div class="ttc" id="aSignal_8h_html_aa0081e804011c551ea0f4a596a64b284ad873f8ab97a3f6e892c8b834b23db574"><div class="ttname"><a href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284ad873f8ab97a3f6e892c8b834b23db574">ZERO_ORDER_HOLD</a></div><div class="ttdeci">@ ZERO_ORDER_HOLD</div><div class="ttdef"><b>Definition</b> Signal.h:15</div></div>
+<div class="ttc" id="aSignal_8h_html_aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb"><div class="ttname"><a href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb">LINEAR</a></div><div class="ttdeci">@ LINEAR</div><div class="ttdef"><b>Definition</b> Signal.h:16</div></div>
+<div class="ttc" id="aSignal_8h_html_aa4dc7aa056ee91a7dc4ec540b6bc9cd3"><div class="ttname"><a href="Signal_8h.html#aa4dc7aa056ee91a7dc4ec540b6bc9cd3">operator+</a></div><div class="ttdeci">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; operator+(const Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;l, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> Signal.h:548</div></div>
+<div class="ttc" id="aSignal_8h_html_ad77fa5fab1a3e9a6ca4d7e87364003b9"><div class="ttname"><a href="Signal_8h.html#ad77fa5fab1a3e9a6ca4d7e87364003b9">operator*</a></div><div class="ttdeci">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; operator*(const double &amp;l, const Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> Signal.h:588</div></div>
+<div class="ttc" id="aSignal_8h_html_adf89e7a1e286d52fa755d04f0c087ea3"><div class="ttname"><a href="Signal_8h.html#adf89e7a1e286d52fa755d04f0c087ea3">MAKE_MANIF_SIGNAL</a></div><div class="ttdeci">#define MAKE_MANIF_SIGNAL(Manif, Dimension)</div><div class="ttdef"><b>Definition</b> Signal.h:692</div></div>
+<div class="ttc" id="aSignal_8h_html_afd611b1d0ab8c1f43be72184926ec8ac"><div class="ttname"><a href="Signal_8h.html#afd611b1d0ab8c1f43be72184926ec8ac">operator-</a></div><div class="ttdeci">Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; operator-(const Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;l, const Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> Signal.h:563</div></div>
+<div class="ttc" id="aUtils_8h_html"><div class="ttname"><a href="Utils_8h.html">Utils.h</a></div></div>
+<div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:35</div></div>
+<div class="ttc" id="aclassSignal_html_a058783faf86f369b296c50d4e72c0881"><div class="ttname"><a href="classSignal.html#a058783faf86f369b296c50d4e72c0881">Signal::t</a></div><div class="ttdeci">double t() const</div><div class="ttdef"><b>Definition</b> Signal.h:102</div></div>
+<div class="ttc" id="aclassSignal_html_a22d02130c5fec79a084ef4d1a28521dc"><div class="ttname"><a href="classSignal.html#a22d02130c5fec79a084ef4d1a28521dc">Signal::operator-</a></div><div class="ttdeci">friend Signal&lt; TSS, TSS &gt; operator-(const Signal&lt; BSS, TSS &gt; &amp;l, const Signal&lt; BSS, TSS &gt; &amp;r)</div></div>
+<div class="ttc" id="aclassSignal_html_a2d222b24cb25f6f228a0c69d71d95918"><div class="ttname"><a href="classSignal.html#a2d222b24cb25f6f228a0c69d71d95918">Signal::operator()</a></div><div class="ttdeci">BaseType operator()() const</div><div class="ttdef"><b>Definition</b> Signal.h:107</div></div>
+<div class="ttc" id="aclassSignal_html_a3961e7ce30f40f8104dd3d25f2e70a7f"><div class="ttname"><a href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">Signal::SignalDPComparator</a></div><div class="ttdeci">struct Signal::@0 SignalDPComparator</div></div>
+<div class="ttc" id="aclassSignal_html_a5530308ef517fd0021f510d47c390dc0"><div class="ttname"><a href="classSignal.html#a5530308ef517fd0021f510d47c390dc0">Signal::update</a></div><div class="ttdeci">bool update(const std::vector&lt; double &gt; &amp;_tHistory, const std::vector&lt; BaseType &gt; &amp;_xHistory)</div><div class="ttdef"><b>Definition</b> Signal.h:205</div></div>
+<div class="ttc" id="aclassSignal_html_a6c7174c9bb20970ebb3de64687f771d8"><div class="ttname"><a href="classSignal.html#a6c7174c9bb20970ebb3de64687f771d8">Signal::update</a></div><div class="ttdeci">bool update(const double &amp;_t, const BaseType &amp;_x, const TangentType &amp;_xdot, bool insertHistory=false)</div><div class="ttdef"><b>Definition</b> Signal.h:181</div></div>
+<div class="ttc" id="aclassSignal_html_a74929b7332876f5aeddc9a05d26d3d32"><div class="ttname"><a href="classSignal.html#a74929b7332876f5aeddc9a05d26d3d32">Signal::update</a></div><div class="ttdeci">bool update(const std::vector&lt; double &gt; &amp;_tHistory, const std::vector&lt; BaseType &gt; &amp;_xHistory, const std::vector&lt; TangentType &gt; &amp;_xdotHistory)</div><div class="ttdef"><b>Definition</b> Signal.h:233</div></div>
+<div class="ttc" id="aclassSignal_html_a81a95abda92d3efc0bd4b4ccba77e303"><div class="ttname"><a href="classSignal.html#a81a95abda92d3efc0bd4b4ccba77e303">Signal::Signal</a></div><div class="ttdeci">Signal(const Signal &amp;other)</div><div class="ttdef"><b>Definition</b> Signal.h:67</div></div>
+<div class="ttc" id="aclassSignal_html_a8989cbb307917a9c1f6331be2a5ae4e9"><div class="ttname"><a href="classSignal.html#a8989cbb307917a9c1f6331be2a5ae4e9">Signal::dot</a></div><div class="ttdeci">TangentType dot(const double &amp;t) const</div><div class="ttdef"><b>Definition</b> Signal.h:122</div></div>
+<div class="ttc" id="aclassSignal_html_a8b12b8bc1e74ddbadb67248fab16c461"><div class="ttname"><a href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">Signal::dot</a></div><div class="ttdeci">TangentType dot() const</div><div class="ttdef"><b>Definition</b> Signal.h:112</div></div>
+<div class="ttc" id="aclassSignal_html_a8b5d0a9fba3546f500fed7e2102cd9a7"><div class="ttname"><a href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal::Signal</a></div><div class="ttdeci">Signal()</div><div class="ttdef"><b>Definition</b> Signal.h:59</div></div>
+<div class="ttc" id="aclassSignal_html_a8c25f302d3c4feaa1a4c1f6d59381d89"><div class="ttname"><a href="classSignal.html#a8c25f302d3c4feaa1a4c1f6d59381d89">Signal::setDerivativeMethod</a></div><div class="ttdeci">void setDerivativeMethod(DerivativeMethod method)</div><div class="ttdef"><b>Definition</b> Signal.h:157</div></div>
+<div class="ttc" id="aclassSignal_html_a914fd7f09ae0723c88fce310fd7c79fd"><div class="ttname"><a href="classSignal.html#a914fd7f09ae0723c88fce310fd7c79fd">Signal::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdef"><b>Definition</b> Signal.h:162</div></div>
+<div class="ttc" id="aclassSignal_html_a95241f68d33194232ba1eea1747a5231"><div class="ttname"><a href="classSignal.html#a95241f68d33194232ba1eea1747a5231">Signal::dotSignal</a></div><div class="ttdeci">Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; dotSignal()</div><div class="ttdef"><b>Definition</b> Signal.h:79</div></div>
+<div class="ttc" id="aclassSignal_html_a9bda97fe7663f5481807259ca8bcd8cb"><div class="ttname"><a href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">Signal::BaseType</a></div><div class="ttdeci">typename BaseSignalSpec::Type BaseType</div><div class="ttdef"><b>Definition</b> Signal.h:37</div></div>
+<div class="ttc" id="aclassSignal_html_aa0094b1c69fd482de9de83b99634996a"><div class="ttname"><a href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">Signal::TangentType</a></div><div class="ttdeci">typename TangentSignalSpec::Type TangentType</div><div class="ttdef"><b>Definition</b> Signal.h:38</div></div>
+<div class="ttc" id="aclassSignal_html_aad31a21f4a7d572da1e06e407ccacecd"><div class="ttname"><a href="classSignal.html#aad31a21f4a7d572da1e06e407ccacecd">Signal::dot</a></div><div class="ttdeci">std::vector&lt; TangentType &gt; dot(const std::vector&lt; double &gt; &amp;t) const</div><div class="ttdef"><b>Definition</b> Signal.h:137</div></div>
+<div class="ttc" id="aclassSignal_html_ab91f52b80939a6c67b6863ee463b4ff0"><div class="ttname"><a href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">Signal::update</a></div><div class="ttdeci">bool update(const double &amp;_t, const BaseType &amp;_x, bool insertHistory=false)</div><div class="ttdef"><b>Definition</b> Signal.h:171</div></div>
+<div class="ttc" id="aclassSignal_html_abf8612dae8c835fa349c6f26201016eb"><div class="ttname"><a href="classSignal.html#abf8612dae8c835fa349c6f26201016eb">Signal::operator()</a></div><div class="ttdeci">std::vector&lt; BaseType &gt; operator()(const std::vector&lt; double &gt; &amp;t) const</div><div class="ttdef"><b>Definition</b> Signal.h:127</div></div>
+<div class="ttc" id="aclassSignal_html_ac0536cd4021cc4815a3dbb60c5b4f473"><div class="ttname"><a href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">Signal::derivativeMethod</a></div><div class="ttdeci">DerivativeMethod derivativeMethod</div><div class="ttdef"><b>Definition</b> Signal.h:57</div></div>
+<div class="ttc" id="aclassSignal_html_ac3be206ae717ad5e977d8a108de9b9e4"><div class="ttname"><a href="classSignal.html#ac3be206ae717ad5e977d8a108de9b9e4">Signal::setExtrapolationMethod</a></div><div class="ttdeci">void setExtrapolationMethod(ExtrapolationMethod method)</div><div class="ttdef"><b>Definition</b> Signal.h:152</div></div>
+<div class="ttc" id="aclassSignal_html_ad32d0b6b6bbc54ab8bd0fa63ed3039b9"><div class="ttname"><a href="classSignal.html#ad32d0b6b6bbc54ab8bd0fa63ed3039b9">Signal::operator()</a></div><div class="ttdeci">BaseType operator()(const double &amp;t) const</div><div class="ttdef"><b>Definition</b> Signal.h:117</div></div>
+<div class="ttc" id="aclassSignal_html_ad61a2749da48601dcf27bedaa0cf54fd"><div class="ttname"><a href="classSignal.html#ad61a2749da48601dcf27bedaa0cf54fd">Signal::operator*</a></div><div class="ttdeci">friend Signal&lt; BSS, TSS &gt; operator*(const double &amp;l, const Signal&lt; BSS, TSS &gt; &amp;r)</div></div>
+<div class="ttc" id="aclassSignal_html_ae4c3f0098aaec52921d28cce09ff1ed4"><div class="ttname"><a href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">Signal::interpolationMethod</a></div><div class="ttdeci">InterpolationMethod interpolationMethod</div><div class="ttdef"><b>Definition</b> Signal.h:55</div></div>
+<div class="ttc" id="aclassSignal_html_ae5d88905516fd17257964442b0830584"><div class="ttname"><a href="classSignal.html#ae5d88905516fd17257964442b0830584">Signal::operator*</a></div><div class="ttdeci">friend Signal&lt; BSS, TSS &gt; operator*(const Signal&lt; BSS, TSS &gt; &amp;l, const double &amp;r)</div></div>
+<div class="ttc" id="aclassSignal_html_aead0dbc78a90fbd6ad3f86ab61ed65f7"><div class="ttname"><a href="classSignal.html#aead0dbc78a90fbd6ad3f86ab61ed65f7">Signal::operator+</a></div><div class="ttdeci">friend Signal&lt; BSS, TSS &gt; operator+(const Signal&lt; BSS, TSS &gt; &amp;l, const Signal&lt; TSS, TSS &gt; &amp;r)</div></div>
+<div class="ttc" id="aclassSignal_html_af336f3d6a2d643040dff9fb5b4c20558"><div class="ttname"><a href="classSignal.html#af336f3d6a2d643040dff9fb5b4c20558">Signal::setInterpolationMethod</a></div><div class="ttdeci">void setInterpolationMethod(InterpolationMethod method)</div><div class="ttdef"><b>Definition</b> Signal.h:147</div></div>
+<div class="ttc" id="aclassSignal_html_aff76e692ad975b7721ecf6e60d33a11f"><div class="ttname"><a href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">Signal::extrapolationMethod</a></div><div class="ttdeci">ExtrapolationMethod extrapolationMethod</div><div class="ttdef"><b>Definition</b> Signal.h:56</div></div>
+<div class="ttc" id="astructManifoldSignalSpec_html"><div class="ttname"><a href="structManifoldSignalSpec.html">ManifoldSignalSpec</a></div><div class="ttdef"><b>Definition</b> Signal.h:645</div></div>
+<div class="ttc" id="astructManifoldSignalSpec_html_a445c0d7b5e23264b3a08b881f3c68a72"><div class="ttname"><a href="structManifoldSignalSpec.html#a445c0d7b5e23264b3a08b881f3c68a72">ManifoldSignalSpec::ZeroType</a></div><div class="ttdeci">static Type ZeroType()</div><div class="ttdef"><b>Definition</b> Signal.h:647</div></div>
+<div class="ttc" id="astructManifoldSignalSpec_html_a8131da54a75205e3f61547afee1ccfcc"><div class="ttname"><a href="structManifoldSignalSpec.html#a8131da54a75205e3f61547afee1ccfcc">ManifoldSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> Signal.h:651</div></div>
+<div class="ttc" id="astructManifoldSignalSpec_html_ae6292debacd46f629429d03cf7e9a342"><div class="ttname"><a href="structManifoldSignalSpec.html#ae6292debacd46f629429d03cf7e9a342">ManifoldSignalSpec::Type</a></div><div class="ttdeci">ManifoldType Type</div><div class="ttdef"><b>Definition</b> Signal.h:646</div></div>
+<div class="ttc" id="astructScalarSignalSpec_html"><div class="ttname"><a href="structScalarSignalSpec.html">ScalarSignalSpec</a></div><div class="ttdef"><b>Definition</b> Signal.h:617</div></div>
+<div class="ttc" id="astructScalarSignalSpec_html_a040a016b3023c9df47a913599e9af1e2"><div class="ttname"><a href="structScalarSignalSpec.html#a040a016b3023c9df47a913599e9af1e2">ScalarSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> Signal.h:623</div></div>
+<div class="ttc" id="astructScalarSignalSpec_html_a4a319643aeb76b94214f8b41d64d5402"><div class="ttname"><a href="structScalarSignalSpec.html#a4a319643aeb76b94214f8b41d64d5402">ScalarSignalSpec::Type</a></div><div class="ttdeci">T Type</div><div class="ttdef"><b>Definition</b> Signal.h:618</div></div>
+<div class="ttc" id="astructScalarSignalSpec_html_a941ad7ca4c5943d3b2244e1126d1febf"><div class="ttname"><a href="structScalarSignalSpec.html#a941ad7ca4c5943d3b2244e1126d1febf">ScalarSignalSpec::ZeroType</a></div><div class="ttdeci">static Type ZeroType()</div><div class="ttdef"><b>Definition</b> Signal.h:619</div></div>
+<div class="ttc" id="astructSignal_1_1SignalDP_html"><div class="ttname"><a href="structSignal_1_1SignalDP.html">Signal::SignalDP</a></div><div class="ttdef"><b>Definition</b> Signal.h:41</div></div>
+<div class="ttc" id="astructSignal_1_1SignalDP_html_a31d004bf32039463b33344e4c10bd5bb"><div class="ttname"><a href="structSignal_1_1SignalDP.html#a31d004bf32039463b33344e4c10bd5bb">Signal::SignalDP::xdot</a></div><div class="ttdeci">TangentType xdot</div><div class="ttdef"><b>Definition</b> Signal.h:44</div></div>
+<div class="ttc" id="astructSignal_1_1SignalDP_html_a9b7c7d507ee5f16f1909dccdae98e649"><div class="ttname"><a href="structSignal_1_1SignalDP.html#a9b7c7d507ee5f16f1909dccdae98e649">Signal::SignalDP::x</a></div><div class="ttdeci">BaseType x</div><div class="ttdef"><b>Definition</b> Signal.h:43</div></div>
+<div class="ttc" id="astructSignal_1_1SignalDP_html_ac9d0651b25c9bcf14fcfc65a32fcfa86"><div class="ttname"><a href="structSignal_1_1SignalDP.html#ac9d0651b25c9bcf14fcfc65a32fcfa86">Signal::SignalDP::t</a></div><div class="ttdeci">double t</div><div class="ttdef"><b>Definition</b> Signal.h:42</div></div>
+<div class="ttc" id="astructVectorSignalSpec_html"><div class="ttname"><a href="structVectorSignalSpec.html">VectorSignalSpec</a></div><div class="ttdef"><b>Definition</b> Signal.h:631</div></div>
+<div class="ttc" id="astructVectorSignalSpec_html_a3a25051bf64d2677fc511bd026b7f6a2"><div class="ttname"><a href="structVectorSignalSpec.html#a3a25051bf64d2677fc511bd026b7f6a2">VectorSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> Signal.h:637</div></div>
+<div class="ttc" id="astructVectorSignalSpec_html_a4c535f5d5b25faa7148f8719d74693fd"><div class="ttname"><a href="structVectorSignalSpec.html#a4c535f5d5b25faa7148f8719d74693fd">VectorSignalSpec::ZeroType</a></div><div class="ttdeci">static Type ZeroType()</div><div class="ttdef"><b>Definition</b> Signal.h:633</div></div>
+<div class="ttc" id="astructVectorSignalSpec_html_ac21d15d01635665373eaf23b62f3d440"><div class="ttname"><a href="structVectorSignalSpec.html#ac21d15d01635665373eaf23b62f3d440">VectorSignalSpec::Type</a></div><div class="ttdeci">Matrix&lt; T, d, 1 &gt; Type</div><div class="ttdef"><b>Definition</b> Signal.h:632</div></div>
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+  <div class="headertitle"><div class="title">Signals.h File Reference</div></div>
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+<div class="textblock"><code>#include &quot;<a class="el" href="Signal_8h_source.html">signals/Signal.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="Integration_8h_source.html">signals/Integration.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="State_8h_source.html">signals/State.h</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="Models_8h_source.html">signals/Models.h</a>&quot;</code><br />
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+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;<a class="code" href="State_8h.html">signals/State.h</a>&quot;</span></div>
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+  <div class="headertitle"><div class="title">State.h File Reference</div></div>
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+<div class="textblock"><code>#include &quot;<a class="el" href="Signal_8h_source.html">signals/Signal.h</a>&quot;</code><br />
+</div>
+<p><a href="State_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structState.html">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec&lt; T &gt;</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structVectorStateSignalSpec.html">VectorStateSignalSpec&lt; T, d &gt;</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec&lt; T, ManifoldType, PD, TD &gt;</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="define-members" name="define-members"></a>
+Macros</h2></td></tr>
+<tr class="memitem:aed0e3d5bd576a92c33ab3950c98a4e3b" id="r_aed0e3d5bd576a92c33ab3950c98a4e3b"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(Dimension)</td></tr>
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+<tr class="memitem:a72800aeb486c7eebe1ab0fe8cfae6294" id="r_a72800aeb486c7eebe1ab0fe8cfae6294"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a>(Manif,  Dimension,  TangentDimension)</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="typedef-members" name="typedef-members"></a>
+Typedefs</h2></td></tr>
+<tr class="memitem:aad51d946606df50291c6c2f546030f11" id="r_aad51d946606df50291c6c2f546030f11"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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+<tr class="separator:aad51d946606df50291c6c2f546030f11"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a73655df4c5d92f1cf1cf69d5fa057753"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a7059d2190879b0e80afad377593fb225"><td class="memTemplItemLeft" align="right" valign="top">using&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a7059d2190879b0e80afad377593fb225">ScalarStateSignal</a> = <a class="el" href="classSignal.html">Signal</a>&lt;<a class="el" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec</a>&lt;T&gt;, <a class="el" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec</a>&lt;T&gt;&gt;</td></tr>
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+<tr class="separator:a214bd9926c3d8a2bb83b9b471744775b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a111e9957b3bae43e71ce97678f712b8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae2fe8fddd28ed110fbc33b4ca506bd0f" id="r_ae2fe8fddd28ed110fbc33b4ca506bd0f"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:ae2fe8fddd28ed110fbc33b4ca506bd0f"><td class="memTemplItemLeft" align="right" valign="top">using&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#ae2fe8fddd28ed110fbc33b4ca506bd0f">ScalarState</a> = <a class="el" href="#aad51d946606df50291c6c2f546030f11">ScalarStateType</a>&lt;T&gt;</td></tr>
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+<tr class="memitem:aab879370bd488ae3cb270da1dfc5f695" id="r_aab879370bd488ae3cb270da1dfc5f695"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="#ae2fe8fddd28ed110fbc33b4ca506bd0f">ScalarState</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aab879370bd488ae3cb270da1dfc5f695">ScalardState</a></td></tr>
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+<tr class="separator:a5e82a65c39e740624f9c118536b5475d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a040c943cebaa523f316e57aaa2c90a8f" id="r_a040c943cebaa523f316e57aaa2c90a8f"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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+<tr class="separator:a040c943cebaa523f316e57aaa2c90a8f"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a7de4c0261575a69f6ed4e17cf50e3e03"><td class="memTemplItemLeft" align="right" valign="top">using&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a7de4c0261575a69f6ed4e17cf50e3e03">SE2StateSignal</a> = <a class="el" href="#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal</a>&lt;T, SE2 &lt;T&gt;, 4 , 3 &gt;</td></tr>
+<tr class="separator:a7de4c0261575a69f6ed4e17cf50e3e03"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abf8de0fae02a60506ddd6e134b75ae00" id="r_abf8de0fae02a60506ddd6e134b75ae00"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="#a040c943cebaa523f316e57aaa2c90a8f">SE2State</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#abf8de0fae02a60506ddd6e134b75ae00">SE2dState</a></td></tr>
+<tr class="separator:abf8de0fae02a60506ddd6e134b75ae00"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:aac8e0a5eaf4f01fa2a6f388c116187b6"><td class="memTemplItemLeft" align="right" valign="top">using&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#aac8e0a5eaf4f01fa2a6f388c116187b6">SE3State</a> = <a class="el" href="#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a>&lt;T, SE3 &lt;T&gt;, 7 , 6 &gt;</td></tr>
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+<tr class="separator:a0f26da8f398a7f20706b5f962e475126"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a98daf00f053bcc148a93319eac4901e4" id="r_a98daf00f053bcc148a93319eac4901e4"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="#aac8e0a5eaf4f01fa2a6f388c116187b6">SE3State</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a98daf00f053bcc148a93319eac4901e4">SE3dState</a></td></tr>
+<tr class="separator:a98daf00f053bcc148a93319eac4901e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9b00d890fcdbf16abfbb263061e9bc98" id="r_a9b00d890fcdbf16abfbb263061e9bc98"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="#a0f26da8f398a7f20706b5f962e475126">SE3StateSignal</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a9b00d890fcdbf16abfbb263061e9bc98">SE3dStateSignal</a></td></tr>
+<tr class="separator:a9b00d890fcdbf16abfbb263061e9bc98"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="func-members" name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:ac3e1ccc35f63b762bdd2c87478f8aad6" id="r_ac3e1ccc35f63b762bdd2c87478f8aad6"><td class="memTemplParams" colspan="2">template&lt;typename T , typename PTS , size_t PD, typename TTS , size_t TD&gt; </td></tr>
+<tr class="memitem:ac3e1ccc35f63b762bdd2c87478f8aad6"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#ac3e1ccc35f63b762bdd2c87478f8aad6">operator+</a> (const <a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; &amp;l, const <a class="el" href="structState.html">State</a>&lt; T, TTS, TD, TTS, TD &gt; &amp;r)</td></tr>
+<tr class="separator:ac3e1ccc35f63b762bdd2c87478f8aad6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad7ac1ecc8c925fbc991d2fa8ca50d4eb" id="r_ad7ac1ecc8c925fbc991d2fa8ca50d4eb"><td class="memTemplParams" colspan="2">template&lt;typename T , typename PTS , size_t PD, typename TTS , size_t TD&gt; </td></tr>
+<tr class="memitem:ad7ac1ecc8c925fbc991d2fa8ca50d4eb"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="structState.html">State</a>&lt; T, TTS, TD, TTS, TD &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#ad7ac1ecc8c925fbc991d2fa8ca50d4eb">operator-</a> (const <a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; &amp;l, const <a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; &amp;r)</td></tr>
+<tr class="separator:ad7ac1ecc8c925fbc991d2fa8ca50d4eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a795d2ff5c53f24de712134f27e197001" id="r_a795d2ff5c53f24de712134f27e197001"><td class="memTemplParams" colspan="2">template&lt;typename T , typename PTS , size_t PD, typename TTS , size_t TD&gt; </td></tr>
+<tr class="memitem:a795d2ff5c53f24de712134f27e197001"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a795d2ff5c53f24de712134f27e197001">operator*</a> (const double &amp;l, const <a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; &amp;r)</td></tr>
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+<tr class="separator:a7fa016cf853be0dbc882359bf5b637f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:ae29ac55bb38cdbd3acce109857e8e7a4"><td class="memTemplItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a> (std::ostream &amp;os, const <a class="el" href="#aad51d946606df50291c6c2f546030f11">ScalarStateType</a>&lt; T &gt; &amp;x)</td></tr>
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+<tr class="memitem:af3ec1e7d28a9aac4e1cde4c7f3438128"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="#aad51d946606df50291c6c2f546030f11">ScalarStateType</a>&lt; T &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#af3ec1e7d28a9aac4e1cde4c7f3438128">operator/</a> (const <a class="el" href="#aad51d946606df50291c6c2f546030f11">ScalarStateType</a>&lt; T &gt; &amp;l, const double &amp;r)</td></tr>
+<tr class="separator:af3ec1e7d28a9aac4e1cde4c7f3438128"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:af1eca508289d2fcbdecd0cc136eed43d"><td class="memTemplItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#af1eca508289d2fcbdecd0cc136eed43d">operator&lt;&lt;</a> (std::ostream &amp;os, const <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt; T, d &gt; &amp;x)</td></tr>
+<tr class="separator:af1eca508289d2fcbdecd0cc136eed43d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a0f388e10603fb47846a1147ff5b6839d"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt; T, d &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a0f388e10603fb47846a1147ff5b6839d">operator/</a> (const <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt; T, d &gt; &amp;l, const double &amp;r)</td></tr>
+<tr class="separator:a0f388e10603fb47846a1147ff5b6839d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a494fe74e8c2fc3cd3f7e14886eeb7d6c"><td class="memTemplItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a494fe74e8c2fc3cd3f7e14886eeb7d6c">operator&lt;&lt;</a> (std::ostream &amp;os, const <a class="el" href="#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a>&lt; T, ManifoldType, PD, TD &gt; &amp;x)</td></tr>
+<tr class="separator:a494fe74e8c2fc3cd3f7e14886eeb7d6c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab6fe6347b40120d5f45445b1fc6596f4" id="r_ab6fe6347b40120d5f45445b1fc6596f4"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:ab6fe6347b40120d5f45445b1fc6596f4"><td class="memTemplItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#ab6fe6347b40120d5f45445b1fc6596f4">operator&lt;&lt;</a> (std::ostream &amp;os, const <a class="el" href="#a7059d2190879b0e80afad377593fb225">ScalarStateSignal</a>&lt; T &gt; &amp;x)</td></tr>
+<tr class="separator:ab6fe6347b40120d5f45445b1fc6596f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a1675ff98779b45e08f5d169056e26a4d"><td class="memTemplItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a1675ff98779b45e08f5d169056e26a4d">operator&lt;&lt;</a> (std::ostream &amp;os, const <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt; T, d &gt; &amp;x)</td></tr>
+<tr class="separator:a1675ff98779b45e08f5d169056e26a4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6c0f637d1f1980a2de56f125e9cf4ec1" id="r_a6c0f637d1f1980a2de56f125e9cf4ec1"><td class="memTemplParams" colspan="2">template&lt;typename T , typename ManifoldType , size_t PD, size_t TD&gt; </td></tr>
+<tr class="memitem:a6c0f637d1f1980a2de56f125e9cf4ec1"><td class="memTemplItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a6c0f637d1f1980a2de56f125e9cf4ec1">operator&lt;&lt;</a> (std::ostream &amp;os, const <a class="el" href="#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal</a>&lt; T, ManifoldType, PD, TD &gt; &amp;x)</td></tr>
+<tr class="separator:a6c0f637d1f1980a2de56f125e9cf4ec1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Macro Definition Documentation</h2>
+<a id="a72800aeb486c7eebe1ab0fe8cfae6294" name="a72800aeb486c7eebe1ab0fe8cfae6294"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72800aeb486c7eebe1ab0fe8cfae6294">&#9670;&#160;</a></span>MAKE_MANIF_STATES</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAKE_MANIF_STATES</td>
+          <td>(</td>
+          <td class="paramtype"></td>          <td class="paramname"><span class="paramname">Manif, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"></td>          <td class="paramname"><span class="paramname">Dimension, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"></td>          <td class="paramname"><span class="paramname">TangentDimension</span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Value:</b><div class="fragment"><div class="line">    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;                                                                                               \</div>
+<div class="line">    <span class="keyword">using </span>Manif##<a class="code hl_struct" href="structState.html">State</a> = <a class="code hl_struct" href="structState.html">ManifoldStateType&lt;T, Manif&lt;T&gt;</a>, Dimension, TangentDimension&gt;;                                  \</div>
+<div class="line">    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;                                                                                               \</div>
+<div class="line">    <span class="keyword">using </span>Manif##StateSignal = <a class="code hl_class" href="classSignal.html">ManifoldStateSignal&lt;T, Manif&lt;T&gt;</a>, Dimension, TangentDimension&gt;;                          \</div>
+<div class="line">    <span class="keyword">typedef</span> Manif##<a class="code hl_struct" href="structState.html">State&lt;double&gt;</a>       Manif##dState;                                                                  \</div>
+<div class="line">    <span class="keyword">typedef</span> Manif##StateSignal&lt;double&gt; Manif##dStateSignal;</div>
+<div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:35</div></div>
+<div class="ttc" id="astructState_html"><div class="ttname"><a href="structState.html">State</a></div><div class="ttdef"><b>Definition</b> State.h:8</div></div>
+</div><!-- fragment -->
+</div>
+</div>
+<a id="aed0e3d5bd576a92c33ab3950c98a4e3b" name="aed0e3d5bd576a92c33ab3950c98a4e3b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aed0e3d5bd576a92c33ab3950c98a4e3b">&#9670;&#160;</a></span>MAKE_VECTOR_STATES</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAKE_VECTOR_STATES</td>
+          <td>(</td>
+          <td class="paramtype"></td>          <td class="paramname"><span class="paramname">Dimension</span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Value:</b><div class="fragment"><div class="line">    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;                                                                                               \</div>
+<div class="line">    <span class="keyword">using </span>Vector##Dimension##<a class="code hl_struct" href="structState.html">State</a> = <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, Dimension&gt;</a>;                                                    \</div>
+<div class="line">    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;                                                                                               \</div>
+<div class="line">    <span class="keyword">using </span>Vector##Dimension##StateSignal = <a class="code hl_class" href="classSignal.html">VectorStateSignal&lt;T, Dimension&gt;</a>;                                            \</div>
+<div class="line">    <span class="keyword">typedef</span> Vector##Dimension##<a class="code hl_struct" href="structState.html">State&lt;double&gt;</a>       Vector##Dimension##dState;                                          \</div>
+<div class="line">    <span class="keyword">typedef</span> Vector##Dimension##StateSignal&lt;double&gt; Vector##Dimension##dStateSignal;</div>
+</div><!-- fragment -->
+</div>
+</div>
+<h2 class="groupheader">Typedef Documentation</h2>
+<a id="a111e9957b3bae43e71ce97678f712b8c" name="a111e9957b3bae43e71ce97678f712b8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a111e9957b3bae43e71ce97678f712b8c">&#9670;&#160;</a></span>ManifoldStateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename ManifoldType , size_t PD, size_t TD&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal</a> = <a class="el" href="classSignal.html">Signal</a>&lt;<a class="el" href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec</a>&lt;T, ManifoldType, PD, TD&gt;, <a class="el" href="structVectorStateSignalSpec.html">VectorStateSignalSpec</a>&lt;T, TD&gt;&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a73655df4c5d92f1cf1cf69d5fa057753" name="a73655df4c5d92f1cf1cf69d5fa057753"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a73655df4c5d92f1cf1cf69d5fa057753">&#9670;&#160;</a></span>ManifoldStateType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename ManifoldType , size_t PD, size_t TD&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a> = <a class="el" href="structState.html">State</a>&lt;T, <a class="el" href="structManifoldSignalSpec.html">ManifoldSignalSpec</a>&lt;ManifoldType&gt;, PD, <a class="el" href="structVectorSignalSpec.html">VectorSignalSpec</a>&lt;T, TD&gt;, TD&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aab879370bd488ae3cb270da1dfc5f695" name="aab879370bd488ae3cb270da1dfc5f695"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aab879370bd488ae3cb270da1dfc5f695">&#9670;&#160;</a></span>ScalardState</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#ae2fe8fddd28ed110fbc33b4ca506bd0f">ScalarState</a>&lt;double&gt; <a class="el" href="#aab879370bd488ae3cb270da1dfc5f695">ScalardState</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a95f500a02b3d50ef0a73883e96ae8768" name="a95f500a02b3d50ef0a73883e96ae8768"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a95f500a02b3d50ef0a73883e96ae8768">&#9670;&#160;</a></span>ScalardStateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a7059d2190879b0e80afad377593fb225">ScalarStateSignal</a>&lt;double&gt; <a class="el" href="#a95f500a02b3d50ef0a73883e96ae8768">ScalardStateSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae2fe8fddd28ed110fbc33b4ca506bd0f" name="ae2fe8fddd28ed110fbc33b4ca506bd0f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae2fe8fddd28ed110fbc33b4ca506bd0f">&#9670;&#160;</a></span>ScalarState</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#ae2fe8fddd28ed110fbc33b4ca506bd0f">ScalarState</a> = <a class="el" href="#aad51d946606df50291c6c2f546030f11">ScalarStateType</a>&lt;T&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7059d2190879b0e80afad377593fb225" name="a7059d2190879b0e80afad377593fb225"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7059d2190879b0e80afad377593fb225">&#9670;&#160;</a></span>ScalarStateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a7059d2190879b0e80afad377593fb225">ScalarStateSignal</a> = <a class="el" href="classSignal.html">Signal</a>&lt;<a class="el" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec</a>&lt;T&gt;, <a class="el" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec</a>&lt;T&gt;&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aad51d946606df50291c6c2f546030f11" name="aad51d946606df50291c6c2f546030f11"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aad51d946606df50291c6c2f546030f11">&#9670;&#160;</a></span>ScalarStateType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#aad51d946606df50291c6c2f546030f11">ScalarStateType</a> = <a class="el" href="structState.html">State</a>&lt;T, <a class="el" href="structScalarSignalSpec.html">ScalarSignalSpec</a>&lt;T&gt;, 1, <a class="el" href="structScalarSignalSpec.html">ScalarSignalSpec</a>&lt;T&gt;, 1&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="abf8de0fae02a60506ddd6e134b75ae00" name="abf8de0fae02a60506ddd6e134b75ae00"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abf8de0fae02a60506ddd6e134b75ae00">&#9670;&#160;</a></span>SE2dState</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a040c943cebaa523f316e57aaa2c90a8f">SE2State</a>&lt;double&gt; <a class="el" href="#abf8de0fae02a60506ddd6e134b75ae00">SE2dState</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a709efdac7ba2c93eedbf1533c74e42f5" name="a709efdac7ba2c93eedbf1533c74e42f5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a709efdac7ba2c93eedbf1533c74e42f5">&#9670;&#160;</a></span>SE2dStateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a7de4c0261575a69f6ed4e17cf50e3e03">SE2StateSignal</a>&lt;double&gt; <a class="el" href="#a709efdac7ba2c93eedbf1533c74e42f5">SE2dStateSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a040c943cebaa523f316e57aaa2c90a8f" name="a040c943cebaa523f316e57aaa2c90a8f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a040c943cebaa523f316e57aaa2c90a8f">&#9670;&#160;</a></span>SE2State</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a040c943cebaa523f316e57aaa2c90a8f">SE2State</a> = <a class="el" href="#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a>&lt;T, SE2 &lt;T&gt;, 4 , 3 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7de4c0261575a69f6ed4e17cf50e3e03" name="a7de4c0261575a69f6ed4e17cf50e3e03"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7de4c0261575a69f6ed4e17cf50e3e03">&#9670;&#160;</a></span>SE2StateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a7de4c0261575a69f6ed4e17cf50e3e03">SE2StateSignal</a> = <a class="el" href="#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal</a>&lt;T, SE2 &lt;T&gt;, 4 , 3 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a98daf00f053bcc148a93319eac4901e4" name="a98daf00f053bcc148a93319eac4901e4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a98daf00f053bcc148a93319eac4901e4">&#9670;&#160;</a></span>SE3dState</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#aac8e0a5eaf4f01fa2a6f388c116187b6">SE3State</a>&lt;double&gt; <a class="el" href="#a98daf00f053bcc148a93319eac4901e4">SE3dState</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9b00d890fcdbf16abfbb263061e9bc98" name="a9b00d890fcdbf16abfbb263061e9bc98"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9b00d890fcdbf16abfbb263061e9bc98">&#9670;&#160;</a></span>SE3dStateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a0f26da8f398a7f20706b5f962e475126">SE3StateSignal</a>&lt;double&gt; <a class="el" href="#a9b00d890fcdbf16abfbb263061e9bc98">SE3dStateSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aac8e0a5eaf4f01fa2a6f388c116187b6" name="aac8e0a5eaf4f01fa2a6f388c116187b6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aac8e0a5eaf4f01fa2a6f388c116187b6">&#9670;&#160;</a></span>SE3State</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#aac8e0a5eaf4f01fa2a6f388c116187b6">SE3State</a> = <a class="el" href="#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a>&lt;T, SE3 &lt;T&gt;, 7 , 6 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0f26da8f398a7f20706b5f962e475126" name="a0f26da8f398a7f20706b5f962e475126"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0f26da8f398a7f20706b5f962e475126">&#9670;&#160;</a></span>SE3StateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a0f26da8f398a7f20706b5f962e475126">SE3StateSignal</a> = <a class="el" href="#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal</a>&lt;T, SE3 &lt;T&gt;, 7 , 6 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af87fca61f7adfb8b62056d2f6c815e51" name="af87fca61f7adfb8b62056d2f6c815e51"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af87fca61f7adfb8b62056d2f6c815e51">&#9670;&#160;</a></span>SO2dState</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a53505b4e14d5121cf4ec30c3d5ee854f">SO2State</a>&lt;double&gt; <a class="el" href="#af87fca61f7adfb8b62056d2f6c815e51">SO2dState</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4f4b421bf1a450cd6514a24b8c16e8cb" name="a4f4b421bf1a450cd6514a24b8c16e8cb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4f4b421bf1a450cd6514a24b8c16e8cb">&#9670;&#160;</a></span>SO2dStateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a4e7a95697e869ec8e9cd31c0723ea2cf">SO2StateSignal</a>&lt;double&gt; <a class="el" href="#a4f4b421bf1a450cd6514a24b8c16e8cb">SO2dStateSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a53505b4e14d5121cf4ec30c3d5ee854f" name="a53505b4e14d5121cf4ec30c3d5ee854f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a53505b4e14d5121cf4ec30c3d5ee854f">&#9670;&#160;</a></span>SO2State</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a53505b4e14d5121cf4ec30c3d5ee854f">SO2State</a> = <a class="el" href="#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a>&lt;T, SO2 &lt;T&gt;, 2 , 1 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4e7a95697e869ec8e9cd31c0723ea2cf" name="a4e7a95697e869ec8e9cd31c0723ea2cf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4e7a95697e869ec8e9cd31c0723ea2cf">&#9670;&#160;</a></span>SO2StateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a4e7a95697e869ec8e9cd31c0723ea2cf">SO2StateSignal</a> = <a class="el" href="#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal</a>&lt;T, SO2 &lt;T&gt;, 2 , 1 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7ab722ee104a5c16222f5cbd0d682657" name="a7ab722ee104a5c16222f5cbd0d682657"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7ab722ee104a5c16222f5cbd0d682657">&#9670;&#160;</a></span>SO3dState</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a0bc2e14b1e00089eac587823a7028df1">SO3State</a>&lt;double&gt; <a class="el" href="#a7ab722ee104a5c16222f5cbd0d682657">SO3dState</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7069682eef4672ac723761c44e44bc5a" name="a7069682eef4672ac723761c44e44bc5a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7069682eef4672ac723761c44e44bc5a">&#9670;&#160;</a></span>SO3dStateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#ae37ddd285b52c0765cd59fd0e212dfb5">SO3StateSignal</a>&lt;double&gt; <a class="el" href="#a7069682eef4672ac723761c44e44bc5a">SO3dStateSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0bc2e14b1e00089eac587823a7028df1" name="a0bc2e14b1e00089eac587823a7028df1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0bc2e14b1e00089eac587823a7028df1">&#9670;&#160;</a></span>SO3State</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a0bc2e14b1e00089eac587823a7028df1">SO3State</a> = <a class="el" href="#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a>&lt;T, SO3 &lt;T&gt;, 4 , 3 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae37ddd285b52c0765cd59fd0e212dfb5" name="ae37ddd285b52c0765cd59fd0e212dfb5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae37ddd285b52c0765cd59fd0e212dfb5">&#9670;&#160;</a></span>SO3StateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#ae37ddd285b52c0765cd59fd0e212dfb5">SO3StateSignal</a> = <a class="el" href="#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal</a>&lt;T, SO3 &lt;T&gt;, 4 , 3 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac15f89e56010b705e5a2e0d9c3c50a6d" name="ac15f89e56010b705e5a2e0d9c3c50a6d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac15f89e56010b705e5a2e0d9c3c50a6d">&#9670;&#160;</a></span>Vector10dState</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#aaebcae79f29e8afb31a487a07fe71178">Vector10State</a>&lt;double&gt; <a class="el" href="#ac15f89e56010b705e5a2e0d9c3c50a6d">Vector10dState</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af22d4a3a8e0b033da1e86fbb86d62025" name="af22d4a3a8e0b033da1e86fbb86d62025"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af22d4a3a8e0b033da1e86fbb86d62025">&#9670;&#160;</a></span>Vector10dStateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a7aaf0c3fa4fd47f070fb708901981e1d">Vector10StateSignal</a>&lt;double&gt; <a class="el" href="#af22d4a3a8e0b033da1e86fbb86d62025">Vector10dStateSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aaebcae79f29e8afb31a487a07fe71178" name="aaebcae79f29e8afb31a487a07fe71178"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaebcae79f29e8afb31a487a07fe71178">&#9670;&#160;</a></span>Vector10State</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#aaebcae79f29e8afb31a487a07fe71178">Vector10State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 10 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7aaf0c3fa4fd47f070fb708901981e1d" name="a7aaf0c3fa4fd47f070fb708901981e1d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7aaf0c3fa4fd47f070fb708901981e1d">&#9670;&#160;</a></span>Vector10StateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a7aaf0c3fa4fd47f070fb708901981e1d">Vector10StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 10 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1fccb71007e0830388d5c21c85e3344e" name="a1fccb71007e0830388d5c21c85e3344e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1fccb71007e0830388d5c21c85e3344e">&#9670;&#160;</a></span>Vector1dState</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a0cc4f9bb31ad1c5782e620e2a8168f99">Vector1State</a>&lt;double&gt; <a class="el" href="#a1fccb71007e0830388d5c21c85e3344e">Vector1dState</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a62568e2f3d59e51a60168009aa1a54bf" name="a62568e2f3d59e51a60168009aa1a54bf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a62568e2f3d59e51a60168009aa1a54bf">&#9670;&#160;</a></span>Vector1dStateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a5e82a65c39e740624f9c118536b5475d">Vector1StateSignal</a>&lt;double&gt; <a class="el" href="#a62568e2f3d59e51a60168009aa1a54bf">Vector1dStateSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0cc4f9bb31ad1c5782e620e2a8168f99" name="a0cc4f9bb31ad1c5782e620e2a8168f99"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0cc4f9bb31ad1c5782e620e2a8168f99">&#9670;&#160;</a></span>Vector1State</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a0cc4f9bb31ad1c5782e620e2a8168f99">Vector1State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 1 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5e82a65c39e740624f9c118536b5475d" name="a5e82a65c39e740624f9c118536b5475d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5e82a65c39e740624f9c118536b5475d">&#9670;&#160;</a></span>Vector1StateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a5e82a65c39e740624f9c118536b5475d">Vector1StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 1 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae54c0630e02ee333a48fe6531d00e071" name="ae54c0630e02ee333a48fe6531d00e071"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae54c0630e02ee333a48fe6531d00e071">&#9670;&#160;</a></span>Vector2dState</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#af2610db569af97f280444234b4632b9b">Vector2State</a>&lt;double&gt; <a class="el" href="#ae54c0630e02ee333a48fe6531d00e071">Vector2dState</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a100a0048450baf6c0d0c2f444eccaf8a" name="a100a0048450baf6c0d0c2f444eccaf8a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a100a0048450baf6c0d0c2f444eccaf8a">&#9670;&#160;</a></span>Vector2dStateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a33b1f775ddbb45d3b1ae05ca4a7152c0">Vector2StateSignal</a>&lt;double&gt; <a class="el" href="#a100a0048450baf6c0d0c2f444eccaf8a">Vector2dStateSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af2610db569af97f280444234b4632b9b" name="af2610db569af97f280444234b4632b9b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af2610db569af97f280444234b4632b9b">&#9670;&#160;</a></span>Vector2State</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#af2610db569af97f280444234b4632b9b">Vector2State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 2 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a33b1f775ddbb45d3b1ae05ca4a7152c0" name="a33b1f775ddbb45d3b1ae05ca4a7152c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a33b1f775ddbb45d3b1ae05ca4a7152c0">&#9670;&#160;</a></span>Vector2StateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a33b1f775ddbb45d3b1ae05ca4a7152c0">Vector2StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 2 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0e9c381070552b28ffb2683b44e7b5a3" name="a0e9c381070552b28ffb2683b44e7b5a3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0e9c381070552b28ffb2683b44e7b5a3">&#9670;&#160;</a></span>Vector3dState</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#aa8c0482241bd43048f5a8ae3365c82be">Vector3State</a>&lt;double&gt; <a class="el" href="#a0e9c381070552b28ffb2683b44e7b5a3">Vector3dState</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1e20c96461ce98997ef1a3c0ab7b6668" name="a1e20c96461ce98997ef1a3c0ab7b6668"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1e20c96461ce98997ef1a3c0ab7b6668">&#9670;&#160;</a></span>Vector3dStateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a007fe0235bfe0d3393d33584f9a38f5b">Vector3StateSignal</a>&lt;double&gt; <a class="el" href="#a1e20c96461ce98997ef1a3c0ab7b6668">Vector3dStateSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aa8c0482241bd43048f5a8ae3365c82be" name="aa8c0482241bd43048f5a8ae3365c82be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa8c0482241bd43048f5a8ae3365c82be">&#9670;&#160;</a></span>Vector3State</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#aa8c0482241bd43048f5a8ae3365c82be">Vector3State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 3 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a007fe0235bfe0d3393d33584f9a38f5b" name="a007fe0235bfe0d3393d33584f9a38f5b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a007fe0235bfe0d3393d33584f9a38f5b">&#9670;&#160;</a></span>Vector3StateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a007fe0235bfe0d3393d33584f9a38f5b">Vector3StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 3 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8add6ebebc487c439430cb69d2892bbf" name="a8add6ebebc487c439430cb69d2892bbf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8add6ebebc487c439430cb69d2892bbf">&#9670;&#160;</a></span>Vector4dState</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a4cfd5bd231c0f14e8a360134d9d17bee">Vector4State</a>&lt;double&gt; <a class="el" href="#a8add6ebebc487c439430cb69d2892bbf">Vector4dState</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9013e9f17201a38fdb10648f14ea5c95" name="a9013e9f17201a38fdb10648f14ea5c95"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9013e9f17201a38fdb10648f14ea5c95">&#9670;&#160;</a></span>Vector4dStateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a24c5f8ae10f7553987a0bb5c619cf505">Vector4StateSignal</a>&lt;double&gt; <a class="el" href="#a9013e9f17201a38fdb10648f14ea5c95">Vector4dStateSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4cfd5bd231c0f14e8a360134d9d17bee" name="a4cfd5bd231c0f14e8a360134d9d17bee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cfd5bd231c0f14e8a360134d9d17bee">&#9670;&#160;</a></span>Vector4State</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a4cfd5bd231c0f14e8a360134d9d17bee">Vector4State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 4 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a24c5f8ae10f7553987a0bb5c619cf505" name="a24c5f8ae10f7553987a0bb5c619cf505"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a24c5f8ae10f7553987a0bb5c619cf505">&#9670;&#160;</a></span>Vector4StateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a24c5f8ae10f7553987a0bb5c619cf505">Vector4StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 4 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a45d6b402de0ba422a815e117b084dde3" name="a45d6b402de0ba422a815e117b084dde3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a45d6b402de0ba422a815e117b084dde3">&#9670;&#160;</a></span>Vector5dState</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a2890d15ac36c73fcd73556771b80b47e">Vector5State</a>&lt;double&gt; <a class="el" href="#a45d6b402de0ba422a815e117b084dde3">Vector5dState</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7a8f2f6fd14951fd2fe337c952b0cb74" name="a7a8f2f6fd14951fd2fe337c952b0cb74"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7a8f2f6fd14951fd2fe337c952b0cb74">&#9670;&#160;</a></span>Vector5dStateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a05175ceaa15c466ce47c983d489ce31b">Vector5StateSignal</a>&lt;double&gt; <a class="el" href="#a7a8f2f6fd14951fd2fe337c952b0cb74">Vector5dStateSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2890d15ac36c73fcd73556771b80b47e" name="a2890d15ac36c73fcd73556771b80b47e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2890d15ac36c73fcd73556771b80b47e">&#9670;&#160;</a></span>Vector5State</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a2890d15ac36c73fcd73556771b80b47e">Vector5State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 5 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a05175ceaa15c466ce47c983d489ce31b" name="a05175ceaa15c466ce47c983d489ce31b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a05175ceaa15c466ce47c983d489ce31b">&#9670;&#160;</a></span>Vector5StateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a05175ceaa15c466ce47c983d489ce31b">Vector5StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 5 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af07e3586e98f931acac5d0ffd9b17cee" name="af07e3586e98f931acac5d0ffd9b17cee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af07e3586e98f931acac5d0ffd9b17cee">&#9670;&#160;</a></span>Vector6dState</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a767154e6e5b226bf7b6c9dad73aee6d2">Vector6State</a>&lt;double&gt; <a class="el" href="#af07e3586e98f931acac5d0ffd9b17cee">Vector6dState</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9df3c94eca5a8200ce96b3221995c46b" name="a9df3c94eca5a8200ce96b3221995c46b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9df3c94eca5a8200ce96b3221995c46b">&#9670;&#160;</a></span>Vector6dStateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a809dbd95b4841c294c3a75a7d40ecf62">Vector6StateSignal</a>&lt;double&gt; <a class="el" href="#a9df3c94eca5a8200ce96b3221995c46b">Vector6dStateSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a767154e6e5b226bf7b6c9dad73aee6d2" name="a767154e6e5b226bf7b6c9dad73aee6d2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a767154e6e5b226bf7b6c9dad73aee6d2">&#9670;&#160;</a></span>Vector6State</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a767154e6e5b226bf7b6c9dad73aee6d2">Vector6State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 6 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a809dbd95b4841c294c3a75a7d40ecf62" name="a809dbd95b4841c294c3a75a7d40ecf62"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a809dbd95b4841c294c3a75a7d40ecf62">&#9670;&#160;</a></span>Vector6StateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a809dbd95b4841c294c3a75a7d40ecf62">Vector6StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 6 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad58fbc5cd721c46fe64d385cc3317380" name="ad58fbc5cd721c46fe64d385cc3317380"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad58fbc5cd721c46fe64d385cc3317380">&#9670;&#160;</a></span>Vector7dState</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a5c337dc74b2038b11a515b3d0559c1f2">Vector7State</a>&lt;double&gt; <a class="el" href="#ad58fbc5cd721c46fe64d385cc3317380">Vector7dState</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a901bd18eae58b6365b68227b38b8a6e1" name="a901bd18eae58b6365b68227b38b8a6e1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a901bd18eae58b6365b68227b38b8a6e1">&#9670;&#160;</a></span>Vector7dStateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#aec3d4775be3f8929cbac8e75b0471e48">Vector7StateSignal</a>&lt;double&gt; <a class="el" href="#a901bd18eae58b6365b68227b38b8a6e1">Vector7dStateSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5c337dc74b2038b11a515b3d0559c1f2" name="a5c337dc74b2038b11a515b3d0559c1f2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5c337dc74b2038b11a515b3d0559c1f2">&#9670;&#160;</a></span>Vector7State</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a5c337dc74b2038b11a515b3d0559c1f2">Vector7State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 7 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aec3d4775be3f8929cbac8e75b0471e48" name="aec3d4775be3f8929cbac8e75b0471e48"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aec3d4775be3f8929cbac8e75b0471e48">&#9670;&#160;</a></span>Vector7StateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#aec3d4775be3f8929cbac8e75b0471e48">Vector7StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 7 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="acfdf1934f5783c1dcab2987c242ef8af" name="acfdf1934f5783c1dcab2987c242ef8af"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acfdf1934f5783c1dcab2987c242ef8af">&#9670;&#160;</a></span>Vector8dState</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a102cee6380e7d3e8f52988d17ac6a937">Vector8State</a>&lt;double&gt; <a class="el" href="#acfdf1934f5783c1dcab2987c242ef8af">Vector8dState</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a25968e689d254876cbae1ff352b3f184" name="a25968e689d254876cbae1ff352b3f184"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a25968e689d254876cbae1ff352b3f184">&#9670;&#160;</a></span>Vector8dStateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a1583d33e935bcb44fb80ee6172a59a9b">Vector8StateSignal</a>&lt;double&gt; <a class="el" href="#a25968e689d254876cbae1ff352b3f184">Vector8dStateSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a102cee6380e7d3e8f52988d17ac6a937" name="a102cee6380e7d3e8f52988d17ac6a937"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a102cee6380e7d3e8f52988d17ac6a937">&#9670;&#160;</a></span>Vector8State</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a102cee6380e7d3e8f52988d17ac6a937">Vector8State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 8 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1583d33e935bcb44fb80ee6172a59a9b" name="a1583d33e935bcb44fb80ee6172a59a9b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1583d33e935bcb44fb80ee6172a59a9b">&#9670;&#160;</a></span>Vector8StateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a1583d33e935bcb44fb80ee6172a59a9b">Vector8StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 8 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a865c1f4de96010d38ee17edc48d6c611" name="a865c1f4de96010d38ee17edc48d6c611"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a865c1f4de96010d38ee17edc48d6c611">&#9670;&#160;</a></span>Vector9dState</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#acc503352a69f43c7991b9118bb466db2">Vector9State</a>&lt;double&gt; <a class="el" href="#a865c1f4de96010d38ee17edc48d6c611">Vector9dState</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0237ae6ced288b7b3853654cd4ce796c" name="a0237ae6ced288b7b3853654cd4ce796c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0237ae6ced288b7b3853654cd4ce796c">&#9670;&#160;</a></span>Vector9dStateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="#a0ffa2fdd937c37ee8f09d3fb49057f76">Vector9StateSignal</a>&lt;double&gt; <a class="el" href="#a0237ae6ced288b7b3853654cd4ce796c">Vector9dStateSignal</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="acc503352a69f43c7991b9118bb466db2" name="acc503352a69f43c7991b9118bb466db2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acc503352a69f43c7991b9118bb466db2">&#9670;&#160;</a></span>Vector9State</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#acc503352a69f43c7991b9118bb466db2">Vector9State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 9 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0ffa2fdd937c37ee8f09d3fb49057f76" name="a0ffa2fdd937c37ee8f09d3fb49057f76"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0ffa2fdd937c37ee8f09d3fb49057f76">&#9670;&#160;</a></span>Vector9StateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a0ffa2fdd937c37ee8f09d3fb49057f76">Vector9StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 9 &gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a214bd9926c3d8a2bb83b9b471744775b" name="a214bd9926c3d8a2bb83b9b471744775b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a214bd9926c3d8a2bb83b9b471744775b">&#9670;&#160;</a></span>VectorStateSignal</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , size_t d&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a> = <a class="el" href="classSignal.html">Signal</a>&lt;<a class="el" href="structVectorStateSignalSpec.html">VectorStateSignalSpec</a>&lt;T, d&gt;, <a class="el" href="structVectorStateSignalSpec.html">VectorStateSignalSpec</a>&lt;T, d&gt;&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a60d0230d5788084bb8f559f4561d4d96" name="a60d0230d5788084bb8f559f4561d4d96"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a60d0230d5788084bb8f559f4561d4d96">&#9670;&#160;</a></span>VectorStateType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , size_t d&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a> = <a class="el" href="structState.html">State</a>&lt;T, <a class="el" href="structVectorSignalSpec.html">VectorSignalSpec</a>&lt;T, d&gt;, d, <a class="el" href="structVectorSignalSpec.html">VectorSignalSpec</a>&lt;T, d&gt;, d&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="a795d2ff5c53f24de712134f27e197001" name="a795d2ff5c53f24de712134f27e197001"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a795d2ff5c53f24de712134f27e197001">&#9670;&#160;</a></span>operator*() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename PTS , size_t PD, typename TTS , size_t TD&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; operator* </td>
+          <td>(</td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>r</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7fa016cf853be0dbc882359bf5b637f9" name="a7fa016cf853be0dbc882359bf5b637f9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7fa016cf853be0dbc882359bf5b637f9">&#9670;&#160;</a></span>operator*() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename PTS , size_t PD, typename TTS , size_t TD&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; operator* </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>r</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac3e1ccc35f63b762bdd2c87478f8aad6" name="ac3e1ccc35f63b762bdd2c87478f8aad6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac3e1ccc35f63b762bdd2c87478f8aad6">&#9670;&#160;</a></span>operator+()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename PTS , size_t PD, typename TTS , size_t TD&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; operator+ </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structState.html">State</a>&lt; T, TTS, TD, TTS, TD &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>r</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad7ac1ecc8c925fbc991d2fa8ca50d4eb" name="ad7ac1ecc8c925fbc991d2fa8ca50d4eb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad7ac1ecc8c925fbc991d2fa8ca50d4eb">&#9670;&#160;</a></span>operator-()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename PTS , size_t PD, typename TTS , size_t TD&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structState.html">State</a>&lt; T, TTS, TD, TTS, TD &gt; operator- </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>r</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af3ec1e7d28a9aac4e1cde4c7f3438128" name="af3ec1e7d28a9aac4e1cde4c7f3438128"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af3ec1e7d28a9aac4e1cde4c7f3438128">&#9670;&#160;</a></span>operator/() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="#aad51d946606df50291c6c2f546030f11">ScalarStateType</a>&lt; T &gt; operator/ </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="#aad51d946606df50291c6c2f546030f11">ScalarStateType</a>&lt; T &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>r</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0f388e10603fb47846a1147ff5b6839d" name="a0f388e10603fb47846a1147ff5b6839d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0f388e10603fb47846a1147ff5b6839d">&#9670;&#160;</a></span>operator/() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , size_t d&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt; T, d &gt; operator/ </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt; T, d &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>r</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6c0f637d1f1980a2de56f125e9cf4ec1" name="a6c0f637d1f1980a2de56f125e9cf4ec1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6c0f637d1f1980a2de56f125e9cf4ec1">&#9670;&#160;</a></span>operator&lt;&lt;() <span class="overload">[1/6]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename ManifoldType , size_t PD, size_t TD&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::ostream &amp; operator&lt;&lt; </td>
+          <td>(</td>
+          <td class="paramtype">std::ostream &amp;</td>          <td class="paramname"><span class="paramname"><em>os</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal</a>&lt; T, ManifoldType, PD, TD &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a494fe74e8c2fc3cd3f7e14886eeb7d6c" name="a494fe74e8c2fc3cd3f7e14886eeb7d6c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a494fe74e8c2fc3cd3f7e14886eeb7d6c">&#9670;&#160;</a></span>operator&lt;&lt;() <span class="overload">[2/6]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename ManifoldType , size_t PD, size_t TD&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::ostream &amp; operator&lt;&lt; </td>
+          <td>(</td>
+          <td class="paramtype">std::ostream &amp;</td>          <td class="paramname"><span class="paramname"><em>os</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a>&lt; T, ManifoldType, PD, TD &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab6fe6347b40120d5f45445b1fc6596f4" name="ab6fe6347b40120d5f45445b1fc6596f4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab6fe6347b40120d5f45445b1fc6596f4">&#9670;&#160;</a></span>operator&lt;&lt;() <span class="overload">[3/6]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::ostream &amp; operator&lt;&lt; </td>
+          <td>(</td>
+          <td class="paramtype">std::ostream &amp;</td>          <td class="paramname"><span class="paramname"><em>os</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#a7059d2190879b0e80afad377593fb225">ScalarStateSignal</a>&lt; T &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
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+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
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+</div>
+<a id="ae29ac55bb38cdbd3acce109857e8e7a4" name="ae29ac55bb38cdbd3acce109857e8e7a4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae29ac55bb38cdbd3acce109857e8e7a4">&#9670;&#160;</a></span>operator&lt;&lt;() <span class="overload">[4/6]</span></h2>
+
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+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::ostream &amp; operator&lt;&lt; </td>
+          <td>(</td>
+          <td class="paramtype">std::ostream &amp;</td>          <td class="paramname"><span class="paramname"><em>os</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#aad51d946606df50291c6c2f546030f11">ScalarStateType</a>&lt; T &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
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+<h2 class="memtitle"><span class="permalink"><a href="#a1675ff98779b45e08f5d169056e26a4d">&#9670;&#160;</a></span>operator&lt;&lt;() <span class="overload">[5/6]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , size_t d&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::ostream &amp; operator&lt;&lt; </td>
+          <td>(</td>
+          <td class="paramtype">std::ostream &amp;</td>          <td class="paramname"><span class="paramname"><em>os</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt; T, d &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
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+<h2 class="memtitle"><span class="permalink"><a href="#af1eca508289d2fcbdecd0cc136eed43d">&#9670;&#160;</a></span>operator&lt;&lt;() <span class="overload">[6/6]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , size_t d&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::ostream &amp; operator&lt;&lt; </td>
+          <td>(</td>
+          <td class="paramtype">std::ostream &amp;</td>          <td class="paramname"><span class="paramname"><em>os</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt; T, d &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
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+  <div class="headertitle"><div class="title">State.h</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="State_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#include &quot;<a class="code" href="Signal_8h.html">signals/Signal.h</a>&quot;</span></div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span> </div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="keyword">using namespace </span>Eigen;</div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PoseTypeSpec, <span class="keywordtype">size_t</span> PoseDim, <span class="keyword">typename</span> TwistTypeSpec, <span class="keywordtype">size_t</span> TwistDim&gt;</div>
+<div class="foldopen" id="foldopen00007" data-start="{" data-end="};">
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"><a class="line" href="structState.html">    7</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structState.html">State</a></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span>{</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"><a class="line" href="structState.html#a31bd8aa44dff5f656b2b2057c8d63821">    9</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structState.html#a31bd8aa44dff5f656b2b2057c8d63821">PoseType</a>  = <span class="keyword">typename</span> PoseTypeSpec::Type;</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"><a class="line" href="structState.html#ab58b6e2fe6ea3c2777c5a8a92f6665a1">   10</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structState.html#ab58b6e2fe6ea3c2777c5a8a92f6665a1">TwistType</a> = <span class="keyword">typename</span> TwistTypeSpec::Type;</div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"><a class="line" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">   12</a></span>    <a class="code hl_typedef" href="structState.html#a31bd8aa44dff5f656b2b2057c8d63821">PoseType</a>  <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">   13</a></span>    <a class="code hl_typedef" href="structState.html#ab58b6e2fe6ea3c2777c5a8a92f6665a1">TwistType</a> <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="structState.html#adcb914ebe25fe14622a945801267fa7a">   15</a></span>    <a class="code hl_function" href="structState.html#adcb914ebe25fe14622a945801267fa7a">State</a>() {}</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="structState.html#a097d236bc46ca02a379e2fd188fe3e97">   17</a></span>    <a class="code hl_function" href="structState.html#a097d236bc46ca02a379e2fd188fe3e97">State</a>(T* arr) : <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>(arr), <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>(arr + PoseDim) {}</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
+<div class="foldopen" id="foldopen00019" data-start="{" data-end="}">
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="structState.html#aa10b450dbe8a806a0b203521b4738c0c">   19</a></span>    <a class="code hl_function" href="structState.html#aa10b450dbe8a806a0b203521b4738c0c">State</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State</a>&amp; other)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        this-&gt;pose  = other.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>        this-&gt;twist = other.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    }</div>
+</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
+<div class="foldopen" id="foldopen00025" data-start="{" data-end="}">
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="structState.html#a035f1f7193895463743b8ee58d75634f">   25</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">State</a> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">identity</a>()</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    {</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>        <a class="code hl_struct" href="structState.html">State</a> x;</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>  = PoseTypeSpec::ZeroType();</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> = TwistTypeSpec::ZeroType();</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        <span class="keywordflow">return</span> x;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    }</div>
+</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
+<div class="foldopen" id="foldopen00033" data-start="{" data-end="}">
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">   33</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">State</a> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">nans</a>()</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    {</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>        <a class="code hl_struct" href="structState.html">State</a> x;</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>        x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>  = PoseTypeSpec::NansType();</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>        x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> = TwistTypeSpec::NansType();</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>        <span class="keywordflow">return</span> x;</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    }</div>
+</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
+<div class="foldopen" id="foldopen00041" data-start="{" data-end="}">
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="structState.html#af76faa98cfc18fb81afb0c86f7a0aa75">   41</a></span>    <a class="code hl_struct" href="structState.html">State</a>&amp; <a class="code hl_function" href="structState.html#af76faa98cfc18fb81afb0c86f7a0aa75">operator*=</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; s)</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    {</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>        <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> *= s;</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>        <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> *= s;</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>        <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    }</div>
+</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T2&gt;</div>
+<div class="foldopen" id="foldopen00049" data-start="{" data-end="}">
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="structState.html#a7764970f0c29576eac07ab57c28261be">   49</a></span>    <a class="code hl_struct" href="structState.html">State</a>&amp; <a class="code hl_function" href="structState.html#a7764970f0c29576eac07ab57c28261be">operator+=</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T2, TwistTypeSpec, TwistDim, TwistTypeSpec, TwistDim&gt;</a>&amp; r)</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    {</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>        <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> += r.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>        <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> += r.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>        <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    }</div>
+</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>};</div>
+</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PTS, <span class="keywordtype">size_t</span> PD, <span class="keyword">typename</span> TTS, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="foldopen" id="foldopen00058" data-start="{" data-end="}">
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="State_8h.html#ac3e1ccc35f63b762bdd2c87478f8aad6">   58</a></span><a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> <a class="code hl_function" href="State_8h.html#ac3e1ccc35f63b762bdd2c87478f8aad6">operator+</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; l, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, TTS, TD, TTS, TD&gt;</a>&amp; r)</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>{</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> lpr = l;</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    lpr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> += r.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    lpr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> += r.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <span class="keywordflow">return</span> lpr;</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>}</div>
+</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PTS, <span class="keywordtype">size_t</span> PD, <span class="keyword">typename</span> TTS, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="foldopen" id="foldopen00067" data-start="{" data-end="}">
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="State_8h.html#ad7ac1ecc8c925fbc991d2fa8ca50d4eb">   67</a></span><a class="code hl_struct" href="structState.html">State&lt;T, TTS, TD, TTS, TD&gt;</a> <a class="code hl_function" href="State_8h.html#ad7ac1ecc8c925fbc991d2fa8ca50d4eb">operator-</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; l, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; r)</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>{</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    <a class="code hl_struct" href="structState.html">State&lt;T, TTS, TD, TTS, TD&gt;</a> lmr;</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    lmr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>  = l.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> - r.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    lmr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> = l.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> - r.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <span class="keywordflow">return</span> lmr;</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>}</div>
+</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PTS, <span class="keywordtype">size_t</span> PD, <span class="keyword">typename</span> TTS, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="foldopen" id="foldopen00076" data-start="{" data-end="}">
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="State_8h.html#a795d2ff5c53f24de712134f27e197001">   76</a></span><a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> <a class="code hl_function" href="State_8h.html#a795d2ff5c53f24de712134f27e197001">operator*</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; l, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; r)</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>{</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> lr = r;</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> *= l;</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> *= l;</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    <span class="keywordflow">return</span> lr;</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>}</div>
+</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PTS, <span class="keywordtype">size_t</span> PD, <span class="keyword">typename</span> TTS, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="foldopen" id="foldopen00085" data-start="{" data-end="}">
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="State_8h.html#a7fa016cf853be0dbc882359bf5b637f9">   85</a></span><a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> <a class="code hl_function" href="State_8h.html#a795d2ff5c53f24de712134f27e197001">operator*</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>{</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> lr = l;</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> *= r;</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> *= r;</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="keywordflow">return</span> lr;</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>}</div>
+</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="State_8h.html#aad51d946606df50291c6c2f546030f11">   94</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">ScalarStateType</a> = <a class="code hl_struct" href="structState.html">State&lt;T, ScalarSignalSpec&lt;T&gt;</a>, 1, <a class="code hl_struct" href="structScalarSignalSpec.html">ScalarSignalSpec&lt;T&gt;</a>, 1&gt;;</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00097" data-start="{" data-end="}">
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">   97</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>{</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    os &lt;&lt; <span class="stringliteral">&quot;ScalarStateType: pose=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>}</div>
+</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span> </div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00104" data-start="{" data-end="}">
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">  104</a></span><a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a> <a class="code hl_function" href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">operator/</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>{</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a> lr = l;</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> /= r;</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> /= r;</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    <span class="keywordflow">return</span> lr;</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>}</div>
+</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span> </div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="State_8h.html#a60d0230d5788084bb8f559f4561d4d96">  113</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">VectorStateType</a> = <a class="code hl_struct" href="structState.html">State&lt;T, VectorSignalSpec&lt;T, d&gt;</a>, d, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, d&gt;</a>, d&gt;;</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span> </div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="foldopen" id="foldopen00116" data-start="{" data-end="}">
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="State_8h.html#af1eca508289d2fcbdecd0cc136eed43d">  116</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>{</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorStateType: pose=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>.transpose() &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>.transpose();</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>}</div>
+</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span> </div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="foldopen" id="foldopen00123" data-start="{" data-end="}">
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="State_8h.html#a0f388e10603fb47846a1147ff5b6839d">  123</a></span><a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a> <a class="code hl_function" href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">operator/</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>{</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a> lr = l;</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> /= r;</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> /= r;</div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    <span class="keywordflow">return</span> lr;</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>}</div>
+</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span> </div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"><a class="line" href="State_8h.html#a73655df4c5d92f1cf1cf69d5fa057753">  132</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">ManifoldStateType</a> = <a class="code hl_struct" href="structState.html">State&lt;T, ManifoldSignalSpec&lt;ManifoldType&gt;</a>, PD, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, TD&gt;</a>, TD&gt;;</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span> </div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="foldopen" id="foldopen00135" data-start="{" data-end="}">
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"><a class="line" href="State_8h.html#a494fe74e8c2fc3cd3f7e14886eeb7d6c">  135</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">ManifoldStateType&lt;T, ManifoldType, PD, TD&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>{</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorStateType: pose=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>}</div>
+</div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span> </div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00142" data-start="{" data-end="};">
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html">  142</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec</a></div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>{</div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html#a7ae52069e3aafdb7c45b14168b1ad11b">  144</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structState.html">Type</a> = <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>;</div>
+<div class="foldopen" id="foldopen00145" data-start="{" data-end="}">
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">  145</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">ZeroType</a>()</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    {</div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">Type::identity</a>();</div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    }</div>
+</div>
+<div class="foldopen" id="foldopen00149" data-start="{" data-end="}">
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">  149</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">NansType</a>()</div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    {</div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">Type::nans</a>();</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>    }</div>
+</div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>};</div>
+</div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span> </div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="foldopen" id="foldopen00156" data-start="{" data-end="};">
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html">  156</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structVectorStateSignalSpec.html">VectorStateSignalSpec</a></div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>{</div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html#a3994948f467b39ca2dcd77d220a8cf3a">  158</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structState.html">Type</a> = <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a>;</div>
+<div class="foldopen" id="foldopen00159" data-start="{" data-end="}">
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html#ae659b96e95497b25e711fab331037c21">  159</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structVectorStateSignalSpec.html#ae659b96e95497b25e711fab331037c21">ZeroType</a>()</div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    {</div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">Type::identity</a>();</div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>    }</div>
+</div>
+<div class="foldopen" id="foldopen00163" data-start="{" data-end="}">
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html#a4729eec41bab8eb5ed7b45aa8272be4d">  163</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structVectorStateSignalSpec.html#a4729eec41bab8eb5ed7b45aa8272be4d">NansType</a>()</div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>    {</div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">Type::nans</a>();</div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>    }</div>
+</div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>};</div>
+</div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span> </div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="foldopen" id="foldopen00170" data-start="{" data-end="};">
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html">  170</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec</a></div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>{</div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html#aef8d411c012125303e1faa1d66b35c1c">  172</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structState.html">Type</a> = <a class="code hl_struct" href="structState.html">ManifoldStateType&lt;T, ManifoldType, PD, TD&gt;</a>;</div>
+<div class="foldopen" id="foldopen00173" data-start="{" data-end="}">
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">  173</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">ZeroType</a>()</div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>    {</div>
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">Type::identity</a>();</div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    }</div>
+</div>
+<div class="foldopen" id="foldopen00177" data-start="{" data-end="}">
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">  177</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">NansType</a>()</div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>    {</div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">Type::nans</a>();</div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>    }</div>
+</div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>};</div>
+</div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span> </div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"><a class="line" href="State_8h.html#a7059d2190879b0e80afad377593fb225">  184</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">ScalarStateSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ScalarStateSignalSpec&lt;T&gt;</a>, <a class="code hl_struct" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec&lt;T&gt;</a>&gt;;</div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span> </div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00187" data-start="{" data-end="}">
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"><a class="line" href="State_8h.html#ab6fe6347b40120d5f45445b1fc6596f4">  187</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;T&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>{</div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>    os &lt;&lt; <span class="stringliteral">&quot;ScalarStateSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: pose=&quot;</span> &lt;&lt; x().pose &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x().twist;</div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>}</div>
+</div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span> </div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"><a class="line" href="State_8h.html#a214bd9926c3d8a2bb83b9b471744775b">  194</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">VectorStateSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;VectorStateSignalSpec&lt;T, d&gt;</a>, <a class="code hl_struct" href="structVectorStateSignalSpec.html">VectorStateSignalSpec&lt;T, d&gt;</a>&gt;;</div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span> </div>
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="foldopen" id="foldopen00197" data-start="{" data-end="}">
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"><a class="line" href="State_8h.html#a1675ff98779b45e08f5d169056e26a4d">  197</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">VectorStateSignal&lt;T, d&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>{</div>
+<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorStateSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: pose=&quot;</span> &lt;&lt; x().pose.transpose()</div>
+<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>       &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x().twist.transpose();</div>
+<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>}</div>
+</div>
+<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span> </div>
+<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"><a class="line" href="State_8h.html#a111e9957b3bae43e71ce97678f712b8c">  205</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">ManifoldStateSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ManifoldStateSignalSpec&lt;T, ManifoldType, PD, TD&gt;</a>, <a class="code hl_struct" href="structVectorStateSignalSpec.html">VectorStateSignalSpec&lt;T, TD&gt;</a>&gt;;</div>
+<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span> </div>
+<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="foldopen" id="foldopen00208" data-start="{" data-end="}">
+<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"><a class="line" href="State_8h.html#a6c0f637d1f1980a2de56f125e9cf4ec1">  208</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">ManifoldStateSignal&lt;T, ManifoldType, PD, TD&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>{</div>
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>    os &lt;&lt; <span class="stringliteral">&quot;ManifoldStateSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: pose=&quot;</span> &lt;&lt; x().pose &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x().twist;</div>
+<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>}</div>
+</div>
+<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span> </div>
+<div class="foldopen" id="foldopen00214" data-start="" data-end="">
+<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"><a class="line" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">  214</a></span><span class="preprocessor">#define MAKE_VECTOR_STATES(Dimension)                                                                                  \</span></div>
+<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
+<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span><span class="preprocessor">    using Vector##Dimension##State = VectorStateType&lt;T, Dimension&gt;;                                                    \</span></div>
+<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
+<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span><span class="preprocessor">    using Vector##Dimension##StateSignal = VectorStateSignal&lt;T, Dimension&gt;;                                            \</span></div>
+<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span><span class="preprocessor">    typedef Vector##Dimension##State&lt;double&gt;       Vector##Dimension##dState;                                          \</span></div>
+<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span><span class="preprocessor">    typedef Vector##Dimension##StateSignal&lt;double&gt; Vector##Dimension##dStateSignal;</span></div>
+</div>
+<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span> </div>
+<div class="foldopen" id="foldopen00222" data-start="" data-end="">
+<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"><a class="line" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">  222</a></span><span class="preprocessor">#define MAKE_MANIF_STATES(Manif, Dimension, TangentDimension)                                                          \</span></div>
+<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
+<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span><span class="preprocessor">    using Manif##State = ManifoldStateType&lt;T, Manif&lt;T&gt;, Dimension, TangentDimension&gt;;                                  \</span></div>
+<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
+<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span><span class="preprocessor">    using Manif##StateSignal = ManifoldStateSignal&lt;T, Manif&lt;T&gt;, Dimension, TangentDimension&gt;;                          \</span></div>
+<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span><span class="preprocessor">    typedef Manif##State&lt;double&gt;       Manif##dState;                                                                  \</span></div>
+<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span><span class="preprocessor">    typedef Manif##StateSignal&lt;double&gt; Manif##dStateSignal;</span></div>
+</div>
+<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span> </div>
+<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"><a class="line" href="State_8h.html#ae2fe8fddd28ed110fbc33b4ca506bd0f">  231</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">ScalarState</a> = <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"><a class="line" href="State_8h.html#aab879370bd488ae3cb270da1dfc5f695">  232</a></span><span class="keyword">typedef</span> <a class="code hl_struct" href="structState.html">ScalarState&lt;double&gt;</a>       <a class="code hl_typedef" href="State_8h.html#aab879370bd488ae3cb270da1dfc5f695">ScalardState</a>;</div>
+<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"><a class="line" href="State_8h.html#a95f500a02b3d50ef0a73883e96ae8768">  233</a></span><span class="keyword">typedef</span> <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;double&gt;</a> <a class="code hl_typedef" href="State_8h.html#a95f500a02b3d50ef0a73883e96ae8768">ScalardStateSignal</a>;</div>
+<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"><a class="line" href="State_8h.html#a1fccb71007e0830388d5c21c85e3344e">  234</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(1)</div>
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+<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"><a class="line" href="State_8h.html#a865c1f4de96010d38ee17edc48d6c611">  242</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(9)</div>
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+<div class="ttc" id="aSignal_8h_html"><div class="ttname"><a href="Signal_8h.html">Signal.h</a></div></div>
+<div class="ttc" id="aState_8h_html_a72800aeb486c7eebe1ab0fe8cfae6294"><div class="ttname"><a href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a></div><div class="ttdeci">#define MAKE_MANIF_STATES(Manif, Dimension, TangentDimension)</div><div class="ttdef"><b>Definition</b> State.h:222</div></div>
+<div class="ttc" id="aState_8h_html_a795d2ff5c53f24de712134f27e197001"><div class="ttname"><a href="State_8h.html#a795d2ff5c53f24de712134f27e197001">operator*</a></div><div class="ttdeci">State&lt; T, PTS, PD, TTS, TD &gt; operator*(const double &amp;l, const State&lt; T, PTS, PD, TTS, TD &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:76</div></div>
+<div class="ttc" id="aState_8h_html_a95f500a02b3d50ef0a73883e96ae8768"><div class="ttname"><a href="State_8h.html#a95f500a02b3d50ef0a73883e96ae8768">ScalardStateSignal</a></div><div class="ttdeci">ScalarStateSignal&lt; double &gt; ScalardStateSignal</div><div class="ttdef"><b>Definition</b> State.h:233</div></div>
+<div class="ttc" id="aState_8h_html_aab879370bd488ae3cb270da1dfc5f695"><div class="ttname"><a href="State_8h.html#aab879370bd488ae3cb270da1dfc5f695">ScalardState</a></div><div class="ttdeci">ScalarState&lt; double &gt; ScalardState</div><div class="ttdef"><b>Definition</b> State.h:232</div></div>
+<div class="ttc" id="aState_8h_html_ac3e1ccc35f63b762bdd2c87478f8aad6"><div class="ttname"><a href="State_8h.html#ac3e1ccc35f63b762bdd2c87478f8aad6">operator+</a></div><div class="ttdeci">State&lt; T, PTS, PD, TTS, TD &gt; operator+(const State&lt; T, PTS, PD, TTS, TD &gt; &amp;l, const State&lt; T, TTS, TD, TTS, TD &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:58</div></div>
+<div class="ttc" id="aState_8h_html_ad7ac1ecc8c925fbc991d2fa8ca50d4eb"><div class="ttname"><a href="State_8h.html#ad7ac1ecc8c925fbc991d2fa8ca50d4eb">operator-</a></div><div class="ttdeci">State&lt; T, TTS, TD, TTS, TD &gt; operator-(const State&lt; T, PTS, PD, TTS, TD &gt; &amp;l, const State&lt; T, PTS, PD, TTS, TD &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:67</div></div>
+<div class="ttc" id="aState_8h_html_ae29ac55bb38cdbd3acce109857e8e7a4"><div class="ttname"><a href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const ScalarStateType&lt; T &gt; &amp;x)</div><div class="ttdef"><b>Definition</b> State.h:97</div></div>
+<div class="ttc" id="aState_8h_html_aed0e3d5bd576a92c33ab3950c98a4e3b"><div class="ttname"><a href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a></div><div class="ttdeci">#define MAKE_VECTOR_STATES(Dimension)</div><div class="ttdef"><b>Definition</b> State.h:214</div></div>
+<div class="ttc" id="aState_8h_html_af3ec1e7d28a9aac4e1cde4c7f3438128"><div class="ttname"><a href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">operator/</a></div><div class="ttdeci">ScalarStateType&lt; T &gt; operator/(const ScalarStateType&lt; T &gt; &amp;l, const double &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:104</div></div>
+<div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:35</div></div>
+<div class="ttc" id="aclassSignal_html_a058783faf86f369b296c50d4e72c0881"><div class="ttname"><a href="classSignal.html#a058783faf86f369b296c50d4e72c0881">Signal::t</a></div><div class="ttdeci">double t() const</div><div class="ttdef"><b>Definition</b> Signal.h:102</div></div>
+<div class="ttc" id="astructManifoldStateSignalSpec_html"><div class="ttname"><a href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec</a></div><div class="ttdef"><b>Definition</b> State.h:171</div></div>
+<div class="ttc" id="astructManifoldStateSignalSpec_html_a7542075f653a7e8fba76702499936b17"><div class="ttname"><a href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">ManifoldStateSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> State.h:177</div></div>
+<div class="ttc" id="astructManifoldStateSignalSpec_html_adca9f48f26d97f95b2083b9e55bb58cb"><div class="ttname"><a href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">ManifoldStateSignalSpec::ZeroType</a></div><div class="ttdeci">static Type ZeroType()</div><div class="ttdef"><b>Definition</b> State.h:173</div></div>
+<div class="ttc" id="astructScalarSignalSpec_html"><div class="ttname"><a href="structScalarSignalSpec.html">ScalarSignalSpec</a></div><div class="ttdef"><b>Definition</b> Signal.h:617</div></div>
+<div class="ttc" id="astructScalarStateSignalSpec_html"><div class="ttname"><a href="structScalarStateSignalSpec.html">ScalarStateSignalSpec</a></div><div class="ttdef"><b>Definition</b> State.h:143</div></div>
+<div class="ttc" id="astructScalarStateSignalSpec_html_a0dc57853395e3c57d6447a23ae513b91"><div class="ttname"><a href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">ScalarStateSignalSpec::ZeroType</a></div><div class="ttdeci">static Type ZeroType()</div><div class="ttdef"><b>Definition</b> State.h:145</div></div>
+<div class="ttc" id="astructScalarStateSignalSpec_html_ac3878dfd1b21706364c34d09e6da37ce"><div class="ttname"><a href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">ScalarStateSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> State.h:149</div></div>
+<div class="ttc" id="astructState_html"><div class="ttname"><a href="structState.html">State</a></div><div class="ttdef"><b>Definition</b> State.h:8</div></div>
+<div class="ttc" id="astructState_html_a035f1f7193895463743b8ee58d75634f"><div class="ttname"><a href="structState.html#a035f1f7193895463743b8ee58d75634f">State::identity</a></div><div class="ttdeci">static State identity()</div><div class="ttdef"><b>Definition</b> State.h:25</div></div>
+<div class="ttc" id="astructState_html_a097d236bc46ca02a379e2fd188fe3e97"><div class="ttname"><a href="structState.html#a097d236bc46ca02a379e2fd188fe3e97">State::State</a></div><div class="ttdeci">State(T *arr)</div><div class="ttdef"><b>Definition</b> State.h:17</div></div>
+<div class="ttc" id="astructState_html_a0a5874d4c3988770f5498c34ec508c34"><div class="ttname"><a href="structState.html#a0a5874d4c3988770f5498c34ec508c34">State::pose</a></div><div class="ttdeci">PoseType pose</div><div class="ttdef"><b>Definition</b> State.h:12</div></div>
+<div class="ttc" id="astructState_html_a31bd8aa44dff5f656b2b2057c8d63821"><div class="ttname"><a href="structState.html#a31bd8aa44dff5f656b2b2057c8d63821">State::PoseType</a></div><div class="ttdeci">typename PoseTypeSpec::Type PoseType</div><div class="ttdef"><b>Definition</b> State.h:9</div></div>
+<div class="ttc" id="astructState_html_a3f5fb4275701e71a56d2fa1fb8d54080"><div class="ttname"><a href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">State::twist</a></div><div class="ttdeci">TwistType twist</div><div class="ttdef"><b>Definition</b> State.h:13</div></div>
+<div class="ttc" id="astructState_html_a7764970f0c29576eac07ab57c28261be"><div class="ttname"><a href="structState.html#a7764970f0c29576eac07ab57c28261be">State::operator+=</a></div><div class="ttdeci">State &amp; operator+=(const State&lt; T2, TwistTypeSpec, TwistDim, TwistTypeSpec, TwistDim &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:49</div></div>
+<div class="ttc" id="astructState_html_a9e331e0ecbed1ab2a03d9b3e5a457426"><div class="ttname"><a href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">State::nans</a></div><div class="ttdeci">static State nans()</div><div class="ttdef"><b>Definition</b> State.h:33</div></div>
+<div class="ttc" id="astructState_html_aa10b450dbe8a806a0b203521b4738c0c"><div class="ttname"><a href="structState.html#aa10b450dbe8a806a0b203521b4738c0c">State::State</a></div><div class="ttdeci">State(const State &amp;other)</div><div class="ttdef"><b>Definition</b> State.h:19</div></div>
+<div class="ttc" id="astructState_html_ab58b6e2fe6ea3c2777c5a8a92f6665a1"><div class="ttname"><a href="structState.html#ab58b6e2fe6ea3c2777c5a8a92f6665a1">State::TwistType</a></div><div class="ttdeci">typename TwistTypeSpec::Type TwistType</div><div class="ttdef"><b>Definition</b> State.h:10</div></div>
+<div class="ttc" id="astructState_html_adcb914ebe25fe14622a945801267fa7a"><div class="ttname"><a href="structState.html#adcb914ebe25fe14622a945801267fa7a">State::State</a></div><div class="ttdeci">State()</div><div class="ttdef"><b>Definition</b> State.h:15</div></div>
+<div class="ttc" id="astructState_html_af76faa98cfc18fb81afb0c86f7a0aa75"><div class="ttname"><a href="structState.html#af76faa98cfc18fb81afb0c86f7a0aa75">State::operator*=</a></div><div class="ttdeci">State &amp; operator*=(const double &amp;s)</div><div class="ttdef"><b>Definition</b> State.h:41</div></div>
+<div class="ttc" id="astructVectorSignalSpec_html"><div class="ttname"><a href="structVectorSignalSpec.html">VectorSignalSpec</a></div><div class="ttdef"><b>Definition</b> Signal.h:631</div></div>
+<div class="ttc" id="astructVectorStateSignalSpec_html"><div class="ttname"><a href="structVectorStateSignalSpec.html">VectorStateSignalSpec</a></div><div class="ttdef"><b>Definition</b> State.h:157</div></div>
+<div class="ttc" id="astructVectorStateSignalSpec_html_a4729eec41bab8eb5ed7b45aa8272be4d"><div class="ttname"><a href="structVectorStateSignalSpec.html#a4729eec41bab8eb5ed7b45aa8272be4d">VectorStateSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> State.h:163</div></div>
+<div class="ttc" id="astructVectorStateSignalSpec_html_ae659b96e95497b25e711fab331037c21"><div class="ttname"><a href="structVectorStateSignalSpec.html#ae659b96e95497b25e711fab331037c21">VectorStateSignalSpec::ZeroType</a></div><div class="ttdeci">static Type ZeroType()</div><div class="ttdef"><b>Definition</b> State.h:159</div></div>
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+<div class="textblock"><code>#include &lt;algorithm&gt;</code><br />
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+<p><a href="Utils_8h_source.html">Go to the source code of this file.</a></p>
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+<a href="Utils_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
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+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span>    <span class="keywordflow">if</span> (t0 &gt;= tf || t0 &lt; 0)</div>
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+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
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+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>    dt = std::min(tf - t0, dt_max);</div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
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+<div class="ttc" id="anamespacesignal__utils_html"><div class="ttname"><a href="namespacesignal__utils.html">signal_utils</a></div><div class="ttdef"><b>Definition</b> Utils.h:5</div></div>
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+</div><!-- top -->
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+  <div class="headertitle"><div class="title">Model&lt; DynamicsType &gt; Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classModel.html">Model&lt; DynamicsType &gt;</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">hasParams</a>()</td><td class="entry"><a class="el" href="classModel.html">Model&lt; DynamicsType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classModel.html#ac990dd4740b30e4477bca86fc6172970">InputSignalType</a> typedef</td><td class="entry"><a class="el" href="classModel.html">Model&lt; DynamicsType &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classModel.html#a3cbccc00606661a35110dbe111af54ad">Model</a>()</td><td class="entry"><a class="el" href="classModel.html">Model&lt; DynamicsType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classModel.html#aec20251d98505785fa51c52eb81dd3a2">ParamsType</a> typedef</td><td class="entry"><a class="el" href="classModel.html">Model&lt; DynamicsType &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classModel.html#a823536a9764d6a35cce173573ee62e90">reset</a>()</td><td class="entry"><a class="el" href="classModel.html">Model&lt; DynamicsType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classModel.html#ac7446138b27c8feba779ebfe8e82b99d">simulate</a>(const InputSignalType &amp;u, const double &amp;tf, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</td><td class="entry"><a class="el" href="classModel.html">Model&lt; DynamicsType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classModel.html#a8abdf37c6158386a9f1d2c6c506f6839">StateDotSignalType</a> typedef</td><td class="entry"><a class="el" href="classModel.html">Model&lt; DynamicsType &gt;</a></td><td class="entry"></td></tr>
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
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+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classModel-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">Model&lt; DynamicsType &gt; Class Template Reference</div></div>
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+<p><code>#include &lt;<a class="el" href="Models_8h_source.html">Models.h</a>&gt;</code></p>
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+<tr class="separator:aec20251d98505785fa51c52eb81dd3a2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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+<tr class="memitem:a96533143a30ab87c379e411fcae59643" id="r_a96533143a30ab87c379e411fcae59643"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a96533143a30ab87c379e411fcae59643">setParams</a> (const <a class="el" href="#aec20251d98505785fa51c52eb81dd3a2">ParamsType</a> &amp;params)</td></tr>
+<tr class="separator:a96533143a30ab87c379e411fcae59643"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4f059d658bfda1665bf44a36b7aaf8e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a7661852411b9ffd59240d5d5ca0e4dd3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:ac7446138b27c8feba779ebfe8e82b99d"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#ac7446138b27c8feba779ebfe8e82b99d">simulate</a> (const <a class="el" href="#ac990dd4740b30e4477bca86fc6172970">InputSignalType</a> &amp;u, const double &amp;tf, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</td></tr>
+<tr class="separator:ac7446138b27c8feba779ebfe8e82b99d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ac2550ae8ed888d167450160ce55286df"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:abfe8871b9f0eac35c76af3f5cfcdea35" id="r_abfe8871b9f0eac35c76af3f5cfcdea35"><td class="memItemLeft" align="right" valign="top"><a class="el" href="#a643e1a47ddbb10c5c10844f9aea5be98">StateSignalType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#abfe8871b9f0eac35c76af3f5cfcdea35">x</a></td></tr>
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+</table>
+<h2 class="groupheader">Member Typedef Documentation</h2>
+<a id="ac990dd4740b30e4477bca86fc6172970" name="ac990dd4740b30e4477bca86fc6172970"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac990dd4740b30e4477bca86fc6172970">&#9670;&#160;</a></span>InputSignalType</h2>
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+template&lt;typename DynamicsType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="classModel.html">Model</a>&lt; DynamicsType &gt;::ParamsType = typename DynamicsType::ParamsType</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8abdf37c6158386a9f1d2c6c506f6839" name="a8abdf37c6158386a9f1d2c6c506f6839"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8abdf37c6158386a9f1d2c6c506f6839">&#9670;&#160;</a></span>StateDotSignalType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename DynamicsType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="classModel.html">Model</a>&lt; DynamicsType &gt;::StateDotSignalType = typename DynamicsType::StateDotSignalType</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a643e1a47ddbb10c5c10844f9aea5be98" name="a643e1a47ddbb10c5c10844f9aea5be98"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a643e1a47ddbb10c5c10844f9aea5be98">&#9670;&#160;</a></span>StateSignalType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename DynamicsType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="classModel.html">Model</a>&lt; DynamicsType &gt;::StateSignalType = typename DynamicsType::StateSignalType</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a3cbccc00606661a35110dbe111af54ad" name="a3cbccc00606661a35110dbe111af54ad"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3cbccc00606661a35110dbe111af54ad">&#9670;&#160;</a></span>Model()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename DynamicsType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classModel.html">Model</a>&lt; DynamicsType &gt;<a class="el" href="classModel.html">::Model</a> </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a4f059d658bfda1665bf44a36b7aaf8e5" name="a4f059d658bfda1665bf44a36b7aaf8e5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4f059d658bfda1665bf44a36b7aaf8e5">&#9670;&#160;</a></span>hasParams()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename DynamicsType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool <a class="el" href="classModel.html">Model</a>&lt; DynamicsType &gt;::hasParams </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a823536a9764d6a35cce173573ee62e90" name="a823536a9764d6a35cce173573ee62e90"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a823536a9764d6a35cce173573ee62e90">&#9670;&#160;</a></span>reset()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename DynamicsType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classModel.html">Model</a>&lt; DynamicsType &gt;::reset </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a96533143a30ab87c379e411fcae59643" name="a96533143a30ab87c379e411fcae59643"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a96533143a30ab87c379e411fcae59643">&#9670;&#160;</a></span>setParams()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename DynamicsType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classModel.html">Model</a>&lt; DynamicsType &gt;::setParams </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="#aec20251d98505785fa51c52eb81dd3a2">ParamsType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>params</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac7446138b27c8feba779ebfe8e82b99d" name="ac7446138b27c8feba779ebfe8e82b99d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac7446138b27c8feba779ebfe8e82b99d">&#9670;&#160;</a></span>simulate() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename DynamicsType &gt; </div>
+<div class="memtemplate">
+template&lt;typename IntegratorType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool <a class="el" href="classModel.html">Model</a>&lt; DynamicsType &gt;::simulate </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="#ac990dd4740b30e4477bca86fc6172970">InputSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>u</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>insertIntoHistory</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>calculateXddot</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac2550ae8ed888d167450160ce55286df" name="ac2550ae8ed888d167450160ce55286df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac2550ae8ed888d167450160ce55286df">&#9670;&#160;</a></span>simulate() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename DynamicsType &gt; </div>
+<div class="memtemplate">
+template&lt;typename IntegratorType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool <a class="el" href="classModel.html">Model</a>&lt; DynamicsType &gt;::simulate </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="#ac990dd4740b30e4477bca86fc6172970">InputSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>u</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>dt</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>insertIntoHistory</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>calculateXddot</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7661852411b9ffd59240d5d5ca0e4dd3" name="a7661852411b9ffd59240d5d5ca0e4dd3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7661852411b9ffd59240d5d5ca0e4dd3">&#9670;&#160;</a></span>t()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename DynamicsType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">double <a class="el" href="classModel.html">Model</a>&lt; DynamicsType &gt;::t </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="abfe8871b9f0eac35c76af3f5cfcdea35" name="abfe8871b9f0eac35c76af3f5cfcdea35"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abfe8871b9f0eac35c76af3f5cfcdea35">&#9670;&#160;</a></span>x</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename DynamicsType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="#a643e1a47ddbb10c5c10844f9aea5be98">StateSignalType</a> <a class="el" href="classModel.html">Model</a>&lt; DynamicsType &gt;::x</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab8bb4819a03ed642326295c28bea6fa7" name="ab8bb4819a03ed642326295c28bea6fa7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab8bb4819a03ed642326295c28bea6fa7">&#9670;&#160;</a></span>xdot</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename DynamicsType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="#a8abdf37c6158386a9f1d2c6c506f6839">StateDotSignalType</a> <a class="el" href="classModel.html">Model</a>&lt; DynamicsType &gt;::xdot</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="Models_8h_source.html">Models.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
+</body>
+</html>
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+  <td id="projectalign">
+   <div id="projectname">signals-cpp
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+<div class="header">
+  <div class="headertitle"><div class="title">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> typedef</td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a></td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>() const</td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classSignal.html#a8989cbb307917a9c1f6331be2a5ae4e9">dot</a>(const double &amp;t) const</td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSignal.html#aad31a21f4a7d572da1e06e407ccacecd">dot</a>(const std::vector&lt; double &gt; &amp;t) const</td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classSignal.html#a95241f68d33194232ba1eea1747a5231">dotSignal</a>()</td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a></td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a></td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSignal.html#a2d222b24cb25f6f228a0c69d71d95918">operator()</a>() const</td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classSignal.html#ad32d0b6b6bbc54ab8bd0fa63ed3039b9">operator()</a>(const double &amp;t) const</td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSignal.html#abf8612dae8c835fa349c6f26201016eb">operator()</a>(const std::vector&lt; double &gt; &amp;t) const</td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classSignal.html#ad61a2749da48601dcf27bedaa0cf54fd">operator*</a></td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"><span class="mlabel">friend</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSignal.html#ae5d88905516fd17257964442b0830584">operator*</a></td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"><span class="mlabel">friend</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classSignal.html#aead0dbc78a90fbd6ad3f86ab61ed65f7">operator+</a></td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"><span class="mlabel">friend</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSignal.html#a22d02130c5fec79a084ef4d1a28521dc">operator-</a></td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"><span class="mlabel">friend</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classSignal.html#a914fd7f09ae0723c88fce310fd7c79fd">reset</a>()</td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSignal.html#a8c25f302d3c4feaa1a4c1f6d59381d89">setDerivativeMethod</a>(DerivativeMethod method)</td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classSignal.html#ac3be206ae717ad5e977d8a108de9b9e4">setExtrapolationMethod</a>(ExtrapolationMethod method)</td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSignal.html#af336f3d6a2d643040dff9fb5b4c20558">setInterpolationMethod</a>(InterpolationMethod method)</td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal</a>()</td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSignal.html#a81a95abda92d3efc0bd4b4ccba77e303">Signal</a>(const Signal &amp;other)</td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() const</td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> typedef</td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(const double &amp;_t, const BaseType &amp;_x, bool insertHistory=false)</td><td class="entry"><a class="el" href="classSignal.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="#friends">Friends</a> &#124;
+<a href="classSignal-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; Class Template Reference</div></div>
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+<p><code>#include &lt;<a class="el" href="Signal_8h_source.html">Signal.h</a>&gt;</code></p>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structSignal_1_1SignalDP.html">SignalDP</a></td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
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+<tr class="separator:ac0536cd4021cc4815a3dbb60c5b4f473"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+Friends</h2></td></tr>
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+<h2 class="groupheader">Member Typedef Documentation</h2>
+<a id="a9bda97fe7663f5481807259ca8bcd8cb" name="a9bda97fe7663f5481807259ca8bcd8cb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9bda97fe7663f5481807259ca8bcd8cb">&#9670;&#160;</a></span>BaseType</h2>
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+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::BaseType = typename BaseSignalSpec::Type</td>
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+</div><div class="memdoc">
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+<h2 class="memtitle"><span class="permalink"><a href="#aa0094b1c69fd482de9de83b99634996a">&#9670;&#160;</a></span>TangentType</h2>
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+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::TangentType = typename TangentSignalSpec::Type</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
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+</div>
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+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
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+          <td class="memname"><a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;<a class="el" href="classSignal.html">::Signal</a> </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;<a class="el" href="classSignal.html">::Signal</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>other</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
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+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a8b12b8bc1e74ddbadb67248fab16c461" name="a8b12b8bc1e74ddbadb67248fab16c461"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b12b8bc1e74ddbadb67248fab16c461">&#9670;&#160;</a></span>dot() <span class="overload">[1/3]</span></h2>
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+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="#aa0094b1c69fd482de9de83b99634996a">TangentType</a> <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::dot </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+<table class="mlabels">
+  <tr>
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+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="#aa0094b1c69fd482de9de83b99634996a">TangentType</a> <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::dot </td>
+          <td>(</td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t</em></span></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+<h2 class="memtitle"><span class="permalink"><a href="#aad31a21f4a7d572da1e06e407ccacecd">&#9670;&#160;</a></span>dot() <span class="overload">[3/3]</span></h2>
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+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::vector&lt; <a class="el" href="#aa0094b1c69fd482de9de83b99634996a">TangentType</a> &gt; <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::dot </td>
+          <td>(</td>
+          <td class="paramtype">const std::vector&lt; double &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>t</em></span></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+<h2 class="memtitle"><span class="permalink"><a href="#a95241f68d33194232ba1eea1747a5231">&#9670;&#160;</a></span>dotSignal()</h2>
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+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+<table class="mlabels">
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+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt; <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::dotSignal </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
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+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
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+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::operator() </td>
+          <td>(</td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t</em></span></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+
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+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::vector&lt; <a class="el" href="#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> &gt; <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::operator() </td>
+          <td>(</td>
+          <td class="paramtype">const std::vector&lt; double &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>t</em></span></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+<div class="memtemplate">
+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::reset </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+</div><div class="memdoc">
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+<h2 class="memtitle"><span class="permalink"><a href="#a8c25f302d3c4feaa1a4c1f6d59381d89">&#9670;&#160;</a></span>setDerivativeMethod()</h2>
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+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::setDerivativeMethod </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242">DerivativeMethod</a></td>          <td class="paramname"><span class="paramname"><em>method</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ac3be206ae717ad5e977d8a108de9b9e4">&#9670;&#160;</a></span>setExtrapolationMethod()</h2>
+
+<div class="memitem">
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+<div class="memtemplate">
+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::setExtrapolationMethod </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4">ExtrapolationMethod</a></td>          <td class="paramname"><span class="paramname"><em>method</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
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+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+<h2 class="memtitle"><span class="permalink"><a href="#af336f3d6a2d643040dff9fb5b4c20558">&#9670;&#160;</a></span>setInterpolationMethod()</h2>
+
+<div class="memitem">
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+<div class="memtemplate">
+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::setInterpolationMethod </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284">InterpolationMethod</a></td>          <td class="paramname"><span class="paramname"><em>method</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+</div><div class="memdoc">
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+<div class="memtemplate">
+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">double <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::t </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
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+<h2 class="memtitle"><span class="permalink"><a href="#ab91f52b80939a6c67b6863ee463b4ff0">&#9670;&#160;</a></span>update() <span class="overload">[1/4]</span></h2>
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+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
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+        <tr>
+          <td class="memname">bool <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::update </td>
+          <td>(</td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>_t</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>_x</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool</td>          <td class="paramname"><span class="paramname"><em>insertHistory</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span></span>&#160;)</td>
+        </tr>
+      </table>
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+
+<div class="memitem">
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+<div class="memtemplate">
+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+<table class="mlabels">
+  <tr>
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+      <table class="memname">
+        <tr>
+          <td class="memname">bool <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::update </td>
+          <td>(</td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>_t</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>_x</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#aa0094b1c69fd482de9de83b99634996a">TangentType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>_xdot</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool</td>          <td class="paramname"><span class="paramname"><em>insertHistory</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+<div class="memitem">
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+<div class="memtemplate">
+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::update </td>
+          <td>(</td>
+          <td class="paramtype">const std::vector&lt; double &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>_tHistory</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::vector&lt; <a class="el" href="#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>_xHistory</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a74929b7332876f5aeddc9a05d26d3d32">&#9670;&#160;</a></span>update() <span class="overload">[4/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::update </td>
+          <td>(</td>
+          <td class="paramtype">const std::vector&lt; double &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>_tHistory</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::vector&lt; <a class="el" href="#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>_xHistory</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::vector&lt; <a class="el" href="#aa0094b1c69fd482de9de83b99634996a">TangentType</a> &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>_xdotHistory</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+</table>
+</div><div class="memdoc">
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+</div>
+</div>
+<h2 class="groupheader">Friends And Related Symbol Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#ad61a2749da48601dcf27bedaa0cf54fd">&#9670;&#160;</a></span>operator* <span class="overload">[1/2]</span></h2>
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+<div class="memitem">
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+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
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+template&lt;typename BSS , typename TSS &gt; </div>
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+  <tr>
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+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classSignal.html">Signal</a>&lt; BSS, TSS &gt; operator* </td>
+          <td>(</td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; BSS, TSS &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>r</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">friend</span></span>  </td>
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+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
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+template&lt;typename BSS , typename TSS &gt; </div>
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+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classSignal.html">Signal</a>&lt; BSS, TSS &gt; operator* </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; BSS, TSS &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>r</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">friend</span></span>  </td>
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+</div>
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+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+<div class="memtemplate">
+template&lt;typename BSS , typename TSS &gt; </div>
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+      <table class="memname">
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+          <td class="memname"><a class="el" href="classSignal.html">Signal</a>&lt; BSS, TSS &gt; operator+ </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; BSS, TSS &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; TSS, TSS &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>r</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">friend</span></span>  </td>
+  </tr>
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+</div><div class="memdoc">
+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a22d02130c5fec79a084ef4d1a28521dc">&#9670;&#160;</a></span>operator-</h2>
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+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+<div class="memtemplate">
+template&lt;typename BSS , typename TSS &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classSignal.html">Signal</a>&lt; TSS, TSS &gt; operator- </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; BSS, TSS &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; BSS, TSS &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>r</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">friend</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ac0536cd4021cc4815a3dbb60c5b4f473" name="ac0536cd4021cc4815a3dbb60c5b4f473"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac0536cd4021cc4815a3dbb60c5b4f473">&#9670;&#160;</a></span>derivativeMethod</h2>
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+<div class="memitem">
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+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
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+        <tr>
+          <td class="memname"><a class="el" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242">DerivativeMethod</a> <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::derivativeMethod</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
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+<a id="aff76e692ad975b7721ecf6e60d33a11f" name="aff76e692ad975b7721ecf6e60d33a11f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aff76e692ad975b7721ecf6e60d33a11f">&#9670;&#160;</a></span>extrapolationMethod</h2>
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+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4">ExtrapolationMethod</a> <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::extrapolationMethod</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae4c3f0098aaec52921d28cce09ff1ed4" name="ae4c3f0098aaec52921d28cce09ff1ed4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae4c3f0098aaec52921d28cce09ff1ed4">&#9670;&#160;</a></span>interpolationMethod</h2>
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+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284">InterpolationMethod</a> <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::interpolationMethod</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3961e7ce30f40f8104dd3d25f2e70a7f" name="a3961e7ce30f40f8104dd3d25f2e70a7f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3961e7ce30f40f8104dd3d25f2e70a7f">&#9670;&#160;</a></span>[struct]</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">struct  { ... }  <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::SignalDPComparator</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="Signal_8h_source.html">Signal.h</a></li>
+</ul>
+</div><!-- contents -->
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+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
+</body>
+</html>
diff --git a/docs/doc.svg b/docs/doc.svg
new file mode 100644
index 0000000..0b928a5
--- /dev/null
+++ b/docs/doc.svg
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN"
+ "https://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg version="1.1" width="16" height="24" viewBox="0 0 80 60" id="doc" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" xml:space="preserve">
+<g style="fill:#4665A2">
+<path d="m 14,-1.1445312 c -2.824372,0 -5.1445313,2.320159 -5.1445312,5.1445312 v 72 c 0,2.824372 2.3201592,5.144531 5.1445312,5.144531 h 52 c 2.824372,0 5.144531,-2.320159 5.144531,-5.144531 V 23.699219 a 1.1447968,1.1447968 0 0 0 -0.01563,-0.1875 C 70.977847,22.605363 70.406495,21.99048 70.007812,21.591797 L 48.208984,-0.20898438 C 47.606104,-0.81186474 46.804652,-1.1445313 46,-1.1445312 Z m 1.144531,6.2890624 H 42.855469 V 24 c 0,1.724372 1.420159,3.144531 3.144531,3.144531 H 64.855469 V 74.855469 H 15.144531 Z m 34,4.4179688 L 60.4375,20.855469 H 49.144531 Z"/>
+</g>
+<g style="fill:#D8DFEE;stroke-width:0">
+<path d="M 3.0307167,13.993174 V 7.0307167 h 2.7576792 2.7576792 v 1.8826151 c 0,1.2578262 0.0099,1.9287572 0.029818,2.0216512 0.03884,0.181105 0.168631,0.348218 0.33827,0.43554 l 0.1355017,0.06975 1.9598092,0.0079 1.959809,0.0078 v 4.749829 4.749829 H 8 3.0307167 Z" transform="matrix(5,0,0,5,0,-30)" />
+<path d="M 9.8293515,9.0581469 V 7.9456453 l 1.1058025,1.1055492 c 0.608191,0.6080521 1.105802,1.1086775 1.105802,1.1125015 0,0.0038 -0.497611,0.007 -1.105802,0.007 H 9.8293515 Z" transform="matrix(5,0,0,5,0,-30)" />
+</g>
+</svg>
diff --git a/docs/docd.svg b/docs/docd.svg
new file mode 100644
index 0000000..ac18b27
--- /dev/null
+++ b/docs/docd.svg
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN"
+ "https://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg version="1.1" width="16" height="24" viewBox="0 0 80 60" id="doc" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" xml:space="preserve">
+<g style="fill:#C4CFE5">
+<path d="m 14,-1.1445312 c -2.824372,0 -5.1445313,2.320159 -5.1445312,5.1445312 v 72 c 0,2.824372 2.3201592,5.144531 5.1445312,5.144531 h 52 c 2.824372,0 5.144531,-2.320159 5.144531,-5.144531 V 23.699219 a 1.1447968,1.1447968 0 0 0 -0.01563,-0.1875 C 70.977847,22.605363 70.406495,21.99048 70.007812,21.591797 L 48.208984,-0.20898438 C 47.606104,-0.81186474 46.804652,-1.1445313 46,-1.1445312 Z m 1.144531,6.2890624 H 42.855469 V 24 c 0,1.724372 1.420159,3.144531 3.144531,3.144531 H 64.855469 V 74.855469 H 15.144531 Z m 34,4.4179688 L 60.4375,20.855469 H 49.144531 Z"/>
+</g>
+<g style="fill:#4665A2;stroke-width:0">
+<path d="M 3.0307167,13.993174 V 7.0307167 h 2.7576792 2.7576792 v 1.8826151 c 0,1.2578262 0.0099,1.9287572 0.029818,2.0216512 0.03884,0.181105 0.168631,0.348218 0.33827,0.43554 l 0.1355017,0.06975 1.9598092,0.0079 1.959809,0.0078 v 4.749829 4.749829 H 8 3.0307167 Z" transform="matrix(5,0,0,5,0,-30)" />
+<path d="M 9.8293515,9.0581469 V 7.9456453 l 1.1058025,1.1055492 c 0.608191,0.6080521 1.105802,1.1086775 1.105802,1.1125015 0,0.0038 -0.497611,0.007 -1.105802,0.007 H 9.8293515 Z" transform="matrix(5,0,0,5,0,-30)" />
+</g>
+</svg>
diff --git a/docs/doxygen.css b/docs/doxygen.css
new file mode 100644
index 0000000..7b7d851
--- /dev/null
+++ b/docs/doxygen.css
@@ -0,0 +1,2225 @@
+/* The standard CSS for doxygen 1.10.0*/
+
+html {
+/* page base colors */
+--page-background-color: white;
+--page-foreground-color: black;
+--page-link-color: #3D578C;
+--page-visited-link-color: #4665A2;
+
+/* index */
+--index-odd-item-bg-color: #F8F9FC;
+--index-even-item-bg-color: white;
+--index-header-color: black;
+--index-separator-color: #A0A0A0;
+
+/* header */
+--header-background-color: #F9FAFC;
+--header-separator-color: #C4CFE5;
+--header-gradient-image: url('nav_h.png');
+--group-header-separator-color: #879ECB;
+--group-header-color: #354C7B;
+--inherit-header-color: gray;
+
+--footer-foreground-color: #2A3D61;
+--footer-logo-width: 104px;
+--citation-label-color: #334975;
+--glow-color: cyan;
+
+--title-background-color: white;
+--title-separator-color: #5373B4;
+--directory-separator-color: #9CAFD4;
+--separator-color: #4A6AAA;
+
+--blockquote-background-color: #F7F8FB;
+--blockquote-border-color: #9CAFD4;
+
+--scrollbar-thumb-color: #9CAFD4;
+--scrollbar-background-color: #F9FAFC;
+
+--icon-background-color: #728DC1;
+--icon-foreground-color: white;
+--icon-doc-image: url('doc.svg');
+--icon-folder-open-image: url('folderopen.svg');
+--icon-folder-closed-image: url('folderclosed.svg');
+
+/* brief member declaration list */
+--memdecl-background-color: #F9FAFC;
+--memdecl-separator-color: #DEE4F0;
+--memdecl-foreground-color: #555;
+--memdecl-template-color: #4665A2;
+
+/* detailed member list */
+--memdef-border-color: #A8B8D9;
+--memdef-title-background-color: #E2E8F2;
+--memdef-title-gradient-image: url('nav_f.png');
+--memdef-proto-background-color: #DFE5F1;
+--memdef-proto-text-color: #253555;
+--memdef-proto-text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+--memdef-doc-background-color: white;
+--memdef-param-name-color: #602020;
+--memdef-template-color: #4665A2;
+
+/* tables */
+--table-cell-border-color: #2D4068;
+--table-header-background-color: #374F7F;
+--table-header-foreground-color: #FFFFFF;
+
+/* labels */
+--label-background-color: #728DC1;
+--label-left-top-border-color: #5373B4;
+--label-right-bottom-border-color: #C4CFE5;
+--label-foreground-color: white;
+
+/** navigation bar/tree/menu */
+--nav-background-color: #F9FAFC;
+--nav-foreground-color: #364D7C;
+--nav-gradient-image: url('tab_b.png');
+--nav-gradient-hover-image: url('tab_h.png');
+--nav-gradient-active-image: url('tab_a.png');
+--nav-gradient-active-image-parent: url("../tab_a.png");
+--nav-separator-image: url('tab_s.png');
+--nav-breadcrumb-image: url('bc_s.png');
+--nav-breadcrumb-border-color: #C2CDE4;
+--nav-splitbar-image: url('splitbar.png');
+--nav-font-size-level1: 13px;
+--nav-font-size-level2: 10px;
+--nav-font-size-level3: 9px;
+--nav-text-normal-color: #283A5D;
+--nav-text-hover-color: white;
+--nav-text-active-color: white;
+--nav-text-normal-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+--nav-text-hover-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
+--nav-text-active-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
+--nav-menu-button-color: #364D7C;
+--nav-menu-background-color: white;
+--nav-menu-foreground-color: #555555;
+--nav-menu-toggle-color: rgba(255, 255, 255, 0.5);
+--nav-arrow-color: #9CAFD4;
+--nav-arrow-selected-color: #9CAFD4;
+
+/* table of contents */
+--toc-background-color: #F4F6FA;
+--toc-border-color: #D8DFEE;
+--toc-header-color: #4665A2;
+--toc-down-arrow-image: url("data:image/svg+xml;utf8,<svg xmlns='http://www.w3.org/2000/svg' version='1.1' height='10px' width='5px' fill='grey'><text x='0' y='5' font-size='10'>&%238595;</text></svg>");
+
+/** search field */
+--search-background-color: white;
+--search-foreground-color: #909090;
+--search-magnification-image: url('mag.svg');
+--search-magnification-select-image: url('mag_sel.svg');
+--search-active-color: black;
+--search-filter-background-color: #F9FAFC;
+--search-filter-foreground-color: black;
+--search-filter-border-color: #90A5CE;
+--search-filter-highlight-text-color: white;
+--search-filter-highlight-bg-color: #3D578C;
+--search-results-foreground-color: #425E97;
+--search-results-background-color: #EEF1F7;
+--search-results-border-color: black;
+--search-box-shadow: inset 0.5px 0.5px 3px 0px #555;
+
+/** code fragments */
+--code-keyword-color: #008000;
+--code-type-keyword-color: #604020;
+--code-flow-keyword-color: #E08000;
+--code-comment-color: #800000;
+--code-preprocessor-color: #806020;
+--code-string-literal-color: #002080;
+--code-char-literal-color: #008080;
+--code-xml-cdata-color: black;
+--code-vhdl-digit-color: #FF00FF;
+--code-vhdl-char-color: #000000;
+--code-vhdl-keyword-color: #700070;
+--code-vhdl-logic-color: #FF0000;
+--code-link-color: #4665A2;
+--code-external-link-color: #4665A2;
+--fragment-foreground-color: black;
+--fragment-background-color: #FBFCFD;
+--fragment-border-color: #C4CFE5;
+--fragment-lineno-border-color: #00FF00;
+--fragment-lineno-background-color: #E8E8E8;
+--fragment-lineno-foreground-color: black;
+--fragment-lineno-link-fg-color: #4665A2;
+--fragment-lineno-link-bg-color: #D8D8D8;
+--fragment-lineno-link-hover-fg-color: #4665A2;
+--fragment-lineno-link-hover-bg-color: #C8C8C8;
+--fragment-copy-ok-color: #2EC82E;
+--tooltip-foreground-color: black;
+--tooltip-background-color: white;
+--tooltip-border-color: gray;
+--tooltip-doc-color: grey;
+--tooltip-declaration-color: #006318;
+--tooltip-link-color: #4665A2;
+--tooltip-shadow: 1px 1px 7px gray;
+--fold-line-color: #808080;
+--fold-minus-image: url('minus.svg');
+--fold-plus-image: url('plus.svg');
+--fold-minus-image-relpath: url('../../minus.svg');
+--fold-plus-image-relpath: url('../../plus.svg');
+
+/** font-family */
+--font-family-normal: Roboto,sans-serif;
+--font-family-monospace: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
+--font-family-nav: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
+--font-family-title: Tahoma,Arial,sans-serif;
+--font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif;
+--font-family-search: Arial,Verdana,sans-serif;
+--font-family-icon: Arial,Helvetica;
+--font-family-tooltip: Roboto,sans-serif;
+
+/** special sections */
+--warning-color-bg: #f8d1cc;
+--warning-color-hl: #b61825;
+--warning-color-text: #75070f;
+--note-color-bg: #faf3d8;
+--note-color-hl: #f3a600;
+--note-color-text: #5f4204;
+--todo-color-bg: #e4f3ff;
+--todo-color-hl: #1879C4;
+--todo-color-text: #274a5c;
+--test-color-bg: #e8e8ff;
+--test-color-hl: #3939C4;
+--test-color-text: #1a1a5c;
+--deprecated-color-bg: #ecf0f3;
+--deprecated-color-hl: #5b6269;
+--deprecated-color-text: #43454a;
+--bug-color-bg: #e4dafd;
+--bug-color-hl: #5b2bdd;
+--bug-color-text: #2a0d72;
+--invariant-color-bg: #d8f1e3;
+--invariant-color-hl: #44b86f;
+--invariant-color-text: #265532;
+}
+
+@media (prefers-color-scheme: dark) {
+  html:not(.dark-mode) {
+    color-scheme: dark;
+
+/* page base colors */
+--page-background-color: black;
+--page-foreground-color: #C9D1D9;
+--page-link-color: #90A5CE;
+--page-visited-link-color: #A3B4D7;
+
+/* index */
+--index-odd-item-bg-color: #0B101A;
+--index-even-item-bg-color: black;
+--index-header-color: #C4CFE5;
+--index-separator-color: #334975;
+
+/* header */
+--header-background-color: #070B11;
+--header-separator-color: #141C2E;
+--header-gradient-image: url('nav_hd.png');
+--group-header-separator-color: #283A5D;
+--group-header-color: #90A5CE;
+--inherit-header-color: #A0A0A0;
+
+--footer-foreground-color: #5B7AB7;
+--footer-logo-width: 60px;
+--citation-label-color: #90A5CE;
+--glow-color: cyan;
+
+--title-background-color: #090D16;
+--title-separator-color: #354C79;
+--directory-separator-color: #283A5D;
+--separator-color: #283A5D;
+
+--blockquote-background-color: #101826;
+--blockquote-border-color: #283A5D;
+
+--scrollbar-thumb-color: #283A5D;
+--scrollbar-background-color: #070B11;
+
+--icon-background-color: #334975;
+--icon-foreground-color: #C4CFE5;
+--icon-doc-image: url('docd.svg');
+--icon-folder-open-image: url('folderopend.svg');
+--icon-folder-closed-image: url('folderclosedd.svg');
+
+/* brief member declaration list */
+--memdecl-background-color: #0B101A;
+--memdecl-separator-color: #2C3F65;
+--memdecl-foreground-color: #BBB;
+--memdecl-template-color: #7C95C6;
+
+/* detailed member list */
+--memdef-border-color: #233250;
+--memdef-title-background-color: #1B2840;
+--memdef-title-gradient-image: url('nav_fd.png');
+--memdef-proto-background-color: #19243A;
+--memdef-proto-text-color: #9DB0D4;
+--memdef-proto-text-shadow: 0px 1px 1px rgba(0, 0, 0, 0.9);
+--memdef-doc-background-color: black;
+--memdef-param-name-color: #D28757;
+--memdef-template-color: #7C95C6;
+
+/* tables */
+--table-cell-border-color: #283A5D;
+--table-header-background-color: #283A5D;
+--table-header-foreground-color: #C4CFE5;
+
+/* labels */
+--label-background-color: #354C7B;
+--label-left-top-border-color: #4665A2;
+--label-right-bottom-border-color: #283A5D;
+--label-foreground-color: #CCCCCC;
+
+/** navigation bar/tree/menu */
+--nav-background-color: #101826;
+--nav-foreground-color: #364D7C;
+--nav-gradient-image: url('tab_bd.png');
+--nav-gradient-hover-image: url('tab_hd.png');
+--nav-gradient-active-image: url('tab_ad.png');
+--nav-gradient-active-image-parent: url("../tab_ad.png");
+--nav-separator-image: url('tab_sd.png');
+--nav-breadcrumb-image: url('bc_sd.png');
+--nav-breadcrumb-border-color: #2A3D61;
+--nav-splitbar-image: url('splitbard.png');
+--nav-font-size-level1: 13px;
+--nav-font-size-level2: 10px;
+--nav-font-size-level3: 9px;
+--nav-text-normal-color: #B6C4DF;
+--nav-text-hover-color: #DCE2EF;
+--nav-text-active-color: #DCE2EF;
+--nav-text-normal-shadow: 0px 1px 1px black;
+--nav-text-hover-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
+--nav-text-active-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
+--nav-menu-button-color: #B6C4DF;
+--nav-menu-background-color: #05070C;
+--nav-menu-foreground-color: #BBBBBB;
+--nav-menu-toggle-color: rgba(255, 255, 255, 0.2);
+--nav-arrow-color: #334975;
+--nav-arrow-selected-color: #90A5CE;
+
+/* table of contents */
+--toc-background-color: #151E30;
+--toc-border-color: #202E4A;
+--toc-header-color: #A3B4D7;
+--toc-down-arrow-image: url("data:image/svg+xml;utf8,<svg xmlns='http://www.w3.org/2000/svg' version='1.1' height='10px' width='5px'><text x='0' y='5' font-size='10' fill='grey'>&%238595;</text></svg>");
+
+/** search field */
+--search-background-color: black;
+--search-foreground-color: #C5C5C5;
+--search-magnification-image: url('mag_d.svg');
+--search-magnification-select-image: url('mag_seld.svg');
+--search-active-color: #C5C5C5;
+--search-filter-background-color: #101826;
+--search-filter-foreground-color: #90A5CE;
+--search-filter-border-color: #7C95C6;
+--search-filter-highlight-text-color: #BCC9E2;
+--search-filter-highlight-bg-color: #283A5D;
+--search-results-background-color: #101826;
+--search-results-foreground-color: #90A5CE;
+--search-results-border-color: #7C95C6;
+--search-box-shadow: inset 0.5px 0.5px 3px 0px #2F436C;
+
+/** code fragments */
+--code-keyword-color: #CC99CD;
+--code-type-keyword-color: #AB99CD;
+--code-flow-keyword-color: #E08000;
+--code-comment-color: #717790;
+--code-preprocessor-color: #65CABE;
+--code-string-literal-color: #7EC699;
+--code-char-literal-color: #00E0F0;
+--code-xml-cdata-color: #C9D1D9;
+--code-vhdl-digit-color: #FF00FF;
+--code-vhdl-char-color: #C0C0C0;
+--code-vhdl-keyword-color: #CF53C9;
+--code-vhdl-logic-color: #FF0000;
+--code-link-color: #79C0FF;
+--code-external-link-color: #79C0FF;
+--fragment-foreground-color: #C9D1D9;
+--fragment-background-color: #090D16;
+--fragment-border-color: #30363D;
+--fragment-lineno-border-color: #30363D;
+--fragment-lineno-background-color: black;
+--fragment-lineno-foreground-color: #6E7681;
+--fragment-lineno-link-fg-color: #6E7681;
+--fragment-lineno-link-bg-color: #303030;
+--fragment-lineno-link-hover-fg-color: #8E96A1;
+--fragment-lineno-link-hover-bg-color: #505050;
+--fragment-copy-ok-color: #0EA80E;
+--tooltip-foreground-color: #C9D1D9;
+--tooltip-background-color: #202020;
+--tooltip-border-color: #C9D1D9;
+--tooltip-doc-color: #D9E1E9;
+--tooltip-declaration-color: #20C348;
+--tooltip-link-color: #79C0FF;
+--tooltip-shadow: none;
+--fold-line-color: #808080;
+--fold-minus-image: url('minusd.svg');
+--fold-plus-image: url('plusd.svg');
+--fold-minus-image-relpath: url('../../minusd.svg');
+--fold-plus-image-relpath: url('../../plusd.svg');
+
+/** font-family */
+--font-family-normal: Roboto,sans-serif;
+--font-family-monospace: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
+--font-family-nav: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
+--font-family-title: Tahoma,Arial,sans-serif;
+--font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif;
+--font-family-search: Arial,Verdana,sans-serif;
+--font-family-icon: Arial,Helvetica;
+--font-family-tooltip: Roboto,sans-serif;
+
+/** special sections */
+--warning-color-bg: #2e1917;
+--warning-color-hl: #ad2617;
+--warning-color-text: #f5b1aa;
+--note-color-bg: #3b2e04;
+--note-color-hl: #f1b602;
+--note-color-text: #ceb670;
+--todo-color-bg: #163750;
+--todo-color-hl: #1982D2;
+--todo-color-text: #dcf0fa;
+--test-color-bg: #121258;
+--test-color-hl: #4242cf;
+--test-color-text: #c0c0da;
+--deprecated-color-bg: #2e323b;
+--deprecated-color-hl: #738396;
+--deprecated-color-text: #abb0bd;
+--bug-color-bg: #2a2536;
+--bug-color-hl: #7661b3;
+--bug-color-text: #ae9ed6;
+--invariant-color-bg: #303a35;
+--invariant-color-hl: #76ce96;
+--invariant-color-text: #cceed5;
+}}
+body {
+    background-color: var(--page-background-color);
+    color: var(--page-foreground-color);
+}
+
+body, table, div, p, dl {
+	font-weight: 400;
+	font-size: 14px;
+	font-family: var(--font-family-normal);
+	line-height: 22px;
+}
+
+/* @group Heading Levels */
+
+.title {
+	font-family: var(--font-family-normal);
+	line-height: 28px;
+	font-size: 150%;
+	font-weight: bold;
+	margin: 10px 2px;
+}
+
+h1.groupheader {
+	font-size: 150%;
+}
+
+h2.groupheader {
+	border-bottom: 1px solid var(--group-header-separator-color);
+	color: var(--group-header-color);
+	font-size: 150%;
+	font-weight: normal;
+	margin-top: 1.75em;
+	padding-top: 8px;
+	padding-bottom: 4px;
+	width: 100%;
+}
+
+h3.groupheader {
+	font-size: 100%;
+}
+
+h1, h2, h3, h4, h5, h6 {
+	-webkit-transition: text-shadow 0.5s linear;
+	-moz-transition: text-shadow 0.5s linear;
+	-ms-transition: text-shadow 0.5s linear;
+	-o-transition: text-shadow 0.5s linear;
+	transition: text-shadow 0.5s linear;
+	margin-right: 15px;
+}
+
+h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow {
+	text-shadow: 0 0 15px var(--glow-color);
+}
+
+dt {
+	font-weight: bold;
+}
+
+p.startli, p.startdd {
+	margin-top: 2px;
+}
+
+th p.starttd, th p.intertd, th p.endtd {
+        font-size: 100%;
+        font-weight: 700;
+}
+
+p.starttd {
+	margin-top: 0px;
+}
+
+p.endli {
+	margin-bottom: 0px;
+}
+
+p.enddd {
+	margin-bottom: 4px;
+}
+
+p.endtd {
+	margin-bottom: 2px;
+}
+
+p.interli {
+}
+
+p.interdd {
+}
+
+p.intertd {
+}
+
+/* @end */
+
+caption {
+	font-weight: bold;
+}
+
+span.legend {
+	font-size: 70%;
+	text-align: center;
+}
+
+h3.version {
+	font-size: 90%;
+	text-align: center;
+}
+
+div.navtab {
+	padding-right: 15px;
+	text-align: right;
+	line-height: 110%;
+}
+
+div.navtab table {
+	border-spacing: 0;
+}
+
+td.navtab {
+	padding-right: 6px;
+	padding-left: 6px;
+}
+
+td.navtabHL {
+	background-image: var(--nav-gradient-active-image);
+	background-repeat:repeat-x;
+	padding-right: 6px;
+	padding-left: 6px;
+}
+
+td.navtabHL a, td.navtabHL a:visited {
+	color: var(--nav-text-hover-color);
+	text-shadow: var(--nav-text-hover-shadow);
+}
+
+a.navtab {
+	font-weight: bold;
+}
+
+div.qindex{
+	text-align: center;
+	width: 100%;
+	line-height: 140%;
+	font-size: 130%;
+	color: var(--index-separator-color);
+}
+
+#main-menu a:focus {
+	outline: auto;
+	z-index: 10;
+	position: relative;
+}
+
+dt.alphachar{
+	font-size: 180%;
+	font-weight: bold;
+}
+
+.alphachar a{
+	color: var(--index-header-color);
+}
+
+.alphachar a:hover, .alphachar a:visited{
+	text-decoration: none;
+}
+
+.classindex dl {
+	padding: 25px;
+	column-count:1
+}
+
+.classindex dd {
+	display:inline-block;
+	margin-left: 50px;
+	width: 90%;
+	line-height: 1.15em;
+}
+
+.classindex dl.even {
+	background-color: var(--index-even-item-bg-color);
+}
+
+.classindex dl.odd {
+	background-color: var(--index-odd-item-bg-color);
+}
+
+@media(min-width: 1120px) {
+	.classindex dl {
+		column-count:2
+	}
+}
+
+@media(min-width: 1320px) {
+	.classindex dl {
+		column-count:3
+	}
+}
+
+
+/* @group Link Styling */
+
+a {
+	color: var(--page-link-color);
+	font-weight: normal;
+	text-decoration: none;
+}
+
+.contents a:visited {
+	color: var(--page-visited-link-color);
+}
+
+a:hover {
+	text-decoration: none;
+	background:   linear-gradient(to bottom, transparent 0,transparent calc(100% - 1px), currentColor 100%);
+}
+
+a:hover > span.arrow {
+        text-decoration: none;
+        background : var(--nav-background-color);
+}
+
+a.el {
+	font-weight: bold;
+}
+
+a.elRef {
+}
+
+a.code, a.code:visited, a.line, a.line:visited {
+	color: var(--code-link-color);
+}
+
+a.codeRef, a.codeRef:visited, a.lineRef, a.lineRef:visited {
+	color: var(--code-external-link-color);
+}
+
+a.code.hl_class { /* style for links to class names in code snippets */ }
+a.code.hl_struct { /* style for links to struct names in code snippets */ }
+a.code.hl_union { /* style for links to union names in code snippets */ }
+a.code.hl_interface { /* style for links to interface names in code snippets */ }
+a.code.hl_protocol { /* style for links to protocol names in code snippets */ }
+a.code.hl_category { /* style for links to category names in code snippets */ }
+a.code.hl_exception { /* style for links to exception names in code snippets */ }
+a.code.hl_service { /* style for links to service names in code snippets */ }
+a.code.hl_singleton { /* style for links to singleton names in code snippets */ }
+a.code.hl_concept { /* style for links to concept names in code snippets */ }
+a.code.hl_namespace { /* style for links to namespace names in code snippets */ }
+a.code.hl_package { /* style for links to package names in code snippets */ }
+a.code.hl_define { /* style for links to macro names in code snippets */ }
+a.code.hl_function { /* style for links to function names in code snippets */ }
+a.code.hl_variable { /* style for links to variable names in code snippets */ }
+a.code.hl_typedef { /* style for links to typedef names in code snippets */ }
+a.code.hl_enumvalue { /* style for links to enum value names in code snippets */ }
+a.code.hl_enumeration { /* style for links to enumeration names in code snippets */ }
+a.code.hl_signal { /* style for links to Qt signal names in code snippets */ }
+a.code.hl_slot { /* style for links to Qt slot names in code snippets */ }
+a.code.hl_friend { /* style for links to friend names in code snippets */ }
+a.code.hl_dcop { /* style for links to KDE3 DCOP names in code snippets */ }
+a.code.hl_property { /* style for links to property names in code snippets */ }
+a.code.hl_event { /* style for links to event names in code snippets */ }
+a.code.hl_sequence { /* style for links to sequence names in code snippets */ }
+a.code.hl_dictionary { /* style for links to dictionary names in code snippets */ }
+
+/* @end */
+
+dl.el {
+	margin-left: -1cm;
+}
+
+ul {
+  overflow: visible;
+}
+
+ul.multicol {
+        -moz-column-gap: 1em;
+        -webkit-column-gap: 1em;
+        column-gap: 1em;
+        -moz-column-count: 3;
+        -webkit-column-count: 3;
+        column-count: 3;
+        list-style-type: none;
+}
+
+#side-nav ul {
+  overflow: visible; /* reset ul rule for scroll bar in GENERATE_TREEVIEW window */
+}
+
+#main-nav ul {
+  overflow: visible; /* reset ul rule for the navigation bar drop down lists */
+}
+
+.fragment {
+  text-align: left;
+  direction: ltr;
+  overflow-x: auto;
+  overflow-y: hidden;
+  position: relative;
+  min-height: 12px;
+  margin: 10px 0px;
+  padding: 10px 10px;
+  border: 1px solid var(--fragment-border-color);
+  border-radius: 4px;
+  background-color: var(--fragment-background-color);
+  color: var(--fragment-foreground-color);
+}
+
+pre.fragment {
+  word-wrap: break-word;
+  font-size:  10pt;
+  line-height: 125%;
+  font-family: var(--font-family-monospace);
+}
+
+.clipboard {
+        width: 24px;
+        height: 24px;
+        right: 5px;
+        top: 5px;
+        opacity: 0;
+        position: absolute;
+        display: inline;
+        overflow: auto;
+        fill: var(--fragment-foreground-color);
+        justify-content: center;
+        align-items: center;
+        cursor: pointer;
+}
+
+.clipboard.success {
+        border: 1px solid var(--fragment-foreground-color);
+        border-radius: 4px;
+}
+
+.fragment:hover .clipboard, .clipboard.success {
+        opacity: .28;
+}
+
+.clipboard:hover, .clipboard.success {
+        opacity: 1 !important;
+}
+
+.clipboard:active:not([class~=success]) svg {
+        transform: scale(.91);
+}
+
+.clipboard.success svg {
+        fill: var(--fragment-copy-ok-color);
+}
+
+.clipboard.success {
+        border-color: var(--fragment-copy-ok-color);
+}
+
+div.line {
+	font-family: var(--font-family-monospace);
+        font-size: 13px;
+	min-height: 13px;
+	line-height: 1.2;
+	text-wrap: unrestricted;
+	white-space: -moz-pre-wrap; /* Moz */
+	white-space: -pre-wrap;     /* Opera 4-6 */
+	white-space: -o-pre-wrap;   /* Opera 7 */
+	white-space: pre-wrap;      /* CSS3  */
+	word-wrap: break-word;      /* IE 5.5+ */
+	text-indent: -53px;
+	padding-left: 53px;
+	padding-bottom: 0px;
+	margin: 0px;
+	-webkit-transition-property: background-color, box-shadow;
+	-webkit-transition-duration: 0.5s;
+	-moz-transition-property: background-color, box-shadow;
+	-moz-transition-duration: 0.5s;
+	-ms-transition-property: background-color, box-shadow;
+	-ms-transition-duration: 0.5s;
+	-o-transition-property: background-color, box-shadow;
+	-o-transition-duration: 0.5s;
+	transition-property: background-color, box-shadow;
+	transition-duration: 0.5s;
+}
+
+div.line:after {
+    content:"\000A";
+    white-space: pre;
+}
+
+div.line.glow {
+	background-color: var(--glow-color);
+	box-shadow: 0 0 10px var(--glow-color);
+}
+
+span.fold {
+        margin-left: 5px;
+        margin-right: 1px;
+        margin-top: 0px;
+        margin-bottom: 0px;
+        padding: 0px;
+	display: inline-block;
+	width: 12px;
+	height: 12px;
+	background-repeat:no-repeat;
+        background-position:center;
+}
+
+span.lineno {
+	padding-right: 4px;
+        margin-right: 9px;
+	text-align: right;
+	border-right: 2px solid var(--fragment-lineno-border-color);
+	color: var(--fragment-lineno-foreground-color);
+	background-color: var(--fragment-lineno-background-color);
+        white-space: pre;
+}
+span.lineno a, span.lineno a:visited {
+	color: var(--fragment-lineno-link-fg-color);
+	background-color: var(--fragment-lineno-link-bg-color);
+}
+
+span.lineno a:hover {
+	color: var(--fragment-lineno-link-hover-fg-color);
+	background-color: var(--fragment-lineno-link-hover-bg-color);
+}
+
+.lineno {
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+div.classindex ul {
+        list-style: none;
+        padding-left: 0;
+}
+
+div.classindex span.ai {
+        display: inline-block;
+}
+
+div.groupHeader {
+	margin-left: 16px;
+	margin-top: 12px;
+	font-weight: bold;
+}
+
+div.groupText {
+	margin-left: 16px;
+	font-style: italic;
+}
+
+body {
+	color: var(--page-foreground-color);
+        margin: 0;
+}
+
+div.contents {
+	margin-top: 10px;
+	margin-left: 12px;
+	margin-right: 8px;
+}
+
+p.formulaDsp {
+	text-align: center;
+}
+
+img.dark-mode-visible {
+	display: none;
+}
+img.light-mode-visible {
+	display: none;
+}
+
+img.formulaInl, img.inline {
+	vertical-align: middle;
+}
+
+div.center {
+	text-align: center;
+        margin-top: 0px;
+        margin-bottom: 0px;
+        padding: 0px;
+}
+
+div.center img {
+	border: 0px;
+}
+
+address.footer {
+	text-align: right;
+	padding-right: 12px;
+}
+
+img.footer {
+	border: 0px;
+	vertical-align: middle;
+	width: var(--footer-logo-width);
+}
+
+.compoundTemplParams {
+	color: var(--memdecl-template-color);
+	font-size: 80%;
+	line-height: 120%;
+}
+
+/* @group Code Colorization */
+
+span.keyword {
+	color: var(--code-keyword-color);
+}
+
+span.keywordtype {
+	color: var(--code-type-keyword-color);
+}
+
+span.keywordflow {
+	color: var(--code-flow-keyword-color);
+}
+
+span.comment {
+	color: var(--code-comment-color);
+}
+
+span.preprocessor {
+	color: var(--code-preprocessor-color);
+}
+
+span.stringliteral {
+	color: var(--code-string-literal-color);
+}
+
+span.charliteral {
+	color: var(--code-char-literal-color);
+}
+
+span.xmlcdata {
+	color: var(--code-xml-cdata-color);
+}
+
+span.vhdldigit { 
+	color: var(--code-vhdl-digit-color);
+}
+
+span.vhdlchar { 
+	color: var(--code-vhdl-char-color);
+}
+
+span.vhdlkeyword { 
+	color: var(--code-vhdl-keyword-color);
+}
+
+span.vhdllogic { 
+	color: var(--code-vhdl-logic-color);
+}
+
+blockquote {
+        background-color: var(--blockquote-background-color);
+        border-left: 2px solid var(--blockquote-border-color);
+        margin: 0 24px 0 4px;
+        padding: 0 12px 0 16px;
+}
+
+/* @end */
+
+td.tiny {
+	font-size: 75%;
+}
+
+.dirtab {
+	padding: 4px;
+	border-collapse: collapse;
+	border: 1px solid var(--table-cell-border-color);
+}
+
+th.dirtab {
+	background-color: var(--table-header-background-color);
+	color: var(--table-header-foreground-color);
+	font-weight: bold;
+}
+
+hr {
+	height: 0px;
+	border: none;
+	border-top: 1px solid var(--separator-color);
+}
+
+hr.footer {
+	height: 1px;
+}
+
+/* @group Member Descriptions */
+
+table.memberdecls {
+	border-spacing: 0px;
+	padding: 0px;
+}
+
+.memberdecls td, .fieldtable tr {
+	-webkit-transition-property: background-color, box-shadow;
+	-webkit-transition-duration: 0.5s;
+	-moz-transition-property: background-color, box-shadow;
+	-moz-transition-duration: 0.5s;
+	-ms-transition-property: background-color, box-shadow;
+	-ms-transition-duration: 0.5s;
+	-o-transition-property: background-color, box-shadow;
+	-o-transition-duration: 0.5s;
+	transition-property: background-color, box-shadow;
+	transition-duration: 0.5s;
+}
+
+.memberdecls td.glow, .fieldtable tr.glow {
+	background-color: var(--glow-color);
+	box-shadow: 0 0 15px var(--glow-color);
+}
+
+.mdescLeft, .mdescRight,
+.memItemLeft, .memItemRight,
+.memTemplItemLeft, .memTemplItemRight, .memTemplParams {
+	background-color: var(--memdecl-background-color);
+	border: none;
+	margin: 4px;
+	padding: 1px 0 0 8px;
+}
+
+.mdescLeft, .mdescRight {
+	padding: 0px 8px 4px 8px;
+	color: var(--memdecl-foreground-color);
+}
+
+.memSeparator {
+        border-bottom: 1px solid var(--memdecl-separator-color);
+        line-height: 1px;
+        margin: 0px;
+        padding: 0px;
+}
+
+.memItemLeft, .memTemplItemLeft {
+        white-space: nowrap;
+}
+
+.memItemRight, .memTemplItemRight {
+	width: 100%;
+}
+
+.memTemplParams {
+	color: var(--memdecl-template-color);
+        white-space: nowrap;
+	font-size: 80%;
+}
+
+/* @end */
+
+/* @group Member Details */
+
+/* Styles for detailed member documentation */
+
+.memtitle {
+	padding: 8px;
+	border-top: 1px solid var(--memdef-border-color);
+	border-left: 1px solid var(--memdef-border-color);
+	border-right: 1px solid var(--memdef-border-color);
+	border-top-right-radius: 4px;
+	border-top-left-radius: 4px;
+	margin-bottom: -1px;
+	background-image: var(--memdef-title-gradient-image);
+	background-repeat: repeat-x;
+	background-color: var(--memdef-title-background-color);
+	line-height: 1.25;
+	font-weight: 300;
+	float:left;
+}
+
+.permalink
+{
+        font-size: 65%;
+        display: inline-block;
+        vertical-align: middle;
+}
+
+.memtemplate {
+	font-size: 80%;
+	color: var(--memdef-template-color);
+	font-weight: normal;
+	margin-left: 9px;
+}
+
+.mempage {
+	width: 100%;
+}
+
+.memitem {
+	padding: 0;
+	margin-bottom: 10px;
+	margin-right: 5px;
+        -webkit-transition: box-shadow 0.5s linear;
+        -moz-transition: box-shadow 0.5s linear;
+        -ms-transition: box-shadow 0.5s linear;
+        -o-transition: box-shadow 0.5s linear;
+        transition: box-shadow 0.5s linear;
+        display: table !important;
+        width: 100%;
+}
+
+.memitem.glow {
+         box-shadow: 0 0 15px var(--glow-color);
+}
+
+.memname {
+        font-weight: 400;
+        margin-left: 6px;
+}
+
+.memname td {
+	vertical-align: bottom;
+}
+
+.memproto, dl.reflist dt {
+        border-top: 1px solid var(--memdef-border-color);
+        border-left: 1px solid var(--memdef-border-color);
+        border-right: 1px solid var(--memdef-border-color);
+        padding: 6px 0px 6px 0px;
+        color: var(--memdef-proto-text-color);
+        font-weight: bold;
+        text-shadow: var(--memdef-proto-text-shadow);
+        background-color: var(--memdef-proto-background-color);
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        border-top-right-radius: 4px;
+}
+
+.overload {
+        font-family: var(--font-family-monospace);
+	font-size: 65%;
+}
+
+.memdoc, dl.reflist dd {
+        border-bottom: 1px solid var(--memdef-border-color);
+        border-left: 1px solid var(--memdef-border-color);
+        border-right: 1px solid var(--memdef-border-color);
+        padding: 6px 10px 2px 10px;
+        border-top-width: 0;
+        background-image:url('nav_g.png');
+        background-repeat:repeat-x;
+        background-color: var(--memdef-doc-background-color);
+        /* opera specific markup */
+        border-bottom-left-radius: 4px;
+        border-bottom-right-radius: 4px;
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        /* firefox specific markup */
+        -moz-border-radius-bottomleft: 4px;
+        -moz-border-radius-bottomright: 4px;
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+        /* webkit specific markup */
+        -webkit-border-bottom-left-radius: 4px;
+        -webkit-border-bottom-right-radius: 4px;
+        -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+dl.reflist dt {
+        padding: 5px;
+}
+
+dl.reflist dd {
+        margin: 0px 0px 10px 0px;
+        padding: 5px;
+}
+
+.paramkey {
+	text-align: right;
+}
+
+.paramtype {
+	white-space: nowrap;
+	padding: 0px;
+	padding-bottom: 1px;
+}
+
+.paramname {
+	white-space: nowrap;
+        padding: 0px;
+        padding-bottom: 1px;
+        margin-left: 2px;
+}
+
+.paramname em {
+	color: var(--memdef-param-name-color);
+	font-style: normal;
+	margin-right: 1px;
+}
+
+.paramname .paramdefval {
+	font-family: var(--font-family-monospace);
+}
+
+.params, .retval, .exception, .tparams {
+        margin-left: 0px;
+        padding-left: 0px;
+}
+
+.params .paramname, .retval .paramname, .tparams .paramname, .exception .paramname {
+        font-weight: bold;
+        vertical-align: top;
+}
+
+.params .paramtype, .tparams .paramtype {
+        font-style: italic;
+        vertical-align: top;
+}
+
+.params .paramdir, .tparams .paramdir {
+        font-family: var(--font-family-monospace);
+        vertical-align: top;
+}
+
+table.mlabels {
+	border-spacing: 0px;
+}
+
+td.mlabels-left {
+	width: 100%;
+	padding: 0px;
+}
+
+td.mlabels-right {
+	vertical-align: bottom;
+	padding: 0px;
+	white-space: nowrap;
+}
+
+span.mlabels {
+        margin-left: 8px;
+}
+
+span.mlabel {
+        background-color: var(--label-background-color);
+        border-top:1px solid var(--label-left-top-border-color);
+        border-left:1px solid var(--label-left-top-border-color);
+        border-right:1px solid var(--label-right-bottom-border-color);
+        border-bottom:1px solid var(--label-right-bottom-border-color);
+	text-shadow: none;
+	color: var(--label-foreground-color);
+	margin-right: 4px;
+	padding: 2px 3px;
+	border-radius: 3px;
+	font-size: 7pt;
+	white-space: nowrap;
+	vertical-align: middle;
+}
+
+
+
+/* @end */
+
+/* these are for tree view inside a (index) page */
+
+div.directory {
+        margin: 10px 0px;
+        border-top: 1px solid var(--directory-separator-color);
+        border-bottom: 1px solid var(--directory-separator-color);
+        width: 100%;
+}
+
+.directory table {
+        border-collapse:collapse;
+}
+
+.directory td {
+        margin: 0px;
+        padding: 0px;
+	vertical-align: top;
+}
+
+.directory td.entry {
+        white-space: nowrap;
+        padding-right: 6px;
+	padding-top: 3px;
+}
+
+.directory td.entry a {
+        outline:none;
+}
+
+.directory td.entry a img {
+        border: none;
+}
+
+.directory td.desc {
+        width: 100%;
+        padding-left: 6px;
+	padding-right: 6px;
+	padding-top: 3px;
+	border-left: 1px solid rgba(0,0,0,0.05);
+}
+
+.directory tr.odd {
+	padding-left: 6px;
+	background-color: var(--index-odd-item-bg-color);
+}
+
+.directory tr.even {
+	padding-left: 6px;
+	background-color: var(--index-even-item-bg-color);
+}
+
+.directory img {
+	vertical-align: -30%;
+}
+
+.directory .levels {
+        white-space: nowrap;
+        width: 100%;
+        text-align: right;
+        font-size: 9pt;
+}
+
+.directory .levels span {
+        cursor: pointer;
+        padding-left: 2px;
+        padding-right: 2px;
+	color: var(--page-link-color);
+}
+
+.arrow {
+    color: var(--nav-arrow-color);
+    -webkit-user-select: none;
+    -khtml-user-select: none;
+    -moz-user-select: none;
+    -ms-user-select: none;
+    user-select: none;
+    cursor: pointer;
+    font-size: 80%;
+    display: inline-block;
+    width: 16px;
+    height: 22px;
+}
+
+.icon {
+    font-family: var(--font-family-icon);
+    line-height: normal;
+    font-weight: bold;
+    font-size: 12px;
+    height: 14px;
+    width: 16px;
+    display: inline-block;
+    background-color: var(--icon-background-color);
+    color: var(--icon-foreground-color);
+    text-align: center;
+    border-radius: 4px;
+    margin-left: 2px;
+    margin-right: 2px;
+}
+
+.icona {
+    width: 24px;
+    height: 22px;
+    display: inline-block;
+}
+
+.iconfopen {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:var(--icon-folder-open-image);
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.iconfclosed {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:var(--icon-folder-closed-image);
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.icondoc {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:var(--icon-doc-image);
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+/* @end */
+
+div.dynheader {
+        margin-top: 8px;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+address {
+	font-style: normal;
+	color: var(--footer-foreground-color);
+}
+
+table.doxtable caption {
+	caption-side: top;
+}
+
+table.doxtable {
+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
+table.doxtable td, table.doxtable th {
+	border: 1px solid var(--table-cell-border-color);
+	padding: 3px 7px 2px;
+}
+
+table.doxtable th {
+	background-color: var(--table-header-background-color);
+	color: var(--table-header-foreground-color);
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+table.fieldtable {
+        margin-bottom: 10px;
+        border: 1px solid var(--memdef-border-color);
+        border-spacing: 0px;
+        border-radius: 4px;
+        box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+}
+
+.fieldtable td, .fieldtable th {
+        padding: 3px 7px 2px;
+}
+
+.fieldtable td.fieldtype, .fieldtable td.fieldname {
+        white-space: nowrap;
+        border-right: 1px solid var(--memdef-border-color);
+        border-bottom: 1px solid var(--memdef-border-color);
+        vertical-align: top;
+}
+
+.fieldtable td.fieldname {
+        padding-top: 3px;
+}
+
+.fieldtable td.fielddoc {
+        border-bottom: 1px solid var(--memdef-border-color);
+}
+
+.fieldtable td.fielddoc p:first-child {
+        margin-top: 0px;
+}
+
+.fieldtable td.fielddoc p:last-child {
+        margin-bottom: 2px;
+}
+
+.fieldtable tr:last-child td {
+        border-bottom: none;
+}
+
+.fieldtable th {
+        background-image: var(--memdef-title-gradient-image);
+        background-repeat:repeat-x;
+        background-color: var(--memdef-title-background-color);
+        font-size: 90%;
+        color: var(--memdef-proto-text-color);
+        padding-bottom: 4px;
+        padding-top: 5px;
+        text-align:left;
+        font-weight: 400;
+        border-top-left-radius: 4px;
+        border-top-right-radius: 4px;
+        border-bottom: 1px solid var(--memdef-border-color);
+}
+
+
+.tabsearch {
+	top: 0px;
+	left: 10px;
+	height: 36px;
+	background-image: var(--nav-gradient-image);
+	z-index: 101;
+	overflow: hidden;
+	font-size: 13px;
+}
+
+.navpath ul
+{
+	font-size: 11px;
+	background-image: var(--nav-gradient-image);
+	background-repeat:repeat-x;
+	background-position: 0 -5px;
+	height:30px;
+	line-height:30px;
+	color:var(--nav-text-normal-color);
+	border:solid 1px var(--nav-breadcrumb-border-color);
+	overflow:hidden;
+	margin:0px;
+	padding:0px;
+}
+
+.navpath li
+{
+	list-style-type:none;
+	float:left;
+	padding-left:10px;
+	padding-right:15px;
+	background-image:var(--nav-breadcrumb-image);
+	background-repeat:no-repeat;
+	background-position:right;
+	color: var(--nav-foreground-color);
+}
+
+.navpath li.navelem a
+{
+	height:32px;
+	display:block;
+	outline: none;
+	color: var(--nav-text-normal-color);
+	font-family: var(--font-family-nav);
+	text-shadow: var(--nav-text-normal-shadow);
+	text-decoration: none;
+}
+
+.navpath li.navelem a:hover
+{
+	color: var(--nav-text-hover-color);
+	text-shadow: var(--nav-text-hover-shadow);
+}
+
+.navpath li.footer
+{
+        list-style-type:none;
+        float:right;
+        padding-left:10px;
+        padding-right:15px;
+        background-image:none;
+        background-repeat:no-repeat;
+        background-position:right;
+        color: var(--footer-foreground-color);
+        font-size: 8pt;
+}
+
+
+div.summary
+{
+	float: right;
+	font-size: 8pt;
+	padding-right: 5px;
+	width: 50%;
+	text-align: right;
+}
+
+div.summary a
+{
+	white-space: nowrap;
+}
+
+table.classindex
+{
+        margin: 10px;
+        white-space: nowrap;
+        margin-left: 3%;
+        margin-right: 3%;
+        width: 94%;
+        border: 0;
+        border-spacing: 0;
+        padding: 0;
+}
+
+div.ingroups
+{
+	font-size: 8pt;
+	width: 50%;
+	text-align: left;
+}
+
+div.ingroups a
+{
+	white-space: nowrap;
+}
+
+div.header
+{
+        background-image: var(--header-gradient-image);
+        background-repeat:repeat-x;
+	background-color: var(--header-background-color);
+	margin:  0px;
+	border-bottom: 1px solid var(--header-separator-color);
+}
+
+div.headertitle
+{
+	padding: 5px 5px 5px 10px;
+}
+
+.PageDocRTL-title div.headertitle {
+  text-align: right;
+  direction: rtl;
+}
+
+dl {
+        padding: 0 0 0 0;
+}
+
+/*
+
+dl.section {
+	margin-left: 0px;
+	padding-left: 0px;
+}
+
+dl.note {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #D0C000;
+}
+
+dl.warning, dl.attention {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #FF0000;
+}
+
+dl.pre, dl.post, dl.invariant {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #00D000;
+}
+
+dl.deprecated {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #505050;
+}
+
+dl.todo {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #00C0E0;
+}
+
+dl.test {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #3030E0;
+}
+
+dl.bug {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #C08050;
+}
+
+*/
+
+dl.bug dt a, dl.deprecated dt a, dl.todo dt a, dl.test a {
+    font-weight: bold !important;
+}
+
+dl.warning, dl.attention, dl.note, dl.deprecated, dl.bug,
+dl.invariant, dl.pre, dl.post, dl.todo, dl.test, dl.remark {
+    padding: 10px;
+    margin: 10px 0px;
+    overflow: hidden;
+    margin-left: 0;
+    border-radius: 4px;
+}
+
+dl.section dd {
+    margin-bottom: 2px;
+}
+
+dl.warning, dl.attention {
+    background: var(--warning-color-bg);
+    border-left: 8px solid var(--warning-color-hl);
+    color: var(--warning-color-text);
+}
+
+dl.warning dt, dl.attention dt {
+    color: var(--warning-color-hl);
+}
+
+dl.note, dl.remark {
+    background: var(--note-color-bg);
+    border-left: 8px solid var(--note-color-hl);
+    color: var(--note-color-text);
+}
+
+dl.note dt, dl.remark dt {
+    color: var(--note-color-hl);
+}
+
+dl.todo {
+    background: var(--todo-color-bg);
+    border-left: 8px solid var(--todo-color-hl);
+    color: var(--todo-color-text);
+}
+
+dl.todo dt {
+    color: var(--todo-color-hl);
+}
+
+dl.test {
+    background: var(--test-color-bg);
+    border-left: 8px solid var(--test-color-hl);
+    color: var(--test-color-text);
+}
+
+dl.test dt {
+    color: var(--test-color-hl);
+}
+
+dl.bug dt a {
+    color: var(--bug-color-hl) !important;
+}
+
+dl.bug {
+    background: var(--bug-color-bg);
+    border-left: 8px solid var(--bug-color-hl);
+    color: var(--bug-color-text);
+}
+
+dl.bug dt a {
+    color: var(--bug-color-hl) !important;
+}
+
+dl.deprecated {
+    background: var(--deprecated-color-bg);
+    border-left: 8px solid var(--deprecated-color-hl);
+    color: var(--deprecated-color-text);
+}
+
+dl.deprecated dt a {
+    color: var(--deprecated-color-hl) !important;
+}
+
+dl.section dd, dl.bug dd, dl.deprecated dd, dl.todo dd, dl.test dd {
+    margin-inline-start: 0px;
+}
+
+dl.invariant, dl.pre, dl.post {
+    background: var(--invariant-color-bg);
+    border-left: 8px solid var(--invariant-color-hl);
+    color: var(--invariant-color-text);
+}
+
+dl.invariant dt, dl.pre dt, dl.post dt {
+    color: var(--invariant-color-hl);
+}
+
+
+#projectrow
+{
+	height: 56px;
+}
+
+#projectlogo
+{
+	text-align: center;
+	vertical-align: bottom;
+	border-collapse: separate;
+}
+
+#projectlogo img
+{
+	border: 0px none;
+}
+
+#projectalign
+{
+        vertical-align: middle;
+        padding-left: 0.5em;
+}
+
+#projectname
+{
+	font-size: 200%;
+	font-family: var(--font-family-title);
+	margin: 0px;
+	padding: 2px 0px;
+}
+
+#projectbrief
+{
+	font-size: 90%;
+        font-family: var(--font-family-title);
+	margin: 0px;
+	padding: 0px;
+}
+
+#projectnumber
+{
+	font-size: 50%;
+	font-family: 50% var(--font-family-title);
+	margin: 0px;
+	padding: 0px;
+}
+
+#titlearea
+{
+	padding: 0px;
+	margin: 0px;
+	width: 100%;
+	border-bottom: 1px solid var(--title-separator-color);
+	background-color: var(--title-background-color);
+}
+
+.image
+{
+        text-align: center;
+}
+
+.dotgraph
+{
+        text-align: center;
+}
+
+.mscgraph
+{
+        text-align: center;
+}
+
+.plantumlgraph
+{
+        text-align: center;
+}
+
+.diagraph
+{
+        text-align: center;
+}
+
+.caption
+{
+	font-weight: bold;
+}
+
+dl.citelist {
+        margin-bottom:50px;
+}
+
+dl.citelist dt {
+        color:var(--citation-label-color);
+        float:left;
+        font-weight:bold;
+        margin-right:10px;
+        padding:5px;
+        text-align:right;
+        width:52px;
+}
+
+dl.citelist dd {
+        margin:2px 0 2px 72px;
+        padding:5px 0;
+}
+
+div.toc {
+        padding: 14px 25px;
+        background-color: var(--toc-background-color);
+        border: 1px solid var(--toc-border-color);
+        border-radius: 7px 7px 7px 7px;
+        float: right;
+        height: auto;
+        margin: 0 8px 10px 10px;
+        width: 200px;
+}
+
+div.toc li {
+        background: var(--toc-down-arrow-image) no-repeat scroll 0 5px transparent;
+        font: 10px/1.2 var(--font-family-toc);
+        margin-top: 5px;
+        padding-left: 10px;
+        padding-top: 2px;
+}
+
+div.toc h3 {
+        font: bold 12px/1.2 var(--font-family-toc);
+	color: var(--toc-header-color);
+        border-bottom: 0 none;
+        margin: 0;
+}
+
+div.toc ul {
+        list-style: none outside none;
+        border: medium none;
+        padding: 0px;
+}
+
+div.toc li.level1 {
+        margin-left: 0px;
+}
+
+div.toc li.level2 {
+        margin-left: 15px;
+}
+
+div.toc li.level3 {
+        margin-left: 15px;
+}
+
+div.toc li.level4 {
+        margin-left: 15px;
+}
+
+span.emoji {
+        /* font family used at the site: https://unicode.org/emoji/charts/full-emoji-list.html
+         * font-family: "Noto Color Emoji", "Apple Color Emoji", "Segoe UI Emoji", Times, Symbola, Aegyptus, Code2000, Code2001, Code2002, Musica, serif, LastResort;
+         */
+}
+
+span.obfuscator {
+  display: none;
+}
+
+.inherit_header {
+        font-weight: bold;
+        color: var(--inherit-header-color);
+        cursor: pointer;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+.inherit_header td {
+        padding: 6px 0px 2px 5px;
+}
+
+.inherit {
+        display: none;
+}
+
+tr.heading h2 {
+        margin-top: 12px;
+        margin-bottom: 4px;
+}
+
+/* tooltip related style info */
+
+.ttc {
+        position: absolute;
+        display: none;
+}
+
+#powerTip {
+	cursor: default;
+	/*white-space: nowrap;*/
+        color: var(--tooltip-foreground-color);
+	background-color: var(--tooltip-background-color);
+	border: 1px solid var(--tooltip-border-color);
+	border-radius: 4px 4px 4px 4px;
+	box-shadow: var(--tooltip-shadow);
+	display: none;
+	font-size: smaller;
+	max-width: 80%;
+	opacity: 0.9;
+	padding: 1ex 1em 1em;
+	position: absolute;
+	z-index: 2147483647;
+}
+
+#powerTip div.ttdoc {
+        color: var(--tooltip-doc-color);
+	font-style: italic;
+}
+
+#powerTip div.ttname a {
+        font-weight: bold;
+}
+
+#powerTip a {
+	color: var(--tooltip-link-color);
+}
+
+#powerTip div.ttname {
+        font-weight: bold;
+}
+
+#powerTip div.ttdeci {
+        color: var(--tooltip-declaration-color);
+}
+
+#powerTip div {
+        margin: 0px;
+        padding: 0px;
+        font-size: 12px;
+       	font-family: var(--font-family-tooltip);
+	line-height: 16px;
+}
+
+#powerTip:before, #powerTip:after {
+	content: "";
+	position: absolute;
+	margin: 0px;
+}
+
+#powerTip.n:after,  #powerTip.n:before,
+#powerTip.s:after,  #powerTip.s:before,
+#powerTip.w:after,  #powerTip.w:before,
+#powerTip.e:after,  #powerTip.e:before,
+#powerTip.ne:after, #powerTip.ne:before,
+#powerTip.se:after, #powerTip.se:before,
+#powerTip.nw:after, #powerTip.nw:before,
+#powerTip.sw:after, #powerTip.sw:before {
+	border: solid transparent;
+	content: " ";
+	height: 0;
+	width: 0;
+	position: absolute;
+}
+
+#powerTip.n:after,  #powerTip.s:after,
+#powerTip.w:after,  #powerTip.e:after,
+#powerTip.nw:after, #powerTip.ne:after,
+#powerTip.sw:after, #powerTip.se:after {
+	border-color: rgba(255, 255, 255, 0);
+}
+
+#powerTip.n:before,  #powerTip.s:before,
+#powerTip.w:before,  #powerTip.e:before,
+#powerTip.nw:before, #powerTip.ne:before,
+#powerTip.sw:before, #powerTip.se:before {
+	border-color: rgba(128, 128, 128, 0);
+}
+
+#powerTip.n:after,  #powerTip.n:before,
+#powerTip.ne:after, #powerTip.ne:before,
+#powerTip.nw:after, #powerTip.nw:before {
+	top: 100%;
+}
+
+#powerTip.n:after, #powerTip.ne:after, #powerTip.nw:after {
+	border-top-color: var(--tooltip-background-color);
+	border-width: 10px;
+	margin: 0px -10px;
+}
+#powerTip.n:before, #powerTip.ne:before, #powerTip.nw:before {
+	border-top-color: var(--tooltip-border-color);
+	border-width: 11px;
+	margin: 0px -11px;
+}
+#powerTip.n:after, #powerTip.n:before {
+	left: 50%;
+}
+
+#powerTip.nw:after, #powerTip.nw:before {
+	right: 14px;
+}
+
+#powerTip.ne:after, #powerTip.ne:before {
+	left: 14px;
+}
+
+#powerTip.s:after,  #powerTip.s:before,
+#powerTip.se:after, #powerTip.se:before,
+#powerTip.sw:after, #powerTip.sw:before {
+	bottom: 100%;
+}
+
+#powerTip.s:after, #powerTip.se:after, #powerTip.sw:after {
+	border-bottom-color: var(--tooltip-background-color);
+	border-width: 10px;
+	margin: 0px -10px;
+}
+
+#powerTip.s:before, #powerTip.se:before, #powerTip.sw:before {
+	border-bottom-color: var(--tooltip-border-color);
+	border-width: 11px;
+	margin: 0px -11px;
+}
+
+#powerTip.s:after, #powerTip.s:before {
+	left: 50%;
+}
+
+#powerTip.sw:after, #powerTip.sw:before {
+	right: 14px;
+}
+
+#powerTip.se:after, #powerTip.se:before {
+	left: 14px;
+}
+
+#powerTip.e:after, #powerTip.e:before {
+	left: 100%;
+}
+#powerTip.e:after {
+	border-left-color: var(--tooltip-border-color);
+	border-width: 10px;
+	top: 50%;
+	margin-top: -10px;
+}
+#powerTip.e:before {
+	border-left-color: var(--tooltip-border-color);
+	border-width: 11px;
+	top: 50%;
+	margin-top: -11px;
+}
+
+#powerTip.w:after, #powerTip.w:before {
+	right: 100%;
+}
+#powerTip.w:after {
+	border-right-color: var(--tooltip-border-color);
+	border-width: 10px;
+	top: 50%;
+	margin-top: -10px;
+}
+#powerTip.w:before {
+	border-right-color: var(--tooltip-border-color);
+	border-width: 11px;
+	top: 50%;
+	margin-top: -11px;
+}
+
+@media print
+{
+  #top { display: none; }
+  #side-nav { display: none; }
+  #nav-path { display: none; }
+  body { overflow:visible; }
+  h1, h2, h3, h4, h5, h6 { page-break-after: avoid; }
+  .summary { display: none; }
+  .memitem { page-break-inside: avoid; }
+  #doc-content
+  {
+    margin-left:0 !important;
+    height:auto !important;
+    width:auto !important;
+    overflow:inherit;
+    display:inline;
+  }
+}
+
+/* @group Markdown */
+
+table.markdownTable {
+	border-collapse:collapse;
+        margin-top: 4px;
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+<title>Validator / crawler helper</title>
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diff --git a/docs/dynsections.js b/docs/dynsections.js
new file mode 100644
index 0000000..8f49326
--- /dev/null
+++ b/docs/dynsections.js
@@ -0,0 +1,194 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+
+let dynsection = {
+
+  // helper function
+  updateStripes : function() {
+    $('table.directory tr').
+      removeClass('even').filter(':visible:even').addClass('even');
+    $('table.directory tr').
+      removeClass('odd').filter(':visible:odd').addClass('odd');
+  },
+
+  toggleVisibility : function(linkObj) {
+    const base = $(linkObj).attr('id');
+    const summary = $('#'+base+'-summary');
+    const content = $('#'+base+'-content');
+    const trigger = $('#'+base+'-trigger');
+    const src=$(trigger).attr('src');
+    if (content.is(':visible')===true) {
+      content.hide();
+      summary.show();
+      $(linkObj).addClass('closed').removeClass('opened');
+      $(trigger).attr('src',src.substring(0,src.length-8)+'closed.png');
+    } else {
+      content.show();
+      summary.hide();
+      $(linkObj).removeClass('closed').addClass('opened');
+      $(trigger).attr('src',src.substring(0,src.length-10)+'open.png');
+    }
+    return false;
+  },
+
+  toggleLevel : function(level) {
+    $('table.directory tr').each(function() {
+      const l = this.id.split('_').length-1;
+      const i = $('#img'+this.id.substring(3));
+      const a = $('#arr'+this.id.substring(3));
+      if (l<level+1) {
+        i.removeClass('iconfopen iconfclosed').addClass('iconfopen');
+        a.html('&#9660;');
+        $(this).show();
+      } else if (l==level+1) {
+        i.removeClass('iconfclosed iconfopen').addClass('iconfclosed');
+        a.html('&#9658;');
+        $(this).show();
+      } else {
+        $(this).hide();
+      }
+    });
+    this.updateStripes();
+  },
+
+  toggleFolder : function(id) {
+    // the clicked row
+    const currentRow = $('#row_'+id);
+
+    // all rows after the clicked row
+    const rows = currentRow.nextAll("tr");
+
+    const re = new RegExp('^row_'+id+'\\d+_$', "i"); //only one sub
+
+    // only match elements AFTER this one (can't hide elements before)
+    const childRows = rows.filter(function() { return this.id.match(re); });
+
+    // first row is visible we are HIDING
+    if (childRows.filter(':first').is(':visible')===true) {
+      // replace down arrow by right arrow for current row
+      const currentRowSpans = currentRow.find("span");
+      currentRowSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
+      currentRowSpans.filter(".arrow").html('&#9658;');
+      rows.filter("[id^=row_"+id+"]").hide(); // hide all children
+    } else { // we are SHOWING
+      // replace right arrow by down arrow for current row
+      const currentRowSpans = currentRow.find("span");
+      currentRowSpans.filter(".iconfclosed").removeClass("iconfclosed").addClass("iconfopen");
+      currentRowSpans.filter(".arrow").html('&#9660;');
+      // replace down arrows by right arrows for child rows
+      const childRowsSpans = childRows.find("span");
+      childRowsSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
+      childRowsSpans.filter(".arrow").html('&#9658;');
+      childRows.show(); //show all children
+    }
+    this.updateStripes();
+  },
+
+  toggleInherit : function(id) {
+    const rows = $('tr.inherit.'+id);
+    const img = $('tr.inherit_header.'+id+' img');
+    const src = $(img).attr('src');
+    if (rows.filter(':first').is(':visible')===true) {
+      rows.css('display','none');
+      $(img).attr('src',src.substring(0,src.length-8)+'closed.png');
+    } else {
+      rows.css('display','table-row'); // using show() causes jump in firefox
+      $(img).attr('src',src.substring(0,src.length-10)+'open.png');
+    }
+  },
+};
+
+let codefold = {
+  opened : true,
+
+  // in case HTML_COLORSTYLE is LIGHT or DARK the vars will be replaced, so we write them out explicitly and use double quotes
+  plusImg:  [ "var(--fold-plus-image)",  "var(--fold-plus-image-relpath)" ],
+  minusImg: [ "var(--fold-minus-image)", "var(--fold-minus-image-relpath)" ],
+
+  // toggle all folding blocks
+  toggle_all : function(relPath) {
+    if (this.opened) {
+      $('#fold_all').css('background-image',this.plusImg[relPath]);
+      $('div[id^=foldopen]').hide();
+      $('div[id^=foldclosed]').show();
+    } else {
+      $('#fold_all').css('background-image',this.minusImg[relPath]);
+      $('div[id^=foldopen]').show();
+      $('div[id^=foldclosed]').hide();
+    }
+    this.opened=!this.opened;
+  },
+
+  // toggle single folding block
+  toggle : function(id) {
+    $('#foldopen'+id).toggle();
+    $('#foldclosed'+id).toggle();
+  },
+
+  init : function(relPath) {
+    $('span[class=lineno]').css({
+      'padding-right':'4px',
+      'margin-right':'2px',
+      'display':'inline-block',
+      'width':'54px',
+      'background':'linear-gradient(var(--fold-line-color),var(--fold-line-color)) no-repeat 46px/2px 100%'
+    });
+    // add global toggle to first line
+    $('span[class=lineno]:first').append('<span class="fold" id="fold_all" '+
+      'onclick="javascript:codefold.toggle_all('+relPath+');" '+
+      'style="background-image:'+this.minusImg[relPath]+';"></span>');
+    // add vertical lines to other rows
+    $('span[class=lineno]').not(':eq(0)').append('<span class="fold"></span>');
+    // add toggle controls to lines with fold divs
+    $('div[class=foldopen]').each(function() {
+      // extract specific id to use
+      const id    = $(this).attr('id').replace('foldopen','');
+      // extract start and end foldable fragment attributes
+      const start = $(this).attr('data-start');
+      const end   = $(this).attr('data-end');
+      // replace normal fold span with controls for the first line of a foldable fragment
+      $(this).find('span[class=fold]:first').replaceWith('<span class="fold" '+
+                   'onclick="javascript:codefold.toggle(\''+id+'\');" '+
+                   'style="background-image:'+codefold.minusImg[relPath]+';"></span>');
+      // append div for folded (closed) representation
+      $(this).after('<div id="foldclosed'+id+'" class="foldclosed" style="display:none;"></div>');
+      // extract the first line from the "open" section to represent closed content
+      const line = $(this).children().first().clone();
+      // remove any glow that might still be active on the original line
+      $(line).removeClass('glow');
+      if (start) {
+        // if line already ends with a start marker (e.g. trailing {), remove it
+        $(line).html($(line).html().replace(new RegExp('\\s*'+start+'\\s*$','g'),''));
+      }
+      // replace minus with plus symbol
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+      // append ellipsis
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<title>signals-cpp: Class Members</title>
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+   <div id="projectname">signals-cpp
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_b" name="index_b"></a>- b -</h3><ul>
+<li>BaseType&#160;:&#160;<a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_d" name="index_d"></a>- d -</h3><ul>
+<li>derivativeMethod&#160;:&#160;<a class="el" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>dot()&#160;:&#160;<a class="el" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>dotSignal()&#160;:&#160;<a class="el" href="classSignal.html#a95241f68d33194232ba1eea1747a5231">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_e" name="index_e"></a>- e -</h3><ul>
+<li>extrapolationMethod&#160;:&#160;<a class="el" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_g" name="index_g"></a>- g -</h3><ul>
+<li>g&#160;:&#160;<a class="el" href="structRigidBodyParams1D.html#a823d208bcbabadd83d3cc8f222973c95">RigidBodyParams1D</a>, <a class="el" href="structRigidBodyParams2D.html#ab212f53241edb1bf232499a6ba963258">RigidBodyParams2D</a>, <a class="el" href="structRigidBodyParams3D.html#a87b9c6a467ebcd6805a1d9419e6149d1">RigidBodyParams3D</a></li>
+</ul>
+
+
+<h3><a id="index_h" name="index_h"></a>- h -</h3><ul>
+<li>hasParams()&#160;:&#160;<a class="el" href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">Model&lt; DynamicsType &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_i" name="index_i"></a>- i -</h3><ul>
+<li>identity()&#160;:&#160;<a class="el" href="structState.html#a035f1f7193895463743b8ee58d75634f">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></li>
+<li>InputSignalType&#160;:&#160;<a class="el" href="classModel.html#ac990dd4740b30e4477bca86fc6172970">Model&lt; DynamicsType &gt;</a>, <a class="el" href="structRigidBodyDynamics3DOF.html#a4341d5e4a676e15edc8f8faafef5431a">RigidBodyDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structRigidBodyDynamics6DOF.html#a8927301269f2ce616317819c769b9364">RigidBodyDynamics6DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics1DOF.html#a80b5f730e292fda15bdcf1e8b96fe02e">RotationalDynamics1DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics3DOF.html#aac317f9992071217ce644f6b9ccd8763">RotationalDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structTranslationalDynamicsBase.html#aac403e4db54adf389b8f1fa3700f6f6a">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></li>
+<li>InputType&#160;:&#160;<a class="el" href="structRigidBodyDynamics3DOF.html#aa90232643a368b1d4b9fd618ae8d57f7">RigidBodyDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structRigidBodyDynamics6DOF.html#ac8780c98b59889f8329aa467a5b375fe">RigidBodyDynamics6DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics1DOF.html#ad43b9ce6a37b65d677d01ceafe448259">RotationalDynamics1DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics3DOF.html#aafaa22bb44de6a10f6293f66da5c52e5">RotationalDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structTranslationalDynamicsBase.html#ac57d5ab2e4cf3e6afe4a5ae550e858bb">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></li>
+<li>integrate()&#160;:&#160;<a class="el" href="structEulerIntegratorSpec.html#a6c8d7aa2ecf83f7a348a575e5023639f">EulerIntegratorSpec</a>, <a class="el" href="structIntegrator.html#ab3bebaa347f6019f3d2da2b2bcee5918">Integrator&lt; IntegratorType &gt;</a>, <a class="el" href="structSimpsonIntegratorSpec.html#a6194da52902a391e4a9b251c05e6abf2">SimpsonIntegratorSpec</a>, <a class="el" href="structTrapezoidalIntegratorSpec.html#a38c21a876135bae55c62ec43c3a18a86">TrapezoidalIntegratorSpec</a></li>
+<li>interpolationMethod&#160;:&#160;<a class="el" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_j" name="index_j"></a>- j -</h3><ul>
+<li>J&#160;:&#160;<a class="el" href="structRigidBodyParams2D.html#aaefd836b5e013be87bc317aaba261a25">RigidBodyParams2D</a>, <a class="el" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">RigidBodyParams3D</a></li>
+</ul>
+
+
+<h3><a id="index_m" name="index_m"></a>- m -</h3><ul>
+<li>m&#160;:&#160;<a class="el" href="structRigidBodyParams1D.html#a2f5a1c0e6320c14d72d0ff98ad979332">RigidBodyParams1D</a>, <a class="el" href="structRigidBodyParams2D.html#a5e37a979a1a69333bcc5576d14397185">RigidBodyParams2D</a>, <a class="el" href="structRigidBodyParams3D.html#acfa4c165c3278306dac4c0f51819e694">RigidBodyParams3D</a></li>
+<li>Model()&#160;:&#160;<a class="el" href="classModel.html#a3cbccc00606661a35110dbe111af54ad">Model&lt; DynamicsType &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_n" name="index_n"></a>- n -</h3><ul>
+<li>nans()&#160;:&#160;<a class="el" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></li>
+<li>NansType()&#160;:&#160;<a class="el" href="structManifoldSignalSpec.html#a8131da54a75205e3f61547afee1ccfcc">ManifoldSignalSpec&lt; ManifoldType &gt;</a>, <a class="el" href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">ManifoldStateSignalSpec&lt; T, ManifoldType, PD, TD &gt;</a>, <a class="el" href="structScalarSignalSpec.html#a040a016b3023c9df47a913599e9af1e2">ScalarSignalSpec&lt; T &gt;</a>, <a class="el" href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">ScalarStateSignalSpec&lt; T &gt;</a>, <a class="el" href="structVectorSignalSpec.html#a3a25051bf64d2677fc511bd026b7f6a2">VectorSignalSpec&lt; T, d &gt;</a>, <a class="el" href="structVectorStateSignalSpec.html#a4729eec41bab8eb5ed7b45aa8272be4d">VectorStateSignalSpec&lt; T, d &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_o" name="index_o"></a>- o -</h3><ul>
+<li>operator()()&#160;:&#160;<a class="el" href="classSignal.html#a2d222b24cb25f6f228a0c69d71d95918">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>operator*&#160;:&#160;<a class="el" href="classSignal.html#ad61a2749da48601dcf27bedaa0cf54fd">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>operator*=()&#160;:&#160;<a class="el" href="structState.html#af76faa98cfc18fb81afb0c86f7a0aa75">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></li>
+<li>operator+&#160;:&#160;<a class="el" href="classSignal.html#aead0dbc78a90fbd6ad3f86ab61ed65f7">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>operator+=()&#160;:&#160;<a class="el" href="structState.html#a7764970f0c29576eac07ab57c28261be">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></li>
+<li>operator-&#160;:&#160;<a class="el" href="classSignal.html#a22d02130c5fec79a084ef4d1a28521dc">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_p" name="index_p"></a>- p -</h3><ul>
+<li>ParamsType&#160;:&#160;<a class="el" href="classModel.html#aec20251d98505785fa51c52eb81dd3a2">Model&lt; DynamicsType &gt;</a>, <a class="el" href="structRigidBodyDynamics3DOF.html#afa1ade3cc027b78a2d2c65df867d52b0">RigidBodyDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structRigidBodyDynamics6DOF.html#ad252337a912dcd1cfaa097d9c2d5814e">RigidBodyDynamics6DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics1DOF.html#a38ff3a3028dc85817407d15587bf3451">RotationalDynamics1DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics3DOF.html#a2ac951c964726729410488c2bfcfa156">RotationalDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structTranslationalDynamicsBase.html#a4ba374f05dd1f5c4168adf3d6a15ef0c">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></li>
+<li>pose&#160;:&#160;<a class="el" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></li>
+<li>PoseType&#160;:&#160;<a class="el" href="structState.html#a31bd8aa44dff5f656b2b2057c8d63821">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_r" name="index_r"></a>- r -</h3><ul>
+<li>reset()&#160;:&#160;<a class="el" href="classModel.html#a823536a9764d6a35cce173573ee62e90">Model&lt; DynamicsType &gt;</a>, <a class="el" href="classSignal.html#a914fd7f09ae0723c88fce310fd7c79fd">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>RigidBodyParams1D()&#160;:&#160;<a class="el" href="structRigidBodyParams1D.html#ab2b9c3eb89bcbf0ac06a33e95725e0eb">RigidBodyParams1D</a></li>
+<li>RigidBodyParams2D()&#160;:&#160;<a class="el" href="structRigidBodyParams2D.html#a6febaa8c9f355105b908979da3dd1255">RigidBodyParams2D</a></li>
+<li>RigidBodyParams3D()&#160;:&#160;<a class="el" href="structRigidBodyParams3D.html#a8aa76fea7a0790ead025bf79e767d0cf">RigidBodyParams3D</a></li>
+</ul>
+
+
+<h3><a id="index_s" name="index_s"></a>- s -</h3><ul>
+<li>setDerivativeMethod()&#160;:&#160;<a class="el" href="classSignal.html#a8c25f302d3c4feaa1a4c1f6d59381d89">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>setExtrapolationMethod()&#160;:&#160;<a class="el" href="classSignal.html#ac3be206ae717ad5e977d8a108de9b9e4">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>setInterpolationMethod()&#160;:&#160;<a class="el" href="classSignal.html#af336f3d6a2d643040dff9fb5b4c20558">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>setParams()&#160;:&#160;<a class="el" href="classModel.html#a96533143a30ab87c379e411fcae59643">Model&lt; DynamicsType &gt;</a></li>
+<li>Signal()&#160;:&#160;<a class="el" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>SignalDPComparator&#160;:&#160;<a class="el" href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>simulate()&#160;:&#160;<a class="el" href="classModel.html#ac7446138b27c8feba779ebfe8e82b99d">Model&lt; DynamicsType &gt;</a></li>
+<li>State()&#160;:&#160;<a class="el" href="structState.html#a097d236bc46ca02a379e2fd188fe3e97">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></li>
+<li>StateDotDotType&#160;:&#160;<a class="el" href="structRigidBodyDynamics3DOF.html#a562a8cc5e6e8dca19982509022a22ba4">RigidBodyDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structRigidBodyDynamics6DOF.html#a32c92b85c94f66739358385a0a3a07fc">RigidBodyDynamics6DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics1DOF.html#a5e2f1cd471e7be99dc9e0f3f29f146f3">RotationalDynamics1DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics3DOF.html#a6e75764a6e9b0ec406d716dfb60943b1">RotationalDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structTranslationalDynamicsBase.html#a4ae3874e31bcc97d54f4cebea0606002">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></li>
+<li>StateDotSignalType&#160;:&#160;<a class="el" href="classModel.html#a8abdf37c6158386a9f1d2c6c506f6839">Model&lt; DynamicsType &gt;</a>, <a class="el" href="structRigidBodyDynamics3DOF.html#a28d138392ca0069c5e6274f78fd08e29">RigidBodyDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structRigidBodyDynamics6DOF.html#afcafc7961087b27b239ad998e436da9a">RigidBodyDynamics6DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics1DOF.html#a32c4979bf8f6aa3f9c1b0f2818ba4abd">RotationalDynamics1DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics3DOF.html#a6b1ce3427c65404128d15a66c3d11621">RotationalDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structTranslationalDynamicsBase.html#a3870f6b57fcb6cb578b3640401331a39">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></li>
+<li>StateDotType&#160;:&#160;<a class="el" href="structRigidBodyDynamics3DOF.html#a7a9fa29ba97531d856e87560806a805c">RigidBodyDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structRigidBodyDynamics6DOF.html#aa664579d3d691fcd4c5824b242dd2061">RigidBodyDynamics6DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics1DOF.html#a7df05f9db990eecd331f506d1a17597e">RotationalDynamics1DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics3DOF.html#a40c9649794d2d6e82da6451d17c32bb5">RotationalDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structTranslationalDynamicsBase.html#a25c6532290d222c25e727394a0afa0b7">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></li>
+<li>StateSignalType&#160;:&#160;<a class="el" href="classModel.html#a643e1a47ddbb10c5c10844f9aea5be98">Model&lt; DynamicsType &gt;</a>, <a class="el" href="structRigidBodyDynamics3DOF.html#a0c346a983bc929f1f7a6e5d2be3a0841">RigidBodyDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structRigidBodyDynamics6DOF.html#ad4e0605bf2a0c90acbe9a1a333b9b952">RigidBodyDynamics6DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics1DOF.html#ac321d27d0098cb3e8e64ea0d98500cb6">RotationalDynamics1DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics3DOF.html#a2814e21ab959a4cb71fdc2682d1cad69">RotationalDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structTranslationalDynamicsBase.html#a1f0fdd4bbfb73f52878c7e5c7e459f16">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></li>
+<li>StateType&#160;:&#160;<a class="el" href="structRigidBodyDynamics3DOF.html#a448c5efb998f492d1518eb0d2d7ded74">RigidBodyDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structRigidBodyDynamics6DOF.html#adf5c3e5f6090032d18019c7aeab91f51">RigidBodyDynamics6DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics1DOF.html#aada86d78db85576298e606afda8c928d">RotationalDynamics1DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics3DOF.html#aaee29651f3b1671b6ab4e10656ea6f9a">RotationalDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structTranslationalDynamicsBase.html#aabb958cc98babacfc8478a04fb7a37dd">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_t" name="index_t"></a>- t -</h3><ul>
+<li>t()&#160;:&#160;<a class="el" href="classModel.html#a7661852411b9ffd59240d5d5ca0e4dd3">Model&lt; DynamicsType &gt;</a>, <a class="el" href="structSignal_1_1SignalDP.html#ac9d0651b25c9bcf14fcfc65a32fcfa86">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;::SignalDP</a>, <a class="el" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>TangentType&#160;:&#160;<a class="el" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>twist&#160;:&#160;<a class="el" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></li>
+<li>TwistType&#160;:&#160;<a class="el" href="structState.html#ab58b6e2fe6ea3c2777c5a8a92f6665a1">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></li>
+<li>Type&#160;:&#160;<a class="el" href="structManifoldSignalSpec.html#ae6292debacd46f629429d03cf7e9a342">ManifoldSignalSpec&lt; ManifoldType &gt;</a>, <a class="el" href="structManifoldStateSignalSpec.html#aef8d411c012125303e1faa1d66b35c1c">ManifoldStateSignalSpec&lt; T, ManifoldType, PD, TD &gt;</a>, <a class="el" href="structScalarSignalSpec.html#a4a319643aeb76b94214f8b41d64d5402">ScalarSignalSpec&lt; T &gt;</a>, <a class="el" href="structScalarStateSignalSpec.html#a7ae52069e3aafdb7c45b14168b1ad11b">ScalarStateSignalSpec&lt; T &gt;</a>, <a class="el" href="structVectorSignalSpec.html#ac21d15d01635665373eaf23b62f3d440">VectorSignalSpec&lt; T, d &gt;</a>, <a class="el" href="structVectorStateSignalSpec.html#a3994948f467b39ca2dcd77d220a8cf3a">VectorStateSignalSpec&lt; T, d &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_u" name="index_u"></a>- u -</h3><ul>
+<li>update()&#160;:&#160;<a class="el" href="structRigidBodyDynamics3DOF.html#acafe68f9e9ea78f54bc70d64a1b39d9c">RigidBodyDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structRigidBodyDynamics6DOF.html#ae0d9bb27da7f804a1f8dc4923546a95d">RigidBodyDynamics6DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics1DOF.html#a433f042fafdcff07948eb952e47f13b6">RotationalDynamics1DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics3DOF.html#aee5958f7949268650c00097b2a871252">RotationalDynamics3DOF&lt; T &gt;</a>, <a class="el" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a>, <a class="el" href="structTranslationalDynamicsBase.html#a3f1e02018ec014fe38ba851dc0d5b2ed">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_x" name="index_x"></a>- x -</h3><ul>
+<li>x&#160;:&#160;<a class="el" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">Model&lt; DynamicsType &gt;</a>, <a class="el" href="structSignal_1_1SignalDP.html#a9b7c7d507ee5f16f1909dccdae98e649">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;::SignalDP</a></li>
+<li>xdot&#160;:&#160;<a class="el" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">Model&lt; DynamicsType &gt;</a>, <a class="el" href="structSignal_1_1SignalDP.html#a31d004bf32039463b33344e4c10bd5bb">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;::SignalDP</a></li>
+</ul>
+
+
+<h3><a id="index_z" name="index_z"></a>- z -</h3><ul>
+<li>ZeroType()&#160;:&#160;<a class="el" href="structManifoldSignalSpec.html#a445c0d7b5e23264b3a08b881f3c68a72">ManifoldSignalSpec&lt; ManifoldType &gt;</a>, <a class="el" href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">ManifoldStateSignalSpec&lt; T, ManifoldType, PD, TD &gt;</a>, <a class="el" href="structScalarSignalSpec.html#a941ad7ca4c5943d3b2244e1126d1febf">ScalarSignalSpec&lt; T &gt;</a>, <a class="el" href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">ScalarStateSignalSpec&lt; T &gt;</a>, <a class="el" href="structVectorSignalSpec.html#a4c535f5d5b25faa7148f8719d74693fd">VectorSignalSpec&lt; T, d &gt;</a>, <a class="el" href="structVectorStateSignalSpec.html#ae659b96e95497b25e711fab331037c21">VectorStateSignalSpec&lt; T, d &gt;</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
+</body>
+</html>
diff --git a/docs/functions_func.html b/docs/functions_func.html
new file mode 100644
index 0000000..f2b636e
--- /dev/null
+++ b/docs/functions_func.html
@@ -0,0 +1,156 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>signals-cpp: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<script type="text/javascript" src="cookie.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+MathJax.Hub.Config({
+  extensions: ["tex2jax.js"],
+  jax: ["input/TeX","output/HTML-CSS"],
+});
+</script>
+<script type="text/javascript" async="async" src="https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">signals-cpp
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all functions with links to the classes they belong to:</div>
+
+<h3><a id="index_d" name="index_d"></a>- d -</h3><ul>
+<li>dot()&#160;:&#160;<a class="el" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>dotSignal()&#160;:&#160;<a class="el" href="classSignal.html#a95241f68d33194232ba1eea1747a5231">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_h" name="index_h"></a>- h -</h3><ul>
+<li>hasParams()&#160;:&#160;<a class="el" href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">Model&lt; DynamicsType &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_i" name="index_i"></a>- i -</h3><ul>
+<li>identity()&#160;:&#160;<a class="el" href="structState.html#a035f1f7193895463743b8ee58d75634f">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></li>
+<li>integrate()&#160;:&#160;<a class="el" href="structEulerIntegratorSpec.html#a6c8d7aa2ecf83f7a348a575e5023639f">EulerIntegratorSpec</a>, <a class="el" href="structIntegrator.html#ab3bebaa347f6019f3d2da2b2bcee5918">Integrator&lt; IntegratorType &gt;</a>, <a class="el" href="structSimpsonIntegratorSpec.html#a6194da52902a391e4a9b251c05e6abf2">SimpsonIntegratorSpec</a>, <a class="el" href="structTrapezoidalIntegratorSpec.html#a38c21a876135bae55c62ec43c3a18a86">TrapezoidalIntegratorSpec</a></li>
+</ul>
+
+
+<h3><a id="index_m" name="index_m"></a>- m -</h3><ul>
+<li>Model()&#160;:&#160;<a class="el" href="classModel.html#a3cbccc00606661a35110dbe111af54ad">Model&lt; DynamicsType &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_n" name="index_n"></a>- n -</h3><ul>
+<li>nans()&#160;:&#160;<a class="el" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></li>
+<li>NansType()&#160;:&#160;<a class="el" href="structManifoldSignalSpec.html#a8131da54a75205e3f61547afee1ccfcc">ManifoldSignalSpec&lt; ManifoldType &gt;</a>, <a class="el" href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">ManifoldStateSignalSpec&lt; T, ManifoldType, PD, TD &gt;</a>, <a class="el" href="structScalarSignalSpec.html#a040a016b3023c9df47a913599e9af1e2">ScalarSignalSpec&lt; T &gt;</a>, <a class="el" href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">ScalarStateSignalSpec&lt; T &gt;</a>, <a class="el" href="structVectorSignalSpec.html#a3a25051bf64d2677fc511bd026b7f6a2">VectorSignalSpec&lt; T, d &gt;</a>, <a class="el" href="structVectorStateSignalSpec.html#a4729eec41bab8eb5ed7b45aa8272be4d">VectorStateSignalSpec&lt; T, d &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_o" name="index_o"></a>- o -</h3><ul>
+<li>operator()()&#160;:&#160;<a class="el" href="classSignal.html#a2d222b24cb25f6f228a0c69d71d95918">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>operator*=()&#160;:&#160;<a class="el" href="structState.html#af76faa98cfc18fb81afb0c86f7a0aa75">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></li>
+<li>operator+=()&#160;:&#160;<a class="el" href="structState.html#a7764970f0c29576eac07ab57c28261be">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_r" name="index_r"></a>- r -</h3><ul>
+<li>reset()&#160;:&#160;<a class="el" href="classModel.html#a823536a9764d6a35cce173573ee62e90">Model&lt; DynamicsType &gt;</a>, <a class="el" href="classSignal.html#a914fd7f09ae0723c88fce310fd7c79fd">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>RigidBodyParams1D()&#160;:&#160;<a class="el" href="structRigidBodyParams1D.html#ab2b9c3eb89bcbf0ac06a33e95725e0eb">RigidBodyParams1D</a></li>
+<li>RigidBodyParams2D()&#160;:&#160;<a class="el" href="structRigidBodyParams2D.html#a6febaa8c9f355105b908979da3dd1255">RigidBodyParams2D</a></li>
+<li>RigidBodyParams3D()&#160;:&#160;<a class="el" href="structRigidBodyParams3D.html#a8aa76fea7a0790ead025bf79e767d0cf">RigidBodyParams3D</a></li>
+</ul>
+
+
+<h3><a id="index_s" name="index_s"></a>- s -</h3><ul>
+<li>setDerivativeMethod()&#160;:&#160;<a class="el" href="classSignal.html#a8c25f302d3c4feaa1a4c1f6d59381d89">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>setExtrapolationMethod()&#160;:&#160;<a class="el" href="classSignal.html#ac3be206ae717ad5e977d8a108de9b9e4">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>setInterpolationMethod()&#160;:&#160;<a class="el" href="classSignal.html#af336f3d6a2d643040dff9fb5b4c20558">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>setParams()&#160;:&#160;<a class="el" href="classModel.html#a96533143a30ab87c379e411fcae59643">Model&lt; DynamicsType &gt;</a></li>
+<li>Signal()&#160;:&#160;<a class="el" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>simulate()&#160;:&#160;<a class="el" href="classModel.html#ac7446138b27c8feba779ebfe8e82b99d">Model&lt; DynamicsType &gt;</a></li>
+<li>State()&#160;:&#160;<a class="el" href="structState.html#adcb914ebe25fe14622a945801267fa7a">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_t" name="index_t"></a>- t -</h3><ul>
+<li>t()&#160;:&#160;<a class="el" href="classModel.html#a7661852411b9ffd59240d5d5ca0e4dd3">Model&lt; DynamicsType &gt;</a>, <a class="el" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_u" name="index_u"></a>- u -</h3><ul>
+<li>update()&#160;:&#160;<a class="el" href="structRigidBodyDynamics3DOF.html#acafe68f9e9ea78f54bc70d64a1b39d9c">RigidBodyDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structRigidBodyDynamics6DOF.html#ae0d9bb27da7f804a1f8dc4923546a95d">RigidBodyDynamics6DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics1DOF.html#a433f042fafdcff07948eb952e47f13b6">RotationalDynamics1DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics3DOF.html#aee5958f7949268650c00097b2a871252">RotationalDynamics3DOF&lt; T &gt;</a>, <a class="el" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a>, <a class="el" href="structTranslationalDynamicsBase.html#a3f1e02018ec014fe38ba851dc0d5b2ed">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_z" name="index_z"></a>- z -</h3><ul>
+<li>ZeroType()&#160;:&#160;<a class="el" href="structManifoldSignalSpec.html#a445c0d7b5e23264b3a08b881f3c68a72">ManifoldSignalSpec&lt; ManifoldType &gt;</a>, <a class="el" href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">ManifoldStateSignalSpec&lt; T, ManifoldType, PD, TD &gt;</a>, <a class="el" href="structScalarSignalSpec.html#a941ad7ca4c5943d3b2244e1126d1febf">ScalarSignalSpec&lt; T &gt;</a>, <a class="el" href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">ScalarStateSignalSpec&lt; T &gt;</a>, <a class="el" href="structVectorSignalSpec.html#a4c535f5d5b25faa7148f8719d74693fd">VectorSignalSpec&lt; T, d &gt;</a>, <a class="el" href="structVectorStateSignalSpec.html#ae659b96e95497b25e711fab331037c21">VectorStateSignalSpec&lt; T, d &gt;</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
+</body>
+</html>
diff --git a/docs/functions_rela.html b/docs/functions_rela.html
new file mode 100644
index 0000000..056b1eb
--- /dev/null
+++ b/docs/functions_rela.html
@@ -0,0 +1,92 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>signals-cpp: Class Members - Related Symbols</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
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+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
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+MathJax.Hub.Config({
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+  jax: ["input/TeX","output/HTML-CSS"],
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">signals-cpp
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  initMenu('',true,false,'search.php','Search');
+  $(function() { init_search(); });
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+/* @license-end */
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+<div id="main-nav"></div>
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+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all related symbols with links to the classes they belong to:</div><ul>
+<li>operator*&#160;:&#160;<a class="el" href="classSignal.html#ad61a2749da48601dcf27bedaa0cf54fd">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>operator+&#160;:&#160;<a class="el" href="classSignal.html#aead0dbc78a90fbd6ad3f86ab61ed65f7">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>operator-&#160;:&#160;<a class="el" href="classSignal.html#a22d02130c5fec79a084ef4d1a28521dc">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
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diff --git a/docs/functions_type.html b/docs/functions_type.html
new file mode 100644
index 0000000..12c447f
--- /dev/null
+++ b/docs/functions_type.html
@@ -0,0 +1,120 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>signals-cpp: Class Members - Typedefs</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<script type="text/javascript" src="cookie.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+MathJax.Hub.Config({
+  extensions: ["tex2jax.js"],
+  jax: ["input/TeX","output/HTML-CSS"],
+});
+</script>
+<script type="text/javascript" async="async" src="https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">signals-cpp
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all typedefs with links to the classes they belong to:</div>
+
+<h3><a id="index_b" name="index_b"></a>- b -</h3><ul>
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+<li>InputType&#160;:&#160;<a class="el" href="structRigidBodyDynamics3DOF.html#aa90232643a368b1d4b9fd618ae8d57f7">RigidBodyDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structRigidBodyDynamics6DOF.html#ac8780c98b59889f8329aa467a5b375fe">RigidBodyDynamics6DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics1DOF.html#ad43b9ce6a37b65d677d01ceafe448259">RotationalDynamics1DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics3DOF.html#aafaa22bb44de6a10f6293f66da5c52e5">RotationalDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structTranslationalDynamicsBase.html#ac57d5ab2e4cf3e6afe4a5ae550e858bb">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></li>
+</ul>
+
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+<h3><a id="index_p" name="index_p"></a>- p -</h3><ul>
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+<li>PoseType&#160;:&#160;<a class="el" href="structState.html#a31bd8aa44dff5f656b2b2057c8d63821">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_s" name="index_s"></a>- s -</h3><ul>
+<li>StateDotDotType&#160;:&#160;<a class="el" href="structRigidBodyDynamics3DOF.html#a562a8cc5e6e8dca19982509022a22ba4">RigidBodyDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structRigidBodyDynamics6DOF.html#a32c92b85c94f66739358385a0a3a07fc">RigidBodyDynamics6DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics1DOF.html#a5e2f1cd471e7be99dc9e0f3f29f146f3">RotationalDynamics1DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics3DOF.html#a6e75764a6e9b0ec406d716dfb60943b1">RotationalDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structTranslationalDynamicsBase.html#a4ae3874e31bcc97d54f4cebea0606002">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></li>
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+<li>StateDotType&#160;:&#160;<a class="el" href="structRigidBodyDynamics3DOF.html#a7a9fa29ba97531d856e87560806a805c">RigidBodyDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structRigidBodyDynamics6DOF.html#aa664579d3d691fcd4c5824b242dd2061">RigidBodyDynamics6DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics1DOF.html#a7df05f9db990eecd331f506d1a17597e">RotationalDynamics1DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics3DOF.html#a40c9649794d2d6e82da6451d17c32bb5">RotationalDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structTranslationalDynamicsBase.html#a25c6532290d222c25e727394a0afa0b7">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></li>
+<li>StateSignalType&#160;:&#160;<a class="el" href="classModel.html#a643e1a47ddbb10c5c10844f9aea5be98">Model&lt; DynamicsType &gt;</a>, <a class="el" href="structRigidBodyDynamics3DOF.html#a0c346a983bc929f1f7a6e5d2be3a0841">RigidBodyDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structRigidBodyDynamics6DOF.html#ad4e0605bf2a0c90acbe9a1a333b9b952">RigidBodyDynamics6DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics1DOF.html#ac321d27d0098cb3e8e64ea0d98500cb6">RotationalDynamics1DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics3DOF.html#a2814e21ab959a4cb71fdc2682d1cad69">RotationalDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structTranslationalDynamicsBase.html#a1f0fdd4bbfb73f52878c7e5c7e459f16">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></li>
+<li>StateType&#160;:&#160;<a class="el" href="structRigidBodyDynamics3DOF.html#a448c5efb998f492d1518eb0d2d7ded74">RigidBodyDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structRigidBodyDynamics6DOF.html#adf5c3e5f6090032d18019c7aeab91f51">RigidBodyDynamics6DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics1DOF.html#aada86d78db85576298e606afda8c928d">RotationalDynamics1DOF&lt; T &gt;</a>, <a class="el" href="structRotationalDynamics3DOF.html#aaee29651f3b1671b6ab4e10656ea6f9a">RotationalDynamics3DOF&lt; T &gt;</a>, <a class="el" href="structTranslationalDynamicsBase.html#aabb958cc98babacfc8478a04fb7a37dd">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_t" name="index_t"></a>- t -</h3><ul>
+<li>TangentType&#160;:&#160;<a class="el" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>TwistType&#160;:&#160;<a class="el" href="structState.html#ab58b6e2fe6ea3c2777c5a8a92f6665a1">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></li>
+<li>Type&#160;:&#160;<a class="el" href="structManifoldSignalSpec.html#ae6292debacd46f629429d03cf7e9a342">ManifoldSignalSpec&lt; ManifoldType &gt;</a>, <a class="el" href="structManifoldStateSignalSpec.html#aef8d411c012125303e1faa1d66b35c1c">ManifoldStateSignalSpec&lt; T, ManifoldType, PD, TD &gt;</a>, <a class="el" href="structScalarSignalSpec.html#a4a319643aeb76b94214f8b41d64d5402">ScalarSignalSpec&lt; T &gt;</a>, <a class="el" href="structScalarStateSignalSpec.html#a7ae52069e3aafdb7c45b14168b1ad11b">ScalarStateSignalSpec&lt; T &gt;</a>, <a class="el" href="structVectorSignalSpec.html#ac21d15d01635665373eaf23b62f3d440">VectorSignalSpec&lt; T, d &gt;</a>, <a class="el" href="structVectorStateSignalSpec.html#a3994948f467b39ca2dcd77d220a8cf3a">VectorStateSignalSpec&lt; T, d &gt;</a></li>
+</ul>
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+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
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+</html>
diff --git a/docs/functions_vars.html b/docs/functions_vars.html
new file mode 100644
index 0000000..c294f30
--- /dev/null
+++ b/docs/functions_vars.html
@@ -0,0 +1,101 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>signals-cpp: Class Members - Variables</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<script type="text/javascript" src="cookie.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+MathJax.Hub.Config({
+  extensions: ["tex2jax.js"],
+  jax: ["input/TeX","output/HTML-CSS"],
+});
+</script>
+<script type="text/javascript" async="async" src="https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">signals-cpp
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  initMenu('',true,false,'search.php','Search');
+  $(function() { init_search(); });
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+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all variables with links to the classes they belong to:</div><ul>
+<li>derivativeMethod&#160;:&#160;<a class="el" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>extrapolationMethod&#160;:&#160;<a class="el" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;</a></li>
+<li>g&#160;:&#160;<a class="el" href="structRigidBodyParams1D.html#a823d208bcbabadd83d3cc8f222973c95">RigidBodyParams1D</a>, <a class="el" href="structRigidBodyParams2D.html#ab212f53241edb1bf232499a6ba963258">RigidBodyParams2D</a>, <a class="el" href="structRigidBodyParams3D.html#a87b9c6a467ebcd6805a1d9419e6149d1">RigidBodyParams3D</a></li>
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+<div class="contents">
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all functions with links to the files they belong to:</div><ul>
+<li>operator*()&#160;:&#160;<a class="el" href="Signal_8h.html#ae0b0bee5051aeec3c9cff9fd148d8cb5">Signal.h</a>, <a class="el" href="State_8h.html#a795d2ff5c53f24de712134f27e197001">State.h</a>, <a class="el" href="Signal_8h.html#ad77fa5fab1a3e9a6ca4d7e87364003b9">Signal.h</a></li>
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+<li>operator/()&#160;:&#160;<a class="el" href="State_8h.html#a0f388e10603fb47846a1147ff5b6839d">State.h</a></li>
+<li>operator&lt;&lt;()&#160;:&#160;<a class="el" href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">Signal.h</a>, <a class="el" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">State.h</a></li>
+</ul>
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+<hr class="footer"/><address class="footer"><small>
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+</small></address>
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+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>signals-cpp: File Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<script type="text/javascript" src="cookie.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+MathJax.Hub.Config({
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">signals-cpp
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  $(function() { init_search(); });
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+/* @license-end */
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<!-- iframe showing the search results (closed by default) -->
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+<div class="SRPage">
+<div id="SRIndex">
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+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all typedefs with links to the files they belong to:</div>
+
+<h3><a id="index_e" name="index_e"></a>- e -</h3><ul>
+<li>EulerIntegrator&#160;:&#160;<a class="el" href="Integration_8h.html#aa77358d3cb26c8b8992d44c2079a2a49">Integration.h</a></li>
+</ul>
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+
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+
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+
+<h3><a id="index_t" name="index_t"></a>- t -</h3><ul>
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+  <div class="headertitle"><div class="title">signals-cpp Library Documentation </div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><h1><a class="anchor" id="intro_sec"></a>
+Introduction</h1>
+<p>Header-only templated C++ library implementing rigid-body dynamics, derivatives, integrals, and interpolation.</p>
+<h1><a class="anchor" id="install"></a>
+Installation</h1>
+<p>This code is meant to be built as a static library with CMake. It should be compatible with the latest versions of Eigen and Boost (unit test framework only). The library <a href="https://github.com/goromal/manif-geom-cpp">manif-geom-cpp</a> must also be installed.</p>
+<p>Install with</p>
+<div class="fragment"><div class="line">mkdir build</div>
+<div class="line">cd build</div>
+<div class="line">cmake ..</div>
+<div class="line">make # or make install</div>
+</div><!-- fragment --><p>By default, building will also build and run the unit tests, but this can be turned off with the CMake option <code>BUILD_TESTS</code>. </p>
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+ * Licensed under MIT
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+ * @version 2.1.2
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+/*!
+ PowerTip v1.3.1 (2018-04-15)
+ https://stevenbenner.github.io/jquery-powertip/
+ Copyright (c) 2018 Steven Benner (http://stevenbenner.com/).
+ Released under MIT license.
+ https://raw.github.com/stevenbenner/jquery-powertip/master/LICENSE.txt
+*/
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CSSCoordinates,position;if(isSvgElement(element)){position=getSvgPlacement(element,placementBase)}else{position=getHtmlPlacement(element,placementBase)}switch(placement){case"n":coords.set("left",position.left-tipWidth/2);coords.set("bottom",session.windowHeight-position.top+offset);break;case"e":coords.set("left",position.left+offset);coords.set("top",position.top-tipHeight/2);break;case"s":coords.set("left",position.left-tipWidth/2);coords.set("top",position.top+offset);break;case"w":coords.set("top",position.top-tipHeight/2);coords.set("right",session.windowWidth-position.left+offset);break;case"nw":coords.set("bottom",session.windowHeight-position.top+offset);coords.set("right",session.windowWidth-position.left-20);break;case"nw-alt":coords.set("left",position.left);coords.set("bottom",session.windowHeight-position.top+offset);break;case"ne":coords.set("left",position.left-20);coords.set("bottom",session.windowHeight-position.top+offset);break;case"ne-alt":coords.set("bottom",session.windowHeight-position.top+offset);coords.set("right",session.windowWidth-position.left);break;case"sw":coords.set("top",position.top+offset);coords.set("right",session.windowWidth-position.left-20);break;case"sw-alt":coords.set("left",position.left);coords.set("top",position.top+offset);break;case"se":coords.set("left",position.left-20);coords.set("top",position.top+offset);break;case"se-alt":coords.set("top",position.top+offset);coords.set("right",session.windowWidth-position.left);break}return 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svgElement=element.closest("svg")[0],domElement=element[0],point=svgElement.createSVGPoint(),boundingBox=domElement.getBBox(),matrix=domElement.getScreenCTM(),halfWidth=boundingBox.width/2,halfHeight=boundingBox.height/2,placements=[],placementKeys=["nw","n","ne","e","se","s","sw","w"],coords,rotation,steps,x;function 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+ *
+ * Copyright 2011–2014, Dave Furfero
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ *
+ * Depends:
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+ *  jquery.ui.mouse.js
+ */
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t=$(this);0==t.attr("id").indexOf(i.accessIdPrefix)&&t.removeAttr("id")}).removeClass("has-submenu").removeDataSM("sub").removeAttr("aria-haspopup").removeAttr("aria-controls").removeAttr("aria-expanded").closest("li").removeDataSM("sub"),this.opts.subIndicators&&this.$root.find("span.sub-arrow").remove(),this.opts.markCurrentItem&&this.$root.find("a.current").removeClass("current"),t||(this.$root=null,this.$firstLink=null,this.$firstSub=null,this.$disableOverlay&&(this.$disableOverlay.remove(),this.$disableOverlay=null),menuTrees.splice($.inArray(this,menuTrees),1))},disable:function(t){if(!this.disabled){if(this.menuHideAll(),!t&&!this.opts.isPopup&&this.$root.is(":visible")){var e=this.$root.offset();this.$disableOverlay=$('<div class="sm-jquery-disable-overlay"/>').css({position:"absolute",top:e.top,left:e.left,width:this.$root.outerWidth(),height:this.$root.outerHeight(),zIndex:this.getStartZIndex(!0),opacity:0}).appendTo(document.body)}this.disabled=!0}},docClick:function(t){return this.$touchScrollingSub?(this.$touchScrollingSub=null,void 0):((this.visibleSubMenus.length&&!$.contains(this.$root[0],t.target)||$(t.target).closest("a").length)&&this.menuHideAll(),void 0)},docTouchEnd:function(){if(this.lastTouch){if(!(!this.visibleSubMenus.length||void 0!==this.lastTouch.x2&&this.lastTouch.x1!=this.lastTouch.x2||void 0!==this.lastTouch.y2&&this.lastTouch.y1!=this.lastTouch.y2||this.lastTouch.target&&$.contains(this.$root[0],this.lastTouch.target))){this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0);var t=this;this.hideTimeout=setTimeout(function(){t.menuHideAll()},350)}this.lastTouch=null}},docTouchMove:function(t){if(this.lastTouch){var e=t.originalEvent.touches[0];this.lastTouch.x2=e.pageX,this.lastTouch.y2=e.pageY}},docTouchStart:function(t){var e=t.originalEvent.touches[0];this.lastTouch={x1:e.pageX,y1:e.pageY,target:e.target}},enable:function(){this.disabled&&(this.$disableOverlay&&(this.$disableOverlay.remove(),this.$disableOverlay=null),this.disabled=!1)},getClosestMenu:function(t){for(var e=$(t).closest("ul");e.dataSM("in-mega");)e=e.parent().closest("ul");return e[0]||null},getHeight:function(t){return this.getOffset(t,!0)},getOffset:function(t,e){var i;"none"==t.css("display")&&(i={position:t[0].style.position,visibility:t[0].style.visibility},t.css({position:"absolute",visibility:"hidden"}).show());var s=t[0].getBoundingClientRect&&t[0].getBoundingClientRect(),o=s&&(e?s.height||s.bottom-s.top:s.width||s.right-s.left);return o||0===o||(o=e?t[0].offsetHeight:t[0].offsetWidth),i&&t.hide().css(i),o},getStartZIndex:function(t){var e=parseInt(this[t?"$root":"$firstSub"].css("z-index"));return!t&&isNaN(e)&&(e=parseInt(this.$root.css("z-index"))),isNaN(e)?1:e},getTouchPoint:function(t){return t.touches&&t.touches[0]||t.changedTouches&&t.changedTouches[0]||t},getViewport:function(t){var e=t?"Height":"Width",i=document.documentElement["client"+e],s=window["inner"+e];return s&&(i=Math.min(i,s)),i},getViewportHeight:function(){return this.getViewport(!0)},getViewportWidth:function(){return this.getViewport()},getWidth:function(t){return this.getOffset(t)},handleEvents:function(){return!this.disabled&&this.isCSSOn()},handleItemEvents:function(t){return this.handleEvents()&&!this.isLinkInMegaMenu(t)},isCollapsible:function(){return"static"==this.$firstSub.css("position")},isCSSOn:function(){return"inline"!=this.$firstLink.css("display")},isFixed:function(){var t="fixed"==this.$root.css("position");return t||this.$root.parentsUntil("body").each(function(){return"fixed"==$(this).css("position")?(t=!0,!1):void 0}),t},isLinkInMegaMenu:function(t){return $(this.getClosestMenu(t[0])).hasClass("mega-menu")},isTouchMode:function(){return!mouse||this.opts.noMouseOver||this.isCollapsible()},itemActivate:function(t,e){var i=t.closest("ul"),s=i.dataSM("level");if(s>1&&(!this.activatedItems[s-2]||this.activatedItems[s-2][0]!=i.dataSM("parent-a")[0])){var o=this;$(i.parentsUntil("[data-smartmenus-id]","ul").get().reverse()).add(i).each(function(){o.itemActivate($(this).dataSM("parent-a"))})}if((!this.isCollapsible()||e)&&this.menuHideSubMenus(this.activatedItems[s-1]&&this.activatedItems[s-1][0]==t[0]?s:s-1),this.activatedItems[s-1]=t,this.$root.triggerHandler("activate.smapi",t[0])!==!1){var a=t.dataSM("sub");a&&(this.isTouchMode()||!this.opts.showOnClick||this.clickActivated)&&this.menuShow(a)}},itemBlur:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&this.$root.triggerHandler("blur.smapi",e[0])},itemClick:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(this.$touchScrollingSub&&this.$touchScrollingSub[0]==e.closest("ul")[0])return this.$touchScrollingSub=null,t.stopPropagation(),!1;if(this.$root.triggerHandler("click.smapi",e[0])===!1)return!1;var i=$(t.target).is(".sub-arrow"),s=e.dataSM("sub"),o=s?2==s.dataSM("level"):!1,a=this.isCollapsible(),n=/toggle$/.test(this.opts.collapsibleBehavior),r=/link$/.test(this.opts.collapsibleBehavior),h=/^accordion/.test(this.opts.collapsibleBehavior);if(s&&!s.is(":visible")){if((!r||!a||i)&&(this.opts.showOnClick&&o&&(this.clickActivated=!0),this.itemActivate(e,h),s.is(":visible")))return this.focusActivated=!0,!1}else if(a&&(n||i))return this.itemActivate(e,h),this.menuHide(s),n&&(this.focusActivated=!1),!1;return this.opts.showOnClick&&o||e.hasClass("disabled")||this.$root.triggerHandler("select.smapi",e[0])===!1?!1:void 0}},itemDown:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&e.dataSM("mousedown",!0)},itemEnter:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(!this.isTouchMode()){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);var i=this;this.showTimeout=setTimeout(function(){i.itemActivate(e)},this.opts.showOnClick&&1==e.closest("ul").dataSM("level")?1:this.opts.showTimeout)}this.$root.triggerHandler("mouseenter.smapi",e[0])}},itemFocus:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(!this.focusActivated||this.isTouchMode()&&e.dataSM("mousedown")||this.activatedItems.length&&this.activatedItems[this.activatedItems.length-1][0]==e[0]||this.itemActivate(e,!0),this.$root.triggerHandler("focus.smapi",e[0]))},itemLeave:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(this.isTouchMode()||(e[0].blur(),this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0)),e.removeDataSM("mousedown"),this.$root.triggerHandler("mouseleave.smapi",e[0]))},menuHide:function(t){if(this.$root.triggerHandler("beforehide.smapi",t[0])!==!1&&(canAnimate&&t.stop(!0,!0),"none"!=t.css("display"))){var e=function(){t.css("z-index","")};this.isCollapsible()?canAnimate&&this.opts.collapsibleHideFunction?this.opts.collapsibleHideFunction.call(this,t,e):t.hide(this.opts.collapsibleHideDuration,e):canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,t,e):t.hide(this.opts.hideDuration,e),t.dataSM("scroll")&&(this.menuScrollStop(t),t.css({"touch-action":"","-ms-touch-action":"","-webkit-transform":"",transform:""}).off(".smartmenus_scroll").removeDataSM("scroll").dataSM("scroll-arrows").hide()),t.dataSM("parent-a").removeClass("highlighted").attr("aria-expanded","false"),t.attr({"aria-expanded":"false","aria-hidden":"true"});var i=t.dataSM("level");this.activatedItems.splice(i-1,1),this.visibleSubMenus.splice($.inArray(t,this.visibleSubMenus),1),this.$root.triggerHandler("hide.smapi",t[0])}},menuHideAll:function(){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);for(var t=this.opts.isPopup?1:0,e=this.visibleSubMenus.length-1;e>=t;e--)this.menuHide(this.visibleSubMenus[e]);this.opts.isPopup&&(canAnimate&&this.$root.stop(!0,!0),this.$root.is(":visible")&&(canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,this.$root):this.$root.hide(this.opts.hideDuration))),this.activatedItems=[],this.visibleSubMenus=[],this.clickActivated=!1,this.focusActivated=!1,this.zIndexInc=0,this.$root.triggerHandler("hideAll.smapi")},menuHideSubMenus:function(t){for(var e=this.activatedItems.length-1;e>=t;e--){var i=this.activatedItems[e].dataSM("sub");i&&this.menuHide(i)}},menuInit:function(t){if(!t.dataSM("in-mega")){t.hasClass("mega-menu")&&t.find("ul").dataSM("in-mega",!0);for(var e=2,i=t[0];(i=i.parentNode.parentNode)!=this.$root[0];)e++;var s=t.prevAll("a").eq(-1);s.length||(s=t.prevAll().find("a").eq(-1)),s.addClass("has-submenu").dataSM("sub",t),t.dataSM("parent-a",s).dataSM("level",e).parent().dataSM("sub",t);var o=s.attr("id")||this.accessIdPrefix+ ++this.idInc,a=t.attr("id")||this.accessIdPrefix+ ++this.idInc;s.attr({id:o,"aria-haspopup":"true","aria-controls":a,"aria-expanded":"false"}),t.attr({id:a,role:"group","aria-hidden":"true","aria-labelledby":o,"aria-expanded":"false"}),this.opts.subIndicators&&s[this.opts.subIndicatorsPos](this.$subArrow.clone())}},menuPosition:function(t){var e,i,s=t.dataSM("parent-a"),o=s.closest("li"),a=o.parent(),n=t.dataSM("level"),r=this.getWidth(t),h=this.getHeight(t),u=s.offset(),l=u.left,c=u.top,d=this.getWidth(s),m=this.getHeight(s),p=$(window),f=p.scrollLeft(),v=p.scrollTop(),b=this.getViewportWidth(),S=this.getViewportHeight(),g=a.parent().is("[data-sm-horizontal-sub]")||2==n&&!a.hasClass("sm-vertical"),M=this.opts.rightToLeftSubMenus&&!o.is("[data-sm-reverse]")||!this.opts.rightToLeftSubMenus&&o.is("[data-sm-reverse]"),w=2==n?this.opts.mainMenuSubOffsetX:this.opts.subMenusSubOffsetX,T=2==n?this.opts.mainMenuSubOffsetY:this.opts.subMenusSubOffsetY;if(g?(e=M?d-r-w:w,i=this.opts.bottomToTopSubMenus?-h-T:m+T):(e=M?w-r:d-w,i=this.opts.bottomToTopSubMenus?m-T-h:T),this.opts.keepInViewport){var y=l+e,I=c+i;if(M&&f>y?e=g?f-y+e:d-w:!M&&y+r>f+b&&(e=g?f+b-r-y+e:w-r),g||(S>h&&I+h>v+S?i+=v+S-h-I:(h>=S||v>I)&&(i+=v-I)),g&&(I+h>v+S+.49||v>I)||!g&&h>S+.49){var x=this;t.dataSM("scroll-arrows")||t.dataSM("scroll-arrows",$([$('<span class="scroll-up"><span class="scroll-up-arrow"></span></span>')[0],$('<span class="scroll-down"><span class="scroll-down-arrow"></span></span>')[0]]).on({mouseenter:function(){t.dataSM("scroll").up=$(this).hasClass("scroll-up"),x.menuScroll(t)},mouseleave:function(e){x.menuScrollStop(t),x.menuScrollOut(t,e)},"mousewheel DOMMouseScroll":function(t){t.preventDefault()}}).insertAfter(t));var A=".smartmenus_scroll";if(t.dataSM("scroll",{y:this.cssTransforms3d?0:i-m,step:1,itemH:m,subH:h,arrowDownH:this.getHeight(t.dataSM("scroll-arrows").eq(1))}).on(getEventsNS({mouseover:function(e){x.menuScrollOver(t,e)},mouseout:function(e){x.menuScrollOut(t,e)},"mousewheel DOMMouseScroll":function(e){x.menuScrollMousewheel(t,e)}},A)).dataSM("scroll-arrows").css({top:"auto",left:"0",marginLeft:e+(parseInt(t.css("border-left-width"))||0),width:r-(parseInt(t.css("border-left-width"))||0)-(parseInt(t.css("border-right-width"))||0),zIndex:t.css("z-index")}).eq(g&&this.opts.bottomToTopSubMenus?0:1).show(),this.isFixed()){var C={};C[touchEvents?"touchstart touchmove touchend":"pointerdown pointermove pointerup MSPointerDown MSPointerMove MSPointerUp"]=function(e){x.menuScrollTouch(t,e)},t.css({"touch-action":"none","-ms-touch-action":"none"}).on(getEventsNS(C,A))}}}t.css({top:"auto",left:"0",marginLeft:e,marginTop:i-m})},menuScroll:function(t,e,i){var s,o=t.dataSM("scroll"),a=t.dataSM("scroll-arrows"),n=o.up?o.upEnd:o.downEnd;if(!e&&o.momentum){if(o.momentum*=.92,s=o.momentum,.5>s)return this.menuScrollStop(t),void 0}else s=i||(e||!this.opts.scrollAccelerate?this.opts.scrollStep:Math.floor(o.step));var r=t.dataSM("level");if(this.activatedItems[r-1]&&this.activatedItems[r-1].dataSM("sub")&&this.activatedItems[r-1].dataSM("sub").is(":visible")&&this.menuHideSubMenus(r-1),o.y=o.up&&o.y>=n||!o.up&&n>=o.y?o.y:Math.abs(n-o.y)>s?o.y+(o.up?s:-s):n,t.css(this.cssTransforms3d?{"-webkit-transform":"translate3d(0, "+o.y+"px, 0)",transform:"translate3d(0, "+o.y+"px, 0)"}:{marginTop:o.y}),mouse&&(o.up&&o.y>o.downEnd||!o.up&&o.y<o.upEnd)&&a.eq(o.up?1:0).show(),o.y==n)mouse&&a.eq(o.up?0:1).hide(),this.menuScrollStop(t);else if(!e){this.opts.scrollAccelerate&&o.step<this.opts.scrollStep&&(o.step+=.2);var h=this;this.scrollTimeout=requestAnimationFrame(function(){h.menuScroll(t)})}},menuScrollMousewheel:function(t,e){if(this.getClosestMenu(e.target)==t[0]){e=e.originalEvent;var i=(e.wheelDelta||-e.detail)>0;t.dataSM("scroll-arrows").eq(i?0:1).is(":visible")&&(t.dataSM("scroll").up=i,this.menuScroll(t,!0))}e.preventDefault()},menuScrollOut:function(t,e){mouse&&(/^scroll-(up|down)/.test((e.relatedTarget||"").className)||(t[0]==e.relatedTarget||$.contains(t[0],e.relatedTarget))&&this.getClosestMenu(e.relatedTarget)==t[0]||t.dataSM("scroll-arrows").css("visibility","hidden"))},menuScrollOver:function(t,e){if(mouse&&!/^scroll-(up|down)/.test(e.target.className)&&this.getClosestMenu(e.target)==t[0]){this.menuScrollRefreshData(t);var i=t.dataSM("scroll"),s=$(window).scrollTop()-t.dataSM("parent-a").offset().top-i.itemH;t.dataSM("scroll-arrows").eq(0).css("margin-top",s).end().eq(1).css("margin-top",s+this.getViewportHeight()-i.arrowDownH).end().css("visibility","visible")}},menuScrollRefreshData:function(t){var e=t.dataSM("scroll"),i=$(window).scrollTop()-t.dataSM("parent-a").offset().top-e.itemH;this.cssTransforms3d&&(i=-(parseFloat(t.css("margin-top"))-i)),$.extend(e,{upEnd:i,downEnd:i+this.getViewportHeight()-e.subH})},menuScrollStop:function(t){return this.scrollTimeout?(cancelAnimationFrame(this.scrollTimeout),this.scrollTimeout=0,t.dataSM("scroll").step=1,!0):void 0},menuScrollTouch:function(t,e){if(e=e.originalEvent,isTouchEvent(e)){var i=this.getTouchPoint(e);if(this.getClosestMenu(i.target)==t[0]){var s=t.dataSM("scroll");if(/(start|down)$/i.test(e.type))this.menuScrollStop(t)?(e.preventDefault(),this.$touchScrollingSub=t):this.$touchScrollingSub=null,this.menuScrollRefreshData(t),$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp});else if(/move$/i.test(e.type)){var o=void 0!==s.touchY?s.touchY:s.touchStartY;if(void 0!==o&&o!=i.pageY){this.$touchScrollingSub=t;var a=i.pageY>o;void 0!==s.up&&s.up!=a&&$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp}),$.extend(s,{up:a,touchY:i.pageY}),this.menuScroll(t,!0,Math.abs(i.pageY-o))}e.preventDefault()}else void 0!==s.touchY&&((s.momentum=15*Math.pow(Math.abs(i.pageY-s.touchStartY)/(e.timeStamp-s.touchStartTime),2))&&(this.menuScrollStop(t),this.menuScroll(t),e.preventDefault()),delete s.touchY)}}},menuShow:function(t){if((t.dataSM("beforefirstshowfired")||(t.dataSM("beforefirstshowfired",!0),this.$root.triggerHandler("beforefirstshow.smapi",t[0])!==!1))&&this.$root.triggerHandler("beforeshow.smapi",t[0])!==!1&&(t.dataSM("shown-before",!0),canAnimate&&t.stop(!0,!0),!t.is(":visible"))){var e=t.dataSM("parent-a"),i=this.isCollapsible();if((this.opts.keepHighlighted||i)&&e.addClass("highlighted"),i)t.removeClass("sm-nowrap").css({zIndex:"",width:"auto",minWidth:"",maxWidth:"",top:"",left:"",marginLeft:"",marginTop:""});else{if(t.css("z-index",this.zIndexInc=(this.zIndexInc||this.getStartZIndex())+1),(this.opts.subMenusMinWidth||this.opts.subMenusMaxWidth)&&(t.css({width:"auto",minWidth:"",maxWidth:""}).addClass("sm-nowrap"),this.opts.subMenusMinWidth&&t.css("min-width",this.opts.subMenusMinWidth),this.opts.subMenusMaxWidth)){var s=this.getWidth(t);t.css("max-width",this.opts.subMenusMaxWidth),s>this.getWidth(t)&&t.removeClass("sm-nowrap").css("width",this.opts.subMenusMaxWidth)}this.menuPosition(t)}var o=function(){t.css("overflow","")};i?canAnimate&&this.opts.collapsibleShowFunction?this.opts.collapsibleShowFunction.call(this,t,o):t.show(this.opts.collapsibleShowDuration,o):canAnimate&&this.opts.showFunction?this.opts.showFunction.call(this,t,o):t.show(this.opts.showDuration,o),e.attr("aria-expanded","true"),t.attr({"aria-expanded":"true","aria-hidden":"false"}),this.visibleSubMenus.push(t),this.$root.triggerHandler("show.smapi",t[0])}},popupHide:function(t){this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0);var e=this;this.hideTimeout=setTimeout(function(){e.menuHideAll()},t?1:this.opts.hideTimeout)},popupShow:function(t,e){if(!this.opts.isPopup)return alert('SmartMenus jQuery Error:\n\nIf you want to show this menu via the "popupShow" method, set the isPopup:true option.'),void 0;if(this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0),this.$root.dataSM("shown-before",!0),canAnimate&&this.$root.stop(!0,!0),!this.$root.is(":visible")){this.$root.css({left:t,top:e});var i=this,s=function(){i.$root.css("overflow","")};canAnimate&&this.opts.showFunction?this.opts.showFunction.call(this,this.$root,s):this.$root.show(this.opts.showDuration,s),this.visibleSubMenus[0]=this.$root}},refresh:function(){this.destroy(!0),this.init(!0)},rootKeyDown:function(t){if(this.handleEvents())switch(t.keyCode){case 27:var e=this.activatedItems[0];if(e){this.menuHideAll(),e[0].focus();var i=e.dataSM("sub");i&&this.menuHide(i)}break;case 32:var s=$(t.target);if(s.is("a")&&this.handleItemEvents(s)){var i=s.dataSM("sub");i&&!i.is(":visible")&&(this.itemClick({currentTarget:t.target}),t.preventDefault())}}},rootOut:function(t){if(this.handleEvents()&&!this.isTouchMode()&&t.target!=this.$root[0]&&(this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0),!this.opts.showOnClick||!this.opts.hideOnClick)){var e=this;this.hideTimeout=setTimeout(function(){e.menuHideAll()},this.opts.hideTimeout)}},rootOver:function(t){this.handleEvents()&&!this.isTouchMode()&&t.target!=this.$root[0]&&this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0)},winResize:function(t){if(this.handleEvents()){if(!("onorientationchange"in window)||"orientationchange"==t.type){var e=this.isCollapsible();this.wasCollapsible&&e||(this.activatedItems.length&&this.activatedItems[this.activatedItems.length-1][0].blur(),this.menuHideAll()),this.wasCollapsible=e}}else if(this.$disableOverlay){var i=this.$root.offset();this.$disableOverlay.css({top:i.top,left:i.left,width:this.$root.outerWidth(),height:this.$root.outerHeight()})}}}}),$.fn.dataSM=function(t,e){return e?this.data(t+"_smartmenus",e):this.data(t+"_smartmenus")},$.fn.removeDataSM=function(t){return this.removeData(t+"_smartmenus")},$.fn.smartmenus=function(options){if("string"==typeof options){var args=arguments,method=options;return Array.prototype.shift.call(args),this.each(function(){var t=$(this).data("smartmenus");t&&t[method]&&t[method].apply(t,args)})}return this.each(function(){var dataOpts=$(this).data("sm-options")||null;if(dataOpts)try{dataOpts=eval("("+dataOpts+")")}catch(e){dataOpts=null,alert('ERROR\n\nSmartMenus jQuery init:\nInvalid "data-sm-options" attribute value syntax.')}new $.SmartMenus(this,$.extend({},$.fn.smartmenus.defaults,options,dataOpts))})},$.fn.smartmenus.defaults={isPopup:!1,mainMenuSubOffsetX:0,mainMenuSubOffsetY:0,subMenusSubOffsetX:0,subMenusSubOffsetY:0,subMenusMinWidth:"10em",subMenusMaxWidth:"20em",subIndicators:!0,subIndicatorsPos:"append",subIndicatorsText:"",scrollStep:30,scrollAccelerate:!0,showTimeout:250,hideTimeout:500,showDuration:0,showFunction:null,hideDuration:0,hideFunction:function(t,e){t.fadeOut(200,e)},collapsibleShowDuration:0,collapsibleShowFunction:function(t,e){t.slideDown(200,e)},collapsibleHideDuration:0,collapsibleHideFunction:function(t,e){t.slideUp(200,e)},showOnClick:!1,hideOnClick:!0,noMouseOver:!1,keepInViewport:!0,keepHighlighted:!0,markCurrentItem:!1,markCurrentTree:!0,rightToLeftSubMenus:!1,bottomToTopSubMenus:!1,collapsibleBehavior:"default"},$});
\ No newline at end of file
diff --git a/docs/menu.js b/docs/menu.js
new file mode 100644
index 0000000..717761d
--- /dev/null
+++ b/docs/menu.js
@@ -0,0 +1,134 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+function initMenu(relPath,searchEnabled,serverSide,searchPage,search) {
+  function makeTree(data,relPath) {
+    let result='';
+    if ('children' in data) {
+      result+='<ul>';
+      for (let i in data.children) {
+        let url;
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new file mode 100644
index 0000000..eef63d3
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+++ b/docs/search/namespaces_0.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['signal_5futils_0',['signal_utils',['../namespacesignal__utils.html',1,'']]]
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diff --git a/docs/search/pages_0.js b/docs/search/pages_0.js
new file mode 100644
index 0000000..cf942cf
--- /dev/null
+++ b/docs/search/pages_0.js
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+var searchData=
+[
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diff --git a/docs/search/pages_1.js b/docs/search/pages_1.js
new file mode 100644
index 0000000..7b10194
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+++ b/docs/search/pages_1.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['documentation_0',['signals-cpp Library Documentation',['../index.html',1,'']]]
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new file mode 100644
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+++ b/docs/search/pages_2.js
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+var searchData=
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new file mode 100644
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+++ b/docs/search/pages_3.js
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+var searchData=
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new file mode 100644
index 0000000..d4f70ce
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+++ b/docs/search/related_0.js
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+var searchData=
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+  ['operator_2b_1',['operator+',['../classSignal.html#aead0dbc78a90fbd6ad3f86ab61ed65f7',1,'Signal']]],
+  ['operator_2d_2',['operator-',['../classSignal.html#a22d02130c5fec79a084ef4d1a28521dc',1,'Signal']]]
+];
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new file mode 100644
index 0000000..19f76f9
--- /dev/null
+++ b/docs/search/search.css
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+/*---------------- Search Box positioning */
+
+#main-menu > li:last-child {
+    /* This <li> object is the parent of the search bar */
+    display: flex;
+    justify-content: center;
+    align-items: center;
+    height: 36px;
+    margin-right: 1em;
+}
+
+/*---------------- Search box styling */
+
+.SRPage * {
+    font-weight: normal;
+    line-height: normal;
+}
+
+dark-mode-toggle {
+    margin-left: 5px;
+    display: flex;
+    float: right;
+}
+
+#MSearchBox {
+    display: inline-block;
+    white-space : nowrap;
+    background: var(--search-background-color);
+    border-radius: 0.65em;
+    box-shadow: var(--search-box-shadow);
+    z-index: 102;
+}
+
+#MSearchBox .left {
+    display: inline-block;
+    vertical-align: middle;
+    height: 1.4em;
+}
+
+#MSearchSelect {
+    display: inline-block;
+    vertical-align: middle;
+    width: 20px;
+    height: 19px;
+    background-image: var(--search-magnification-select-image);
+    margin: 0 0 0 0.3em;
+    padding: 0;
+}
+
+#MSearchSelectExt {
+    display: inline-block;
+    vertical-align: middle;
+    width: 10px;
+    height: 19px;
+    background-image: var(--search-magnification-image);
+    margin: 0 0 0 0.5em;
+    padding: 0;
+}
+
+
+#MSearchField {
+    display: inline-block;
+    vertical-align: middle;
+    width: 7.5em;
+    height: 19px;
+    margin: 0 0.15em;
+    padding: 0;
+    line-height: 1em;
+    border:none;
+    color: var(--search-foreground-color);
+    outline: none;
+    font-family: var(--font-family-search);
+    -webkit-border-radius: 0px;
+    border-radius: 0px;
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+}
+
+@media(hover: none) {
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+}
+
+#MSearchBox .right {
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+    vertical-align: middle;
+    width: 1.4em;
+    height: 1.4em;
+}
+
+#MSearchClose {
+    display: none;
+    font-size: inherit;
+    background : none;
+    border: none;
+    margin: 0;
+    padding: 0;
+    outline: none;
+
+}
+
+#MSearchCloseImg {
+    padding: 0.3em;
+    margin: 0;
+}
+
+.MSearchBoxActive #MSearchField {
+    color: var(--search-active-color);
+}
+
+
+
+/*---------------- Search filter selection */
+
+#MSearchSelectWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid var(--search-filter-border-color);
+    background-color: var(--search-filter-background-color);
+    z-index: 10001;
+    padding-top: 4px;
+    padding-bottom: 4px;
+    -moz-border-radius: 4px;
+    -webkit-border-top-left-radius: 4px;
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+    -webkit-border-bottom-left-radius: 4px;
+    -webkit-border-bottom-right-radius: 4px;
+    -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+.SelectItem {
+    font: 8pt var(--font-family-search);
+    padding-left:  2px;
+    padding-right: 12px;
+    border: 0px;
+}
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+span.SelectionMark {
+    margin-right: 4px;
+    font-family: var(--font-family-monospace);
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem {
+    display: block;
+    outline-style: none;
+    color: var(--search-filter-foreground-color);
+    text-decoration: none;
+    padding-left:   6px;
+    padding-right: 12px;
+}
+
+a.SelectItem:focus,
+a.SelectItem:active {
+    color: var(--search-filter-foreground-color);
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem:hover {
+    color: var(--search-filter-highlight-text-color);
+    background-color: var(--search-filter-highlight-bg-color);
+    outline-style: none;
+    text-decoration: none;
+    cursor: pointer;
+    display: block;
+}
+
+/*---------------- Search results window */
+
+iframe#MSearchResults {
+    /*width: 60ex;*/
+    height: 15em;
+}
+
+#MSearchResultsWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid var(--search-results-border-color);
+    background-color: var(--search-results-background-color);
+    z-index:10000;
+    width: 300px;
+    height: 400px;
+    overflow: auto;
+}
+
+/* ----------------------------------- */
+
+
+#SRIndex {
+    clear:both; 
+}
+
+.SREntry {
+    font-size: 10pt;
+    padding-left: 1ex;
+}
+
+.SRPage .SREntry {
+    font-size: 8pt;
+    padding: 1px 5px;
+}
+
+div.SRPage {
+    margin: 5px 2px;
+    background-color: var(--search-results-background-color);
+}
+
+.SRChildren {
+    padding-left: 3ex; padding-bottom: .5em 
+}
+
+.SRPage .SRChildren {
+    display: none;
+}
+
+.SRSymbol {
+    font-weight: bold;
+    color: var(--search-results-foreground-color);
+    font-family: var(--font-family-search);
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRScope {
+    display: block;
+    color: var(--search-results-foreground-color);
+    font-family: var(--font-family-search);
+    font-size: 8pt;
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRSymbol:focus, a.SRSymbol:active,
+a.SRScope:focus, a.SRScope:active {
+    text-decoration: underline;
+}
+
+span.SRScope {
+    padding-left: 4px;
+    font-family: var(--font-family-search);
+}
+
+.SRPage .SRStatus {
+    padding: 2px 5px;
+    font-size: 8pt;
+    font-style: italic;
+    font-family: var(--font-family-search);
+}
+
+.SRResult {
+    display: none;
+}
+
+div.searchresults {
+    margin-left: 10px;
+    margin-right: 10px;
+}
+
+/*---------------- External search page results */
+
+.pages b {
+   color: white;
+   padding: 5px 5px 3px 5px;
+   background-image: var(--nav-gradient-active-image-parent);
+   background-repeat: repeat-x;
+   text-shadow: 0 1px 1px #000000;
+}
+
+.pages {
+    line-height: 17px;
+    margin-left: 4px;
+    text-decoration: none;
+}
+
+.hl {
+    font-weight: bold;
+}
+
+#searchresults {
+    margin-bottom: 20px;
+}
+
+.searchpages {
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+}
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diff --git a/docs/search/search.js b/docs/search/search.js
new file mode 100644
index 0000000..666af01
--- /dev/null
+++ b/docs/search/search.js
@@ -0,0 +1,694 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+const SEARCH_COOKIE_NAME = ''+'search_grp';
+
+const searchResults = new SearchResults();
+
+/* A class handling everything associated with the search panel.
+
+   Parameters:
+   name - The name of the global variable that will be
+          storing this instance.  Is needed to be able to set timeouts.
+   resultPath - path to use for external files
+*/
+function SearchBox(name, resultsPath, extension) {
+  if (!name || !resultsPath) {  alert("Missing parameters to SearchBox."); }
+  if (!extension || extension == "") { extension = ".html"; }
+
+  function getXPos(item) {
+    let x = 0;
+    if (item.offsetWidth) {
+      while (item && item!=document.body) {
+        x   += item.offsetLeft;
+        item = item.offsetParent;
+      }
+    }
+    return x;
+  }
+
+  function getYPos(item) {
+    let y = 0;
+    if (item.offsetWidth) {
+      while (item && item!=document.body) {
+        y   += item.offsetTop;
+        item = item.offsetParent;
+      }
+    }
+    return y;
+  }
+
+  // ---------- Instance variables
+  this.name                  = name;
+  this.resultsPath           = resultsPath;
+  this.keyTimeout            = 0;
+  this.keyTimeoutLength      = 500;
+  this.closeSelectionTimeout = 300;
+  this.lastSearchValue       = "";
+  this.lastResultsPage       = "";
+  this.hideTimeout           = 0;
+  this.searchIndex           = 0;
+  this.searchActive          = false;
+  this.extension             = extension;
+
+  // ----------- DOM Elements
+
+  this.DOMSearchField              = () => document.getElementById("MSearchField");
+  this.DOMSearchSelect             = () => document.getElementById("MSearchSelect");
+  this.DOMSearchSelectWindow       = () => document.getElementById("MSearchSelectWindow");
+  this.DOMPopupSearchResults       = () => document.getElementById("MSearchResults");
+  this.DOMPopupSearchResultsWindow = () => document.getElementById("MSearchResultsWindow");
+  this.DOMSearchClose              = () => document.getElementById("MSearchClose");
+  this.DOMSearchBox                = () => document.getElementById("MSearchBox");
+
+  // ------------ Event Handlers
+
+  // Called when focus is added or removed from the search field.
+  this.OnSearchFieldFocus = function(isActive) {
+    this.Activate(isActive);
+  }
+
+  this.OnSearchSelectShow = function() {
+    const searchSelectWindow = this.DOMSearchSelectWindow();
+    const searchField        = this.DOMSearchSelect();
+
+    const left = getXPos(searchField);
+    const top  = getYPos(searchField) + searchField.offsetHeight;
+
+    // show search selection popup
+    searchSelectWindow.style.display='block';
+    searchSelectWindow.style.left =  left + 'px';
+    searchSelectWindow.style.top  =  top  + 'px';
+
+    // stop selection hide timer
+    if (this.hideTimeout) {
+      clearTimeout(this.hideTimeout);
+      this.hideTimeout=0;
+    }
+    return false; // to avoid "image drag" default event
+  }
+
+  this.OnSearchSelectHide = function() {
+    this.hideTimeout = setTimeout(this.CloseSelectionWindow.bind(this),
+                                  this.closeSelectionTimeout);
+  }
+
+  // Called when the content of the search field is changed.
+  this.OnSearchFieldChange = function(evt) {
+    if (this.keyTimeout) { // kill running timer
+      clearTimeout(this.keyTimeout);
+      this.keyTimeout = 0;
+    }
+
+    const e = evt ? evt : window.event; // for IE
+    if (e.keyCode==40 || e.keyCode==13) {
+      if (e.shiftKey==1) {
+        this.OnSearchSelectShow();
+        const win=this.DOMSearchSelectWindow();
+        for (let i=0;i<win.childNodes.length;i++) {
+          const child = win.childNodes[i]; // get span within a
+          if (child.className=='SelectItem') {
+            child.focus();
+            return;
+          }
+        }
+        return;
+      } else {
+        const elem = searchResults.NavNext(0);
+        if (elem) elem.focus();
+      }
+    } else if (e.keyCode==27) { // Escape out of the search field
+      e.stopPropagation();
+      this.DOMSearchField().blur();
+      this.DOMPopupSearchResultsWindow().style.display = 'none';
+      this.DOMSearchClose().style.display = 'none';
+      this.lastSearchValue = '';
+      this.Activate(false);
+      return;
+    }
+
+    // strip whitespaces
+    const searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+
+    if (searchValue != this.lastSearchValue) { // search value has changed
+      if (searchValue != "") { // non-empty search
+        // set timer for search update
+        this.keyTimeout = setTimeout(this.Search.bind(this), this.keyTimeoutLength);
+      } else { // empty search field
+        this.DOMPopupSearchResultsWindow().style.display = 'none';
+        this.DOMSearchClose().style.display = 'none';
+        this.lastSearchValue = '';
+      }
+    }
+  }
+
+  this.SelectItemCount = function() {
+    let count=0;
+    const win=this.DOMSearchSelectWindow();
+    for (let i=0;i<win.childNodes.length;i++) {
+      const child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem') {
+        count++;
+      }
+    }
+    return count;
+  }
+
+  this.GetSelectionIdByName = function(name) {
+    let j=0;
+    const win=this.DOMSearchSelectWindow();
+    for (let i=0;i<win.childNodes.length;i++) {
+      const child = win.childNodes[i];
+      if (child.className=='SelectItem') {
+        if (child.childNodes[1].nodeValue==name) {
+          return j;
+        }
+        j++;
+      }
+    }
+    return 0;
+  }
+
+  this.SelectItemSet = function(id) {
+    let j=0;
+    const win=this.DOMSearchSelectWindow();
+    for (let i=0;i<win.childNodes.length;i++) {
+      const child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem') {
+        const node = child.firstChild;
+        if (j==id) {
+          node.innerHTML='&#8226;';
+          Cookie.writeSetting(SEARCH_COOKIE_NAME, child.childNodes[1].nodeValue, 0)
+        } else {
+          node.innerHTML='&#160;';
+        }
+        j++;
+      }
+    }
+  }
+
+  // Called when an search filter selection is made.
+  // set item with index id as the active item
+  this.OnSelectItem = function(id) {
+    this.searchIndex = id;
+    this.SelectItemSet(id);
+    const searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+    if (searchValue!="" && this.searchActive) { // something was found -> do a search
+      this.Search();
+    }
+  }
+
+  this.OnSearchSelectKey = function(evt) {
+    const e = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 && this.searchIndex<this.SelectItemCount()) { // Down
+      this.searchIndex++;
+      this.OnSelectItem(this.searchIndex);
+    } else if (e.keyCode==38 && this.searchIndex>0) { // Up
+      this.searchIndex--;
+      this.OnSelectItem(this.searchIndex);
+    } else if (e.keyCode==13 || e.keyCode==27) {
+      e.stopPropagation();
+      this.OnSelectItem(this.searchIndex);
+      this.CloseSelectionWindow();
+      this.DOMSearchField().focus();
+    }
+    return false;
+  }
+
+  // --------- Actions
+
+  // Closes the results window.
+  this.CloseResultsWindow = function() {
+    this.DOMPopupSearchResultsWindow().style.display = 'none';
+    this.DOMSearchClose().style.display = 'none';
+    this.Activate(false);
+  }
+
+  this.CloseSelectionWindow = function() {
+    this.DOMSearchSelectWindow().style.display = 'none';
+  }
+
+  // Performs a search.
+  this.Search = function() {
+    this.keyTimeout = 0;
+
+    // strip leading whitespace
+    const searchValue = this.DOMSearchField().value.replace(/^ +/, "");
+
+    const code = searchValue.toLowerCase().charCodeAt(0);
+    let idxChar = searchValue.substr(0, 1).toLowerCase();
+    if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) { // surrogate pair
+      idxChar = searchValue.substr(0, 2);
+    }
+
+    let jsFile;
+    let idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar);
+    if (idx!=-1) {
+      const hexCode=idx.toString(16);
+      jsFile = this.resultsPath + indexSectionNames[this.searchIndex] + '_' + hexCode + '.js';
+    }
+
+    const loadJS = function(url, impl, loc) {
+      const scriptTag = document.createElement('script');
+      scriptTag.src = url;
+      scriptTag.onload = impl;
+      scriptTag.onreadystatechange = impl;
+      loc.appendChild(scriptTag);
+    }
+
+    const domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow();
+    const domSearchBox = this.DOMSearchBox();
+    const domPopupSearchResults = this.DOMPopupSearchResults();
+    const domSearchClose = this.DOMSearchClose();
+    const resultsPath = this.resultsPath;
+
+    const handleResults = function() {
+      document.getElementById("Loading").style.display="none";
+      if (typeof searchData !== 'undefined') {
+        createResults(resultsPath);
+        document.getElementById("NoMatches").style.display="none";
+      }
+
+      if (idx!=-1) {
+        searchResults.Search(searchValue);
+      } else { // no file with search results => force empty search results
+        searchResults.Search('====');
+      }
+
+      if (domPopupSearchResultsWindow.style.display!='block') {
+        domSearchClose.style.display = 'inline-block';
+        let left = getXPos(domSearchBox) + 150;
+        let top  = getYPos(domSearchBox) + 20;
+        domPopupSearchResultsWindow.style.display = 'block';
+        left -= domPopupSearchResults.offsetWidth;
+        const maxWidth  = document.body.clientWidth;
+        const maxHeight = document.body.clientHeight;
+        let width = 300;
+        if (left<10) left=10;
+        if (width+left+8>maxWidth) width=maxWidth-left-8;
+        let height = 400;
+        if (height+top+8>maxHeight) height=maxHeight-top-8;
+        domPopupSearchResultsWindow.style.top     = top  + 'px';
+        domPopupSearchResultsWindow.style.left    = left + 'px';
+        domPopupSearchResultsWindow.style.width   = width + 'px';
+        domPopupSearchResultsWindow.style.height  = height + 'px';
+      }
+    }
+
+    if (jsFile) {
+      loadJS(jsFile, handleResults, this.DOMPopupSearchResultsWindow());
+    } else {
+      handleResults();
+    }
+
+    this.lastSearchValue = searchValue;
+  }
+
+  // -------- Activation Functions
+
+  // Activates or deactivates the search panel, resetting things to
+  // their default values if necessary.
+  this.Activate = function(isActive) {
+    if (isActive || // open it
+      this.DOMPopupSearchResultsWindow().style.display == 'block'
+    ) {
+      this.DOMSearchBox().className = 'MSearchBoxActive';
+      this.searchActive = true;
+    } else if (!isActive) { // directly remove the panel
+      this.DOMSearchBox().className = 'MSearchBoxInactive';
+      this.searchActive             = false;
+      this.lastSearchValue          = ''
+      this.lastResultsPage          = '';
+      this.DOMSearchField().value   = '';
+    }
+  }
+}
+
+// -----------------------------------------------------------------------
+
+// The class that handles everything on the search results page.
+function SearchResults() {
+
+  function convertToId(search) {
+    let result = '';
+    for (let i=0;i<search.length;i++) {
+      const c = search.charAt(i);
+      const cn = c.charCodeAt(0);
+      if (c.match(/[a-z0-9\u0080-\uFFFF]/)) {
+        result+=c;
+      } else if (cn<16) {
+        result+="_0"+cn.toString(16);
+      } else {
+        result+="_"+cn.toString(16);
+      }
+    }
+    return result;
+  }
+
+  // The number of matches from the last run of <Search()>.
+  this.lastMatchCount = 0;
+  this.lastKey = 0;
+  this.repeatOn = false;
+
+  // Toggles the visibility of the passed element ID.
+  this.FindChildElement = function(id) {
+    const parentElement = document.getElementById(id);
+    let element = parentElement.firstChild;
+
+    while (element && element!=parentElement) {
+      if (element.nodeName.toLowerCase() == 'div' && element.className == 'SRChildren') {
+        return element;
+      }
+
+      if (element.nodeName.toLowerCase() == 'div' && element.hasChildNodes()) {
+        element = element.firstChild;
+      } else if (element.nextSibling) {
+        element = element.nextSibling;
+      } else {
+        do {
+          element = element.parentNode;
+        }
+        while (element && element!=parentElement && !element.nextSibling);
+
+        if (element && element!=parentElement) {
+          element = element.nextSibling;
+        }
+      }
+    }
+  }
+
+  this.Toggle = function(id) {
+    const element = this.FindChildElement(id);
+    if (element) {
+      if (element.style.display == 'block') {
+        element.style.display = 'none';
+      } else {
+        element.style.display = 'block';
+      }
+    }
+  }
+
+  // Searches for the passed string.  If there is no parameter,
+  // it takes it from the URL query.
+  //
+  // Always returns true, since other documents may try to call it
+  // and that may or may not be possible.
+  this.Search = function(search) {
+    if (!search) { // get search word from URL
+      search = window.location.search;
+      search = search.substring(1);  // Remove the leading '?'
+      search = unescape(search);
+    }
+
+    search = search.replace(/^ +/, ""); // strip leading spaces
+    search = search.replace(/ +$/, ""); // strip trailing spaces
+    search = search.toLowerCase();
+    search = convertToId(search);
+
+    const resultRows = document.getElementsByTagName("div");
+    let matches = 0;
+
+    let i = 0;
+    while (i < resultRows.length) {
+      const row = resultRows.item(i);
+      if (row.className == "SRResult") {
+        let rowMatchName = row.id.toLowerCase();
+        rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_'
+
+        if (search.length<=rowMatchName.length &&
+          rowMatchName.substr(0, search.length)==search) {
+          row.style.display = 'block';
+          matches++;
+        } else {
+          row.style.display = 'none';
+        }
+      }
+      i++;
+    }
+    document.getElementById("Searching").style.display='none';
+    if (matches == 0) { // no results
+      document.getElementById("NoMatches").style.display='block';
+    } else { // at least one result
+      document.getElementById("NoMatches").style.display='none';
+    }
+    this.lastMatchCount = matches;
+    return true;
+  }
+
+  // return the first item with index index or higher that is visible
+  this.NavNext = function(index) {
+    let focusItem;
+    for (;;) {
+      const focusName = 'Item'+index;
+      focusItem = document.getElementById(focusName);
+      if (focusItem && focusItem.parentNode.parentNode.style.display=='block') {
+        break;
+      } else if (!focusItem) { // last element
+        break;
+      }
+      focusItem=null;
+      index++;
+    }
+    return focusItem;
+  }
+
+  this.NavPrev = function(index) {
+    let focusItem;
+    for (;;) {
+      const focusName = 'Item'+index;
+      focusItem = document.getElementById(focusName);
+      if (focusItem && focusItem.parentNode.parentNode.style.display=='block') {
+        break;
+      } else if (!focusItem) { // last element
+        break;
+      }
+      focusItem=null;
+      index--;
+    }
+    return focusItem;
+  }
+
+  this.ProcessKeys = function(e) {
+    if (e.type == "keydown") {
+      this.repeatOn = false;
+      this.lastKey = e.keyCode;
+    } else if (e.type == "keypress") {
+      if (!this.repeatOn) {
+        if (this.lastKey) this.repeatOn = true;
+        return false; // ignore first keypress after keydown
+      }
+    } else if (e.type == "keyup") {
+      this.lastKey = 0;
+      this.repeatOn = false;
+    }
+    return this.lastKey!=0;
+  }
+
+  this.Nav = function(evt,itemIndex) {
+    const e  = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==13) return true;
+    if (!this.ProcessKeys(e)) return false;
+
+    if (this.lastKey==38) { // Up
+      const newIndex = itemIndex-1;
+      let focusItem = this.NavPrev(newIndex);
+      if (focusItem) {
+        let child = this.FindChildElement(focusItem.parentNode.parentNode.id);
+        if (child && child.style.display == 'block') { // children visible
+          let n=0;
+          let tmpElem;
+          for (;;) { // search for last child
+            tmpElem = document.getElementById('Item'+newIndex+'_c'+n);
+            if (tmpElem) {
+              focusItem = tmpElem;
+            } else { // found it!
+              break;
+            }
+            n++;
+          }
+        }
+      }
+      if (focusItem) {
+        focusItem.focus();
+      } else { // return focus to search field
+        document.getElementById("MSearchField").focus();
+      }
+    } else if (this.lastKey==40) { // Down
+      const newIndex = itemIndex+1;
+      let focusItem;
+      const item = document.getElementById('Item'+itemIndex);
+      const elem = this.FindChildElement(item.parentNode.parentNode.id);
+      if (elem && elem.style.display == 'block') { // children visible
+        focusItem = document.getElementById('Item'+itemIndex+'_c0');
+      }
+      if (!focusItem) focusItem = this.NavNext(newIndex);
+      if (focusItem)  focusItem.focus();
+    } else if (this.lastKey==39) { // Right
+      const item = document.getElementById('Item'+itemIndex);
+      const elem = this.FindChildElement(item.parentNode.parentNode.id);
+      if (elem) elem.style.display = 'block';
+    } else if (this.lastKey==37) { // Left
+      const item = document.getElementById('Item'+itemIndex);
+      const elem = this.FindChildElement(item.parentNode.parentNode.id);
+      if (elem) elem.style.display = 'none';
+    } else if (this.lastKey==27) { // Escape
+      e.stopPropagation();
+      searchBox.CloseResultsWindow();
+      document.getElementById("MSearchField").focus();
+    } else if (this.lastKey==13) { // Enter
+      return true;
+    }
+    return false;
+  }
+
+  this.NavChild = function(evt,itemIndex,childIndex) {
+    const e  = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==13) return true;
+    if (!this.ProcessKeys(e)) return false;
+
+    if (this.lastKey==38) { // Up
+      if (childIndex>0) {
+        const newIndex = childIndex-1;
+        document.getElementById('Item'+itemIndex+'_c'+newIndex).focus();
+      } else { // already at first child, jump to parent
+        document.getElementById('Item'+itemIndex).focus();
+      }
+    } else if (this.lastKey==40) { // Down
+      const newIndex = childIndex+1;
+      let elem = document.getElementById('Item'+itemIndex+'_c'+newIndex);
+      if (!elem) { // last child, jump to parent next parent
+        elem = this.NavNext(itemIndex+1);
+      }
+      if (elem) {
+        elem.focus();
+      }
+    } else if (this.lastKey==27) { // Escape
+      e.stopPropagation();
+      searchBox.CloseResultsWindow();
+      document.getElementById("MSearchField").focus();
+    } else if (this.lastKey==13) { // Enter
+      return true;
+    }
+    return false;
+  }
+}
+
+function createResults(resultsPath) {
+
+  function setKeyActions(elem,action) {
+    elem.setAttribute('onkeydown',action);
+    elem.setAttribute('onkeypress',action);
+    elem.setAttribute('onkeyup',action);
+  }
+
+  function setClassAttr(elem,attr) {
+    elem.setAttribute('class',attr);
+    elem.setAttribute('className',attr);
+  }
+
+  const results = document.getElementById("SRResults");
+  results.innerHTML = '';
+  searchData.forEach((elem,index) => {
+    const id = elem[0];
+    const srResult = document.createElement('div');
+    srResult.setAttribute('id','SR_'+id);
+    setClassAttr(srResult,'SRResult');
+    const srEntry = document.createElement('div');
+    setClassAttr(srEntry,'SREntry');
+    const srLink = document.createElement('a');
+    srLink.setAttribute('id','Item'+index);
+    setKeyActions(srLink,'return searchResults.Nav(event,'+index+')');
+    setClassAttr(srLink,'SRSymbol');
+    srLink.innerHTML = elem[1][0];
+    srEntry.appendChild(srLink);
+    if (elem[1].length==2) { // single result
+      srLink.setAttribute('href',resultsPath+elem[1][1][0]);
+      srLink.setAttribute('onclick','searchBox.CloseResultsWindow()');
+      if (elem[1][1][1]) {
+       srLink.setAttribute('target','_parent');
+      } else {
+       srLink.setAttribute('target','_blank');
+      }
+      const srScope = document.createElement('span');
+      setClassAttr(srScope,'SRScope');
+      srScope.innerHTML = elem[1][1][2];
+      srEntry.appendChild(srScope);
+    } else { // multiple results
+      srLink.setAttribute('href','javascript:searchResults.Toggle("SR_'+id+'")');
+      const srChildren = document.createElement('div');
+      setClassAttr(srChildren,'SRChildren');
+      for (let c=0; c<elem[1].length-1; c++) {
+        const srChild = document.createElement('a');
+        srChild.setAttribute('id','Item'+index+'_c'+c);
+        setKeyActions(srChild,'return searchResults.NavChild(event,'+index+','+c+')');
+        setClassAttr(srChild,'SRScope');
+        srChild.setAttribute('href',resultsPath+elem[1][c+1][0]);
+        srChild.setAttribute('onclick','searchBox.CloseResultsWindow()');
+        if (elem[1][c+1][1]) {
+         srChild.setAttribute('target','_parent');
+        } else {
+         srChild.setAttribute('target','_blank');
+        }
+        srChild.innerHTML = elem[1][c+1][2];
+        srChildren.appendChild(srChild);
+      }
+      srEntry.appendChild(srChildren);
+    }
+    srResult.appendChild(srEntry);
+    results.appendChild(srResult);
+  });
+}
+
+function init_search() {
+  const results = document.getElementById("MSearchSelectWindow");
+
+  results.tabIndex=0;
+  for (let key in indexSectionLabels) {
+    const link = document.createElement('a');
+    link.setAttribute('class','SelectItem');
+    link.setAttribute('onclick','searchBox.OnSelectItem('+key+')');
+    link.href='javascript:void(0)';
+    link.innerHTML='<span class="SelectionMark">&#160;</span>'+indexSectionLabels[key];
+    results.appendChild(link);
+  }
+
+  const input = document.getElementById("MSearchSelect");
+  const searchSelectWindow = document.getElementById("MSearchSelectWindow");
+  input.tabIndex=0;
+  input.addEventListener("keydown", function(event) {
+    if (event.keyCode==13 || event.keyCode==40) {
+      event.preventDefault();
+      if (searchSelectWindow.style.display == 'block') {
+        searchBox.CloseSelectionWindow();
+      } else {
+        searchBox.OnSearchSelectShow();
+        searchBox.DOMSearchSelectWindow().focus();
+      }
+    }
+  });
+  const name = Cookie.readSetting(SEARCH_COOKIE_NAME,0);
+  const id = searchBox.GetSelectionIdByName(name);
+  searchBox.OnSelectItem(id);
+}
+/* @license-end */
diff --git a/docs/search/searchdata.js b/docs/search/searchdata.js
new file mode 100644
index 0000000..935fa07
--- /dev/null
+++ b/docs/search/searchdata.js
@@ -0,0 +1,48 @@
+var indexSectionsWithContent =
+{
+  0: "bcdefghijlmnoprstuvxz",
+  1: "eimrstv",
+  2: "s",
+  3: "imsu",
+  4: "dghimnorstuz",
+  5: "degijmpstx",
+  6: "beimprstv",
+  7: "dei",
+  8: "cdflnz",
+  9: "o",
+  10: "m",
+  11: "cdls"
+};
+
+var indexSectionNames =
+{
+  0: "all",
+  1: "classes",
+  2: "namespaces",
+  3: "files",
+  4: "functions",
+  5: "variables",
+  6: "typedefs",
+  7: "enums",
+  8: "enumvalues",
+  9: "related",
+  10: "defines",
+  11: "pages"
+};
+
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+  <tr class="even"><td class="entry"><a class="el" href="structEulerIntegratorSpec.html#a6c8d7aa2ecf83f7a348a575e5023639f">integrate</a>(Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;t0, const double &amp;tf, const bool &amp;insertIntoHistory)</td><td class="entry"><a class="el" href="structEulerIntegratorSpec.html">EulerIntegratorSpec</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structEulerIntegratorSpec-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">EulerIntegratorSpec Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="Integration_8h_source.html">Integration.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a6c8d7aa2ecf83f7a348a575e5023639f" id="r_a6c8d7aa2ecf83f7a348a575e5023639f"><td class="memTemplParams" colspan="2">template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </td></tr>
+<tr class="memitem:a6c8d7aa2ecf83f7a348a575e5023639f"><td class="memTemplItemLeft" align="right" valign="top">static bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a6c8d7aa2ecf83f7a348a575e5023639f">integrate</a> (<a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const <a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;t0, const double &amp;tf, const bool &amp;insertIntoHistory)</td></tr>
+<tr class="separator:a6c8d7aa2ecf83f7a348a575e5023639f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a6c8d7aa2ecf83f7a348a575e5023639f" name="a6c8d7aa2ecf83f7a348a575e5023639f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6c8d7aa2ecf83f7a348a575e5023639f">&#9670;&#160;</a></span>integrate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static bool EulerIntegratorSpec::integrate </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>xInt</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t0</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>insertIntoHistory</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="Integration_8h_source.html">Integration.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
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+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">signals-cpp
+   </div>
+  </td>
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+<!-- Generated by Doxygen 1.10.0 -->
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">Integrator&lt; IntegratorType &gt; Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structIntegrator.html">Integrator&lt; IntegratorType &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structIntegrator.html#ab3bebaa347f6019f3d2da2b2bcee5918">integrate</a>(Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;tf, const bool &amp;insertIntoHistory=false)</td><td class="entry"><a class="el" href="structIntegrator.html">Integrator&lt; IntegratorType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structIntegrator.html#a8266e6bf3abd90d83fa7eb6b9270c0c4">integrate</a>(Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;tf, const double &amp;dt, const bool &amp;insertIntoHistory=false)</td><td class="entry"><a class="el" href="structIntegrator.html">Integrator&lt; IntegratorType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
+</body>
+</html>
diff --git a/docs/structIntegrator.html b/docs/structIntegrator.html
new file mode 100644
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@@ -0,0 +1,200 @@
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+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">signals-cpp
+   </div>
+  </td>
+ </tr>
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+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structIntegrator-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">Integrator&lt; IntegratorType &gt; Struct Template Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="Integration_8h_source.html">Integration.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ab3bebaa347f6019f3d2da2b2bcee5918" id="r_ab3bebaa347f6019f3d2da2b2bcee5918"><td class="memTemplParams" colspan="2">template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </td></tr>
+<tr class="memitem:ab3bebaa347f6019f3d2da2b2bcee5918"><td class="memTemplItemLeft" align="right" valign="top">static bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#ab3bebaa347f6019f3d2da2b2bcee5918">integrate</a> (<a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const <a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;tf, const bool &amp;insertIntoHistory=false)</td></tr>
+<tr class="separator:ab3bebaa347f6019f3d2da2b2bcee5918"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8266e6bf3abd90d83fa7eb6b9270c0c4" id="r_a8266e6bf3abd90d83fa7eb6b9270c0c4"><td class="memTemplParams" colspan="2">template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </td></tr>
+<tr class="memitem:a8266e6bf3abd90d83fa7eb6b9270c0c4"><td class="memTemplItemLeft" align="right" valign="top">static bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a8266e6bf3abd90d83fa7eb6b9270c0c4">integrate</a> (<a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const <a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;tf, const double &amp;dt, const bool &amp;insertIntoHistory=false)</td></tr>
+<tr class="separator:a8266e6bf3abd90d83fa7eb6b9270c0c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab3bebaa347f6019f3d2da2b2bcee5918" name="ab3bebaa347f6019f3d2da2b2bcee5918"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab3bebaa347f6019f3d2da2b2bcee5918">&#9670;&#160;</a></span>integrate() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename IntegratorType &gt; </div>
+<div class="memtemplate">
+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static bool <a class="el" href="structIntegrator.html">Integrator</a>&lt; IntegratorType &gt;::integrate </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>xInt</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>insertIntoHistory</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8266e6bf3abd90d83fa7eb6b9270c0c4" name="a8266e6bf3abd90d83fa7eb6b9270c0c4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8266e6bf3abd90d83fa7eb6b9270c0c4">&#9670;&#160;</a></span>integrate() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename IntegratorType &gt; </div>
+<div class="memtemplate">
+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static bool <a class="el" href="structIntegrator.html">Integrator</a>&lt; IntegratorType &gt;::integrate </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>xInt</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>dt</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>insertIntoHistory</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="Integration_8h_source.html">Integration.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
+</body>
+</html>
diff --git a/docs/structManifoldSignalSpec-members.html b/docs/structManifoldSignalSpec-members.html
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+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">ManifoldSignalSpec&lt; ManifoldType &gt; Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structManifoldSignalSpec.html">ManifoldSignalSpec&lt; ManifoldType &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structManifoldSignalSpec.html#a8131da54a75205e3f61547afee1ccfcc">NansType</a>()</td><td class="entry"><a class="el" href="structManifoldSignalSpec.html">ManifoldSignalSpec&lt; ManifoldType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structManifoldSignalSpec.html#ae6292debacd46f629429d03cf7e9a342">Type</a> typedef</td><td class="entry"><a class="el" href="structManifoldSignalSpec.html">ManifoldSignalSpec&lt; ManifoldType &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structManifoldSignalSpec.html#a445c0d7b5e23264b3a08b881f3c68a72">ZeroType</a>()</td><td class="entry"><a class="el" href="structManifoldSignalSpec.html">ManifoldSignalSpec&lt; ManifoldType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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diff --git a/docs/structManifoldSignalSpec.html b/docs/structManifoldSignalSpec.html
new file mode 100644
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>signals-cpp: ManifoldSignalSpec&lt; ManifoldType &gt; Struct Template Reference</title>
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+   <div id="projectname">signals-cpp
+   </div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structManifoldSignalSpec-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">ManifoldSignalSpec&lt; ManifoldType &gt; Struct Template Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="Signal_8h_source.html">Signal.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
+Public Types</h2></td></tr>
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+</table><table class="memberdecls">
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+</table>
+<h2 class="groupheader">Member Typedef Documentation</h2>
+<a id="ae6292debacd46f629429d03cf7e9a342" name="ae6292debacd46f629429d03cf7e9a342"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae6292debacd46f629429d03cf7e9a342">&#9670;&#160;</a></span>Type</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ManifoldType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structManifoldSignalSpec.html">ManifoldSignalSpec</a>&lt; ManifoldType &gt;::Type = ManifoldType</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a8131da54a75205e3f61547afee1ccfcc">&#9670;&#160;</a></span>NansType()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ManifoldType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static <a class="el" href="#ae6292debacd46f629429d03cf7e9a342">Type</a> <a class="el" href="structManifoldSignalSpec.html">ManifoldSignalSpec</a>&lt; ManifoldType &gt;::NansType </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a445c0d7b5e23264b3a08b881f3c68a72" name="a445c0d7b5e23264b3a08b881f3c68a72"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a445c0d7b5e23264b3a08b881f3c68a72">&#9670;&#160;</a></span>ZeroType()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ManifoldType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static <a class="el" href="#ae6292debacd46f629429d03cf7e9a342">Type</a> <a class="el" href="structManifoldSignalSpec.html">ManifoldSignalSpec</a>&lt; ManifoldType &gt;::ZeroType </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="Signal_8h_source.html">Signal.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
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diff --git a/docs/structManifoldStateSignalSpec-members.html b/docs/structManifoldStateSignalSpec-members.html
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+</div><!-- top -->
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+  <div class="headertitle"><div class="title">ManifoldStateSignalSpec&lt; T, ManifoldType, PD, TD &gt; Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec&lt; T, ManifoldType, PD, TD &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">NansType</a>()</td><td class="entry"><a class="el" href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec&lt; T, ManifoldType, PD, TD &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structManifoldStateSignalSpec.html#aef8d411c012125303e1faa1d66b35c1c">Type</a> typedef</td><td class="entry"><a class="el" href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec&lt; T, ManifoldType, PD, TD &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">ZeroType</a>()</td><td class="entry"><a class="el" href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec&lt; T, ManifoldType, PD, TD &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
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diff --git a/docs/structManifoldStateSignalSpec.html b/docs/structManifoldStateSignalSpec.html
new file mode 100644
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+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>signals-cpp: ManifoldStateSignalSpec&lt; T, ManifoldType, PD, TD &gt; Struct Template Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structManifoldStateSignalSpec-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">ManifoldStateSignalSpec&lt; T, ManifoldType, PD, TD &gt; Struct Template Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="State_8h_source.html">State.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:aef8d411c012125303e1faa1d66b35c1c" id="r_aef8d411c012125303e1faa1d66b35c1c"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aef8d411c012125303e1faa1d66b35c1c">Type</a> = <a class="el" href="State_8h.html#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a>&lt;T, ManifoldType, PD, TD&gt;</td></tr>
+<tr class="separator:aef8d411c012125303e1faa1d66b35c1c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:adca9f48f26d97f95b2083b9e55bb58cb" id="r_adca9f48f26d97f95b2083b9e55bb58cb"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="#aef8d411c012125303e1faa1d66b35c1c">Type</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#adca9f48f26d97f95b2083b9e55bb58cb">ZeroType</a> ()</td></tr>
+<tr class="separator:adca9f48f26d97f95b2083b9e55bb58cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7542075f653a7e8fba76702499936b17" id="r_a7542075f653a7e8fba76702499936b17"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="#aef8d411c012125303e1faa1d66b35c1c">Type</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a7542075f653a7e8fba76702499936b17">NansType</a> ()</td></tr>
+<tr class="separator:a7542075f653a7e8fba76702499936b17"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Typedef Documentation</h2>
+<a id="aef8d411c012125303e1faa1d66b35c1c" name="aef8d411c012125303e1faa1d66b35c1c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aef8d411c012125303e1faa1d66b35c1c">&#9670;&#160;</a></span>Type</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename ManifoldType , size_t PD, size_t TD&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec</a>&lt; T, ManifoldType, PD, TD &gt;::Type = <a class="el" href="State_8h.html#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a>&lt;T, ManifoldType, PD, TD&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a7542075f653a7e8fba76702499936b17" name="a7542075f653a7e8fba76702499936b17"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7542075f653a7e8fba76702499936b17">&#9670;&#160;</a></span>NansType()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename ManifoldType , size_t PD, size_t TD&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static <a class="el" href="#aef8d411c012125303e1faa1d66b35c1c">Type</a> <a class="el" href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec</a>&lt; T, ManifoldType, PD, TD &gt;::NansType </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="adca9f48f26d97f95b2083b9e55bb58cb" name="adca9f48f26d97f95b2083b9e55bb58cb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adca9f48f26d97f95b2083b9e55bb58cb">&#9670;&#160;</a></span>ZeroType()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename ManifoldType , size_t PD, size_t TD&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static <a class="el" href="#aef8d411c012125303e1faa1d66b35c1c">Type</a> <a class="el" href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec</a>&lt; T, ManifoldType, PD, TD &gt;::ZeroType </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="State_8h_source.html">State.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
+</body>
+</html>
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+   <div id="projectname">signals-cpp
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+<div class="header">
+  <div class="headertitle"><div class="title">RigidBodyDynamics3DOF&lt; T &gt; Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF&lt; T &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structRigidBodyDynamics3DOF.html#a4341d5e4a676e15edc8f8faafef5431a">InputSignalType</a> typedef</td><td class="entry"><a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structRigidBodyDynamics3DOF.html#aa90232643a368b1d4b9fd618ae8d57f7">InputType</a> typedef</td><td class="entry"><a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structRigidBodyDynamics3DOF.html#afa1ade3cc027b78a2d2c65df867d52b0">ParamsType</a> typedef</td><td class="entry"><a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structRigidBodyDynamics3DOF.html#a562a8cc5e6e8dca19982509022a22ba4">StateDotDotType</a> typedef</td><td class="entry"><a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structRigidBodyDynamics3DOF.html#a28d138392ca0069c5e6274f78fd08e29">StateDotSignalType</a> typedef</td><td class="entry"><a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structRigidBodyDynamics3DOF.html#a7a9fa29ba97531d856e87560806a805c">StateDotType</a> typedef</td><td class="entry"><a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structRigidBodyDynamics3DOF.html#a0c346a983bc929f1f7a6e5d2be3a0841">StateSignalType</a> typedef</td><td class="entry"><a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structRigidBodyDynamics3DOF.html#a448c5efb998f492d1518eb0d2d7ded74">StateType</a> typedef</td><td class="entry"><a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structRigidBodyDynamics3DOF.html#acafe68f9e9ea78f54bc70d64a1b39d9c">update</a>(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</td><td class="entry"><a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
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+  <td id="projectalign">
+   <div id="projectname">signals-cpp
+   </div>
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+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structRigidBodyDynamics3DOF-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">RigidBodyDynamics3DOF&lt; T &gt; Struct Template Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="Models_8h_source.html">Models.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
+Public Types</h2></td></tr>
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+<tr class="separator:a4341d5e4a676e15edc8f8faafef5431a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a0c346a983bc929f1f7a6e5d2be3a0841"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a448c5efb998f492d1518eb0d2d7ded74"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a7a9fa29ba97531d856e87560806a805c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a562a8cc5e6e8dca19982509022a22ba4" id="r_a562a8cc5e6e8dca19982509022a22ba4"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a562a8cc5e6e8dca19982509022a22ba4">StateDotDotType</a> = typename <a class="el" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a></td></tr>
+<tr class="separator:a562a8cc5e6e8dca19982509022a22ba4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afa1ade3cc027b78a2d2c65df867d52b0" id="r_afa1ade3cc027b78a2d2c65df867d52b0"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#afa1ade3cc027b78a2d2c65df867d52b0">ParamsType</a> = <a class="el" href="structRigidBodyParams2D.html">RigidBodyParams2D</a></td></tr>
+<tr class="separator:afa1ade3cc027b78a2d2c65df867d52b0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:acafe68f9e9ea78f54bc70d64a1b39d9c" id="r_acafe68f9e9ea78f54bc70d64a1b39d9c"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#acafe68f9e9ea78f54bc70d64a1b39d9c">update</a> (<a class="el" href="#a28d138392ca0069c5e6274f78fd08e29">StateDotSignalType</a> &amp;xdot, const <a class="el" href="#a0c346a983bc929f1f7a6e5d2be3a0841">StateSignalType</a> &amp;x, const <a class="el" href="#a4341d5e4a676e15edc8f8faafef5431a">InputSignalType</a> &amp;u, const double &amp;t0, const double &amp;tf, const <a class="el" href="#afa1ade3cc027b78a2d2c65df867d52b0">ParamsType</a> &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</td></tr>
+<tr class="separator:acafe68f9e9ea78f54bc70d64a1b39d9c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Typedef Documentation</h2>
+<a id="a4341d5e4a676e15edc8f8faafef5431a" name="a4341d5e4a676e15edc8f8faafef5431a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4341d5e4a676e15edc8f8faafef5431a">&#9670;&#160;</a></span>InputSignalType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a>&lt; T &gt;::InputSignalType = <a class="el" href="Signal_8h.html#a6f00143250c4d5856a25417d2fb5908f">Vector3Signal</a>&lt;T&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aa90232643a368b1d4b9fd618ae8d57f7" name="aa90232643a368b1d4b9fd618ae8d57f7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa90232643a368b1d4b9fd618ae8d57f7">&#9670;&#160;</a></span>InputType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a>&lt; T &gt;::InputType = typename <a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="afa1ade3cc027b78a2d2c65df867d52b0" name="afa1ade3cc027b78a2d2c65df867d52b0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afa1ade3cc027b78a2d2c65df867d52b0">&#9670;&#160;</a></span>ParamsType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a>&lt; T &gt;::ParamsType = <a class="el" href="structRigidBodyParams2D.html">RigidBodyParams2D</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a562a8cc5e6e8dca19982509022a22ba4" name="a562a8cc5e6e8dca19982509022a22ba4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a562a8cc5e6e8dca19982509022a22ba4">&#9670;&#160;</a></span>StateDotDotType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a>&lt; T &gt;::StateDotDotType = typename <a class="el" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a28d138392ca0069c5e6274f78fd08e29" name="a28d138392ca0069c5e6274f78fd08e29"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a28d138392ca0069c5e6274f78fd08e29">&#9670;&#160;</a></span>StateDotSignalType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a>&lt; T &gt;::StateDotSignalType = <a class="el" href="State_8h.html#a007fe0235bfe0d3393d33584f9a38f5b">Vector3StateSignal</a>&lt;T&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7a9fa29ba97531d856e87560806a805c" name="a7a9fa29ba97531d856e87560806a805c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7a9fa29ba97531d856e87560806a805c">&#9670;&#160;</a></span>StateDotType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a>&lt; T &gt;::StateDotType = typename <a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0c346a983bc929f1f7a6e5d2be3a0841" name="a0c346a983bc929f1f7a6e5d2be3a0841"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0c346a983bc929f1f7a6e5d2be3a0841">&#9670;&#160;</a></span>StateSignalType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a>&lt; T &gt;::StateSignalType = <a class="el" href="State_8h.html#a7de4c0261575a69f6ed4e17cf50e3e03">SE2StateSignal</a>&lt;T&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a448c5efb998f492d1518eb0d2d7ded74" name="a448c5efb998f492d1518eb0d2d7ded74"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a448c5efb998f492d1518eb0d2d7ded74">&#9670;&#160;</a></span>StateType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a>&lt; T &gt;::StateType = typename <a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="acafe68f9e9ea78f54bc70d64a1b39d9c" name="acafe68f9e9ea78f54bc70d64a1b39d9c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acafe68f9e9ea78f54bc70d64a1b39d9c">&#9670;&#160;</a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static bool <a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a>&lt; T &gt;::update </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="#a28d138392ca0069c5e6274f78fd08e29">StateDotSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>xdot</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#a0c346a983bc929f1f7a6e5d2be3a0841">StateSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#a4341d5e4a676e15edc8f8faafef5431a">InputSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>u</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t0</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#afa1ade3cc027b78a2d2c65df867d52b0">ParamsType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>params</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>insertIntoHistory</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>calculateXddot</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="Models_8h_source.html">Models.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
+</body>
+</html>
diff --git a/docs/structRigidBodyDynamics6DOF-members.html b/docs/structRigidBodyDynamics6DOF-members.html
new file mode 100644
index 0000000..80a0558
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+++ b/docs/structRigidBodyDynamics6DOF-members.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>signals-cpp: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<script type="text/javascript" src="cookie.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+MathJax.Hub.Config({
+  extensions: ["tex2jax.js"],
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+});
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">signals-cpp
+   </div>
+  </td>
+ </tr>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
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+<div class="header">
+  <div class="headertitle"><div class="title">RigidBodyDynamics6DOF&lt; T &gt; Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF&lt; T &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structRigidBodyDynamics6DOF.html#a8927301269f2ce616317819c769b9364">InputSignalType</a> typedef</td><td class="entry"><a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structRigidBodyDynamics6DOF.html#ac8780c98b59889f8329aa467a5b375fe">InputType</a> typedef</td><td class="entry"><a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structRigidBodyDynamics6DOF.html#ad252337a912dcd1cfaa097d9c2d5814e">ParamsType</a> typedef</td><td class="entry"><a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structRigidBodyDynamics6DOF.html#a32c92b85c94f66739358385a0a3a07fc">StateDotDotType</a> typedef</td><td class="entry"><a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structRigidBodyDynamics6DOF.html#afcafc7961087b27b239ad998e436da9a">StateDotSignalType</a> typedef</td><td class="entry"><a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structRigidBodyDynamics6DOF.html#aa664579d3d691fcd4c5824b242dd2061">StateDotType</a> typedef</td><td class="entry"><a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structRigidBodyDynamics6DOF.html#ad4e0605bf2a0c90acbe9a1a333b9b952">StateSignalType</a> typedef</td><td class="entry"><a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structRigidBodyDynamics6DOF.html#adf5c3e5f6090032d18019c7aeab91f51">StateType</a> typedef</td><td class="entry"><a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structRigidBodyDynamics6DOF.html#ae0d9bb27da7f804a1f8dc4923546a95d">update</a>(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</td><td class="entry"><a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
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+</body>
+</html>
diff --git a/docs/structRigidBodyDynamics6DOF.html b/docs/structRigidBodyDynamics6DOF.html
new file mode 100644
index 0000000..90b71a4
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+++ b/docs/structRigidBodyDynamics6DOF.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
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+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structRigidBodyDynamics6DOF-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">RigidBodyDynamics6DOF&lt; T &gt; Struct Template Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="Models_8h_source.html">Models.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a8927301269f2ce616317819c769b9364" id="r_a8927301269f2ce616317819c769b9364"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a8927301269f2ce616317819c769b9364">InputSignalType</a> = <a class="el" href="Signal_8h.html#a74174cf187bc4e74b3e7494b247e0284">Vector6Signal</a>&lt;T&gt;</td></tr>
+<tr class="separator:a8927301269f2ce616317819c769b9364"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad4e0605bf2a0c90acbe9a1a333b9b952"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afcafc7961087b27b239ad998e436da9a" id="r_afcafc7961087b27b239ad998e436da9a"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#afcafc7961087b27b239ad998e436da9a">StateDotSignalType</a> = <a class="el" href="State_8h.html#a809dbd95b4841c294c3a75a7d40ecf62">Vector6StateSignal</a>&lt;T&gt;</td></tr>
+<tr class="separator:afcafc7961087b27b239ad998e436da9a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac8780c98b59889f8329aa467a5b375fe" id="r_ac8780c98b59889f8329aa467a5b375fe"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac8780c98b59889f8329aa467a5b375fe">InputType</a> = typename <a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a></td></tr>
+<tr class="separator:ac8780c98b59889f8329aa467a5b375fe"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adf5c3e5f6090032d18019c7aeab91f51" id="r_adf5c3e5f6090032d18019c7aeab91f51"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#adf5c3e5f6090032d18019c7aeab91f51">StateType</a> = typename <a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a></td></tr>
+<tr class="separator:adf5c3e5f6090032d18019c7aeab91f51"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa664579d3d691fcd4c5824b242dd2061" id="r_aa664579d3d691fcd4c5824b242dd2061"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aa664579d3d691fcd4c5824b242dd2061">StateDotType</a> = typename <a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a></td></tr>
+<tr class="separator:aa664579d3d691fcd4c5824b242dd2061"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a32c92b85c94f66739358385a0a3a07fc" id="r_a32c92b85c94f66739358385a0a3a07fc"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a32c92b85c94f66739358385a0a3a07fc">StateDotDotType</a> = typename <a class="el" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a></td></tr>
+<tr class="separator:a32c92b85c94f66739358385a0a3a07fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad252337a912dcd1cfaa097d9c2d5814e" id="r_ad252337a912dcd1cfaa097d9c2d5814e"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad252337a912dcd1cfaa097d9c2d5814e">ParamsType</a> = <a class="el" href="structRigidBodyParams3D.html">RigidBodyParams3D</a></td></tr>
+<tr class="separator:ad252337a912dcd1cfaa097d9c2d5814e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ae0d9bb27da7f804a1f8dc4923546a95d" id="r_ae0d9bb27da7f804a1f8dc4923546a95d"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae0d9bb27da7f804a1f8dc4923546a95d">update</a> (<a class="el" href="#afcafc7961087b27b239ad998e436da9a">StateDotSignalType</a> &amp;xdot, const <a class="el" href="#ad4e0605bf2a0c90acbe9a1a333b9b952">StateSignalType</a> &amp;x, const <a class="el" href="#a8927301269f2ce616317819c769b9364">InputSignalType</a> &amp;u, const double &amp;t0, const double &amp;tf, const <a class="el" href="#ad252337a912dcd1cfaa097d9c2d5814e">ParamsType</a> &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</td></tr>
+<tr class="separator:ae0d9bb27da7f804a1f8dc4923546a95d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Typedef Documentation</h2>
+<a id="a8927301269f2ce616317819c769b9364" name="a8927301269f2ce616317819c769b9364"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8927301269f2ce616317819c769b9364">&#9670;&#160;</a></span>InputSignalType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a>&lt; T &gt;::InputSignalType = <a class="el" href="Signal_8h.html#a74174cf187bc4e74b3e7494b247e0284">Vector6Signal</a>&lt;T&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac8780c98b59889f8329aa467a5b375fe" name="ac8780c98b59889f8329aa467a5b375fe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac8780c98b59889f8329aa467a5b375fe">&#9670;&#160;</a></span>InputType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a>&lt; T &gt;::InputType = typename <a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad252337a912dcd1cfaa097d9c2d5814e" name="ad252337a912dcd1cfaa097d9c2d5814e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad252337a912dcd1cfaa097d9c2d5814e">&#9670;&#160;</a></span>ParamsType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a>&lt; T &gt;::ParamsType = <a class="el" href="structRigidBodyParams3D.html">RigidBodyParams3D</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a32c92b85c94f66739358385a0a3a07fc" name="a32c92b85c94f66739358385a0a3a07fc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a32c92b85c94f66739358385a0a3a07fc">&#9670;&#160;</a></span>StateDotDotType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a>&lt; T &gt;::StateDotDotType = typename <a class="el" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="afcafc7961087b27b239ad998e436da9a" name="afcafc7961087b27b239ad998e436da9a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afcafc7961087b27b239ad998e436da9a">&#9670;&#160;</a></span>StateDotSignalType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a>&lt; T &gt;::StateDotSignalType = <a class="el" href="State_8h.html#a809dbd95b4841c294c3a75a7d40ecf62">Vector6StateSignal</a>&lt;T&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aa664579d3d691fcd4c5824b242dd2061" name="aa664579d3d691fcd4c5824b242dd2061"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa664579d3d691fcd4c5824b242dd2061">&#9670;&#160;</a></span>StateDotType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a>&lt; T &gt;::StateDotType = typename <a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad4e0605bf2a0c90acbe9a1a333b9b952" name="ad4e0605bf2a0c90acbe9a1a333b9b952"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad4e0605bf2a0c90acbe9a1a333b9b952">&#9670;&#160;</a></span>StateSignalType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a>&lt; T &gt;::StateSignalType = <a class="el" href="State_8h.html#a0f26da8f398a7f20706b5f962e475126">SE3StateSignal</a>&lt;T&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="adf5c3e5f6090032d18019c7aeab91f51" name="adf5c3e5f6090032d18019c7aeab91f51"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adf5c3e5f6090032d18019c7aeab91f51">&#9670;&#160;</a></span>StateType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a>&lt; T &gt;::StateType = typename <a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ae0d9bb27da7f804a1f8dc4923546a95d" name="ae0d9bb27da7f804a1f8dc4923546a95d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae0d9bb27da7f804a1f8dc4923546a95d">&#9670;&#160;</a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static bool <a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a>&lt; T &gt;::update </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="#afcafc7961087b27b239ad998e436da9a">StateDotSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>xdot</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#ad4e0605bf2a0c90acbe9a1a333b9b952">StateSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#a8927301269f2ce616317819c769b9364">InputSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>u</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t0</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#ad252337a912dcd1cfaa097d9c2d5814e">ParamsType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>params</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>insertIntoHistory</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>calculateXddot</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="Models_8h_source.html">Models.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
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+  <div class="headertitle"><div class="title">RigidBodyParams1D Struct Reference</div></div>
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+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="Models_8h_source.html">Models.h</a></li>
+</ul>
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+<h2 class="memtitle"><span class="permalink"><a href="#a6febaa8c9f355105b908979da3dd1255">&#9670;&#160;</a></span>RigidBodyParams2D()</h2>
+
+<div class="memitem">
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+  <tr>
+  <td class="mlabels-left">
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+          <td class="memname">RigidBodyParams2D::RigidBodyParams2D </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
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+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
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+</div><div class="memdoc">
+
+</div>
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+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ab212f53241edb1bf232499a6ba963258" name="ab212f53241edb1bf232499a6ba963258"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab212f53241edb1bf232499a6ba963258">&#9670;&#160;</a></span>g</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">Vector2d RigidBodyParams2D::g</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aaefd836b5e013be87bc317aaba261a25" name="aaefd836b5e013be87bc317aaba261a25"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaefd836b5e013be87bc317aaba261a25">&#9670;&#160;</a></span>J</h2>
+
+<div class="memitem">
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+          <td class="memname">double RigidBodyParams2D::J</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a5e37a979a1a69333bcc5576d14397185">&#9670;&#160;</a></span>m</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double RigidBodyParams2D::m</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="Models_8h_source.html">Models.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structRigidBodyParams3D-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">RigidBodyParams3D Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="Models_8h_source.html">Models.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a8aa76fea7a0790ead025bf79e767d0cf">&#9670;&#160;</a></span>RigidBodyParams3D()</h2>
+
+<div class="memitem">
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+  <td class="mlabels-left">
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+          <td></td>
+        </tr>
+      </table>
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+<h2 class="memtitle"><span class="permalink"><a href="#a87b9c6a467ebcd6805a1d9419e6149d1">&#9670;&#160;</a></span>g</h2>
+
+<div class="memitem">
+<div class="memproto">
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+<div class="memitem">
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+          <td class="memname">Matrix3d RigidBodyParams3D::J</td>
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+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#acfa4c165c3278306dac4c0f51819e694">&#9670;&#160;</a></span>m</h2>
+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">double RigidBodyParams3D::m</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="Models_8h_source.html">Models.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
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+<p>This is the complete list of members for <a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF&lt; T &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structRotationalDynamics1DOF.html#a80b5f730e292fda15bdcf1e8b96fe02e">InputSignalType</a> typedef</td><td class="entry"><a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structRotationalDynamics1DOF.html#ad43b9ce6a37b65d677d01ceafe448259">InputType</a> typedef</td><td class="entry"><a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structRotationalDynamics1DOF.html#a38ff3a3028dc85817407d15587bf3451">ParamsType</a> typedef</td><td class="entry"><a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structRotationalDynamics1DOF.html#a5e2f1cd471e7be99dc9e0f3f29f146f3">StateDotDotType</a> typedef</td><td class="entry"><a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structRotationalDynamics1DOF.html#a32c4979bf8f6aa3f9c1b0f2818ba4abd">StateDotSignalType</a> typedef</td><td class="entry"><a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structRotationalDynamics1DOF.html#a7df05f9db990eecd331f506d1a17597e">StateDotType</a> typedef</td><td class="entry"><a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structRotationalDynamics1DOF.html#ac321d27d0098cb3e8e64ea0d98500cb6">StateSignalType</a> typedef</td><td class="entry"><a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structRotationalDynamics1DOF.html#aada86d78db85576298e606afda8c928d">StateType</a> typedef</td><td class="entry"><a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structRotationalDynamics1DOF.html#a433f042fafdcff07948eb952e47f13b6">update</a>(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</td><td class="entry"><a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structRotationalDynamics1DOF-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">RotationalDynamics1DOF&lt; T &gt; Struct Template Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="Models_8h_source.html">Models.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a80b5f730e292fda15bdcf1e8b96fe02e" id="r_a80b5f730e292fda15bdcf1e8b96fe02e"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a80b5f730e292fda15bdcf1e8b96fe02e">InputSignalType</a> = <a class="el" href="Signal_8h.html#a655827b9e6d4727905cbaae6a996df8f">Vector1Signal</a>&lt;T&gt;</td></tr>
+<tr class="separator:a80b5f730e292fda15bdcf1e8b96fe02e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac321d27d0098cb3e8e64ea0d98500cb6" id="r_ac321d27d0098cb3e8e64ea0d98500cb6"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac321d27d0098cb3e8e64ea0d98500cb6">StateSignalType</a> = <a class="el" href="State_8h.html#a4e7a95697e869ec8e9cd31c0723ea2cf">SO2StateSignal</a>&lt;T&gt;</td></tr>
+<tr class="separator:ac321d27d0098cb3e8e64ea0d98500cb6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a32c4979bf8f6aa3f9c1b0f2818ba4abd" id="r_a32c4979bf8f6aa3f9c1b0f2818ba4abd"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a32c4979bf8f6aa3f9c1b0f2818ba4abd">StateDotSignalType</a> = <a class="el" href="State_8h.html#a5e82a65c39e740624f9c118536b5475d">Vector1StateSignal</a>&lt;T&gt;</td></tr>
+<tr class="separator:a32c4979bf8f6aa3f9c1b0f2818ba4abd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad43b9ce6a37b65d677d01ceafe448259" id="r_ad43b9ce6a37b65d677d01ceafe448259"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad43b9ce6a37b65d677d01ceafe448259">InputType</a> = typename <a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a></td></tr>
+<tr class="separator:ad43b9ce6a37b65d677d01ceafe448259"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aada86d78db85576298e606afda8c928d" id="r_aada86d78db85576298e606afda8c928d"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aada86d78db85576298e606afda8c928d">StateType</a> = typename <a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a></td></tr>
+<tr class="separator:aada86d78db85576298e606afda8c928d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7df05f9db990eecd331f506d1a17597e" id="r_a7df05f9db990eecd331f506d1a17597e"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a7df05f9db990eecd331f506d1a17597e">StateDotType</a> = typename <a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a></td></tr>
+<tr class="separator:a7df05f9db990eecd331f506d1a17597e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5e2f1cd471e7be99dc9e0f3f29f146f3" id="r_a5e2f1cd471e7be99dc9e0f3f29f146f3"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a5e2f1cd471e7be99dc9e0f3f29f146f3">StateDotDotType</a> = typename <a class="el" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a></td></tr>
+<tr class="separator:a5e2f1cd471e7be99dc9e0f3f29f146f3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a38ff3a3028dc85817407d15587bf3451" id="r_a38ff3a3028dc85817407d15587bf3451"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a38ff3a3028dc85817407d15587bf3451">ParamsType</a> = <a class="el" href="structRigidBodyParams2D.html">RigidBodyParams2D</a></td></tr>
+<tr class="separator:a38ff3a3028dc85817407d15587bf3451"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a433f042fafdcff07948eb952e47f13b6" id="r_a433f042fafdcff07948eb952e47f13b6"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a433f042fafdcff07948eb952e47f13b6">update</a> (<a class="el" href="#a32c4979bf8f6aa3f9c1b0f2818ba4abd">StateDotSignalType</a> &amp;xdot, const <a class="el" href="#ac321d27d0098cb3e8e64ea0d98500cb6">StateSignalType</a> &amp;x, const <a class="el" href="#a80b5f730e292fda15bdcf1e8b96fe02e">InputSignalType</a> &amp;u, const double &amp;t0, const double &amp;tf, const <a class="el" href="#a38ff3a3028dc85817407d15587bf3451">ParamsType</a> &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</td></tr>
+<tr class="separator:a433f042fafdcff07948eb952e47f13b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Typedef Documentation</h2>
+<a id="a80b5f730e292fda15bdcf1e8b96fe02e" name="a80b5f730e292fda15bdcf1e8b96fe02e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a80b5f730e292fda15bdcf1e8b96fe02e">&#9670;&#160;</a></span>InputSignalType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a>&lt; T &gt;::InputSignalType = <a class="el" href="Signal_8h.html#a655827b9e6d4727905cbaae6a996df8f">Vector1Signal</a>&lt;T&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad43b9ce6a37b65d677d01ceafe448259" name="ad43b9ce6a37b65d677d01ceafe448259"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad43b9ce6a37b65d677d01ceafe448259">&#9670;&#160;</a></span>InputType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a>&lt; T &gt;::InputType = typename <a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a38ff3a3028dc85817407d15587bf3451" name="a38ff3a3028dc85817407d15587bf3451"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a38ff3a3028dc85817407d15587bf3451">&#9670;&#160;</a></span>ParamsType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a>&lt; T &gt;::ParamsType = <a class="el" href="structRigidBodyParams2D.html">RigidBodyParams2D</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5e2f1cd471e7be99dc9e0f3f29f146f3" name="a5e2f1cd471e7be99dc9e0f3f29f146f3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5e2f1cd471e7be99dc9e0f3f29f146f3">&#9670;&#160;</a></span>StateDotDotType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a>&lt; T &gt;::StateDotDotType = typename <a class="el" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a32c4979bf8f6aa3f9c1b0f2818ba4abd" name="a32c4979bf8f6aa3f9c1b0f2818ba4abd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a32c4979bf8f6aa3f9c1b0f2818ba4abd">&#9670;&#160;</a></span>StateDotSignalType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a>&lt; T &gt;::StateDotSignalType = <a class="el" href="State_8h.html#a5e82a65c39e740624f9c118536b5475d">Vector1StateSignal</a>&lt;T&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7df05f9db990eecd331f506d1a17597e" name="a7df05f9db990eecd331f506d1a17597e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7df05f9db990eecd331f506d1a17597e">&#9670;&#160;</a></span>StateDotType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a>&lt; T &gt;::StateDotType = typename <a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac321d27d0098cb3e8e64ea0d98500cb6" name="ac321d27d0098cb3e8e64ea0d98500cb6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac321d27d0098cb3e8e64ea0d98500cb6">&#9670;&#160;</a></span>StateSignalType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a>&lt; T &gt;::StateSignalType = <a class="el" href="State_8h.html#a4e7a95697e869ec8e9cd31c0723ea2cf">SO2StateSignal</a>&lt;T&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aada86d78db85576298e606afda8c928d" name="aada86d78db85576298e606afda8c928d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aada86d78db85576298e606afda8c928d">&#9670;&#160;</a></span>StateType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a>&lt; T &gt;::StateType = typename <a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a433f042fafdcff07948eb952e47f13b6" name="a433f042fafdcff07948eb952e47f13b6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a433f042fafdcff07948eb952e47f13b6">&#9670;&#160;</a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static bool <a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a>&lt; T &gt;::update </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="#a32c4979bf8f6aa3f9c1b0f2818ba4abd">StateDotSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>xdot</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#ac321d27d0098cb3e8e64ea0d98500cb6">StateSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#a80b5f730e292fda15bdcf1e8b96fe02e">InputSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>u</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t0</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#a38ff3a3028dc85817407d15587bf3451">ParamsType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>params</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>insertIntoHistory</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>calculateXddot</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="Models_8h_source.html">Models.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
+</body>
+</html>
diff --git a/docs/structRotationalDynamics3DOF-members.html b/docs/structRotationalDynamics3DOF-members.html
new file mode 100644
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+  <td id="projectalign">
+   <div id="projectname">signals-cpp
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+  <div class="headertitle"><div class="title">RotationalDynamics3DOF&lt; T &gt; Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF&lt; T &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structRotationalDynamics3DOF.html#aac317f9992071217ce644f6b9ccd8763">InputSignalType</a> typedef</td><td class="entry"><a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structRotationalDynamics3DOF.html#aafaa22bb44de6a10f6293f66da5c52e5">InputType</a> typedef</td><td class="entry"><a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structRotationalDynamics3DOF.html#a2ac951c964726729410488c2bfcfa156">ParamsType</a> typedef</td><td class="entry"><a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structRotationalDynamics3DOF.html#a6e75764a6e9b0ec406d716dfb60943b1">StateDotDotType</a> typedef</td><td class="entry"><a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structRotationalDynamics3DOF.html#a6b1ce3427c65404128d15a66c3d11621">StateDotSignalType</a> typedef</td><td class="entry"><a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structRotationalDynamics3DOF.html#a40c9649794d2d6e82da6451d17c32bb5">StateDotType</a> typedef</td><td class="entry"><a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structRotationalDynamics3DOF.html#a2814e21ab959a4cb71fdc2682d1cad69">StateSignalType</a> typedef</td><td class="entry"><a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structRotationalDynamics3DOF.html#aaee29651f3b1671b6ab4e10656ea6f9a">StateType</a> typedef</td><td class="entry"><a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structRotationalDynamics3DOF.html#aee5958f7949268650c00097b2a871252">update</a>(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</td><td class="entry"><a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
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diff --git a/docs/structRotationalDynamics3DOF.html b/docs/structRotationalDynamics3DOF.html
new file mode 100644
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+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>signals-cpp: RotationalDynamics3DOF&lt; T &gt; Struct Template Reference</title>
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+  <td id="projectalign">
+   <div id="projectname">signals-cpp
+   </div>
+  </td>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
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+<!-- window showing the filter options -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
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+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structRotationalDynamics3DOF-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">RotationalDynamics3DOF&lt; T &gt; Struct Template Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="Models_8h_source.html">Models.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:aac317f9992071217ce644f6b9ccd8763" id="r_aac317f9992071217ce644f6b9ccd8763"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aac317f9992071217ce644f6b9ccd8763">InputSignalType</a> = <a class="el" href="Signal_8h.html#a6f00143250c4d5856a25417d2fb5908f">Vector3Signal</a>&lt;T&gt;</td></tr>
+<tr class="separator:aac317f9992071217ce644f6b9ccd8763"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2814e21ab959a4cb71fdc2682d1cad69" id="r_a2814e21ab959a4cb71fdc2682d1cad69"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a2814e21ab959a4cb71fdc2682d1cad69">StateSignalType</a> = <a class="el" href="State_8h.html#ae37ddd285b52c0765cd59fd0e212dfb5">SO3StateSignal</a>&lt;T&gt;</td></tr>
+<tr class="separator:a2814e21ab959a4cb71fdc2682d1cad69"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6b1ce3427c65404128d15a66c3d11621" id="r_a6b1ce3427c65404128d15a66c3d11621"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a6b1ce3427c65404128d15a66c3d11621">StateDotSignalType</a> = <a class="el" href="State_8h.html#a007fe0235bfe0d3393d33584f9a38f5b">Vector3StateSignal</a>&lt;T&gt;</td></tr>
+<tr class="separator:a6b1ce3427c65404128d15a66c3d11621"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aafaa22bb44de6a10f6293f66da5c52e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaee29651f3b1671b6ab4e10656ea6f9a" id="r_aaee29651f3b1671b6ab4e10656ea6f9a"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aaee29651f3b1671b6ab4e10656ea6f9a">StateType</a> = typename <a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a></td></tr>
+<tr class="separator:aaee29651f3b1671b6ab4e10656ea6f9a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a40c9649794d2d6e82da6451d17c32bb5" id="r_a40c9649794d2d6e82da6451d17c32bb5"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a40c9649794d2d6e82da6451d17c32bb5">StateDotType</a> = typename <a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a></td></tr>
+<tr class="separator:a40c9649794d2d6e82da6451d17c32bb5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6e75764a6e9b0ec406d716dfb60943b1" id="r_a6e75764a6e9b0ec406d716dfb60943b1"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a6e75764a6e9b0ec406d716dfb60943b1">StateDotDotType</a> = typename <a class="el" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a></td></tr>
+<tr class="separator:a6e75764a6e9b0ec406d716dfb60943b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2ac951c964726729410488c2bfcfa156" id="r_a2ac951c964726729410488c2bfcfa156"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a2ac951c964726729410488c2bfcfa156">ParamsType</a> = <a class="el" href="structRigidBodyParams3D.html">RigidBodyParams3D</a></td></tr>
+<tr class="separator:a2ac951c964726729410488c2bfcfa156"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:aee5958f7949268650c00097b2a871252" id="r_aee5958f7949268650c00097b2a871252"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aee5958f7949268650c00097b2a871252">update</a> (<a class="el" href="#a6b1ce3427c65404128d15a66c3d11621">StateDotSignalType</a> &amp;xdot, const <a class="el" href="#a2814e21ab959a4cb71fdc2682d1cad69">StateSignalType</a> &amp;x, const <a class="el" href="#aac317f9992071217ce644f6b9ccd8763">InputSignalType</a> &amp;u, const double &amp;t0, const double &amp;tf, const <a class="el" href="#a2ac951c964726729410488c2bfcfa156">ParamsType</a> &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</td></tr>
+<tr class="separator:aee5958f7949268650c00097b2a871252"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Typedef Documentation</h2>
+<a id="aac317f9992071217ce644f6b9ccd8763" name="aac317f9992071217ce644f6b9ccd8763"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aac317f9992071217ce644f6b9ccd8763">&#9670;&#160;</a></span>InputSignalType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a>&lt; T &gt;::InputSignalType = <a class="el" href="Signal_8h.html#a6f00143250c4d5856a25417d2fb5908f">Vector3Signal</a>&lt;T&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aafaa22bb44de6a10f6293f66da5c52e5" name="aafaa22bb44de6a10f6293f66da5c52e5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aafaa22bb44de6a10f6293f66da5c52e5">&#9670;&#160;</a></span>InputType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a>&lt; T &gt;::InputType = typename <a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2ac951c964726729410488c2bfcfa156" name="a2ac951c964726729410488c2bfcfa156"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2ac951c964726729410488c2bfcfa156">&#9670;&#160;</a></span>ParamsType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a>&lt; T &gt;::ParamsType = <a class="el" href="structRigidBodyParams3D.html">RigidBodyParams3D</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6e75764a6e9b0ec406d716dfb60943b1" name="a6e75764a6e9b0ec406d716dfb60943b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6e75764a6e9b0ec406d716dfb60943b1">&#9670;&#160;</a></span>StateDotDotType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a>&lt; T &gt;::StateDotDotType = typename <a class="el" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6b1ce3427c65404128d15a66c3d11621" name="a6b1ce3427c65404128d15a66c3d11621"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6b1ce3427c65404128d15a66c3d11621">&#9670;&#160;</a></span>StateDotSignalType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a>&lt; T &gt;::StateDotSignalType = <a class="el" href="State_8h.html#a007fe0235bfe0d3393d33584f9a38f5b">Vector3StateSignal</a>&lt;T&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a40c9649794d2d6e82da6451d17c32bb5" name="a40c9649794d2d6e82da6451d17c32bb5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40c9649794d2d6e82da6451d17c32bb5">&#9670;&#160;</a></span>StateDotType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a>&lt; T &gt;::StateDotType = typename <a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2814e21ab959a4cb71fdc2682d1cad69" name="a2814e21ab959a4cb71fdc2682d1cad69"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2814e21ab959a4cb71fdc2682d1cad69">&#9670;&#160;</a></span>StateSignalType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a>&lt; T &gt;::StateSignalType = <a class="el" href="State_8h.html#ae37ddd285b52c0765cd59fd0e212dfb5">SO3StateSignal</a>&lt;T&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aaee29651f3b1671b6ab4e10656ea6f9a" name="aaee29651f3b1671b6ab4e10656ea6f9a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaee29651f3b1671b6ab4e10656ea6f9a">&#9670;&#160;</a></span>StateType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a>&lt; T &gt;::StateType = typename <a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aee5958f7949268650c00097b2a871252" name="aee5958f7949268650c00097b2a871252"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aee5958f7949268650c00097b2a871252">&#9670;&#160;</a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static bool <a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a>&lt; T &gt;::update </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="#a6b1ce3427c65404128d15a66c3d11621">StateDotSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>xdot</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#a2814e21ab959a4cb71fdc2682d1cad69">StateSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#aac317f9992071217ce644f6b9ccd8763">InputSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>u</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t0</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#a2ac951c964726729410488c2bfcfa156">ParamsType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>params</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>insertIntoHistory</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>calculateXddot</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="Models_8h_source.html">Models.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
+</body>
+</html>
diff --git a/docs/structScalarSignalSpec-members.html b/docs/structScalarSignalSpec-members.html
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>signals-cpp: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="dynsections.js"></script>
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+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+MathJax.Hub.Config({
+  extensions: ["tex2jax.js"],
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+</script>
+<script type="text/javascript" async="async" src="https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">signals-cpp
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(function() { init_search(); });
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+/* @license-end */
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">ScalarSignalSpec&lt; T &gt; Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structScalarSignalSpec.html">ScalarSignalSpec&lt; T &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structScalarSignalSpec.html#a040a016b3023c9df47a913599e9af1e2">NansType</a>()</td><td class="entry"><a class="el" href="structScalarSignalSpec.html">ScalarSignalSpec&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structScalarSignalSpec.html#a4a319643aeb76b94214f8b41d64d5402">Type</a> typedef</td><td class="entry"><a class="el" href="structScalarSignalSpec.html">ScalarSignalSpec&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structScalarSignalSpec.html#a941ad7ca4c5943d3b2244e1126d1febf">ZeroType</a>()</td><td class="entry"><a class="el" href="structScalarSignalSpec.html">ScalarSignalSpec&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
+</body>
+</html>
diff --git a/docs/structScalarSignalSpec.html b/docs/structScalarSignalSpec.html
new file mode 100644
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--- /dev/null
+++ b/docs/structScalarSignalSpec.html
@@ -0,0 +1,184 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>signals-cpp: ScalarSignalSpec&lt; T &gt; Struct Template Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<script type="text/javascript" src="cookie.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+MathJax.Hub.Config({
+  extensions: ["tex2jax.js"],
+  jax: ["input/TeX","output/HTML-CSS"],
+});
+</script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">signals-cpp
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  initMenu('',true,false,'search.php','Search');
+  $(function() { init_search(); });
+});
+/* @license-end */
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
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+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structScalarSignalSpec-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">ScalarSignalSpec&lt; T &gt; Struct Template Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="Signal_8h_source.html">Signal.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a4a319643aeb76b94214f8b41d64d5402" id="r_a4a319643aeb76b94214f8b41d64d5402"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4a319643aeb76b94214f8b41d64d5402">Type</a> = T</td></tr>
+<tr class="separator:a4a319643aeb76b94214f8b41d64d5402"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a941ad7ca4c5943d3b2244e1126d1febf" id="r_a941ad7ca4c5943d3b2244e1126d1febf"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="#a4a319643aeb76b94214f8b41d64d5402">Type</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a941ad7ca4c5943d3b2244e1126d1febf">ZeroType</a> ()</td></tr>
+<tr class="separator:a941ad7ca4c5943d3b2244e1126d1febf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a040a016b3023c9df47a913599e9af1e2" id="r_a040a016b3023c9df47a913599e9af1e2"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="#a4a319643aeb76b94214f8b41d64d5402">Type</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a040a016b3023c9df47a913599e9af1e2">NansType</a> ()</td></tr>
+<tr class="separator:a040a016b3023c9df47a913599e9af1e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Typedef Documentation</h2>
+<a id="a4a319643aeb76b94214f8b41d64d5402" name="a4a319643aeb76b94214f8b41d64d5402"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4a319643aeb76b94214f8b41d64d5402">&#9670;&#160;</a></span>Type</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structScalarSignalSpec.html">ScalarSignalSpec</a>&lt; T &gt;::Type = T</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a040a016b3023c9df47a913599e9af1e2" name="a040a016b3023c9df47a913599e9af1e2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a040a016b3023c9df47a913599e9af1e2">&#9670;&#160;</a></span>NansType()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static <a class="el" href="#a4a319643aeb76b94214f8b41d64d5402">Type</a> <a class="el" href="structScalarSignalSpec.html">ScalarSignalSpec</a>&lt; T &gt;::NansType </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a941ad7ca4c5943d3b2244e1126d1febf" name="a941ad7ca4c5943d3b2244e1126d1febf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a941ad7ca4c5943d3b2244e1126d1febf">&#9670;&#160;</a></span>ZeroType()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static <a class="el" href="#a4a319643aeb76b94214f8b41d64d5402">Type</a> <a class="el" href="structScalarSignalSpec.html">ScalarSignalSpec</a>&lt; T &gt;::ZeroType </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="Signal_8h_source.html">Signal.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
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+<div class="header">
+  <div class="headertitle"><div class="title">ScalarStateSignalSpec&lt; T &gt; Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec&lt; T &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">NansType</a>()</td><td class="entry"><a class="el" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structScalarStateSignalSpec.html#a7ae52069e3aafdb7c45b14168b1ad11b">Type</a> typedef</td><td class="entry"><a class="el" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">ZeroType</a>()</td><td class="entry"><a class="el" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
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diff --git a/docs/structScalarStateSignalSpec.html b/docs/structScalarStateSignalSpec.html
new file mode 100644
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+<title>signals-cpp: ScalarStateSignalSpec&lt; T &gt; Struct Template Reference</title>
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+<!-- Generated by Doxygen 1.10.0 -->
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structScalarStateSignalSpec-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">ScalarStateSignalSpec&lt; T &gt; Struct Template Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="State_8h_source.html">State.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a7ae52069e3aafdb7c45b14168b1ad11b" id="r_a7ae52069e3aafdb7c45b14168b1ad11b"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a7ae52069e3aafdb7c45b14168b1ad11b">Type</a> = <a class="el" href="State_8h.html#aad51d946606df50291c6c2f546030f11">ScalarStateType</a>&lt;T&gt;</td></tr>
+<tr class="separator:a7ae52069e3aafdb7c45b14168b1ad11b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
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+Static Public Member Functions</h2></td></tr>
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+<tr class="separator:a0dc57853395e3c57d6447a23ae513b91"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ac3878dfd1b21706364c34d09e6da37ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Typedef Documentation</h2>
+<a id="a7ae52069e3aafdb7c45b14168b1ad11b" name="a7ae52069e3aafdb7c45b14168b1ad11b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7ae52069e3aafdb7c45b14168b1ad11b">&#9670;&#160;</a></span>Type</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec</a>&lt; T &gt;::Type = <a class="el" href="State_8h.html#aad51d946606df50291c6c2f546030f11">ScalarStateType</a>&lt;T&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac3878dfd1b21706364c34d09e6da37ce" name="ac3878dfd1b21706364c34d09e6da37ce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac3878dfd1b21706364c34d09e6da37ce">&#9670;&#160;</a></span>NansType()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static <a class="el" href="#a7ae52069e3aafdb7c45b14168b1ad11b">Type</a> <a class="el" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec</a>&lt; T &gt;::NansType </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0dc57853395e3c57d6447a23ae513b91" name="a0dc57853395e3c57d6447a23ae513b91"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0dc57853395e3c57d6447a23ae513b91">&#9670;&#160;</a></span>ZeroType()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static <a class="el" href="#a7ae52069e3aafdb7c45b14168b1ad11b">Type</a> <a class="el" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec</a>&lt; T &gt;::ZeroType </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="State_8h_source.html">State.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
+</body>
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+<li class="navelem"><a class="el" href="classSignal.html">Signal</a></li><li class="navelem"><a class="el" href="structSignal_1_1SignalDP.html">SignalDP</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;::SignalDP Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structSignal_1_1SignalDP.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;::SignalDP</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structSignal_1_1SignalDP.html#ac9d0651b25c9bcf14fcfc65a32fcfa86">t</a></td><td class="entry"><a class="el" href="structSignal_1_1SignalDP.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;::SignalDP</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structSignal_1_1SignalDP.html#a9b7c7d507ee5f16f1909dccdae98e649">x</a></td><td class="entry"><a class="el" href="structSignal_1_1SignalDP.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;::SignalDP</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structSignal_1_1SignalDP.html#a31d004bf32039463b33344e4c10bd5bb">xdot</a></td><td class="entry"><a class="el" href="structSignal_1_1SignalDP.html">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;::SignalDP</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
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+</body>
+</html>
diff --git a/docs/structSignal_1_1SignalDP.html b/docs/structSignal_1_1SignalDP.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>signals-cpp: Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;::SignalDP Struct Reference</title>
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+<li class="navelem"><a class="el" href="classSignal.html">Signal</a></li><li class="navelem"><a class="el" href="structSignal_1_1SignalDP.html">SignalDP</a></li>  </ul>
+</div>
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+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structSignal_1_1SignalDP-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt;::SignalDP Struct Reference</div></div>
+</div><!--header-->
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+
+<p><code>#include &lt;<a class="el" href="Signal_8h_source.html">Signal.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
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+<tr class="separator:a31d004bf32039463b33344e4c10bd5bb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Data Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#ac9d0651b25c9bcf14fcfc65a32fcfa86">&#9670;&#160;</a></span>t</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">double <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::SignalDP::t</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a9b7c7d507ee5f16f1909dccdae98e649">&#9670;&#160;</a></span>x</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::SignalDP::x</td>
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+<h2 class="memtitle"><span class="permalink"><a href="#a31d004bf32039463b33344e4c10bd5bb">&#9670;&#160;</a></span>xdot</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt;::SignalDP::xdot</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="Signal_8h_source.html">Signal.h</a></li>
+</ul>
+</div><!-- contents -->
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+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">SimpsonIntegratorSpec Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structSimpsonIntegratorSpec.html">SimpsonIntegratorSpec</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structSimpsonIntegratorSpec.html#a6194da52902a391e4a9b251c05e6abf2">integrate</a>(Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;t0, const double &amp;tf, const bool &amp;insertIntoHistory)</td><td class="entry"><a class="el" href="structSimpsonIntegratorSpec.html">SimpsonIntegratorSpec</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structSimpsonIntegratorSpec-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">SimpsonIntegratorSpec Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="Integration_8h_source.html">Integration.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a6194da52902a391e4a9b251c05e6abf2" id="r_a6194da52902a391e4a9b251c05e6abf2"><td class="memTemplParams" colspan="2">template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </td></tr>
+<tr class="memitem:a6194da52902a391e4a9b251c05e6abf2"><td class="memTemplItemLeft" align="right" valign="top">static bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a6194da52902a391e4a9b251c05e6abf2">integrate</a> (<a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const <a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;t0, const double &amp;tf, const bool &amp;insertIntoHistory)</td></tr>
+<tr class="separator:a6194da52902a391e4a9b251c05e6abf2"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a6194da52902a391e4a9b251c05e6abf2" name="a6194da52902a391e4a9b251c05e6abf2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6194da52902a391e4a9b251c05e6abf2">&#9670;&#160;</a></span>integrate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static bool SimpsonIntegratorSpec::integrate </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>xInt</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t0</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>insertIntoHistory</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="Integration_8h_source.html">Integration.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
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+<div class="header">
+  <div class="headertitle"><div class="title">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt; Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structState.html">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structState.html#a035f1f7193895463743b8ee58d75634f">identity</a>()</td><td class="entry"><a class="el" href="structState.html">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">nans</a>()</td><td class="entry"><a class="el" href="structState.html">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structState.html#af76faa98cfc18fb81afb0c86f7a0aa75">operator*=</a>(const double &amp;s)</td><td class="entry"><a class="el" href="structState.html">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structState.html#a7764970f0c29576eac07ab57c28261be">operator+=</a>(const State&lt; T2, TwistTypeSpec, TwistDim, TwistTypeSpec, TwistDim &gt; &amp;r)</td><td class="entry"><a class="el" href="structState.html">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a></td><td class="entry"><a class="el" href="structState.html">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structState.html#a31bd8aa44dff5f656b2b2057c8d63821">PoseType</a> typedef</td><td class="entry"><a class="el" href="structState.html">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structState.html#adcb914ebe25fe14622a945801267fa7a">State</a>()</td><td class="entry"><a class="el" href="structState.html">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structState.html#a097d236bc46ca02a379e2fd188fe3e97">State</a>(T *arr)</td><td class="entry"><a class="el" href="structState.html">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structState.html#aa10b450dbe8a806a0b203521b4738c0c">State</a>(const State &amp;other)</td><td class="entry"><a class="el" href="structState.html">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a></td><td class="entry"><a class="el" href="structState.html">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structState.html#ab58b6e2fe6ea3c2777c5a8a92f6665a1">TwistType</a> typedef</td><td class="entry"><a class="el" href="structState.html">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
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+<title>signals-cpp: State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt; Struct Template Reference</title>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structState-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt; Struct Template Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="State_8h_source.html">State.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a31bd8aa44dff5f656b2b2057c8d63821" id="r_a31bd8aa44dff5f656b2b2057c8d63821"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a31bd8aa44dff5f656b2b2057c8d63821">PoseType</a> = typename PoseTypeSpec::Type</td></tr>
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+<tr class="memitem:ab58b6e2fe6ea3c2777c5a8a92f6665a1" id="r_ab58b6e2fe6ea3c2777c5a8a92f6665a1"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab58b6e2fe6ea3c2777c5a8a92f6665a1">TwistType</a> = typename TwistTypeSpec::Type</td></tr>
+<tr class="separator:ab58b6e2fe6ea3c2777c5a8a92f6665a1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:adcb914ebe25fe14622a945801267fa7a" id="r_adcb914ebe25fe14622a945801267fa7a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#adcb914ebe25fe14622a945801267fa7a">State</a> ()</td></tr>
+<tr class="separator:adcb914ebe25fe14622a945801267fa7a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a097d236bc46ca02a379e2fd188fe3e97" id="r_a097d236bc46ca02a379e2fd188fe3e97"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a097d236bc46ca02a379e2fd188fe3e97">State</a> (T *arr)</td></tr>
+<tr class="separator:a097d236bc46ca02a379e2fd188fe3e97"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa10b450dbe8a806a0b203521b4738c0c" id="r_aa10b450dbe8a806a0b203521b4738c0c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aa10b450dbe8a806a0b203521b4738c0c">State</a> (const <a class="el" href="structState.html">State</a> &amp;other)</td></tr>
+<tr class="separator:aa10b450dbe8a806a0b203521b4738c0c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af76faa98cfc18fb81afb0c86f7a0aa75" id="r_af76faa98cfc18fb81afb0c86f7a0aa75"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structState.html">State</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#af76faa98cfc18fb81afb0c86f7a0aa75">operator*=</a> (const double &amp;s)</td></tr>
+<tr class="separator:af76faa98cfc18fb81afb0c86f7a0aa75"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7764970f0c29576eac07ab57c28261be" id="r_a7764970f0c29576eac07ab57c28261be"><td class="memTemplParams" colspan="2">template&lt;typename T2 &gt; </td></tr>
+<tr class="memitem:a7764970f0c29576eac07ab57c28261be"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="structState.html">State</a> &amp;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a7764970f0c29576eac07ab57c28261be">operator+=</a> (const <a class="el" href="structState.html">State</a>&lt; T2, TwistTypeSpec, TwistDim, TwistTypeSpec, TwistDim &gt; &amp;r)</td></tr>
+<tr class="separator:a7764970f0c29576eac07ab57c28261be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a035f1f7193895463743b8ee58d75634f" id="r_a035f1f7193895463743b8ee58d75634f"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structState.html">State</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a035f1f7193895463743b8ee58d75634f">identity</a> ()</td></tr>
+<tr class="separator:a035f1f7193895463743b8ee58d75634f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9e331e0ecbed1ab2a03d9b3e5a457426" id="r_a9e331e0ecbed1ab2a03d9b3e5a457426"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structState.html">State</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a9e331e0ecbed1ab2a03d9b3e5a457426">nans</a> ()</td></tr>
+<tr class="separator:a9e331e0ecbed1ab2a03d9b3e5a457426"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a0a5874d4c3988770f5498c34ec508c34" id="r_a0a5874d4c3988770f5498c34ec508c34"><td class="memItemLeft" align="right" valign="top"><a class="el" href="#a31bd8aa44dff5f656b2b2057c8d63821">PoseType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a0a5874d4c3988770f5498c34ec508c34">pose</a></td></tr>
+<tr class="separator:a0a5874d4c3988770f5498c34ec508c34"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3f5fb4275701e71a56d2fa1fb8d54080" id="r_a3f5fb4275701e71a56d2fa1fb8d54080"><td class="memItemLeft" align="right" valign="top"><a class="el" href="#ab58b6e2fe6ea3c2777c5a8a92f6665a1">TwistType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a></td></tr>
+<tr class="separator:a3f5fb4275701e71a56d2fa1fb8d54080"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Typedef Documentation</h2>
+<a id="a31bd8aa44dff5f656b2b2057c8d63821" name="a31bd8aa44dff5f656b2b2057c8d63821"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a31bd8aa44dff5f656b2b2057c8d63821">&#9670;&#160;</a></span>PoseType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename PoseTypeSpec , size_t PoseDim, typename TwistTypeSpec , size_t TwistDim&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structState.html">State</a>&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;::PoseType = typename PoseTypeSpec::Type</td>
+        </tr>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab58b6e2fe6ea3c2777c5a8a92f6665a1" name="ab58b6e2fe6ea3c2777c5a8a92f6665a1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab58b6e2fe6ea3c2777c5a8a92f6665a1">&#9670;&#160;</a></span>TwistType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename PoseTypeSpec , size_t PoseDim, typename TwistTypeSpec , size_t TwistDim&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structState.html">State</a>&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;::TwistType = typename TwistTypeSpec::Type</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="adcb914ebe25fe14622a945801267fa7a" name="adcb914ebe25fe14622a945801267fa7a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adcb914ebe25fe14622a945801267fa7a">&#9670;&#160;</a></span>State() <span class="overload">[1/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename PoseTypeSpec , size_t PoseDim, typename TwistTypeSpec , size_t TwistDim&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structState.html">State</a>&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;<a class="el" href="structState.html">::State</a> </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+<h2 class="memtitle"><span class="permalink"><a href="#a097d236bc46ca02a379e2fd188fe3e97">&#9670;&#160;</a></span>State() <span class="overload">[2/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename PoseTypeSpec , size_t PoseDim, typename TwistTypeSpec , size_t TwistDim&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structState.html">State</a>&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;<a class="el" href="structState.html">::State</a> </td>
+          <td>(</td>
+          <td class="paramtype">T *</td>          <td class="paramname"><span class="paramname"><em>arr</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aa10b450dbe8a806a0b203521b4738c0c" name="aa10b450dbe8a806a0b203521b4738c0c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa10b450dbe8a806a0b203521b4738c0c">&#9670;&#160;</a></span>State() <span class="overload">[3/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename PoseTypeSpec , size_t PoseDim, typename TwistTypeSpec , size_t TwistDim&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structState.html">State</a>&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;<a class="el" href="structState.html">::State</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structState.html">State</a>&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>other</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a035f1f7193895463743b8ee58d75634f" name="a035f1f7193895463743b8ee58d75634f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a035f1f7193895463743b8ee58d75634f">&#9670;&#160;</a></span>identity()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename PoseTypeSpec , size_t PoseDim, typename TwistTypeSpec , size_t TwistDim&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static <a class="el" href="structState.html">State</a> <a class="el" href="structState.html">State</a>&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;::identity </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9e331e0ecbed1ab2a03d9b3e5a457426" name="a9e331e0ecbed1ab2a03d9b3e5a457426"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9e331e0ecbed1ab2a03d9b3e5a457426">&#9670;&#160;</a></span>nans()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename PoseTypeSpec , size_t PoseDim, typename TwistTypeSpec , size_t TwistDim&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static <a class="el" href="structState.html">State</a> <a class="el" href="structState.html">State</a>&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;::nans </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af76faa98cfc18fb81afb0c86f7a0aa75" name="af76faa98cfc18fb81afb0c86f7a0aa75"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af76faa98cfc18fb81afb0c86f7a0aa75">&#9670;&#160;</a></span>operator*=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename PoseTypeSpec , size_t PoseDim, typename TwistTypeSpec , size_t TwistDim&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structState.html">State</a> &amp; <a class="el" href="structState.html">State</a>&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;::operator*= </td>
+          <td>(</td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>s</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7764970f0c29576eac07ab57c28261be" name="a7764970f0c29576eac07ab57c28261be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7764970f0c29576eac07ab57c28261be">&#9670;&#160;</a></span>operator+=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename PoseTypeSpec , size_t PoseDim, typename TwistTypeSpec , size_t TwistDim&gt; </div>
+<div class="memtemplate">
+template&lt;typename T2 &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structState.html">State</a> &amp; <a class="el" href="structState.html">State</a>&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;::operator+= </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structState.html">State</a>&lt; T2, TwistTypeSpec, TwistDim, TwistTypeSpec, TwistDim &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>r</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a0a5874d4c3988770f5498c34ec508c34" name="a0a5874d4c3988770f5498c34ec508c34"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0a5874d4c3988770f5498c34ec508c34">&#9670;&#160;</a></span>pose</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename PoseTypeSpec , size_t PoseDim, typename TwistTypeSpec , size_t TwistDim&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="#a31bd8aa44dff5f656b2b2057c8d63821">PoseType</a> <a class="el" href="structState.html">State</a>&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;::pose</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3f5fb4275701e71a56d2fa1fb8d54080" name="a3f5fb4275701e71a56d2fa1fb8d54080"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3f5fb4275701e71a56d2fa1fb8d54080">&#9670;&#160;</a></span>twist</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename PoseTypeSpec , size_t PoseDim, typename TwistTypeSpec , size_t TwistDim&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="#ab58b6e2fe6ea3c2777c5a8a92f6665a1">TwistType</a> <a class="el" href="structState.html">State</a>&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;::twist</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="State_8h_source.html">State.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
+</body>
+</html>
diff --git a/docs/structTranslationalDynamicsBase-members.html b/docs/structTranslationalDynamicsBase-members.html
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+   <div id="projectname">signals-cpp
+   </div>
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+<!-- Generated by Doxygen 1.10.0 -->
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+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt; Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structTranslationalDynamicsBase.html#aac403e4db54adf389b8f1fa3700f6f6a">InputSignalType</a> typedef</td><td class="entry"><a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structTranslationalDynamicsBase.html#ac57d5ab2e4cf3e6afe4a5ae550e858bb">InputType</a> typedef</td><td class="entry"><a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structTranslationalDynamicsBase.html#a4ba374f05dd1f5c4168adf3d6a15ef0c">ParamsType</a> typedef</td><td class="entry"><a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structTranslationalDynamicsBase.html#a4ae3874e31bcc97d54f4cebea0606002">StateDotDotType</a> typedef</td><td class="entry"><a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structTranslationalDynamicsBase.html#a3870f6b57fcb6cb578b3640401331a39">StateDotSignalType</a> typedef</td><td class="entry"><a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structTranslationalDynamicsBase.html#a25c6532290d222c25e727394a0afa0b7">StateDotType</a> typedef</td><td class="entry"><a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structTranslationalDynamicsBase.html#a1f0fdd4bbfb73f52878c7e5c7e459f16">StateSignalType</a> typedef</td><td class="entry"><a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structTranslationalDynamicsBase.html#aabb958cc98babacfc8478a04fb7a37dd">StateType</a> typedef</td><td class="entry"><a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structTranslationalDynamicsBase.html#a3f1e02018ec014fe38ba851dc0d5b2ed">update</a>(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</td><td class="entry"><a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
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+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
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+</html>
diff --git a/docs/structTranslationalDynamicsBase.html b/docs/structTranslationalDynamicsBase.html
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+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">signals-cpp
+   </div>
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+<!-- Generated by Doxygen 1.10.0 -->
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+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structTranslationalDynamicsBase-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt; Struct Template Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="Models_8h_source.html">Models.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:aac403e4db54adf389b8f1fa3700f6f6a" id="r_aac403e4db54adf389b8f1fa3700f6f6a"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aac403e4db54adf389b8f1fa3700f6f6a">InputSignalType</a> = IST</td></tr>
+<tr class="separator:aac403e4db54adf389b8f1fa3700f6f6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3870f6b57fcb6cb578b3640401331a39" id="r_a3870f6b57fcb6cb578b3640401331a39"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3870f6b57fcb6cb578b3640401331a39">StateDotSignalType</a> = SST</td></tr>
+<tr class="separator:a3870f6b57fcb6cb578b3640401331a39"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1f0fdd4bbfb73f52878c7e5c7e459f16" id="r_a1f0fdd4bbfb73f52878c7e5c7e459f16"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a1f0fdd4bbfb73f52878c7e5c7e459f16">StateSignalType</a> = SDST</td></tr>
+<tr class="separator:a1f0fdd4bbfb73f52878c7e5c7e459f16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac57d5ab2e4cf3e6afe4a5ae550e858bb" id="r_ac57d5ab2e4cf3e6afe4a5ae550e858bb"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac57d5ab2e4cf3e6afe4a5ae550e858bb">InputType</a> = typename InputSignalType::BaseType</td></tr>
+<tr class="separator:ac57d5ab2e4cf3e6afe4a5ae550e858bb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aabb958cc98babacfc8478a04fb7a37dd" id="r_aabb958cc98babacfc8478a04fb7a37dd"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aabb958cc98babacfc8478a04fb7a37dd">StateType</a> = typename StateSignalType::BaseType</td></tr>
+<tr class="separator:aabb958cc98babacfc8478a04fb7a37dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a25c6532290d222c25e727394a0afa0b7" id="r_a25c6532290d222c25e727394a0afa0b7"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a25c6532290d222c25e727394a0afa0b7">StateDotType</a> = typename StateDotSignalType::BaseType</td></tr>
+<tr class="separator:a25c6532290d222c25e727394a0afa0b7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ae3874e31bcc97d54f4cebea0606002" id="r_a4ae3874e31bcc97d54f4cebea0606002"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4ae3874e31bcc97d54f4cebea0606002">StateDotDotType</a> = typename StateDotSignalType::TangentType</td></tr>
+<tr class="separator:a4ae3874e31bcc97d54f4cebea0606002"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ba374f05dd1f5c4168adf3d6a15ef0c" id="r_a4ba374f05dd1f5c4168adf3d6a15ef0c"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4ba374f05dd1f5c4168adf3d6a15ef0c">ParamsType</a> = PT</td></tr>
+<tr class="separator:a4ba374f05dd1f5c4168adf3d6a15ef0c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a3f1e02018ec014fe38ba851dc0d5b2ed" id="r_a3f1e02018ec014fe38ba851dc0d5b2ed"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3f1e02018ec014fe38ba851dc0d5b2ed">update</a> (<a class="el" href="#a3870f6b57fcb6cb578b3640401331a39">StateDotSignalType</a> &amp;xdot, const <a class="el" href="#a1f0fdd4bbfb73f52878c7e5c7e459f16">StateSignalType</a> &amp;x, const <a class="el" href="#aac403e4db54adf389b8f1fa3700f6f6a">InputSignalType</a> &amp;u, const double &amp;t0, const double &amp;tf, const <a class="el" href="#a4ba374f05dd1f5c4168adf3d6a15ef0c">ParamsType</a> &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</td></tr>
+<tr class="separator:a3f1e02018ec014fe38ba851dc0d5b2ed"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Typedef Documentation</h2>
+<a id="aac403e4db54adf389b8f1fa3700f6f6a" name="aac403e4db54adf389b8f1fa3700f6f6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aac403e4db54adf389b8f1fa3700f6f6a">&#9670;&#160;</a></span>InputSignalType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename IST , typename SST , typename SDST , size_t d, typename PT &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a>&lt; IST, SST, SDST, d, PT &gt;::InputSignalType = IST</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac57d5ab2e4cf3e6afe4a5ae550e858bb" name="ac57d5ab2e4cf3e6afe4a5ae550e858bb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac57d5ab2e4cf3e6afe4a5ae550e858bb">&#9670;&#160;</a></span>InputType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename IST , typename SST , typename SDST , size_t d, typename PT &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a>&lt; IST, SST, SDST, d, PT &gt;::InputType = typename InputSignalType::BaseType</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4ba374f05dd1f5c4168adf3d6a15ef0c" name="a4ba374f05dd1f5c4168adf3d6a15ef0c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4ba374f05dd1f5c4168adf3d6a15ef0c">&#9670;&#160;</a></span>ParamsType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename IST , typename SST , typename SDST , size_t d, typename PT &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a>&lt; IST, SST, SDST, d, PT &gt;::ParamsType = PT</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4ae3874e31bcc97d54f4cebea0606002" name="a4ae3874e31bcc97d54f4cebea0606002"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4ae3874e31bcc97d54f4cebea0606002">&#9670;&#160;</a></span>StateDotDotType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename IST , typename SST , typename SDST , size_t d, typename PT &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a>&lt; IST, SST, SDST, d, PT &gt;::StateDotDotType = typename StateDotSignalType::TangentType</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3870f6b57fcb6cb578b3640401331a39" name="a3870f6b57fcb6cb578b3640401331a39"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3870f6b57fcb6cb578b3640401331a39">&#9670;&#160;</a></span>StateDotSignalType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename IST , typename SST , typename SDST , size_t d, typename PT &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a>&lt; IST, SST, SDST, d, PT &gt;::StateDotSignalType = SST</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a25c6532290d222c25e727394a0afa0b7" name="a25c6532290d222c25e727394a0afa0b7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a25c6532290d222c25e727394a0afa0b7">&#9670;&#160;</a></span>StateDotType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename IST , typename SST , typename SDST , size_t d, typename PT &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a>&lt; IST, SST, SDST, d, PT &gt;::StateDotType = typename StateDotSignalType::BaseType</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1f0fdd4bbfb73f52878c7e5c7e459f16" name="a1f0fdd4bbfb73f52878c7e5c7e459f16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1f0fdd4bbfb73f52878c7e5c7e459f16">&#9670;&#160;</a></span>StateSignalType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename IST , typename SST , typename SDST , size_t d, typename PT &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a>&lt; IST, SST, SDST, d, PT &gt;::StateSignalType = SDST</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aabb958cc98babacfc8478a04fb7a37dd" name="aabb958cc98babacfc8478a04fb7a37dd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aabb958cc98babacfc8478a04fb7a37dd">&#9670;&#160;</a></span>StateType</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename IST , typename SST , typename SDST , size_t d, typename PT &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a>&lt; IST, SST, SDST, d, PT &gt;::StateType = typename StateSignalType::BaseType</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a3f1e02018ec014fe38ba851dc0d5b2ed" name="a3f1e02018ec014fe38ba851dc0d5b2ed"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3f1e02018ec014fe38ba851dc0d5b2ed">&#9670;&#160;</a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename IST , typename SST , typename SDST , size_t d, typename PT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static bool <a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a>&lt; IST, SST, SDST, d, PT &gt;::update </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="#a3870f6b57fcb6cb578b3640401331a39">StateDotSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>xdot</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#a1f0fdd4bbfb73f52878c7e5c7e459f16">StateSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#aac403e4db54adf389b8f1fa3700f6f6a">InputSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>u</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t0</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="#a4ba374f05dd1f5c4168adf3d6a15ef0c">ParamsType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>params</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>insertIntoHistory</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>calculateXddot</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="Models_8h_source.html">Models.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
+</body>
+</html>
diff --git a/docs/structTrapezoidalIntegratorSpec-members.html b/docs/structTrapezoidalIntegratorSpec-members.html
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+++ b/docs/structTrapezoidalIntegratorSpec-members.html
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.10.0"/>
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+<title>signals-cpp: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<script type="text/javascript" src="cookie.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/x-mathjax-config">
+MathJax.Hub.Config({
+  extensions: ["tex2jax.js"],
+  jax: ["input/TeX","output/HTML-CSS"],
+});
+</script>
+<script type="text/javascript" async="async" src="https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">signals-cpp
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  $(function() { init_search(); });
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+/* @license-end */
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+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
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+<div class="SRStatus" id="Loading">Loading...</div>
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+<div class="SRStatus" id="NoMatches">No Matches</div>
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+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">TrapezoidalIntegratorSpec Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structTrapezoidalIntegratorSpec.html">TrapezoidalIntegratorSpec</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structTrapezoidalIntegratorSpec.html#a38c21a876135bae55c62ec43c3a18a86">integrate</a>(Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;t0, const double &amp;tf, const bool &amp;insertIntoHistory)</td><td class="entry"><a class="el" href="structTrapezoidalIntegratorSpec.html">TrapezoidalIntegratorSpec</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
+</body>
+</html>
diff --git a/docs/structTrapezoidalIntegratorSpec.html b/docs/structTrapezoidalIntegratorSpec.html
new file mode 100644
index 0000000..f1e5434
--- /dev/null
+++ b/docs/structTrapezoidalIntegratorSpec.html
@@ -0,0 +1,152 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>signals-cpp: TrapezoidalIntegratorSpec Struct Reference</title>
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+<script type="text/javascript" src="dynsections.js"></script>
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+MathJax.Hub.Config({
+  extensions: ["tex2jax.js"],
+  jax: ["input/TeX","output/HTML-CSS"],
+});
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">signals-cpp
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  $(function() { init_search(); });
+});
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structTrapezoidalIntegratorSpec-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">TrapezoidalIntegratorSpec Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="Integration_8h_source.html">Integration.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a38c21a876135bae55c62ec43c3a18a86" id="r_a38c21a876135bae55c62ec43c3a18a86"><td class="memTemplParams" colspan="2">template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </td></tr>
+<tr class="memitem:a38c21a876135bae55c62ec43c3a18a86"><td class="memTemplItemLeft" align="right" valign="top">static bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a38c21a876135bae55c62ec43c3a18a86">integrate</a> (<a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const <a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;t0, const double &amp;tf, const bool &amp;insertIntoHistory)</td></tr>
+<tr class="separator:a38c21a876135bae55c62ec43c3a18a86"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a38c21a876135bae55c62ec43c3a18a86" name="a38c21a876135bae55c62ec43c3a18a86"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a38c21a876135bae55c62ec43c3a18a86">&#9670;&#160;</a></span>integrate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static bool TrapezoidalIntegratorSpec::integrate </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>xInt</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t0</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>insertIntoHistory</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="Integration_8h_source.html">Integration.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">VectorSignalSpec&lt; T, d &gt; Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structVectorSignalSpec.html">VectorSignalSpec&lt; T, d &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structVectorSignalSpec.html#a3a25051bf64d2677fc511bd026b7f6a2">NansType</a>()</td><td class="entry"><a class="el" href="structVectorSignalSpec.html">VectorSignalSpec&lt; T, d &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structVectorSignalSpec.html#ac21d15d01635665373eaf23b62f3d440">Type</a> typedef</td><td class="entry"><a class="el" href="structVectorSignalSpec.html">VectorSignalSpec&lt; T, d &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structVectorSignalSpec.html#a4c535f5d5b25faa7148f8719d74693fd">ZeroType</a>()</td><td class="entry"><a class="el" href="structVectorSignalSpec.html">VectorSignalSpec&lt; T, d &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
+</body>
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diff --git a/docs/structVectorSignalSpec.html b/docs/structVectorSignalSpec.html
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+<title>signals-cpp: VectorSignalSpec&lt; T, d &gt; Struct Template Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">signals-cpp
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+</div>
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+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structVectorSignalSpec-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">VectorSignalSpec&lt; T, d &gt; Struct Template Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="Signal_8h_source.html">Signal.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:ac21d15d01635665373eaf23b62f3d440" id="r_ac21d15d01635665373eaf23b62f3d440"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac21d15d01635665373eaf23b62f3d440">Type</a> = Matrix&lt;T, d, 1&gt;</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a4c535f5d5b25faa7148f8719d74693fd" id="r_a4c535f5d5b25faa7148f8719d74693fd"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="#ac21d15d01635665373eaf23b62f3d440">Type</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4c535f5d5b25faa7148f8719d74693fd">ZeroType</a> ()</td></tr>
+<tr class="separator:a4c535f5d5b25faa7148f8719d74693fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3a25051bf64d2677fc511bd026b7f6a2" id="r_a3a25051bf64d2677fc511bd026b7f6a2"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="#ac21d15d01635665373eaf23b62f3d440">Type</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3a25051bf64d2677fc511bd026b7f6a2">NansType</a> ()</td></tr>
+<tr class="separator:a3a25051bf64d2677fc511bd026b7f6a2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Typedef Documentation</h2>
+<a id="ac21d15d01635665373eaf23b62f3d440" name="ac21d15d01635665373eaf23b62f3d440"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac21d15d01635665373eaf23b62f3d440">&#9670;&#160;</a></span>Type</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , size_t d&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structVectorSignalSpec.html">VectorSignalSpec</a>&lt; T, d &gt;::Type = Matrix&lt;T, d, 1&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a3a25051bf64d2677fc511bd026b7f6a2" name="a3a25051bf64d2677fc511bd026b7f6a2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3a25051bf64d2677fc511bd026b7f6a2">&#9670;&#160;</a></span>NansType()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , size_t d&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static <a class="el" href="#ac21d15d01635665373eaf23b62f3d440">Type</a> <a class="el" href="structVectorSignalSpec.html">VectorSignalSpec</a>&lt; T, d &gt;::NansType </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4c535f5d5b25faa7148f8719d74693fd" name="a4c535f5d5b25faa7148f8719d74693fd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4c535f5d5b25faa7148f8719d74693fd">&#9670;&#160;</a></span>ZeroType()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , size_t d&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static <a class="el" href="#ac21d15d01635665373eaf23b62f3d440">Type</a> <a class="el" href="structVectorSignalSpec.html">VectorSignalSpec</a>&lt; T, d &gt;::ZeroType </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="Signal_8h_source.html">Signal.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
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+</body>
+</html>
diff --git a/docs/structVectorStateSignalSpec-members.html b/docs/structVectorStateSignalSpec-members.html
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+<meta name="generator" content="Doxygen 1.10.0"/>
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+<script type="text/javascript" src="dynsections.js"></script>
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign">
+   <div id="projectname">signals-cpp
+   </div>
+  </td>
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+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
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+<div class="header">
+  <div class="headertitle"><div class="title">VectorStateSignalSpec&lt; T, d &gt; Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structVectorStateSignalSpec.html">VectorStateSignalSpec&lt; T, d &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structVectorStateSignalSpec.html#a4729eec41bab8eb5ed7b45aa8272be4d">NansType</a>()</td><td class="entry"><a class="el" href="structVectorStateSignalSpec.html">VectorStateSignalSpec&lt; T, d &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structVectorStateSignalSpec.html#a3994948f467b39ca2dcd77d220a8cf3a">Type</a> typedef</td><td class="entry"><a class="el" href="structVectorStateSignalSpec.html">VectorStateSignalSpec&lt; T, d &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structVectorStateSignalSpec.html#ae659b96e95497b25e711fab331037c21">ZeroType</a>()</td><td class="entry"><a class="el" href="structVectorStateSignalSpec.html">VectorStateSignalSpec&lt; T, d &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
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+<title>signals-cpp: VectorStateSignalSpec&lt; T, d &gt; Struct Template Reference</title>
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structVectorStateSignalSpec-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">VectorStateSignalSpec&lt; T, d &gt; Struct Template Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="State_8h_source.html">State.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a3994948f467b39ca2dcd77d220a8cf3a" id="r_a3994948f467b39ca2dcd77d220a8cf3a"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3994948f467b39ca2dcd77d220a8cf3a">Type</a> = <a class="el" href="State_8h.html#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, d&gt;</td></tr>
+<tr class="separator:a3994948f467b39ca2dcd77d220a8cf3a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ae659b96e95497b25e711fab331037c21" id="r_ae659b96e95497b25e711fab331037c21"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="#a3994948f467b39ca2dcd77d220a8cf3a">Type</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae659b96e95497b25e711fab331037c21">ZeroType</a> ()</td></tr>
+<tr class="separator:ae659b96e95497b25e711fab331037c21"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4729eec41bab8eb5ed7b45aa8272be4d" id="r_a4729eec41bab8eb5ed7b45aa8272be4d"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="#a3994948f467b39ca2dcd77d220a8cf3a">Type</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4729eec41bab8eb5ed7b45aa8272be4d">NansType</a> ()</td></tr>
+<tr class="separator:a4729eec41bab8eb5ed7b45aa8272be4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Typedef Documentation</h2>
+<a id="a3994948f467b39ca2dcd77d220a8cf3a" name="a3994948f467b39ca2dcd77d220a8cf3a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3994948f467b39ca2dcd77d220a8cf3a">&#9670;&#160;</a></span>Type</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , size_t d&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="structVectorStateSignalSpec.html">VectorStateSignalSpec</a>&lt; T, d &gt;::Type = <a class="el" href="State_8h.html#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, d&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a4729eec41bab8eb5ed7b45aa8272be4d" name="a4729eec41bab8eb5ed7b45aa8272be4d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4729eec41bab8eb5ed7b45aa8272be4d">&#9670;&#160;</a></span>NansType()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , size_t d&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static <a class="el" href="#a3994948f467b39ca2dcd77d220a8cf3a">Type</a> <a class="el" href="structVectorStateSignalSpec.html">VectorStateSignalSpec</a>&lt; T, d &gt;::NansType </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
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+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae659b96e95497b25e711fab331037c21" name="ae659b96e95497b25e711fab331037c21"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae659b96e95497b25e711fab331037c21">&#9670;&#160;</a></span>ZeroType()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , size_t d&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static <a class="el" href="#a3994948f467b39ca2dcd77d220a8cf3a">Type</a> <a class="el" href="structVectorStateSignalSpec.html">VectorStateSignalSpec</a>&lt; T, d &gt;::ZeroType </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/signals/<a class="el" href="State_8h_source.html">State.h</a></li>
+</ul>
+</div><!-- contents -->
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diff --git a/include/signals/Signals.h b/include/signals/Signals.h
index 2f2f459..77bf867 100644
--- a/include/signals/Signals.h
+++ b/include/signals/Signals.h
@@ -4,3 +4,27 @@
 #include "signals/Integration.h"
 #include "signals/State.h"
 #include "signals/Models.h"
+
+/**
+ * @mainpage signals-cpp Library Documentation
+ *
+ * @section intro_sec Introduction
+ * Header-only templated C++ library implementing rigid-body dynamics, derivatives, integrals, and interpolation.
+ *
+ * @section install Installation
+ * This code is meant to be built as a static library with CMake. It should be compatible with the latest versions of
+ * Eigen and Boost (unit test framework only).
+ * The library [manif-geom-cpp](https://github.com/goromal/manif-geom-cpp) must also be installed.
+ *
+ * Install with
+ *
+ * ```bash
+ * mkdir build
+ * cd build
+ * cmake ..
+ * make # or make install
+ * ```
+ *
+ * By default, building will also build and run the unit tests, but this can be turned off with the CMake option
+ * `BUILD_TESTS`.
+ */
diff --git a/scripts/check_dockstrings.sh b/scripts/check_dockstrings.sh
new file mode 100644
index 0000000..afa6116
--- /dev/null
+++ b/scripts/check_dockstrings.sh
@@ -0,0 +1,9 @@
+SOURCE="${BASH_SOURCE[0]}"
+while [ -h "$SOURCE" ]; do
+DIR="$( cd -P "$( dirname "$SOURCE" )" && pwd )"
+SOURCE="$(readlink "$SOURCE")"
+[[ $SOURCE != /* ]] && SOURCE="$DIR/$SOURCE"
+done
+DIR="$( cd -P "$( dirname "$SOURCE" )" && pwd )"
+cd "$DIR/.."
+grep -Prn '(?<!\\f)\$' --include='*.h' --include='*.cpp' . && echo "Error: Found $ without preceding \f in the above file(s)"

From a4d4ffa7bf322cb9f0b5a71b9e3202faa7293192 Mon Sep 17 00:00:00 2001
From: Andrew Torgesen <atorgesen@anduril.com>
Date: Tue, 31 Dec 2024 14:57:46 -0800
Subject: [PATCH 03/11] some more docs wip

---
 docs/Integration_8h.html                  |   4 +
 docs/Integration_8h_source.html           | 246 +++---
 docs/Models_8h.html                       |  19 +-
 docs/Models_8h_source.html                | 894 +++++++++++-----------
 docs/State_8h.html                        |   3 +-
 docs/State_8h_source.html                 | 636 +++++++--------
 docs/Utils_8h_source.html                 |  28 +-
 docs/annotated.html                       |  28 +-
 docs/classModel.html                      |  65 +-
 docs/index.html                           |   7 +
 docs/structEulerIntegratorSpec.html       |  23 +-
 docs/structIntegrator.html                |  42 +-
 docs/structRigidBodyDynamics3DOF.html     |  24 +-
 docs/structRigidBodyDynamics6DOF.html     |  24 +-
 docs/structRigidBodyParams1D.html         |  15 +-
 docs/structRigidBodyParams2D.html         |  19 +-
 docs/structRigidBodyParams3D.html         |  19 +-
 docs/structRotationalDynamics1DOF.html    |  24 +-
 docs/structRotationalDynamics3DOF.html    |  24 +-
 docs/structSimpsonIntegratorSpec.html     |  23 +-
 docs/structState.html                     |  28 +-
 docs/structTranslationalDynamicsBase.html |  24 +-
 docs/structTrapezoidalIntegratorSpec.html |  23 +-
 include/signals/Integration.h             |  78 ++
 include/signals/Models.h                  | 180 ++++-
 include/signals/Signal.h                  |   3 +
 include/signals/Signals.h                 |   7 +
 include/signals/State.h                   |  29 +
 include/signals/Utils.h                   |   4 +
 29 files changed, 1603 insertions(+), 940 deletions(-)

diff --git a/docs/Integration_8h.html b/docs/Integration_8h.html
index 4648ad5..82a13f6 100644
--- a/docs/Integration_8h.html
+++ b/docs/Integration_8h.html
@@ -96,12 +96,16 @@
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
 Classes</h2></td></tr>
 <tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structIntegrator.html">Integrator&lt; IntegratorType &gt;</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base type for all integrators.  <a href="structIntegrator.html#details">More...</a><br /></td></tr>
 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structEulerIntegratorSpec.html">EulerIntegratorSpec</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specification for numerically integrating a black box function using Euler's method.  <a href="structEulerIntegratorSpec.html#details">More...</a><br /></td></tr>
 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structTrapezoidalIntegratorSpec.html">TrapezoidalIntegratorSpec</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specification for numerically integrating a black box function using the Trapezoidal method.  <a href="structTrapezoidalIntegratorSpec.html#details">More...</a><br /></td></tr>
 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structSimpsonIntegratorSpec.html">SimpsonIntegratorSpec</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specification for numerically integrating a black box function using Simpson's method.  <a href="structSimpsonIntegratorSpec.html#details">More...</a><br /></td></tr>
 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table><table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="define-members" name="define-members"></a>
diff --git a/docs/Integration_8h_source.html b/docs/Integration_8h_source.html
index 8fab850..72ddd38 100644
--- a/docs/Integration_8h_source.html
+++ b/docs/Integration_8h_source.html
@@ -93,134 +93,134 @@
 <a href="Integration_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
 <div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#include &quot;<a class="code" href="Signal_8h.html">signals/Signal.h</a>&quot;</span></div>
 <div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span> </div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> IntegratorType&gt;</div>
-<div class="foldopen" id="foldopen00005" data-start="{" data-end="};">
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"><a class="line" href="structIntegrator.html">    5</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structIntegrator.html">Integrator</a></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span>{</div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
-<div class="foldopen" id="foldopen00008" data-start="{" data-end="}">
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"><a class="line" href="structIntegrator.html#ab3bebaa347f6019f3d2da2b2bcee5918">    8</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structIntegrator.html#ab3bebaa347f6019f3d2da2b2bcee5918">integrate</a>(<a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp;          xInt,</div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span>                          <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a>&amp; x,</div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       tf,</div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span>                          <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;                                         insertIntoHistory = <span class="keyword">false</span>)</div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>    {</div>
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>        <span class="keywordtype">double</span> t0 = xInt.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>();</div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>        <span class="keywordtype">double</span> dt;</div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>        <span class="keywordflow">if</span> (!<a class="code hl_function" href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">signal_utils::getTimeDelta</a>(dt, t0, tf))</div>
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-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>        }</div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>        <span class="keywordflow">return</span> IntegratorType::integrate(xInt, x, t0, tf, insertIntoHistory);</div>
-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    }</div>
-</div>
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span> </div>
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
-<div class="foldopen" id="foldopen00023" data-start="{" data-end="}">
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="structIntegrator.html#a8266e6bf3abd90d83fa7eb6b9270c0c4">   23</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structIntegrator.html#a8266e6bf3abd90d83fa7eb6b9270c0c4">integrate</a>(<a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp;          xInt,</div>
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>                          <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a>&amp; x,</div>
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       tf,</div>
-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       dt,</div>
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>                          <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;                                         insertIntoHistory = <span class="keyword">false</span>)</div>
-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    {</div>
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <span class="keywordtype">double</span> t_k     = xInt.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>();</div>
-<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        <span class="keywordtype">bool</span>   success = <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>        <span class="keywordflow">while</span> (t_k &lt; tf &amp;&amp; success)</div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>        {</div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>            <span class="keywordtype">double</span> dt_k;</div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>            <span class="keywordflow">if</span> (<a class="code hl_function" href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">signal_utils::getTimeDelta</a>(dt_k, t_k, tf, dt))</div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>            {</div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>                <span class="keywordtype">double</span> t_kp1 = t_k + dt_k;</div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>                success &amp;= IntegratorType::integrate(xInt, x, t_k, t_kp1, insertIntoHistory);</div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>                t_k = t_kp1;</div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>            }</div>
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>            <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>            {</div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>                success = <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>            }</div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>        }</div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>        <span class="keywordflow">return</span> success;</div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    }</div>
-</div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>};</div>
-</div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
-<div class="foldopen" id="foldopen00049" data-start="{" data-end="};">
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="structEulerIntegratorSpec.html">   49</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structEulerIntegratorSpec.html">EulerIntegratorSpec</a></div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>{</div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
-<div class="foldopen" id="foldopen00052" data-start="{" data-end="}">
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="structEulerIntegratorSpec.html#a6c8d7aa2ecf83f7a348a575e5023639f">   52</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structEulerIntegratorSpec.html#a6c8d7aa2ecf83f7a348a575e5023639f">integrate</a>(<a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp;          xInt,</div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>                          <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a>&amp; x,</div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       t0,</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> IntegratorType&gt;</div>
+<div class="foldopen" id="foldopen00017" data-start="{" data-end="};">
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="structIntegrator.html">   17</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structIntegrator.html">Integrator</a></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>{</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
+<div class="foldopen" id="foldopen00028" data-start="{" data-end="}">
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"><a class="line" href="structIntegrator.html#ab3bebaa347f6019f3d2da2b2bcee5918">   28</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structIntegrator.html#ab3bebaa347f6019f3d2da2b2bcee5918">integrate</a>(<a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp;          xInt,</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>                          <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a>&amp; x,</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       tf,</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>                          <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;                                         insertIntoHistory = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    {</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>        <span class="keywordtype">double</span> t0 = xInt.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>();</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>        <span class="keywordtype">double</span> dt;</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>        <span class="keywordflow">if</span> (!<a class="code hl_function" href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">signal_utils::getTimeDelta</a>(dt, t0, tf))</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>        {</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>        }</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>        <span class="keywordflow">return</span> IntegratorType::integrate(xInt, x, t0, tf, insertIntoHistory);</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    }</div>
+</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span> </div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
+<div class="foldopen" id="foldopen00053" data-start="{" data-end="}">
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="structIntegrator.html#a8266e6bf3abd90d83fa7eb6b9270c0c4">   53</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structIntegrator.html#a8266e6bf3abd90d83fa7eb6b9270c0c4">integrate</a>(<a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp;          xInt,</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>                          <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a>&amp; x,</div>
 <div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       tf,</div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>                          <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;                                         insertIntoHistory)</div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    {</div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>        <span class="keywordtype">double</span> dt = tf - t0;</div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        <span class="keywordflow">return</span> xInt.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xInt() + x(tf) * dt, x(tf), insertIntoHistory);</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    }</div>
-</div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>};</div>
-</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
-<div class="foldopen" id="foldopen00063" data-start="{" data-end="};">
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="structTrapezoidalIntegratorSpec.html">   63</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structTrapezoidalIntegratorSpec.html">TrapezoidalIntegratorSpec</a></div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>{</div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
-<div class="foldopen" id="foldopen00066" data-start="{" data-end="}">
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"><a class="line" href="structTrapezoidalIntegratorSpec.html#a38c21a876135bae55c62ec43c3a18a86">   66</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structTrapezoidalIntegratorSpec.html#a38c21a876135bae55c62ec43c3a18a86">integrate</a>(<a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp;          xInt,</div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>                          <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a>&amp; x,</div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       t0,</div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       tf,</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>                          <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;                                         insertIntoHistory)</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    {</div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        <span class="keywordtype">double</span> dt = tf - t0;</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        <span class="keywordflow">return</span> xInt.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xInt() + (x(t0) + x(tf)) * dt / 2.0, x(tf), insertIntoHistory);</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    }</div>
-</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>};</div>
-</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
-<div class="foldopen" id="foldopen00077" data-start="{" data-end="};">
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="structSimpsonIntegratorSpec.html">   77</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structSimpsonIntegratorSpec.html">SimpsonIntegratorSpec</a></div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>{</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
-<div class="foldopen" id="foldopen00080" data-start="{" data-end="}">
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="structSimpsonIntegratorSpec.html#a6194da52902a391e4a9b251c05e6abf2">   80</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structSimpsonIntegratorSpec.html#a6194da52902a391e4a9b251c05e6abf2">integrate</a>(<a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp;          xInt,</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>                          <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a>&amp; x,</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       t0,</div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       tf,</div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>                          <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;                                         insertIntoHistory)</div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>    {</div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        <span class="keywordtype">double</span> dt = tf - t0;</div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>        <span class="keywordflow">return</span> xInt.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf,</div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>                           xInt() + (x(t0) + 4.0 * x((t0 + tf) / 2.0) + x(tf)) * dt / 6.0,</div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>                           x(tf),</div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>                           insertIntoHistory);</div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    }</div>
-</div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>};</div>
-</div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span> </div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="Integration_8h.html#ac22028f5bd0a2ecee786d53a348e4073">   94</a></span><span class="preprocessor">#define MAKE_INTEGRATOR(IntegratorName) typedef Integrator&lt;IntegratorName##IntegratorSpec&gt; IntegratorName##Integrator;</span></div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="Integration_8h.html#aa77358d3cb26c8b8992d44c2079a2a49">   96</a></span><a class="code hl_define" href="Integration_8h.html#ac22028f5bd0a2ecee786d53a348e4073">MAKE_INTEGRATOR</a>(Euler)</div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="Integration_8h.html#a95780a5b17730ea091c504cc3ab98b84">   97</a></span><a class="code hl_define" href="Integration_8h.html#ac22028f5bd0a2ecee786d53a348e4073">MAKE_INTEGRATOR</a>(Trapezoidal)</div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"><a class="line" href="Integration_8h.html#aa29ec69e4ec01e7fe15ed9bbc59fd93b">   98</a></span><a class="code hl_define" href="Integration_8h.html#ac22028f5bd0a2ecee786d53a348e4073">MAKE_INTEGRATOR</a>(Simpson)</div>
-<div class="ttc" id="aIntegration_8h_html_ac22028f5bd0a2ecee786d53a348e4073"><div class="ttname"><a href="Integration_8h.html#ac22028f5bd0a2ecee786d53a348e4073">MAKE_INTEGRATOR</a></div><div class="ttdeci">#define MAKE_INTEGRATOR(IntegratorName)</div><div class="ttdef"><b>Definition</b> Integration.h:94</div></div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       dt,</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>                          <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;                                         insertIntoHistory = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    {</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        <span class="keywordtype">double</span> t_k     = xInt.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>();</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>        <span class="keywordtype">bool</span>   success = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>        <span class="keywordflow">while</span> (t_k &lt; tf &amp;&amp; success)</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>        {</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>            <span class="keywordtype">double</span> dt_k;</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>            <span class="keywordflow">if</span> (<a class="code hl_function" href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">signal_utils::getTimeDelta</a>(dt_k, t_k, tf, dt))</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>            {</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>                <span class="keywordtype">double</span> t_kp1 = t_k + dt_k;</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>                success &amp;= IntegratorType::integrate(xInt, x, t_k, t_kp1, insertIntoHistory);</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>                t_k = t_kp1;</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>            }</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>            <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>            {</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>                success = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>            }</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        }</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>        <span class="keywordflow">return</span> success;</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    }</div>
+</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>};</div>
+</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
+<div class="foldopen" id="foldopen00082" data-start="{" data-end="};">
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="structEulerIntegratorSpec.html">   82</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structEulerIntegratorSpec.html">EulerIntegratorSpec</a></div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>{</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
+<div class="foldopen" id="foldopen00098" data-start="{" data-end="}">
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"><a class="line" href="structEulerIntegratorSpec.html#a6c8d7aa2ecf83f7a348a575e5023639f">   98</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structEulerIntegratorSpec.html#a6c8d7aa2ecf83f7a348a575e5023639f">integrate</a>(<a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp;          xInt,</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>                          <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a>&amp; x,</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       t0,</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       tf,</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>                          <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;                                         insertIntoHistory)</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    {</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>        <span class="keywordtype">double</span> dt = tf - t0;</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>        <span class="keywordflow">return</span> xInt.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xInt() + x(tf) * dt, x(tf), insertIntoHistory);</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    }</div>
+</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>};</div>
+</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span> </div>
+<div class="foldopen" id="foldopen00112" data-start="{" data-end="};">
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"><a class="line" href="structTrapezoidalIntegratorSpec.html">  112</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structTrapezoidalIntegratorSpec.html">TrapezoidalIntegratorSpec</a></div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>{</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
+<div class="foldopen" id="foldopen00128" data-start="{" data-end="}">
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="structTrapezoidalIntegratorSpec.html#a38c21a876135bae55c62ec43c3a18a86">  128</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structTrapezoidalIntegratorSpec.html#a38c21a876135bae55c62ec43c3a18a86">integrate</a>(<a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp;          xInt,</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>                          <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a>&amp; x,</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       t0,</div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       tf,</div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>                          <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;                                         insertIntoHistory)</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    {</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>        <span class="keywordtype">double</span> dt = tf - t0;</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>        <span class="keywordflow">return</span> xInt.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xInt() + (x(t0) + x(tf)) * dt / 2.0, x(tf), insertIntoHistory);</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>    }</div>
+</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>};</div>
+</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span> </div>
+<div class="foldopen" id="foldopen00142" data-start="{" data-end="};">
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"><a class="line" href="structSimpsonIntegratorSpec.html">  142</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structSimpsonIntegratorSpec.html">SimpsonIntegratorSpec</a></div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>{</div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
+<div class="foldopen" id="foldopen00158" data-start="{" data-end="}">
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"><a class="line" href="structSimpsonIntegratorSpec.html#a6194da52902a391e4a9b251c05e6abf2">  158</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structSimpsonIntegratorSpec.html#a6194da52902a391e4a9b251c05e6abf2">integrate</a>(<a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp;          xInt,</div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>                          <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a>&amp; x,</div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       t0,</div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>                          <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;                                       tf,</div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>                          <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;                                         insertIntoHistory)</div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    {</div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>        <span class="keywordtype">double</span> dt = tf - t0;</div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>        <span class="keywordflow">return</span> xInt.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf,</div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>                           xInt() + (x(t0) + 4.0 * x((t0 + tf) / 2.0) + x(tf)) * dt / 6.0,</div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>                           x(tf),</div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>                           insertIntoHistory);</div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>    }</div>
+</div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>};</div>
+</div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span> </div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"><a class="line" href="Integration_8h.html#ac22028f5bd0a2ecee786d53a348e4073">  172</a></span><span class="preprocessor">#define MAKE_INTEGRATOR(IntegratorName) typedef Integrator&lt;IntegratorName##IntegratorSpec&gt; IntegratorName##Integrator;</span></div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span> </div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"><a class="line" href="Integration_8h.html#aa77358d3cb26c8b8992d44c2079a2a49">  174</a></span><a class="code hl_define" href="Integration_8h.html#ac22028f5bd0a2ecee786d53a348e4073">MAKE_INTEGRATOR</a>(Euler)</div>
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"><a class="line" href="Integration_8h.html#a95780a5b17730ea091c504cc3ab98b84">  175</a></span><a class="code hl_define" href="Integration_8h.html#ac22028f5bd0a2ecee786d53a348e4073">MAKE_INTEGRATOR</a>(Trapezoidal)</div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"><a class="line" href="Integration_8h.html#aa29ec69e4ec01e7fe15ed9bbc59fd93b">  176</a></span><a class="code hl_define" href="Integration_8h.html#ac22028f5bd0a2ecee786d53a348e4073">MAKE_INTEGRATOR</a>(Simpson)</div>
+<div class="ttc" id="aIntegration_8h_html_ac22028f5bd0a2ecee786d53a348e4073"><div class="ttname"><a href="Integration_8h.html#ac22028f5bd0a2ecee786d53a348e4073">MAKE_INTEGRATOR</a></div><div class="ttdeci">#define MAKE_INTEGRATOR(IntegratorName)</div><div class="ttdef"><b>Definition</b> Integration.h:172</div></div>
 <div class="ttc" id="aSignal_8h_html"><div class="ttname"><a href="Signal_8h.html">Signal.h</a></div></div>
 <div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:35</div></div>
 <div class="ttc" id="aclassSignal_html_a058783faf86f369b296c50d4e72c0881"><div class="ttname"><a href="classSignal.html#a058783faf86f369b296c50d4e72c0881">Signal::t</a></div><div class="ttdeci">double t() const</div><div class="ttdef"><b>Definition</b> Signal.h:102</div></div>
 <div class="ttc" id="aclassSignal_html_ab91f52b80939a6c67b6863ee463b4ff0"><div class="ttname"><a href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">Signal::update</a></div><div class="ttdeci">bool update(const double &amp;_t, const BaseType &amp;_x, bool insertHistory=false)</div><div class="ttdef"><b>Definition</b> Signal.h:171</div></div>
-<div class="ttc" id="anamespacesignal__utils_html_ad7667542f893604d059a5d0022d2890c"><div class="ttname"><a href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">signal_utils::getTimeDelta</a></div><div class="ttdeci">bool getTimeDelta(double &amp;dt, const double &amp;t0, const double &amp;tf, const double &amp;dt_max=std::numeric_limits&lt; double &gt;::max())</div><div class="ttdef"><b>Definition</b> Utils.h:7</div></div>
-<div class="ttc" id="astructEulerIntegratorSpec_html"><div class="ttname"><a href="structEulerIntegratorSpec.html">EulerIntegratorSpec</a></div><div class="ttdef"><b>Definition</b> Integration.h:50</div></div>
-<div class="ttc" id="astructEulerIntegratorSpec_html_a6c8d7aa2ecf83f7a348a575e5023639f"><div class="ttname"><a href="structEulerIntegratorSpec.html#a6c8d7aa2ecf83f7a348a575e5023639f">EulerIntegratorSpec::integrate</a></div><div class="ttdeci">static bool integrate(Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;t0, const double &amp;tf, const bool &amp;insertIntoHistory)</div><div class="ttdef"><b>Definition</b> Integration.h:52</div></div>
-<div class="ttc" id="astructIntegrator_html"><div class="ttname"><a href="structIntegrator.html">Integrator</a></div><div class="ttdef"><b>Definition</b> Integration.h:6</div></div>
-<div class="ttc" id="astructIntegrator_html_a8266e6bf3abd90d83fa7eb6b9270c0c4"><div class="ttname"><a href="structIntegrator.html#a8266e6bf3abd90d83fa7eb6b9270c0c4">Integrator::integrate</a></div><div class="ttdeci">static bool integrate(Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;tf, const double &amp;dt, const bool &amp;insertIntoHistory=false)</div><div class="ttdef"><b>Definition</b> Integration.h:23</div></div>
-<div class="ttc" id="astructIntegrator_html_ab3bebaa347f6019f3d2da2b2bcee5918"><div class="ttname"><a href="structIntegrator.html#ab3bebaa347f6019f3d2da2b2bcee5918">Integrator::integrate</a></div><div class="ttdeci">static bool integrate(Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;tf, const bool &amp;insertIntoHistory=false)</div><div class="ttdef"><b>Definition</b> Integration.h:8</div></div>
-<div class="ttc" id="astructSimpsonIntegratorSpec_html"><div class="ttname"><a href="structSimpsonIntegratorSpec.html">SimpsonIntegratorSpec</a></div><div class="ttdef"><b>Definition</b> Integration.h:78</div></div>
-<div class="ttc" id="astructSimpsonIntegratorSpec_html_a6194da52902a391e4a9b251c05e6abf2"><div class="ttname"><a href="structSimpsonIntegratorSpec.html#a6194da52902a391e4a9b251c05e6abf2">SimpsonIntegratorSpec::integrate</a></div><div class="ttdeci">static bool integrate(Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;t0, const double &amp;tf, const bool &amp;insertIntoHistory)</div><div class="ttdef"><b>Definition</b> Integration.h:80</div></div>
-<div class="ttc" id="astructTrapezoidalIntegratorSpec_html"><div class="ttname"><a href="structTrapezoidalIntegratorSpec.html">TrapezoidalIntegratorSpec</a></div><div class="ttdef"><b>Definition</b> Integration.h:64</div></div>
-<div class="ttc" id="astructTrapezoidalIntegratorSpec_html_a38c21a876135bae55c62ec43c3a18a86"><div class="ttname"><a href="structTrapezoidalIntegratorSpec.html#a38c21a876135bae55c62ec43c3a18a86">TrapezoidalIntegratorSpec::integrate</a></div><div class="ttdeci">static bool integrate(Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;t0, const double &amp;tf, const bool &amp;insertIntoHistory)</div><div class="ttdef"><b>Definition</b> Integration.h:66</div></div>
+<div class="ttc" id="anamespacesignal__utils_html_ad7667542f893604d059a5d0022d2890c"><div class="ttname"><a href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">signal_utils::getTimeDelta</a></div><div class="ttdeci">bool getTimeDelta(double &amp;dt, const double &amp;t0, const double &amp;tf, const double &amp;dt_max=std::numeric_limits&lt; double &gt;::max())</div><div class="ttdef"><b>Definition</b> Utils.h:11</div></div>
+<div class="ttc" id="astructEulerIntegratorSpec_html"><div class="ttname"><a href="structEulerIntegratorSpec.html">EulerIntegratorSpec</a></div><div class="ttdoc">Specification for numerically integrating a black box function using Euler's method.</div><div class="ttdef"><b>Definition</b> Integration.h:83</div></div>
+<div class="ttc" id="astructEulerIntegratorSpec_html_a6c8d7aa2ecf83f7a348a575e5023639f"><div class="ttname"><a href="structEulerIntegratorSpec.html#a6c8d7aa2ecf83f7a348a575e5023639f">EulerIntegratorSpec::integrate</a></div><div class="ttdeci">static bool integrate(Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;t0, const double &amp;tf, const bool &amp;insertIntoHistory)</div><div class="ttdoc">Euler integration implementation.</div><div class="ttdef"><b>Definition</b> Integration.h:98</div></div>
+<div class="ttc" id="astructIntegrator_html"><div class="ttname"><a href="structIntegrator.html">Integrator</a></div><div class="ttdoc">Base type for all integrators.</div><div class="ttdef"><b>Definition</b> Integration.h:18</div></div>
+<div class="ttc" id="astructIntegrator_html_a8266e6bf3abd90d83fa7eb6b9270c0c4"><div class="ttname"><a href="structIntegrator.html#a8266e6bf3abd90d83fa7eb6b9270c0c4">Integrator::integrate</a></div><div class="ttdeci">static bool integrate(Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;tf, const double &amp;dt, const bool &amp;insertIntoHistory=false)</div><div class="ttdoc">Integrate a signal from the current time to the specified end time, chunked up into smaller integrati...</div><div class="ttdef"><b>Definition</b> Integration.h:53</div></div>
+<div class="ttc" id="astructIntegrator_html_ab3bebaa347f6019f3d2da2b2bcee5918"><div class="ttname"><a href="structIntegrator.html#ab3bebaa347f6019f3d2da2b2bcee5918">Integrator::integrate</a></div><div class="ttdeci">static bool integrate(Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;tf, const bool &amp;insertIntoHistory=false)</div><div class="ttdoc">Integrate a signal from the current time to the specified end time.</div><div class="ttdef"><b>Definition</b> Integration.h:28</div></div>
+<div class="ttc" id="astructSimpsonIntegratorSpec_html"><div class="ttname"><a href="structSimpsonIntegratorSpec.html">SimpsonIntegratorSpec</a></div><div class="ttdoc">Specification for numerically integrating a black box function using Simpson's method.</div><div class="ttdef"><b>Definition</b> Integration.h:143</div></div>
+<div class="ttc" id="astructSimpsonIntegratorSpec_html_a6194da52902a391e4a9b251c05e6abf2"><div class="ttname"><a href="structSimpsonIntegratorSpec.html#a6194da52902a391e4a9b251c05e6abf2">SimpsonIntegratorSpec::integrate</a></div><div class="ttdeci">static bool integrate(Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;t0, const double &amp;tf, const bool &amp;insertIntoHistory)</div><div class="ttdoc">Simpson integration implementation.</div><div class="ttdef"><b>Definition</b> Integration.h:158</div></div>
+<div class="ttc" id="astructTrapezoidalIntegratorSpec_html"><div class="ttname"><a href="structTrapezoidalIntegratorSpec.html">TrapezoidalIntegratorSpec</a></div><div class="ttdoc">Specification for numerically integrating a black box function using the Trapezoidal method.</div><div class="ttdef"><b>Definition</b> Integration.h:113</div></div>
+<div class="ttc" id="astructTrapezoidalIntegratorSpec_html_a38c21a876135bae55c62ec43c3a18a86"><div class="ttname"><a href="structTrapezoidalIntegratorSpec.html#a38c21a876135bae55c62ec43c3a18a86">TrapezoidalIntegratorSpec::integrate</a></div><div class="ttdeci">static bool integrate(Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;t0, const double &amp;tf, const bool &amp;insertIntoHistory)</div><div class="ttdoc">Trapezoidal integration implementation.</div><div class="ttdef"><b>Definition</b> Integration.h:128</div></div>
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 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
diff --git a/docs/Models_8h.html b/docs/Models_8h.html
index 8de9538..6807d8f 100644
--- a/docs/Models_8h.html
+++ b/docs/Models_8h.html
@@ -98,22 +98,31 @@
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
 Classes</h2></td></tr>
 <tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classModel.html">Model&lt; DynamicsType &gt;</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base type for all model simulators.  <a href="classModel.html#details">More...</a><br /></td></tr>
 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structRigidBodyParams1D.html">RigidBodyParams1D</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parameters for a 1D rigid body model.  <a href="structRigidBodyParams1D.html#details">More...</a><br /></td></tr>
 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structRigidBodyParams2D.html">RigidBodyParams2D</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parameters for a 2D rigid body model.  <a href="structRigidBodyParams2D.html#details">More...</a><br /></td></tr>
 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structRigidBodyParams3D.html">RigidBodyParams3D</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parameters for a 3D rigid body model.  <a href="structRigidBodyParams3D.html#details">More...</a><br /></td></tr>
 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base class for defining the dynamics for 1D, 2D, and 3D <em>point masses</em>.  <a href="structTranslationalDynamicsBase.html#details">More...</a><br /></td></tr>
 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF&lt; T &gt;</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Definition of the dynamics for planar rotation-only motion of a mass.  <a href="structRotationalDynamics1DOF.html#details">More...</a><br /></td></tr>
 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF&lt; T &gt;</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Definition of the dynamics for 3D rotation-only motion of a mass.  <a href="structRotationalDynamics3DOF.html#details">More...</a><br /></td></tr>
 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF&lt; T &gt;</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Definition of the dynamics for planar motion of a mass that's allowed to rotate.  <a href="structRigidBodyDynamics3DOF.html#details">More...</a><br /></td></tr>
 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF&lt; T &gt;</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Definition of the dynamics for a 3D rigid body that can rotate about any axis.  <a href="structRigidBodyDynamics6DOF.html#details">More...</a><br /></td></tr>
 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table><table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="define-members" name="define-members"></a>
@@ -190,7 +199,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a01637abb86bd3009fcff2ceb
 <b>Value:</b><div class="fragment"><div class="line">    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;                                                                                               \</div>
 <div class="line">    <span class="keyword">using </span>ModelBaseName##ModelDOF##<a class="code hl_class" href="classModel.html">Model</a> = <a class="code hl_class" href="classModel.html">Model&lt;ModelBaseName##Dynamics##ModelDOF&lt;T&gt;</a>&gt;;                                \</div>
 <div class="line">    <span class="keyword">typedef</span> ModelBaseName##ModelDOF##<a class="code hl_class" href="classModel.html">Model&lt;double&gt;</a> ModelBaseName##ModelDOF##Modeld;</div>
-<div class="ttc" id="aclassModel_html"><div class="ttname"><a href="classModel.html">Model</a></div><div class="ttdef"><b>Definition</b> Models.h:10</div></div>
+<div class="ttc" id="aclassModel_html"><div class="ttname"><a href="classModel.html">Model</a></div><div class="ttdoc">Base type for all model simulators.</div><div class="ttdef"><b>Definition</b> Models.h:25</div></div>
 </div><!-- fragment -->
 </div>
 </div>
@@ -421,8 +430,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#aac436ed3df206f07f93110e3
 <b>Initial value:</b><div class="fragment"><div class="line"> </div>
 <div class="line">    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;ScalarSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;T&gt;</a>, 1, <a class="code hl_struct" href="structRigidBodyParams1D.html">RigidBodyParams1D</a>&gt;</div>
 <div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:35</div></div>
-<div class="ttc" id="astructRigidBodyParams1D_html"><div class="ttname"><a href="structRigidBodyParams1D.html">RigidBodyParams1D</a></div><div class="ttdef"><b>Definition</b> Models.h:107</div></div>
-<div class="ttc" id="astructTranslationalDynamicsBase_html"><div class="ttname"><a href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a></div><div class="ttdef"><b>Definition</b> Models.h:131</div></div>
+<div class="ttc" id="astructRigidBodyParams1D_html"><div class="ttname"><a href="structRigidBodyParams1D.html">RigidBodyParams1D</a></div><div class="ttdoc">Parameters for a 1D rigid body model.</div><div class="ttdef"><b>Definition</b> Models.h:165</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html"><div class="ttname"><a href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a></div><div class="ttdoc">Base class for defining the dynamics for 1D, 2D, and 3D point masses.</div><div class="ttdef"><b>Definition</b> Models.h:236</div></div>
 </div><!-- fragment -->
 </div>
 </div>
@@ -441,7 +450,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ae3889fdff8dd169aef62fcdf
 </div><div class="memdoc">
 <b>Initial value:</b><div class="fragment"><div class="line"> </div>
 <div class="line">    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;Vector2Signal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector2StateSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector2StateSignal&lt;T&gt;</a>, 2, <a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a>&gt;</div>
-<div class="ttc" id="astructRigidBodyParams2D_html"><div class="ttname"><a href="structRigidBodyParams2D.html">RigidBodyParams2D</a></div><div class="ttdef"><b>Definition</b> Models.h:114</div></div>
+<div class="ttc" id="astructRigidBodyParams2D_html"><div class="ttname"><a href="structRigidBodyParams2D.html">RigidBodyParams2D</a></div><div class="ttdoc">Parameters for a 2D rigid body model.</div><div class="ttdef"><b>Definition</b> Models.h:185</div></div>
 </div><!-- fragment -->
 </div>
 </div>
@@ -460,7 +469,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ad1ba77eac61f5da29df59b8b
 </div><div class="memdoc">
 <b>Initial value:</b><div class="fragment"><div class="line"> </div>
 <div class="line">    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;Vector3Signal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>, 3, <a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a>&gt;</div>
-<div class="ttc" id="astructRigidBodyParams3D_html"><div class="ttname"><a href="structRigidBodyParams3D.html">RigidBodyParams3D</a></div><div class="ttdef"><b>Definition</b> Models.h:122</div></div>
+<div class="ttc" id="astructRigidBodyParams3D_html"><div class="ttname"><a href="structRigidBodyParams3D.html">RigidBodyParams3D</a></div><div class="ttdoc">Parameters for a 3D rigid body model.</div><div class="ttdef"><b>Definition</b> Models.h:211</div></div>
 </div><!-- fragment -->
 </div>
 </div>
diff --git a/docs/Models_8h_source.html b/docs/Models_8h_source.html
index 594d48b..a28228a 100644
--- a/docs/Models_8h_source.html
+++ b/docs/Models_8h_source.html
@@ -97,483 +97,483 @@
 <div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
 <div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">using namespace </span>Eigen;</div>
 <div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> DynamicsType&gt;</div>
-<div class="foldopen" id="foldopen00009" data-start="{" data-end="};">
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"><a class="line" href="classModel.html">    9</a></span><span class="keyword">class </span><a class="code hl_class" href="classModel.html">Model</a></div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span>{</div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="keyword">public</span>:</div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"><a class="line" href="classModel.html#ac990dd4740b30e4477bca86fc6172970">   12</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="classModel.html#ac990dd4740b30e4477bca86fc6172970">InputSignalType</a>    = <span class="keyword">typename</span> DynamicsType::InputSignalType;</div>
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="classModel.html#a8abdf37c6158386a9f1d2c6c506f6839">   13</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="classModel.html#a8abdf37c6158386a9f1d2c6c506f6839">StateDotSignalType</a> = <span class="keyword">typename</span> DynamicsType::StateDotSignalType;</div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="classModel.html#a643e1a47ddbb10c5c10844f9aea5be98">   14</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="classModel.html#a643e1a47ddbb10c5c10844f9aea5be98">StateSignalType</a>    = <span class="keyword">typename</span> DynamicsType::StateSignalType;</div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="classModel.html#aec20251d98505785fa51c52eb81dd3a2">   15</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="classModel.html#aec20251d98505785fa51c52eb81dd3a2">ParamsType</a>         = <span class="keyword">typename</span> DynamicsType::ParamsType;</div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">   17</a></span>    <a class="code hl_typedef" href="classModel.html#a643e1a47ddbb10c5c10844f9aea5be98">StateSignalType</a>    <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>;</div>
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">   18</a></span>    <a class="code hl_typedef" href="classModel.html#a8abdf37c6158386a9f1d2c6c506f6839">StateDotSignalType</a> <a class="code hl_variable" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">xdot</a>;</div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
-<div class="foldopen" id="foldopen00020" data-start="{" data-end="}">
-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="classModel.html#a3cbccc00606661a35110dbe111af54ad">   20</a></span>    <a class="code hl_function" href="classModel.html#a3cbccc00606661a35110dbe111af54ad">Model</a>() : params_{std::nullopt}</div>
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    {</div>
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>        <a class="code hl_function" href="classModel.html#a823536a9764d6a35cce173573ee62e90">reset</a>();</div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    }</div>
-</div>
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
-<div class="foldopen" id="foldopen00025" data-start="{" data-end="}">
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="classModel.html#a96533143a30ab87c379e411fcae59643">   25</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classModel.html#a96533143a30ab87c379e411fcae59643">setParams</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classModel.html#aec20251d98505785fa51c52eb81dd3a2">ParamsType</a>&amp; params)</div>
-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    {</div>
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>        params_ = params;</div>
-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    }</div>
-</div>
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
-<div class="foldopen" id="foldopen00030" data-start="{" data-end="}">
-<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">   30</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">hasParams</a>()</div>
-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    {</div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>        <span class="keywordflow">return</span> params_.has_value();</div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    }</div>
-</div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
-<div class="foldopen" id="foldopen00035" data-start="{" data-end="}">
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="classModel.html#a823536a9764d6a35cce173573ee62e90">   35</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classModel.html#a823536a9764d6a35cce173573ee62e90">reset</a>()</div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    {</div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>        <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>.reset();</div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>        <a class="code hl_variable" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">xdot</a>.reset();</div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    }</div>
-</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> DynamicsType&gt;</div>
+<div class="foldopen" id="foldopen00024" data-start="{" data-end="};">
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="classModel.html">   24</a></span><span class="keyword">class </span><a class="code hl_class" href="classModel.html">Model</a></div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>{</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="classModel.html#ac990dd4740b30e4477bca86fc6172970">   27</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="classModel.html#ac990dd4740b30e4477bca86fc6172970">InputSignalType</a>    = <span class="keyword">typename</span> DynamicsType::InputSignalType;</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"><a class="line" href="classModel.html#a8abdf37c6158386a9f1d2c6c506f6839">   28</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="classModel.html#a8abdf37c6158386a9f1d2c6c506f6839">StateDotSignalType</a> = <span class="keyword">typename</span> DynamicsType::StateDotSignalType;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="classModel.html#a643e1a47ddbb10c5c10844f9aea5be98">   29</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="classModel.html#a643e1a47ddbb10c5c10844f9aea5be98">StateSignalType</a>    = <span class="keyword">typename</span> DynamicsType::StateSignalType;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="classModel.html#aec20251d98505785fa51c52eb81dd3a2">   30</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="classModel.html#aec20251d98505785fa51c52eb81dd3a2">ParamsType</a>         = <span class="keyword">typename</span> DynamicsType::ParamsType;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">   35</a></span>    <a class="code hl_typedef" href="classModel.html#a643e1a47ddbb10c5c10844f9aea5be98">StateSignalType</a> <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>;</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">   39</a></span>    <a class="code hl_typedef" href="classModel.html#a8abdf37c6158386a9f1d2c6c506f6839">StateDotSignalType</a> <a class="code hl_variable" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">xdot</a>;</div>
 <div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
 <div class="foldopen" id="foldopen00041" data-start="{" data-end="}">
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="classModel.html#a7661852411b9ffd59240d5d5ca0e4dd3">   41</a></span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classModel.html#a7661852411b9ffd59240d5d5ca0e4dd3">t</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span><span class="keyword">    </span>{</div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>        <span class="keywordflow">return</span> <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>.t();</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="classModel.html#a3cbccc00606661a35110dbe111af54ad">   41</a></span>    <a class="code hl_function" href="classModel.html#a3cbccc00606661a35110dbe111af54ad">Model</a>() : params_{std::nullopt}</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    {</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>        <a class="code hl_function" href="classModel.html#a823536a9764d6a35cce173573ee62e90">reset</a>();</div>
 <div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    }</div>
 </div>
 <div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> IntegratorType&gt;</div>
-<div class="foldopen" id="foldopen00047" data-start="{" data-end="}">
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="classModel.html#ac7446138b27c8feba779ebfe8e82b99d">   47</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classModel.html#ac7446138b27c8feba779ebfe8e82b99d">simulate</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classModel.html#ac990dd4740b30e4477bca86fc6172970">InputSignalType</a>&amp; u,</div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>                  <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>                  <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>                  <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    {</div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>        <span class="keywordflow">if</span> (!<a class="code hl_function" href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">hasParams</a>())</div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>        <span class="keywordtype">double</span> t0 = <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>.t();</div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>        <span class="keywordtype">double</span> dt;</div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>        <span class="keywordflow">if</span> (!<a class="code hl_function" href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">signal_utils::getTimeDelta</a>(dt, t0, tf))</div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>        {</div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        }</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>        <span class="keywordflow">if</span> (!DynamicsType::update(<a class="code hl_variable" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">xdot</a>, <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>, u, t0, tf, params_.value(), insertIntoHistory, calculateXddot))</div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>        {</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>        }</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        <span class="keywordflow">if</span> (!IntegratorType::integrate(<a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>, <a class="code hl_variable" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">xdot</a>, tf, insertIntoHistory))</div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>        {</div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>        }</div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    }</div>
+<div class="foldopen" id="foldopen00051" data-start="{" data-end="}">
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="classModel.html#a96533143a30ab87c379e411fcae59643">   51</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classModel.html#a96533143a30ab87c379e411fcae59643">setParams</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classModel.html#aec20251d98505785fa51c52eb81dd3a2">ParamsType</a>&amp; params)</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    {</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>        params_ = params;</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    }</div>
 </div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> IntegratorType&gt;</div>
-<div class="foldopen" id="foldopen00072" data-start="{" data-end="}">
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classModel.html#ac2550ae8ed888d167450160ce55286df">   72</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classModel.html#ac2550ae8ed888d167450160ce55286df">simulate</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classModel.html#ac990dd4740b30e4477bca86fc6172970">InputSignalType</a>&amp; u,</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>                  <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>                  <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          dt,</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>                  <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>                  <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    {</div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>        <span class="keywordflow">if</span> (!<a class="code hl_function" href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">hasParams</a>())</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>        <span class="keywordtype">double</span> t_k = <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>.t();</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>        <span class="keywordflow">while</span> (t_k &lt; tf)</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>        {</div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>            <span class="keywordtype">double</span> dt_k;</div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>            <span class="keywordflow">if</span> (!<a class="code hl_function" href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">signal_utils::getTimeDelta</a>(dt_k, t_k, tf, dt))</div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>            {</div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>            }</div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>            <span class="keywordtype">double</span> t_kp1 = t_k + dt_k;</div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>            <span class="keywordflow">if</span> (!DynamicsType::update(<a class="code hl_variable" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">xdot</a>, <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>, u, t_k, t_kp1, params_.value(), insertIntoHistory, calculateXddot))</div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>            {</div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>            }</div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>            <span class="keywordflow">if</span> (!IntegratorType::integrate(<a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>, <a class="code hl_variable" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">xdot</a>, t_kp1, insertIntoHistory))</div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>            {</div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>            }</div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>            t_k = t_kp1;</div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>        }</div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    }</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
+<div class="foldopen" id="foldopen00059" data-start="{" data-end="}">
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">   59</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">hasParams</a>()</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    {</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>        <span class="keywordflow">return</span> params_.has_value();</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    }</div>
 </div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span><span class="keyword">private</span>:</div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    std::optional&lt;ParamsType&gt; params_;</div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>};</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
+<div class="foldopen" id="foldopen00067" data-start="{" data-end="}">
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="classModel.html#a823536a9764d6a35cce173573ee62e90">   67</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classModel.html#a823536a9764d6a35cce173573ee62e90">reset</a>()</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    {</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>.reset();</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>        <a class="code hl_variable" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">xdot</a>.reset();</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    }</div>
 </div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span> </div>
-<div class="foldopen" id="foldopen00106" data-start="{" data-end="};">
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"><a class="line" href="structRigidBodyParams1D.html">  106</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRigidBodyParams1D.html">RigidBodyParams1D</a></div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>{</div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"><a class="line" href="structRigidBodyParams1D.html#ab2b9c3eb89bcbf0ac06a33e95725e0eb">  108</a></span>    <a class="code hl_function" href="structRigidBodyParams1D.html#ab2b9c3eb89bcbf0ac06a33e95725e0eb">RigidBodyParams1D</a>() : <a class="code hl_variable" href="structRigidBodyParams1D.html#a2f5a1c0e6320c14d72d0ff98ad979332">m</a>(1), <a class="code hl_variable" href="structRigidBodyParams1D.html#a823d208bcbabadd83d3cc8f222973c95">g</a>(0) {}</div>
-<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="structRigidBodyParams1D.html#a2f5a1c0e6320c14d72d0ff98ad979332">  109</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structRigidBodyParams1D.html#a2f5a1c0e6320c14d72d0ff98ad979332">m</a>;</div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"><a class="line" href="structRigidBodyParams1D.html#a823d208bcbabadd83d3cc8f222973c95">  110</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structRigidBodyParams1D.html#a823d208bcbabadd83d3cc8f222973c95">g</a>;</div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>};</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span> </div>
+<div class="foldopen" id="foldopen00076" data-start="{" data-end="}">
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="classModel.html#a7661852411b9ffd59240d5d5ca0e4dd3">   76</a></span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classModel.html#a7661852411b9ffd59240d5d5ca0e4dd3">t</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>        <span class="keywordflow">return</span> <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>.t();</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    }</div>
 </div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span> </div>
-<div class="foldopen" id="foldopen00113" data-start="{" data-end="};">
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="structRigidBodyParams2D.html">  113</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a></div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>{</div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="structRigidBodyParams2D.html#a6febaa8c9f355105b908979da3dd1255">  115</a></span>    <a class="code hl_function" href="structRigidBodyParams2D.html#a6febaa8c9f355105b908979da3dd1255">RigidBodyParams2D</a>() : <a class="code hl_variable" href="structRigidBodyParams2D.html#a5e37a979a1a69333bcc5576d14397185">m</a>(1), <a class="code hl_variable" href="structRigidBodyParams2D.html#aaefd836b5e013be87bc317aaba261a25">J</a>(1), <a class="code hl_variable" href="structRigidBodyParams2D.html#ab212f53241edb1bf232499a6ba963258">g</a>(Vector2d::Zero()) {}</div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="structRigidBodyParams2D.html#a5e37a979a1a69333bcc5576d14397185">  116</a></span>    <span class="keywordtype">double</span>   <a class="code hl_variable" href="structRigidBodyParams2D.html#a5e37a979a1a69333bcc5576d14397185">m</a>;</div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="structRigidBodyParams2D.html#aaefd836b5e013be87bc317aaba261a25">  117</a></span>    <span class="keywordtype">double</span>   <a class="code hl_variable" href="structRigidBodyParams2D.html#aaefd836b5e013be87bc317aaba261a25">J</a>;</div>
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"><a class="line" href="structRigidBodyParams2D.html#ab212f53241edb1bf232499a6ba963258">  118</a></span>    Vector2d <a class="code hl_variable" href="structRigidBodyParams2D.html#ab212f53241edb1bf232499a6ba963258">g</a>;</div>
-<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>};</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span> </div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> IntegratorType&gt;</div>
+<div class="foldopen" id="foldopen00090" data-start="{" data-end="}">
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classModel.html#ac7446138b27c8feba779ebfe8e82b99d">   90</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classModel.html#ac7446138b27c8feba779ebfe8e82b99d">simulate</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classModel.html#ac990dd4740b30e4477bca86fc6172970">InputSignalType</a>&amp; u,</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>                  <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>                  <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>                  <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    {</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>        <span class="keywordflow">if</span> (!<a class="code hl_function" href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">hasParams</a>())</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>        <span class="keywordtype">double</span> t0 = <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>.t();</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>        <span class="keywordtype">double</span> dt;</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>        <span class="keywordflow">if</span> (!<a class="code hl_function" href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">signal_utils::getTimeDelta</a>(dt, t0, tf))</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>        {</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>        }</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>        <span class="keywordflow">if</span> (!DynamicsType::update(<a class="code hl_variable" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">xdot</a>, <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>, u, t0, tf, params_.value(), insertIntoHistory, calculateXddot))</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>        {</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>        }</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>        <span class="keywordflow">if</span> (!IntegratorType::integrate(<a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>, <a class="code hl_variable" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">xdot</a>, tf, insertIntoHistory))</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>        {</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>        }</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    }</div>
 </div>
-<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span> </div>
-<div class="foldopen" id="foldopen00121" data-start="{" data-end="};">
-<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"><a class="line" href="structRigidBodyParams3D.html">  121</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a></div>
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>{</div>
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="structRigidBodyParams3D.html#a8aa76fea7a0790ead025bf79e767d0cf">  123</a></span>    <a class="code hl_function" href="structRigidBodyParams3D.html#a8aa76fea7a0790ead025bf79e767d0cf">RigidBodyParams3D</a>() : <a class="code hl_variable" href="structRigidBodyParams3D.html#acfa4c165c3278306dac4c0f51819e694">m</a>(1), <a class="code hl_variable" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">J</a>(Matrix3d::Identity()), <a class="code hl_variable" href="structRigidBodyParams3D.html#a87b9c6a467ebcd6805a1d9419e6149d1">g</a>(Vector3d::Zero()) {}</div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"><a class="line" href="structRigidBodyParams3D.html#acfa4c165c3278306dac4c0f51819e694">  124</a></span>    <span class="keywordtype">double</span>   <a class="code hl_variable" href="structRigidBodyParams3D.html#acfa4c165c3278306dac4c0f51819e694">m</a>;</div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"><a class="line" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">  125</a></span>    Matrix3d <a class="code hl_variable" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">J</a>;</div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="structRigidBodyParams3D.html#a87b9c6a467ebcd6805a1d9419e6149d1">  126</a></span>    Vector3d <a class="code hl_variable" href="structRigidBodyParams3D.html#a87b9c6a467ebcd6805a1d9419e6149d1">g</a>;</div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>};</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span> </div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> IntegratorType&gt;</div>
+<div class="foldopen" id="foldopen00125" data-start="{" data-end="}">
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"><a class="line" href="classModel.html#ac2550ae8ed888d167450160ce55286df">  125</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classModel.html#ac2550ae8ed888d167450160ce55286df">simulate</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classModel.html#ac990dd4740b30e4477bca86fc6172970">InputSignalType</a>&amp; u,</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>                  <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>                  <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          dt,</div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>                  <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>                  <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    {</div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>        <span class="keywordflow">if</span> (!<a class="code hl_function" href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">hasParams</a>())</div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>        <span class="keywordtype">double</span> t_k = <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>.t();</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>        <span class="keywordflow">while</span> (t_k &lt; tf)</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>        {</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>            <span class="keywordtype">double</span> dt_k;</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>            <span class="keywordflow">if</span> (!<a class="code hl_function" href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">signal_utils::getTimeDelta</a>(dt_k, t_k, tf, dt))</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>            {</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>            }</div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>            <span class="keywordtype">double</span> t_kp1 = t_k + dt_k;</div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>            <span class="keywordflow">if</span> (!DynamicsType::update(<a class="code hl_variable" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">xdot</a>, <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>, u, t_k, t_kp1, params_.value(), insertIntoHistory, calculateXddot))</div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>            {</div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>            }</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>            <span class="keywordflow">if</span> (!IntegratorType::integrate(<a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>, <a class="code hl_variable" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">xdot</a>, t_kp1, insertIntoHistory))</div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>            {</div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>            }</div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>            t_k = t_kp1;</div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>        }</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    }</div>
 </div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span> </div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> IST, <span class="keyword">typename</span> SST, <span class="keyword">typename</span> SDST, <span class="keywordtype">size_t</span> d, <span class="keyword">typename</span> PT&gt;</div>
-<div class="foldopen" id="foldopen00130" data-start="{" data-end="};">
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html">  130</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a></div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>{</div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#aac403e4db54adf389b8f1fa3700f6f6a">  132</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#aac403e4db54adf389b8f1fa3700f6f6a">InputSignalType</a>    = IST;</div>
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#a3870f6b57fcb6cb578b3640401331a39">  133</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a3870f6b57fcb6cb578b3640401331a39">StateDotSignalType</a> = SST;</div>
-<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#a1f0fdd4bbfb73f52878c7e5c7e459f16">  134</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a1f0fdd4bbfb73f52878c7e5c7e459f16">StateSignalType</a>    = SDST;</div>
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span> </div>
-<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#ac57d5ab2e4cf3e6afe4a5ae550e858bb">  136</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#ac57d5ab2e4cf3e6afe4a5ae550e858bb">InputType</a>       = <span class="keyword">typename</span> InputSignalType::BaseType;</div>
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#aabb958cc98babacfc8478a04fb7a37dd">  137</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#aabb958cc98babacfc8478a04fb7a37dd">StateType</a>       = <span class="keyword">typename</span> StateSignalType::BaseType;</div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#a25c6532290d222c25e727394a0afa0b7">  138</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a25c6532290d222c25e727394a0afa0b7">StateDotType</a>    = <span class="keyword">typename</span> StateDotSignalType::BaseType;</div>
-<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#a4ae3874e31bcc97d54f4cebea0606002">  139</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a4ae3874e31bcc97d54f4cebea0606002">StateDotDotType</a> = <span class="keyword">typename</span> StateDotSignalType::TangentType;</div>
-<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span> </div>
-<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#a4ba374f05dd1f5c4168adf3d6a15ef0c">  141</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a4ba374f05dd1f5c4168adf3d6a15ef0c">ParamsType</a> = PT;</div>
-<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span> </div>
-<div class="foldopen" id="foldopen00143" data-start="{" data-end="}">
-<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#a3f1e02018ec014fe38ba851dc0d5b2ed">  143</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structTranslationalDynamicsBase.html#a3f1e02018ec014fe38ba851dc0d5b2ed">update</a>(<a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a3870f6b57fcb6cb578b3640401331a39">StateDotSignalType</a>&amp;    xdot,</div>
-<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a1f0fdd4bbfb73f52878c7e5c7e459f16">StateSignalType</a>&amp; x,</div>
-<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structTranslationalDynamicsBase.html#aac403e4db54adf389b8f1fa3700f6f6a">InputSignalType</a>&amp; u,</div>
-<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          t0,</div>
-<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
-<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a4ba374f05dd1f5c4168adf3d6a15ef0c">ParamsType</a>&amp;      params,</div>
-<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
-<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
-<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    {</div>
-<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>        <a class="code hl_typedef" href="structTranslationalDynamicsBase.html#ac57d5ab2e4cf3e6afe4a5ae550e858bb">InputType</a> u_k = u(t0);</div>
-<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>        <a class="code hl_typedef" href="structTranslationalDynamicsBase.html#aabb958cc98babacfc8478a04fb7a37dd">StateType</a> x_k = x(t0);</div>
 <div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span> </div>
-<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>        <a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a25c6532290d222c25e727394a0afa0b7">StateDotType</a> xdot_k;</div>
-<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>        xdot_k.pose  = x_k.twist;</div>
-<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>        xdot_k.twist = -params.g + u_k / params.m;</div>
-<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span> </div>
-<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>        <span class="keywordflow">if</span> (calculateXddot)</div>
-<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>        {</div>
-<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>            <span class="keywordflow">return</span> xdot.update(tf, xdot_k, insertIntoHistory);</div>
-<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>        }</div>
-<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>        <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>        {</div>
-<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>            <span class="keywordflow">return</span> xdot.update(tf, xdot_k, StateDotDotType::identity(), insertIntoHistory);</div>
-<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>        }</div>
-<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>    }</div>
-</div>
-<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>};</div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    std::optional&lt;ParamsType&gt; params_;</div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>};</div>
 </div>
-<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span> </div>
-<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"><a class="line" href="Models_8h.html#aac436ed3df206f07f93110e3daffe773">  171</a></span><span class="keyword">using </span><a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamics1DOF</a> =</div>
-<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;ScalarSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;T&gt;</a>, 1, <a class="code hl_struct" href="structRigidBodyParams1D.html">RigidBodyParams1D</a>&gt;;</div>
-<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span> </div>
-<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"><a class="line" href="Models_8h.html#ae3889fdff8dd169aef62fcdf6340e0e1">  175</a></span><span class="keyword">using </span><a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamics2DOF</a> =</div>
-<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;Vector2Signal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector2StateSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector2StateSignal&lt;T&gt;</a>, 2, <a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a>&gt;;</div>
-<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span> </div>
-<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"><a class="line" href="Models_8h.html#ad1ba77eac61f5da29df59b8b4b0d7a0d">  179</a></span><span class="keyword">using </span><a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamics3DOF</a> =</div>
-<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;Vector3Signal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>, 3, <a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a>&gt;;</div>
-<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span> </div>
-<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="foldopen" id="foldopen00183" data-start="{" data-end="};">
-<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html">  183</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a></div>
-<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>{</div>
-<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a80b5f730e292fda15bdcf1e8b96fe02e">  185</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">InputSignalType</a>    = <a class="code hl_class" href="classSignal.html">Vector1Signal&lt;T&gt;</a>;</div>
-<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#ac321d27d0098cb3e8e64ea0d98500cb6">  186</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateSignalType</a>    = <a class="code hl_class" href="classSignal.html">SO2StateSignal&lt;T&gt;</a>;</div>
-<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a32c4979bf8f6aa3f9c1b0f2818ba4abd">  187</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateDotSignalType</a> = <a class="code hl_class" href="classSignal.html">Vector1StateSignal&lt;T&gt;</a>;</div>
-<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span> </div>
-<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#ad43b9ce6a37b65d677d01ceafe448259">  189</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics1DOF.html#ad43b9ce6a37b65d677d01ceafe448259">InputType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a>;</div>
-<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#aada86d78db85576298e606afda8c928d">  190</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics1DOF.html#aada86d78db85576298e606afda8c928d">StateType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a>;</div>
-<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a7df05f9db990eecd331f506d1a17597e">  191</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics1DOF.html#a7df05f9db990eecd331f506d1a17597e">StateDotType</a>    = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a>;</div>
-<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a5e2f1cd471e7be99dc9e0f3f29f146f3">  192</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics1DOF.html#a5e2f1cd471e7be99dc9e0f3f29f146f3">StateDotDotType</a> = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a>;</div>
-<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span> </div>
-<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a38ff3a3028dc85817407d15587bf3451">  194</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structRigidBodyParams2D.html">ParamsType</a> = <a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a>;</div>
-<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span> </div>
-<div class="foldopen" id="foldopen00196" data-start="{" data-end="}">
-<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a433f042fafdcff07948eb952e47f13b6">  196</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structRotationalDynamics1DOF.html#a433f042fafdcff07948eb952e47f13b6">update</a>(<a class="code hl_class" href="classSignal.html">StateDotSignalType</a>&amp;    xdot,</div>
-<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">StateSignalType</a>&amp; x,</div>
-<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">InputSignalType</a>&amp; u,</div>
-<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          t0,</div>
-<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
-<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>                       <span class="keyword">const</span> <a class="code hl_struct" href="structRigidBodyParams2D.html">ParamsType</a>&amp;      params,</div>
-<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
-<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
-<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span>    {</div>
-<div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>        <a class="code hl_typedef" href="structRotationalDynamics1DOF.html#ad43b9ce6a37b65d677d01ceafe448259">InputType</a> u_k = u(t0);</div>
-<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>        <a class="code hl_typedef" href="structRotationalDynamics1DOF.html#aada86d78db85576298e606afda8c928d">StateType</a> x_k = x(t0);</div>
-<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span> </div>
-<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>        <a class="code hl_typedef" href="structRotationalDynamics1DOF.html#a7df05f9db990eecd331f506d1a17597e">StateDotType</a> xdot_k;</div>
-<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>        xdot_k.pose  = x_k.twist;</div>
-<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>        xdot_k.twist = u_k / params.<a class="code hl_variable" href="structRigidBodyParams2D.html#aaefd836b5e013be87bc317aaba261a25">J</a>;</div>
-<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span> </div>
-<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>        <span class="keywordflow">if</span> (calculateXddot)</div>
-<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>        {</div>
-<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, insertIntoHistory);</div>
-<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>        }</div>
-<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>        <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>        {</div>
-<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, StateDotDotType::identity(), insertIntoHistory);</div>
-<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>        }</div>
-<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>    }</div>
-</div>
-<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>};</div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span> </div>
+<div class="foldopen" id="foldopen00164" data-start="{" data-end="};">
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"><a class="line" href="structRigidBodyParams1D.html">  164</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRigidBodyParams1D.html">RigidBodyParams1D</a></div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>{</div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"><a class="line" href="structRigidBodyParams1D.html#ab2b9c3eb89bcbf0ac06a33e95725e0eb">  166</a></span>    <a class="code hl_function" href="structRigidBodyParams1D.html#ab2b9c3eb89bcbf0ac06a33e95725e0eb">RigidBodyParams1D</a>() : <a class="code hl_variable" href="structRigidBodyParams1D.html#a2f5a1c0e6320c14d72d0ff98ad979332">m</a>(1), <a class="code hl_variable" href="structRigidBodyParams1D.html#a823d208bcbabadd83d3cc8f222973c95">g</a>(0) {}</div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"><a class="line" href="structRigidBodyParams1D.html#a2f5a1c0e6320c14d72d0ff98ad979332">  170</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structRigidBodyParams1D.html#a2f5a1c0e6320c14d72d0ff98ad979332">m</a>;</div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"><a class="line" href="structRigidBodyParams1D.html#a823d208bcbabadd83d3cc8f222973c95">  176</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structRigidBodyParams1D.html#a823d208bcbabadd83d3cc8f222973c95">g</a>;</div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>};</div>
 </div>
-<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span> </div>
-<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="foldopen" id="foldopen00224" data-start="{" data-end="};">
-<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html">  224</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a></div>
-<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>{</div>
-<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#aac317f9992071217ce644f6b9ccd8763">  226</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">InputSignalType</a>    = <a class="code hl_class" href="classSignal.html">Vector3Signal&lt;T&gt;</a>;</div>
-<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a2814e21ab959a4cb71fdc2682d1cad69">  227</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateSignalType</a>    = <a class="code hl_class" href="classSignal.html">SO3StateSignal&lt;T&gt;</a>;</div>
-<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a6b1ce3427c65404128d15a66c3d11621">  228</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateDotSignalType</a> = <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>;</div>
-<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span> </div>
-<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#aafaa22bb44de6a10f6293f66da5c52e5">  230</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics3DOF.html#aafaa22bb44de6a10f6293f66da5c52e5">InputType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a>;</div>
-<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#aaee29651f3b1671b6ab4e10656ea6f9a">  231</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics3DOF.html#aaee29651f3b1671b6ab4e10656ea6f9a">StateType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a>;</div>
-<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a40c9649794d2d6e82da6451d17c32bb5">  232</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics3DOF.html#a40c9649794d2d6e82da6451d17c32bb5">StateDotType</a>    = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a>;</div>
-<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a6e75764a6e9b0ec406d716dfb60943b1">  233</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics3DOF.html#a6e75764a6e9b0ec406d716dfb60943b1">StateDotDotType</a> = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a>;</div>
-<div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span> </div>
-<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a2ac951c964726729410488c2bfcfa156">  235</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structRigidBodyParams3D.html">ParamsType</a> = <a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a>;</div>
-<div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span> </div>
-<div class="foldopen" id="foldopen00237" data-start="{" data-end="}">
-<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#aee5958f7949268650c00097b2a871252">  237</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structRotationalDynamics3DOF.html#aee5958f7949268650c00097b2a871252">update</a>(<a class="code hl_class" href="classSignal.html">StateDotSignalType</a>&amp;    xdot,</div>
-<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">StateSignalType</a>&amp; x,</div>
-<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">InputSignalType</a>&amp; u,</div>
-<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          t0,</div>
-<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
-<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>                       <span class="keyword">const</span> <a class="code hl_struct" href="structRigidBodyParams3D.html">ParamsType</a>&amp;      params,</div>
-<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
-<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
-<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>    {</div>
-<div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>        <a class="code hl_typedef" href="structRotationalDynamics3DOF.html#aafaa22bb44de6a10f6293f66da5c52e5">InputType</a> u_k = u(t0);</div>
-<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>        <a class="code hl_typedef" href="structRotationalDynamics3DOF.html#aaee29651f3b1671b6ab4e10656ea6f9a">StateType</a> x_k = x(t0);</div>
-<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span> </div>
-<div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>        <a class="code hl_typedef" href="structRotationalDynamics3DOF.html#a40c9649794d2d6e82da6451d17c32bb5">StateDotType</a> xdot_k;</div>
-<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>        xdot_k.pose  = x_k.twist;</div>
-<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span>        xdot_k.twist = params.<a class="code hl_variable" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">J</a>.inverse() * (-x_k.twist.cross(params.<a class="code hl_variable" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">J</a> * x_k.twist) + u_k);</div>
-<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span> </div>
-<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>        <span class="keywordflow">if</span> (calculateXddot)</div>
-<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>        {</div>
-<div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, insertIntoHistory);</div>
-<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>        }</div>
-<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>        <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span>        {</div>
-<div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, StateDotDotType::identity(), insertIntoHistory);</div>
-<div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span>        }</div>
-<div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>    }</div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span> </div>
+<div class="foldopen" id="foldopen00184" data-start="{" data-end="};">
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"><a class="line" href="structRigidBodyParams2D.html">  184</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a></div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>{</div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"><a class="line" href="structRigidBodyParams2D.html#a6febaa8c9f355105b908979da3dd1255">  186</a></span>    <a class="code hl_function" href="structRigidBodyParams2D.html#a6febaa8c9f355105b908979da3dd1255">RigidBodyParams2D</a>() : <a class="code hl_variable" href="structRigidBodyParams2D.html#a5e37a979a1a69333bcc5576d14397185">m</a>(1), <a class="code hl_variable" href="structRigidBodyParams2D.html#aaefd836b5e013be87bc317aaba261a25">J</a>(1), <a class="code hl_variable" href="structRigidBodyParams2D.html#ab212f53241edb1bf232499a6ba963258">g</a>(Vector2d::Zero()) {}</div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"><a class="line" href="structRigidBodyParams2D.html#a5e37a979a1a69333bcc5576d14397185">  190</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structRigidBodyParams2D.html#a5e37a979a1a69333bcc5576d14397185">m</a>;</div>
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"><a class="line" href="structRigidBodyParams2D.html#aaefd836b5e013be87bc317aaba261a25">  196</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structRigidBodyParams2D.html#aaefd836b5e013be87bc317aaba261a25">J</a>;</div>
+<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"><a class="line" href="structRigidBodyParams2D.html#ab212f53241edb1bf232499a6ba963258">  202</a></span>    Vector2d <a class="code hl_variable" href="structRigidBodyParams2D.html#ab212f53241edb1bf232499a6ba963258">g</a>;</div>
+<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>};</div>
 </div>
-<div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>};</div>
+<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span> </div>
+<div class="foldopen" id="foldopen00210" data-start="{" data-end="};">
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"><a class="line" href="structRigidBodyParams3D.html">  210</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a></div>
+<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>{</div>
+<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"><a class="line" href="structRigidBodyParams3D.html#a8aa76fea7a0790ead025bf79e767d0cf">  212</a></span>    <a class="code hl_function" href="structRigidBodyParams3D.html#a8aa76fea7a0790ead025bf79e767d0cf">RigidBodyParams3D</a>() : <a class="code hl_variable" href="structRigidBodyParams3D.html#acfa4c165c3278306dac4c0f51819e694">m</a>(1), <a class="code hl_variable" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">J</a>(Matrix3d::Identity()), <a class="code hl_variable" href="structRigidBodyParams3D.html#a87b9c6a467ebcd6805a1d9419e6149d1">g</a>(Vector3d::Zero()) {}</div>
+<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"><a class="line" href="structRigidBodyParams3D.html#acfa4c165c3278306dac4c0f51819e694">  216</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structRigidBodyParams3D.html#acfa4c165c3278306dac4c0f51819e694">m</a>;</div>
+<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"><a class="line" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">  222</a></span>    Matrix3d <a class="code hl_variable" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">J</a>;</div>
+<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"><a class="line" href="structRigidBodyParams3D.html#a87b9c6a467ebcd6805a1d9419e6149d1">  228</a></span>    Vector3d <a class="code hl_variable" href="structRigidBodyParams3D.html#a87b9c6a467ebcd6805a1d9419e6149d1">g</a>;</div>
+<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>};</div>
 </div>
-<div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span> </div>
-<div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="foldopen" id="foldopen00265" data-start="{" data-end="};">
-<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html">  265</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a></div>
-<div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>{</div>
-<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a4341d5e4a676e15edc8f8faafef5431a">  267</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">InputSignalType</a>    = <a class="code hl_class" href="classSignal.html">Vector3Signal&lt;T&gt;</a>;</div>
-<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a0c346a983bc929f1f7a6e5d2be3a0841">  268</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateSignalType</a>    = <a class="code hl_class" href="classSignal.html">SE2StateSignal&lt;T&gt;</a>;</div>
-<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a28d138392ca0069c5e6274f78fd08e29">  269</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateDotSignalType</a> = <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span> </div>
+<div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> IST, <span class="keyword">typename</span> SST, <span class="keyword">typename</span> SDST, <span class="keywordtype">size_t</span> d, <span class="keyword">typename</span> PT&gt;</div>
+<div class="foldopen" id="foldopen00235" data-start="{" data-end="};">
+<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html">  235</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a></div>
+<div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span>{</div>
+<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#aac403e4db54adf389b8f1fa3700f6f6a">  237</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#aac403e4db54adf389b8f1fa3700f6f6a">InputSignalType</a>    = IST;</div>
+<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#a3870f6b57fcb6cb578b3640401331a39">  238</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a3870f6b57fcb6cb578b3640401331a39">StateDotSignalType</a> = SST;</div>
+<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#a1f0fdd4bbfb73f52878c7e5c7e459f16">  239</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a1f0fdd4bbfb73f52878c7e5c7e459f16">StateSignalType</a>    = SDST;</div>
+<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span> </div>
+<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#ac57d5ab2e4cf3e6afe4a5ae550e858bb">  241</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#ac57d5ab2e4cf3e6afe4a5ae550e858bb">InputType</a>       = <span class="keyword">typename</span> InputSignalType::BaseType;</div>
+<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#aabb958cc98babacfc8478a04fb7a37dd">  242</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#aabb958cc98babacfc8478a04fb7a37dd">StateType</a>       = <span class="keyword">typename</span> StateSignalType::BaseType;</div>
+<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#a25c6532290d222c25e727394a0afa0b7">  243</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a25c6532290d222c25e727394a0afa0b7">StateDotType</a>    = <span class="keyword">typename</span> StateDotSignalType::BaseType;</div>
+<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#a4ae3874e31bcc97d54f4cebea0606002">  244</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a4ae3874e31bcc97d54f4cebea0606002">StateDotDotType</a> = <span class="keyword">typename</span> StateDotSignalType::TangentType;</div>
+<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span> </div>
+<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#a4ba374f05dd1f5c4168adf3d6a15ef0c">  246</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a4ba374f05dd1f5c4168adf3d6a15ef0c">ParamsType</a> = PT;</div>
+<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span> </div>
+<div class="foldopen" id="foldopen00259" data-start="{" data-end="}">
+<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#a3f1e02018ec014fe38ba851dc0d5b2ed">  259</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structTranslationalDynamicsBase.html#a3f1e02018ec014fe38ba851dc0d5b2ed">update</a>(<a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a3870f6b57fcb6cb578b3640401331a39">StateDotSignalType</a>&amp;    xdot,</div>
+<div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a1f0fdd4bbfb73f52878c7e5c7e459f16">StateSignalType</a>&amp; x,</div>
+<div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structTranslationalDynamicsBase.html#aac403e4db54adf389b8f1fa3700f6f6a">InputSignalType</a>&amp; u,</div>
+<div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          t0,</div>
+<div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
+<div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a4ba374f05dd1f5c4168adf3d6a15ef0c">ParamsType</a>&amp;      params,</div>
+<div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
+<div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span>    {</div>
+<div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span>        <a class="code hl_typedef" href="structTranslationalDynamicsBase.html#ac57d5ab2e4cf3e6afe4a5ae550e858bb">InputType</a> u_k = u(t0);</div>
+<div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>        <a class="code hl_typedef" href="structTranslationalDynamicsBase.html#aabb958cc98babacfc8478a04fb7a37dd">StateType</a> x_k = x(t0);</div>
 <div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span> </div>
-<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#aa90232643a368b1d4b9fd618ae8d57f7">  271</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#aa90232643a368b1d4b9fd618ae8d57f7">InputType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a>;</div>
-<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a448c5efb998f492d1518eb0d2d7ded74">  272</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a448c5efb998f492d1518eb0d2d7ded74">StateType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a>;</div>
-<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a7a9fa29ba97531d856e87560806a805c">  273</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a7a9fa29ba97531d856e87560806a805c">StateDotType</a>    = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a>;</div>
-<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a562a8cc5e6e8dca19982509022a22ba4">  274</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a562a8cc5e6e8dca19982509022a22ba4">StateDotDotType</a> = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a>;</div>
-<div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span> </div>
-<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#afa1ade3cc027b78a2d2c65df867d52b0">  276</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structRigidBodyParams2D.html">ParamsType</a> = <a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a>;</div>
-<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span> </div>
-<div class="foldopen" id="foldopen00278" data-start="{" data-end="}">
-<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#acafe68f9e9ea78f54bc70d64a1b39d9c">  278</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structRigidBodyDynamics3DOF.html#acafe68f9e9ea78f54bc70d64a1b39d9c">update</a>(<a class="code hl_class" href="classSignal.html">StateDotSignalType</a>&amp;    xdot,</div>
-<div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">StateSignalType</a>&amp; x,</div>
-<div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">InputSignalType</a>&amp; u,</div>
-<div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          t0,</div>
-<div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
-<div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>                       <span class="keyword">const</span> <a class="code hl_struct" href="structRigidBodyParams2D.html">ParamsType</a>&amp;      params,</div>
-<div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
-<div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
-<div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>    {</div>
-<div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span>        <a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#aa90232643a368b1d4b9fd618ae8d57f7">InputType</a> u_k = u(t0);</div>
-<div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>        <a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a448c5efb998f492d1518eb0d2d7ded74">StateType</a> x_k = x(t0);</div>
-<div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span> </div>
-<div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span>        <a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a7a9fa29ba97531d856e87560806a805c">StateDotType</a> xdot_k;</div>
-<div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>        xdot_k.pose                             = x_k.twist;</div>
-<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>        xdot_k.twist.template block&lt;2, 1&gt;(0, 0) = -(x_k.pose.q().inverse() * params.<a class="code hl_variable" href="structRigidBodyParams2D.html#ab212f53241edb1bf232499a6ba963258">g</a>) -</div>
-<div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>                                                  x_k.twist(2) * Matrix&lt;T, 2, 1&gt;(-x_k.twist(1), x_k.twist(0)) +</div>
-<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>                                                  1.0 / params.<a class="code hl_variable" href="structRigidBodyParams2D.html#a5e37a979a1a69333bcc5576d14397185">m</a> * u_k.template block&lt;2, 1&gt;(0, 0);</div>
-<div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span>        xdot_k.twist(2) = u_k(2) / params.<a class="code hl_variable" href="structRigidBodyParams2D.html#aaefd836b5e013be87bc317aaba261a25">J</a>;</div>
-<div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span> </div>
-<div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>        <span class="keywordflow">if</span> (calculateXddot)</div>
-<div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>        {</div>
-<div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, insertIntoHistory);</div>
-<div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>        }</div>
-<div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span>        <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>        {</div>
-<div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, StateDotDotType::identity(), insertIntoHistory);</div>
-<div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span>        }</div>
-<div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span>    }</div>
+<div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span>        <a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a25c6532290d222c25e727394a0afa0b7">StateDotType</a> xdot_k;</div>
+<div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>        xdot_k.pose  = x_k.twist;</div>
+<div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>        xdot_k.twist = -params.g + u_k / params.m;</div>
+<div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span> </div>
+<div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>        <span class="keywordflow">if</span> (calculateXddot)</div>
+<div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>        {</div>
+<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>            <span class="keywordflow">return</span> xdot.update(tf, xdot_k, insertIntoHistory);</div>
+<div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span>        }</div>
+<div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>        {</div>
+<div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>            <span class="keywordflow">return</span> xdot.update(tf, xdot_k, StateDotDotType::identity(), insertIntoHistory);</div>
+<div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>        }</div>
+<div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>    }</div>
 </div>
-<div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span>};</div>
+<div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span>};</div>
 </div>
+<div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span> </div>
+<div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"><a class="line" href="Models_8h.html#aac436ed3df206f07f93110e3daffe773">  287</a></span><span class="keyword">using </span><a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamics1DOF</a> =</div>
+<div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;ScalarSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;T&gt;</a>, 1, <a class="code hl_struct" href="structRigidBodyParams1D.html">RigidBodyParams1D</a>&gt;;</div>
+<div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span> </div>
+<div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"><a class="line" href="Models_8h.html#ae3889fdff8dd169aef62fcdf6340e0e1">  291</a></span><span class="keyword">using </span><a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamics2DOF</a> =</div>
+<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;Vector2Signal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector2StateSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector2StateSignal&lt;T&gt;</a>, 2, <a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a>&gt;;</div>
+<div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span> </div>
+<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"><a class="line" href="Models_8h.html#ad1ba77eac61f5da29df59b8b4b0d7a0d">  295</a></span><span class="keyword">using </span><a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamics3DOF</a> =</div>
+<div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;Vector3Signal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>, 3, <a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a>&gt;;</div>
+<div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span> </div>
+<div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00302" data-start="{" data-end="};">
+<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html">  302</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a></div>
+<div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>{</div>
+<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a80b5f730e292fda15bdcf1e8b96fe02e">  304</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">InputSignalType</a>    = <a class="code hl_class" href="classSignal.html">Vector1Signal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#ac321d27d0098cb3e8e64ea0d98500cb6">  305</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateSignalType</a>    = <a class="code hl_class" href="classSignal.html">SO2StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a32c4979bf8f6aa3f9c1b0f2818ba4abd">  306</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateDotSignalType</a> = <a class="code hl_class" href="classSignal.html">Vector1StateSignal&lt;T&gt;</a>;</div>
 <div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span> </div>
-<div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="foldopen" id="foldopen00309" data-start="{" data-end="};">
-<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html">  309</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a></div>
-<div class="line"><a id="l00310" name="l00310"></a><span class="lineno">  310</span>{</div>
-<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#a8927301269f2ce616317819c769b9364">  311</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">InputSignalType</a>    = <a class="code hl_class" href="classSignal.html">Vector6Signal&lt;T&gt;</a>;</div>
-<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#ad4e0605bf2a0c90acbe9a1a333b9b952">  312</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateSignalType</a>    = <a class="code hl_class" href="classSignal.html">SE3StateSignal&lt;T&gt;</a>;</div>
-<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#afcafc7961087b27b239ad998e436da9a">  313</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateDotSignalType</a> = <a class="code hl_class" href="classSignal.html">Vector6StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#ad43b9ce6a37b65d677d01ceafe448259">  308</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics1DOF.html#ad43b9ce6a37b65d677d01ceafe448259">InputType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#aada86d78db85576298e606afda8c928d">  309</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics1DOF.html#aada86d78db85576298e606afda8c928d">StateType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a7df05f9db990eecd331f506d1a17597e">  310</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics1DOF.html#a7df05f9db990eecd331f506d1a17597e">StateDotType</a>    = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a5e2f1cd471e7be99dc9e0f3f29f146f3">  311</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics1DOF.html#a5e2f1cd471e7be99dc9e0f3f29f146f3">StateDotDotType</a> = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a>;</div>
+<div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span> </div>
+<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a38ff3a3028dc85817407d15587bf3451">  313</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structRigidBodyParams2D.html">ParamsType</a> = <a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a>;</div>
 <div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span> </div>
-<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#ac8780c98b59889f8329aa467a5b375fe">  315</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#ac8780c98b59889f8329aa467a5b375fe">InputType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a>;</div>
-<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#adf5c3e5f6090032d18019c7aeab91f51">  316</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#adf5c3e5f6090032d18019c7aeab91f51">StateType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a>;</div>
-<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#aa664579d3d691fcd4c5824b242dd2061">  317</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#aa664579d3d691fcd4c5824b242dd2061">StateDotType</a>    = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a>;</div>
-<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#a32c92b85c94f66739358385a0a3a07fc">  318</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#a32c92b85c94f66739358385a0a3a07fc">StateDotDotType</a> = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a>;</div>
-<div class="line"><a id="l00319" name="l00319"></a><span class="lineno">  319</span> </div>
-<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#ad252337a912dcd1cfaa097d9c2d5814e">  320</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structRigidBodyParams3D.html">ParamsType</a> = <a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a>;</div>
-<div class="line"><a id="l00321" name="l00321"></a><span class="lineno">  321</span> </div>
-<div class="foldopen" id="foldopen00322" data-start="{" data-end="}">
-<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#ae0d9bb27da7f804a1f8dc4923546a95d">  322</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structRigidBodyDynamics6DOF.html#ae0d9bb27da7f804a1f8dc4923546a95d">update</a>(<a class="code hl_class" href="classSignal.html">StateDotSignalType</a>&amp;    xdot,</div>
-<div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">StateSignalType</a>&amp; x,</div>
-<div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">InputSignalType</a>&amp; u,</div>
-<div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          t0,</div>
-<div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
-<div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>                       <span class="keyword">const</span> <a class="code hl_struct" href="structRigidBodyParams3D.html">ParamsType</a>&amp;      params,</div>
-<div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
-<div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
-<div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span>    {</div>
-<div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>        <a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#ac8780c98b59889f8329aa467a5b375fe">InputType</a> u_k = u(t0);</div>
-<div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span>        <a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#adf5c3e5f6090032d18019c7aeab91f51">StateType</a> x_k = x(t0);</div>
-<div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span> </div>
-<div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span>        <span class="comment">// The entire xdot vector is in the body-frame, since we&#39;re using it as a local perturbation</span></div>
-<div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>        <span class="comment">// vector for the oplus and ominus operations from SE(3). i.e., we increment the translation</span></div>
-<div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>        <span class="comment">// vector and attitude jointly, unlike with many filter/controller implementations.</span></div>
-<div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span>        <a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#aa664579d3d691fcd4c5824b242dd2061">StateDotType</a> xdot_k;</div>
-<div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span>        xdot_k.pose = x_k.twist;</div>
-<div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span>        xdot_k.twist.template block&lt;3, 1&gt;(0, 0) =</div>
-<div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span>            -(x_k.pose.q().inverse() * params.<a class="code hl_variable" href="structRigidBodyParams3D.html#a87b9c6a467ebcd6805a1d9419e6149d1">g</a>) -</div>
-<div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span>            x_k.twist.template block&lt;3, 1&gt;(3, 0).cross(x_k.twist.template block&lt;3, 1&gt;(0, 0)) +</div>
-<div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span>            1.0 / params.<a class="code hl_variable" href="structRigidBodyParams3D.html#acfa4c165c3278306dac4c0f51819e694">m</a> * u_k.template block&lt;3, 1&gt;(0, 0);</div>
-<div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>        xdot_k.twist.template block&lt;3, 1&gt;(3, 0) =</div>
-<div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>            params.<a class="code hl_variable" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">J</a>.inverse() *</div>
-<div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span>            (-x_k.twist.template block&lt;3, 1&gt;(3, 0).cross(params.<a class="code hl_variable" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">J</a> * x_k.twist.template block&lt;3, 1&gt;(3, 0)) +</div>
-<div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>             u_k.template block&lt;3, 1&gt;(3, 0));</div>
-<div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span> </div>
-<div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span>        <span class="keywordflow">if</span> (calculateXddot)</div>
-<div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span>        {</div>
-<div class="line"><a id="l00350" name="l00350"></a><span class="lineno">  350</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, insertIntoHistory);</div>
-<div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>        }</div>
-<div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span>        <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00353" name="l00353"></a><span class="lineno">  353</span>        {</div>
-<div class="line"><a id="l00354" name="l00354"></a><span class="lineno">  354</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, StateDotDotType::identity(), insertIntoHistory);</div>
-<div class="line"><a id="l00355" name="l00355"></a><span class="lineno">  355</span>        }</div>
-<div class="line"><a id="l00356" name="l00356"></a><span class="lineno">  356</span>    }</div>
+<div class="foldopen" id="foldopen00326" data-start="{" data-end="}">
+<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a433f042fafdcff07948eb952e47f13b6">  326</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structRotationalDynamics1DOF.html#a433f042fafdcff07948eb952e47f13b6">update</a>(<a class="code hl_class" href="classSignal.html">StateDotSignalType</a>&amp;    xdot,</div>
+<div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">StateSignalType</a>&amp; x,</div>
+<div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">InputSignalType</a>&amp; u,</div>
+<div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          t0,</div>
+<div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
+<div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>                       <span class="keyword">const</span> <a class="code hl_struct" href="structRigidBodyParams2D.html">ParamsType</a>&amp;      params,</div>
+<div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
+<div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span>    {</div>
+<div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>        <a class="code hl_typedef" href="structRotationalDynamics1DOF.html#ad43b9ce6a37b65d677d01ceafe448259">InputType</a> u_k = u(t0);</div>
+<div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>        <a class="code hl_typedef" href="structRotationalDynamics1DOF.html#aada86d78db85576298e606afda8c928d">StateType</a> x_k = x(t0);</div>
+<div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span> </div>
+<div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span>        <a class="code hl_typedef" href="structRotationalDynamics1DOF.html#a7df05f9db990eecd331f506d1a17597e">StateDotType</a> xdot_k;</div>
+<div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span>        xdot_k.pose  = x_k.twist;</div>
+<div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span>        xdot_k.twist = u_k / params.<a class="code hl_variable" href="structRigidBodyParams2D.html#aaefd836b5e013be87bc317aaba261a25">J</a>;</div>
+<div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span> </div>
+<div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span>        <span class="keywordflow">if</span> (calculateXddot)</div>
+<div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>        {</div>
+<div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, insertIntoHistory);</div>
+<div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span>        }</div>
+<div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span>        {</div>
+<div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, StateDotDotType::identity(), insertIntoHistory);</div>
+<div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span>        }</div>
+<div class="line"><a id="l00350" name="l00350"></a><span class="lineno">  350</span>    }</div>
+</div>
+<div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>};</div>
+</div>
+<div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span> </div>
+<div class="line"><a id="l00356" name="l00356"></a><span class="lineno">  356</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00357" data-start="{" data-end="};">
+<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html">  357</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a></div>
+<div class="line"><a id="l00358" name="l00358"></a><span class="lineno">  358</span>{</div>
+<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#aac317f9992071217ce644f6b9ccd8763">  359</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">InputSignalType</a>    = <a class="code hl_class" href="classSignal.html">Vector3Signal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a2814e21ab959a4cb71fdc2682d1cad69">  360</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateSignalType</a>    = <a class="code hl_class" href="classSignal.html">SO3StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a6b1ce3427c65404128d15a66c3d11621">  361</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateDotSignalType</a> = <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span> </div>
+<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#aafaa22bb44de6a10f6293f66da5c52e5">  363</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics3DOF.html#aafaa22bb44de6a10f6293f66da5c52e5">InputType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#aaee29651f3b1671b6ab4e10656ea6f9a">  364</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics3DOF.html#aaee29651f3b1671b6ab4e10656ea6f9a">StateType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a40c9649794d2d6e82da6451d17c32bb5">  365</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics3DOF.html#a40c9649794d2d6e82da6451d17c32bb5">StateDotType</a>    = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a6e75764a6e9b0ec406d716dfb60943b1">  366</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics3DOF.html#a6e75764a6e9b0ec406d716dfb60943b1">StateDotDotType</a> = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a>;</div>
+<div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span> </div>
+<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a2ac951c964726729410488c2bfcfa156">  368</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structRigidBodyParams3D.html">ParamsType</a> = <a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a>;</div>
+<div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span> </div>
+<div class="foldopen" id="foldopen00381" data-start="{" data-end="}">
+<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#aee5958f7949268650c00097b2a871252">  381</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structRotationalDynamics3DOF.html#aee5958f7949268650c00097b2a871252">update</a>(<a class="code hl_class" href="classSignal.html">StateDotSignalType</a>&amp;    xdot,</div>
+<div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">StateSignalType</a>&amp; x,</div>
+<div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">InputSignalType</a>&amp; u,</div>
+<div class="line"><a id="l00384" name="l00384"></a><span class="lineno">  384</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          t0,</div>
+<div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
+<div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span>                       <span class="keyword">const</span> <a class="code hl_struct" href="structRigidBodyParams3D.html">ParamsType</a>&amp;      params,</div>
+<div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
+<div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00389" name="l00389"></a><span class="lineno">  389</span>    {</div>
+<div class="line"><a id="l00390" name="l00390"></a><span class="lineno">  390</span>        <a class="code hl_typedef" href="structRotationalDynamics3DOF.html#aafaa22bb44de6a10f6293f66da5c52e5">InputType</a> u_k = u(t0);</div>
+<div class="line"><a id="l00391" name="l00391"></a><span class="lineno">  391</span>        <a class="code hl_typedef" href="structRotationalDynamics3DOF.html#aaee29651f3b1671b6ab4e10656ea6f9a">StateType</a> x_k = x(t0);</div>
+<div class="line"><a id="l00392" name="l00392"></a><span class="lineno">  392</span> </div>
+<div class="line"><a id="l00393" name="l00393"></a><span class="lineno">  393</span>        <a class="code hl_typedef" href="structRotationalDynamics3DOF.html#a40c9649794d2d6e82da6451d17c32bb5">StateDotType</a> xdot_k;</div>
+<div class="line"><a id="l00394" name="l00394"></a><span class="lineno">  394</span>        xdot_k.pose  = x_k.twist;</div>
+<div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span>        xdot_k.twist = params.<a class="code hl_variable" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">J</a>.inverse() * (-x_k.twist.cross(params.<a class="code hl_variable" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">J</a> * x_k.twist) + u_k);</div>
+<div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span> </div>
+<div class="line"><a id="l00397" name="l00397"></a><span class="lineno">  397</span>        <span class="keywordflow">if</span> (calculateXddot)</div>
+<div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span>        {</div>
+<div class="line"><a id="l00399" name="l00399"></a><span class="lineno">  399</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, insertIntoHistory);</div>
+<div class="line"><a id="l00400" name="l00400"></a><span class="lineno">  400</span>        }</div>
+<div class="line"><a id="l00401" name="l00401"></a><span class="lineno">  401</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00402" name="l00402"></a><span class="lineno">  402</span>        {</div>
+<div class="line"><a id="l00403" name="l00403"></a><span class="lineno">  403</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, StateDotDotType::identity(), insertIntoHistory);</div>
+<div class="line"><a id="l00404" name="l00404"></a><span class="lineno">  404</span>        }</div>
+<div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span>    }</div>
+</div>
+<div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span>};</div>
+</div>
+<div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span> </div>
+<div class="line"><a id="l00411" name="l00411"></a><span class="lineno">  411</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00412" data-start="{" data-end="};">
+<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html">  412</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a></div>
+<div class="line"><a id="l00413" name="l00413"></a><span class="lineno">  413</span>{</div>
+<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a4341d5e4a676e15edc8f8faafef5431a">  414</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">InputSignalType</a>    = <a class="code hl_class" href="classSignal.html">Vector3Signal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a0c346a983bc929f1f7a6e5d2be3a0841">  415</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateSignalType</a>    = <a class="code hl_class" href="classSignal.html">SE2StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a28d138392ca0069c5e6274f78fd08e29">  416</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateDotSignalType</a> = <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00417" name="l00417"></a><span class="lineno">  417</span> </div>
+<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#aa90232643a368b1d4b9fd618ae8d57f7">  418</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#aa90232643a368b1d4b9fd618ae8d57f7">InputType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a448c5efb998f492d1518eb0d2d7ded74">  419</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a448c5efb998f492d1518eb0d2d7ded74">StateType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a7a9fa29ba97531d856e87560806a805c">  420</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a7a9fa29ba97531d856e87560806a805c">StateDotType</a>    = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a562a8cc5e6e8dca19982509022a22ba4">  421</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a562a8cc5e6e8dca19982509022a22ba4">StateDotDotType</a> = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a>;</div>
+<div class="line"><a id="l00422" name="l00422"></a><span class="lineno">  422</span> </div>
+<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#afa1ade3cc027b78a2d2c65df867d52b0">  423</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structRigidBodyParams2D.html">ParamsType</a> = <a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a>;</div>
+<div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span> </div>
+<div class="foldopen" id="foldopen00436" data-start="{" data-end="}">
+<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#acafe68f9e9ea78f54bc70d64a1b39d9c">  436</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structRigidBodyDynamics3DOF.html#acafe68f9e9ea78f54bc70d64a1b39d9c">update</a>(<a class="code hl_class" href="classSignal.html">StateDotSignalType</a>&amp;    xdot,</div>
+<div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">StateSignalType</a>&amp; x,</div>
+<div class="line"><a id="l00438" name="l00438"></a><span class="lineno">  438</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">InputSignalType</a>&amp; u,</div>
+<div class="line"><a id="l00439" name="l00439"></a><span class="lineno">  439</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          t0,</div>
+<div class="line"><a id="l00440" name="l00440"></a><span class="lineno">  440</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
+<div class="line"><a id="l00441" name="l00441"></a><span class="lineno">  441</span>                       <span class="keyword">const</span> <a class="code hl_struct" href="structRigidBodyParams2D.html">ParamsType</a>&amp;      params,</div>
+<div class="line"><a id="l00442" name="l00442"></a><span class="lineno">  442</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
+<div class="line"><a id="l00443" name="l00443"></a><span class="lineno">  443</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00444" name="l00444"></a><span class="lineno">  444</span>    {</div>
+<div class="line"><a id="l00445" name="l00445"></a><span class="lineno">  445</span>        <a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#aa90232643a368b1d4b9fd618ae8d57f7">InputType</a> u_k = u(t0);</div>
+<div class="line"><a id="l00446" name="l00446"></a><span class="lineno">  446</span>        <a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a448c5efb998f492d1518eb0d2d7ded74">StateType</a> x_k = x(t0);</div>
+<div class="line"><a id="l00447" name="l00447"></a><span class="lineno">  447</span> </div>
+<div class="line"><a id="l00448" name="l00448"></a><span class="lineno">  448</span>        <a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a7a9fa29ba97531d856e87560806a805c">StateDotType</a> xdot_k;</div>
+<div class="line"><a id="l00449" name="l00449"></a><span class="lineno">  449</span>        xdot_k.pose                             = x_k.twist;</div>
+<div class="line"><a id="l00450" name="l00450"></a><span class="lineno">  450</span>        xdot_k.twist.template block&lt;2, 1&gt;(0, 0) = -(x_k.pose.q().inverse() * params.<a class="code hl_variable" href="structRigidBodyParams2D.html#ab212f53241edb1bf232499a6ba963258">g</a>) -</div>
+<div class="line"><a id="l00451" name="l00451"></a><span class="lineno">  451</span>                                                  x_k.twist(2) * Matrix&lt;T, 2, 1&gt;(-x_k.twist(1), x_k.twist(0)) +</div>
+<div class="line"><a id="l00452" name="l00452"></a><span class="lineno">  452</span>                                                  1.0 / params.<a class="code hl_variable" href="structRigidBodyParams2D.html#a5e37a979a1a69333bcc5576d14397185">m</a> * u_k.template block&lt;2, 1&gt;(0, 0);</div>
+<div class="line"><a id="l00453" name="l00453"></a><span class="lineno">  453</span>        xdot_k.twist(2) = u_k(2) / params.<a class="code hl_variable" href="structRigidBodyParams2D.html#aaefd836b5e013be87bc317aaba261a25">J</a>;</div>
+<div class="line"><a id="l00454" name="l00454"></a><span class="lineno">  454</span> </div>
+<div class="line"><a id="l00455" name="l00455"></a><span class="lineno">  455</span>        <span class="keywordflow">if</span> (calculateXddot)</div>
+<div class="line"><a id="l00456" name="l00456"></a><span class="lineno">  456</span>        {</div>
+<div class="line"><a id="l00457" name="l00457"></a><span class="lineno">  457</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, insertIntoHistory);</div>
+<div class="line"><a id="l00458" name="l00458"></a><span class="lineno">  458</span>        }</div>
+<div class="line"><a id="l00459" name="l00459"></a><span class="lineno">  459</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00460" name="l00460"></a><span class="lineno">  460</span>        {</div>
+<div class="line"><a id="l00461" name="l00461"></a><span class="lineno">  461</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, StateDotDotType::identity(), insertIntoHistory);</div>
+<div class="line"><a id="l00462" name="l00462"></a><span class="lineno">  462</span>        }</div>
+<div class="line"><a id="l00463" name="l00463"></a><span class="lineno">  463</span>    }</div>
+</div>
+<div class="line"><a id="l00464" name="l00464"></a><span class="lineno">  464</span>};</div>
+</div>
+<div class="line"><a id="l00465" name="l00465"></a><span class="lineno">  465</span> </div>
+<div class="line"><a id="l00469" name="l00469"></a><span class="lineno">  469</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00470" data-start="{" data-end="};">
+<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html">  470</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a></div>
+<div class="line"><a id="l00471" name="l00471"></a><span class="lineno">  471</span>{</div>
+<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#a8927301269f2ce616317819c769b9364">  472</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">InputSignalType</a>    = <a class="code hl_class" href="classSignal.html">Vector6Signal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#ad4e0605bf2a0c90acbe9a1a333b9b952">  473</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateSignalType</a>    = <a class="code hl_class" href="classSignal.html">SE3StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#afcafc7961087b27b239ad998e436da9a">  474</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateDotSignalType</a> = <a class="code hl_class" href="classSignal.html">Vector6StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00475" name="l00475"></a><span class="lineno">  475</span> </div>
+<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#ac8780c98b59889f8329aa467a5b375fe">  476</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#ac8780c98b59889f8329aa467a5b375fe">InputType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#adf5c3e5f6090032d18019c7aeab91f51">  477</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#adf5c3e5f6090032d18019c7aeab91f51">StateType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#aa664579d3d691fcd4c5824b242dd2061">  478</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#aa664579d3d691fcd4c5824b242dd2061">StateDotType</a>    = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a>;</div>
+<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#a32c92b85c94f66739358385a0a3a07fc">  479</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#a32c92b85c94f66739358385a0a3a07fc">StateDotDotType</a> = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a>;</div>
+<div class="line"><a id="l00480" name="l00480"></a><span class="lineno">  480</span> </div>
+<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#ad252337a912dcd1cfaa097d9c2d5814e">  481</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structRigidBodyParams3D.html">ParamsType</a> = <a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a>;</div>
+<div class="line"><a id="l00482" name="l00482"></a><span class="lineno">  482</span> </div>
+<div class="foldopen" id="foldopen00494" data-start="{" data-end="}">
+<div class="line"><a id="l00494" name="l00494"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#ae0d9bb27da7f804a1f8dc4923546a95d">  494</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structRigidBodyDynamics6DOF.html#ae0d9bb27da7f804a1f8dc4923546a95d">update</a>(<a class="code hl_class" href="classSignal.html">StateDotSignalType</a>&amp;    xdot,</div>
+<div class="line"><a id="l00495" name="l00495"></a><span class="lineno">  495</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">StateSignalType</a>&amp; x,</div>
+<div class="line"><a id="l00496" name="l00496"></a><span class="lineno">  496</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">InputSignalType</a>&amp; u,</div>
+<div class="line"><a id="l00497" name="l00497"></a><span class="lineno">  497</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          t0,</div>
+<div class="line"><a id="l00498" name="l00498"></a><span class="lineno">  498</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
+<div class="line"><a id="l00499" name="l00499"></a><span class="lineno">  499</span>                       <span class="keyword">const</span> <a class="code hl_struct" href="structRigidBodyParams3D.html">ParamsType</a>&amp;      params,</div>
+<div class="line"><a id="l00500" name="l00500"></a><span class="lineno">  500</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
+<div class="line"><a id="l00501" name="l00501"></a><span class="lineno">  501</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00502" name="l00502"></a><span class="lineno">  502</span>    {</div>
+<div class="line"><a id="l00503" name="l00503"></a><span class="lineno">  503</span>        <a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#ac8780c98b59889f8329aa467a5b375fe">InputType</a> u_k = u(t0);</div>
+<div class="line"><a id="l00504" name="l00504"></a><span class="lineno">  504</span>        <a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#adf5c3e5f6090032d18019c7aeab91f51">StateType</a> x_k = x(t0);</div>
+<div class="line"><a id="l00505" name="l00505"></a><span class="lineno">  505</span> </div>
+<div class="line"><a id="l00506" name="l00506"></a><span class="lineno">  506</span>        <span class="comment">// The entire xdot vector is in the body-frame, since we&#39;re using it as a local perturbation</span></div>
+<div class="line"><a id="l00507" name="l00507"></a><span class="lineno">  507</span>        <span class="comment">// vector for the oplus and ominus operations from SE(3). i.e., we increment the translation</span></div>
+<div class="line"><a id="l00508" name="l00508"></a><span class="lineno">  508</span>        <span class="comment">// vector and attitude jointly, unlike with many filter/controller implementations.</span></div>
+<div class="line"><a id="l00509" name="l00509"></a><span class="lineno">  509</span>        <a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#aa664579d3d691fcd4c5824b242dd2061">StateDotType</a> xdot_k;</div>
+<div class="line"><a id="l00510" name="l00510"></a><span class="lineno">  510</span>        xdot_k.pose = x_k.twist;</div>
+<div class="line"><a id="l00511" name="l00511"></a><span class="lineno">  511</span>        xdot_k.twist.template block&lt;3, 1&gt;(0, 0) =</div>
+<div class="line"><a id="l00512" name="l00512"></a><span class="lineno">  512</span>            -(x_k.pose.q().inverse() * params.<a class="code hl_variable" href="structRigidBodyParams3D.html#a87b9c6a467ebcd6805a1d9419e6149d1">g</a>) -</div>
+<div class="line"><a id="l00513" name="l00513"></a><span class="lineno">  513</span>            x_k.twist.template block&lt;3, 1&gt;(3, 0).cross(x_k.twist.template block&lt;3, 1&gt;(0, 0)) +</div>
+<div class="line"><a id="l00514" name="l00514"></a><span class="lineno">  514</span>            1.0 / params.<a class="code hl_variable" href="structRigidBodyParams3D.html#acfa4c165c3278306dac4c0f51819e694">m</a> * u_k.template block&lt;3, 1&gt;(0, 0);</div>
+<div class="line"><a id="l00515" name="l00515"></a><span class="lineno">  515</span>        xdot_k.twist.template block&lt;3, 1&gt;(3, 0) =</div>
+<div class="line"><a id="l00516" name="l00516"></a><span class="lineno">  516</span>            params.<a class="code hl_variable" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">J</a>.inverse() *</div>
+<div class="line"><a id="l00517" name="l00517"></a><span class="lineno">  517</span>            (-x_k.twist.template block&lt;3, 1&gt;(3, 0).cross(params.<a class="code hl_variable" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">J</a> * x_k.twist.template block&lt;3, 1&gt;(3, 0)) +</div>
+<div class="line"><a id="l00518" name="l00518"></a><span class="lineno">  518</span>             u_k.template block&lt;3, 1&gt;(3, 0));</div>
+<div class="line"><a id="l00519" name="l00519"></a><span class="lineno">  519</span> </div>
+<div class="line"><a id="l00520" name="l00520"></a><span class="lineno">  520</span>        <span class="keywordflow">if</span> (calculateXddot)</div>
+<div class="line"><a id="l00521" name="l00521"></a><span class="lineno">  521</span>        {</div>
+<div class="line"><a id="l00522" name="l00522"></a><span class="lineno">  522</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, insertIntoHistory);</div>
+<div class="line"><a id="l00523" name="l00523"></a><span class="lineno">  523</span>        }</div>
+<div class="line"><a id="l00524" name="l00524"></a><span class="lineno">  524</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00525" name="l00525"></a><span class="lineno">  525</span>        {</div>
+<div class="line"><a id="l00526" name="l00526"></a><span class="lineno">  526</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, StateDotDotType::identity(), insertIntoHistory);</div>
+<div class="line"><a id="l00527" name="l00527"></a><span class="lineno">  527</span>        }</div>
+<div class="line"><a id="l00528" name="l00528"></a><span class="lineno">  528</span>    }</div>
 </div>
-<div class="line"><a id="l00357" name="l00357"></a><span class="lineno">  357</span>};</div>
+<div class="line"><a id="l00529" name="l00529"></a><span class="lineno">  529</span>};</div>
 </div>
-<div class="line"><a id="l00358" name="l00358"></a><span class="lineno">  358</span> </div>
-<div class="foldopen" id="foldopen00359" data-start="" data-end="">
-<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"><a class="line" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">  359</a></span><span class="preprocessor">#define MAKE_MODEL(ModelBaseName, ModelDOF)                                                                            \</span></div>
-<div class="line"><a id="l00360" name="l00360"></a><span class="lineno">  360</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
-<div class="line"><a id="l00361" name="l00361"></a><span class="lineno">  361</span><span class="preprocessor">    using ModelBaseName##ModelDOF##Model = Model&lt;ModelBaseName##Dynamics##ModelDOF&lt;T&gt;&gt;;                                \</span></div>
-<div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span><span class="preprocessor">    typedef ModelBaseName##ModelDOF##Model&lt;double&gt; ModelBaseName##ModelDOF##Modeld;</span></div>
+<div class="line"><a id="l00530" name="l00530"></a><span class="lineno">  530</span> </div>
+<div class="foldopen" id="foldopen00531" data-start="" data-end="">
+<div class="line"><a id="l00531" name="l00531"></a><span class="lineno"><a class="line" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">  531</a></span><span class="preprocessor">#define MAKE_MODEL(ModelBaseName, ModelDOF)                                                                            \</span></div>
+<div class="line"><a id="l00532" name="l00532"></a><span class="lineno">  532</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
+<div class="line"><a id="l00533" name="l00533"></a><span class="lineno">  533</span><span class="preprocessor">    using ModelBaseName##ModelDOF##Model = Model&lt;ModelBaseName##Dynamics##ModelDOF&lt;T&gt;&gt;;                                \</span></div>
+<div class="line"><a id="l00534" name="l00534"></a><span class="lineno">  534</span><span class="preprocessor">    typedef ModelBaseName##ModelDOF##Model&lt;double&gt; ModelBaseName##ModelDOF##Modeld;</span></div>
 </div>
-<div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span> </div>
-<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"><a class="line" href="Models_8h.html#a06f4823dd2b571a8718ccad09ce44fe7">  364</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Translational, 1DOF)</div>
-<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"><a class="line" href="Models_8h.html#aa8b7fa1f2cfd2453d95d80ce49abd8fc">  365</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Translational, 2DOF)</div>
-<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"><a class="line" href="Models_8h.html#aae658b45855be04ff99456f612008b96">  366</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Translational, 3DOF)</div>
-<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"><a class="line" href="Models_8h.html#a44917fd68b589ce4fc82e69e00c41201">  367</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Rotational, 1DOF)</div>
-<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"><a class="line" href="Models_8h.html#ad5282fd410476dbdd8381772a38ac2f1">  368</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Rotational, 3DOF)</div>
-<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"><a class="line" href="Models_8h.html#a253b3866118f6e70cfc4f08b471c2975">  369</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(RigidBody, 3DOF)</div>
-<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"><a class="line" href="Models_8h.html#ac6b34f1aa0a10dcb6e9fda4a2814a9b3">  370</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(RigidBody, 6DOF)</div>
+<div class="line"><a id="l00535" name="l00535"></a><span class="lineno">  535</span> </div>
+<div class="line"><a id="l00536" name="l00536"></a><span class="lineno"><a class="line" href="Models_8h.html#a06f4823dd2b571a8718ccad09ce44fe7">  536</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Translational, 1DOF)</div>
+<div class="line"><a id="l00537" name="l00537"></a><span class="lineno"><a class="line" href="Models_8h.html#aa8b7fa1f2cfd2453d95d80ce49abd8fc">  537</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Translational, 2DOF)</div>
+<div class="line"><a id="l00538" name="l00538"></a><span class="lineno"><a class="line" href="Models_8h.html#aae658b45855be04ff99456f612008b96">  538</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Translational, 3DOF)</div>
+<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"><a class="line" href="Models_8h.html#a44917fd68b589ce4fc82e69e00c41201">  539</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Rotational, 1DOF)</div>
+<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"><a class="line" href="Models_8h.html#ad5282fd410476dbdd8381772a38ac2f1">  540</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Rotational, 3DOF)</div>
+<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"><a class="line" href="Models_8h.html#a253b3866118f6e70cfc4f08b471c2975">  541</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(RigidBody, 3DOF)</div>
+<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"><a class="line" href="Models_8h.html#ac6b34f1aa0a10dcb6e9fda4a2814a9b3">  542</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(RigidBody, 6DOF)</div>
 <div class="ttc" id="aIntegration_8h_html"><div class="ttname"><a href="Integration_8h.html">Integration.h</a></div></div>
-<div class="ttc" id="aModels_8h_html_a01637abb86bd3009fcff2cebc8a8735a"><div class="ttname"><a href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a></div><div class="ttdeci">#define MAKE_MODEL(ModelBaseName, ModelDOF)</div><div class="ttdef"><b>Definition</b> Models.h:359</div></div>
+<div class="ttc" id="aModels_8h_html_a01637abb86bd3009fcff2cebc8a8735a"><div class="ttname"><a href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a></div><div class="ttdeci">#define MAKE_MODEL(ModelBaseName, ModelDOF)</div><div class="ttdef"><b>Definition</b> Models.h:531</div></div>
 <div class="ttc" id="aState_8h_html"><div class="ttname"><a href="State_8h.html">State.h</a></div></div>
-<div class="ttc" id="aclassModel_html"><div class="ttname"><a href="classModel.html">Model</a></div><div class="ttdef"><b>Definition</b> Models.h:10</div></div>
-<div class="ttc" id="aclassModel_html_a3cbccc00606661a35110dbe111af54ad"><div class="ttname"><a href="classModel.html#a3cbccc00606661a35110dbe111af54ad">Model::Model</a></div><div class="ttdeci">Model()</div><div class="ttdef"><b>Definition</b> Models.h:20</div></div>
-<div class="ttc" id="aclassModel_html_a4f059d658bfda1665bf44a36b7aaf8e5"><div class="ttname"><a href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">Model::hasParams</a></div><div class="ttdeci">bool hasParams()</div><div class="ttdef"><b>Definition</b> Models.h:30</div></div>
-<div class="ttc" id="aclassModel_html_a643e1a47ddbb10c5c10844f9aea5be98"><div class="ttname"><a href="classModel.html#a643e1a47ddbb10c5c10844f9aea5be98">Model::StateSignalType</a></div><div class="ttdeci">typename DynamicsType::StateSignalType StateSignalType</div><div class="ttdef"><b>Definition</b> Models.h:14</div></div>
-<div class="ttc" id="aclassModel_html_a7661852411b9ffd59240d5d5ca0e4dd3"><div class="ttname"><a href="classModel.html#a7661852411b9ffd59240d5d5ca0e4dd3">Model::t</a></div><div class="ttdeci">double t() const</div><div class="ttdef"><b>Definition</b> Models.h:41</div></div>
-<div class="ttc" id="aclassModel_html_a823536a9764d6a35cce173573ee62e90"><div class="ttname"><a href="classModel.html#a823536a9764d6a35cce173573ee62e90">Model::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdef"><b>Definition</b> Models.h:35</div></div>
-<div class="ttc" id="aclassModel_html_a8abdf37c6158386a9f1d2c6c506f6839"><div class="ttname"><a href="classModel.html#a8abdf37c6158386a9f1d2c6c506f6839">Model::StateDotSignalType</a></div><div class="ttdeci">typename DynamicsType::StateDotSignalType StateDotSignalType</div><div class="ttdef"><b>Definition</b> Models.h:13</div></div>
-<div class="ttc" id="aclassModel_html_a96533143a30ab87c379e411fcae59643"><div class="ttname"><a href="classModel.html#a96533143a30ab87c379e411fcae59643">Model::setParams</a></div><div class="ttdeci">void setParams(const ParamsType &amp;params)</div><div class="ttdef"><b>Definition</b> Models.h:25</div></div>
-<div class="ttc" id="aclassModel_html_ab8bb4819a03ed642326295c28bea6fa7"><div class="ttname"><a href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">Model::xdot</a></div><div class="ttdeci">StateDotSignalType xdot</div><div class="ttdef"><b>Definition</b> Models.h:18</div></div>
-<div class="ttc" id="aclassModel_html_abfe8871b9f0eac35c76af3f5cfcdea35"><div class="ttname"><a href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">Model::x</a></div><div class="ttdeci">StateSignalType x</div><div class="ttdef"><b>Definition</b> Models.h:17</div></div>
-<div class="ttc" id="aclassModel_html_ac2550ae8ed888d167450160ce55286df"><div class="ttname"><a href="classModel.html#ac2550ae8ed888d167450160ce55286df">Model::simulate</a></div><div class="ttdeci">bool simulate(const InputSignalType &amp;u, const double &amp;tf, const double &amp;dt, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdef"><b>Definition</b> Models.h:72</div></div>
-<div class="ttc" id="aclassModel_html_ac7446138b27c8feba779ebfe8e82b99d"><div class="ttname"><a href="classModel.html#ac7446138b27c8feba779ebfe8e82b99d">Model::simulate</a></div><div class="ttdeci">bool simulate(const InputSignalType &amp;u, const double &amp;tf, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdef"><b>Definition</b> Models.h:47</div></div>
-<div class="ttc" id="aclassModel_html_ac990dd4740b30e4477bca86fc6172970"><div class="ttname"><a href="classModel.html#ac990dd4740b30e4477bca86fc6172970">Model::InputSignalType</a></div><div class="ttdeci">typename DynamicsType::InputSignalType InputSignalType</div><div class="ttdef"><b>Definition</b> Models.h:12</div></div>
-<div class="ttc" id="aclassModel_html_aec20251d98505785fa51c52eb81dd3a2"><div class="ttname"><a href="classModel.html#aec20251d98505785fa51c52eb81dd3a2">Model::ParamsType</a></div><div class="ttdeci">typename DynamicsType::ParamsType ParamsType</div><div class="ttdef"><b>Definition</b> Models.h:15</div></div>
+<div class="ttc" id="aclassModel_html"><div class="ttname"><a href="classModel.html">Model</a></div><div class="ttdoc">Base type for all model simulators.</div><div class="ttdef"><b>Definition</b> Models.h:25</div></div>
+<div class="ttc" id="aclassModel_html_a3cbccc00606661a35110dbe111af54ad"><div class="ttname"><a href="classModel.html#a3cbccc00606661a35110dbe111af54ad">Model::Model</a></div><div class="ttdeci">Model()</div><div class="ttdef"><b>Definition</b> Models.h:41</div></div>
+<div class="ttc" id="aclassModel_html_a4f059d658bfda1665bf44a36b7aaf8e5"><div class="ttname"><a href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">Model::hasParams</a></div><div class="ttdeci">bool hasParams()</div><div class="ttdoc">Verify that the model has parameters explicity set by setParams().</div><div class="ttdef"><b>Definition</b> Models.h:59</div></div>
+<div class="ttc" id="aclassModel_html_a643e1a47ddbb10c5c10844f9aea5be98"><div class="ttname"><a href="classModel.html#a643e1a47ddbb10c5c10844f9aea5be98">Model::StateSignalType</a></div><div class="ttdeci">typename DynamicsType::StateSignalType StateSignalType</div><div class="ttdef"><b>Definition</b> Models.h:29</div></div>
+<div class="ttc" id="aclassModel_html_a7661852411b9ffd59240d5d5ca0e4dd3"><div class="ttname"><a href="classModel.html#a7661852411b9ffd59240d5d5ca0e4dd3">Model::t</a></div><div class="ttdeci">double t() const</div><div class="ttdoc">Get the current simulation time.</div><div class="ttdef"><b>Definition</b> Models.h:76</div></div>
+<div class="ttc" id="aclassModel_html_a823536a9764d6a35cce173573ee62e90"><div class="ttname"><a href="classModel.html#a823536a9764d6a35cce173573ee62e90">Model::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">Zero out the model state and derivative variables and reset simulation time to zero.</div><div class="ttdef"><b>Definition</b> Models.h:67</div></div>
+<div class="ttc" id="aclassModel_html_a8abdf37c6158386a9f1d2c6c506f6839"><div class="ttname"><a href="classModel.html#a8abdf37c6158386a9f1d2c6c506f6839">Model::StateDotSignalType</a></div><div class="ttdeci">typename DynamicsType::StateDotSignalType StateDotSignalType</div><div class="ttdef"><b>Definition</b> Models.h:28</div></div>
+<div class="ttc" id="aclassModel_html_a96533143a30ab87c379e411fcae59643"><div class="ttname"><a href="classModel.html#a96533143a30ab87c379e411fcae59643">Model::setParams</a></div><div class="ttdeci">void setParams(const ParamsType &amp;params)</div><div class="ttdoc">Initialize the model with any required parameters.</div><div class="ttdef"><b>Definition</b> Models.h:51</div></div>
+<div class="ttc" id="aclassModel_html_ab8bb4819a03ed642326295c28bea6fa7"><div class="ttname"><a href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">Model::xdot</a></div><div class="ttdeci">StateDotSignalType xdot</div><div class="ttdoc">Time derivative of the model state signal.</div><div class="ttdef"><b>Definition</b> Models.h:39</div></div>
+<div class="ttc" id="aclassModel_html_abfe8871b9f0eac35c76af3f5cfcdea35"><div class="ttname"><a href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">Model::x</a></div><div class="ttdeci">StateSignalType x</div><div class="ttdoc">Model state signal.</div><div class="ttdef"><b>Definition</b> Models.h:35</div></div>
+<div class="ttc" id="aclassModel_html_ac2550ae8ed888d167450160ce55286df"><div class="ttname"><a href="classModel.html#ac2550ae8ed888d167450160ce55286df">Model::simulate</a></div><div class="ttdeci">bool simulate(const InputSignalType &amp;u, const double &amp;tf, const double &amp;dt, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdoc">Simulate the system response to an input over a specified time interval, chunked up into smaller inte...</div><div class="ttdef"><b>Definition</b> Models.h:125</div></div>
+<div class="ttc" id="aclassModel_html_ac7446138b27c8feba779ebfe8e82b99d"><div class="ttname"><a href="classModel.html#ac7446138b27c8feba779ebfe8e82b99d">Model::simulate</a></div><div class="ttdeci">bool simulate(const InputSignalType &amp;u, const double &amp;tf, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdoc">Simulate the system response to an input over a specified time interval.</div><div class="ttdef"><b>Definition</b> Models.h:90</div></div>
+<div class="ttc" id="aclassModel_html_ac990dd4740b30e4477bca86fc6172970"><div class="ttname"><a href="classModel.html#ac990dd4740b30e4477bca86fc6172970">Model::InputSignalType</a></div><div class="ttdeci">typename DynamicsType::InputSignalType InputSignalType</div><div class="ttdef"><b>Definition</b> Models.h:27</div></div>
+<div class="ttc" id="aclassModel_html_aec20251d98505785fa51c52eb81dd3a2"><div class="ttname"><a href="classModel.html#aec20251d98505785fa51c52eb81dd3a2">Model::ParamsType</a></div><div class="ttdeci">typename DynamicsType::ParamsType ParamsType</div><div class="ttdef"><b>Definition</b> Models.h:30</div></div>
 <div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:35</div></div>
 <div class="ttc" id="aclassSignal_html_a9bda97fe7663f5481807259ca8bcd8cb"><div class="ttname"><a href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">Signal::BaseType</a></div><div class="ttdeci">typename BaseSignalSpec::Type BaseType</div><div class="ttdef"><b>Definition</b> Signal.h:37</div></div>
 <div class="ttc" id="aclassSignal_html_aa0094b1c69fd482de9de83b99634996a"><div class="ttname"><a href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">Signal::TangentType</a></div><div class="ttdeci">typename TangentSignalSpec::Type TangentType</div><div class="ttdef"><b>Definition</b> Signal.h:38</div></div>
 <div class="ttc" id="aclassSignal_html_ab91f52b80939a6c67b6863ee463b4ff0"><div class="ttname"><a href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">Signal::update</a></div><div class="ttdeci">bool update(const double &amp;_t, const BaseType &amp;_x, bool insertHistory=false)</div><div class="ttdef"><b>Definition</b> Signal.h:171</div></div>
-<div class="ttc" id="anamespacesignal__utils_html_ad7667542f893604d059a5d0022d2890c"><div class="ttname"><a href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">signal_utils::getTimeDelta</a></div><div class="ttdeci">bool getTimeDelta(double &amp;dt, const double &amp;t0, const double &amp;tf, const double &amp;dt_max=std::numeric_limits&lt; double &gt;::max())</div><div class="ttdef"><b>Definition</b> Utils.h:7</div></div>
-<div class="ttc" id="astructRigidBodyDynamics3DOF_html"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a></div><div class="ttdef"><b>Definition</b> Models.h:266</div></div>
-<div class="ttc" id="astructRigidBodyDynamics3DOF_html_a448c5efb998f492d1518eb0d2d7ded74"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#a448c5efb998f492d1518eb0d2d7ded74">RigidBodyDynamics3DOF::StateType</a></div><div class="ttdeci">typename StateSignalType::BaseType StateType</div><div class="ttdef"><b>Definition</b> Models.h:272</div></div>
-<div class="ttc" id="astructRigidBodyDynamics3DOF_html_a562a8cc5e6e8dca19982509022a22ba4"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#a562a8cc5e6e8dca19982509022a22ba4">RigidBodyDynamics3DOF::StateDotDotType</a></div><div class="ttdeci">typename StateDotSignalType::TangentType StateDotDotType</div><div class="ttdef"><b>Definition</b> Models.h:274</div></div>
-<div class="ttc" id="astructRigidBodyDynamics3DOF_html_a7a9fa29ba97531d856e87560806a805c"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#a7a9fa29ba97531d856e87560806a805c">RigidBodyDynamics3DOF::StateDotType</a></div><div class="ttdeci">typename StateDotSignalType::BaseType StateDotType</div><div class="ttdef"><b>Definition</b> Models.h:273</div></div>
-<div class="ttc" id="astructRigidBodyDynamics3DOF_html_aa90232643a368b1d4b9fd618ae8d57f7"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#aa90232643a368b1d4b9fd618ae8d57f7">RigidBodyDynamics3DOF::InputType</a></div><div class="ttdeci">typename InputSignalType::BaseType InputType</div><div class="ttdef"><b>Definition</b> Models.h:271</div></div>
-<div class="ttc" id="astructRigidBodyDynamics3DOF_html_acafe68f9e9ea78f54bc70d64a1b39d9c"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#acafe68f9e9ea78f54bc70d64a1b39d9c">RigidBodyDynamics3DOF::update</a></div><div class="ttdeci">static bool update(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdef"><b>Definition</b> Models.h:278</div></div>
-<div class="ttc" id="astructRigidBodyDynamics6DOF_html"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a></div><div class="ttdef"><b>Definition</b> Models.h:310</div></div>
-<div class="ttc" id="astructRigidBodyDynamics6DOF_html_a32c92b85c94f66739358385a0a3a07fc"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#a32c92b85c94f66739358385a0a3a07fc">RigidBodyDynamics6DOF::StateDotDotType</a></div><div class="ttdeci">typename StateDotSignalType::TangentType StateDotDotType</div><div class="ttdef"><b>Definition</b> Models.h:318</div></div>
-<div class="ttc" id="astructRigidBodyDynamics6DOF_html_aa664579d3d691fcd4c5824b242dd2061"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#aa664579d3d691fcd4c5824b242dd2061">RigidBodyDynamics6DOF::StateDotType</a></div><div class="ttdeci">typename StateDotSignalType::BaseType StateDotType</div><div class="ttdef"><b>Definition</b> Models.h:317</div></div>
-<div class="ttc" id="astructRigidBodyDynamics6DOF_html_ac8780c98b59889f8329aa467a5b375fe"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#ac8780c98b59889f8329aa467a5b375fe">RigidBodyDynamics6DOF::InputType</a></div><div class="ttdeci">typename InputSignalType::BaseType InputType</div><div class="ttdef"><b>Definition</b> Models.h:315</div></div>
-<div class="ttc" id="astructRigidBodyDynamics6DOF_html_adf5c3e5f6090032d18019c7aeab91f51"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#adf5c3e5f6090032d18019c7aeab91f51">RigidBodyDynamics6DOF::StateType</a></div><div class="ttdeci">typename StateSignalType::BaseType StateType</div><div class="ttdef"><b>Definition</b> Models.h:316</div></div>
-<div class="ttc" id="astructRigidBodyDynamics6DOF_html_ae0d9bb27da7f804a1f8dc4923546a95d"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#ae0d9bb27da7f804a1f8dc4923546a95d">RigidBodyDynamics6DOF::update</a></div><div class="ttdeci">static bool update(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdef"><b>Definition</b> Models.h:322</div></div>
-<div class="ttc" id="astructRigidBodyParams1D_html"><div class="ttname"><a href="structRigidBodyParams1D.html">RigidBodyParams1D</a></div><div class="ttdef"><b>Definition</b> Models.h:107</div></div>
-<div class="ttc" id="astructRigidBodyParams1D_html_a2f5a1c0e6320c14d72d0ff98ad979332"><div class="ttname"><a href="structRigidBodyParams1D.html#a2f5a1c0e6320c14d72d0ff98ad979332">RigidBodyParams1D::m</a></div><div class="ttdeci">double m</div><div class="ttdef"><b>Definition</b> Models.h:109</div></div>
-<div class="ttc" id="astructRigidBodyParams1D_html_a823d208bcbabadd83d3cc8f222973c95"><div class="ttname"><a href="structRigidBodyParams1D.html#a823d208bcbabadd83d3cc8f222973c95">RigidBodyParams1D::g</a></div><div class="ttdeci">double g</div><div class="ttdef"><b>Definition</b> Models.h:110</div></div>
-<div class="ttc" id="astructRigidBodyParams1D_html_ab2b9c3eb89bcbf0ac06a33e95725e0eb"><div class="ttname"><a href="structRigidBodyParams1D.html#ab2b9c3eb89bcbf0ac06a33e95725e0eb">RigidBodyParams1D::RigidBodyParams1D</a></div><div class="ttdeci">RigidBodyParams1D()</div><div class="ttdef"><b>Definition</b> Models.h:108</div></div>
-<div class="ttc" id="astructRigidBodyParams2D_html"><div class="ttname"><a href="structRigidBodyParams2D.html">RigidBodyParams2D</a></div><div class="ttdef"><b>Definition</b> Models.h:114</div></div>
-<div class="ttc" id="astructRigidBodyParams2D_html_a5e37a979a1a69333bcc5576d14397185"><div class="ttname"><a href="structRigidBodyParams2D.html#a5e37a979a1a69333bcc5576d14397185">RigidBodyParams2D::m</a></div><div class="ttdeci">double m</div><div class="ttdef"><b>Definition</b> Models.h:116</div></div>
-<div class="ttc" id="astructRigidBodyParams2D_html_a6febaa8c9f355105b908979da3dd1255"><div class="ttname"><a href="structRigidBodyParams2D.html#a6febaa8c9f355105b908979da3dd1255">RigidBodyParams2D::RigidBodyParams2D</a></div><div class="ttdeci">RigidBodyParams2D()</div><div class="ttdef"><b>Definition</b> Models.h:115</div></div>
-<div class="ttc" id="astructRigidBodyParams2D_html_aaefd836b5e013be87bc317aaba261a25"><div class="ttname"><a href="structRigidBodyParams2D.html#aaefd836b5e013be87bc317aaba261a25">RigidBodyParams2D::J</a></div><div class="ttdeci">double J</div><div class="ttdef"><b>Definition</b> Models.h:117</div></div>
-<div class="ttc" id="astructRigidBodyParams2D_html_ab212f53241edb1bf232499a6ba963258"><div class="ttname"><a href="structRigidBodyParams2D.html#ab212f53241edb1bf232499a6ba963258">RigidBodyParams2D::g</a></div><div class="ttdeci">Vector2d g</div><div class="ttdef"><b>Definition</b> Models.h:118</div></div>
-<div class="ttc" id="astructRigidBodyParams3D_html"><div class="ttname"><a href="structRigidBodyParams3D.html">RigidBodyParams3D</a></div><div class="ttdef"><b>Definition</b> Models.h:122</div></div>
-<div class="ttc" id="astructRigidBodyParams3D_html_a049fb70b2897579849053dfe2ea840e6"><div class="ttname"><a href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">RigidBodyParams3D::J</a></div><div class="ttdeci">Matrix3d J</div><div class="ttdef"><b>Definition</b> Models.h:125</div></div>
-<div class="ttc" id="astructRigidBodyParams3D_html_a87b9c6a467ebcd6805a1d9419e6149d1"><div class="ttname"><a href="structRigidBodyParams3D.html#a87b9c6a467ebcd6805a1d9419e6149d1">RigidBodyParams3D::g</a></div><div class="ttdeci">Vector3d g</div><div class="ttdef"><b>Definition</b> Models.h:126</div></div>
-<div class="ttc" id="astructRigidBodyParams3D_html_a8aa76fea7a0790ead025bf79e767d0cf"><div class="ttname"><a href="structRigidBodyParams3D.html#a8aa76fea7a0790ead025bf79e767d0cf">RigidBodyParams3D::RigidBodyParams3D</a></div><div class="ttdeci">RigidBodyParams3D()</div><div class="ttdef"><b>Definition</b> Models.h:123</div></div>
-<div class="ttc" id="astructRigidBodyParams3D_html_acfa4c165c3278306dac4c0f51819e694"><div class="ttname"><a href="structRigidBodyParams3D.html#acfa4c165c3278306dac4c0f51819e694">RigidBodyParams3D::m</a></div><div class="ttdeci">double m</div><div class="ttdef"><b>Definition</b> Models.h:124</div></div>
-<div class="ttc" id="astructRotationalDynamics1DOF_html"><div class="ttname"><a href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a></div><div class="ttdef"><b>Definition</b> Models.h:184</div></div>
-<div class="ttc" id="astructRotationalDynamics1DOF_html_a433f042fafdcff07948eb952e47f13b6"><div class="ttname"><a href="structRotationalDynamics1DOF.html#a433f042fafdcff07948eb952e47f13b6">RotationalDynamics1DOF::update</a></div><div class="ttdeci">static bool update(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdef"><b>Definition</b> Models.h:196</div></div>
-<div class="ttc" id="astructRotationalDynamics1DOF_html_a5e2f1cd471e7be99dc9e0f3f29f146f3"><div class="ttname"><a href="structRotationalDynamics1DOF.html#a5e2f1cd471e7be99dc9e0f3f29f146f3">RotationalDynamics1DOF::StateDotDotType</a></div><div class="ttdeci">typename StateDotSignalType::TangentType StateDotDotType</div><div class="ttdef"><b>Definition</b> Models.h:192</div></div>
-<div class="ttc" id="astructRotationalDynamics1DOF_html_a7df05f9db990eecd331f506d1a17597e"><div class="ttname"><a href="structRotationalDynamics1DOF.html#a7df05f9db990eecd331f506d1a17597e">RotationalDynamics1DOF::StateDotType</a></div><div class="ttdeci">typename StateDotSignalType::BaseType StateDotType</div><div class="ttdef"><b>Definition</b> Models.h:191</div></div>
-<div class="ttc" id="astructRotationalDynamics1DOF_html_aada86d78db85576298e606afda8c928d"><div class="ttname"><a href="structRotationalDynamics1DOF.html#aada86d78db85576298e606afda8c928d">RotationalDynamics1DOF::StateType</a></div><div class="ttdeci">typename StateSignalType::BaseType StateType</div><div class="ttdef"><b>Definition</b> Models.h:190</div></div>
-<div class="ttc" id="astructRotationalDynamics1DOF_html_ad43b9ce6a37b65d677d01ceafe448259"><div class="ttname"><a href="structRotationalDynamics1DOF.html#ad43b9ce6a37b65d677d01ceafe448259">RotationalDynamics1DOF::InputType</a></div><div class="ttdeci">typename InputSignalType::BaseType InputType</div><div class="ttdef"><b>Definition</b> Models.h:189</div></div>
-<div class="ttc" id="astructRotationalDynamics3DOF_html"><div class="ttname"><a href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a></div><div class="ttdef"><b>Definition</b> Models.h:225</div></div>
-<div class="ttc" id="astructRotationalDynamics3DOF_html_a40c9649794d2d6e82da6451d17c32bb5"><div class="ttname"><a href="structRotationalDynamics3DOF.html#a40c9649794d2d6e82da6451d17c32bb5">RotationalDynamics3DOF::StateDotType</a></div><div class="ttdeci">typename StateDotSignalType::BaseType StateDotType</div><div class="ttdef"><b>Definition</b> Models.h:232</div></div>
-<div class="ttc" id="astructRotationalDynamics3DOF_html_a6e75764a6e9b0ec406d716dfb60943b1"><div class="ttname"><a href="structRotationalDynamics3DOF.html#a6e75764a6e9b0ec406d716dfb60943b1">RotationalDynamics3DOF::StateDotDotType</a></div><div class="ttdeci">typename StateDotSignalType::TangentType StateDotDotType</div><div class="ttdef"><b>Definition</b> Models.h:233</div></div>
-<div class="ttc" id="astructRotationalDynamics3DOF_html_aaee29651f3b1671b6ab4e10656ea6f9a"><div class="ttname"><a href="structRotationalDynamics3DOF.html#aaee29651f3b1671b6ab4e10656ea6f9a">RotationalDynamics3DOF::StateType</a></div><div class="ttdeci">typename StateSignalType::BaseType StateType</div><div class="ttdef"><b>Definition</b> Models.h:231</div></div>
-<div class="ttc" id="astructRotationalDynamics3DOF_html_aafaa22bb44de6a10f6293f66da5c52e5"><div class="ttname"><a href="structRotationalDynamics3DOF.html#aafaa22bb44de6a10f6293f66da5c52e5">RotationalDynamics3DOF::InputType</a></div><div class="ttdeci">typename InputSignalType::BaseType InputType</div><div class="ttdef"><b>Definition</b> Models.h:230</div></div>
-<div class="ttc" id="astructRotationalDynamics3DOF_html_aee5958f7949268650c00097b2a871252"><div class="ttname"><a href="structRotationalDynamics3DOF.html#aee5958f7949268650c00097b2a871252">RotationalDynamics3DOF::update</a></div><div class="ttdeci">static bool update(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdef"><b>Definition</b> Models.h:237</div></div>
-<div class="ttc" id="astructTranslationalDynamicsBase_html"><div class="ttname"><a href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a></div><div class="ttdef"><b>Definition</b> Models.h:131</div></div>
-<div class="ttc" id="astructTranslationalDynamicsBase_html_a1f0fdd4bbfb73f52878c7e5c7e459f16"><div class="ttname"><a href="structTranslationalDynamicsBase.html#a1f0fdd4bbfb73f52878c7e5c7e459f16">TranslationalDynamicsBase::StateSignalType</a></div><div class="ttdeci">SDST StateSignalType</div><div class="ttdef"><b>Definition</b> Models.h:134</div></div>
-<div class="ttc" id="astructTranslationalDynamicsBase_html_a25c6532290d222c25e727394a0afa0b7"><div class="ttname"><a href="structTranslationalDynamicsBase.html#a25c6532290d222c25e727394a0afa0b7">TranslationalDynamicsBase::StateDotType</a></div><div class="ttdeci">typename StateDotSignalType::BaseType StateDotType</div><div class="ttdef"><b>Definition</b> Models.h:138</div></div>
-<div class="ttc" id="astructTranslationalDynamicsBase_html_a3870f6b57fcb6cb578b3640401331a39"><div class="ttname"><a href="structTranslationalDynamicsBase.html#a3870f6b57fcb6cb578b3640401331a39">TranslationalDynamicsBase::StateDotSignalType</a></div><div class="ttdeci">SST StateDotSignalType</div><div class="ttdef"><b>Definition</b> Models.h:133</div></div>
-<div class="ttc" id="astructTranslationalDynamicsBase_html_a3f1e02018ec014fe38ba851dc0d5b2ed"><div class="ttname"><a href="structTranslationalDynamicsBase.html#a3f1e02018ec014fe38ba851dc0d5b2ed">TranslationalDynamicsBase::update</a></div><div class="ttdeci">static bool update(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdef"><b>Definition</b> Models.h:143</div></div>
-<div class="ttc" id="astructTranslationalDynamicsBase_html_a4ae3874e31bcc97d54f4cebea0606002"><div class="ttname"><a href="structTranslationalDynamicsBase.html#a4ae3874e31bcc97d54f4cebea0606002">TranslationalDynamicsBase::StateDotDotType</a></div><div class="ttdeci">typename StateDotSignalType::TangentType StateDotDotType</div><div class="ttdef"><b>Definition</b> Models.h:139</div></div>
-<div class="ttc" id="astructTranslationalDynamicsBase_html_a4ba374f05dd1f5c4168adf3d6a15ef0c"><div class="ttname"><a href="structTranslationalDynamicsBase.html#a4ba374f05dd1f5c4168adf3d6a15ef0c">TranslationalDynamicsBase::ParamsType</a></div><div class="ttdeci">PT ParamsType</div><div class="ttdef"><b>Definition</b> Models.h:141</div></div>
-<div class="ttc" id="astructTranslationalDynamicsBase_html_aabb958cc98babacfc8478a04fb7a37dd"><div class="ttname"><a href="structTranslationalDynamicsBase.html#aabb958cc98babacfc8478a04fb7a37dd">TranslationalDynamicsBase::StateType</a></div><div class="ttdeci">typename StateSignalType::BaseType StateType</div><div class="ttdef"><b>Definition</b> Models.h:137</div></div>
-<div class="ttc" id="astructTranslationalDynamicsBase_html_aac403e4db54adf389b8f1fa3700f6f6a"><div class="ttname"><a href="structTranslationalDynamicsBase.html#aac403e4db54adf389b8f1fa3700f6f6a">TranslationalDynamicsBase::InputSignalType</a></div><div class="ttdeci">IST InputSignalType</div><div class="ttdef"><b>Definition</b> Models.h:132</div></div>
-<div class="ttc" id="astructTranslationalDynamicsBase_html_ac57d5ab2e4cf3e6afe4a5ae550e858bb"><div class="ttname"><a href="structTranslationalDynamicsBase.html#ac57d5ab2e4cf3e6afe4a5ae550e858bb">TranslationalDynamicsBase::InputType</a></div><div class="ttdeci">typename InputSignalType::BaseType InputType</div><div class="ttdef"><b>Definition</b> Models.h:136</div></div>
+<div class="ttc" id="anamespacesignal__utils_html_ad7667542f893604d059a5d0022d2890c"><div class="ttname"><a href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">signal_utils::getTimeDelta</a></div><div class="ttdeci">bool getTimeDelta(double &amp;dt, const double &amp;t0, const double &amp;tf, const double &amp;dt_max=std::numeric_limits&lt; double &gt;::max())</div><div class="ttdef"><b>Definition</b> Utils.h:11</div></div>
+<div class="ttc" id="astructRigidBodyDynamics3DOF_html"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a></div><div class="ttdoc">Definition of the dynamics for planar motion of a mass that's allowed to rotate.</div><div class="ttdef"><b>Definition</b> Models.h:413</div></div>
+<div class="ttc" id="astructRigidBodyDynamics3DOF_html_a448c5efb998f492d1518eb0d2d7ded74"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#a448c5efb998f492d1518eb0d2d7ded74">RigidBodyDynamics3DOF::StateType</a></div><div class="ttdeci">typename StateSignalType::BaseType StateType</div><div class="ttdef"><b>Definition</b> Models.h:419</div></div>
+<div class="ttc" id="astructRigidBodyDynamics3DOF_html_a562a8cc5e6e8dca19982509022a22ba4"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#a562a8cc5e6e8dca19982509022a22ba4">RigidBodyDynamics3DOF::StateDotDotType</a></div><div class="ttdeci">typename StateDotSignalType::TangentType StateDotDotType</div><div class="ttdef"><b>Definition</b> Models.h:421</div></div>
+<div class="ttc" id="astructRigidBodyDynamics3DOF_html_a7a9fa29ba97531d856e87560806a805c"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#a7a9fa29ba97531d856e87560806a805c">RigidBodyDynamics3DOF::StateDotType</a></div><div class="ttdeci">typename StateDotSignalType::BaseType StateDotType</div><div class="ttdef"><b>Definition</b> Models.h:420</div></div>
+<div class="ttc" id="astructRigidBodyDynamics3DOF_html_aa90232643a368b1d4b9fd618ae8d57f7"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#aa90232643a368b1d4b9fd618ae8d57f7">RigidBodyDynamics3DOF::InputType</a></div><div class="ttdeci">typename InputSignalType::BaseType InputType</div><div class="ttdef"><b>Definition</b> Models.h:418</div></div>
+<div class="ttc" id="astructRigidBodyDynamics3DOF_html_acafe68f9e9ea78f54bc70d64a1b39d9c"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#acafe68f9e9ea78f54bc70d64a1b39d9c">RigidBodyDynamics3DOF::update</a></div><div class="ttdeci">static bool update(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdoc">Update a provided state time derivative given an input and time interval.</div><div class="ttdef"><b>Definition</b> Models.h:436</div></div>
+<div class="ttc" id="astructRigidBodyDynamics6DOF_html"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a></div><div class="ttdoc">Definition of the dynamics for a 3D rigid body that can rotate about any axis.</div><div class="ttdef"><b>Definition</b> Models.h:471</div></div>
+<div class="ttc" id="astructRigidBodyDynamics6DOF_html_a32c92b85c94f66739358385a0a3a07fc"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#a32c92b85c94f66739358385a0a3a07fc">RigidBodyDynamics6DOF::StateDotDotType</a></div><div class="ttdeci">typename StateDotSignalType::TangentType StateDotDotType</div><div class="ttdef"><b>Definition</b> Models.h:479</div></div>
+<div class="ttc" id="astructRigidBodyDynamics6DOF_html_aa664579d3d691fcd4c5824b242dd2061"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#aa664579d3d691fcd4c5824b242dd2061">RigidBodyDynamics6DOF::StateDotType</a></div><div class="ttdeci">typename StateDotSignalType::BaseType StateDotType</div><div class="ttdef"><b>Definition</b> Models.h:478</div></div>
+<div class="ttc" id="astructRigidBodyDynamics6DOF_html_ac8780c98b59889f8329aa467a5b375fe"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#ac8780c98b59889f8329aa467a5b375fe">RigidBodyDynamics6DOF::InputType</a></div><div class="ttdeci">typename InputSignalType::BaseType InputType</div><div class="ttdef"><b>Definition</b> Models.h:476</div></div>
+<div class="ttc" id="astructRigidBodyDynamics6DOF_html_adf5c3e5f6090032d18019c7aeab91f51"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#adf5c3e5f6090032d18019c7aeab91f51">RigidBodyDynamics6DOF::StateType</a></div><div class="ttdeci">typename StateSignalType::BaseType StateType</div><div class="ttdef"><b>Definition</b> Models.h:477</div></div>
+<div class="ttc" id="astructRigidBodyDynamics6DOF_html_ae0d9bb27da7f804a1f8dc4923546a95d"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#ae0d9bb27da7f804a1f8dc4923546a95d">RigidBodyDynamics6DOF::update</a></div><div class="ttdeci">static bool update(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdoc">Update a provided state time derivative given an input and time interval.</div><div class="ttdef"><b>Definition</b> Models.h:494</div></div>
+<div class="ttc" id="astructRigidBodyParams1D_html"><div class="ttname"><a href="structRigidBodyParams1D.html">RigidBodyParams1D</a></div><div class="ttdoc">Parameters for a 1D rigid body model.</div><div class="ttdef"><b>Definition</b> Models.h:165</div></div>
+<div class="ttc" id="astructRigidBodyParams1D_html_a2f5a1c0e6320c14d72d0ff98ad979332"><div class="ttname"><a href="structRigidBodyParams1D.html#a2f5a1c0e6320c14d72d0ff98ad979332">RigidBodyParams1D::m</a></div><div class="ttdeci">double m</div><div class="ttdoc">Model mass.</div><div class="ttdef"><b>Definition</b> Models.h:170</div></div>
+<div class="ttc" id="astructRigidBodyParams1D_html_a823d208bcbabadd83d3cc8f222973c95"><div class="ttname"><a href="structRigidBodyParams1D.html#a823d208bcbabadd83d3cc8f222973c95">RigidBodyParams1D::g</a></div><div class="ttdeci">double g</div><div class="ttdoc">Gravitational constant.</div><div class="ttdef"><b>Definition</b> Models.h:176</div></div>
+<div class="ttc" id="astructRigidBodyParams1D_html_ab2b9c3eb89bcbf0ac06a33e95725e0eb"><div class="ttname"><a href="structRigidBodyParams1D.html#ab2b9c3eb89bcbf0ac06a33e95725e0eb">RigidBodyParams1D::RigidBodyParams1D</a></div><div class="ttdeci">RigidBodyParams1D()</div><div class="ttdef"><b>Definition</b> Models.h:166</div></div>
+<div class="ttc" id="astructRigidBodyParams2D_html"><div class="ttname"><a href="structRigidBodyParams2D.html">RigidBodyParams2D</a></div><div class="ttdoc">Parameters for a 2D rigid body model.</div><div class="ttdef"><b>Definition</b> Models.h:185</div></div>
+<div class="ttc" id="astructRigidBodyParams2D_html_a5e37a979a1a69333bcc5576d14397185"><div class="ttname"><a href="structRigidBodyParams2D.html#a5e37a979a1a69333bcc5576d14397185">RigidBodyParams2D::m</a></div><div class="ttdeci">double m</div><div class="ttdoc">Model mass.</div><div class="ttdef"><b>Definition</b> Models.h:190</div></div>
+<div class="ttc" id="astructRigidBodyParams2D_html_a6febaa8c9f355105b908979da3dd1255"><div class="ttname"><a href="structRigidBodyParams2D.html#a6febaa8c9f355105b908979da3dd1255">RigidBodyParams2D::RigidBodyParams2D</a></div><div class="ttdeci">RigidBodyParams2D()</div><div class="ttdef"><b>Definition</b> Models.h:186</div></div>
+<div class="ttc" id="astructRigidBodyParams2D_html_aaefd836b5e013be87bc317aaba261a25"><div class="ttname"><a href="structRigidBodyParams2D.html#aaefd836b5e013be87bc317aaba261a25">RigidBodyParams2D::J</a></div><div class="ttdeci">double J</div><div class="ttdoc">Moment of inertia.</div><div class="ttdef"><b>Definition</b> Models.h:196</div></div>
+<div class="ttc" id="astructRigidBodyParams2D_html_ab212f53241edb1bf232499a6ba963258"><div class="ttname"><a href="structRigidBodyParams2D.html#ab212f53241edb1bf232499a6ba963258">RigidBodyParams2D::g</a></div><div class="ttdeci">Vector2d g</div><div class="ttdoc">Gravitational vector.</div><div class="ttdef"><b>Definition</b> Models.h:202</div></div>
+<div class="ttc" id="astructRigidBodyParams3D_html"><div class="ttname"><a href="structRigidBodyParams3D.html">RigidBodyParams3D</a></div><div class="ttdoc">Parameters for a 3D rigid body model.</div><div class="ttdef"><b>Definition</b> Models.h:211</div></div>
+<div class="ttc" id="astructRigidBodyParams3D_html_a049fb70b2897579849053dfe2ea840e6"><div class="ttname"><a href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">RigidBodyParams3D::J</a></div><div class="ttdeci">Matrix3d J</div><div class="ttdoc">Moment of inertia.</div><div class="ttdef"><b>Definition</b> Models.h:222</div></div>
+<div class="ttc" id="astructRigidBodyParams3D_html_a87b9c6a467ebcd6805a1d9419e6149d1"><div class="ttname"><a href="structRigidBodyParams3D.html#a87b9c6a467ebcd6805a1d9419e6149d1">RigidBodyParams3D::g</a></div><div class="ttdeci">Vector3d g</div><div class="ttdoc">Gravitational vector.</div><div class="ttdef"><b>Definition</b> Models.h:228</div></div>
+<div class="ttc" id="astructRigidBodyParams3D_html_a8aa76fea7a0790ead025bf79e767d0cf"><div class="ttname"><a href="structRigidBodyParams3D.html#a8aa76fea7a0790ead025bf79e767d0cf">RigidBodyParams3D::RigidBodyParams3D</a></div><div class="ttdeci">RigidBodyParams3D()</div><div class="ttdef"><b>Definition</b> Models.h:212</div></div>
+<div class="ttc" id="astructRigidBodyParams3D_html_acfa4c165c3278306dac4c0f51819e694"><div class="ttname"><a href="structRigidBodyParams3D.html#acfa4c165c3278306dac4c0f51819e694">RigidBodyParams3D::m</a></div><div class="ttdeci">double m</div><div class="ttdoc">Model mass.</div><div class="ttdef"><b>Definition</b> Models.h:216</div></div>
+<div class="ttc" id="astructRotationalDynamics1DOF_html"><div class="ttname"><a href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a></div><div class="ttdoc">Definition of the dynamics for planar rotation-only motion of a mass.</div><div class="ttdef"><b>Definition</b> Models.h:303</div></div>
+<div class="ttc" id="astructRotationalDynamics1DOF_html_a433f042fafdcff07948eb952e47f13b6"><div class="ttname"><a href="structRotationalDynamics1DOF.html#a433f042fafdcff07948eb952e47f13b6">RotationalDynamics1DOF::update</a></div><div class="ttdeci">static bool update(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdoc">Update a provided state time derivative given an input and time interval.</div><div class="ttdef"><b>Definition</b> Models.h:326</div></div>
+<div class="ttc" id="astructRotationalDynamics1DOF_html_a5e2f1cd471e7be99dc9e0f3f29f146f3"><div class="ttname"><a href="structRotationalDynamics1DOF.html#a5e2f1cd471e7be99dc9e0f3f29f146f3">RotationalDynamics1DOF::StateDotDotType</a></div><div class="ttdeci">typename StateDotSignalType::TangentType StateDotDotType</div><div class="ttdef"><b>Definition</b> Models.h:311</div></div>
+<div class="ttc" id="astructRotationalDynamics1DOF_html_a7df05f9db990eecd331f506d1a17597e"><div class="ttname"><a href="structRotationalDynamics1DOF.html#a7df05f9db990eecd331f506d1a17597e">RotationalDynamics1DOF::StateDotType</a></div><div class="ttdeci">typename StateDotSignalType::BaseType StateDotType</div><div class="ttdef"><b>Definition</b> Models.h:310</div></div>
+<div class="ttc" id="astructRotationalDynamics1DOF_html_aada86d78db85576298e606afda8c928d"><div class="ttname"><a href="structRotationalDynamics1DOF.html#aada86d78db85576298e606afda8c928d">RotationalDynamics1DOF::StateType</a></div><div class="ttdeci">typename StateSignalType::BaseType StateType</div><div class="ttdef"><b>Definition</b> Models.h:309</div></div>
+<div class="ttc" id="astructRotationalDynamics1DOF_html_ad43b9ce6a37b65d677d01ceafe448259"><div class="ttname"><a href="structRotationalDynamics1DOF.html#ad43b9ce6a37b65d677d01ceafe448259">RotationalDynamics1DOF::InputType</a></div><div class="ttdeci">typename InputSignalType::BaseType InputType</div><div class="ttdef"><b>Definition</b> Models.h:308</div></div>
+<div class="ttc" id="astructRotationalDynamics3DOF_html"><div class="ttname"><a href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a></div><div class="ttdoc">Definition of the dynamics for 3D rotation-only motion of a mass.</div><div class="ttdef"><b>Definition</b> Models.h:358</div></div>
+<div class="ttc" id="astructRotationalDynamics3DOF_html_a40c9649794d2d6e82da6451d17c32bb5"><div class="ttname"><a href="structRotationalDynamics3DOF.html#a40c9649794d2d6e82da6451d17c32bb5">RotationalDynamics3DOF::StateDotType</a></div><div class="ttdeci">typename StateDotSignalType::BaseType StateDotType</div><div class="ttdef"><b>Definition</b> Models.h:365</div></div>
+<div class="ttc" id="astructRotationalDynamics3DOF_html_a6e75764a6e9b0ec406d716dfb60943b1"><div class="ttname"><a href="structRotationalDynamics3DOF.html#a6e75764a6e9b0ec406d716dfb60943b1">RotationalDynamics3DOF::StateDotDotType</a></div><div class="ttdeci">typename StateDotSignalType::TangentType StateDotDotType</div><div class="ttdef"><b>Definition</b> Models.h:366</div></div>
+<div class="ttc" id="astructRotationalDynamics3DOF_html_aaee29651f3b1671b6ab4e10656ea6f9a"><div class="ttname"><a href="structRotationalDynamics3DOF.html#aaee29651f3b1671b6ab4e10656ea6f9a">RotationalDynamics3DOF::StateType</a></div><div class="ttdeci">typename StateSignalType::BaseType StateType</div><div class="ttdef"><b>Definition</b> Models.h:364</div></div>
+<div class="ttc" id="astructRotationalDynamics3DOF_html_aafaa22bb44de6a10f6293f66da5c52e5"><div class="ttname"><a href="structRotationalDynamics3DOF.html#aafaa22bb44de6a10f6293f66da5c52e5">RotationalDynamics3DOF::InputType</a></div><div class="ttdeci">typename InputSignalType::BaseType InputType</div><div class="ttdef"><b>Definition</b> Models.h:363</div></div>
+<div class="ttc" id="astructRotationalDynamics3DOF_html_aee5958f7949268650c00097b2a871252"><div class="ttname"><a href="structRotationalDynamics3DOF.html#aee5958f7949268650c00097b2a871252">RotationalDynamics3DOF::update</a></div><div class="ttdeci">static bool update(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdoc">Update a provided state time derivative given an input and time interval.</div><div class="ttdef"><b>Definition</b> Models.h:381</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html"><div class="ttname"><a href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a></div><div class="ttdoc">Base class for defining the dynamics for 1D, 2D, and 3D point masses.</div><div class="ttdef"><b>Definition</b> Models.h:236</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html_a1f0fdd4bbfb73f52878c7e5c7e459f16"><div class="ttname"><a href="structTranslationalDynamicsBase.html#a1f0fdd4bbfb73f52878c7e5c7e459f16">TranslationalDynamicsBase::StateSignalType</a></div><div class="ttdeci">SDST StateSignalType</div><div class="ttdef"><b>Definition</b> Models.h:239</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html_a25c6532290d222c25e727394a0afa0b7"><div class="ttname"><a href="structTranslationalDynamicsBase.html#a25c6532290d222c25e727394a0afa0b7">TranslationalDynamicsBase::StateDotType</a></div><div class="ttdeci">typename StateDotSignalType::BaseType StateDotType</div><div class="ttdef"><b>Definition</b> Models.h:243</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html_a3870f6b57fcb6cb578b3640401331a39"><div class="ttname"><a href="structTranslationalDynamicsBase.html#a3870f6b57fcb6cb578b3640401331a39">TranslationalDynamicsBase::StateDotSignalType</a></div><div class="ttdeci">SST StateDotSignalType</div><div class="ttdef"><b>Definition</b> Models.h:238</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html_a3f1e02018ec014fe38ba851dc0d5b2ed"><div class="ttname"><a href="structTranslationalDynamicsBase.html#a3f1e02018ec014fe38ba851dc0d5b2ed">TranslationalDynamicsBase::update</a></div><div class="ttdeci">static bool update(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdoc">Update a provided state time derivative given an input and time interval.</div><div class="ttdef"><b>Definition</b> Models.h:259</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html_a4ae3874e31bcc97d54f4cebea0606002"><div class="ttname"><a href="structTranslationalDynamicsBase.html#a4ae3874e31bcc97d54f4cebea0606002">TranslationalDynamicsBase::StateDotDotType</a></div><div class="ttdeci">typename StateDotSignalType::TangentType StateDotDotType</div><div class="ttdef"><b>Definition</b> Models.h:244</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html_a4ba374f05dd1f5c4168adf3d6a15ef0c"><div class="ttname"><a href="structTranslationalDynamicsBase.html#a4ba374f05dd1f5c4168adf3d6a15ef0c">TranslationalDynamicsBase::ParamsType</a></div><div class="ttdeci">PT ParamsType</div><div class="ttdef"><b>Definition</b> Models.h:246</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html_aabb958cc98babacfc8478a04fb7a37dd"><div class="ttname"><a href="structTranslationalDynamicsBase.html#aabb958cc98babacfc8478a04fb7a37dd">TranslationalDynamicsBase::StateType</a></div><div class="ttdeci">typename StateSignalType::BaseType StateType</div><div class="ttdef"><b>Definition</b> Models.h:242</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html_aac403e4db54adf389b8f1fa3700f6f6a"><div class="ttname"><a href="structTranslationalDynamicsBase.html#aac403e4db54adf389b8f1fa3700f6f6a">TranslationalDynamicsBase::InputSignalType</a></div><div class="ttdeci">IST InputSignalType</div><div class="ttdef"><b>Definition</b> Models.h:237</div></div>
+<div class="ttc" id="astructTranslationalDynamicsBase_html_ac57d5ab2e4cf3e6afe4a5ae550e858bb"><div class="ttname"><a href="structTranslationalDynamicsBase.html#ac57d5ab2e4cf3e6afe4a5ae550e858bb">TranslationalDynamicsBase::InputType</a></div><div class="ttdeci">typename InputSignalType::BaseType InputType</div><div class="ttdef"><b>Definition</b> Models.h:241</div></div>
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diff --git a/docs/State_8h.html b/docs/State_8h.html
index 6ed2a73..825b4c5 100644
--- a/docs/State_8h.html
+++ b/docs/State_8h.html
@@ -97,6 +97,7 @@
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
 Classes</h2></td></tr>
 <tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structState.html">State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base type for all <a class="el" href="classModel.html" title="Base type for all model simulators.">Model</a> state representations.  <a href="structState.html#details">More...</a><br /></td></tr>
 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec&lt; T &gt;</a></td></tr>
 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -350,7 +351,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a72800aeb486c7eebe1ab0fe8
 <div class="line">    <span class="keyword">typedef</span> Manif##<a class="code hl_struct" href="structState.html">State&lt;double&gt;</a>       Manif##dState;                                                                  \</div>
 <div class="line">    <span class="keyword">typedef</span> Manif##StateSignal&lt;double&gt; Manif##dStateSignal;</div>
 <div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:35</div></div>
-<div class="ttc" id="astructState_html"><div class="ttname"><a href="structState.html">State</a></div><div class="ttdef"><b>Definition</b> State.h:8</div></div>
+<div class="ttc" id="astructState_html"><div class="ttname"><a href="structState.html">State</a></div><div class="ttdoc">Base type for all Model state representations.</div><div class="ttdef"><b>Definition</b> State.h:34</div></div>
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diff --git a/docs/State_8h_source.html b/docs/State_8h_source.html
index a9c8224..5893d8a 100644
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@@ -95,341 +95,341 @@
 <div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span> </div>
 <div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="keyword">using namespace </span>Eigen;</div>
 <div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PoseTypeSpec, <span class="keywordtype">size_t</span> PoseDim, <span class="keyword">typename</span> TwistTypeSpec, <span class="keywordtype">size_t</span> TwistDim&gt;</div>
-<div class="foldopen" id="foldopen00007" data-start="{" data-end="};">
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"><a class="line" href="structState.html">    7</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structState.html">State</a></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span>{</div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"><a class="line" href="structState.html#a31bd8aa44dff5f656b2b2057c8d63821">    9</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structState.html#a31bd8aa44dff5f656b2b2057c8d63821">PoseType</a>  = <span class="keyword">typename</span> PoseTypeSpec::Type;</div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"><a class="line" href="structState.html#ab58b6e2fe6ea3c2777c5a8a92f6665a1">   10</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structState.html#ab58b6e2fe6ea3c2777c5a8a92f6665a1">TwistType</a> = <span class="keyword">typename</span> TwistTypeSpec::Type;</div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"><a class="line" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">   12</a></span>    <a class="code hl_typedef" href="structState.html#a31bd8aa44dff5f656b2b2057c8d63821">PoseType</a>  <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">   13</a></span>    <a class="code hl_typedef" href="structState.html#ab58b6e2fe6ea3c2777c5a8a92f6665a1">TwistType</a> <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="structState.html#adcb914ebe25fe14622a945801267fa7a">   15</a></span>    <a class="code hl_function" href="structState.html#adcb914ebe25fe14622a945801267fa7a">State</a>() {}</div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="structState.html#a097d236bc46ca02a379e2fd188fe3e97">   17</a></span>    <a class="code hl_function" href="structState.html#a097d236bc46ca02a379e2fd188fe3e97">State</a>(T* arr) : <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>(arr), <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>(arr + PoseDim) {}</div>
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
-<div class="foldopen" id="foldopen00019" data-start="{" data-end="}">
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="structState.html#aa10b450dbe8a806a0b203521b4738c0c">   19</a></span>    <a class="code hl_function" href="structState.html#aa10b450dbe8a806a0b203521b4738c0c">State</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State</a>&amp; other)</div>
-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    {</div>
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        this-&gt;pose  = other.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>        this-&gt;twist = other.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    }</div>
-</div>
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
-<div class="foldopen" id="foldopen00025" data-start="{" data-end="}">
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="structState.html#a035f1f7193895463743b8ee58d75634f">   25</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">State</a> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">identity</a>()</div>
-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    {</div>
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>        <a class="code hl_struct" href="structState.html">State</a> x;</div>
-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>  = PoseTypeSpec::ZeroType();</div>
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> = TwistTypeSpec::ZeroType();</div>
-<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        <span class="keywordflow">return</span> x;</div>
-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    }</div>
-</div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
-<div class="foldopen" id="foldopen00033" data-start="{" data-end="}">
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">   33</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">State</a> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">nans</a>()</div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    {</div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>        <a class="code hl_struct" href="structState.html">State</a> x;</div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>        x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>  = PoseTypeSpec::NansType();</div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>        x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> = TwistTypeSpec::NansType();</div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>        <span class="keywordflow">return</span> x;</div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    }</div>
-</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PoseTypeSpec, <span class="keywordtype">size_t</span> PoseDim, <span class="keyword">typename</span> TwistTypeSpec, <span class="keywordtype">size_t</span> TwistDim&gt;</div>
+<div class="foldopen" id="foldopen00033" data-start="{" data-end="};">
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="structState.html">   33</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structState.html">State</a></div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>{</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="structState.html#a31bd8aa44dff5f656b2b2057c8d63821">   35</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structState.html#a31bd8aa44dff5f656b2b2057c8d63821">PoseType</a>  = <span class="keyword">typename</span> PoseTypeSpec::Type;</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="structState.html#ab58b6e2fe6ea3c2777c5a8a92f6665a1">   36</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structState.html#ab58b6e2fe6ea3c2777c5a8a92f6665a1">TwistType</a> = <span class="keyword">typename</span> TwistTypeSpec::Type;</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">   38</a></span>    <a class="code hl_typedef" href="structState.html#a31bd8aa44dff5f656b2b2057c8d63821">PoseType</a>  <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">   39</a></span>    <a class="code hl_typedef" href="structState.html#ab58b6e2fe6ea3c2777c5a8a92f6665a1">TwistType</a> <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
 <div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
-<div class="foldopen" id="foldopen00041" data-start="{" data-end="}">
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="structState.html#af76faa98cfc18fb81afb0c86f7a0aa75">   41</a></span>    <a class="code hl_struct" href="structState.html">State</a>&amp; <a class="code hl_function" href="structState.html#af76faa98cfc18fb81afb0c86f7a0aa75">operator*=</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; s)</div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    {</div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>        <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> *= s;</div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>        <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> *= s;</div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>        <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    }</div>
-</div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T2&gt;</div>
-<div class="foldopen" id="foldopen00049" data-start="{" data-end="}">
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="structState.html#a7764970f0c29576eac07ab57c28261be">   49</a></span>    <a class="code hl_struct" href="structState.html">State</a>&amp; <a class="code hl_function" href="structState.html#a7764970f0c29576eac07ab57c28261be">operator+=</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T2, TwistTypeSpec, TwistDim, TwistTypeSpec, TwistDim&gt;</a>&amp; r)</div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    {</div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>        <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> += r.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>        <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> += r.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>        <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    }</div>
-</div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>};</div>
-</div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PTS, <span class="keywordtype">size_t</span> PD, <span class="keyword">typename</span> TTS, <span class="keywordtype">size_t</span> TD&gt;</div>
-<div class="foldopen" id="foldopen00058" data-start="{" data-end="}">
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="State_8h.html#ac3e1ccc35f63b762bdd2c87478f8aad6">   58</a></span><a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> <a class="code hl_function" href="State_8h.html#ac3e1ccc35f63b762bdd2c87478f8aad6">operator+</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; l, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, TTS, TD, TTS, TD&gt;</a>&amp; r)</div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>{</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> lpr = l;</div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    lpr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> += r.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    lpr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> += r.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <span class="keywordflow">return</span> lpr;</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>}</div>
-</div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PTS, <span class="keywordtype">size_t</span> PD, <span class="keyword">typename</span> TTS, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="structState.html#adcb914ebe25fe14622a945801267fa7a">   41</a></span>    <a class="code hl_function" href="structState.html#adcb914ebe25fe14622a945801267fa7a">State</a>() {}</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="structState.html#a097d236bc46ca02a379e2fd188fe3e97">   43</a></span>    <a class="code hl_function" href="structState.html#a097d236bc46ca02a379e2fd188fe3e97">State</a>(T* arr) : <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>(arr), <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>(arr + PoseDim) {}</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span> </div>
+<div class="foldopen" id="foldopen00045" data-start="{" data-end="}">
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="structState.html#aa10b450dbe8a806a0b203521b4738c0c">   45</a></span>    <a class="code hl_function" href="structState.html#aa10b450dbe8a806a0b203521b4738c0c">State</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State</a>&amp; other)</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    {</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>        this-&gt;pose  = other.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>        this-&gt;twist = other.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    }</div>
+</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span> </div>
+<div class="foldopen" id="foldopen00051" data-start="{" data-end="}">
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="structState.html#a035f1f7193895463743b8ee58d75634f">   51</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">State</a> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">identity</a>()</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    {</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>        <a class="code hl_struct" href="structState.html">State</a> x;</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>        x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>  = PoseTypeSpec::ZeroType();</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>        x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> = TwistTypeSpec::ZeroType();</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>        <span class="keywordflow">return</span> x;</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    }</div>
+</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
+<div class="foldopen" id="foldopen00059" data-start="{" data-end="}">
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">   59</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">State</a> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">nans</a>()</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    {</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>        <a class="code hl_struct" href="structState.html">State</a> x;</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>        x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>  = PoseTypeSpec::NansType();</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>        x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> = TwistTypeSpec::NansType();</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        <span class="keywordflow">return</span> x;</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    }</div>
+</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
 <div class="foldopen" id="foldopen00067" data-start="{" data-end="}">
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="State_8h.html#ad7ac1ecc8c925fbc991d2fa8ca50d4eb">   67</a></span><a class="code hl_struct" href="structState.html">State&lt;T, TTS, TD, TTS, TD&gt;</a> <a class="code hl_function" href="State_8h.html#ad7ac1ecc8c925fbc991d2fa8ca50d4eb">operator-</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; l, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; r)</div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>{</div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    <a class="code hl_struct" href="structState.html">State&lt;T, TTS, TD, TTS, TD&gt;</a> lmr;</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    lmr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>  = l.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> - r.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    lmr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> = l.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> - r.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <span class="keywordflow">return</span> lmr;</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>}</div>
-</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PTS, <span class="keywordtype">size_t</span> PD, <span class="keyword">typename</span> TTS, <span class="keywordtype">size_t</span> TD&gt;</div>
-<div class="foldopen" id="foldopen00076" data-start="{" data-end="}">
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="State_8h.html#a795d2ff5c53f24de712134f27e197001">   76</a></span><a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> <a class="code hl_function" href="State_8h.html#a795d2ff5c53f24de712134f27e197001">operator*</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; l, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; r)</div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>{</div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> lr = r;</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> *= l;</div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> *= l;</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    <span class="keywordflow">return</span> lr;</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>}</div>
-</div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PTS, <span class="keywordtype">size_t</span> PD, <span class="keyword">typename</span> TTS, <span class="keywordtype">size_t</span> TD&gt;</div>
-<div class="foldopen" id="foldopen00085" data-start="{" data-end="}">
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="State_8h.html#a7fa016cf853be0dbc882359bf5b637f9">   85</a></span><a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> <a class="code hl_function" href="State_8h.html#a795d2ff5c53f24de712134f27e197001">operator*</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>{</div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> lr = l;</div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> *= r;</div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> *= r;</div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="keywordflow">return</span> lr;</div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>}</div>
-</div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="State_8h.html#aad51d946606df50291c6c2f546030f11">   94</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">ScalarStateType</a> = <a class="code hl_struct" href="structState.html">State&lt;T, ScalarSignalSpec&lt;T&gt;</a>, 1, <a class="code hl_struct" href="structScalarSignalSpec.html">ScalarSignalSpec&lt;T&gt;</a>, 1&gt;;</div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="foldopen" id="foldopen00097" data-start="{" data-end="}">
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">   97</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>&amp; x)</div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>{</div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    os &lt;&lt; <span class="stringliteral">&quot;ScalarStateType: pose=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    <span class="keywordflow">return</span> os;</div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>}</div>
-</div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span> </div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="foldopen" id="foldopen00104" data-start="{" data-end="}">
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">  104</a></span><a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a> <a class="code hl_function" href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">operator/</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>{</div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a> lr = l;</div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> /= r;</div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> /= r;</div>
-<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    <span class="keywordflow">return</span> lr;</div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>}</div>
-</div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span> </div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="State_8h.html#a60d0230d5788084bb8f559f4561d4d96">  113</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">VectorStateType</a> = <a class="code hl_struct" href="structState.html">State&lt;T, VectorSignalSpec&lt;T, d&gt;</a>, d, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, d&gt;</a>, d&gt;;</div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span> </div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
-<div class="foldopen" id="foldopen00116" data-start="{" data-end="}">
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="State_8h.html#af1eca508289d2fcbdecd0cc136eed43d">  116</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a>&amp; x)</div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>{</div>
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorStateType: pose=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>.transpose() &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>.transpose();</div>
-<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>    <span class="keywordflow">return</span> os;</div>
-<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>}</div>
-</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="structState.html#af76faa98cfc18fb81afb0c86f7a0aa75">   67</a></span>    <a class="code hl_struct" href="structState.html">State</a>&amp; <a class="code hl_function" href="structState.html#af76faa98cfc18fb81afb0c86f7a0aa75">operator*=</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; s)</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    {</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> *= s;</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>        <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> *= s;</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>        <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    }</div>
+</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span> </div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T2&gt;</div>
+<div class="foldopen" id="foldopen00075" data-start="{" data-end="}">
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="structState.html#a7764970f0c29576eac07ab57c28261be">   75</a></span>    <a class="code hl_struct" href="structState.html">State</a>&amp; <a class="code hl_function" href="structState.html#a7764970f0c29576eac07ab57c28261be">operator+=</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T2, TwistTypeSpec, TwistDim, TwistTypeSpec, TwistDim&gt;</a>&amp; r)</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    {</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>        <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> += r.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>        <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> += r.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>        <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    }</div>
+</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>};</div>
+</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PTS, <span class="keywordtype">size_t</span> PD, <span class="keyword">typename</span> TTS, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="foldopen" id="foldopen00084" data-start="{" data-end="}">
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="State_8h.html#ac3e1ccc35f63b762bdd2c87478f8aad6">   84</a></span><a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> <a class="code hl_function" href="State_8h.html#ac3e1ccc35f63b762bdd2c87478f8aad6">operator+</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; l, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, TTS, TD, TTS, TD&gt;</a>&amp; r)</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>{</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> lpr = l;</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    lpr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> += r.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    lpr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> += r.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="keywordflow">return</span> lpr;</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>}</div>
+</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span> </div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PTS, <span class="keywordtype">size_t</span> PD, <span class="keyword">typename</span> TTS, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="foldopen" id="foldopen00093" data-start="{" data-end="}">
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="State_8h.html#ad7ac1ecc8c925fbc991d2fa8ca50d4eb">   93</a></span><a class="code hl_struct" href="structState.html">State&lt;T, TTS, TD, TTS, TD&gt;</a> <a class="code hl_function" href="State_8h.html#ad7ac1ecc8c925fbc991d2fa8ca50d4eb">operator-</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; l, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; r)</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>{</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    <a class="code hl_struct" href="structState.html">State&lt;T, TTS, TD, TTS, TD&gt;</a> lmr;</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    lmr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>  = l.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> - r.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    lmr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> = l.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> - r.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    <span class="keywordflow">return</span> lmr;</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>}</div>
+</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span> </div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PTS, <span class="keywordtype">size_t</span> PD, <span class="keyword">typename</span> TTS, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="foldopen" id="foldopen00102" data-start="{" data-end="}">
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="State_8h.html#a795d2ff5c53f24de712134f27e197001">  102</a></span><a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> <a class="code hl_function" href="State_8h.html#a795d2ff5c53f24de712134f27e197001">operator*</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; l, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; r)</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>{</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> lr = r;</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> *= l;</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> *= l;</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>    <span class="keywordflow">return</span> lr;</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>}</div>
+</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span> </div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PTS, <span class="keywordtype">size_t</span> PD, <span class="keyword">typename</span> TTS, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="foldopen" id="foldopen00111" data-start="{" data-end="}">
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="State_8h.html#a7fa016cf853be0dbc882359bf5b637f9">  111</a></span><a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> <a class="code hl_function" href="State_8h.html#a795d2ff5c53f24de712134f27e197001">operator*</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>{</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>    <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> lr = l;</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> *= r;</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> *= r;</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    <span class="keywordflow">return</span> lr;</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>}</div>
+</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"><a class="line" href="State_8h.html#aad51d946606df50291c6c2f546030f11">  120</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">ScalarStateType</a> = <a class="code hl_struct" href="structState.html">State&lt;T, ScalarSignalSpec&lt;T&gt;</a>, 1, <a class="code hl_struct" href="structScalarSignalSpec.html">ScalarSignalSpec&lt;T&gt;</a>, 1&gt;;</div>
 <div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span> </div>
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
 <div class="foldopen" id="foldopen00123" data-start="{" data-end="}">
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="State_8h.html#a0f388e10603fb47846a1147ff5b6839d">  123</a></span><a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a> <a class="code hl_function" href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">operator/</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">  123</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>&amp; x)</div>
 <div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>{</div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a> lr = l;</div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> /= r;</div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> /= r;</div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    <span class="keywordflow">return</span> lr;</div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>}</div>
-</div>
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span> </div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"><a class="line" href="State_8h.html#a73655df4c5d92f1cf1cf69d5fa057753">  132</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">ManifoldStateType</a> = <a class="code hl_struct" href="structState.html">State&lt;T, ManifoldSignalSpec&lt;ManifoldType&gt;</a>, PD, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, TD&gt;</a>, TD&gt;;</div>
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span> </div>
-<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
-<div class="foldopen" id="foldopen00135" data-start="{" data-end="}">
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"><a class="line" href="State_8h.html#a494fe74e8c2fc3cd3f7e14886eeb7d6c">  135</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">ManifoldStateType&lt;T, ManifoldType, PD, TD&gt;</a>&amp; x)</div>
-<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>{</div>
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorStateType: pose=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>    <span class="keywordflow">return</span> os;</div>
-<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>}</div>
-</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    os &lt;&lt; <span class="stringliteral">&quot;ScalarStateType: pose=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>}</div>
+</div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span> </div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00130" data-start="{" data-end="}">
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">  130</a></span><a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a> <a class="code hl_function" href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">operator/</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>{</div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a> lr = l;</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> /= r;</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> /= r;</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    <span class="keywordflow">return</span> lr;</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>}</div>
+</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span> </div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="State_8h.html#a60d0230d5788084bb8f559f4561d4d96">  139</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">VectorStateType</a> = <a class="code hl_struct" href="structState.html">State&lt;T, VectorSignalSpec&lt;T, d&gt;</a>, d, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, d&gt;</a>, d&gt;;</div>
 <div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span> </div>
-<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="foldopen" id="foldopen00142" data-start="{" data-end="};">
-<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html">  142</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec</a></div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="foldopen" id="foldopen00142" data-start="{" data-end="}">
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"><a class="line" href="State_8h.html#af1eca508289d2fcbdecd0cc136eed43d">  142</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a>&amp; x)</div>
 <div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>{</div>
-<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html#a7ae52069e3aafdb7c45b14168b1ad11b">  144</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structState.html">Type</a> = <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>;</div>
-<div class="foldopen" id="foldopen00145" data-start="{" data-end="}">
-<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">  145</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">ZeroType</a>()</div>
-<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    {</div>
-<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">Type::identity</a>();</div>
-<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    }</div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorStateType: pose=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>.transpose() &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>.transpose();</div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>}</div>
 </div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span> </div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
 <div class="foldopen" id="foldopen00149" data-start="{" data-end="}">
-<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">  149</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">NansType</a>()</div>
-<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    {</div>
-<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">Type::nans</a>();</div>
-<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>    }</div>
-</div>
-<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>};</div>
-</div>
-<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span> </div>
-<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
-<div class="foldopen" id="foldopen00156" data-start="{" data-end="};">
-<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html">  156</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structVectorStateSignalSpec.html">VectorStateSignalSpec</a></div>
-<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>{</div>
-<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html#a3994948f467b39ca2dcd77d220a8cf3a">  158</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structState.html">Type</a> = <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a>;</div>
-<div class="foldopen" id="foldopen00159" data-start="{" data-end="}">
-<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html#ae659b96e95497b25e711fab331037c21">  159</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structVectorStateSignalSpec.html#ae659b96e95497b25e711fab331037c21">ZeroType</a>()</div>
-<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    {</div>
-<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">Type::identity</a>();</div>
-<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>    }</div>
-</div>
-<div class="foldopen" id="foldopen00163" data-start="{" data-end="}">
-<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html#a4729eec41bab8eb5ed7b45aa8272be4d">  163</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structVectorStateSignalSpec.html#a4729eec41bab8eb5ed7b45aa8272be4d">NansType</a>()</div>
-<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>    {</div>
-<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">Type::nans</a>();</div>
-<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>    }</div>
-</div>
-<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>};</div>
-</div>
-<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span> </div>
-<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
-<div class="foldopen" id="foldopen00170" data-start="{" data-end="};">
-<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html">  170</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec</a></div>
-<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>{</div>
-<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html#aef8d411c012125303e1faa1d66b35c1c">  172</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structState.html">Type</a> = <a class="code hl_struct" href="structState.html">ManifoldStateType&lt;T, ManifoldType, PD, TD&gt;</a>;</div>
-<div class="foldopen" id="foldopen00173" data-start="{" data-end="}">
-<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">  173</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">ZeroType</a>()</div>
-<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>    {</div>
-<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">Type::identity</a>();</div>
-<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    }</div>
-</div>
-<div class="foldopen" id="foldopen00177" data-start="{" data-end="}">
-<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">  177</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">NansType</a>()</div>
-<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>    {</div>
-<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">Type::nans</a>();</div>
-<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>    }</div>
-</div>
-<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>};</div>
-</div>
-<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span> </div>
-<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"><a class="line" href="State_8h.html#a7059d2190879b0e80afad377593fb225">  184</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">ScalarStateSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ScalarStateSignalSpec&lt;T&gt;</a>, <a class="code hl_struct" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec&lt;T&gt;</a>&gt;;</div>
-<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span> </div>
-<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="foldopen" id="foldopen00187" data-start="{" data-end="}">
-<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"><a class="line" href="State_8h.html#ab6fe6347b40120d5f45445b1fc6596f4">  187</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;T&gt;</a>&amp; x)</div>
-<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>{</div>
-<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>    os &lt;&lt; <span class="stringliteral">&quot;ScalarStateSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: pose=&quot;</span> &lt;&lt; x().pose &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x().twist;</div>
-<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>    <span class="keywordflow">return</span> os;</div>
-<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>}</div>
-</div>
-<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span> </div>
-<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
-<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"><a class="line" href="State_8h.html#a214bd9926c3d8a2bb83b9b471744775b">  194</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">VectorStateSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;VectorStateSignalSpec&lt;T, d&gt;</a>, <a class="code hl_struct" href="structVectorStateSignalSpec.html">VectorStateSignalSpec&lt;T, d&gt;</a>&gt;;</div>
-<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span> </div>
-<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
-<div class="foldopen" id="foldopen00197" data-start="{" data-end="}">
-<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"><a class="line" href="State_8h.html#a1675ff98779b45e08f5d169056e26a4d">  197</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">VectorStateSignal&lt;T, d&gt;</a>&amp; x)</div>
-<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>{</div>
-<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorStateSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: pose=&quot;</span> &lt;&lt; x().pose.transpose()</div>
-<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>       &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x().twist.transpose();</div>
-<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>    <span class="keywordflow">return</span> os;</div>
-<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>}</div>
-</div>
-<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span> </div>
-<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
-<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"><a class="line" href="State_8h.html#a111e9957b3bae43e71ce97678f712b8c">  205</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">ManifoldStateSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ManifoldStateSignalSpec&lt;T, ManifoldType, PD, TD&gt;</a>, <a class="code hl_struct" href="structVectorStateSignalSpec.html">VectorStateSignalSpec&lt;T, TD&gt;</a>&gt;;</div>
-<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span> </div>
-<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
-<div class="foldopen" id="foldopen00208" data-start="{" data-end="}">
-<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"><a class="line" href="State_8h.html#a6c0f637d1f1980a2de56f125e9cf4ec1">  208</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">ManifoldStateSignal&lt;T, ManifoldType, PD, TD&gt;</a>&amp; x)</div>
-<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>{</div>
-<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>    os &lt;&lt; <span class="stringliteral">&quot;ManifoldStateSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: pose=&quot;</span> &lt;&lt; x().pose &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x().twist;</div>
-<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>    <span class="keywordflow">return</span> os;</div>
-<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>}</div>
-</div>
-<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span> </div>
-<div class="foldopen" id="foldopen00214" data-start="" data-end="">
-<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"><a class="line" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">  214</a></span><span class="preprocessor">#define MAKE_VECTOR_STATES(Dimension)                                                                                  \</span></div>
-<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
-<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span><span class="preprocessor">    using Vector##Dimension##State = VectorStateType&lt;T, Dimension&gt;;                                                    \</span></div>
-<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
-<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span><span class="preprocessor">    using Vector##Dimension##StateSignal = VectorStateSignal&lt;T, Dimension&gt;;                                            \</span></div>
-<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span><span class="preprocessor">    typedef Vector##Dimension##State&lt;double&gt;       Vector##Dimension##dState;                                          \</span></div>
-<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span><span class="preprocessor">    typedef Vector##Dimension##StateSignal&lt;double&gt; Vector##Dimension##dStateSignal;</span></div>
-</div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="State_8h.html#a0f388e10603fb47846a1147ff5b6839d">  149</a></span><a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a> <a class="code hl_function" href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">operator/</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>{</div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a> lr = l;</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> /= r;</div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> /= r;</div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    <span class="keywordflow">return</span> lr;</div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>}</div>
+</div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span> </div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"><a class="line" href="State_8h.html#a73655df4c5d92f1cf1cf69d5fa057753">  158</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">ManifoldStateType</a> = <a class="code hl_struct" href="structState.html">State&lt;T, ManifoldSignalSpec&lt;ManifoldType&gt;</a>, PD, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, TD&gt;</a>, TD&gt;;</div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span> </div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="foldopen" id="foldopen00161" data-start="{" data-end="}">
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"><a class="line" href="State_8h.html#a494fe74e8c2fc3cd3f7e14886eeb7d6c">  161</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">ManifoldStateType&lt;T, ManifoldType, PD, TD&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>{</div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorStateType: pose=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>}</div>
+</div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span> </div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00168" data-start="{" data-end="};">
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html">  168</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec</a></div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>{</div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html#a7ae52069e3aafdb7c45b14168b1ad11b">  170</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structState.html">Type</a> = <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>;</div>
+<div class="foldopen" id="foldopen00171" data-start="{" data-end="}">
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">  171</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">ZeroType</a>()</div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>    {</div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">Type::identity</a>();</div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>    }</div>
+</div>
+<div class="foldopen" id="foldopen00175" data-start="{" data-end="}">
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">  175</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">NansType</a>()</div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    {</div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">Type::nans</a>();</div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>    }</div>
+</div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>};</div>
+</div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span> </div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="foldopen" id="foldopen00182" data-start="{" data-end="};">
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html">  182</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structVectorStateSignalSpec.html">VectorStateSignalSpec</a></div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>{</div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html#a3994948f467b39ca2dcd77d220a8cf3a">  184</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structState.html">Type</a> = <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a>;</div>
+<div class="foldopen" id="foldopen00185" data-start="{" data-end="}">
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html#ae659b96e95497b25e711fab331037c21">  185</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structVectorStateSignalSpec.html#ae659b96e95497b25e711fab331037c21">ZeroType</a>()</div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>    {</div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">Type::identity</a>();</div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>    }</div>
+</div>
+<div class="foldopen" id="foldopen00189" data-start="{" data-end="}">
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html#a4729eec41bab8eb5ed7b45aa8272be4d">  189</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structVectorStateSignalSpec.html#a4729eec41bab8eb5ed7b45aa8272be4d">NansType</a>()</div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>    {</div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">Type::nans</a>();</div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>    }</div>
+</div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>};</div>
+</div>
+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span> </div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="foldopen" id="foldopen00196" data-start="{" data-end="};">
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html">  196</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec</a></div>
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>{</div>
+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html#aef8d411c012125303e1faa1d66b35c1c">  198</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structState.html">Type</a> = <a class="code hl_struct" href="structState.html">ManifoldStateType&lt;T, ManifoldType, PD, TD&gt;</a>;</div>
+<div class="foldopen" id="foldopen00199" data-start="{" data-end="}">
+<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">  199</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">ZeroType</a>()</div>
+<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>    {</div>
+<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">Type::identity</a>();</div>
+<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>    }</div>
+</div>
+<div class="foldopen" id="foldopen00203" data-start="{" data-end="}">
+<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">  203</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">NansType</a>()</div>
+<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span>    {</div>
+<div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">Type::nans</a>();</div>
+<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>    }</div>
+</div>
+<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span>};</div>
+</div>
+<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span> </div>
+<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"><a class="line" href="State_8h.html#a7059d2190879b0e80afad377593fb225">  210</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">ScalarStateSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ScalarStateSignalSpec&lt;T&gt;</a>, <a class="code hl_struct" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec&lt;T&gt;</a>&gt;;</div>
+<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span> </div>
+<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00213" data-start="{" data-end="}">
+<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"><a class="line" href="State_8h.html#ab6fe6347b40120d5f45445b1fc6596f4">  213</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;T&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>{</div>
+<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>    os &lt;&lt; <span class="stringliteral">&quot;ScalarStateSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: pose=&quot;</span> &lt;&lt; x().pose &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x().twist;</div>
+<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>}</div>
+</div>
+<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span> </div>
+<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"><a class="line" href="State_8h.html#a214bd9926c3d8a2bb83b9b471744775b">  220</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">VectorStateSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;VectorStateSignalSpec&lt;T, d&gt;</a>, <a class="code hl_struct" href="structVectorStateSignalSpec.html">VectorStateSignalSpec&lt;T, d&gt;</a>&gt;;</div>
 <div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span> </div>
-<div class="foldopen" id="foldopen00222" data-start="" data-end="">
-<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"><a class="line" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">  222</a></span><span class="preprocessor">#define MAKE_MANIF_STATES(Manif, Dimension, TangentDimension)                                                          \</span></div>
-<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
-<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span><span class="preprocessor">    using Manif##State = ManifoldStateType&lt;T, Manif&lt;T&gt;, Dimension, TangentDimension&gt;;                                  \</span></div>
-<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
-<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span><span class="preprocessor">    using Manif##StateSignal = ManifoldStateSignal&lt;T, Manif&lt;T&gt;, Dimension, TangentDimension&gt;;                          \</span></div>
-<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span><span class="preprocessor">    typedef Manif##State&lt;double&gt;       Manif##dState;                                                                  \</span></div>
-<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span><span class="preprocessor">    typedef Manif##StateSignal&lt;double&gt; Manif##dStateSignal;</span></div>
+<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="foldopen" id="foldopen00223" data-start="{" data-end="}">
+<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"><a class="line" href="State_8h.html#a1675ff98779b45e08f5d169056e26a4d">  223</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">VectorStateSignal&lt;T, d&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>{</div>
+<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorStateSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: pose=&quot;</span> &lt;&lt; x().pose.transpose()</div>
+<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>       &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x().twist.transpose();</div>
+<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>}</div>
 </div>
 <div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span> </div>
-<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"><a class="line" href="State_8h.html#ae2fe8fddd28ed110fbc33b4ca506bd0f">  231</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">ScalarState</a> = <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>;</div>
-<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"><a class="line" href="State_8h.html#aab879370bd488ae3cb270da1dfc5f695">  232</a></span><span class="keyword">typedef</span> <a class="code hl_struct" href="structState.html">ScalarState&lt;double&gt;</a>       <a class="code hl_typedef" href="State_8h.html#aab879370bd488ae3cb270da1dfc5f695">ScalardState</a>;</div>
-<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"><a class="line" href="State_8h.html#a95f500a02b3d50ef0a73883e96ae8768">  233</a></span><span class="keyword">typedef</span> <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;double&gt;</a> <a class="code hl_typedef" href="State_8h.html#a95f500a02b3d50ef0a73883e96ae8768">ScalardStateSignal</a>;</div>
-<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"><a class="line" href="State_8h.html#a1fccb71007e0830388d5c21c85e3344e">  234</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(1)</div>
-<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"><a class="line" href="State_8h.html#ae54c0630e02ee333a48fe6531d00e071">  235</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(2)</div>
-<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"><a class="line" href="State_8h.html#a0e9c381070552b28ffb2683b44e7b5a3">  236</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(3)</div>
-<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"><a class="line" href="State_8h.html#a8add6ebebc487c439430cb69d2892bbf">  237</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(4)</div>
-<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"><a class="line" href="State_8h.html#a45d6b402de0ba422a815e117b084dde3">  238</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(5)</div>
-<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"><a class="line" href="State_8h.html#af07e3586e98f931acac5d0ffd9b17cee">  239</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(6)</div>
-<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"><a class="line" href="State_8h.html#ad58fbc5cd721c46fe64d385cc3317380">  240</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(7)</div>
-<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"><a class="line" href="State_8h.html#acfdf1934f5783c1dcab2987c242ef8af">  241</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(8)</div>
-<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"><a class="line" href="State_8h.html#a865c1f4de96010d38ee17edc48d6c611">  242</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(9)</div>
-<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"><a class="line" href="State_8h.html#ac15f89e56010b705e5a2e0d9c3c50a6d">  243</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(10)</div>
-<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"><a class="line" href="State_8h.html#af87fca61f7adfb8b62056d2f6c815e51">  244</a></span><a class="code hl_define" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a>(SO2, 2, 1)</div>
-<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"><a class="line" href="State_8h.html#a7ab722ee104a5c16222f5cbd0d682657">  245</a></span><a class="code hl_define" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a>(SO3, 4, 3)</div>
-<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"><a class="line" href="State_8h.html#abf8de0fae02a60506ddd6e134b75ae00">  246</a></span><a class="code hl_define" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a>(SE2, 4, 3)</div>
-<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"><a class="line" href="State_8h.html#a98daf00f053bcc148a93319eac4901e4">  247</a></span><a class="code hl_define" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a>(SE3, 7, 6)</div>
+<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"><a class="line" href="State_8h.html#a111e9957b3bae43e71ce97678f712b8c">  231</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">ManifoldStateSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ManifoldStateSignalSpec&lt;T, ManifoldType, PD, TD&gt;</a>, <a class="code hl_struct" href="structVectorStateSignalSpec.html">VectorStateSignalSpec&lt;T, TD&gt;</a>&gt;;</div>
+<div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span> </div>
+<div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="foldopen" id="foldopen00234" data-start="{" data-end="}">
+<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"><a class="line" href="State_8h.html#a6c0f637d1f1980a2de56f125e9cf4ec1">  234</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">ManifoldStateSignal&lt;T, ManifoldType, PD, TD&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span>{</div>
+<div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span>    os &lt;&lt; <span class="stringliteral">&quot;ManifoldStateSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: pose=&quot;</span> &lt;&lt; x().pose &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x().twist;</div>
+<div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span>}</div>
+</div>
+<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span> </div>
+<div class="foldopen" id="foldopen00240" data-start="" data-end="">
+<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"><a class="line" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">  240</a></span><span class="preprocessor">#define MAKE_VECTOR_STATES(Dimension)                                                                                  \</span></div>
+<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
+<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span><span class="preprocessor">    using Vector##Dimension##State = VectorStateType&lt;T, Dimension&gt;;                                                    \</span></div>
+<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
+<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span><span class="preprocessor">    using Vector##Dimension##StateSignal = VectorStateSignal&lt;T, Dimension&gt;;                                            \</span></div>
+<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span><span class="preprocessor">    typedef Vector##Dimension##State&lt;double&gt;       Vector##Dimension##dState;                                          \</span></div>
+<div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span><span class="preprocessor">    typedef Vector##Dimension##StateSignal&lt;double&gt; Vector##Dimension##dStateSignal;</span></div>
+</div>
+<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span> </div>
+<div class="foldopen" id="foldopen00248" data-start="" data-end="">
+<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"><a class="line" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">  248</a></span><span class="preprocessor">#define MAKE_MANIF_STATES(Manif, Dimension, TangentDimension)                                                          \</span></div>
+<div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
+<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span><span class="preprocessor">    using Manif##State = ManifoldStateType&lt;T, Manif&lt;T&gt;, Dimension, TangentDimension&gt;;                                  \</span></div>
+<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
+<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span><span class="preprocessor">    using Manif##StateSignal = ManifoldStateSignal&lt;T, Manif&lt;T&gt;, Dimension, TangentDimension&gt;;                          \</span></div>
+<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span><span class="preprocessor">    typedef Manif##State&lt;double&gt;       Manif##dState;                                                                  \</span></div>
+<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span><span class="preprocessor">    typedef Manif##StateSignal&lt;double&gt; Manif##dStateSignal;</span></div>
+</div>
+<div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span> </div>
+<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"><a class="line" href="State_8h.html#ae2fe8fddd28ed110fbc33b4ca506bd0f">  257</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">ScalarState</a> = <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"><a class="line" href="State_8h.html#aab879370bd488ae3cb270da1dfc5f695">  258</a></span><span class="keyword">typedef</span> <a class="code hl_struct" href="structState.html">ScalarState&lt;double&gt;</a>       <a class="code hl_typedef" href="State_8h.html#aab879370bd488ae3cb270da1dfc5f695">ScalardState</a>;</div>
+<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"><a class="line" href="State_8h.html#a95f500a02b3d50ef0a73883e96ae8768">  259</a></span><span class="keyword">typedef</span> <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;double&gt;</a> <a class="code hl_typedef" href="State_8h.html#a95f500a02b3d50ef0a73883e96ae8768">ScalardStateSignal</a>;</div>
+<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"><a class="line" href="State_8h.html#a1fccb71007e0830388d5c21c85e3344e">  260</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(1)</div>
+<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"><a class="line" href="State_8h.html#ae54c0630e02ee333a48fe6531d00e071">  261</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(2)</div>
+<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"><a class="line" href="State_8h.html#a0e9c381070552b28ffb2683b44e7b5a3">  262</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(3)</div>
+<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"><a class="line" href="State_8h.html#a8add6ebebc487c439430cb69d2892bbf">  263</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(4)</div>
+<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"><a class="line" href="State_8h.html#a45d6b402de0ba422a815e117b084dde3">  264</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(5)</div>
+<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"><a class="line" href="State_8h.html#af07e3586e98f931acac5d0ffd9b17cee">  265</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(6)</div>
+<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"><a class="line" href="State_8h.html#ad58fbc5cd721c46fe64d385cc3317380">  266</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(7)</div>
+<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"><a class="line" href="State_8h.html#acfdf1934f5783c1dcab2987c242ef8af">  267</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(8)</div>
+<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"><a class="line" href="State_8h.html#a865c1f4de96010d38ee17edc48d6c611">  268</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(9)</div>
+<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"><a class="line" href="State_8h.html#ac15f89e56010b705e5a2e0d9c3c50a6d">  269</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(10)</div>
+<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"><a class="line" href="State_8h.html#af87fca61f7adfb8b62056d2f6c815e51">  270</a></span><a class="code hl_define" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a>(SO2, 2, 1)</div>
+<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"><a class="line" href="State_8h.html#a7ab722ee104a5c16222f5cbd0d682657">  271</a></span><a class="code hl_define" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a>(SO3, 4, 3)</div>
+<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"><a class="line" href="State_8h.html#abf8de0fae02a60506ddd6e134b75ae00">  272</a></span><a class="code hl_define" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a>(SE2, 4, 3)</div>
+<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"><a class="line" href="State_8h.html#a98daf00f053bcc148a93319eac4901e4">  273</a></span><a class="code hl_define" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a>(SE3, 7, 6)</div>
 <div class="ttc" id="aSignal_8h_html"><div class="ttname"><a href="Signal_8h.html">Signal.h</a></div></div>
-<div class="ttc" id="aState_8h_html_a72800aeb486c7eebe1ab0fe8cfae6294"><div class="ttname"><a href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a></div><div class="ttdeci">#define MAKE_MANIF_STATES(Manif, Dimension, TangentDimension)</div><div class="ttdef"><b>Definition</b> State.h:222</div></div>
-<div class="ttc" id="aState_8h_html_a795d2ff5c53f24de712134f27e197001"><div class="ttname"><a href="State_8h.html#a795d2ff5c53f24de712134f27e197001">operator*</a></div><div class="ttdeci">State&lt; T, PTS, PD, TTS, TD &gt; operator*(const double &amp;l, const State&lt; T, PTS, PD, TTS, TD &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:76</div></div>
-<div class="ttc" id="aState_8h_html_a95f500a02b3d50ef0a73883e96ae8768"><div class="ttname"><a href="State_8h.html#a95f500a02b3d50ef0a73883e96ae8768">ScalardStateSignal</a></div><div class="ttdeci">ScalarStateSignal&lt; double &gt; ScalardStateSignal</div><div class="ttdef"><b>Definition</b> State.h:233</div></div>
-<div class="ttc" id="aState_8h_html_aab879370bd488ae3cb270da1dfc5f695"><div class="ttname"><a href="State_8h.html#aab879370bd488ae3cb270da1dfc5f695">ScalardState</a></div><div class="ttdeci">ScalarState&lt; double &gt; ScalardState</div><div class="ttdef"><b>Definition</b> State.h:232</div></div>
-<div class="ttc" id="aState_8h_html_ac3e1ccc35f63b762bdd2c87478f8aad6"><div class="ttname"><a href="State_8h.html#ac3e1ccc35f63b762bdd2c87478f8aad6">operator+</a></div><div class="ttdeci">State&lt; T, PTS, PD, TTS, TD &gt; operator+(const State&lt; T, PTS, PD, TTS, TD &gt; &amp;l, const State&lt; T, TTS, TD, TTS, TD &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:58</div></div>
-<div class="ttc" id="aState_8h_html_ad7ac1ecc8c925fbc991d2fa8ca50d4eb"><div class="ttname"><a href="State_8h.html#ad7ac1ecc8c925fbc991d2fa8ca50d4eb">operator-</a></div><div class="ttdeci">State&lt; T, TTS, TD, TTS, TD &gt; operator-(const State&lt; T, PTS, PD, TTS, TD &gt; &amp;l, const State&lt; T, PTS, PD, TTS, TD &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:67</div></div>
-<div class="ttc" id="aState_8h_html_ae29ac55bb38cdbd3acce109857e8e7a4"><div class="ttname"><a href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const ScalarStateType&lt; T &gt; &amp;x)</div><div class="ttdef"><b>Definition</b> State.h:97</div></div>
-<div class="ttc" id="aState_8h_html_aed0e3d5bd576a92c33ab3950c98a4e3b"><div class="ttname"><a href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a></div><div class="ttdeci">#define MAKE_VECTOR_STATES(Dimension)</div><div class="ttdef"><b>Definition</b> State.h:214</div></div>
-<div class="ttc" id="aState_8h_html_af3ec1e7d28a9aac4e1cde4c7f3438128"><div class="ttname"><a href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">operator/</a></div><div class="ttdeci">ScalarStateType&lt; T &gt; operator/(const ScalarStateType&lt; T &gt; &amp;l, const double &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:104</div></div>
+<div class="ttc" id="aState_8h_html_a72800aeb486c7eebe1ab0fe8cfae6294"><div class="ttname"><a href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a></div><div class="ttdeci">#define MAKE_MANIF_STATES(Manif, Dimension, TangentDimension)</div><div class="ttdef"><b>Definition</b> State.h:248</div></div>
+<div class="ttc" id="aState_8h_html_a795d2ff5c53f24de712134f27e197001"><div class="ttname"><a href="State_8h.html#a795d2ff5c53f24de712134f27e197001">operator*</a></div><div class="ttdeci">State&lt; T, PTS, PD, TTS, TD &gt; operator*(const double &amp;l, const State&lt; T, PTS, PD, TTS, TD &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:102</div></div>
+<div class="ttc" id="aState_8h_html_a95f500a02b3d50ef0a73883e96ae8768"><div class="ttname"><a href="State_8h.html#a95f500a02b3d50ef0a73883e96ae8768">ScalardStateSignal</a></div><div class="ttdeci">ScalarStateSignal&lt; double &gt; ScalardStateSignal</div><div class="ttdef"><b>Definition</b> State.h:259</div></div>
+<div class="ttc" id="aState_8h_html_aab879370bd488ae3cb270da1dfc5f695"><div class="ttname"><a href="State_8h.html#aab879370bd488ae3cb270da1dfc5f695">ScalardState</a></div><div class="ttdeci">ScalarState&lt; double &gt; ScalardState</div><div class="ttdef"><b>Definition</b> State.h:258</div></div>
+<div class="ttc" id="aState_8h_html_ac3e1ccc35f63b762bdd2c87478f8aad6"><div class="ttname"><a href="State_8h.html#ac3e1ccc35f63b762bdd2c87478f8aad6">operator+</a></div><div class="ttdeci">State&lt; T, PTS, PD, TTS, TD &gt; operator+(const State&lt; T, PTS, PD, TTS, TD &gt; &amp;l, const State&lt; T, TTS, TD, TTS, TD &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:84</div></div>
+<div class="ttc" id="aState_8h_html_ad7ac1ecc8c925fbc991d2fa8ca50d4eb"><div class="ttname"><a href="State_8h.html#ad7ac1ecc8c925fbc991d2fa8ca50d4eb">operator-</a></div><div class="ttdeci">State&lt; T, TTS, TD, TTS, TD &gt; operator-(const State&lt; T, PTS, PD, TTS, TD &gt; &amp;l, const State&lt; T, PTS, PD, TTS, TD &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:93</div></div>
+<div class="ttc" id="aState_8h_html_ae29ac55bb38cdbd3acce109857e8e7a4"><div class="ttname"><a href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const ScalarStateType&lt; T &gt; &amp;x)</div><div class="ttdef"><b>Definition</b> State.h:123</div></div>
+<div class="ttc" id="aState_8h_html_aed0e3d5bd576a92c33ab3950c98a4e3b"><div class="ttname"><a href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a></div><div class="ttdeci">#define MAKE_VECTOR_STATES(Dimension)</div><div class="ttdef"><b>Definition</b> State.h:240</div></div>
+<div class="ttc" id="aState_8h_html_af3ec1e7d28a9aac4e1cde4c7f3438128"><div class="ttname"><a href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">operator/</a></div><div class="ttdeci">ScalarStateType&lt; T &gt; operator/(const ScalarStateType&lt; T &gt; &amp;l, const double &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:130</div></div>
 <div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:35</div></div>
 <div class="ttc" id="aclassSignal_html_a058783faf86f369b296c50d4e72c0881"><div class="ttname"><a href="classSignal.html#a058783faf86f369b296c50d4e72c0881">Signal::t</a></div><div class="ttdeci">double t() const</div><div class="ttdef"><b>Definition</b> Signal.h:102</div></div>
-<div class="ttc" id="astructManifoldStateSignalSpec_html"><div class="ttname"><a href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec</a></div><div class="ttdef"><b>Definition</b> State.h:171</div></div>
-<div class="ttc" id="astructManifoldStateSignalSpec_html_a7542075f653a7e8fba76702499936b17"><div class="ttname"><a href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">ManifoldStateSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> State.h:177</div></div>
-<div class="ttc" id="astructManifoldStateSignalSpec_html_adca9f48f26d97f95b2083b9e55bb58cb"><div class="ttname"><a href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">ManifoldStateSignalSpec::ZeroType</a></div><div class="ttdeci">static Type ZeroType()</div><div class="ttdef"><b>Definition</b> State.h:173</div></div>
+<div class="ttc" id="astructManifoldStateSignalSpec_html"><div class="ttname"><a href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec</a></div><div class="ttdef"><b>Definition</b> State.h:197</div></div>
+<div class="ttc" id="astructManifoldStateSignalSpec_html_a7542075f653a7e8fba76702499936b17"><div class="ttname"><a href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">ManifoldStateSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> State.h:203</div></div>
+<div class="ttc" id="astructManifoldStateSignalSpec_html_adca9f48f26d97f95b2083b9e55bb58cb"><div class="ttname"><a href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">ManifoldStateSignalSpec::ZeroType</a></div><div class="ttdeci">static Type ZeroType()</div><div class="ttdef"><b>Definition</b> State.h:199</div></div>
 <div class="ttc" id="astructScalarSignalSpec_html"><div class="ttname"><a href="structScalarSignalSpec.html">ScalarSignalSpec</a></div><div class="ttdef"><b>Definition</b> Signal.h:617</div></div>
-<div class="ttc" id="astructScalarStateSignalSpec_html"><div class="ttname"><a href="structScalarStateSignalSpec.html">ScalarStateSignalSpec</a></div><div class="ttdef"><b>Definition</b> State.h:143</div></div>
-<div class="ttc" id="astructScalarStateSignalSpec_html_a0dc57853395e3c57d6447a23ae513b91"><div class="ttname"><a href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">ScalarStateSignalSpec::ZeroType</a></div><div class="ttdeci">static Type ZeroType()</div><div class="ttdef"><b>Definition</b> State.h:145</div></div>
-<div class="ttc" id="astructScalarStateSignalSpec_html_ac3878dfd1b21706364c34d09e6da37ce"><div class="ttname"><a href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">ScalarStateSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> State.h:149</div></div>
-<div class="ttc" id="astructState_html"><div class="ttname"><a href="structState.html">State</a></div><div class="ttdef"><b>Definition</b> State.h:8</div></div>
-<div class="ttc" id="astructState_html_a035f1f7193895463743b8ee58d75634f"><div class="ttname"><a href="structState.html#a035f1f7193895463743b8ee58d75634f">State::identity</a></div><div class="ttdeci">static State identity()</div><div class="ttdef"><b>Definition</b> State.h:25</div></div>
-<div class="ttc" id="astructState_html_a097d236bc46ca02a379e2fd188fe3e97"><div class="ttname"><a href="structState.html#a097d236bc46ca02a379e2fd188fe3e97">State::State</a></div><div class="ttdeci">State(T *arr)</div><div class="ttdef"><b>Definition</b> State.h:17</div></div>
-<div class="ttc" id="astructState_html_a0a5874d4c3988770f5498c34ec508c34"><div class="ttname"><a href="structState.html#a0a5874d4c3988770f5498c34ec508c34">State::pose</a></div><div class="ttdeci">PoseType pose</div><div class="ttdef"><b>Definition</b> State.h:12</div></div>
-<div class="ttc" id="astructState_html_a31bd8aa44dff5f656b2b2057c8d63821"><div class="ttname"><a href="structState.html#a31bd8aa44dff5f656b2b2057c8d63821">State::PoseType</a></div><div class="ttdeci">typename PoseTypeSpec::Type PoseType</div><div class="ttdef"><b>Definition</b> State.h:9</div></div>
-<div class="ttc" id="astructState_html_a3f5fb4275701e71a56d2fa1fb8d54080"><div class="ttname"><a href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">State::twist</a></div><div class="ttdeci">TwistType twist</div><div class="ttdef"><b>Definition</b> State.h:13</div></div>
-<div class="ttc" id="astructState_html_a7764970f0c29576eac07ab57c28261be"><div class="ttname"><a href="structState.html#a7764970f0c29576eac07ab57c28261be">State::operator+=</a></div><div class="ttdeci">State &amp; operator+=(const State&lt; T2, TwistTypeSpec, TwistDim, TwistTypeSpec, TwistDim &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:49</div></div>
-<div class="ttc" id="astructState_html_a9e331e0ecbed1ab2a03d9b3e5a457426"><div class="ttname"><a href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">State::nans</a></div><div class="ttdeci">static State nans()</div><div class="ttdef"><b>Definition</b> State.h:33</div></div>
-<div class="ttc" id="astructState_html_aa10b450dbe8a806a0b203521b4738c0c"><div class="ttname"><a href="structState.html#aa10b450dbe8a806a0b203521b4738c0c">State::State</a></div><div class="ttdeci">State(const State &amp;other)</div><div class="ttdef"><b>Definition</b> State.h:19</div></div>
-<div class="ttc" id="astructState_html_ab58b6e2fe6ea3c2777c5a8a92f6665a1"><div class="ttname"><a href="structState.html#ab58b6e2fe6ea3c2777c5a8a92f6665a1">State::TwistType</a></div><div class="ttdeci">typename TwistTypeSpec::Type TwistType</div><div class="ttdef"><b>Definition</b> State.h:10</div></div>
-<div class="ttc" id="astructState_html_adcb914ebe25fe14622a945801267fa7a"><div class="ttname"><a href="structState.html#adcb914ebe25fe14622a945801267fa7a">State::State</a></div><div class="ttdeci">State()</div><div class="ttdef"><b>Definition</b> State.h:15</div></div>
-<div class="ttc" id="astructState_html_af76faa98cfc18fb81afb0c86f7a0aa75"><div class="ttname"><a href="structState.html#af76faa98cfc18fb81afb0c86f7a0aa75">State::operator*=</a></div><div class="ttdeci">State &amp; operator*=(const double &amp;s)</div><div class="ttdef"><b>Definition</b> State.h:41</div></div>
+<div class="ttc" id="astructScalarStateSignalSpec_html"><div class="ttname"><a href="structScalarStateSignalSpec.html">ScalarStateSignalSpec</a></div><div class="ttdef"><b>Definition</b> State.h:169</div></div>
+<div class="ttc" id="astructScalarStateSignalSpec_html_a0dc57853395e3c57d6447a23ae513b91"><div class="ttname"><a href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">ScalarStateSignalSpec::ZeroType</a></div><div class="ttdeci">static Type ZeroType()</div><div class="ttdef"><b>Definition</b> State.h:171</div></div>
+<div class="ttc" id="astructScalarStateSignalSpec_html_ac3878dfd1b21706364c34d09e6da37ce"><div class="ttname"><a href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">ScalarStateSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> State.h:175</div></div>
+<div class="ttc" id="astructState_html"><div class="ttname"><a href="structState.html">State</a></div><div class="ttdoc">Base type for all Model state representations.</div><div class="ttdef"><b>Definition</b> State.h:34</div></div>
+<div class="ttc" id="astructState_html_a035f1f7193895463743b8ee58d75634f"><div class="ttname"><a href="structState.html#a035f1f7193895463743b8ee58d75634f">State::identity</a></div><div class="ttdeci">static State identity()</div><div class="ttdef"><b>Definition</b> State.h:51</div></div>
+<div class="ttc" id="astructState_html_a097d236bc46ca02a379e2fd188fe3e97"><div class="ttname"><a href="structState.html#a097d236bc46ca02a379e2fd188fe3e97">State::State</a></div><div class="ttdeci">State(T *arr)</div><div class="ttdef"><b>Definition</b> State.h:43</div></div>
+<div class="ttc" id="astructState_html_a0a5874d4c3988770f5498c34ec508c34"><div class="ttname"><a href="structState.html#a0a5874d4c3988770f5498c34ec508c34">State::pose</a></div><div class="ttdeci">PoseType pose</div><div class="ttdef"><b>Definition</b> State.h:38</div></div>
+<div class="ttc" id="astructState_html_a31bd8aa44dff5f656b2b2057c8d63821"><div class="ttname"><a href="structState.html#a31bd8aa44dff5f656b2b2057c8d63821">State::PoseType</a></div><div class="ttdeci">typename PoseTypeSpec::Type PoseType</div><div class="ttdef"><b>Definition</b> State.h:35</div></div>
+<div class="ttc" id="astructState_html_a3f5fb4275701e71a56d2fa1fb8d54080"><div class="ttname"><a href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">State::twist</a></div><div class="ttdeci">TwistType twist</div><div class="ttdef"><b>Definition</b> State.h:39</div></div>
+<div class="ttc" id="astructState_html_a7764970f0c29576eac07ab57c28261be"><div class="ttname"><a href="structState.html#a7764970f0c29576eac07ab57c28261be">State::operator+=</a></div><div class="ttdeci">State &amp; operator+=(const State&lt; T2, TwistTypeSpec, TwistDim, TwistTypeSpec, TwistDim &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:75</div></div>
+<div class="ttc" id="astructState_html_a9e331e0ecbed1ab2a03d9b3e5a457426"><div class="ttname"><a href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">State::nans</a></div><div class="ttdeci">static State nans()</div><div class="ttdef"><b>Definition</b> State.h:59</div></div>
+<div class="ttc" id="astructState_html_aa10b450dbe8a806a0b203521b4738c0c"><div class="ttname"><a href="structState.html#aa10b450dbe8a806a0b203521b4738c0c">State::State</a></div><div class="ttdeci">State(const State &amp;other)</div><div class="ttdef"><b>Definition</b> State.h:45</div></div>
+<div class="ttc" id="astructState_html_ab58b6e2fe6ea3c2777c5a8a92f6665a1"><div class="ttname"><a href="structState.html#ab58b6e2fe6ea3c2777c5a8a92f6665a1">State::TwistType</a></div><div class="ttdeci">typename TwistTypeSpec::Type TwistType</div><div class="ttdef"><b>Definition</b> State.h:36</div></div>
+<div class="ttc" id="astructState_html_adcb914ebe25fe14622a945801267fa7a"><div class="ttname"><a href="structState.html#adcb914ebe25fe14622a945801267fa7a">State::State</a></div><div class="ttdeci">State()</div><div class="ttdef"><b>Definition</b> State.h:41</div></div>
+<div class="ttc" id="astructState_html_af76faa98cfc18fb81afb0c86f7a0aa75"><div class="ttname"><a href="structState.html#af76faa98cfc18fb81afb0c86f7a0aa75">State::operator*=</a></div><div class="ttdeci">State &amp; operator*=(const double &amp;s)</div><div class="ttdef"><b>Definition</b> State.h:67</div></div>
 <div class="ttc" id="astructVectorSignalSpec_html"><div class="ttname"><a href="structVectorSignalSpec.html">VectorSignalSpec</a></div><div class="ttdef"><b>Definition</b> Signal.h:631</div></div>
-<div class="ttc" id="astructVectorStateSignalSpec_html"><div class="ttname"><a href="structVectorStateSignalSpec.html">VectorStateSignalSpec</a></div><div class="ttdef"><b>Definition</b> State.h:157</div></div>
-<div class="ttc" id="astructVectorStateSignalSpec_html_a4729eec41bab8eb5ed7b45aa8272be4d"><div class="ttname"><a href="structVectorStateSignalSpec.html#a4729eec41bab8eb5ed7b45aa8272be4d">VectorStateSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> State.h:163</div></div>
-<div class="ttc" id="astructVectorStateSignalSpec_html_ae659b96e95497b25e711fab331037c21"><div class="ttname"><a href="structVectorStateSignalSpec.html#ae659b96e95497b25e711fab331037c21">VectorStateSignalSpec::ZeroType</a></div><div class="ttdeci">static Type ZeroType()</div><div class="ttdef"><b>Definition</b> State.h:159</div></div>
+<div class="ttc" id="astructVectorStateSignalSpec_html"><div class="ttname"><a href="structVectorStateSignalSpec.html">VectorStateSignalSpec</a></div><div class="ttdef"><b>Definition</b> State.h:183</div></div>
+<div class="ttc" id="astructVectorStateSignalSpec_html_a4729eec41bab8eb5ed7b45aa8272be4d"><div class="ttname"><a href="structVectorStateSignalSpec.html#a4729eec41bab8eb5ed7b45aa8272be4d">VectorStateSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> State.h:189</div></div>
+<div class="ttc" id="astructVectorStateSignalSpec_html_ae659b96e95497b25e711fab331037c21"><div class="ttname"><a href="structVectorStateSignalSpec.html#ae659b96e95497b25e711fab331037c21">VectorStateSignalSpec::ZeroType</a></div><div class="ttdeci">static Type ZeroType()</div><div class="ttdef"><b>Definition</b> State.h:185</div></div>
 </div><!-- fragment --></div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
diff --git a/docs/Utils_8h_source.html b/docs/Utils_8h_source.html
index 2e7df7b..bab7efd 100644
--- a/docs/Utils_8h_source.html
+++ b/docs/Utils_8h_source.html
@@ -96,23 +96,23 @@
 <div class="foldopen" id="foldopen00004" data-start="{" data-end="}">
 <div class="line"><a id="l00004" name="l00004"></a><span class="lineno"><a class="line" href="namespacesignal__utils.html">    4</a></span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacesignal__utils.html">signal_utils</a></div>
 <div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span>{</div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
-<div class="foldopen" id="foldopen00007" data-start="{" data-end="}">
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"><a class="line" href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">    7</a></span><a class="code hl_function" href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">getTimeDelta</a>(<span class="keywordtype">double</span>&amp; dt, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; t0, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; tf, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; dt_max = std::numeric_limits&lt;double&gt;::max())</div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span>{</div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span>    <span class="keywordflow">if</span> (t0 &gt;= tf || t0 &lt; 0)</div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span>    {</div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>    }</div>
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>    dt = std::min(tf - t0, dt_max);</div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>}</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
+<div class="foldopen" id="foldopen00011" data-start="{" data-end="}">
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"><a class="line" href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">   11</a></span><a class="code hl_function" href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">getTimeDelta</a>(<span class="keywordtype">double</span>&amp; dt, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; t0, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; tf, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; dt_max = std::numeric_limits&lt;double&gt;::max())</div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>{</div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>    <span class="keywordflow">if</span> (t0 &gt;= tf || t0 &lt; 0)</div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>    {</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>    }</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    dt = std::min(tf - t0, dt_max);</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>}</div>
 </div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>} <span class="comment">// end namespace signal_utils</span></div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>} <span class="comment">// end namespace signal_utils</span></div>
 </div>
 <div class="ttc" id="anamespacesignal__utils_html"><div class="ttname"><a href="namespacesignal__utils.html">signal_utils</a></div><div class="ttdef"><b>Definition</b> Utils.h:5</div></div>
-<div class="ttc" id="anamespacesignal__utils_html_ad7667542f893604d059a5d0022d2890c"><div class="ttname"><a href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">signal_utils::getTimeDelta</a></div><div class="ttdeci">bool getTimeDelta(double &amp;dt, const double &amp;t0, const double &amp;tf, const double &amp;dt_max=std::numeric_limits&lt; double &gt;::max())</div><div class="ttdef"><b>Definition</b> Utils.h:7</div></div>
+<div class="ttc" id="anamespacesignal__utils_html_ad7667542f893604d059a5d0022d2890c"><div class="ttname"><a href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">signal_utils::getTimeDelta</a></div><div class="ttdeci">bool getTimeDelta(double &amp;dt, const double &amp;t0, const double &amp;tf, const double &amp;dt_max=std::numeric_limits&lt; double &gt;::max())</div><div class="ttdef"><b>Definition</b> Utils.h:11</div></div>
 </div><!-- fragment --></div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
diff --git a/docs/annotated.html b/docs/annotated.html
index ca217f3..89a241d 100644
--- a/docs/annotated.html
+++ b/docs/annotated.html
@@ -83,26 +83,26 @@
 <div class="contents">
 <div class="textblock">Here are the classes, structs, unions and interfaces with brief descriptions:</div><div class="directory">
 <div class="levels">[detail level <span onclick="javascript:dynsection.toggleLevel(1);">1</span><span onclick="javascript:dynsection.toggleLevel(2);">2</span>]</div><table class="directory">
-<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structEulerIntegratorSpec.html" target="_self">EulerIntegratorSpec</a></td><td class="desc"></td></tr>
-<tr id="row_1_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structIntegrator.html" target="_self">Integrator</a></td><td class="desc"></td></tr>
+<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structEulerIntegratorSpec.html" target="_self">EulerIntegratorSpec</a></td><td class="desc">Specification for numerically integrating a black box function using Euler's method </td></tr>
+<tr id="row_1_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structIntegrator.html" target="_self">Integrator</a></td><td class="desc">Base type for all integrators </td></tr>
 <tr id="row_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structManifoldSignalSpec.html" target="_self">ManifoldSignalSpec</a></td><td class="desc"></td></tr>
 <tr id="row_3_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structManifoldStateSignalSpec.html" target="_self">ManifoldStateSignalSpec</a></td><td class="desc"></td></tr>
-<tr id="row_4_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classModel.html" target="_self">Model</a></td><td class="desc"></td></tr>
-<tr id="row_5_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structRigidBodyDynamics3DOF.html" target="_self">RigidBodyDynamics3DOF</a></td><td class="desc"></td></tr>
-<tr id="row_6_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structRigidBodyDynamics6DOF.html" target="_self">RigidBodyDynamics6DOF</a></td><td class="desc"></td></tr>
-<tr id="row_7_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structRigidBodyParams1D.html" target="_self">RigidBodyParams1D</a></td><td class="desc"></td></tr>
-<tr id="row_8_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structRigidBodyParams2D.html" target="_self">RigidBodyParams2D</a></td><td class="desc"></td></tr>
-<tr id="row_9_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structRigidBodyParams3D.html" target="_self">RigidBodyParams3D</a></td><td class="desc"></td></tr>
-<tr id="row_10_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structRotationalDynamics1DOF.html" target="_self">RotationalDynamics1DOF</a></td><td class="desc"></td></tr>
-<tr id="row_11_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structRotationalDynamics3DOF.html" target="_self">RotationalDynamics3DOF</a></td><td class="desc"></td></tr>
+<tr id="row_4_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classModel.html" target="_self">Model</a></td><td class="desc">Base type for all model simulators </td></tr>
+<tr id="row_5_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structRigidBodyDynamics3DOF.html" target="_self">RigidBodyDynamics3DOF</a></td><td class="desc">Definition of the dynamics for planar motion of a mass that's allowed to rotate </td></tr>
+<tr id="row_6_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structRigidBodyDynamics6DOF.html" target="_self">RigidBodyDynamics6DOF</a></td><td class="desc">Definition of the dynamics for a 3D rigid body that can rotate about any axis </td></tr>
+<tr id="row_7_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structRigidBodyParams1D.html" target="_self">RigidBodyParams1D</a></td><td class="desc">Parameters for a 1D rigid body model </td></tr>
+<tr id="row_8_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structRigidBodyParams2D.html" target="_self">RigidBodyParams2D</a></td><td class="desc">Parameters for a 2D rigid body model </td></tr>
+<tr id="row_9_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structRigidBodyParams3D.html" target="_self">RigidBodyParams3D</a></td><td class="desc">Parameters for a 3D rigid body model </td></tr>
+<tr id="row_10_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structRotationalDynamics1DOF.html" target="_self">RotationalDynamics1DOF</a></td><td class="desc">Definition of the dynamics for planar rotation-only motion of a mass </td></tr>
+<tr id="row_11_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structRotationalDynamics3DOF.html" target="_self">RotationalDynamics3DOF</a></td><td class="desc">Definition of the dynamics for 3D rotation-only motion of a mass </td></tr>
 <tr id="row_12_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structScalarSignalSpec.html" target="_self">ScalarSignalSpec</a></td><td class="desc"></td></tr>
 <tr id="row_13_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structScalarStateSignalSpec.html" target="_self">ScalarStateSignalSpec</a></td><td class="desc"></td></tr>
 <tr id="row_14_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_14_" class="arrow" onclick="dynsection.toggleFolder('14_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSignal.html" target="_self">Signal</a></td><td class="desc"></td></tr>
 <tr id="row_14_0_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structSignal_1_1SignalDP.html" target="_self">SignalDP</a></td><td class="desc"></td></tr>
-<tr id="row_15_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structSimpsonIntegratorSpec.html" target="_self">SimpsonIntegratorSpec</a></td><td class="desc"></td></tr>
-<tr id="row_16_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structState.html" target="_self">State</a></td><td class="desc"></td></tr>
-<tr id="row_17_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structTranslationalDynamicsBase.html" target="_self">TranslationalDynamicsBase</a></td><td class="desc"></td></tr>
-<tr id="row_18_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structTrapezoidalIntegratorSpec.html" target="_self">TrapezoidalIntegratorSpec</a></td><td class="desc"></td></tr>
+<tr id="row_15_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structSimpsonIntegratorSpec.html" target="_self">SimpsonIntegratorSpec</a></td><td class="desc">Specification for numerically integrating a black box function using Simpson's method </td></tr>
+<tr id="row_16_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structState.html" target="_self">State</a></td><td class="desc">Base type for all <a class="el" href="classModel.html" title="Base type for all model simulators.">Model</a> state representations </td></tr>
+<tr id="row_17_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structTranslationalDynamicsBase.html" target="_self">TranslationalDynamicsBase</a></td><td class="desc">Base class for defining the dynamics for 1D, 2D, and 3D <em>point masses</em> </td></tr>
+<tr id="row_18_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structTrapezoidalIntegratorSpec.html" target="_self">TrapezoidalIntegratorSpec</a></td><td class="desc">Specification for numerically integrating a black box function using the Trapezoidal method </td></tr>
 <tr id="row_19_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structVectorSignalSpec.html" target="_self">VectorSignalSpec</a></td><td class="desc"></td></tr>
 <tr id="row_20_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structVectorStateSignalSpec.html" target="_self">VectorStateSignalSpec</a></td><td class="desc"></td></tr>
 </table>
diff --git a/docs/classModel.html b/docs/classModel.html
index 1be564a..1cd4193 100644
--- a/docs/classModel.html
+++ b/docs/classModel.html
@@ -87,6 +87,9 @@
 </div><!--header-->
 <div class="contents">
 
+<p>Base type for all model simulators.  
+ <a href="#details">More...</a></p>
+
 <p><code>#include &lt;<a class="el" href="Models_8h_source.html">Models.h</a>&gt;</code></p>
 <table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
@@ -105,28 +108,50 @@
 <tr class="memitem:a3cbccc00606661a35110dbe111af54ad" id="r_a3cbccc00606661a35110dbe111af54ad"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3cbccc00606661a35110dbe111af54ad">Model</a> ()</td></tr>
 <tr class="separator:a3cbccc00606661a35110dbe111af54ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a96533143a30ab87c379e411fcae59643" id="r_a96533143a30ab87c379e411fcae59643"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a96533143a30ab87c379e411fcae59643">setParams</a> (const <a class="el" href="#aec20251d98505785fa51c52eb81dd3a2">ParamsType</a> &amp;params)</td></tr>
+<tr class="memdesc:a96533143a30ab87c379e411fcae59643"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize the model with any required parameters.  <br /></td></tr>
 <tr class="separator:a96533143a30ab87c379e411fcae59643"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a4f059d658bfda1665bf44a36b7aaf8e5" id="r_a4f059d658bfda1665bf44a36b7aaf8e5"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4f059d658bfda1665bf44a36b7aaf8e5">hasParams</a> ()</td></tr>
+<tr class="memdesc:a4f059d658bfda1665bf44a36b7aaf8e5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Verify that the model has parameters explicity set by <code><a class="el" href="#a96533143a30ab87c379e411fcae59643" title="Initialize the model with any required parameters.">setParams()</a></code>.  <br /></td></tr>
 <tr class="separator:a4f059d658bfda1665bf44a36b7aaf8e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a823536a9764d6a35cce173573ee62e90" id="r_a823536a9764d6a35cce173573ee62e90"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a823536a9764d6a35cce173573ee62e90">reset</a> ()</td></tr>
+<tr class="memdesc:a823536a9764d6a35cce173573ee62e90"><td class="mdescLeft">&#160;</td><td class="mdescRight">Zero out the model state and derivative variables and reset simulation time to zero.  <br /></td></tr>
 <tr class="separator:a823536a9764d6a35cce173573ee62e90"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a7661852411b9ffd59240d5d5ca0e4dd3" id="r_a7661852411b9ffd59240d5d5ca0e4dd3"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a7661852411b9ffd59240d5d5ca0e4dd3">t</a> () const</td></tr>
+<tr class="memdesc:a7661852411b9ffd59240d5d5ca0e4dd3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the current simulation time.  <br /></td></tr>
 <tr class="separator:a7661852411b9ffd59240d5d5ca0e4dd3"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:ac7446138b27c8feba779ebfe8e82b99d" id="r_ac7446138b27c8feba779ebfe8e82b99d"><td class="memTemplParams" colspan="2">template&lt;typename IntegratorType &gt; </td></tr>
 <tr class="memitem:ac7446138b27c8feba779ebfe8e82b99d"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#ac7446138b27c8feba779ebfe8e82b99d">simulate</a> (const <a class="el" href="#ac990dd4740b30e4477bca86fc6172970">InputSignalType</a> &amp;u, const double &amp;tf, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</td></tr>
+<tr class="memdesc:ac7446138b27c8feba779ebfe8e82b99d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Simulate the system response to an input over a specified time interval.  <br /></td></tr>
 <tr class="separator:ac7446138b27c8feba779ebfe8e82b99d"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:ac2550ae8ed888d167450160ce55286df" id="r_ac2550ae8ed888d167450160ce55286df"><td class="memTemplParams" colspan="2">template&lt;typename IntegratorType &gt; </td></tr>
 <tr class="memitem:ac2550ae8ed888d167450160ce55286df"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#ac2550ae8ed888d167450160ce55286df">simulate</a> (const <a class="el" href="#ac990dd4740b30e4477bca86fc6172970">InputSignalType</a> &amp;u, const double &amp;tf, const double &amp;dt, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</td></tr>
+<tr class="memdesc:ac2550ae8ed888d167450160ce55286df"><td class="mdescLeft">&#160;</td><td class="mdescRight">Simulate the system response to an input over a specified time interval, chunked up into smaller integration increments.  <br /></td></tr>
 <tr class="separator:ac2550ae8ed888d167450160ce55286df"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table><table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
 Public Attributes</h2></td></tr>
 <tr class="memitem:abfe8871b9f0eac35c76af3f5cfcdea35" id="r_abfe8871b9f0eac35c76af3f5cfcdea35"><td class="memItemLeft" align="right" valign="top"><a class="el" href="#a643e1a47ddbb10c5c10844f9aea5be98">StateSignalType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#abfe8871b9f0eac35c76af3f5cfcdea35">x</a></td></tr>
+<tr class="memdesc:abfe8871b9f0eac35c76af3f5cfcdea35"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classModel.html" title="Base type for all model simulators.">Model</a> state signal.  <br /></td></tr>
 <tr class="separator:abfe8871b9f0eac35c76af3f5cfcdea35"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:ab8bb4819a03ed642326295c28bea6fa7" id="r_ab8bb4819a03ed642326295c28bea6fa7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="#a8abdf37c6158386a9f1d2c6c506f6839">StateDotSignalType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab8bb4819a03ed642326295c28bea6fa7">xdot</a></td></tr>
+<tr class="memdesc:ab8bb4819a03ed642326295c28bea6fa7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Time derivative of the model state signal.  <br /></td></tr>
 <tr class="separator:ab8bb4819a03ed642326295c28bea6fa7"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
-<h2 class="groupheader">Member Typedef Documentation</h2>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><div class="compoundTemplParams">template&lt;typename DynamicsType&gt;<br />
+class Model&lt; DynamicsType &gt;</div><p>Base type for all model simulators. </p>
+<p>Provides methods for initialization, reset, and simulation of dynamic models.</p>
+<p><b>Derived types</b>:</p>
+<ul>
+<li><code><a class="el" href="Models_8h.html#a06f4823dd2b571a8718ccad09ce44fe7">Translational1DOFModel(d)</a></code></li>
+<li><code><a class="el" href="Models_8h.html#aa8b7fa1f2cfd2453d95d80ce49abd8fc">Translational2DOFModel(d)</a></code></li>
+<li><code><a class="el" href="Models_8h.html#aae658b45855be04ff99456f612008b96">Translational3DOFModel(d)</a></code></li>
+<li><code><a class="el" href="Models_8h.html#a44917fd68b589ce4fc82e69e00c41201">Rotational1DOFModel(d)</a></code></li>
+<li><code><a class="el" href="Models_8h.html#ad5282fd410476dbdd8381772a38ac2f1">Rotational3DOFModel(d)</a></code></li>
+<li><code><a class="el" href="Models_8h.html#a253b3866118f6e70cfc4f08b471c2975">RigidBody3DOFModel(d)</a></code></li>
+<li><code><a class="el" href="Models_8h.html#ac6b34f1aa0a10dcb6e9fda4a2814a9b3">RigidBody6DOFModel(d)</a></code> </li>
+</ul>
+</div><h2 class="groupheader">Member Typedef Documentation</h2>
 <a id="ac990dd4740b30e4477bca86fc6172970" name="ac990dd4740b30e4477bca86fc6172970"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#ac990dd4740b30e4477bca86fc6172970">&#9670;&#160;</a></span>InputSignalType</h2>
 
@@ -245,6 +270,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a4f059d658bfda1665bf44a36
 </table>
 </div><div class="memdoc">
 
+<p>Verify that the model has parameters explicity set by <code><a class="el" href="#a96533143a30ab87c379e411fcae59643" title="Initialize the model with any required parameters.">setParams()</a></code>. </p>
+
 </div>
 </div>
 <a id="a823536a9764d6a35cce173573ee62e90" name="a823536a9764d6a35cce173573ee62e90"></a>
@@ -272,6 +299,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a823536a9764d6a35cce17357
 </table>
 </div><div class="memdoc">
 
+<p>Zero out the model state and derivative variables and reset simulation time to zero. </p>
+
 </div>
 </div>
 <a id="a96533143a30ab87c379e411fcae59643" name="a96533143a30ab87c379e411fcae59643"></a>
@@ -299,6 +328,9 @@ <h2 class="memtitle"><span class="permalink"><a href="#a96533143a30ab87c379e411f
 </table>
 </div><div class="memdoc">
 
+<p>Initialize the model with any required parameters. </p>
+<p>The required parameters are determined by the model / dynamics specialization. </p>
+
 </div>
 </div>
 <a id="ac7446138b27c8feba779ebfe8e82b99d" name="ac7446138b27c8feba779ebfe8e82b99d"></a>
@@ -342,6 +374,18 @@ <h2 class="memtitle"><span class="permalink"><a href="#ac7446138b27c8feba779ebfe
 </table>
 </div><div class="memdoc">
 
+<p>Simulate the system response to an input over a specified time interval. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">u</td><td>The input signal, which should be defined up to tf. </td></tr>
+    <tr><td class="paramname">tf</td><td>The time to simulate to. Ideally the delta from the current time is small. </td></tr>
+    <tr><td class="paramname">insertIntoHistory</td><td>Whether to store the result in state memory. </td></tr>
+    <tr><td class="paramname">calculateXddot</td><td>Whether to use finite differencing to calculate the second time derivative of the state. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Whether the simulation was successful. </dd></dl>
+
 </div>
 </div>
 <a id="ac2550ae8ed888d167450160ce55286df" name="ac2550ae8ed888d167450160ce55286df"></a>
@@ -390,6 +434,19 @@ <h2 class="memtitle"><span class="permalink"><a href="#ac2550ae8ed888d167450160c
 </table>
 </div><div class="memdoc">
 
+<p>Simulate the system response to an input over a specified time interval, chunked up into smaller integration increments. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">u</td><td>The input signal, which should be defined up to tf. </td></tr>
+    <tr><td class="paramname">tf</td><td>The time to simulate to. </td></tr>
+    <tr><td class="paramname">dt</td><td>Time delta length by which to chunk up the integrations. Ideally this is small. </td></tr>
+    <tr><td class="paramname">insertIntoHistory</td><td>Whether to store the result in state memory. </td></tr>
+    <tr><td class="paramname">calculateXddot</td><td>Whether to use finite differencing to calculate the second time derivative of the state. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Whether the simulation was successful. </dd></dl>
+
 </div>
 </div>
 <a id="a7661852411b9ffd59240d5d5ca0e4dd3" name="a7661852411b9ffd59240d5d5ca0e4dd3"></a>
@@ -417,6 +474,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a7661852411b9ffd59240d5d5
 </table>
 </div><div class="memdoc">
 
+<p>Get the current simulation time. </p>
+
 </div>
 </div>
 <h2 class="groupheader">Member Data Documentation</h2>
@@ -434,6 +493,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#abfe8871b9f0eac35c76af3f5
       </table>
 </div><div class="memdoc">
 
+<p><a class="el" href="classModel.html" title="Base type for all model simulators.">Model</a> state signal. </p>
+
 </div>
 </div>
 <a id="ab8bb4819a03ed642326295c28bea6fa7" name="ab8bb4819a03ed642326295c28bea6fa7"></a>
@@ -450,6 +511,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab8bb4819a03ed642326295c2
       </table>
 </div><div class="memdoc">
 
+<p>Time derivative of the model state signal. </p>
+
 </div>
 </div>
 <hr/>The documentation for this class was generated from the following file:<ul>
diff --git a/docs/index.html b/docs/index.html
index c9c80fe..184c309 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -84,6 +84,13 @@
 <div class="textblock"><h1><a class="anchor" id="intro_sec"></a>
 Introduction</h1>
 <p>Header-only templated C++ library implementing rigid-body dynamics, derivatives, integrals, and interpolation.</p>
+<p>The key class definitions in this library from which all specialized types are derived are:</p>
+<ul>
+<li><a class="el" href="classSignal.html">Signal</a></li>
+<li><a class="el" href="structState.html" title="Base type for all Model state representations.">State</a></li>
+<li><a class="el" href="classModel.html" title="Base type for all model simulators.">Model</a></li>
+<li><a class="el" href="structIntegrator.html" title="Base type for all integrators.">Integrator</a></li>
+</ul>
 <h1><a class="anchor" id="install"></a>
 Installation</h1>
 <p>This code is meant to be built as a static library with CMake. It should be compatible with the latest versions of Eigen and Boost (unit test framework only). The library <a href="https://github.com/goromal/manif-geom-cpp">manif-geom-cpp</a> must also be installed.</p>
diff --git a/docs/structEulerIntegratorSpec.html b/docs/structEulerIntegratorSpec.html
index e840187..a1ee4eb 100644
--- a/docs/structEulerIntegratorSpec.html
+++ b/docs/structEulerIntegratorSpec.html
@@ -85,15 +85,21 @@
 </div><!--header-->
 <div class="contents">
 
+<p>Specification for numerically integrating a black box function using Euler's method.  
+ <a href="#details">More...</a></p>
+
 <p><code>#include &lt;<a class="el" href="Integration_8h_source.html">Integration.h</a>&gt;</code></p>
 <table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
 Static Public Member Functions</h2></td></tr>
 <tr class="memitem:a6c8d7aa2ecf83f7a348a575e5023639f" id="r_a6c8d7aa2ecf83f7a348a575e5023639f"><td class="memTemplParams" colspan="2">template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </td></tr>
 <tr class="memitem:a6c8d7aa2ecf83f7a348a575e5023639f"><td class="memTemplItemLeft" align="right" valign="top">static bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a6c8d7aa2ecf83f7a348a575e5023639f">integrate</a> (<a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const <a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;t0, const double &amp;tf, const bool &amp;insertIntoHistory)</td></tr>
+<tr class="memdesc:a6c8d7aa2ecf83f7a348a575e5023639f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Euler integration implementation.  <br /></td></tr>
 <tr class="separator:a6c8d7aa2ecf83f7a348a575e5023639f"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
-<h2 class="groupheader">Member Function Documentation</h2>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Specification for numerically integrating a black box function using Euler's method. </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
 <a id="a6c8d7aa2ecf83f7a348a575e5023639f" name="a6c8d7aa2ecf83f7a348a575e5023639f"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#a6c8d7aa2ecf83f7a348a575e5023639f">&#9670;&#160;</a></span>integrate()</h2>
 
@@ -138,6 +144,21 @@ <h2 class="memtitle"><span class="permalink"><a href="#a6c8d7aa2ecf83f7a348a575e
 </table>
 </div><div class="memdoc">
 
+<p>Euler integration implementation. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">xInt</td><td>The output signal representing the integration. </td></tr>
+    <tr><td class="paramname">x</td><td>The input signal to be integrated. </td></tr>
+    <tr><td class="paramname">t0</td><td>The start time for the integration. </td></tr>
+    <tr><td class="paramname">tf</td><td>The time to integrate to. Ideally the delta from the start time is small. </td></tr>
+    <tr><td class="paramname">insertIntoHistory</td><td>Whether to store the result in xInt's memory. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Whether the integration was successful.</dd></dl>
+<p>Euler integration increments the current integral by</p>
+<p>\(x(t_f)\Delta t\) </p>
+
 </div>
 </div>
 <hr/>The documentation for this struct was generated from the following file:<ul>
diff --git a/docs/structIntegrator.html b/docs/structIntegrator.html
index 8b3fd41..99f2ea9 100644
--- a/docs/structIntegrator.html
+++ b/docs/structIntegrator.html
@@ -85,18 +85,33 @@
 </div><!--header-->
 <div class="contents">
 
+<p>Base type for all integrators.  
+ <a href="#details">More...</a></p>
+
 <p><code>#include &lt;<a class="el" href="Integration_8h_source.html">Integration.h</a>&gt;</code></p>
 <table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
 Static Public Member Functions</h2></td></tr>
 <tr class="memitem:ab3bebaa347f6019f3d2da2b2bcee5918" id="r_ab3bebaa347f6019f3d2da2b2bcee5918"><td class="memTemplParams" colspan="2">template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </td></tr>
 <tr class="memitem:ab3bebaa347f6019f3d2da2b2bcee5918"><td class="memTemplItemLeft" align="right" valign="top">static bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#ab3bebaa347f6019f3d2da2b2bcee5918">integrate</a> (<a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const <a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;tf, const bool &amp;insertIntoHistory=false)</td></tr>
+<tr class="memdesc:ab3bebaa347f6019f3d2da2b2bcee5918"><td class="mdescLeft">&#160;</td><td class="mdescRight">Integrate a signal from the current time to the specified end time.  <br /></td></tr>
 <tr class="separator:ab3bebaa347f6019f3d2da2b2bcee5918"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a8266e6bf3abd90d83fa7eb6b9270c0c4" id="r_a8266e6bf3abd90d83fa7eb6b9270c0c4"><td class="memTemplParams" colspan="2">template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </td></tr>
 <tr class="memitem:a8266e6bf3abd90d83fa7eb6b9270c0c4"><td class="memTemplItemLeft" align="right" valign="top">static bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a8266e6bf3abd90d83fa7eb6b9270c0c4">integrate</a> (<a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const <a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;tf, const double &amp;dt, const bool &amp;insertIntoHistory=false)</td></tr>
+<tr class="memdesc:a8266e6bf3abd90d83fa7eb6b9270c0c4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Integrate a signal from the current time to the specified end time, chunked up into smaller integration increments.  <br /></td></tr>
 <tr class="separator:a8266e6bf3abd90d83fa7eb6b9270c0c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
-<h2 class="groupheader">Member Function Documentation</h2>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><div class="compoundTemplParams">template&lt;typename IntegratorType&gt;<br />
+struct Integrator&lt; IntegratorType &gt;</div><p>Base type for all integrators. </p>
+<p>Provides methods for incremental (e.g., for control) or holistic (e.g., for open-loop simulation) integrations of arbitrary signal types.</p>
+<p><b>Derived types</b>:</p>
+<ul>
+<li><code>EulerIntegrator</code></li>
+<li><code>TrapezoidalIntegrator</code></li>
+<li><code>SimpsonIntegrator</code> </li>
+</ul>
+</div><h2 class="groupheader">Member Function Documentation</h2>
 <a id="ab3bebaa347f6019f3d2da2b2bcee5918" name="ab3bebaa347f6019f3d2da2b2bcee5918"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#ab3bebaa347f6019f3d2da2b2bcee5918">&#9670;&#160;</a></span>integrate() <span class="overload">[1/2]</span></h2>
 
@@ -138,6 +153,18 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab3bebaa347f6019f3d2da2b2
 </table>
 </div><div class="memdoc">
 
+<p>Integrate a signal from the current time to the specified end time. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">xInt</td><td>The output signal representing the integration. </td></tr>
+    <tr><td class="paramname">x</td><td>The input signal to be integrated. </td></tr>
+    <tr><td class="paramname">tf</td><td>The time to integrate to. Ideally the delta from the current time is small. </td></tr>
+    <tr><td class="paramname">insertIntoHistory</td><td>Whether to store the result in xInt's memory. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Whether the integration was successful. </dd></dl>
+
 </div>
 </div>
 <a id="a8266e6bf3abd90d83fa7eb6b9270c0c4" name="a8266e6bf3abd90d83fa7eb6b9270c0c4"></a>
@@ -186,6 +213,19 @@ <h2 class="memtitle"><span class="permalink"><a href="#a8266e6bf3abd90d83fa7eb6b
 </table>
 </div><div class="memdoc">
 
+<p>Integrate a signal from the current time to the specified end time, chunked up into smaller integration increments. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">xInt</td><td>The output signal representing the integration. </td></tr>
+    <tr><td class="paramname">x</td><td>The input signal to be integrated. </td></tr>
+    <tr><td class="paramname">tf</td><td>The time to integrate to. </td></tr>
+    <tr><td class="paramname">dt</td><td>Time delta length by which to chunk up the integrations. Ideally this is small. </td></tr>
+    <tr><td class="paramname">insertIntoHistory</td><td>Whether to store the result in xInt's memory. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Whether the integration was successful. </dd></dl>
+
 </div>
 </div>
 <hr/>The documentation for this struct was generated from the following file:<ul>
diff --git a/docs/structRigidBodyDynamics3DOF.html b/docs/structRigidBodyDynamics3DOF.html
index 5d55b5c..58f9391 100644
--- a/docs/structRigidBodyDynamics3DOF.html
+++ b/docs/structRigidBodyDynamics3DOF.html
@@ -86,6 +86,9 @@
 </div><!--header-->
 <div class="contents">
 
+<p>Definition of the dynamics for planar motion of a mass that's allowed to rotate.  
+ <a href="#details">More...</a></p>
+
 <p><code>#include &lt;<a class="el" href="Models_8h_source.html">Models.h</a>&gt;</code></p>
 <table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
@@ -110,9 +113,13 @@
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
 Static Public Member Functions</h2></td></tr>
 <tr class="memitem:acafe68f9e9ea78f54bc70d64a1b39d9c" id="r_acafe68f9e9ea78f54bc70d64a1b39d9c"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#acafe68f9e9ea78f54bc70d64a1b39d9c">update</a> (<a class="el" href="#a28d138392ca0069c5e6274f78fd08e29">StateDotSignalType</a> &amp;xdot, const <a class="el" href="#a0c346a983bc929f1f7a6e5d2be3a0841">StateSignalType</a> &amp;x, const <a class="el" href="#a4341d5e4a676e15edc8f8faafef5431a">InputSignalType</a> &amp;u, const double &amp;t0, const double &amp;tf, const <a class="el" href="#afa1ade3cc027b78a2d2c65df867d52b0">ParamsType</a> &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</td></tr>
+<tr class="memdesc:acafe68f9e9ea78f54bc70d64a1b39d9c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update a provided state time derivative given an input and time interval.  <br /></td></tr>
 <tr class="separator:acafe68f9e9ea78f54bc70d64a1b39d9c"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
-<h2 class="groupheader">Member Typedef Documentation</h2>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><div class="compoundTemplParams">template&lt;typename T&gt;<br />
+struct RigidBodyDynamics3DOF&lt; T &gt;</div><p>Definition of the dynamics for planar motion of a mass that's allowed to rotate. </p>
+</div><h2 class="groupheader">Member Typedef Documentation</h2>
 <a id="a4341d5e4a676e15edc8f8faafef5431a" name="a4341d5e4a676e15edc8f8faafef5431a"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#a4341d5e4a676e15edc8f8faafef5431a">&#9670;&#160;</a></span>InputSignalType</h2>
 
@@ -301,6 +308,21 @@ <h2 class="memtitle"><span class="permalink"><a href="#acafe68f9e9ea78f54bc70d64
 </table>
 </div><div class="memdoc">
 
+<p>Update a provided state time derivative given an input and time interval. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">xdot</td><td>The state time derivative signal to update. </td></tr>
+    <tr><td class="paramname">x</td><td>The state signal to reference for the dynamics. </td></tr>
+    <tr><td class="paramname">u</td><td>The input signal to reference for the dynamics. </td></tr>
+    <tr><td class="paramname">t0</td><td>The time at which to sample the state and input. </td></tr>
+    <tr><td class="paramname">tf</td><td>The time at which to modify the state time derivative. </td></tr>
+    <tr><td class="paramname">params</td><td>The 2D rigid body model parameters. </td></tr>
+    <tr><td class="paramname">insertIntoHistory</td><td>Whether to insert the answer into state time derivative signal history. </td></tr>
+    <tr><td class="paramname">calculateXddot</td><td>Whether to use finite differencing to calculate the second time derivative of the state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
 </div>
 </div>
 <hr/>The documentation for this struct was generated from the following file:<ul>
diff --git a/docs/structRigidBodyDynamics6DOF.html b/docs/structRigidBodyDynamics6DOF.html
index 90b71a4..78b11be 100644
--- a/docs/structRigidBodyDynamics6DOF.html
+++ b/docs/structRigidBodyDynamics6DOF.html
@@ -86,6 +86,9 @@
 </div><!--header-->
 <div class="contents">
 
+<p>Definition of the dynamics for a 3D rigid body that can rotate about any axis.  
+ <a href="#details">More...</a></p>
+
 <p><code>#include &lt;<a class="el" href="Models_8h_source.html">Models.h</a>&gt;</code></p>
 <table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
@@ -110,9 +113,13 @@
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
 Static Public Member Functions</h2></td></tr>
 <tr class="memitem:ae0d9bb27da7f804a1f8dc4923546a95d" id="r_ae0d9bb27da7f804a1f8dc4923546a95d"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae0d9bb27da7f804a1f8dc4923546a95d">update</a> (<a class="el" href="#afcafc7961087b27b239ad998e436da9a">StateDotSignalType</a> &amp;xdot, const <a class="el" href="#ad4e0605bf2a0c90acbe9a1a333b9b952">StateSignalType</a> &amp;x, const <a class="el" href="#a8927301269f2ce616317819c769b9364">InputSignalType</a> &amp;u, const double &amp;t0, const double &amp;tf, const <a class="el" href="#ad252337a912dcd1cfaa097d9c2d5814e">ParamsType</a> &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</td></tr>
+<tr class="memdesc:ae0d9bb27da7f804a1f8dc4923546a95d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update a provided state time derivative given an input and time interval.  <br /></td></tr>
 <tr class="separator:ae0d9bb27da7f804a1f8dc4923546a95d"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
-<h2 class="groupheader">Member Typedef Documentation</h2>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><div class="compoundTemplParams">template&lt;typename T&gt;<br />
+struct RigidBodyDynamics6DOF&lt; T &gt;</div><p>Definition of the dynamics for a 3D rigid body that can rotate about any axis. </p>
+</div><h2 class="groupheader">Member Typedef Documentation</h2>
 <a id="a8927301269f2ce616317819c769b9364" name="a8927301269f2ce616317819c769b9364"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#a8927301269f2ce616317819c769b9364">&#9670;&#160;</a></span>InputSignalType</h2>
 
@@ -301,6 +308,21 @@ <h2 class="memtitle"><span class="permalink"><a href="#ae0d9bb27da7f804a1f8dc492
 </table>
 </div><div class="memdoc">
 
+<p>Update a provided state time derivative given an input and time interval. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">xdot</td><td>The state time derivative signal to update. </td></tr>
+    <tr><td class="paramname">x</td><td>The state signal to reference for the dynamics. </td></tr>
+    <tr><td class="paramname">u</td><td>The input signal to reference for the dynamics. </td></tr>
+    <tr><td class="paramname">t0</td><td>The time at which to sample the state and input. </td></tr>
+    <tr><td class="paramname">tf</td><td>The time at which to modify the state time derivative. </td></tr>
+    <tr><td class="paramname">params</td><td>The 3D rigid body model parameters. </td></tr>
+    <tr><td class="paramname">insertIntoHistory</td><td>Whether to insert the answer into state time derivative signal history. </td></tr>
+    <tr><td class="paramname">calculateXddot</td><td>Whether to use finite differencing to calculate the second time derivative of the state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
 </div>
 </div>
 <hr/>The documentation for this struct was generated from the following file:<ul>
diff --git a/docs/structRigidBodyParams1D.html b/docs/structRigidBodyParams1D.html
index 165c67b..f26042e 100644
--- a/docs/structRigidBodyParams1D.html
+++ b/docs/structRigidBodyParams1D.html
@@ -86,6 +86,9 @@
 </div><!--header-->
 <div class="contents">
 
+<p>Parameters for a 1D rigid body model.  
+ <a href="#details">More...</a></p>
+
 <p><code>#include &lt;<a class="el" href="Models_8h_source.html">Models.h</a>&gt;</code></p>
 <table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
@@ -96,11 +99,16 @@
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
 Public Attributes</h2></td></tr>
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+<tr class="memdesc:a2f5a1c0e6320c14d72d0ff98ad979332"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classModel.html" title="Base type for all model simulators.">Model</a> mass.  <br /></td></tr>
 <tr class="separator:a2f5a1c0e6320c14d72d0ff98ad979332"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a823d208bcbabadd83d3cc8f222973c95" id="r_a823d208bcbabadd83d3cc8f222973c95"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a823d208bcbabadd83d3cc8f222973c95">g</a></td></tr>
+<tr class="memdesc:a823d208bcbabadd83d3cc8f222973c95"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gravitational constant.  <br /></td></tr>
 <tr class="separator:a823d208bcbabadd83d3cc8f222973c95"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
-<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Parameters for a 1D rigid body model. </p>
+<p>Picture a point mass existing on a line, whether horizontal or vertical. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
 <a id="ab2b9c3eb89bcbf0ac06a33e95725e0eb" name="ab2b9c3eb89bcbf0ac06a33e95725e0eb"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#ab2b9c3eb89bcbf0ac06a33e95725e0eb">&#9670;&#160;</a></span>RigidBodyParams1D()</h2>
 
@@ -139,6 +147,9 @@ <h2 class="memtitle"><span class="permalink"><a href="#a823d208bcbabadd83d3cc8f2
       </table>
 </div><div class="memdoc">
 
+<p>Gravitational constant. </p>
+<p>Essentially defines which way is "down." Set to zero if e.g., the 1D dimension is horizontal. </p>
+
 </div>
 </div>
 <a id="a2f5a1c0e6320c14d72d0ff98ad979332" name="a2f5a1c0e6320c14d72d0ff98ad979332"></a>
@@ -153,6 +164,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a2f5a1c0e6320c14d72d0ff98
       </table>
 </div><div class="memdoc">
 
+<p><a class="el" href="classModel.html" title="Base type for all model simulators.">Model</a> mass. </p>
+
 </div>
 </div>
 <hr/>The documentation for this struct was generated from the following file:<ul>
diff --git a/docs/structRigidBodyParams2D.html b/docs/structRigidBodyParams2D.html
index fbcd72a..74f2bfe 100644
--- a/docs/structRigidBodyParams2D.html
+++ b/docs/structRigidBodyParams2D.html
@@ -86,6 +86,9 @@
 </div><!--header-->
 <div class="contents">
 
+<p>Parameters for a 2D rigid body model.  
+ <a href="#details">More...</a></p>
+
 <p><code>#include &lt;<a class="el" href="Models_8h_source.html">Models.h</a>&gt;</code></p>
 <table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
@@ -96,13 +99,19 @@
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
 Public Attributes</h2></td></tr>
 <tr class="memitem:a5e37a979a1a69333bcc5576d14397185" id="r_a5e37a979a1a69333bcc5576d14397185"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a5e37a979a1a69333bcc5576d14397185">m</a></td></tr>
+<tr class="memdesc:a5e37a979a1a69333bcc5576d14397185"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classModel.html" title="Base type for all model simulators.">Model</a> mass.  <br /></td></tr>
 <tr class="separator:a5e37a979a1a69333bcc5576d14397185"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:aaefd836b5e013be87bc317aaba261a25" id="r_aaefd836b5e013be87bc317aaba261a25"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aaefd836b5e013be87bc317aaba261a25">J</a></td></tr>
+<tr class="memdesc:aaefd836b5e013be87bc317aaba261a25"><td class="mdescLeft">&#160;</td><td class="mdescRight">Moment of inertia.  <br /></td></tr>
 <tr class="separator:aaefd836b5e013be87bc317aaba261a25"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:ab212f53241edb1bf232499a6ba963258" id="r_ab212f53241edb1bf232499a6ba963258"><td class="memItemLeft" align="right" valign="top">Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab212f53241edb1bf232499a6ba963258">g</a></td></tr>
+<tr class="memdesc:ab212f53241edb1bf232499a6ba963258"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gravitational vector.  <br /></td></tr>
 <tr class="separator:ab212f53241edb1bf232499a6ba963258"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
-<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Parameters for a 2D rigid body model. </p>
+<p>Picture a mass (not necessarily a point mass) confined to a 2D plane. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
 <a id="a6febaa8c9f355105b908979da3dd1255" name="a6febaa8c9f355105b908979da3dd1255"></a>
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@@ -141,6 +150,9 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab212f53241edb1bf232499a6
       </table>
 </div><div class="memdoc">
 
+<p>Gravitational vector. </p>
+<p>Essentially defines which way is "down." Set to all zeroes if e.g., the 2D plane represents flat ground. </p>
+
 </div>
 </div>
 <a id="aaefd836b5e013be87bc317aaba261a25" name="aaefd836b5e013be87bc317aaba261a25"></a>
@@ -155,6 +167,9 @@ <h2 class="memtitle"><span class="permalink"><a href="#aaefd836b5e013be87bc317aa
       </table>
 </div><div class="memdoc">
 
+<p>Moment of inertia. </p>
+<p>The moment of inertia is about the axis coming out of the 2D plane. </p>
+
 </div>
 </div>
 <a id="a5e37a979a1a69333bcc5576d14397185" name="a5e37a979a1a69333bcc5576d14397185"></a>
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       </table>
 </div><div class="memdoc">
 
+<p><a class="el" href="classModel.html" title="Base type for all model simulators.">Model</a> mass. </p>
+
 </div>
 </div>
 <hr/>The documentation for this struct was generated from the following file:<ul>
diff --git a/docs/structRigidBodyParams3D.html b/docs/structRigidBodyParams3D.html
index c6881c5..9a160d7 100644
--- a/docs/structRigidBodyParams3D.html
+++ b/docs/structRigidBodyParams3D.html
@@ -86,6 +86,9 @@
 </div><!--header-->
 <div class="contents">
 
+<p>Parameters for a 3D rigid body model.  
+ <a href="#details">More...</a></p>
+
 <p><code>#include &lt;<a class="el" href="Models_8h_source.html">Models.h</a>&gt;</code></p>
 <table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
@@ -96,13 +99,19 @@
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
 Public Attributes</h2></td></tr>
 <tr class="memitem:acfa4c165c3278306dac4c0f51819e694" id="r_acfa4c165c3278306dac4c0f51819e694"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#acfa4c165c3278306dac4c0f51819e694">m</a></td></tr>
+<tr class="memdesc:acfa4c165c3278306dac4c0f51819e694"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classModel.html" title="Base type for all model simulators.">Model</a> mass.  <br /></td></tr>
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 <tr class="memitem:a049fb70b2897579849053dfe2ea840e6" id="r_a049fb70b2897579849053dfe2ea840e6"><td class="memItemLeft" align="right" valign="top">Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a049fb70b2897579849053dfe2ea840e6">J</a></td></tr>
+<tr class="memdesc:a049fb70b2897579849053dfe2ea840e6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Moment of inertia.  <br /></td></tr>
 <tr class="separator:a049fb70b2897579849053dfe2ea840e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a87b9c6a467ebcd6805a1d9419e6149d1" id="r_a87b9c6a467ebcd6805a1d9419e6149d1"><td class="memItemLeft" align="right" valign="top">Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a87b9c6a467ebcd6805a1d9419e6149d1">g</a></td></tr>
+<tr class="memdesc:a87b9c6a467ebcd6805a1d9419e6149d1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gravitational vector.  <br /></td></tr>
 <tr class="separator:a87b9c6a467ebcd6805a1d9419e6149d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
-<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Parameters for a 3D rigid body model. </p>
+<p>Picture a mass (not necessarily a point mass) free to move around 3D space. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
 <a id="a8aa76fea7a0790ead025bf79e767d0cf" name="a8aa76fea7a0790ead025bf79e767d0cf"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#a8aa76fea7a0790ead025bf79e767d0cf">&#9670;&#160;</a></span>RigidBodyParams3D()</h2>
 
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       </table>
 </div><div class="memdoc">
 
+<p>Gravitational vector. </p>
+<p>Essentially defines which way is "down." Set to all zeroes if there's no gravity. </p>
+
 </div>
 </div>
 <a id="a049fb70b2897579849053dfe2ea840e6" name="a049fb70b2897579849053dfe2ea840e6"></a>
@@ -155,6 +167,9 @@ <h2 class="memtitle"><span class="permalink"><a href="#a049fb70b2897579849053dfe
       </table>
 </div><div class="memdoc">
 
+<p>Moment of inertia. </p>
+<p>Moments of inertia about all three principal axes, represented as \(\boldsymbol{J}\in\mathbb{R}^{3\times 3}\). </p>
+
 </div>
 </div>
 <a id="acfa4c165c3278306dac4c0f51819e694" name="acfa4c165c3278306dac4c0f51819e694"></a>
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       </table>
 </div><div class="memdoc">
 
+<p><a class="el" href="classModel.html" title="Base type for all model simulators.">Model</a> mass. </p>
+
 </div>
 </div>
 <hr/>The documentation for this struct was generated from the following file:<ul>
diff --git a/docs/structRotationalDynamics1DOF.html b/docs/structRotationalDynamics1DOF.html
index a2ca026..2bc009b 100644
--- a/docs/structRotationalDynamics1DOF.html
+++ b/docs/structRotationalDynamics1DOF.html
@@ -86,6 +86,9 @@
 </div><!--header-->
 <div class="contents">
 
+<p>Definition of the dynamics for planar rotation-only motion of a mass.  
+ <a href="#details">More...</a></p>
+
 <p><code>#include &lt;<a class="el" href="Models_8h_source.html">Models.h</a>&gt;</code></p>
 <table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
@@ -110,9 +113,13 @@
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
 Static Public Member Functions</h2></td></tr>
 <tr class="memitem:a433f042fafdcff07948eb952e47f13b6" id="r_a433f042fafdcff07948eb952e47f13b6"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a433f042fafdcff07948eb952e47f13b6">update</a> (<a class="el" href="#a32c4979bf8f6aa3f9c1b0f2818ba4abd">StateDotSignalType</a> &amp;xdot, const <a class="el" href="#ac321d27d0098cb3e8e64ea0d98500cb6">StateSignalType</a> &amp;x, const <a class="el" href="#a80b5f730e292fda15bdcf1e8b96fe02e">InputSignalType</a> &amp;u, const double &amp;t0, const double &amp;tf, const <a class="el" href="#a38ff3a3028dc85817407d15587bf3451">ParamsType</a> &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</td></tr>
+<tr class="memdesc:a433f042fafdcff07948eb952e47f13b6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update a provided state time derivative given an input and time interval.  <br /></td></tr>
 <tr class="separator:a433f042fafdcff07948eb952e47f13b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
-<h2 class="groupheader">Member Typedef Documentation</h2>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><div class="compoundTemplParams">template&lt;typename T&gt;<br />
+struct RotationalDynamics1DOF&lt; T &gt;</div><p>Definition of the dynamics for planar rotation-only motion of a mass. </p>
+</div><h2 class="groupheader">Member Typedef Documentation</h2>
 <a id="a80b5f730e292fda15bdcf1e8b96fe02e" name="a80b5f730e292fda15bdcf1e8b96fe02e"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#a80b5f730e292fda15bdcf1e8b96fe02e">&#9670;&#160;</a></span>InputSignalType</h2>
 
@@ -301,6 +308,21 @@ <h2 class="memtitle"><span class="permalink"><a href="#a433f042fafdcff07948eb952
 </table>
 </div><div class="memdoc">
 
+<p>Update a provided state time derivative given an input and time interval. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">xdot</td><td>The state time derivative signal to update. </td></tr>
+    <tr><td class="paramname">x</td><td>The state signal to reference for the dynamics. </td></tr>
+    <tr><td class="paramname">u</td><td>The input signal to reference for the dynamics. </td></tr>
+    <tr><td class="paramname">t0</td><td>The time at which to sample the state and input. </td></tr>
+    <tr><td class="paramname">tf</td><td>The time at which to modify the state time derivative. </td></tr>
+    <tr><td class="paramname">params</td><td>The 2D rigid body model parameters. </td></tr>
+    <tr><td class="paramname">insertIntoHistory</td><td>Whether to insert the answer into state time derivative signal history. </td></tr>
+    <tr><td class="paramname">calculateXddot</td><td>Whether to use finite differencing to calculate the second time derivative of the state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
 </div>
 </div>
 <hr/>The documentation for this struct was generated from the following file:<ul>
diff --git a/docs/structRotationalDynamics3DOF.html b/docs/structRotationalDynamics3DOF.html
index 076aa0e..e21d608 100644
--- a/docs/structRotationalDynamics3DOF.html
+++ b/docs/structRotationalDynamics3DOF.html
@@ -86,6 +86,9 @@
 </div><!--header-->
 <div class="contents">
 
+<p>Definition of the dynamics for 3D rotation-only motion of a mass.  
+ <a href="#details">More...</a></p>
+
 <p><code>#include &lt;<a class="el" href="Models_8h_source.html">Models.h</a>&gt;</code></p>
 <table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
@@ -110,9 +113,13 @@
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
 Static Public Member Functions</h2></td></tr>
 <tr class="memitem:aee5958f7949268650c00097b2a871252" id="r_aee5958f7949268650c00097b2a871252"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aee5958f7949268650c00097b2a871252">update</a> (<a class="el" href="#a6b1ce3427c65404128d15a66c3d11621">StateDotSignalType</a> &amp;xdot, const <a class="el" href="#a2814e21ab959a4cb71fdc2682d1cad69">StateSignalType</a> &amp;x, const <a class="el" href="#aac317f9992071217ce644f6b9ccd8763">InputSignalType</a> &amp;u, const double &amp;t0, const double &amp;tf, const <a class="el" href="#a2ac951c964726729410488c2bfcfa156">ParamsType</a> &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</td></tr>
+<tr class="memdesc:aee5958f7949268650c00097b2a871252"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update a provided state time derivative given an input and time interval.  <br /></td></tr>
 <tr class="separator:aee5958f7949268650c00097b2a871252"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
-<h2 class="groupheader">Member Typedef Documentation</h2>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><div class="compoundTemplParams">template&lt;typename T&gt;<br />
+struct RotationalDynamics3DOF&lt; T &gt;</div><p>Definition of the dynamics for 3D rotation-only motion of a mass. </p>
+</div><h2 class="groupheader">Member Typedef Documentation</h2>
 <a id="aac317f9992071217ce644f6b9ccd8763" name="aac317f9992071217ce644f6b9ccd8763"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#aac317f9992071217ce644f6b9ccd8763">&#9670;&#160;</a></span>InputSignalType</h2>
 
@@ -301,6 +308,21 @@ <h2 class="memtitle"><span class="permalink"><a href="#aee5958f7949268650c00097b
 </table>
 </div><div class="memdoc">
 
+<p>Update a provided state time derivative given an input and time interval. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">xdot</td><td>The state time derivative signal to update. </td></tr>
+    <tr><td class="paramname">x</td><td>The state signal to reference for the dynamics. </td></tr>
+    <tr><td class="paramname">u</td><td>The input signal to reference for the dynamics. </td></tr>
+    <tr><td class="paramname">t0</td><td>The time at which to sample the state and input. </td></tr>
+    <tr><td class="paramname">tf</td><td>The time at which to modify the state time derivative. </td></tr>
+    <tr><td class="paramname">params</td><td>The 3D rigid body model parameters. </td></tr>
+    <tr><td class="paramname">insertIntoHistory</td><td>Whether to insert the answer into state time derivative signal history. </td></tr>
+    <tr><td class="paramname">calculateXddot</td><td>Whether to use finite differencing to calculate the second time derivative of the state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
 </div>
 </div>
 <hr/>The documentation for this struct was generated from the following file:<ul>
diff --git a/docs/structSimpsonIntegratorSpec.html b/docs/structSimpsonIntegratorSpec.html
index f4da6ec..78f3bfc 100644
--- a/docs/structSimpsonIntegratorSpec.html
+++ b/docs/structSimpsonIntegratorSpec.html
@@ -85,15 +85,21 @@
 </div><!--header-->
 <div class="contents">
 
+<p>Specification for numerically integrating a black box function using Simpson's method.  
+ <a href="#details">More...</a></p>
+
 <p><code>#include &lt;<a class="el" href="Integration_8h_source.html">Integration.h</a>&gt;</code></p>
 <table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
 Static Public Member Functions</h2></td></tr>
 <tr class="memitem:a6194da52902a391e4a9b251c05e6abf2" id="r_a6194da52902a391e4a9b251c05e6abf2"><td class="memTemplParams" colspan="2">template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </td></tr>
 <tr class="memitem:a6194da52902a391e4a9b251c05e6abf2"><td class="memTemplItemLeft" align="right" valign="top">static bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a6194da52902a391e4a9b251c05e6abf2">integrate</a> (<a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const <a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;t0, const double &amp;tf, const bool &amp;insertIntoHistory)</td></tr>
+<tr class="memdesc:a6194da52902a391e4a9b251c05e6abf2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Simpson integration implementation.  <br /></td></tr>
 <tr class="separator:a6194da52902a391e4a9b251c05e6abf2"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
-<h2 class="groupheader">Member Function Documentation</h2>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Specification for numerically integrating a black box function using Simpson's method. </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
 <a id="a6194da52902a391e4a9b251c05e6abf2" name="a6194da52902a391e4a9b251c05e6abf2"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#a6194da52902a391e4a9b251c05e6abf2">&#9670;&#160;</a></span>integrate()</h2>
 
@@ -138,6 +144,21 @@ <h2 class="memtitle"><span class="permalink"><a href="#a6194da52902a391e4a9b251c
 </table>
 </div><div class="memdoc">
 
+<p>Simpson integration implementation. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">xInt</td><td>The output signal representing the integration. </td></tr>
+    <tr><td class="paramname">x</td><td>The input signal to be integrated. </td></tr>
+    <tr><td class="paramname">t0</td><td>The start time for the integration. </td></tr>
+    <tr><td class="paramname">tf</td><td>The time to integrate to. Ideally the delta from the start time is small. </td></tr>
+    <tr><td class="paramname">insertIntoHistory</td><td>Whether to store the result in xInt's memory. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Whether the integration was successful.</dd></dl>
+<p>Simpson's method for integration increments the current integral by</p>
+<p>\(\frac{x(t_0)+4x((t_0+t_f)/2)+x(t_f)}{6}\Delta t\) </p>
+
 </div>
 </div>
 <hr/>The documentation for this struct was generated from the following file:<ul>
diff --git a/docs/structState.html b/docs/structState.html
index e695699..8dce7f5 100644
--- a/docs/structState.html
+++ b/docs/structState.html
@@ -88,6 +88,9 @@
 </div><!--header-->
 <div class="contents">
 
+<p>Base type for all <a class="el" href="classModel.html" title="Base type for all model simulators.">Model</a> state representations.  
+ <a href="#details">More...</a></p>
+
 <p><code>#include &lt;<a class="el" href="State_8h_source.html">State.h</a>&gt;</code></p>
 <table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
@@ -125,7 +128,30 @@
 <tr class="memitem:a3f5fb4275701e71a56d2fa1fb8d54080" id="r_a3f5fb4275701e71a56d2fa1fb8d54080"><td class="memItemLeft" align="right" valign="top"><a class="el" href="#ab58b6e2fe6ea3c2777c5a8a92f6665a1">TwistType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a></td></tr>
 <tr class="separator:a3f5fb4275701e71a56d2fa1fb8d54080"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
-<h2 class="groupheader">Member Typedef Documentation</h2>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><div class="compoundTemplParams">template&lt;typename T, typename PoseTypeSpec, size_t PoseDim, typename TwistTypeSpec, size_t TwistDim&gt;<br />
+struct State&lt; T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim &gt;</div><p>Base type for all <a class="el" href="classModel.html" title="Base type for all model simulators.">Model</a> state representations. </p>
+<p>Provides a convenient union of the "pose" and "twist" (or time derivative of pose) components of a state vector and defines arithmetic operations for that union.</p>
+<p>A state is <em>not</em> a <a class="el" href="classSignal.html">Signal</a> type in itself, which is why separate <code>*Signal</code> types are derived below.</p>
+<p><b>Derived types</b>:</p>
+<ul>
+<li><code>Scalar(d)<a class="el" href="structState.html" title="Base type for all Model state representations.">State</a></code> and <code>Scalar(d)StateSignal</code></li>
+<li><code>Vector1(d)<a class="el" href="structState.html" title="Base type for all Model state representations.">State</a></code> and <code>Vector1(d)StateSignal</code></li>
+<li><code>Vector2(d)<a class="el" href="structState.html" title="Base type for all Model state representations.">State</a></code> and <code>Vector2(d)StateSignal</code></li>
+<li><code>Vector3(d)<a class="el" href="structState.html" title="Base type for all Model state representations.">State</a></code> and <code>Vector3(d)StateSignal</code></li>
+<li><code>Vector4(d)<a class="el" href="structState.html" title="Base type for all Model state representations.">State</a></code> and <code>Vector4(d)StateSignal</code></li>
+<li><code>Vector5(d)<a class="el" href="structState.html" title="Base type for all Model state representations.">State</a></code> and <code>Vector5(d)StateSignal</code></li>
+<li><code>Vector6(d)<a class="el" href="structState.html" title="Base type for all Model state representations.">State</a></code> and <code>Vector6(d)StateSignal</code></li>
+<li><code>Vector7(d)<a class="el" href="structState.html" title="Base type for all Model state representations.">State</a></code> and <code>Vector7(d)StateSignal</code></li>
+<li><code>Vector8(d)<a class="el" href="structState.html" title="Base type for all Model state representations.">State</a></code> and <code>Vector8(d)StateSignal</code></li>
+<li><code>Vector9(d)<a class="el" href="structState.html" title="Base type for all Model state representations.">State</a></code> and <code>Vector9(d)StateSignal</code></li>
+<li><code>Vector10(d)<a class="el" href="structState.html" title="Base type for all Model state representations.">State</a></code> and <code>Vector10(d)StateSignal</code></li>
+<li><code>SO2(d)<a class="el" href="structState.html" title="Base type for all Model state representations.">State</a></code> and <code>SO2(d)StateSignal</code></li>
+<li><code>SO3(d)<a class="el" href="structState.html" title="Base type for all Model state representations.">State</a></code> and <code>SO3(d)StateSignal</code></li>
+<li><code>SE2(d)<a class="el" href="structState.html" title="Base type for all Model state representations.">State</a></code> and <code>SE2(d)StateSignal</code></li>
+<li><code>SE3(d)<a class="el" href="structState.html" title="Base type for all Model state representations.">State</a></code> and <code>SE3(d)StateSignal</code> </li>
+</ul>
+</div><h2 class="groupheader">Member Typedef Documentation</h2>
 <a id="a31bd8aa44dff5f656b2b2057c8d63821" name="a31bd8aa44dff5f656b2b2057c8d63821"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#a31bd8aa44dff5f656b2b2057c8d63821">&#9670;&#160;</a></span>PoseType</h2>
 
diff --git a/docs/structTranslationalDynamicsBase.html b/docs/structTranslationalDynamicsBase.html
index 90cde70..092d53c 100644
--- a/docs/structTranslationalDynamicsBase.html
+++ b/docs/structTranslationalDynamicsBase.html
@@ -86,6 +86,9 @@
 </div><!--header-->
 <div class="contents">
 
+<p>Base class for defining the dynamics for 1D, 2D, and 3D <em>point masses</em>.  
+ <a href="#details">More...</a></p>
+
 <p><code>#include &lt;<a class="el" href="Models_8h_source.html">Models.h</a>&gt;</code></p>
 <table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
@@ -110,9 +113,13 @@
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
 Static Public Member Functions</h2></td></tr>
 <tr class="memitem:a3f1e02018ec014fe38ba851dc0d5b2ed" id="r_a3f1e02018ec014fe38ba851dc0d5b2ed"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3f1e02018ec014fe38ba851dc0d5b2ed">update</a> (<a class="el" href="#a3870f6b57fcb6cb578b3640401331a39">StateDotSignalType</a> &amp;xdot, const <a class="el" href="#a1f0fdd4bbfb73f52878c7e5c7e459f16">StateSignalType</a> &amp;x, const <a class="el" href="#aac403e4db54adf389b8f1fa3700f6f6a">InputSignalType</a> &amp;u, const double &amp;t0, const double &amp;tf, const <a class="el" href="#a4ba374f05dd1f5c4168adf3d6a15ef0c">ParamsType</a> &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</td></tr>
+<tr class="memdesc:a3f1e02018ec014fe38ba851dc0d5b2ed"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update a provided state time derivative given an input and time interval.  <br /></td></tr>
 <tr class="separator:a3f1e02018ec014fe38ba851dc0d5b2ed"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
-<h2 class="groupheader">Member Typedef Documentation</h2>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><div class="compoundTemplParams">template&lt;typename IST, typename SST, typename SDST, size_t d, typename PT&gt;<br />
+struct TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt;</div><p>Base class for defining the dynamics for 1D, 2D, and 3D <em>point masses</em>. </p>
+</div><h2 class="groupheader">Member Typedef Documentation</h2>
 <a id="aac403e4db54adf389b8f1fa3700f6f6a" name="aac403e4db54adf389b8f1fa3700f6f6a"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#aac403e4db54adf389b8f1fa3700f6f6a">&#9670;&#160;</a></span>InputSignalType</h2>
 
@@ -301,6 +308,21 @@ <h2 class="memtitle"><span class="permalink"><a href="#a3f1e02018ec014fe38ba851d
 </table>
 </div><div class="memdoc">
 
+<p>Update a provided state time derivative given an input and time interval. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">xdot</td><td>The state time derivative signal to update. </td></tr>
+    <tr><td class="paramname">x</td><td>The state signal to reference for the dynamics. </td></tr>
+    <tr><td class="paramname">u</td><td>The input signal to reference for the dynamics. </td></tr>
+    <tr><td class="paramname">t0</td><td>The time at which to sample the state and input. </td></tr>
+    <tr><td class="paramname">tf</td><td>The time at which to modify the state time derivative. </td></tr>
+    <tr><td class="paramname">params</td><td>The rigid body model parameters. </td></tr>
+    <tr><td class="paramname">insertIntoHistory</td><td>Whether to insert the answer into state time derivative signal history. </td></tr>
+    <tr><td class="paramname">calculateXddot</td><td>Whether to use finite differencing to calculate the second time derivative of the state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
 </div>
 </div>
 <hr/>The documentation for this struct was generated from the following file:<ul>
diff --git a/docs/structTrapezoidalIntegratorSpec.html b/docs/structTrapezoidalIntegratorSpec.html
index f1e5434..2311cc4 100644
--- a/docs/structTrapezoidalIntegratorSpec.html
+++ b/docs/structTrapezoidalIntegratorSpec.html
@@ -85,15 +85,21 @@
 </div><!--header-->
 <div class="contents">
 
+<p>Specification for numerically integrating a black box function using the Trapezoidal method.  
+ <a href="#details">More...</a></p>
+
 <p><code>#include &lt;<a class="el" href="Integration_8h_source.html">Integration.h</a>&gt;</code></p>
 <table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
 Static Public Member Functions</h2></td></tr>
 <tr class="memitem:a38c21a876135bae55c62ec43c3a18a86" id="r_a38c21a876135bae55c62ec43c3a18a86"><td class="memTemplParams" colspan="2">template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </td></tr>
 <tr class="memitem:a38c21a876135bae55c62ec43c3a18a86"><td class="memTemplItemLeft" align="right" valign="top">static bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a38c21a876135bae55c62ec43c3a18a86">integrate</a> (<a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const <a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;t0, const double &amp;tf, const bool &amp;insertIntoHistory)</td></tr>
+<tr class="memdesc:a38c21a876135bae55c62ec43c3a18a86"><td class="mdescLeft">&#160;</td><td class="mdescRight">Trapezoidal integration implementation.  <br /></td></tr>
 <tr class="separator:a38c21a876135bae55c62ec43c3a18a86"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
-<h2 class="groupheader">Member Function Documentation</h2>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Specification for numerically integrating a black box function using the Trapezoidal method. </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
 <a id="a38c21a876135bae55c62ec43c3a18a86" name="a38c21a876135bae55c62ec43c3a18a86"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#a38c21a876135bae55c62ec43c3a18a86">&#9670;&#160;</a></span>integrate()</h2>
 
@@ -138,6 +144,21 @@ <h2 class="memtitle"><span class="permalink"><a href="#a38c21a876135bae55c62ec43
 </table>
 </div><div class="memdoc">
 
+<p>Trapezoidal integration implementation. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">xInt</td><td>The output signal representing the integration. </td></tr>
+    <tr><td class="paramname">x</td><td>The input signal to be integrated. </td></tr>
+    <tr><td class="paramname">t0</td><td>The start time for the integration. </td></tr>
+    <tr><td class="paramname">tf</td><td>The time to integrate to. Ideally the delta from the start time is small. </td></tr>
+    <tr><td class="paramname">insertIntoHistory</td><td>Whether to store the result in xInt's memory. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Whether the integration was successful.</dd></dl>
+<p>Trapezoidal integration increments the current integral by</p>
+<p>\(\frac{x(t_0)+x(t_f)}{2}\Delta t\) </p>
+
 </div>
 </div>
 <hr/>The documentation for this struct was generated from the following file:<ul>
diff --git a/include/signals/Integration.h b/include/signals/Integration.h
index 7afe8b0..115013a 100644
--- a/include/signals/Integration.h
+++ b/include/signals/Integration.h
@@ -1,9 +1,29 @@
 #pragma once
 #include "signals/Signal.h"
 
+/**
+ * @brief Base type for all integrators.
+ *
+ * Provides methods for incremental (e.g., for control) or holistic (e.g., for open-loop simulation) integrations of
+ * arbitrary signal types.
+ *
+ * **Derived types**:
+ *
+ * - `EulerIntegrator`
+ * - `TrapezoidalIntegrator`
+ * - `SimpsonIntegrator`
+ */
 template<typename IntegratorType>
 struct Integrator
 {
+    /**
+     * @brief Integrate a signal from the current time to the specified end time.
+     * @param xInt The output signal representing the integration.
+     * @param x The input signal to be integrated.
+     * @param tf The time to integrate to. Ideally the delta from the current time is small.
+     * @param insertIntoHistory Whether to store the result in xInt's memory.
+     * @returns Whether the integration was successful.
+     */
     template<typename BaseSignalSpec, typename TangentSignalSpec>
     static bool integrate(Signal<BaseSignalSpec, TangentSignalSpec>&          xInt,
                           const Signal<TangentSignalSpec, TangentSignalSpec>& x,
@@ -19,6 +39,16 @@ struct Integrator
         return IntegratorType::integrate(xInt, x, t0, tf, insertIntoHistory);
     }
 
+    /**
+     * @brief Integrate a signal from the current time to the specified end time, chunked up into smaller integration
+     * increments.
+     * @param xInt The output signal representing the integration.
+     * @param x The input signal to be integrated.
+     * @param tf The time to integrate to.
+     * @param dt Time delta length by which to chunk up the integrations. Ideally this is small.
+     * @param insertIntoHistory Whether to store the result in xInt's memory.
+     * @returns Whether the integration was successful.
+     */
     template<typename BaseSignalSpec, typename TangentSignalSpec>
     static bool integrate(Signal<BaseSignalSpec, TangentSignalSpec>&          xInt,
                           const Signal<TangentSignalSpec, TangentSignalSpec>& x,
@@ -46,8 +76,24 @@ struct Integrator
     }
 };
 
+/**
+ * @brief Specification for numerically integrating a black box function using Euler's method.
+ */
 struct EulerIntegratorSpec
 {
+    /**
+     * @brief Euler integration implementation.
+     * @param xInt The output signal representing the integration.
+     * @param x The input signal to be integrated.
+     * @param t0 The start time for the integration.
+     * @param tf The time to integrate to. Ideally the delta from the start time is small.
+     * @param insertIntoHistory Whether to store the result in xInt's memory.
+     * @returns Whether the integration was successful.
+     *
+     * Euler integration increments the current integral by
+     *
+     * \f$x(t_f)\Delta t\f$
+     */
     template<typename BaseSignalSpec, typename TangentSignalSpec>
     static bool integrate(Signal<BaseSignalSpec, TangentSignalSpec>&          xInt,
                           const Signal<TangentSignalSpec, TangentSignalSpec>& x,
@@ -60,8 +106,24 @@ struct EulerIntegratorSpec
     }
 };
 
+/**
+ * @brief Specification for numerically integrating a black box function using the Trapezoidal method.
+ */
 struct TrapezoidalIntegratorSpec
 {
+    /**
+     * @brief Trapezoidal integration implementation.
+     * @param xInt The output signal representing the integration.
+     * @param x The input signal to be integrated.
+     * @param t0 The start time for the integration.
+     * @param tf The time to integrate to. Ideally the delta from the start time is small.
+     * @param insertIntoHistory Whether to store the result in xInt's memory.
+     * @returns Whether the integration was successful.
+     *
+     * Trapezoidal integration increments the current integral by
+     *
+     * \f$\frac{x(t_0)+x(t_f)}{2}\Delta t\f$
+     */
     template<typename BaseSignalSpec, typename TangentSignalSpec>
     static bool integrate(Signal<BaseSignalSpec, TangentSignalSpec>&          xInt,
                           const Signal<TangentSignalSpec, TangentSignalSpec>& x,
@@ -74,8 +136,24 @@ struct TrapezoidalIntegratorSpec
     }
 };
 
+/**
+ * @brief Specification for numerically integrating a black box function using Simpson's method.
+ */
 struct SimpsonIntegratorSpec
 {
+    /**
+     * @brief Simpson integration implementation.
+     * @param xInt The output signal representing the integration.
+     * @param x The input signal to be integrated.
+     * @param t0 The start time for the integration.
+     * @param tf The time to integrate to. Ideally the delta from the start time is small.
+     * @param insertIntoHistory Whether to store the result in xInt's memory.
+     * @returns Whether the integration was successful.
+     *
+     * Simpson's method for integration increments the current integral by
+     *
+     * \f$\frac{x(t_0)+4x((t_0+t_f)/2)+x(t_f)}{6}\Delta t\f$
+     */
     template<typename BaseSignalSpec, typename TangentSignalSpec>
     static bool integrate(Signal<BaseSignalSpec, TangentSignalSpec>&          xInt,
                           const Signal<TangentSignalSpec, TangentSignalSpec>& x,
diff --git a/include/signals/Models.h b/include/signals/Models.h
index 200b7ae..be348c2 100644
--- a/include/signals/Models.h
+++ b/include/signals/Models.h
@@ -5,6 +5,21 @@
 
 using namespace Eigen;
 
+/**
+ * @brief Base type for all model simulators.
+ *
+ * Provides methods for initialization, reset, and simulation of dynamic models.
+ *
+ * **Derived types**:
+ *
+ * - `Translational1DOFModel(d)`
+ * - `Translational2DOFModel(d)`
+ * - `Translational3DOFModel(d)`
+ * - `Rotational1DOFModel(d)`
+ * - `Rotational3DOFModel(d)`
+ * - `RigidBody3DOFModel(d)`
+ * - `RigidBody6DOFModel(d)`
+ */
 template<typename DynamicsType>
 class Model
 {
@@ -14,7 +29,13 @@ class Model
     using StateSignalType    = typename DynamicsType::StateSignalType;
     using ParamsType         = typename DynamicsType::ParamsType;
 
-    StateSignalType    x;
+    /**
+     * @brief Model state signal.
+     */
+    StateSignalType x;
+    /**
+     * @brief Time derivative of the model state signal.
+     */
     StateDotSignalType xdot;
 
     Model() : params_{std::nullopt}
@@ -22,27 +43,49 @@ class Model
         reset();
     }
 
+    /**
+     * @brief Initialize the model with any required parameters.
+     *
+     * The required parameters are determined by the model / dynamics specialization.
+     */
     void setParams(const ParamsType& params)
     {
         params_ = params;
     }
 
+    /**
+     * @brief Verify that the model has parameters explicity set by `setParams()`.
+     */
     bool hasParams()
     {
         return params_.has_value();
     }
 
+    /**
+     * @brief Zero out the model state and derivative variables and reset simulation time to zero.
+     */
     void reset()
     {
         x.reset();
         xdot.reset();
     }
 
+    /**
+     * @brief Get the current simulation time.
+     */
     double t() const
     {
         return x.t();
     }
 
+    /**
+     * @brief Simulate the system response to an input over a specified time interval.
+     * @param u The input signal, which should be defined up to tf.
+     * @param tf The time to simulate to. Ideally the delta from the current time is small.
+     * @param insertIntoHistory Whether to store the result in state memory.
+     * @param calculateXddot Whether to use finite differencing to calculate the second time derivative of the state.
+     * @returns Whether the simulation was successful.
+     */
     template<typename IntegratorType>
     bool simulate(const InputSignalType& u,
                   const double&          tf,
@@ -68,6 +111,16 @@ class Model
         return true;
     }
 
+    /**
+     * @brief Simulate the system response to an input over a specified time interval, chunked up into smaller
+     * integration increments.
+     * @param u The input signal, which should be defined up to tf.
+     * @param tf The time to simulate to.
+     * @param dt Time delta length by which to chunk up the integrations. Ideally this is small.
+     * @param insertIntoHistory Whether to store the result in state memory.
+     * @param calculateXddot Whether to use finite differencing to calculate the second time derivative of the state.
+     * @returns Whether the simulation was successful.
+     */
     template<typename IntegratorType>
     bool simulate(const InputSignalType& u,
                   const double&          tf,
@@ -103,29 +156,81 @@ class Model
     std::optional<ParamsType> params_;
 };
 
+/**
+ * @brief Parameters for a 1D rigid body model.
+ *
+ * Picture a point mass existing on a line, whether horizontal or vertical.
+ */
 struct RigidBodyParams1D
 {
     RigidBodyParams1D() : m(1), g(0) {}
+    /**
+     * @brief Model mass.
+     */
     double m;
+    /**
+     * @brief Gravitational constant.
+     *
+     * Essentially defines which way is "down." Set to zero if e.g., the 1D dimension is horizontal.
+     */
     double g;
 };
 
+/**
+ * @brief Parameters for a 2D rigid body model.
+ *
+ * Picture a mass (not necessarily a point mass) confined to a 2D plane.
+ */
 struct RigidBodyParams2D
 {
     RigidBodyParams2D() : m(1), J(1), g(Vector2d::Zero()) {}
-    double   m;
-    double   J;
+    /**
+     * @brief Model mass.
+     */
+    double m;
+    /**
+     * @brief Moment of inertia.
+     *
+     * The moment of inertia is about the axis coming out of the 2D plane.
+     */
+    double J;
+    /**
+     * @brief Gravitational vector.
+     *
+     * Essentially defines which way is "down." Set to all zeroes if e.g., the 2D plane represents flat ground.
+     */
     Vector2d g;
 };
 
+/**
+ * @brief Parameters for a 3D rigid body model.
+ *
+ * Picture a mass (not necessarily a point mass) free to move around 3D space.
+ */
 struct RigidBodyParams3D
 {
     RigidBodyParams3D() : m(1), J(Matrix3d::Identity()), g(Vector3d::Zero()) {}
-    double   m;
+    /**
+     * @brief Model mass.
+     */
+    double m;
+    /**
+     * @brief Moment of inertia.
+     *
+     * Moments of inertia about all three principal axes, represented as \f$\boldsymbol{J}\in\mathbb{R}^{3\times 3}\f$.
+     */
     Matrix3d J;
+    /**
+     * @brief Gravitational vector.
+     *
+     * Essentially defines which way is "down." Set to all zeroes if there's no gravity.
+     */
     Vector3d g;
 };
 
+/**
+ * @brief Base class for defining the dynamics for 1D, 2D, and 3D *point masses*.
+ */
 template<typename IST, typename SST, typename SDST, size_t d, typename PT>
 struct TranslationalDynamicsBase
 {
@@ -140,6 +245,17 @@ struct TranslationalDynamicsBase
 
     using ParamsType = PT;
 
+    /**
+     * @brief Update a provided state time derivative given an input and time interval.
+     * @param xdot The state time derivative signal to update.
+     * @param x The state signal to reference for the dynamics.
+     * @param u The input signal to reference for the dynamics.
+     * @param t0 The time at which to sample the state and input.
+     * @param tf The time at which to modify the state time derivative.
+     * @param params The rigid body model parameters.
+     * @param insertIntoHistory Whether to insert the answer into state time derivative signal history.
+     * @param calculateXddot Whether to use finite differencing to calculate the second time derivative of the state.
+     */
     static bool update(StateDotSignalType&    xdot,
                        const StateSignalType& x,
                        const InputSignalType& u,
@@ -179,6 +295,9 @@ template<typename T>
 using TranslationalDynamics3DOF =
     TranslationalDynamicsBase<Vector3Signal<T>, Vector3StateSignal<T>, Vector3StateSignal<T>, 3, RigidBodyParams3D>;
 
+/**
+ * @brief Definition of the dynamics for planar rotation-only motion of a mass.
+ */
 template<typename T>
 struct RotationalDynamics1DOF
 {
@@ -193,6 +312,17 @@ struct RotationalDynamics1DOF
 
     using ParamsType = RigidBodyParams2D;
 
+    /**
+     * @brief Update a provided state time derivative given an input and time interval.
+     * @param xdot The state time derivative signal to update.
+     * @param x The state signal to reference for the dynamics.
+     * @param u The input signal to reference for the dynamics.
+     * @param t0 The time at which to sample the state and input.
+     * @param tf The time at which to modify the state time derivative.
+     * @param params The 2D rigid body model parameters.
+     * @param insertIntoHistory Whether to insert the answer into state time derivative signal history.
+     * @param calculateXddot Whether to use finite differencing to calculate the second time derivative of the state.
+     */
     static bool update(StateDotSignalType&    xdot,
                        const StateSignalType& x,
                        const InputSignalType& u,
@@ -220,6 +350,9 @@ struct RotationalDynamics1DOF
     }
 };
 
+/**
+ * @brief Definition of the dynamics for 3D rotation-only motion of a mass.
+ */
 template<typename T>
 struct RotationalDynamics3DOF
 {
@@ -234,6 +367,17 @@ struct RotationalDynamics3DOF
 
     using ParamsType = RigidBodyParams3D;
 
+    /**
+     * @brief Update a provided state time derivative given an input and time interval.
+     * @param xdot The state time derivative signal to update.
+     * @param x The state signal to reference for the dynamics.
+     * @param u The input signal to reference for the dynamics.
+     * @param t0 The time at which to sample the state and input.
+     * @param tf The time at which to modify the state time derivative.
+     * @param params The 3D rigid body model parameters.
+     * @param insertIntoHistory Whether to insert the answer into state time derivative signal history.
+     * @param calculateXddot Whether to use finite differencing to calculate the second time derivative of the state.
+     */
     static bool update(StateDotSignalType&    xdot,
                        const StateSignalType& x,
                        const InputSignalType& u,
@@ -261,6 +405,9 @@ struct RotationalDynamics3DOF
     }
 };
 
+/**
+ * @brief Definition of the dynamics for planar motion of a mass that's allowed to rotate.
+ */
 template<typename T>
 struct RigidBodyDynamics3DOF
 {
@@ -275,6 +422,17 @@ struct RigidBodyDynamics3DOF
 
     using ParamsType = RigidBodyParams2D;
 
+    /**
+     * @brief Update a provided state time derivative given an input and time interval.
+     * @param xdot The state time derivative signal to update.
+     * @param x The state signal to reference for the dynamics.
+     * @param u The input signal to reference for the dynamics.
+     * @param t0 The time at which to sample the state and input.
+     * @param tf The time at which to modify the state time derivative.
+     * @param params The 2D rigid body model parameters.
+     * @param insertIntoHistory Whether to insert the answer into state time derivative signal history.
+     * @param calculateXddot Whether to use finite differencing to calculate the second time derivative of the state.
+     */
     static bool update(StateDotSignalType&    xdot,
                        const StateSignalType& x,
                        const InputSignalType& u,
@@ -305,6 +463,9 @@ struct RigidBodyDynamics3DOF
     }
 };
 
+/**
+ * @brief Definition of the dynamics for a 3D rigid body that can rotate about any axis.
+ */
 template<typename T>
 struct RigidBodyDynamics6DOF
 {
@@ -319,6 +480,17 @@ struct RigidBodyDynamics6DOF
 
     using ParamsType = RigidBodyParams3D;
 
+    /**
+     * @brief Update a provided state time derivative given an input and time interval.
+     * @param xdot The state time derivative signal to update.
+     * @param x The state signal to reference for the dynamics.
+     * @param u The input signal to reference for the dynamics.
+     * @param t0 The time at which to sample the state and input.
+     * @param tf The time at which to modify the state time derivative.
+     * @param params The 3D rigid body model parameters.
+     * @param insertIntoHistory Whether to insert the answer into state time derivative signal history.
+     * @param calculateXddot Whether to use finite differencing to calculate the second time derivative of the state.
+     */
     static bool update(StateDotSignalType&    xdot,
                        const StateSignalType& x,
                        const InputSignalType& u,
diff --git a/include/signals/Signal.h b/include/signals/Signal.h
index 7f029f9..c92e6aa 100644
--- a/include/signals/Signal.h
+++ b/include/signals/Signal.h
@@ -10,6 +10,9 @@
 
 using namespace Eigen;
 
+/**
+ * @brief TODO
+ */
 enum InterpolationMethod
 {
     ZERO_ORDER_HOLD,
diff --git a/include/signals/Signals.h b/include/signals/Signals.h
index 77bf867..e5b2ec4 100644
--- a/include/signals/Signals.h
+++ b/include/signals/Signals.h
@@ -11,6 +11,13 @@
  * @section intro_sec Introduction
  * Header-only templated C++ library implementing rigid-body dynamics, derivatives, integrals, and interpolation.
  *
+ * The key class definitions in this library from which all specialized types are derived are:
+ *
+ * - Signal
+ * - State
+ * - Model
+ * - Integrator
+ *
  * @section install Installation
  * This code is meant to be built as a static library with CMake. It should be compatible with the latest versions of
  * Eigen and Boost (unit test framework only).
diff --git a/include/signals/State.h b/include/signals/State.h
index b6e86d9..e9ab67b 100644
--- a/include/signals/State.h
+++ b/include/signals/State.h
@@ -3,12 +3,41 @@
 
 using namespace Eigen;
 
+/**
+ * @brief Base type for all Model state representations.
+ *
+ * Provides a convenient union of the "pose" and "twist" (or time derivative of pose) components of a state vector and
+ * defines arithmetic operations for that union.
+ *
+ * A state is *not* a Signal type in itself, which is why separate `*Signal` types are derived below.
+ *
+ * **Derived types**:
+ *
+ * - `Scalar(d)State` and `Scalar(d)StateSignal`
+ * - `Vector1(d)State` and `Vector1(d)StateSignal`
+ * - `Vector2(d)State` and `Vector2(d)StateSignal`
+ * - `Vector3(d)State` and `Vector3(d)StateSignal`
+ * - `Vector4(d)State` and `Vector4(d)StateSignal`
+ * - `Vector5(d)State` and `Vector5(d)StateSignal`
+ * - `Vector6(d)State` and `Vector6(d)StateSignal`
+ * - `Vector7(d)State` and `Vector7(d)StateSignal`
+ * - `Vector8(d)State` and `Vector8(d)StateSignal`
+ * - `Vector9(d)State` and `Vector9(d)StateSignal`
+ * - `Vector10(d)State` and `Vector10(d)StateSignal`
+ * - `SO2(d)State` and `SO2(d)StateSignal`
+ * - `SO3(d)State` and `SO3(d)StateSignal`
+ * - `SE2(d)State` and `SE2(d)StateSignal`
+ * - `SE3(d)State` and `SE3(d)StateSignal`
+ */
 template<typename T, typename PoseTypeSpec, size_t PoseDim, typename TwistTypeSpec, size_t TwistDim>
 struct State
 {
     using PoseType  = typename PoseTypeSpec::Type;
     using TwistType = typename TwistTypeSpec::Type;
 
+    /**
+     * @brief TODO
+     */
     PoseType  pose;
     TwistType twist;
 
diff --git a/include/signals/Utils.h b/include/signals/Utils.h
index b54dd24..f0c2b4f 100644
--- a/include/signals/Utils.h
+++ b/include/signals/Utils.h
@@ -3,6 +3,10 @@
 
 namespace signal_utils
 {
+/**
+ * @internal
+ * This function is for internal use for the Model and Integrator classes.
+ */
 inline bool
 getTimeDelta(double& dt, const double& t0, const double& tf, const double& dt_max = std::numeric_limits<double>::max())
 {

From 1e7d84762143bd86648b51c4321094bd055cbdb6 Mon Sep 17 00:00:00 2001
From: Andrew Torgesen <atorgesen@anduril.com>
Date: Sun, 5 Jan 2025 19:40:03 -0800
Subject: [PATCH 04/11] awesome formatting

---
 .gitmodules                                   |    3 +
 Doxyfile                                      |    7 +
 docs/Integration_8h.html                      |   37 +-
 docs/Integration_8h.js                        |   11 +
 docs/Integration_8h_source.html               |   43 +-
 docs/Models_8h.html                           |   39 +-
 docs/Models_8h.js                             |   30 +
 docs/Models_8h_source.html                    |   45 +-
 docs/Signal_8h.html                           |   42 +-
 docs/Signal_8h.js                             |   63 +
 docs/Signal_8h_source.html                    | 1687 ++++++-----
 docs/Signals_8h.html                          |   37 +-
 docs/Signals_8h_source.html                   |   37 +-
 docs/State_8h.html                            |   39 +-
 docs/State_8h.js                              |   86 +
 docs/State_8h_source.html                     |  661 ++--
 docs/Utils_8h.html                            |   37 +-
 docs/Utils_8h.js                              |    4 +
 docs/Utils_8h_source.html                     |   37 +-
 docs/annotated.html                           |   30 +-
 docs/annotated_dup.js                         |   24 +
 docs/classModel-members.html                  |   32 +-
 docs/classModel.html                          |   33 +-
 docs/classModel.js                            |   16 +
 docs/classSignal-members.html                 |   32 +-
 docs/classSignal.html                         |   33 +-
 docs/classSignal.js                           |   32 +
 docs/classes.html                             |   30 +-
 .../dir_661483514bb8dea267426763b771558e.html |   37 +-
 docs/dir_661483514bb8dea267426763b771558e.js  |    9 +
 .../dir_d44c64559bbebec7f509842c48db8b23.html |   37 +-
 docs/dir_d44c64559bbebec7f509842c48db8b23.js  |    4 +
 docs/doxygen-awesome-css                      |    1 +
 docs/doxygen-awesome.css                      | 2681 +++++++++++++++++
 docs/doxygen.css                              |  788 ++---
 docs/dynsections.js                           |    6 +-
 docs/files.html                               |   30 +-
 docs/files_dup.js                             |    4 +
 docs/functions.html                           |   30 +-
 docs/functions_func.html                      |   30 +-
 docs/functions_rela.html                      |   30 +-
 docs/functions_type.html                      |   30 +-
 docs/functions_vars.html                      |   30 +-
 docs/globals.html                             |   30 +-
 docs/globals_defs.html                        |   30 +-
 docs/globals_enum.html                        |   30 +-
 docs/globals_eval.html                        |   30 +-
 docs/globals_func.html                        |   30 +-
 docs/globals_type.html                        |   30 +-
 docs/index.html                               |   30 +-
 docs/index.js                                 |    5 +
 docs/namespacemembers.html                    |   30 +-
 docs/namespacemembers_func.html               |   30 +-
 docs/namespaces.html                          |   30 +-
 docs/namespaces_dup.js                        |    6 +
 docs/namespacesignal__utils.html              |   33 +-
 docs/navtree.css                              |  149 +
 docs/navtree.js                               |  482 +++
 docs/navtreedata.js                           |   68 +
 docs/navtreeindex0.js                         |  253 ++
 docs/navtreeindex1.js                         |   77 +
 docs/resize.js                                |  109 +
 docs/search/search.css                        |   50 +-
 docs/structEulerIntegratorSpec-members.html   |   32 +-
 docs/structEulerIntegratorSpec.html           |   33 +-
 docs/structIntegrator-members.html            |   32 +-
 docs/structIntegrator.html                    |   33 +-
 docs/structManifoldSignalSpec-members.html    |   32 +-
 docs/structManifoldSignalSpec.html            |   33 +-
 docs/structManifoldSignalSpec.js              |    4 +
 ...structManifoldStateSignalSpec-members.html |   32 +-
 docs/structManifoldStateSignalSpec.html       |   33 +-
 docs/structManifoldStateSignalSpec.js         |    4 +
 docs/structRigidBodyDynamics3DOF-members.html |   32 +-
 docs/structRigidBodyDynamics3DOF.html         |   33 +-
 docs/structRigidBodyDynamics3DOF.js           |   11 +
 docs/structRigidBodyDynamics6DOF-members.html |   32 +-
 docs/structRigidBodyDynamics6DOF.html         |   33 +-
 docs/structRigidBodyDynamics6DOF.js           |   11 +
 docs/structRigidBodyParams1D-members.html     |   32 +-
 docs/structRigidBodyParams1D.html             |   33 +-
 docs/structRigidBodyParams1D.js               |    6 +
 docs/structRigidBodyParams2D-members.html     |   32 +-
 docs/structRigidBodyParams2D.html             |   33 +-
 docs/structRigidBodyParams2D.js               |    7 +
 docs/structRigidBodyParams3D-members.html     |   32 +-
 docs/structRigidBodyParams3D.html             |   33 +-
 docs/structRigidBodyParams3D.js               |    7 +
 .../structRotationalDynamics1DOF-members.html |   32 +-
 docs/structRotationalDynamics1DOF.html        |   33 +-
 docs/structRotationalDynamics1DOF.js          |   11 +
 .../structRotationalDynamics3DOF-members.html |   32 +-
 docs/structRotationalDynamics3DOF.html        |   33 +-
 docs/structRotationalDynamics3DOF.js          |   11 +
 docs/structScalarSignalSpec-members.html      |   32 +-
 docs/structScalarSignalSpec.html              |   33 +-
 docs/structScalarSignalSpec.js                |    4 +
 docs/structScalarStateSignalSpec-members.html |   32 +-
 docs/structScalarStateSignalSpec.html         |   33 +-
 docs/structScalarStateSignalSpec.js           |    4 +
 docs/structSignal_1_1SignalDP-members.html    |   36 +-
 docs/structSignal_1_1SignalDP.html            |   37 +-
 docs/structSignal_1_1SignalDP.js              |    6 +
 docs/structSimpsonIntegratorSpec-members.html |   32 +-
 docs/structSimpsonIntegratorSpec.html         |   33 +-
 docs/structState-members.html                 |   32 +-
 docs/structState.html                         |   36 +-
 docs/structState.js                           |   12 +
 ...ructTranslationalDynamicsBase-members.html |   32 +-
 docs/structTranslationalDynamicsBase.html     |   33 +-
 docs/structTranslationalDynamicsBase.js       |   11 +
 ...ructTrapezoidalIntegratorSpec-members.html |   32 +-
 docs/structTrapezoidalIntegratorSpec.html     |   33 +-
 docs/structVectorSignalSpec-members.html      |   32 +-
 docs/structVectorSignalSpec.html              |   33 +-
 docs/structVectorSignalSpec.js                |    4 +
 docs/structVectorStateSignalSpec-members.html |   32 +-
 docs/structVectorStateSignalSpec.html         |   33 +-
 docs/structVectorStateSignalSpec.js           |    4 +
 docs/tabs.css                                 |    2 +-
 120 files changed, 7789 insertions(+), 2127 deletions(-)
 create mode 100644 .gitmodules
 create mode 100644 docs/Integration_8h.js
 create mode 100644 docs/Models_8h.js
 create mode 100644 docs/Signal_8h.js
 create mode 100644 docs/State_8h.js
 create mode 100644 docs/Utils_8h.js
 create mode 100644 docs/annotated_dup.js
 create mode 100644 docs/classModel.js
 create mode 100644 docs/classSignal.js
 create mode 100644 docs/dir_661483514bb8dea267426763b771558e.js
 create mode 100644 docs/dir_d44c64559bbebec7f509842c48db8b23.js
 create mode 160000 docs/doxygen-awesome-css
 create mode 100644 docs/doxygen-awesome.css
 create mode 100644 docs/files_dup.js
 create mode 100644 docs/index.js
 create mode 100644 docs/namespaces_dup.js
 create mode 100644 docs/navtree.css
 create mode 100644 docs/navtree.js
 create mode 100644 docs/navtreedata.js
 create mode 100644 docs/navtreeindex0.js
 create mode 100644 docs/navtreeindex1.js
 create mode 100644 docs/resize.js
 create mode 100644 docs/structManifoldSignalSpec.js
 create mode 100644 docs/structManifoldStateSignalSpec.js
 create mode 100644 docs/structRigidBodyDynamics3DOF.js
 create mode 100644 docs/structRigidBodyDynamics6DOF.js
 create mode 100644 docs/structRigidBodyParams1D.js
 create mode 100644 docs/structRigidBodyParams2D.js
 create mode 100644 docs/structRigidBodyParams3D.js
 create mode 100644 docs/structRotationalDynamics1DOF.js
 create mode 100644 docs/structRotationalDynamics3DOF.js
 create mode 100644 docs/structScalarSignalSpec.js
 create mode 100644 docs/structScalarStateSignalSpec.js
 create mode 100644 docs/structSignal_1_1SignalDP.js
 create mode 100644 docs/structState.js
 create mode 100644 docs/structTranslationalDynamicsBase.js
 create mode 100644 docs/structVectorSignalSpec.js
 create mode 100644 docs/structVectorStateSignalSpec.js

diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..10beb96
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "docs/doxygen-awesome-css"]
+	path = docs/doxygen-awesome-css
+	url = https://github.com/jothepro/doxygen-awesome-css.git
diff --git a/Doxyfile b/Doxyfile
index f5d9334..b4c6ed2 100644
--- a/Doxyfile
+++ b/Doxyfile
@@ -9,6 +9,13 @@ GENERATE_HTML          = YES                # Enable HTML documentation
 GENERATE_LATEX         = NO                 # Disable LaTeX documentation
 HTML_OUTPUT            = .                  # Specify HTML output directory
 
+# Awesome style settings
+GENERATE_TREEVIEW      = YES # optional. Also works without treeview
+DISABLE_INDEX = NO
+FULL_SIDEBAR = NO
+HTML_EXTRA_STYLESHEET  = docs/doxygen-awesome-css/doxygen-awesome.css
+HTML_COLORSTYLE        = LIGHT # required with Doxygen >= 1.9.5
+
 # MathJax integration (for math rendering)
 USE_MATHJAX            = YES                # Enable MathJax support for math rendering
 
diff --git a/docs/Integration_8h.html b/docs/Integration_8h.html
index 82a13f6..c2628f8 100644
--- a/docs/Integration_8h.html
+++ b/docs/Integration_8h.html
@@ -10,6 +10,10 @@
 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="search/searchdata.js"></script>
@@ -22,6 +26,7 @@
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 <script type="text/javascript" async="async" src="https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
@@ -55,6 +60,23 @@
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function(){initNavTree('Integration_8h.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
      onmouseover="return searchBox.OnSearchSelectShow()"
@@ -76,11 +98,6 @@
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-<div id="nav-path" class="navpath">
-  <ul>
-<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_661483514bb8dea267426763b771558e.html">signals</a></li>  </ul>
-</div>
-</div><!-- top -->
 <div class="header">
   <div class="summary">
 <a href="#nested-classes">Classes</a> &#124;
@@ -184,9 +201,13 @@ <h2 class="memtitle"><span class="permalink"><a href="#a95780a5b17730ea091c504cc
 </div>
 </div>
 </div><!-- contents -->
+</div><!-- doc-content -->
 <!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
-</small></address>
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_661483514bb8dea267426763b771558e.html">signals</a></li><li class="navelem"><a class="el" href="Integration_8h.html">Integration.h</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/docs/Integration_8h.js b/docs/Integration_8h.js
new file mode 100644
index 0000000..d5a0355
--- /dev/null
+++ b/docs/Integration_8h.js
@@ -0,0 +1,11 @@
+var Integration_8h =
+[
+    [ "Integrator< IntegratorType >", "structIntegrator.html", null ],
+    [ "EulerIntegratorSpec", "structEulerIntegratorSpec.html", null ],
+    [ "TrapezoidalIntegratorSpec", "structTrapezoidalIntegratorSpec.html", null ],
+    [ "SimpsonIntegratorSpec", "structSimpsonIntegratorSpec.html", null ],
+    [ "MAKE_INTEGRATOR", "Integration_8h.html#ac22028f5bd0a2ecee786d53a348e4073", null ],
+    [ "EulerIntegrator", "Integration_8h.html#aa77358d3cb26c8b8992d44c2079a2a49", null ],
+    [ "SimpsonIntegrator", "Integration_8h.html#aa29ec69e4ec01e7fe15ed9bbc59fd93b", null ],
+    [ "TrapezoidalIntegrator", "Integration_8h.html#a95780a5b17730ea091c504cc3ab98b84", null ]
+];
\ No newline at end of file
diff --git a/docs/Integration_8h_source.html b/docs/Integration_8h_source.html
index 72ddd38..01e56b3 100644
--- a/docs/Integration_8h_source.html
+++ b/docs/Integration_8h_source.html
@@ -10,6 +10,10 @@
 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="search/searchdata.js"></script>
@@ -22,6 +26,7 @@
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 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
@@ -60,6 +65,23 @@
 $(function() { codefold.init(0); });
 /* @license-end */
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+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function(){initNavTree('Integration_8h_source.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
      onmouseover="return searchBox.OnSearchSelectShow()"
@@ -81,11 +103,6 @@
 </div>
 </div>
 
-<div id="nav-path" class="navpath">
-  <ul>
-<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_661483514bb8dea267426763b771558e.html">signals</a></li>  </ul>
-</div>
-</div><!-- top -->
 <div class="header">
   <div class="headertitle"><div class="title">Integration.h</div></div>
 </div><!--header-->
@@ -208,9 +225,9 @@
 <div class="line"><a id="l00176" name="l00176"></a><span class="lineno"><a class="line" href="Integration_8h.html#aa29ec69e4ec01e7fe15ed9bbc59fd93b">  176</a></span><a class="code hl_define" href="Integration_8h.html#ac22028f5bd0a2ecee786d53a348e4073">MAKE_INTEGRATOR</a>(Simpson)</div>
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 <div class="ttc" id="aSignal_8h_html"><div class="ttname"><a href="Signal_8h.html">Signal.h</a></div></div>
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+<div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:38</div></div>
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-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
-<div class="foldopen" id="foldopen00027" data-start="{" data-end="};">
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242">   27</a></span><span class="keyword">enum</span> <a class="code hl_enumeration" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242">DerivativeMethod</a></div>
-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>{</div>
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c">   29</a></span>    <a class="code hl_enumvalue" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c">DIRTY</a>,</div>
-<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    <a class="code hl_enumvalue" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e">FINITE_DIFF</a></div>
-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e">   31</a></span>};</div>
-</div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
-<div class="foldopen" id="foldopen00034" data-start="{" data-end="};">
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"><a class="line" href="classSignal.html">   34</a></span><span class="keyword">class </span><a class="code hl_class" href="classSignal.html">Signal</a></div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>{</div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="keyword">public</span>:</div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">   37</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>    = <span class="keyword">typename</span> BaseSignalSpec::Type;</div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">   38</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> = <span class="keyword">typename</span> TangentSignalSpec::Type;</div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
-<div class="foldopen" id="foldopen00040" data-start="{" data-end="};">
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="structSignal_1_1SignalDP.html">   40</a></span>    <span class="keyword">struct </span><a class="code hl_struct" href="structSignal_1_1SignalDP.html">SignalDP</a></div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    {</div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="structSignal_1_1SignalDP.html#ac9d0651b25c9bcf14fcfc65a32fcfa86">   42</a></span>        <span class="keywordtype">double</span>      <a class="code hl_variable" href="structSignal_1_1SignalDP.html#ac9d0651b25c9bcf14fcfc65a32fcfa86">t</a>;</div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="structSignal_1_1SignalDP.html#a9b7c7d507ee5f16f1909dccdae98e649">   43</a></span>        <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>    <a class="code hl_variable" href="structSignal_1_1SignalDP.html#a9b7c7d507ee5f16f1909dccdae98e649">x</a>;</div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="structSignal_1_1SignalDP.html#a31d004bf32039463b33344e4c10bd5bb">   44</a></span>        <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> <a class="code hl_variable" href="structSignal_1_1SignalDP.html#a31d004bf32039463b33344e4c10bd5bb">xdot</a>;</div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    };</div>
-</div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    <span class="keyword">struct</span></div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    {</div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="classSignal.html#a2d222b24cb25f6f228a0c69d71d95918">operator()</a>(<a class="code hl_struct" href="structSignal_1_1SignalDP.html">SignalDP</a> a, <a class="code hl_struct" href="structSignal_1_1SignalDP.html">SignalDP</a> b)<span class="keyword"> const</span></div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span><span class="keyword">        </span>{</div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>            <span class="keywordflow">return</span> a.<a class="code hl_variable" href="structSignal_1_1SignalDP.html#ac9d0651b25c9bcf14fcfc65a32fcfa86">t</a> &lt; b.<a class="code hl_variable" href="structSignal_1_1SignalDP.html#ac9d0651b25c9bcf14fcfc65a32fcfa86">t</a>;</div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>        }</div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">   53</a></span>    } <a class="code hl_variable" href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">SignalDPComparator</a>;</div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">   55</a></span>    <a class="code hl_enumeration" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284">InterpolationMethod</a> <a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a>;</div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">   56</a></span>    <a class="code hl_enumeration" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4">ExtrapolationMethod</a> <a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a>;</div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"><a class="line" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">   57</a></span>    <a class="code hl_enumeration" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242">DerivativeMethod</a>    <a class="code hl_variable" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a>;</div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
-<div class="foldopen" id="foldopen00059" data-start="{" data-end="}">
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">   59</a></span>    <a class="code hl_function" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal</a>()</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    {</div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>        <a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a> = <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb">InterpolationMethod::LINEAR</a>;</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>        <a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a> = <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f">ExtrapolationMethod::ZEROS</a>;</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>        <a class="code hl_variable" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a>    = <a class="code hl_enumvalue" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c">DerivativeMethod::DIRTY</a>;</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        <a class="code hl_function" href="classSignal.html#a914fd7f09ae0723c88fce310fd7c79fd">reset</a>();</div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    }</div>
-</div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
-<div class="foldopen" id="foldopen00067" data-start="{" data-end="}">
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="classSignal.html#a81a95abda92d3efc0bd4b4ccba77e303">   67</a></span>    <a class="code hl_function" href="classSignal.html#a81a95abda92d3efc0bd4b4ccba77e303">Signal</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal</a>&amp; other)</div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    {</div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        this-&gt;interpolationMethod = other.<a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a>;</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>        this-&gt;extrapolationMethod = other.<a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a>;</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>        this-&gt;derivativeMethod    = other.<a class="code hl_variable" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a>;</div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        this-&gt;t_                  = other.t_;</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        this-&gt;x_                  = other.x_;</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        this-&gt;xdot_               = other.xdot_;</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>        this-&gt;signalHistory_      = other.signalHistory_;</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>        this-&gt;needsSort_          = other.needsSort_;</div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    }</div>
-</div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
-<div class="foldopen" id="foldopen00079" data-start="{" data-end="}">
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="classSignal.html#a95241f68d33194232ba1eea1747a5231">   79</a></span>    <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a> <a class="code hl_function" href="classSignal.html#a95241f68d33194232ba1eea1747a5231">dotSignal</a>()</div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    {</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>        <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a> signalDot;</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>        <span class="keywordflow">for</span> (<span class="keyword">auto</span> signalDP : signalHistory_)</div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>        {</div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>            signalDot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(signalDP.t, signalDP.xdot, <span class="keyword">true</span>);</div>
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-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        signalDot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>(), <a class="code hl_function" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>());</div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>        <span class="keywordflow">return</span> signalDot;</div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    }</div>
-</div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span> </div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BSS, <span class="keyword">typename</span> TSS&gt;</div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="classSignal.html#aead0dbc78a90fbd6ad3f86ab61ed65f7">   91</a></span>    <span class="keyword">friend</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a> <a class="code hl_friend" href="classSignal.html#aead0dbc78a90fbd6ad3f86ab61ed65f7">operator+</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a>&amp; l, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TSS, TSS&gt;</a>&amp; r);</div>
+<div class="foldopen" id="foldopen00016" data-start="{" data-end="};">
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284">   16</a></span><span class="keyword">enum</span> <a class="code hl_enumeration" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284">InterpolationMethod</a></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>{</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284ad873f8ab97a3f6e892c8b834b23db574">   18</a></span>    <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284ad873f8ab97a3f6e892c8b834b23db574">ZERO_ORDER_HOLD</a>,</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb">   19</a></span>    <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb">LINEAR</a>,</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc">CUBIC_SPLINE</a></div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc">   21</a></span>};</div>
+</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="foldopen" id="foldopen00023" data-start="{" data-end="};">
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4">   23</a></span><span class="keyword">enum</span> <a class="code hl_enumeration" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4">ExtrapolationMethod</a></div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>{</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4af4517d0db561241ccfcf150e1629767f">   25</a></span>    <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4af4517d0db561241ccfcf150e1629767f">NANS</a>,</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f">   26</a></span>    <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f">ZEROS</a>,</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3">CLOSEST</a></div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"><a class="line" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3">   28</a></span>};</div>
+</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
+<div class="foldopen" id="foldopen00030" data-start="{" data-end="};">
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242">   30</a></span><span class="keyword">enum</span> <a class="code hl_enumeration" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242">DerivativeMethod</a></div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>{</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c">   32</a></span>    <a class="code hl_enumvalue" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c">DIRTY</a>,</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <a class="code hl_enumvalue" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e">FINITE_DIFF</a></div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"><a class="line" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e">   34</a></span>};</div>
+</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
+<div class="foldopen" id="foldopen00037" data-start="{" data-end="};">
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="classSignal.html">   37</a></span><span class="keyword">class </span><a class="code hl_class" href="classSignal.html">Signal</a></div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>{</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">   40</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>    = <span class="keyword">typename</span> BaseSignalSpec::Type;</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">   41</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> = <span class="keyword">typename</span> TangentSignalSpec::Type;</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
+<div class="foldopen" id="foldopen00043" data-start="{" data-end="};">
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="structSignal_1_1SignalDP.html">   43</a></span>    <span class="keyword">struct </span><a class="code hl_struct" href="structSignal_1_1SignalDP.html">SignalDP</a></div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    {</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="structSignal_1_1SignalDP.html#ac9d0651b25c9bcf14fcfc65a32fcfa86">   45</a></span>        <span class="keywordtype">double</span>      <a class="code hl_variable" href="structSignal_1_1SignalDP.html#ac9d0651b25c9bcf14fcfc65a32fcfa86">t</a>;</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="structSignal_1_1SignalDP.html#a9b7c7d507ee5f16f1909dccdae98e649">   46</a></span>        <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>    <a class="code hl_variable" href="structSignal_1_1SignalDP.html#a9b7c7d507ee5f16f1909dccdae98e649">x</a>;</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="structSignal_1_1SignalDP.html#a31d004bf32039463b33344e4c10bd5bb">   47</a></span>        <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> <a class="code hl_variable" href="structSignal_1_1SignalDP.html#a31d004bf32039463b33344e4c10bd5bb">xdot</a>;</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    };</div>
+</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    <span class="keyword">struct</span></div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    {</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="classSignal.html#a2d222b24cb25f6f228a0c69d71d95918">operator()</a>(<a class="code hl_struct" href="structSignal_1_1SignalDP.html">SignalDP</a> a, <a class="code hl_struct" href="structSignal_1_1SignalDP.html">SignalDP</a> b)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span><span class="keyword">        </span>{</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>            <span class="keywordflow">return</span> a.<a class="code hl_variable" href="structSignal_1_1SignalDP.html#ac9d0651b25c9bcf14fcfc65a32fcfa86">t</a> &lt; b.<a class="code hl_variable" href="structSignal_1_1SignalDP.html#ac9d0651b25c9bcf14fcfc65a32fcfa86">t</a>;</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>        }</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">   56</a></span>    } <a class="code hl_variable" href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">SignalDPComparator</a>;</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">   58</a></span>    <a class="code hl_enumeration" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284">InterpolationMethod</a> <a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a>;</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">   59</a></span>    <a class="code hl_enumeration" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4">ExtrapolationMethod</a> <a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a>;</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">   60</a></span>    <a class="code hl_enumeration" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242">DerivativeMethod</a>    <a class="code hl_variable" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a>;</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
+<div class="foldopen" id="foldopen00062" data-start="{" data-end="}">
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"><a class="line" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">   62</a></span>    <a class="code hl_function" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal</a>()</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    {</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        <a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a> = <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb">InterpolationMethod::LINEAR</a>;</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>        <a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a> = <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f">ExtrapolationMethod::ZEROS</a>;</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>        <a class="code hl_variable" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a>    = <a class="code hl_enumvalue" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c">DerivativeMethod::DIRTY</a>;</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>        <a class="code hl_function" href="classSignal.html#a914fd7f09ae0723c88fce310fd7c79fd">reset</a>();</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    }</div>
+</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
+<div class="foldopen" id="foldopen00070" data-start="{" data-end="}">
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="classSignal.html#a81a95abda92d3efc0bd4b4ccba77e303">   70</a></span>    <a class="code hl_function" href="classSignal.html#a81a95abda92d3efc0bd4b4ccba77e303">Signal</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal</a>&amp; other)</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    {</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        this-&gt;interpolationMethod = other.<a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a>;</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        this-&gt;extrapolationMethod = other.<a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a>;</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        this-&gt;derivativeMethod    = other.<a class="code hl_variable" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a>;</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>        this-&gt;t_                  = other.t_;</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>        this-&gt;x_                  = other.x_;</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>        this-&gt;xdot_               = other.xdot_;</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>        this-&gt;signalHistory_      = other.signalHistory_;</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>        this-&gt;needsSort_          = other.needsSort_;</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    }</div>
+</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
+<div class="foldopen" id="foldopen00082" data-start="{" data-end="}">
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="classSignal.html#a95241f68d33194232ba1eea1747a5231">   82</a></span>    <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a> <a class="code hl_function" href="classSignal.html#a95241f68d33194232ba1eea1747a5231">dotSignal</a>()</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    {</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>        <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a> signalDot;</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>        <span class="keywordflow">for</span> (<span class="keyword">auto</span> signalDP : signalHistory_)</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        {</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>            signalDot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(signalDP.t, signalDP.xdot, <span class="keyword">true</span>);</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>        }</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>        signalDot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>(), <a class="code hl_function" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>());</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>        <span class="keywordflow">return</span> signalDot;</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    }</div>
+</div>
 <div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
 <div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BSS, <span class="keyword">typename</span> TSS&gt;</div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classSignal.html#a22d02130c5fec79a084ef4d1a28521dc">   94</a></span>    <span class="keyword">friend</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TSS, TSS&gt;</a> <a class="code hl_friend" href="classSignal.html#a22d02130c5fec79a084ef4d1a28521dc">operator-</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a>&amp; l, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a>&amp; r);</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classSignal.html#aead0dbc78a90fbd6ad3f86ab61ed65f7">   94</a></span>    <span class="keyword">friend</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a> <a class="code hl_friend" href="classSignal.html#aead0dbc78a90fbd6ad3f86ab61ed65f7">operator+</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a>&amp; l, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TSS, TSS&gt;</a>&amp; r);</div>
 <div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
 <div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BSS, <span class="keyword">typename</span> TSS&gt;</div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classSignal.html#ad61a2749da48601dcf27bedaa0cf54fd">   97</a></span>    <span class="keyword">friend</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a> <a class="code hl_friend" href="classSignal.html#ad61a2749da48601dcf27bedaa0cf54fd">operator*</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; l, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a>&amp; r);</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classSignal.html#a22d02130c5fec79a084ef4d1a28521dc">   97</a></span>    <span class="keyword">friend</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TSS, TSS&gt;</a> <a class="code hl_friend" href="classSignal.html#a22d02130c5fec79a084ef4d1a28521dc">operator-</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a>&amp; l, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a>&amp; r);</div>
 <div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
 <div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BSS, <span class="keyword">typename</span> TSS&gt;</div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="classSignal.html#ae5d88905516fd17257964442b0830584">  100</a></span>    <span class="keyword">friend</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a> <a class="code hl_friend" href="classSignal.html#ae5d88905516fd17257964442b0830584">operator*</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r);</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="classSignal.html#ad61a2749da48601dcf27bedaa0cf54fd">  100</a></span>    <span class="keyword">friend</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a> <a class="code hl_friend" href="classSignal.html#ad61a2749da48601dcf27bedaa0cf54fd">operator*</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; l, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a>&amp; r);</div>
 <div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
-<div class="foldopen" id="foldopen00102" data-start="{" data-end="}">
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">  102</a></span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span><span class="keyword">    </span>{</div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>        <span class="keywordflow">return</span> t_;</div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    }</div>
-</div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span> </div>
-<div class="foldopen" id="foldopen00107" data-start="{" data-end="}">
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"><a class="line" href="classSignal.html#a2d222b24cb25f6f228a0c69d71d95918">  107</a></span>    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> <a class="code hl_function" href="classSignal.html#a2d222b24cb25f6f228a0c69d71d95918">operator()</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span><span class="keyword">    </span>{</div>
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-<div class="foldopen" id="foldopen00112" data-start="{" data-end="}">
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"><a class="line" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">  112</a></span>    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> <a class="code hl_function" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span><span class="keyword">    </span>{</div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>        <span class="keywordflow">return</span> xdot_;</div>
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-</div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span> </div>
-<div class="foldopen" id="foldopen00117" data-start="{" data-end="}">
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="classSignal.html#ad32d0b6b6bbc54ab8bd0fa63ed3039b9">  117</a></span>    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> <a class="code hl_function" href="classSignal.html#ad32d0b6b6bbc54ab8bd0fa63ed3039b9">operator()</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)<span class="keyword"> const</span></div>
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span><span class="keyword">    </span>{</div>
-<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>        <span class="keywordflow">return</span> xAt(<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>);</div>
-<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    }</div>
-</div>
-<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span> </div>
-<div class="foldopen" id="foldopen00122" data-start="{" data-end="}">
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="classSignal.html#a8989cbb307917a9c1f6331be2a5ae4e9">  122</a></span>    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> <a class="code hl_function" href="classSignal.html#a8989cbb307917a9c1f6331be2a5ae4e9">dot</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)<span class="keyword"> const</span></div>
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span><span class="keyword">    </span>{</div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>        <span class="keywordflow">return</span> xDotAt(<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>);</div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    }</div>
-</div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span> </div>
-<div class="foldopen" id="foldopen00127" data-start="{" data-end="}">
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"><a class="line" href="classSignal.html#abf8612dae8c835fa349c6f26201016eb">  127</a></span>    std::vector&lt;BaseType&gt; <a class="code hl_function" href="classSignal.html#abf8612dae8c835fa349c6f26201016eb">operator()</a>(<span class="keyword">const</span> std::vector&lt;double&gt;&amp; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)<span class="keyword"> const</span></div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span><span class="keyword">    </span>{</div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>        std::vector&lt;BaseType&gt; xInterp;</div>
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>.size(); i++)</div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>        {</div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>            xInterp.push_back(xAt(<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>[i]));</div>
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>        }</div>
-<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>        <span class="keywordflow">return</span> xInterp;</div>
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    }</div>
-</div>
-<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span> </div>
-<div class="foldopen" id="foldopen00137" data-start="{" data-end="}">
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"><a class="line" href="classSignal.html#aad31a21f4a7d572da1e06e407ccacecd">  137</a></span>    std::vector&lt;TangentType&gt; <a class="code hl_function" href="classSignal.html#aad31a21f4a7d572da1e06e407ccacecd">dot</a>(<span class="keyword">const</span> std::vector&lt;double&gt;&amp; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)<span class="keyword"> const</span></div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span><span class="keyword">    </span>{</div>
-<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>        std::vector&lt;TangentType&gt; xDotInterp;</div>
-<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>.size(); i++)</div>
-<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>        {</div>
-<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>            xDotInterp.push_back(xDotAt(<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>[i]));</div>
-<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>        }</div>
-<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>        <span class="keywordflow">return</span> xDotInterp;</div>
-<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>    }</div>
-</div>
-<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span> </div>
-<div class="foldopen" id="foldopen00147" data-start="{" data-end="}">
-<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"><a class="line" href="classSignal.html#af336f3d6a2d643040dff9fb5b4c20558">  147</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classSignal.html#af336f3d6a2d643040dff9fb5b4c20558">setInterpolationMethod</a>(<a class="code hl_enumeration" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284">InterpolationMethod</a> method)</div>
-<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    {</div>
-<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>        <a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a> = method;</div>
-<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    }</div>
-</div>
-<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span> </div>
-<div class="foldopen" id="foldopen00152" data-start="{" data-end="}">
-<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="classSignal.html#ac3be206ae717ad5e977d8a108de9b9e4">  152</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classSignal.html#ac3be206ae717ad5e977d8a108de9b9e4">setExtrapolationMethod</a>(<a class="code hl_enumeration" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4">ExtrapolationMethod</a> method)</div>
-<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    {</div>
-<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>        <a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a> = method;</div>
-<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    }</div>
-</div>
-<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span> </div>
-<div class="foldopen" id="foldopen00157" data-start="{" data-end="}">
-<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"><a class="line" href="classSignal.html#a8c25f302d3c4feaa1a4c1f6d59381d89">  157</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classSignal.html#a8c25f302d3c4feaa1a4c1f6d59381d89">setDerivativeMethod</a>(<a class="code hl_enumeration" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242">DerivativeMethod</a> method)</div>
-<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    {</div>
-<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>        <a class="code hl_variable" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a> = method;</div>
-<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    }</div>
-</div>
-<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span> </div>
-<div class="foldopen" id="foldopen00162" data-start="{" data-end="}">
-<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"><a class="line" href="classSignal.html#a914fd7f09ae0723c88fce310fd7c79fd">  162</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classSignal.html#a914fd7f09ae0723c88fce310fd7c79fd">reset</a>()</div>
-<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    {</div>
-<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>        t_    = -1.0;</div>
-<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>        x_    = BaseSignalSpec::ZeroType();</div>
-<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>        xdot_ = TangentSignalSpec::ZeroType();</div>
-<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>        signalHistory_.clear();</div>
-<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>        needsSort_ = <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>    }</div>
-</div>
-<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span> </div>
-<div class="foldopen" id="foldopen00171" data-start="{" data-end="}">
-<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"><a class="line" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">  171</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; _t, <span class="keyword">const</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>&amp; _x, <span class="keywordtype">bool</span> insertHistory = <span class="keyword">false</span>)</div>
-<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>    {</div>
-<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>        <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> _xdot;</div>
-<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>        <span class="keywordflow">if</span> (!calculateDerivative(_t, _x, _xdot))</div>
-<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>        {</div>
-<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>        }</div>
-<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(_t, _x, _xdot, insertHistory);</div>
-<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>    }</div>
-</div>
-<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span> </div>
-<div class="foldopen" id="foldopen00181" data-start="{" data-end="}">
-<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"><a class="line" href="classSignal.html#a6c7174c9bb20970ebb3de64687f771d8">  181</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classSignal.html#a6c7174c9bb20970ebb3de64687f771d8">update</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; _t, <span class="keyword">const</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>&amp; _x, <span class="keyword">const</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a>&amp; _xdot, <span class="keywordtype">bool</span> insertHistory = <span class="keyword">false</span>)</div>
-<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>    {</div>
-<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>        t_    = _t;</div>
-<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>        x_    = _x;</div>
-<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>        xdot_ = _xdot;</div>
-<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>        <span class="keywordflow">if</span> (insertHistory)</div>
-<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>        {</div>
-<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>            <span class="keywordflow">if</span> (insertIntoHistory(_t, _x, _xdot))</div>
-<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>            {</div>
-<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>                <span class="keywordflow">if</span> (needsSort_)</div>
-<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>                {</div>
-<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>                    std::sort(signalHistory_.begin(), signalHistory_.end(), <a class="code hl_variable" href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">SignalDPComparator</a>);</div>
-<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>                    needsSort_ = <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>                }</div>
-<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>                <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>            }</div>
-<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>            <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>            {</div>
-<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>            }</div>
-<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>        }</div>
-<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>    }</div>
-</div>
-<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span> </div>
-<div class="foldopen" id="foldopen00205" data-start="{" data-end="}">
-<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"><a class="line" href="classSignal.html#a5530308ef517fd0021f510d47c390dc0">  205</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classSignal.html#a5530308ef517fd0021f510d47c390dc0">update</a>(<span class="keyword">const</span> std::vector&lt;double&gt;&amp; _tHistory, <span class="keyword">const</span> std::vector&lt;BaseType&gt;&amp; _xHistory)</div>
-<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>    {</div>
-<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span>        <span class="keywordtype">size_t</span> nTH = _tHistory.size();</div>
-<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>        <span class="keywordtype">size_t</span> nXH = _xHistory.size();</div>
-<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>        <span class="keywordflow">if</span> (nTH != nXH)</div>
-<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>        {</div>
-<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>        }</div>
-<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; nXH; i++)</div>
-<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>        {</div>
-<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>            <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> _xdot;</div>
-<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>            <span class="keywordflow">if</span> (!calculateDerivative(_tHistory[i], _xHistory[i], _xdot))</div>
-<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>            {</div>
-<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>            }</div>
-<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>            <span class="keywordflow">if</span> (!insertIntoHistory(_tHistory[i], _xHistory[i], _xdot))</div>
-<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>            {</div>
-<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>            }</div>
-<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>        }</div>
-<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>        <span class="keywordflow">if</span> (needsSort_)</div>
-<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>        {</div>
-<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>            std::sort(signalHistory_.begin(), signalHistory_.end(), <a class="code hl_variable" href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">SignalDPComparator</a>);</div>
-<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>            needsSort_ = <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>        }</div>
-<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>    }</div>
-</div>
-<div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span> </div>
-<div class="foldopen" id="foldopen00233" data-start="{" data-end="}">
-<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"><a class="line" href="classSignal.html#a74929b7332876f5aeddc9a05d26d3d32">  233</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classSignal.html#a74929b7332876f5aeddc9a05d26d3d32">update</a>(<span class="keyword">const</span> std::vector&lt;double&gt;&amp;      _tHistory,</div>
-<div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span>                <span class="keyword">const</span> std::vector&lt;BaseType&gt;&amp;    _xHistory,</div>
-<div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span>                <span class="keyword">const</span> std::vector&lt;TangentType&gt;&amp; _xdotHistory)</div>
-<div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span>    {</div>
-<div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span>        <span class="keywordtype">size_t</span> nTH  = _tHistory.size();</div>
-<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span>        <span class="keywordtype">size_t</span> nXH  = _xHistory.size();</div>
-<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>        <span class="keywordtype">size_t</span> nXDH = _xdotHistory.size();</div>
-<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>        <span class="keywordflow">if</span> (nXH != nXDH || nXDH != nTH)</div>
-<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>        {</div>
-<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>        }</div>
-<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; nXH; i++)</div>
-<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>        {</div>
-<div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>            <span class="keywordflow">if</span> (!insertIntoHistory(_tHistory[i], _xHistory[i], _xdotHistory[i]))</div>
-<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>            {</div>
-<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>            }</div>
-<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>        }</div>
-<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span>        <span class="keywordflow">if</span> (needsSort_)</div>
-<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>        {</div>
-<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>            std::sort(signalHistory_.begin(), signalHistory_.end(), <a class="code hl_variable" href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">SignalDPComparator</a>);</div>
-<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>            needsSort_ = <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span>        }</div>
-<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>    }</div>
-</div>
-<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span> </div>
-<div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span><span class="keyword">private</span>:</div>
-<div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span>    <span class="keywordtype">double</span>                t_;</div>
-<div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>              x_;</div>
-<div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a>           xdot_;</div>
-<div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span>    std::vector&lt;SignalDP&gt; signalHistory_;</div>
-<div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>    <span class="keywordtype">bool</span>                  needsSort_;</div>
-<div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span> </div>
-<div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>    <span class="keywordtype">bool</span> insertIntoHistory(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; _t, <span class="keyword">const</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>&amp; _x, <span class="keyword">const</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a>&amp; _xdot)</div>
-<div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span>    {</div>
-<div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span>        <span class="keywordflow">if</span> (_t &gt; t_)</div>
-<div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>        {</div>
-<div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span>            t_    = _t;</div>
-<div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span>            x_    = _x;</div>
-<div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>            xdot_ = _xdot;</div>
-<div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>        }</div>
-<div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>        <span class="keywordflow">if</span> (signalHistory_.size() &gt; 0)</div>
-<div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>        {</div>
-<div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>            <span class="keywordtype">double</span> mostRecentTime = signalHistory_[signalHistory_.size() - 1].t;</div>
-<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>            <span class="keywordflow">if</span> (_t == mostRecentTime)</div>
-<div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span>            {</div>
-<div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>            }</div>
-<div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (_t &lt; mostRecentTime)</div>
-<div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>            {</div>
-<div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>                needsSort_ = <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span>            }</div>
-<div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span>        }</div>
-<div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>        signalHistory_.push_back({_t, _x, _xdot});</div>
-<div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>    }</div>
-<div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span> </div>
-<div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span>    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> xAt(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)<span class="keyword"> const</span></div>
-<div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span><span class="keyword">    </span>{</div>
-<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>        <span class="keywordflow">if</span> (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> == t_)</div>
-<div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>        {</div>
-<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>            <span class="keywordflow">return</span> x_;</div>
-<div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span>        }</div>
-<div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (signalHistory_.size() &gt; 0)</div>
-<div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>        {</div>
-<div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>            <span class="keywordtype">int</span> idx = getInterpIndex(<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>);</div>
-<div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>            <span class="keywordflow">if</span> (idx &lt; 0 || idx &gt;= <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(signalHistory_.size()))</div>
-<div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>            {</div>
-<div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span>                <span class="keywordflow">switch</span> (<a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a>)</div>
-<div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>                {</div>
-<div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4af4517d0db561241ccfcf150e1629767f">ExtrapolationMethod::NANS</a>:</div>
-<div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span>                    <span class="keywordflow">return</span> BaseSignalSpec::NansType();</div>
-<div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span>                    <span class="keywordflow">break</span>;</div>
-<div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3">ExtrapolationMethod::CLOSEST</a>:</div>
-<div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span>                    <span class="keywordflow">if</span> (idx &lt; 0)</div>
-<div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span>                    {</div>
-<div class="line"><a id="l00309" name="l00309"></a><span class="lineno">  309</span>                        <span class="keywordflow">return</span> signalHistory_[0].x;</div>
-<div class="line"><a id="l00310" name="l00310"></a><span class="lineno">  310</span>                    }</div>
-<div class="line"><a id="l00311" name="l00311"></a><span class="lineno">  311</span>                    <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span>                    {</div>
-<div class="line"><a id="l00313" name="l00313"></a><span class="lineno">  313</span>                        <span class="keywordflow">return</span> signalHistory_[signalHistory_.size() - 1].x;</div>
-<div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span>                    }</div>
-<div class="line"><a id="l00315" name="l00315"></a><span class="lineno">  315</span>                    <span class="keywordflow">break</span>;</div>
-<div class="line"><a id="l00316" name="l00316"></a><span class="lineno">  316</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f">ExtrapolationMethod::ZEROS</a>:</div>
-<div class="line"><a id="l00317" name="l00317"></a><span class="lineno">  317</span>                <span class="keywordflow">default</span>:</div>
-<div class="line"><a id="l00318" name="l00318"></a><span class="lineno">  318</span>                    <span class="keywordflow">return</span> BaseSignalSpec::ZeroType();</div>
-<div class="line"><a id="l00319" name="l00319"></a><span class="lineno">  319</span>                    <span class="keywordflow">break</span>;</div>
-<div class="line"><a id="l00320" name="l00320"></a><span class="lineno">  320</span>                }</div>
-<div class="line"><a id="l00321" name="l00321"></a><span class="lineno">  321</span>            }</div>
-<div class="line"><a id="l00322" name="l00322"></a><span class="lineno">  322</span>            <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span>            {</div>
-<div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span>                <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>    y = xAtIdx(idx);</div>
-<div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span>                <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> dy;</div>
-<div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span>                <span class="keywordflow">switch</span> (<a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a>)</div>
-<div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>                {</div>
-<div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284ad873f8ab97a3f6e892c8b834b23db574">InterpolationMethod::ZERO_ORDER_HOLD</a>: {</div>
-<div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>                    dy = TangentSignalSpec::ZeroType();</div>
-<div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span>                    <span class="keywordflow">break</span>;</div>
-<div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>                }</div>
-<div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb">InterpolationMethod::LINEAR</a>: {</div>
-<div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span>                    <span class="keywordtype">double</span>   t1 = tAtIdx(idx);</div>
-<div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span>                    <span class="keywordtype">double</span>   t2 = tAtIdx(idx + 1);</div>
-<div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>                    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> y1 = xAtIdx(idx);</div>
-<div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>                    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> y2 = xAtIdx(idx + 1);</div>
-<div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span>                    dy          = (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> - t1) / (t2 - t1) * (y2 - y1);</div>
-<div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span>                    <span class="keywordflow">break</span>;</div>
-<div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span>                }</div>
-<div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc">InterpolationMethod::CUBIC_SPLINE</a>: {</div>
-<div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span>                    <span class="keywordtype">double</span>   t0 = tAtIdx(idx - 1);</div>
-<div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span>                    <span class="keywordtype">double</span>   t1 = tAtIdx(idx);</div>
-<div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>                    <span class="keywordtype">double</span>   t2 = tAtIdx(idx + 1);</div>
-<div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>                    <span class="keywordtype">double</span>   t3 = tAtIdx(idx + 2);</div>
-<div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span>                    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> y0 = xAtIdx(idx - 1);</div>
-<div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>                    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> y1 = xAtIdx(idx);</div>
-<div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span>                    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> y2 = xAtIdx(idx + 1);</div>
-<div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span>                    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> y3 = xAtIdx(idx + 2);</div>
-<div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span>                    dy =</div>
-<div class="line"><a id="l00350" name="l00350"></a><span class="lineno">  350</span>                        (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> - t1) / (t2 - t1) *</div>
-<div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>                        ((y2 - y1) + (t2 - <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>) / (2. * (t2 - t1) * (t2 - t1)) *</div>
-<div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span>                                         (((t2 - <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>) * (t2 * (y1 - y0) + t0 * (y2 - y1) - t1 * (y2 - y0))) / (t1 - t0) +</div>
-<div class="line"><a id="l00353" name="l00353"></a><span class="lineno">  353</span>                                          ((<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> - t1) * (t3 * (y2 - y1) + t2 * (y3 - y1) - t1 * (y3 - y2))) / (t3 - t2)));</div>
-<div class="line"><a id="l00354" name="l00354"></a><span class="lineno">  354</span>                    <span class="keywordflow">break</span>;</div>
-<div class="line"><a id="l00355" name="l00355"></a><span class="lineno">  355</span>                }</div>
-<div class="line"><a id="l00356" name="l00356"></a><span class="lineno">  356</span>                }</div>
-<div class="line"><a id="l00357" name="l00357"></a><span class="lineno">  357</span>                <span class="keywordflow">return</span> y + dy;</div>
-<div class="line"><a id="l00358" name="l00358"></a><span class="lineno">  358</span>            }</div>
-<div class="line"><a id="l00359" name="l00359"></a><span class="lineno">  359</span>        }</div>
-<div class="line"><a id="l00360" name="l00360"></a><span class="lineno">  360</span>        <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00361" name="l00361"></a><span class="lineno">  361</span>        {</div>
-<div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span>            <span class="keywordflow">return</span> BaseSignalSpec::ZeroType();</div>
-<div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span>        }</div>
-<div class="line"><a id="l00364" name="l00364"></a><span class="lineno">  364</span>    }</div>
-<div class="line"><a id="l00365" name="l00365"></a><span class="lineno">  365</span> </div>
-<div class="line"><a id="l00366" name="l00366"></a><span class="lineno">  366</span>    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> xDotAt(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)<span class="keyword"> const</span></div>
-<div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span><span class="keyword">    </span>{</div>
-<div class="line"><a id="l00368" name="l00368"></a><span class="lineno">  368</span>        <span class="keywordflow">if</span> (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> == t_)</div>
-<div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span>        {</div>
-<div class="line"><a id="l00370" name="l00370"></a><span class="lineno">  370</span>            <span class="keywordflow">return</span> xdot_;</div>
-<div class="line"><a id="l00371" name="l00371"></a><span class="lineno">  371</span>        }</div>
-<div class="line"><a id="l00372" name="l00372"></a><span class="lineno">  372</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (signalHistory_.size() &gt; 0)</div>
-<div class="line"><a id="l00373" name="l00373"></a><span class="lineno">  373</span>        {</div>
-<div class="line"><a id="l00374" name="l00374"></a><span class="lineno">  374</span>            <span class="keywordtype">int</span> idx = getInterpIndex(<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>);</div>
-<div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span>            <span class="keywordflow">if</span> (idx &lt; 0 || idx &gt;= <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(signalHistory_.size()))</div>
-<div class="line"><a id="l00376" name="l00376"></a><span class="lineno">  376</span>            {</div>
-<div class="line"><a id="l00377" name="l00377"></a><span class="lineno">  377</span>                <span class="keywordflow">switch</span> (<a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a>)</div>
-<div class="line"><a id="l00378" name="l00378"></a><span class="lineno">  378</span>                {</div>
-<div class="line"><a id="l00379" name="l00379"></a><span class="lineno">  379</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4af4517d0db561241ccfcf150e1629767f">ExtrapolationMethod::NANS</a>:</div>
-<div class="line"><a id="l00380" name="l00380"></a><span class="lineno">  380</span>                    <span class="keywordflow">return</span> TangentSignalSpec::NansType();</div>
-<div class="line"><a id="l00381" name="l00381"></a><span class="lineno">  381</span>                    <span class="keywordflow">break</span>;</div>
-<div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3">ExtrapolationMethod::CLOSEST</a>:</div>
-<div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span>                    <span class="keywordflow">if</span> (idx &lt; 0)</div>
-<div class="line"><a id="l00384" name="l00384"></a><span class="lineno">  384</span>                    {</div>
-<div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span>                        <span class="keywordflow">return</span> signalHistory_[0].xdot;</div>
-<div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span>                    }</div>
-<div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span>                    <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span>                    {</div>
-<div class="line"><a id="l00389" name="l00389"></a><span class="lineno">  389</span>                        <span class="keywordflow">return</span> signalHistory_[signalHistory_.size() - 1].xdot;</div>
-<div class="line"><a id="l00390" name="l00390"></a><span class="lineno">  390</span>                    }</div>
-<div class="line"><a id="l00391" name="l00391"></a><span class="lineno">  391</span>                    <span class="keywordflow">break</span>;</div>
-<div class="line"><a id="l00392" name="l00392"></a><span class="lineno">  392</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f">ExtrapolationMethod::ZEROS</a>:</div>
-<div class="line"><a id="l00393" name="l00393"></a><span class="lineno">  393</span>                <span class="keywordflow">default</span>:</div>
-<div class="line"><a id="l00394" name="l00394"></a><span class="lineno">  394</span>                    <span class="keywordflow">return</span> TangentSignalSpec::ZeroType();</div>
-<div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span>                    <span class="keywordflow">break</span>;</div>
-<div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span>                }</div>
-<div class="line"><a id="l00397" name="l00397"></a><span class="lineno">  397</span>            }</div>
-<div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span>            <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00399" name="l00399"></a><span class="lineno">  399</span>            {</div>
-<div class="line"><a id="l00400" name="l00400"></a><span class="lineno">  400</span>                <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> y = xDotAtIdx(idx);</div>
-<div class="line"><a id="l00401" name="l00401"></a><span class="lineno">  401</span>                <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> dy;</div>
-<div class="line"><a id="l00402" name="l00402"></a><span class="lineno">  402</span>                <span class="keywordflow">switch</span> (<a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a>)</div>
-<div class="line"><a id="l00403" name="l00403"></a><span class="lineno">  403</span>                {</div>
-<div class="line"><a id="l00404" name="l00404"></a><span class="lineno">  404</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284ad873f8ab97a3f6e892c8b834b23db574">InterpolationMethod::ZERO_ORDER_HOLD</a>: {</div>
-<div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span>                    dy = TangentSignalSpec::ZeroType();</div>
-<div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span>                    <span class="keywordflow">break</span>;</div>
-<div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span>                }</div>
-<div class="line"><a id="l00408" name="l00408"></a><span class="lineno">  408</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb">InterpolationMethod::LINEAR</a>: {</div>
-<div class="line"><a id="l00409" name="l00409"></a><span class="lineno">  409</span>                    <span class="keywordtype">double</span>      t1 = tAtIdx(idx);</div>
-<div class="line"><a id="l00410" name="l00410"></a><span class="lineno">  410</span>                    <span class="keywordtype">double</span>      t2 = tAtIdx(idx + 1);</div>
-<div class="line"><a id="l00411" name="l00411"></a><span class="lineno">  411</span>                    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> y1 = xDotAtIdx(idx);</div>
-<div class="line"><a id="l00412" name="l00412"></a><span class="lineno">  412</span>                    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> y2 = xDotAtIdx(idx + 1);</div>
-<div class="line"><a id="l00413" name="l00413"></a><span class="lineno">  413</span>                    dy             = (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> - t1) / (t2 - t1) * (y2 - y1);</div>
-<div class="line"><a id="l00414" name="l00414"></a><span class="lineno">  414</span>                    <span class="keywordflow">break</span>;</div>
-<div class="line"><a id="l00415" name="l00415"></a><span class="lineno">  415</span>                }</div>
-<div class="line"><a id="l00416" name="l00416"></a><span class="lineno">  416</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc">InterpolationMethod::CUBIC_SPLINE</a>: {</div>
-<div class="line"><a id="l00417" name="l00417"></a><span class="lineno">  417</span>                    <span class="keywordtype">double</span>      t0 = tAtIdx(idx - 1);</div>
-<div class="line"><a id="l00418" name="l00418"></a><span class="lineno">  418</span>                    <span class="keywordtype">double</span>      t1 = tAtIdx(idx);</div>
-<div class="line"><a id="l00419" name="l00419"></a><span class="lineno">  419</span>                    <span class="keywordtype">double</span>      t2 = tAtIdx(idx + 1);</div>
-<div class="line"><a id="l00420" name="l00420"></a><span class="lineno">  420</span>                    <span class="keywordtype">double</span>      t3 = tAtIdx(idx + 2);</div>
-<div class="line"><a id="l00421" name="l00421"></a><span class="lineno">  421</span>                    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> y0 = xDotAtIdx(idx - 1);</div>
-<div class="line"><a id="l00422" name="l00422"></a><span class="lineno">  422</span>                    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> y1 = xDotAtIdx(idx);</div>
-<div class="line"><a id="l00423" name="l00423"></a><span class="lineno">  423</span>                    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> y2 = xDotAtIdx(idx + 1);</div>
-<div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span>                    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> y3 = xDotAtIdx(idx + 2);</div>
-<div class="line"><a id="l00425" name="l00425"></a><span class="lineno">  425</span>                    dy =</div>
-<div class="line"><a id="l00426" name="l00426"></a><span class="lineno">  426</span>                        (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> - t1) / (t2 - t1) *</div>
-<div class="line"><a id="l00427" name="l00427"></a><span class="lineno">  427</span>                        ((y2 - y1) + (t2 - <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>) / (2. * (t2 - t1) * (t2 - t1)) *</div>
-<div class="line"><a id="l00428" name="l00428"></a><span class="lineno">  428</span>                                         (((t2 - <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>) * (t2 * (y1 - y0) + t0 * (y2 - y1) - t1 * (y2 - y0))) / (t1 - t0) +</div>
-<div class="line"><a id="l00429" name="l00429"></a><span class="lineno">  429</span>                                          ((<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> - t1) * (t3 * (y2 - y1) + t2 * (y3 - y1) - t1 * (y3 - y2))) / (t3 - t2)));</div>
-<div class="line"><a id="l00430" name="l00430"></a><span class="lineno">  430</span>                    <span class="keywordflow">break</span>;</div>
-<div class="line"><a id="l00431" name="l00431"></a><span class="lineno">  431</span>                }</div>
-<div class="line"><a id="l00432" name="l00432"></a><span class="lineno">  432</span>                }</div>
-<div class="line"><a id="l00433" name="l00433"></a><span class="lineno">  433</span>                <span class="keywordflow">return</span> y + dy;</div>
-<div class="line"><a id="l00434" name="l00434"></a><span class="lineno">  434</span>            }</div>
-<div class="line"><a id="l00435" name="l00435"></a><span class="lineno">  435</span>        }</div>
-<div class="line"><a id="l00436" name="l00436"></a><span class="lineno">  436</span>        <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span>        {</div>
-<div class="line"><a id="l00438" name="l00438"></a><span class="lineno">  438</span>            <span class="keywordflow">return</span> TangentSignalSpec::ZeroType();</div>
-<div class="line"><a id="l00439" name="l00439"></a><span class="lineno">  439</span>        }</div>
-<div class="line"><a id="l00440" name="l00440"></a><span class="lineno">  440</span>    }</div>
-<div class="line"><a id="l00441" name="l00441"></a><span class="lineno">  441</span> </div>
-<div class="line"><a id="l00442" name="l00442"></a><span class="lineno">  442</span>    <span class="comment">// Implementation note: signal history size must &gt; 0</span></div>
-<div class="line"><a id="l00443" name="l00443"></a><span class="lineno">  443</span>    <span class="keywordtype">int</span> getInterpIndex(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)<span class="keyword"> const</span></div>
-<div class="line"><a id="l00444" name="l00444"></a><span class="lineno">  444</span><span class="keyword">    </span>{</div>
-<div class="line"><a id="l00445" name="l00445"></a><span class="lineno">  445</span>        <span class="keywordflow">if</span> (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> &lt; signalHistory_[0].<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)</div>
-<div class="line"><a id="l00446" name="l00446"></a><span class="lineno">  446</span>        {</div>
-<div class="line"><a id="l00447" name="l00447"></a><span class="lineno">  447</span>            <span class="keywordflow">return</span> -1;</div>
-<div class="line"><a id="l00448" name="l00448"></a><span class="lineno">  448</span>        }</div>
-<div class="line"><a id="l00449" name="l00449"></a><span class="lineno">  449</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> &gt; signalHistory_[signalHistory_.size() - 1].t)</div>
-<div class="line"><a id="l00450" name="l00450"></a><span class="lineno">  450</span>        {</div>
-<div class="line"><a id="l00451" name="l00451"></a><span class="lineno">  451</span>            <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(signalHistory_.size());</div>
-<div class="line"><a id="l00452" name="l00452"></a><span class="lineno">  452</span>        }</div>
-<div class="line"><a id="l00453" name="l00453"></a><span class="lineno">  453</span>        <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00454" name="l00454"></a><span class="lineno">  454</span>        {</div>
-<div class="line"><a id="l00455" name="l00455"></a><span class="lineno">  455</span>            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; signalHistory_.size(); i++)</div>
-<div class="line"><a id="l00456" name="l00456"></a><span class="lineno">  456</span>            {</div>
-<div class="line"><a id="l00457" name="l00457"></a><span class="lineno">  457</span>                <span class="keywordtype">double</span> t_i   = signalHistory_[i].t;</div>
-<div class="line"><a id="l00458" name="l00458"></a><span class="lineno">  458</span>                <span class="keywordtype">double</span> t_ip1 = tAtIdx(i + 1);</div>
-<div class="line"><a id="l00459" name="l00459"></a><span class="lineno">  459</span>                <span class="keywordflow">if</span> (t_i &lt;= t &amp;&amp; t_ip1 &gt; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)</div>
-<div class="line"><a id="l00460" name="l00460"></a><span class="lineno">  460</span>                {</div>
-<div class="line"><a id="l00461" name="l00461"></a><span class="lineno">  461</span>                    <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(i);</div>
-<div class="line"><a id="l00462" name="l00462"></a><span class="lineno">  462</span>                }</div>
-<div class="line"><a id="l00463" name="l00463"></a><span class="lineno">  463</span>            }</div>
-<div class="line"><a id="l00464" name="l00464"></a><span class="lineno">  464</span>            <span class="keywordflow">return</span> -1;</div>
-<div class="line"><a id="l00465" name="l00465"></a><span class="lineno">  465</span>        }</div>
-<div class="line"><a id="l00466" name="l00466"></a><span class="lineno">  466</span>    }</div>
-<div class="line"><a id="l00467" name="l00467"></a><span class="lineno">  467</span> </div>
-<div class="line"><a id="l00468" name="l00468"></a><span class="lineno">  468</span>    <span class="keywordtype">double</span> tAtIdx(<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; idx)<span class="keyword"> const</span></div>
-<div class="line"><a id="l00469" name="l00469"></a><span class="lineno">  469</span><span class="keyword">    </span>{</div>
-<div class="line"><a id="l00470" name="l00470"></a><span class="lineno">  470</span>        <span class="keywordflow">if</span> (idx &lt; 0)</div>
-<div class="line"><a id="l00471" name="l00471"></a><span class="lineno">  471</span>        {</div>
-<div class="line"><a id="l00472" name="l00472"></a><span class="lineno">  472</span>            <span class="keywordflow">return</span> signalHistory_[0].t + <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(idx);</div>
-<div class="line"><a id="l00473" name="l00473"></a><span class="lineno">  473</span>        }</div>
-<div class="line"><a id="l00474" name="l00474"></a><span class="lineno">  474</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (idx &gt;= signalHistory_.size())</div>
-<div class="line"><a id="l00475" name="l00475"></a><span class="lineno">  475</span>        {</div>
-<div class="line"><a id="l00476" name="l00476"></a><span class="lineno">  476</span>            <span class="keywordflow">return</span> signalHistory_[signalHistory_.size() - 1].t +</div>
-<div class="line"><a id="l00477" name="l00477"></a><span class="lineno">  477</span>                   <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(idx - <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(signalHistory_.size() - 1));</div>
-<div class="line"><a id="l00478" name="l00478"></a><span class="lineno">  478</span>        }</div>
-<div class="line"><a id="l00479" name="l00479"></a><span class="lineno">  479</span>        <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00480" name="l00480"></a><span class="lineno">  480</span>        {</div>
-<div class="line"><a id="l00481" name="l00481"></a><span class="lineno">  481</span>            <span class="keywordflow">return</span> signalHistory_[idx].t;</div>
-<div class="line"><a id="l00482" name="l00482"></a><span class="lineno">  482</span>        }</div>
-<div class="line"><a id="l00483" name="l00483"></a><span class="lineno">  483</span>    }</div>
-<div class="line"><a id="l00484" name="l00484"></a><span class="lineno">  484</span> </div>
-<div class="line"><a id="l00485" name="l00485"></a><span class="lineno">  485</span>    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> xAtIdx(<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; idx)<span class="keyword"> const</span></div>
-<div class="line"><a id="l00486" name="l00486"></a><span class="lineno">  486</span><span class="keyword">    </span>{</div>
-<div class="line"><a id="l00487" name="l00487"></a><span class="lineno">  487</span>        <span class="keywordflow">if</span> (idx &lt; 0)</div>
-<div class="line"><a id="l00488" name="l00488"></a><span class="lineno">  488</span>        {</div>
-<div class="line"><a id="l00489" name="l00489"></a><span class="lineno">  489</span>            <span class="keywordflow">return</span> signalHistory_[0].x;</div>
-<div class="line"><a id="l00490" name="l00490"></a><span class="lineno">  490</span>        }</div>
-<div class="line"><a id="l00491" name="l00491"></a><span class="lineno">  491</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (idx &gt;= signalHistory_.size())</div>
-<div class="line"><a id="l00492" name="l00492"></a><span class="lineno">  492</span>        {</div>
-<div class="line"><a id="l00493" name="l00493"></a><span class="lineno">  493</span>            <span class="keywordflow">return</span> signalHistory_[signalHistory_.size() - 1].x;</div>
-<div class="line"><a id="l00494" name="l00494"></a><span class="lineno">  494</span>        }</div>
-<div class="line"><a id="l00495" name="l00495"></a><span class="lineno">  495</span>        <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00496" name="l00496"></a><span class="lineno">  496</span>        {</div>
-<div class="line"><a id="l00497" name="l00497"></a><span class="lineno">  497</span>            <span class="keywordflow">return</span> signalHistory_[idx].x;</div>
-<div class="line"><a id="l00498" name="l00498"></a><span class="lineno">  498</span>        }</div>
-<div class="line"><a id="l00499" name="l00499"></a><span class="lineno">  499</span>    }</div>
-<div class="line"><a id="l00500" name="l00500"></a><span class="lineno">  500</span> </div>
-<div class="line"><a id="l00501" name="l00501"></a><span class="lineno">  501</span>    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> xDotAtIdx(<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; idx)<span class="keyword"> const</span></div>
-<div class="line"><a id="l00502" name="l00502"></a><span class="lineno">  502</span><span class="keyword">    </span>{</div>
-<div class="line"><a id="l00503" name="l00503"></a><span class="lineno">  503</span>        <span class="keywordflow">if</span> (idx &lt; 0)</div>
-<div class="line"><a id="l00504" name="l00504"></a><span class="lineno">  504</span>        {</div>
-<div class="line"><a id="l00505" name="l00505"></a><span class="lineno">  505</span>            <span class="keywordflow">return</span> signalHistory_[0].xdot;</div>
-<div class="line"><a id="l00506" name="l00506"></a><span class="lineno">  506</span>        }</div>
-<div class="line"><a id="l00507" name="l00507"></a><span class="lineno">  507</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (idx &gt;= signalHistory_.size())</div>
-<div class="line"><a id="l00508" name="l00508"></a><span class="lineno">  508</span>        {</div>
-<div class="line"><a id="l00509" name="l00509"></a><span class="lineno">  509</span>            <span class="keywordflow">return</span> signalHistory_[signalHistory_.size() - 1].xdot;</div>
-<div class="line"><a id="l00510" name="l00510"></a><span class="lineno">  510</span>        }</div>
-<div class="line"><a id="l00511" name="l00511"></a><span class="lineno">  511</span>        <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00512" name="l00512"></a><span class="lineno">  512</span>        {</div>
-<div class="line"><a id="l00513" name="l00513"></a><span class="lineno">  513</span>            <span class="keywordflow">return</span> signalHistory_[idx].xdot;</div>
-<div class="line"><a id="l00514" name="l00514"></a><span class="lineno">  514</span>        }</div>
-<div class="line"><a id="l00515" name="l00515"></a><span class="lineno">  515</span>    }</div>
-<div class="line"><a id="l00516" name="l00516"></a><span class="lineno">  516</span> </div>
-<div class="line"><a id="l00517" name="l00517"></a><span class="lineno">  517</span>    <span class="comment">// Implementation note: should always be followed by a call to update()</span></div>
-<div class="line"><a id="l00518" name="l00518"></a><span class="lineno">  518</span>    <span class="keywordtype">bool</span> calculateDerivative(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; _t, <span class="keyword">const</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>&amp; _x, <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a>&amp; _xdot)</div>
-<div class="line"><a id="l00519" name="l00519"></a><span class="lineno">  519</span>    {</div>
-<div class="line"><a id="l00520" name="l00520"></a><span class="lineno">  520</span>        <span class="keyword">const</span> <span class="keyword">static</span> <span class="keywordtype">double</span> sigma = 0.05;</div>
-<div class="line"><a id="l00521" name="l00521"></a><span class="lineno">  521</span>        <span class="keywordflow">if</span> (_t &lt;= t_)</div>
-<div class="line"><a id="l00522" name="l00522"></a><span class="lineno">  522</span>        {</div>
-<div class="line"><a id="l00523" name="l00523"></a><span class="lineno">  523</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00524" name="l00524"></a><span class="lineno">  524</span>        }</div>
-<div class="line"><a id="l00525" name="l00525"></a><span class="lineno">  525</span>        <span class="keywordflow">if</span> (t_ &gt;= 0)</div>
-<div class="line"><a id="l00526" name="l00526"></a><span class="lineno">  526</span>        {</div>
-<div class="line"><a id="l00527" name="l00527"></a><span class="lineno">  527</span>            <span class="keyword">const</span> <span class="keywordtype">double</span>      dt = _t - t_;</div>
-<div class="line"><a id="l00528" name="l00528"></a><span class="lineno">  528</span>            <span class="keyword">const</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> dx = _x - x_;</div>
-<div class="line"><a id="l00529" name="l00529"></a><span class="lineno">  529</span>            <span class="keywordflow">switch</span> (<a class="code hl_variable" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a>)</div>
-<div class="line"><a id="l00530" name="l00530"></a><span class="lineno">  530</span>            {</div>
-<div class="line"><a id="l00531" name="l00531"></a><span class="lineno">  531</span>            <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c">DerivativeMethod::DIRTY</a>:</div>
-<div class="line"><a id="l00532" name="l00532"></a><span class="lineno">  532</span>                _xdot = (2. * sigma - dt) / (2. * sigma + dt) * xdot_ + 2. / (2. * sigma + dt) * dx;</div>
-<div class="line"><a id="l00533" name="l00533"></a><span class="lineno">  533</span>                <span class="keywordflow">break</span>;</div>
-<div class="line"><a id="l00534" name="l00534"></a><span class="lineno">  534</span>            <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e">DerivativeMethod::FINITE_DIFF</a>:</div>
-<div class="line"><a id="l00535" name="l00535"></a><span class="lineno">  535</span>                _xdot = dx / dt;</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BSS, <span class="keyword">typename</span> TSS&gt;</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="classSignal.html#ae5d88905516fd17257964442b0830584">  103</a></span>    <span class="keyword">friend</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a> <a class="code hl_friend" href="classSignal.html#ae5d88905516fd17257964442b0830584">operator*</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r);</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span> </div>
+<div class="foldopen" id="foldopen00105" data-start="{" data-end="}">
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">  105</a></span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>        <span class="keywordflow">return</span> t_;</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    }</div>
+</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span> </div>
+<div class="foldopen" id="foldopen00110" data-start="{" data-end="}">
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"><a class="line" href="classSignal.html#a2d222b24cb25f6f228a0c69d71d95918">  110</a></span>    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> <a class="code hl_function" href="classSignal.html#a2d222b24cb25f6f228a0c69d71d95918">operator()</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>        <span class="keywordflow">return</span> x_;</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>    }</div>
+</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span> </div>
+<div class="foldopen" id="foldopen00115" data-start="{" data-end="}">
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">  115</a></span>    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> <a class="code hl_function" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>        <span class="keywordflow">return</span> xdot_;</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    }</div>
+</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span> </div>
+<div class="foldopen" id="foldopen00120" data-start="{" data-end="}">
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"><a class="line" href="classSignal.html#ad32d0b6b6bbc54ab8bd0fa63ed3039b9">  120</a></span>    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> <a class="code hl_function" href="classSignal.html#ad32d0b6b6bbc54ab8bd0fa63ed3039b9">operator()</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>        <span class="keywordflow">return</span> xAt(<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>);</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>    }</div>
+</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span> </div>
+<div class="foldopen" id="foldopen00125" data-start="{" data-end="}">
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"><a class="line" href="classSignal.html#a8989cbb307917a9c1f6331be2a5ae4e9">  125</a></span>    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> <a class="code hl_function" href="classSignal.html#a8989cbb307917a9c1f6331be2a5ae4e9">dot</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>        <span class="keywordflow">return</span> xDotAt(<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>);</div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    }</div>
+</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span> </div>
+<div class="foldopen" id="foldopen00130" data-start="{" data-end="}">
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="classSignal.html#abf8612dae8c835fa349c6f26201016eb">  130</a></span>    std::vector&lt;BaseType&gt; <a class="code hl_function" href="classSignal.html#abf8612dae8c835fa349c6f26201016eb">operator()</a>(<span class="keyword">const</span> std::vector&lt;double&gt;&amp; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>        std::vector&lt;BaseType&gt; xInterp;</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>.size(); i++)</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>        {</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>            xInterp.push_back(xAt(<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>[i]));</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>        }</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>        <span class="keywordflow">return</span> xInterp;</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>    }</div>
+</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span> </div>
+<div class="foldopen" id="foldopen00140" data-start="{" data-end="}">
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"><a class="line" href="classSignal.html#aad31a21f4a7d572da1e06e407ccacecd">  140</a></span>    std::vector&lt;TangentType&gt; <a class="code hl_function" href="classSignal.html#aad31a21f4a7d572da1e06e407ccacecd">dot</a>(<span class="keyword">const</span> std::vector&lt;double&gt;&amp; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>        std::vector&lt;TangentType&gt; xDotInterp;</div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>.size(); i++)</div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>        {</div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>            xDotInterp.push_back(xDotAt(<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>[i]));</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>        }</div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>        <span class="keywordflow">return</span> xDotInterp;</div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    }</div>
+</div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span> </div>
+<div class="foldopen" id="foldopen00150" data-start="{" data-end="}">
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"><a class="line" href="classSignal.html#af336f3d6a2d643040dff9fb5b4c20558">  150</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classSignal.html#af336f3d6a2d643040dff9fb5b4c20558">setInterpolationMethod</a>(<a class="code hl_enumeration" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284">InterpolationMethod</a> method)</div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    {</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>        <a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a> = method;</div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    }</div>
+</div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span> </div>
+<div class="foldopen" id="foldopen00155" data-start="{" data-end="}">
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"><a class="line" href="classSignal.html#ac3be206ae717ad5e977d8a108de9b9e4">  155</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classSignal.html#ac3be206ae717ad5e977d8a108de9b9e4">setExtrapolationMethod</a>(<a class="code hl_enumeration" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4">ExtrapolationMethod</a> method)</div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    {</div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>        <a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a> = method;</div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    }</div>
+</div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span> </div>
+<div class="foldopen" id="foldopen00160" data-start="{" data-end="}">
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"><a class="line" href="classSignal.html#a8c25f302d3c4feaa1a4c1f6d59381d89">  160</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classSignal.html#a8c25f302d3c4feaa1a4c1f6d59381d89">setDerivativeMethod</a>(<a class="code hl_enumeration" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242">DerivativeMethod</a> method)</div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    {</div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>        <a class="code hl_variable" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a> = method;</div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    }</div>
+</div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span> </div>
+<div class="foldopen" id="foldopen00165" data-start="{" data-end="}">
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"><a class="line" href="classSignal.html#a914fd7f09ae0723c88fce310fd7c79fd">  165</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classSignal.html#a914fd7f09ae0723c88fce310fd7c79fd">reset</a>()</div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>    {</div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>        t_    = -1.0;</div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>        x_    = BaseSignalSpec::ZeroType();</div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>        xdot_ = TangentSignalSpec::ZeroType();</div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>        signalHistory_.clear();</div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>        needsSort_ = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>    }</div>
+</div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span> </div>
+<div class="foldopen" id="foldopen00174" data-start="{" data-end="}">
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"><a class="line" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">  174</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; _t, <span class="keyword">const</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>&amp; _x, <span class="keywordtype">bool</span> insertHistory = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>    {</div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>        <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> _xdot;</div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>        <span class="keywordflow">if</span> (!calculateDerivative(_t, _x, _xdot))</div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>        {</div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>        }</div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(_t, _x, _xdot, insertHistory);</div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>    }</div>
+</div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span> </div>
+<div class="foldopen" id="foldopen00184" data-start="{" data-end="}">
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"><a class="line" href="classSignal.html#a6c7174c9bb20970ebb3de64687f771d8">  184</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classSignal.html#a6c7174c9bb20970ebb3de64687f771d8">update</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; _t, <span class="keyword">const</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>&amp; _x, <span class="keyword">const</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a>&amp; _xdot, <span class="keywordtype">bool</span> insertHistory = <span class="keyword">false</span>)</div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>    {</div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>        t_    = _t;</div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>        x_    = _x;</div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>        xdot_ = _xdot;</div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>        <span class="keywordflow">if</span> (insertHistory)</div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>        {</div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>            <span class="keywordflow">if</span> (insertIntoHistory(_t, _x, _xdot))</div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>            {</div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>                <span class="keywordflow">if</span> (needsSort_)</div>
+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>                {</div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>                    std::sort(signalHistory_.begin(), signalHistory_.end(), <a class="code hl_variable" href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">SignalDPComparator</a>);</div>
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>                    needsSort_ = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>                }</div>
+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>                <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>            }</div>
+<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>            <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>            {</div>
+<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>            }</div>
+<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span>        }</div>
+<div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>    }</div>
+</div>
+<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span> </div>
+<div class="foldopen" id="foldopen00208" data-start="{" data-end="}">
+<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"><a class="line" href="classSignal.html#a5530308ef517fd0021f510d47c390dc0">  208</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classSignal.html#a5530308ef517fd0021f510d47c390dc0">update</a>(<span class="keyword">const</span> std::vector&lt;double&gt;&amp; _tHistory, <span class="keyword">const</span> std::vector&lt;BaseType&gt;&amp; _xHistory)</div>
+<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>    {</div>
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>        <span class="keywordtype">size_t</span> nTH = _tHistory.size();</div>
+<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>        <span class="keywordtype">size_t</span> nXH = _xHistory.size();</div>
+<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>        <span class="keywordflow">if</span> (nTH != nXH)</div>
+<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>        {</div>
+<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>        }</div>
+<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; nXH; i++)</div>
+<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>        {</div>
+<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>            <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> _xdot;</div>
+<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>            <span class="keywordflow">if</span> (!calculateDerivative(_tHistory[i], _xHistory[i], _xdot))</div>
+<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>            {</div>
+<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>            }</div>
+<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>            <span class="keywordflow">if</span> (!insertIntoHistory(_tHistory[i], _xHistory[i], _xdot))</div>
+<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>            {</div>
+<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>            }</div>
+<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>        }</div>
+<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>        <span class="keywordflow">if</span> (needsSort_)</div>
+<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>        {</div>
+<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>            std::sort(signalHistory_.begin(), signalHistory_.end(), <a class="code hl_variable" href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">SignalDPComparator</a>);</div>
+<div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>            needsSort_ = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span>        }</div>
+<div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span>    }</div>
+</div>
+<div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span> </div>
+<div class="foldopen" id="foldopen00236" data-start="{" data-end="}">
+<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"><a class="line" href="classSignal.html#a74929b7332876f5aeddc9a05d26d3d32">  236</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classSignal.html#a74929b7332876f5aeddc9a05d26d3d32">update</a>(<span class="keyword">const</span> std::vector&lt;double&gt;&amp;      _tHistory,</div>
+<div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span>                <span class="keyword">const</span> std::vector&lt;BaseType&gt;&amp;    _xHistory,</div>
+<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span>                <span class="keyword">const</span> std::vector&lt;TangentType&gt;&amp; _xdotHistory)</div>
+<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>    {</div>
+<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>        <span class="keywordtype">size_t</span> nTH  = _tHistory.size();</div>
+<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>        <span class="keywordtype">size_t</span> nXH  = _xHistory.size();</div>
+<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>        <span class="keywordtype">size_t</span> nXDH = _xdotHistory.size();</div>
+<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>        <span class="keywordflow">if</span> (nXH != nXDH || nXDH != nTH)</div>
+<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>        {</div>
+<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>        }</div>
+<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; nXH; i++)</div>
+<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>        {</div>
+<div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>            <span class="keywordflow">if</span> (!insertIntoHistory(_tHistory[i], _xHistory[i], _xdotHistory[i]))</div>
+<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>            {</div>
+<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>            }</div>
+<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>        }</div>
+<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>        <span class="keywordflow">if</span> (needsSort_)</div>
+<div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span>        {</div>
+<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>            std::sort(signalHistory_.begin(), signalHistory_.end(), <a class="code hl_variable" href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">SignalDPComparator</a>);</div>
+<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>            needsSort_ = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span>        }</div>
+<div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span>    }</div>
+</div>
+<div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span> </div>
+<div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span>    <span class="keywordtype">double</span>                t_;</div>
+<div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>              x_;</div>
+<div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a>           xdot_;</div>
+<div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>    std::vector&lt;SignalDP&gt; signalHistory_;</div>
+<div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span>    <span class="keywordtype">bool</span>                  needsSort_;</div>
+<div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span> </div>
+<div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>    <span class="keywordtype">bool</span> insertIntoHistory(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; _t, <span class="keyword">const</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>&amp; _x, <span class="keyword">const</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a>&amp; _xdot)</div>
+<div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span>    {</div>
+<div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span>        <span class="keywordflow">if</span> (_t &gt; t_)</div>
+<div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>        {</div>
+<div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>            t_    = _t;</div>
+<div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>            x_    = _x;</div>
+<div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>            xdot_ = _xdot;</div>
+<div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>        }</div>
+<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>        <span class="keywordflow">if</span> (signalHistory_.size() &gt; 0)</div>
+<div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span>        {</div>
+<div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span>            <span class="keywordtype">double</span> mostRecentTime = signalHistory_[signalHistory_.size() - 1].t;</div>
+<div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>            <span class="keywordflow">if</span> (_t == mostRecentTime)</div>
+<div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>            {</div>
+<div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>            }</div>
+<div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span>            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (_t &lt; mostRecentTime)</div>
+<div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span>            {</div>
+<div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>                needsSort_ = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span>            }</div>
+<div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>        }</div>
+<div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span>        signalHistory_.push_back({_t, _x, _xdot});</div>
+<div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>    }</div>
+<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span> </div>
+<div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> xAt(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span>        <span class="keywordflow">if</span> (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> == t_)</div>
+<div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>        {</div>
+<div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>            <span class="keywordflow">return</span> x_;</div>
+<div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>        }</div>
+<div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (signalHistory_.size() &gt; 0)</div>
+<div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>        {</div>
+<div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span>            <span class="keywordtype">int</span> idx = getInterpIndex(<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>);</div>
+<div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>            <span class="keywordflow">if</span> (idx &lt; 0 || idx &gt;= <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(signalHistory_.size()))</div>
+<div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>            {</div>
+<div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span>                <span class="keywordflow">switch</span> (<a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a>)</div>
+<div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span>                {</div>
+<div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4af4517d0db561241ccfcf150e1629767f">ExtrapolationMethod::NANS</a>:</div>
+<div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span>                    <span class="keywordflow">return</span> BaseSignalSpec::NansType();</div>
+<div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00309" name="l00309"></a><span class="lineno">  309</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3">ExtrapolationMethod::CLOSEST</a>:</div>
+<div class="line"><a id="l00310" name="l00310"></a><span class="lineno">  310</span>                    <span class="keywordflow">if</span> (idx &lt; 0)</div>
+<div class="line"><a id="l00311" name="l00311"></a><span class="lineno">  311</span>                    {</div>
+<div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span>                        <span class="keywordflow">return</span> signalHistory_[0].x;</div>
+<div class="line"><a id="l00313" name="l00313"></a><span class="lineno">  313</span>                    }</div>
+<div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span>                    <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00315" name="l00315"></a><span class="lineno">  315</span>                    {</div>
+<div class="line"><a id="l00316" name="l00316"></a><span class="lineno">  316</span>                        <span class="keywordflow">return</span> signalHistory_[signalHistory_.size() - 1].x;</div>
+<div class="line"><a id="l00317" name="l00317"></a><span class="lineno">  317</span>                    }</div>
+<div class="line"><a id="l00318" name="l00318"></a><span class="lineno">  318</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00319" name="l00319"></a><span class="lineno">  319</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f">ExtrapolationMethod::ZEROS</a>:</div>
+<div class="line"><a id="l00320" name="l00320"></a><span class="lineno">  320</span>                <span class="keywordflow">default</span>:</div>
+<div class="line"><a id="l00321" name="l00321"></a><span class="lineno">  321</span>                    <span class="keywordflow">return</span> BaseSignalSpec::ZeroType();</div>
+<div class="line"><a id="l00322" name="l00322"></a><span class="lineno">  322</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span>                }</div>
+<div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span>            }</div>
+<div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span>            <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span>            {</div>
+<div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>                <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>    y = xAtIdx(idx);</div>
+<div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span>                <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> dy;</div>
+<div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>                <span class="keywordflow">switch</span> (<a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a>)</div>
+<div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span>                {</div>
+<div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284ad873f8ab97a3f6e892c8b834b23db574">InterpolationMethod::ZERO_ORDER_HOLD</a>: {</div>
+<div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span>                    dy = TangentSignalSpec::ZeroType();</div>
+<div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span>                }</div>
+<div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb">InterpolationMethod::LINEAR</a>: {</div>
+<div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>                    <span class="keywordtype">double</span>   t1 = tAtIdx(idx);</div>
+<div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span>                    <span class="keywordtype">double</span>   t2 = tAtIdx(idx + 1);</div>
+<div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span>                    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> y1 = xAtIdx(idx);</div>
+<div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span>                    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> y2 = xAtIdx(idx + 1);</div>
+<div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span>                    dy          = (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> - t1) / (t2 - t1) * (y2 - y1);</div>
+<div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span>                }</div>
+<div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc">InterpolationMethod::CUBIC_SPLINE</a>: {</div>
+<div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>                    <span class="keywordtype">double</span>   t0 = tAtIdx(idx - 1);</div>
+<div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span>                    <span class="keywordtype">double</span>   t1 = tAtIdx(idx);</div>
+<div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>                    <span class="keywordtype">double</span>   t2 = tAtIdx(idx + 1);</div>
+<div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span>                    <span class="keywordtype">double</span>   t3 = tAtIdx(idx + 2);</div>
+<div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span>                    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> y0 = xAtIdx(idx - 1);</div>
+<div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span>                    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> y1 = xAtIdx(idx);</div>
+<div class="line"><a id="l00350" name="l00350"></a><span class="lineno">  350</span>                    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> y2 = xAtIdx(idx + 1);</div>
+<div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>                    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> y3 = xAtIdx(idx + 2);</div>
+<div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span>                    dy =</div>
+<div class="line"><a id="l00353" name="l00353"></a><span class="lineno">  353</span>                        (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> - t1) / (t2 - t1) *</div>
+<div class="line"><a id="l00354" name="l00354"></a><span class="lineno">  354</span>                        ((y2 - y1) + (t2 - <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>) / (2. * (t2 - t1) * (t2 - t1)) *</div>
+<div class="line"><a id="l00355" name="l00355"></a><span class="lineno">  355</span>                                         (((t2 - <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>) * (t2 * (y1 - y0) + t0 * (y2 - y1) - t1 * (y2 - y0))) / (t1 - t0) +</div>
+<div class="line"><a id="l00356" name="l00356"></a><span class="lineno">  356</span>                                          ((<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> - t1) * (t3 * (y2 - y1) + t2 * (y3 - y1) - t1 * (y3 - y2))) / (t3 - t2)));</div>
+<div class="line"><a id="l00357" name="l00357"></a><span class="lineno">  357</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00358" name="l00358"></a><span class="lineno">  358</span>                }</div>
+<div class="line"><a id="l00359" name="l00359"></a><span class="lineno">  359</span>                }</div>
+<div class="line"><a id="l00360" name="l00360"></a><span class="lineno">  360</span>                <span class="keywordflow">return</span> y + dy;</div>
+<div class="line"><a id="l00361" name="l00361"></a><span class="lineno">  361</span>            }</div>
+<div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span>        }</div>
+<div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00364" name="l00364"></a><span class="lineno">  364</span>        {</div>
+<div class="line"><a id="l00365" name="l00365"></a><span class="lineno">  365</span>            <span class="keywordflow">return</span> BaseSignalSpec::ZeroType();</div>
+<div class="line"><a id="l00366" name="l00366"></a><span class="lineno">  366</span>        }</div>
+<div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span>    }</div>
+<div class="line"><a id="l00368" name="l00368"></a><span class="lineno">  368</span> </div>
+<div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span>    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> xDotAt(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00370" name="l00370"></a><span class="lineno">  370</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00371" name="l00371"></a><span class="lineno">  371</span>        <span class="keywordflow">if</span> (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> == t_)</div>
+<div class="line"><a id="l00372" name="l00372"></a><span class="lineno">  372</span>        {</div>
+<div class="line"><a id="l00373" name="l00373"></a><span class="lineno">  373</span>            <span class="keywordflow">return</span> xdot_;</div>
+<div class="line"><a id="l00374" name="l00374"></a><span class="lineno">  374</span>        }</div>
+<div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (signalHistory_.size() &gt; 0)</div>
+<div class="line"><a id="l00376" name="l00376"></a><span class="lineno">  376</span>        {</div>
+<div class="line"><a id="l00377" name="l00377"></a><span class="lineno">  377</span>            <span class="keywordtype">int</span> idx = getInterpIndex(<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>);</div>
+<div class="line"><a id="l00378" name="l00378"></a><span class="lineno">  378</span>            <span class="keywordflow">if</span> (idx &lt; 0 || idx &gt;= <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(signalHistory_.size()))</div>
+<div class="line"><a id="l00379" name="l00379"></a><span class="lineno">  379</span>            {</div>
+<div class="line"><a id="l00380" name="l00380"></a><span class="lineno">  380</span>                <span class="keywordflow">switch</span> (<a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a>)</div>
+<div class="line"><a id="l00381" name="l00381"></a><span class="lineno">  381</span>                {</div>
+<div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4af4517d0db561241ccfcf150e1629767f">ExtrapolationMethod::NANS</a>:</div>
+<div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span>                    <span class="keywordflow">return</span> TangentSignalSpec::NansType();</div>
+<div class="line"><a id="l00384" name="l00384"></a><span class="lineno">  384</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3">ExtrapolationMethod::CLOSEST</a>:</div>
+<div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span>                    <span class="keywordflow">if</span> (idx &lt; 0)</div>
+<div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span>                    {</div>
+<div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span>                        <span class="keywordflow">return</span> signalHistory_[0].xdot;</div>
+<div class="line"><a id="l00389" name="l00389"></a><span class="lineno">  389</span>                    }</div>
+<div class="line"><a id="l00390" name="l00390"></a><span class="lineno">  390</span>                    <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00391" name="l00391"></a><span class="lineno">  391</span>                    {</div>
+<div class="line"><a id="l00392" name="l00392"></a><span class="lineno">  392</span>                        <span class="keywordflow">return</span> signalHistory_[signalHistory_.size() - 1].xdot;</div>
+<div class="line"><a id="l00393" name="l00393"></a><span class="lineno">  393</span>                    }</div>
+<div class="line"><a id="l00394" name="l00394"></a><span class="lineno">  394</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f">ExtrapolationMethod::ZEROS</a>:</div>
+<div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span>                <span class="keywordflow">default</span>:</div>
+<div class="line"><a id="l00397" name="l00397"></a><span class="lineno">  397</span>                    <span class="keywordflow">return</span> TangentSignalSpec::ZeroType();</div>
+<div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00399" name="l00399"></a><span class="lineno">  399</span>                }</div>
+<div class="line"><a id="l00400" name="l00400"></a><span class="lineno">  400</span>            }</div>
+<div class="line"><a id="l00401" name="l00401"></a><span class="lineno">  401</span>            <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00402" name="l00402"></a><span class="lineno">  402</span>            {</div>
+<div class="line"><a id="l00403" name="l00403"></a><span class="lineno">  403</span>                <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> y = xDotAtIdx(idx);</div>
+<div class="line"><a id="l00404" name="l00404"></a><span class="lineno">  404</span>                <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> dy;</div>
+<div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span>                <span class="keywordflow">switch</span> (<a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a>)</div>
+<div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span>                {</div>
+<div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284ad873f8ab97a3f6e892c8b834b23db574">InterpolationMethod::ZERO_ORDER_HOLD</a>: {</div>
+<div class="line"><a id="l00408" name="l00408"></a><span class="lineno">  408</span>                    dy = TangentSignalSpec::ZeroType();</div>
+<div class="line"><a id="l00409" name="l00409"></a><span class="lineno">  409</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00410" name="l00410"></a><span class="lineno">  410</span>                }</div>
+<div class="line"><a id="l00411" name="l00411"></a><span class="lineno">  411</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb">InterpolationMethod::LINEAR</a>: {</div>
+<div class="line"><a id="l00412" name="l00412"></a><span class="lineno">  412</span>                    <span class="keywordtype">double</span>      t1 = tAtIdx(idx);</div>
+<div class="line"><a id="l00413" name="l00413"></a><span class="lineno">  413</span>                    <span class="keywordtype">double</span>      t2 = tAtIdx(idx + 1);</div>
+<div class="line"><a id="l00414" name="l00414"></a><span class="lineno">  414</span>                    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> y1 = xDotAtIdx(idx);</div>
+<div class="line"><a id="l00415" name="l00415"></a><span class="lineno">  415</span>                    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> y2 = xDotAtIdx(idx + 1);</div>
+<div class="line"><a id="l00416" name="l00416"></a><span class="lineno">  416</span>                    dy             = (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> - t1) / (t2 - t1) * (y2 - y1);</div>
+<div class="line"><a id="l00417" name="l00417"></a><span class="lineno">  417</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00418" name="l00418"></a><span class="lineno">  418</span>                }</div>
+<div class="line"><a id="l00419" name="l00419"></a><span class="lineno">  419</span>                <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc">InterpolationMethod::CUBIC_SPLINE</a>: {</div>
+<div class="line"><a id="l00420" name="l00420"></a><span class="lineno">  420</span>                    <span class="keywordtype">double</span>      t0 = tAtIdx(idx - 1);</div>
+<div class="line"><a id="l00421" name="l00421"></a><span class="lineno">  421</span>                    <span class="keywordtype">double</span>      t1 = tAtIdx(idx);</div>
+<div class="line"><a id="l00422" name="l00422"></a><span class="lineno">  422</span>                    <span class="keywordtype">double</span>      t2 = tAtIdx(idx + 1);</div>
+<div class="line"><a id="l00423" name="l00423"></a><span class="lineno">  423</span>                    <span class="keywordtype">double</span>      t3 = tAtIdx(idx + 2);</div>
+<div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span>                    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> y0 = xDotAtIdx(idx - 1);</div>
+<div class="line"><a id="l00425" name="l00425"></a><span class="lineno">  425</span>                    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> y1 = xDotAtIdx(idx);</div>
+<div class="line"><a id="l00426" name="l00426"></a><span class="lineno">  426</span>                    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> y2 = xDotAtIdx(idx + 1);</div>
+<div class="line"><a id="l00427" name="l00427"></a><span class="lineno">  427</span>                    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> y3 = xDotAtIdx(idx + 2);</div>
+<div class="line"><a id="l00428" name="l00428"></a><span class="lineno">  428</span>                    dy =</div>
+<div class="line"><a id="l00429" name="l00429"></a><span class="lineno">  429</span>                        (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> - t1) / (t2 - t1) *</div>
+<div class="line"><a id="l00430" name="l00430"></a><span class="lineno">  430</span>                        ((y2 - y1) + (t2 - <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>) / (2. * (t2 - t1) * (t2 - t1)) *</div>
+<div class="line"><a id="l00431" name="l00431"></a><span class="lineno">  431</span>                                         (((t2 - <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>) * (t2 * (y1 - y0) + t0 * (y2 - y1) - t1 * (y2 - y0))) / (t1 - t0) +</div>
+<div class="line"><a id="l00432" name="l00432"></a><span class="lineno">  432</span>                                          ((<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> - t1) * (t3 * (y2 - y1) + t2 * (y3 - y1) - t1 * (y3 - y2))) / (t3 - t2)));</div>
+<div class="line"><a id="l00433" name="l00433"></a><span class="lineno">  433</span>                    <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00434" name="l00434"></a><span class="lineno">  434</span>                }</div>
+<div class="line"><a id="l00435" name="l00435"></a><span class="lineno">  435</span>                }</div>
+<div class="line"><a id="l00436" name="l00436"></a><span class="lineno">  436</span>                <span class="keywordflow">return</span> y + dy;</div>
+<div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span>            }</div>
+<div class="line"><a id="l00438" name="l00438"></a><span class="lineno">  438</span>        }</div>
+<div class="line"><a id="l00439" name="l00439"></a><span class="lineno">  439</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00440" name="l00440"></a><span class="lineno">  440</span>        {</div>
+<div class="line"><a id="l00441" name="l00441"></a><span class="lineno">  441</span>            <span class="keywordflow">return</span> TangentSignalSpec::ZeroType();</div>
+<div class="line"><a id="l00442" name="l00442"></a><span class="lineno">  442</span>        }</div>
+<div class="line"><a id="l00443" name="l00443"></a><span class="lineno">  443</span>    }</div>
+<div class="line"><a id="l00444" name="l00444"></a><span class="lineno">  444</span> </div>
+<div class="line"><a id="l00445" name="l00445"></a><span class="lineno">  445</span>    <span class="comment">// Implementation note: signal history size must &gt; 0</span></div>
+<div class="line"><a id="l00446" name="l00446"></a><span class="lineno">  446</span>    <span class="keywordtype">int</span> getInterpIndex(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00447" name="l00447"></a><span class="lineno">  447</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00448" name="l00448"></a><span class="lineno">  448</span>        <span class="keywordflow">if</span> (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> &lt; signalHistory_[0].<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)</div>
+<div class="line"><a id="l00449" name="l00449"></a><span class="lineno">  449</span>        {</div>
+<div class="line"><a id="l00450" name="l00450"></a><span class="lineno">  450</span>            <span class="keywordflow">return</span> -1;</div>
+<div class="line"><a id="l00451" name="l00451"></a><span class="lineno">  451</span>        }</div>
+<div class="line"><a id="l00452" name="l00452"></a><span class="lineno">  452</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a> &gt; signalHistory_[signalHistory_.size() - 1].t)</div>
+<div class="line"><a id="l00453" name="l00453"></a><span class="lineno">  453</span>        {</div>
+<div class="line"><a id="l00454" name="l00454"></a><span class="lineno">  454</span>            <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(signalHistory_.size());</div>
+<div class="line"><a id="l00455" name="l00455"></a><span class="lineno">  455</span>        }</div>
+<div class="line"><a id="l00456" name="l00456"></a><span class="lineno">  456</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00457" name="l00457"></a><span class="lineno">  457</span>        {</div>
+<div class="line"><a id="l00458" name="l00458"></a><span class="lineno">  458</span>            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; signalHistory_.size(); i++)</div>
+<div class="line"><a id="l00459" name="l00459"></a><span class="lineno">  459</span>            {</div>
+<div class="line"><a id="l00460" name="l00460"></a><span class="lineno">  460</span>                <span class="keywordtype">double</span> t_i   = signalHistory_[i].t;</div>
+<div class="line"><a id="l00461" name="l00461"></a><span class="lineno">  461</span>                <span class="keywordtype">double</span> t_ip1 = tAtIdx(i + 1);</div>
+<div class="line"><a id="l00462" name="l00462"></a><span class="lineno">  462</span>                <span class="keywordflow">if</span> (t_i &lt;= t &amp;&amp; t_ip1 &gt; <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>)</div>
+<div class="line"><a id="l00463" name="l00463"></a><span class="lineno">  463</span>                {</div>
+<div class="line"><a id="l00464" name="l00464"></a><span class="lineno">  464</span>                    <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(i);</div>
+<div class="line"><a id="l00465" name="l00465"></a><span class="lineno">  465</span>                }</div>
+<div class="line"><a id="l00466" name="l00466"></a><span class="lineno">  466</span>            }</div>
+<div class="line"><a id="l00467" name="l00467"></a><span class="lineno">  467</span>            <span class="keywordflow">return</span> -1;</div>
+<div class="line"><a id="l00468" name="l00468"></a><span class="lineno">  468</span>        }</div>
+<div class="line"><a id="l00469" name="l00469"></a><span class="lineno">  469</span>    }</div>
+<div class="line"><a id="l00470" name="l00470"></a><span class="lineno">  470</span> </div>
+<div class="line"><a id="l00471" name="l00471"></a><span class="lineno">  471</span>    <span class="keywordtype">double</span> tAtIdx(<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; idx)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00472" name="l00472"></a><span class="lineno">  472</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00473" name="l00473"></a><span class="lineno">  473</span>        <span class="keywordflow">if</span> (idx &lt; 0)</div>
+<div class="line"><a id="l00474" name="l00474"></a><span class="lineno">  474</span>        {</div>
+<div class="line"><a id="l00475" name="l00475"></a><span class="lineno">  475</span>            <span class="keywordflow">return</span> signalHistory_[0].t + <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(idx);</div>
+<div class="line"><a id="l00476" name="l00476"></a><span class="lineno">  476</span>        }</div>
+<div class="line"><a id="l00477" name="l00477"></a><span class="lineno">  477</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (idx &gt;= signalHistory_.size())</div>
+<div class="line"><a id="l00478" name="l00478"></a><span class="lineno">  478</span>        {</div>
+<div class="line"><a id="l00479" name="l00479"></a><span class="lineno">  479</span>            <span class="keywordflow">return</span> signalHistory_[signalHistory_.size() - 1].t +</div>
+<div class="line"><a id="l00480" name="l00480"></a><span class="lineno">  480</span>                   <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(idx - <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(signalHistory_.size() - 1));</div>
+<div class="line"><a id="l00481" name="l00481"></a><span class="lineno">  481</span>        }</div>
+<div class="line"><a id="l00482" name="l00482"></a><span class="lineno">  482</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00483" name="l00483"></a><span class="lineno">  483</span>        {</div>
+<div class="line"><a id="l00484" name="l00484"></a><span class="lineno">  484</span>            <span class="keywordflow">return</span> signalHistory_[idx].t;</div>
+<div class="line"><a id="l00485" name="l00485"></a><span class="lineno">  485</span>        }</div>
+<div class="line"><a id="l00486" name="l00486"></a><span class="lineno">  486</span>    }</div>
+<div class="line"><a id="l00487" name="l00487"></a><span class="lineno">  487</span> </div>
+<div class="line"><a id="l00488" name="l00488"></a><span class="lineno">  488</span>    <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> xAtIdx(<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; idx)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00489" name="l00489"></a><span class="lineno">  489</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00490" name="l00490"></a><span class="lineno">  490</span>        <span class="keywordflow">if</span> (idx &lt; 0)</div>
+<div class="line"><a id="l00491" name="l00491"></a><span class="lineno">  491</span>        {</div>
+<div class="line"><a id="l00492" name="l00492"></a><span class="lineno">  492</span>            <span class="keywordflow">return</span> signalHistory_[0].x;</div>
+<div class="line"><a id="l00493" name="l00493"></a><span class="lineno">  493</span>        }</div>
+<div class="line"><a id="l00494" name="l00494"></a><span class="lineno">  494</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (idx &gt;= signalHistory_.size())</div>
+<div class="line"><a id="l00495" name="l00495"></a><span class="lineno">  495</span>        {</div>
+<div class="line"><a id="l00496" name="l00496"></a><span class="lineno">  496</span>            <span class="keywordflow">return</span> signalHistory_[signalHistory_.size() - 1].x;</div>
+<div class="line"><a id="l00497" name="l00497"></a><span class="lineno">  497</span>        }</div>
+<div class="line"><a id="l00498" name="l00498"></a><span class="lineno">  498</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00499" name="l00499"></a><span class="lineno">  499</span>        {</div>
+<div class="line"><a id="l00500" name="l00500"></a><span class="lineno">  500</span>            <span class="keywordflow">return</span> signalHistory_[idx].x;</div>
+<div class="line"><a id="l00501" name="l00501"></a><span class="lineno">  501</span>        }</div>
+<div class="line"><a id="l00502" name="l00502"></a><span class="lineno">  502</span>    }</div>
+<div class="line"><a id="l00503" name="l00503"></a><span class="lineno">  503</span> </div>
+<div class="line"><a id="l00504" name="l00504"></a><span class="lineno">  504</span>    <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> xDotAtIdx(<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; idx)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00505" name="l00505"></a><span class="lineno">  505</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00506" name="l00506"></a><span class="lineno">  506</span>        <span class="keywordflow">if</span> (idx &lt; 0)</div>
+<div class="line"><a id="l00507" name="l00507"></a><span class="lineno">  507</span>        {</div>
+<div class="line"><a id="l00508" name="l00508"></a><span class="lineno">  508</span>            <span class="keywordflow">return</span> signalHistory_[0].xdot;</div>
+<div class="line"><a id="l00509" name="l00509"></a><span class="lineno">  509</span>        }</div>
+<div class="line"><a id="l00510" name="l00510"></a><span class="lineno">  510</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (idx &gt;= signalHistory_.size())</div>
+<div class="line"><a id="l00511" name="l00511"></a><span class="lineno">  511</span>        {</div>
+<div class="line"><a id="l00512" name="l00512"></a><span class="lineno">  512</span>            <span class="keywordflow">return</span> signalHistory_[signalHistory_.size() - 1].xdot;</div>
+<div class="line"><a id="l00513" name="l00513"></a><span class="lineno">  513</span>        }</div>
+<div class="line"><a id="l00514" name="l00514"></a><span class="lineno">  514</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00515" name="l00515"></a><span class="lineno">  515</span>        {</div>
+<div class="line"><a id="l00516" name="l00516"></a><span class="lineno">  516</span>            <span class="keywordflow">return</span> signalHistory_[idx].xdot;</div>
+<div class="line"><a id="l00517" name="l00517"></a><span class="lineno">  517</span>        }</div>
+<div class="line"><a id="l00518" name="l00518"></a><span class="lineno">  518</span>    }</div>
+<div class="line"><a id="l00519" name="l00519"></a><span class="lineno">  519</span> </div>
+<div class="line"><a id="l00520" name="l00520"></a><span class="lineno">  520</span>    <span class="comment">// Implementation note: should always be followed by a call to update()</span></div>
+<div class="line"><a id="l00521" name="l00521"></a><span class="lineno">  521</span>    <span class="keywordtype">bool</span> calculateDerivative(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; _t, <span class="keyword">const</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>&amp; _x, <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a>&amp; _xdot)</div>
+<div class="line"><a id="l00522" name="l00522"></a><span class="lineno">  522</span>    {</div>
+<div class="line"><a id="l00523" name="l00523"></a><span class="lineno">  523</span>        <span class="keyword">const</span> <span class="keyword">static</span> <span class="keywordtype">double</span> sigma = 0.05;</div>
+<div class="line"><a id="l00524" name="l00524"></a><span class="lineno">  524</span>        <span class="keywordflow">if</span> (_t &lt;= t_)</div>
+<div class="line"><a id="l00525" name="l00525"></a><span class="lineno">  525</span>        {</div>
+<div class="line"><a id="l00526" name="l00526"></a><span class="lineno">  526</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00527" name="l00527"></a><span class="lineno">  527</span>        }</div>
+<div class="line"><a id="l00528" name="l00528"></a><span class="lineno">  528</span>        <span class="keywordflow">if</span> (t_ &gt;= 0)</div>
+<div class="line"><a id="l00529" name="l00529"></a><span class="lineno">  529</span>        {</div>
+<div class="line"><a id="l00530" name="l00530"></a><span class="lineno">  530</span>            <span class="keyword">const</span> <span class="keywordtype">double</span>      dt = _t - t_;</div>
+<div class="line"><a id="l00531" name="l00531"></a><span class="lineno">  531</span>            <span class="keyword">const</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">TangentType</a> dx = _x - x_;</div>
+<div class="line"><a id="l00532" name="l00532"></a><span class="lineno">  532</span>            <span class="keywordflow">switch</span> (<a class="code hl_variable" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a>)</div>
+<div class="line"><a id="l00533" name="l00533"></a><span class="lineno">  533</span>            {</div>
+<div class="line"><a id="l00534" name="l00534"></a><span class="lineno">  534</span>            <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c">DerivativeMethod::DIRTY</a>:</div>
+<div class="line"><a id="l00535" name="l00535"></a><span class="lineno">  535</span>                _xdot = (2. * sigma - dt) / (2. * sigma + dt) * xdot_ + 2. / (2. * sigma + dt) * dx;</div>
 <div class="line"><a id="l00536" name="l00536"></a><span class="lineno">  536</span>                <span class="keywordflow">break</span>;</div>
-<div class="line"><a id="l00537" name="l00537"></a><span class="lineno">  537</span>            }</div>
-<div class="line"><a id="l00538" name="l00538"></a><span class="lineno">  538</span>        }</div>
-<div class="line"><a id="l00539" name="l00539"></a><span class="lineno">  539</span>        <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00540" name="l00540"></a><span class="lineno">  540</span>        {</div>
-<div class="line"><a id="l00541" name="l00541"></a><span class="lineno">  541</span>            _xdot = TangentSignalSpec::ZeroType();</div>
-<div class="line"><a id="l00542" name="l00542"></a><span class="lineno">  542</span>        }</div>
-<div class="line"><a id="l00543" name="l00543"></a><span class="lineno">  543</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00544" name="l00544"></a><span class="lineno">  544</span>    }</div>
-<div class="line"><a id="l00545" name="l00545"></a><span class="lineno">  545</span>};</div>
-</div>
-<div class="line"><a id="l00546" name="l00546"></a><span class="lineno">  546</span> </div>
-<div class="line"><a id="l00547" name="l00547"></a><span class="lineno">  547</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
-<div class="foldopen" id="foldopen00548" data-start="{" data-end="}">
-<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"><a class="line" href="Signal_8h.html#aa4dc7aa056ee91a7dc4ec540b6bc9cd3">  548</a></span><a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a> <a class="code hl_function" href="Signal_8h.html#aa4dc7aa056ee91a7dc4ec540b6bc9cd3">operator+</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp;    l,</div>
-<div class="line"><a id="l00549" name="l00549"></a><span class="lineno">  549</span>                                                    <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a>&amp; r)</div>
-<div class="line"><a id="l00550" name="l00550"></a><span class="lineno">  550</span>{</div>
-<div class="line"><a id="l00551" name="l00551"></a><span class="lineno">  551</span>    <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a> lpr = l;</div>
-<div class="line"><a id="l00552" name="l00552"></a><span class="lineno">  552</span>    lpr.x_ += r(l.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>());</div>
-<div class="line"><a id="l00553" name="l00553"></a><span class="lineno">  553</span>    lpr.xdot_ += r.<a class="code hl_function" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>(l.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>());</div>
-<div class="line"><a id="l00554" name="l00554"></a><span class="lineno">  554</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; signalDP : lpr.signalHistory_)</div>
-<div class="line"><a id="l00555" name="l00555"></a><span class="lineno">  555</span>    {</div>
-<div class="line"><a id="l00556" name="l00556"></a><span class="lineno">  556</span>        signalDP.x += r(signalDP.t);</div>
-<div class="line"><a id="l00557" name="l00557"></a><span class="lineno">  557</span>        signalDP.xdot += r.<a class="code hl_function" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>(signalDP.t);</div>
-<div class="line"><a id="l00558" name="l00558"></a><span class="lineno">  558</span>    }</div>
-<div class="line"><a id="l00559" name="l00559"></a><span class="lineno">  559</span>    <span class="keywordflow">return</span> lpr;</div>
-<div class="line"><a id="l00560" name="l00560"></a><span class="lineno">  560</span>}</div>
-</div>
-<div class="line"><a id="l00561" name="l00561"></a><span class="lineno">  561</span> </div>
-<div class="line"><a id="l00562" name="l00562"></a><span class="lineno">  562</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
-<div class="foldopen" id="foldopen00563" data-start="{" data-end="}">
-<div class="line"><a id="l00563" name="l00563"></a><span class="lineno"><a class="line" href="Signal_8h.html#afd611b1d0ab8c1f43be72184926ec8ac">  563</a></span><a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a> <a class="code hl_function" href="Signal_8h.html#afd611b1d0ab8c1f43be72184926ec8ac">operator-</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp; l,</div>
-<div class="line"><a id="l00564" name="l00564"></a><span class="lineno">  564</span>                                                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp; r)</div>
-<div class="line"><a id="l00565" name="l00565"></a><span class="lineno">  565</span>{</div>
-<div class="line"><a id="l00566" name="l00566"></a><span class="lineno">  566</span>    <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a> lmr;</div>
-<div class="line"><a id="l00567" name="l00567"></a><span class="lineno">  567</span>    lmr.<a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a> = l.<a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a>;</div>
-<div class="line"><a id="l00568" name="l00568"></a><span class="lineno">  568</span>    lmr.<a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a> = l.<a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a>;</div>
-<div class="line"><a id="l00569" name="l00569"></a><span class="lineno">  569</span>    lmr.<a class="code hl_variable" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a>    = l.<a class="code hl_variable" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a>;</div>
-<div class="line"><a id="l00570" name="l00570"></a><span class="lineno">  570</span>    lmr.needsSort_          = l.needsSort_;</div>
-<div class="line"><a id="l00571" name="l00571"></a><span class="lineno">  571</span>    lmr.t_                  = l.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>();</div>
-<div class="line"><a id="l00572" name="l00572"></a><span class="lineno">  572</span>    lmr.x_                  = l() - r(l.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>());</div>
-<div class="line"><a id="l00573" name="l00573"></a><span class="lineno">  573</span>    lmr.xdot_               = l.<a class="code hl_function" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>() - r.<a class="code hl_function" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>(l.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>());</div>
-<div class="line"><a id="l00574" name="l00574"></a><span class="lineno">  574</span>    std::vector&lt;double&gt;                           tHistory;</div>
-<div class="line"><a id="l00575" name="l00575"></a><span class="lineno">  575</span>    std::vector&lt;typename TangentSignalSpec::Type&gt; xHistory;</div>
-<div class="line"><a id="l00576" name="l00576"></a><span class="lineno">  576</span>    std::vector&lt;typename TangentSignalSpec::Type&gt; xdotHistory;</div>
-<div class="line"><a id="l00577" name="l00577"></a><span class="lineno">  577</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; signalDP : l.signalHistory_)</div>
-<div class="line"><a id="l00578" name="l00578"></a><span class="lineno">  578</span>    {</div>
-<div class="line"><a id="l00579" name="l00579"></a><span class="lineno">  579</span>        tHistory.push_back(signalDP.t);</div>
-<div class="line"><a id="l00580" name="l00580"></a><span class="lineno">  580</span>        xHistory.push_back(signalDP.x - r(signalDP.t));</div>
-<div class="line"><a id="l00581" name="l00581"></a><span class="lineno">  581</span>        xdotHistory.push_back(signalDP.xdot - r.<a class="code hl_function" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>(signalDP.t));</div>
-<div class="line"><a id="l00582" name="l00582"></a><span class="lineno">  582</span>    }</div>
-<div class="line"><a id="l00583" name="l00583"></a><span class="lineno">  583</span>    lmr.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tHistory, xHistory, xdotHistory);</div>
-<div class="line"><a id="l00584" name="l00584"></a><span class="lineno">  584</span>    <span class="keywordflow">return</span> lmr;</div>
-<div class="line"><a id="l00585" name="l00585"></a><span class="lineno">  585</span>}</div>
-</div>
-<div class="line"><a id="l00586" name="l00586"></a><span class="lineno">  586</span> </div>
-<div class="line"><a id="l00587" name="l00587"></a><span class="lineno">  587</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
-<div class="foldopen" id="foldopen00588" data-start="{" data-end="}">
-<div class="line"><a id="l00588" name="l00588"></a><span class="lineno"><a class="line" href="Signal_8h.html#ad77fa5fab1a3e9a6ca4d7e87364003b9">  588</a></span><a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a> <a class="code hl_function" href="Signal_8h.html#ad77fa5fab1a3e9a6ca4d7e87364003b9">operator*</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; l, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp; r)</div>
-<div class="line"><a id="l00589" name="l00589"></a><span class="lineno">  589</span>{</div>
-<div class="line"><a id="l00590" name="l00590"></a><span class="lineno">  590</span>    <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a> lr = r;</div>
-<div class="line"><a id="l00591" name="l00591"></a><span class="lineno">  591</span>    lr.x_ *= l;</div>
-<div class="line"><a id="l00592" name="l00592"></a><span class="lineno">  592</span>    lr.xdot_ *= l;</div>
-<div class="line"><a id="l00593" name="l00593"></a><span class="lineno">  593</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; signalDP : lr.signalHistory_)</div>
-<div class="line"><a id="l00594" name="l00594"></a><span class="lineno">  594</span>    {</div>
-<div class="line"><a id="l00595" name="l00595"></a><span class="lineno">  595</span>        signalDP.x *= l;</div>
-<div class="line"><a id="l00596" name="l00596"></a><span class="lineno">  596</span>        signalDP.xdot *= l;</div>
-<div class="line"><a id="l00597" name="l00597"></a><span class="lineno">  597</span>    }</div>
-<div class="line"><a id="l00598" name="l00598"></a><span class="lineno">  598</span>    <span class="keywordflow">return</span> lr;</div>
-<div class="line"><a id="l00599" name="l00599"></a><span class="lineno">  599</span>}</div>
-</div>
-<div class="line"><a id="l00600" name="l00600"></a><span class="lineno">  600</span> </div>
-<div class="line"><a id="l00601" name="l00601"></a><span class="lineno">  601</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
-<div class="foldopen" id="foldopen00602" data-start="{" data-end="}">
-<div class="line"><a id="l00602" name="l00602"></a><span class="lineno"><a class="line" href="Signal_8h.html#ae0b0bee5051aeec3c9cff9fd148d8cb5">  602</a></span><a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a> <a class="code hl_function" href="Signal_8h.html#ad77fa5fab1a3e9a6ca4d7e87364003b9">operator*</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
-<div class="line"><a id="l00603" name="l00603"></a><span class="lineno">  603</span>{</div>
-<div class="line"><a id="l00604" name="l00604"></a><span class="lineno">  604</span>    <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a> lr = l;</div>
-<div class="line"><a id="l00605" name="l00605"></a><span class="lineno">  605</span>    lr.x_ *= r;</div>
-<div class="line"><a id="l00606" name="l00606"></a><span class="lineno">  606</span>    lr.xdot_ *= r;</div>
-<div class="line"><a id="l00607" name="l00607"></a><span class="lineno">  607</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; signalDP : lr.signalHistory_)</div>
-<div class="line"><a id="l00608" name="l00608"></a><span class="lineno">  608</span>    {</div>
-<div class="line"><a id="l00609" name="l00609"></a><span class="lineno">  609</span>        signalDP.x *= r;</div>
-<div class="line"><a id="l00610" name="l00610"></a><span class="lineno">  610</span>        signalDP.xdot *= r;</div>
-<div class="line"><a id="l00611" name="l00611"></a><span class="lineno">  611</span>    }</div>
-<div class="line"><a id="l00612" name="l00612"></a><span class="lineno">  612</span>    <span class="keywordflow">return</span> lr;</div>
-<div class="line"><a id="l00613" name="l00613"></a><span class="lineno">  613</span>}</div>
-</div>
-<div class="line"><a id="l00614" name="l00614"></a><span class="lineno">  614</span> </div>
-<div class="line"><a id="l00615" name="l00615"></a><span class="lineno">  615</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="foldopen" id="foldopen00616" data-start="{" data-end="};">
-<div class="line"><a id="l00616" name="l00616"></a><span class="lineno"><a class="line" href="structScalarSignalSpec.html">  616</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structScalarSignalSpec.html">ScalarSignalSpec</a></div>
-<div class="line"><a id="l00617" name="l00617"></a><span class="lineno">  617</span>{</div>
-<div class="line"><a id="l00618" name="l00618"></a><span class="lineno"><a class="line" href="structScalarSignalSpec.html#a4a319643aeb76b94214f8b41d64d5402">  618</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structScalarSignalSpec.html#a4a319643aeb76b94214f8b41d64d5402">Type</a> = T;</div>
-<div class="foldopen" id="foldopen00619" data-start="{" data-end="}">
-<div class="line"><a id="l00619" name="l00619"></a><span class="lineno"><a class="line" href="structScalarSignalSpec.html#a941ad7ca4c5943d3b2244e1126d1febf">  619</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structScalarSignalSpec.html#a4a319643aeb76b94214f8b41d64d5402">Type</a> <a class="code hl_function" href="structScalarSignalSpec.html#a941ad7ca4c5943d3b2244e1126d1febf">ZeroType</a>()</div>
-<div class="line"><a id="l00620" name="l00620"></a><span class="lineno">  620</span>    {</div>
-<div class="line"><a id="l00621" name="l00621"></a><span class="lineno">  621</span>        <span class="keywordflow">return</span> (T)0.0;</div>
-<div class="line"><a id="l00622" name="l00622"></a><span class="lineno">  622</span>    }</div>
-</div>
-<div class="foldopen" id="foldopen00623" data-start="{" data-end="}">
-<div class="line"><a id="l00623" name="l00623"></a><span class="lineno"><a class="line" href="structScalarSignalSpec.html#a040a016b3023c9df47a913599e9af1e2">  623</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structScalarSignalSpec.html#a4a319643aeb76b94214f8b41d64d5402">Type</a> <a class="code hl_function" href="structScalarSignalSpec.html#a040a016b3023c9df47a913599e9af1e2">NansType</a>()</div>
-<div class="line"><a id="l00624" name="l00624"></a><span class="lineno">  624</span>    {</div>
-<div class="line"><a id="l00625" name="l00625"></a><span class="lineno">  625</span>        <span class="keywordflow">return</span> (T)1. / 0.;</div>
-<div class="line"><a id="l00626" name="l00626"></a><span class="lineno">  626</span>    }</div>
-</div>
-<div class="line"><a id="l00627" name="l00627"></a><span class="lineno">  627</span>};</div>
-</div>
-<div class="line"><a id="l00628" name="l00628"></a><span class="lineno">  628</span> </div>
-<div class="line"><a id="l00629" name="l00629"></a><span class="lineno">  629</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
-<div class="foldopen" id="foldopen00630" data-start="{" data-end="};">
-<div class="line"><a id="l00630" name="l00630"></a><span class="lineno"><a class="line" href="structVectorSignalSpec.html">  630</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec</a></div>
-<div class="line"><a id="l00631" name="l00631"></a><span class="lineno">  631</span>{</div>
-<div class="line"><a id="l00632" name="l00632"></a><span class="lineno"><a class="line" href="structVectorSignalSpec.html#ac21d15d01635665373eaf23b62f3d440">  632</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structVectorSignalSpec.html#ac21d15d01635665373eaf23b62f3d440">Type</a> = Matrix&lt;T, d, 1&gt;;</div>
-<div class="foldopen" id="foldopen00633" data-start="{" data-end="}">
-<div class="line"><a id="l00633" name="l00633"></a><span class="lineno"><a class="line" href="structVectorSignalSpec.html#a4c535f5d5b25faa7148f8719d74693fd">  633</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structVectorSignalSpec.html#ac21d15d01635665373eaf23b62f3d440">Type</a> <a class="code hl_function" href="structVectorSignalSpec.html#a4c535f5d5b25faa7148f8719d74693fd">ZeroType</a>()</div>
-<div class="line"><a id="l00634" name="l00634"></a><span class="lineno">  634</span>    {</div>
-<div class="line"><a id="l00635" name="l00635"></a><span class="lineno">  635</span>        <span class="keywordflow">return</span> Type::Zero();</div>
-<div class="line"><a id="l00636" name="l00636"></a><span class="lineno">  636</span>    }</div>
-</div>
-<div class="foldopen" id="foldopen00637" data-start="{" data-end="}">
-<div class="line"><a id="l00637" name="l00637"></a><span class="lineno"><a class="line" href="structVectorSignalSpec.html#a3a25051bf64d2677fc511bd026b7f6a2">  637</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structVectorSignalSpec.html#ac21d15d01635665373eaf23b62f3d440">Type</a> <a class="code hl_function" href="structVectorSignalSpec.html#a3a25051bf64d2677fc511bd026b7f6a2">NansType</a>()</div>
-<div class="line"><a id="l00638" name="l00638"></a><span class="lineno">  638</span>    {</div>
-<div class="line"><a id="l00639" name="l00639"></a><span class="lineno">  639</span>        <span class="keywordflow">return</span> Type::Constant(std::numeric_limits&lt;T&gt;::quiet_NaN());</div>
-<div class="line"><a id="l00640" name="l00640"></a><span class="lineno">  640</span>    }</div>
-</div>
-<div class="line"><a id="l00641" name="l00641"></a><span class="lineno">  641</span>};</div>
-</div>
-<div class="line"><a id="l00642" name="l00642"></a><span class="lineno">  642</span> </div>
-<div class="line"><a id="l00643" name="l00643"></a><span class="lineno">  643</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> ManifoldType&gt;</div>
-<div class="foldopen" id="foldopen00644" data-start="{" data-end="};">
-<div class="line"><a id="l00644" name="l00644"></a><span class="lineno"><a class="line" href="structManifoldSignalSpec.html">  644</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structManifoldSignalSpec.html">ManifoldSignalSpec</a></div>
-<div class="line"><a id="l00645" name="l00645"></a><span class="lineno">  645</span>{</div>
-<div class="line"><a id="l00646" name="l00646"></a><span class="lineno"><a class="line" href="structManifoldSignalSpec.html#ae6292debacd46f629429d03cf7e9a342">  646</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structManifoldSignalSpec.html#ae6292debacd46f629429d03cf7e9a342">Type</a> = ManifoldType;</div>
-<div class="foldopen" id="foldopen00647" data-start="{" data-end="}">
-<div class="line"><a id="l00647" name="l00647"></a><span class="lineno"><a class="line" href="structManifoldSignalSpec.html#a445c0d7b5e23264b3a08b881f3c68a72">  647</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structManifoldSignalSpec.html#ae6292debacd46f629429d03cf7e9a342">Type</a> <a class="code hl_function" href="structManifoldSignalSpec.html#a445c0d7b5e23264b3a08b881f3c68a72">ZeroType</a>()</div>
-<div class="line"><a id="l00648" name="l00648"></a><span class="lineno">  648</span>    {</div>
-<div class="line"><a id="l00649" name="l00649"></a><span class="lineno">  649</span>        <span class="keywordflow">return</span> Type::identity();</div>
-<div class="line"><a id="l00650" name="l00650"></a><span class="lineno">  650</span>    }</div>
-</div>
-<div class="foldopen" id="foldopen00651" data-start="{" data-end="}">
-<div class="line"><a id="l00651" name="l00651"></a><span class="lineno"><a class="line" href="structManifoldSignalSpec.html#a8131da54a75205e3f61547afee1ccfcc">  651</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structManifoldSignalSpec.html#ae6292debacd46f629429d03cf7e9a342">Type</a> <a class="code hl_function" href="structManifoldSignalSpec.html#a8131da54a75205e3f61547afee1ccfcc">NansType</a>()</div>
-<div class="line"><a id="l00652" name="l00652"></a><span class="lineno">  652</span>    {</div>
-<div class="line"><a id="l00653" name="l00653"></a><span class="lineno">  653</span>        <span class="keywordflow">return</span> Type::nans();</div>
-<div class="line"><a id="l00654" name="l00654"></a><span class="lineno">  654</span>    }</div>
-</div>
-<div class="line"><a id="l00655" name="l00655"></a><span class="lineno">  655</span>};</div>
-</div>
-<div class="line"><a id="l00656" name="l00656"></a><span class="lineno">  656</span> </div>
-<div class="line"><a id="l00657" name="l00657"></a><span class="lineno">  657</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="line"><a id="l00658" name="l00658"></a><span class="lineno"><a class="line" href="Signal_8h.html#a19e9e3fdf9dac462c6fb79ee572d2b4c">  658</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">ScalarSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ScalarSignalSpec&lt;T&gt;</a>, <a class="code hl_struct" href="structScalarSignalSpec.html">ScalarSignalSpec&lt;T&gt;</a>&gt;;</div>
+<div class="line"><a id="l00537" name="l00537"></a><span class="lineno">  537</span>            <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e">DerivativeMethod::FINITE_DIFF</a>:</div>
+<div class="line"><a id="l00538" name="l00538"></a><span class="lineno">  538</span>                _xdot = dx / dt;</div>
+<div class="line"><a id="l00539" name="l00539"></a><span class="lineno">  539</span>                <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00540" name="l00540"></a><span class="lineno">  540</span>            }</div>
+<div class="line"><a id="l00541" name="l00541"></a><span class="lineno">  541</span>        }</div>
+<div class="line"><a id="l00542" name="l00542"></a><span class="lineno">  542</span>        <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00543" name="l00543"></a><span class="lineno">  543</span>        {</div>
+<div class="line"><a id="l00544" name="l00544"></a><span class="lineno">  544</span>            _xdot = TangentSignalSpec::ZeroType();</div>
+<div class="line"><a id="l00545" name="l00545"></a><span class="lineno">  545</span>        }</div>
+<div class="line"><a id="l00546" name="l00546"></a><span class="lineno">  546</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00547" name="l00547"></a><span class="lineno">  547</span>    }</div>
+<div class="line"><a id="l00548" name="l00548"></a><span class="lineno">  548</span>};</div>
+</div>
+<div class="line"><a id="l00549" name="l00549"></a><span class="lineno">  549</span> </div>
+<div class="line"><a id="l00550" name="l00550"></a><span class="lineno">  550</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
+<div class="foldopen" id="foldopen00551" data-start="{" data-end="}">
+<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"><a class="line" href="Signal_8h.html#aa4dc7aa056ee91a7dc4ec540b6bc9cd3">  551</a></span><a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a> <a class="code hl_function" href="Signal_8h.html#aa4dc7aa056ee91a7dc4ec540b6bc9cd3">operator+</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp;    l,</div>
+<div class="line"><a id="l00552" name="l00552"></a><span class="lineno">  552</span>                                                    <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a>&amp; r)</div>
+<div class="line"><a id="l00553" name="l00553"></a><span class="lineno">  553</span>{</div>
+<div class="line"><a id="l00554" name="l00554"></a><span class="lineno">  554</span>    <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a> lpr = l;</div>
+<div class="line"><a id="l00555" name="l00555"></a><span class="lineno">  555</span>    lpr.x_ += r(l.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>());</div>
+<div class="line"><a id="l00556" name="l00556"></a><span class="lineno">  556</span>    lpr.xdot_ += r.<a class="code hl_function" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>(l.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>());</div>
+<div class="line"><a id="l00557" name="l00557"></a><span class="lineno">  557</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; signalDP : lpr.signalHistory_)</div>
+<div class="line"><a id="l00558" name="l00558"></a><span class="lineno">  558</span>    {</div>
+<div class="line"><a id="l00559" name="l00559"></a><span class="lineno">  559</span>        signalDP.x += r(signalDP.t);</div>
+<div class="line"><a id="l00560" name="l00560"></a><span class="lineno">  560</span>        signalDP.xdot += r.<a class="code hl_function" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>(signalDP.t);</div>
+<div class="line"><a id="l00561" name="l00561"></a><span class="lineno">  561</span>    }</div>
+<div class="line"><a id="l00562" name="l00562"></a><span class="lineno">  562</span>    <span class="keywordflow">return</span> lpr;</div>
+<div class="line"><a id="l00563" name="l00563"></a><span class="lineno">  563</span>}</div>
+</div>
+<div class="line"><a id="l00564" name="l00564"></a><span class="lineno">  564</span> </div>
+<div class="line"><a id="l00565" name="l00565"></a><span class="lineno">  565</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
+<div class="foldopen" id="foldopen00566" data-start="{" data-end="}">
+<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"><a class="line" href="Signal_8h.html#afd611b1d0ab8c1f43be72184926ec8ac">  566</a></span><a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a> <a class="code hl_function" href="Signal_8h.html#afd611b1d0ab8c1f43be72184926ec8ac">operator-</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp; l,</div>
+<div class="line"><a id="l00567" name="l00567"></a><span class="lineno">  567</span>                                                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp; r)</div>
+<div class="line"><a id="l00568" name="l00568"></a><span class="lineno">  568</span>{</div>
+<div class="line"><a id="l00569" name="l00569"></a><span class="lineno">  569</span>    <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a> lmr;</div>
+<div class="line"><a id="l00570" name="l00570"></a><span class="lineno">  570</span>    lmr.<a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a> = l.<a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a>;</div>
+<div class="line"><a id="l00571" name="l00571"></a><span class="lineno">  571</span>    lmr.<a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a> = l.<a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a>;</div>
+<div class="line"><a id="l00572" name="l00572"></a><span class="lineno">  572</span>    lmr.<a class="code hl_variable" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a>    = l.<a class="code hl_variable" href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">derivativeMethod</a>;</div>
+<div class="line"><a id="l00573" name="l00573"></a><span class="lineno">  573</span>    lmr.needsSort_          = l.needsSort_;</div>
+<div class="line"><a id="l00574" name="l00574"></a><span class="lineno">  574</span>    lmr.t_                  = l.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>();</div>
+<div class="line"><a id="l00575" name="l00575"></a><span class="lineno">  575</span>    lmr.x_                  = l() - r(l.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>());</div>
+<div class="line"><a id="l00576" name="l00576"></a><span class="lineno">  576</span>    lmr.xdot_               = l.<a class="code hl_function" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>() - r.<a class="code hl_function" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>(l.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>());</div>
+<div class="line"><a id="l00577" name="l00577"></a><span class="lineno">  577</span>    std::vector&lt;double&gt;                           tHistory;</div>
+<div class="line"><a id="l00578" name="l00578"></a><span class="lineno">  578</span>    std::vector&lt;typename TangentSignalSpec::Type&gt; xHistory;</div>
+<div class="line"><a id="l00579" name="l00579"></a><span class="lineno">  579</span>    std::vector&lt;typename TangentSignalSpec::Type&gt; xdotHistory;</div>
+<div class="line"><a id="l00580" name="l00580"></a><span class="lineno">  580</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; signalDP : l.signalHistory_)</div>
+<div class="line"><a id="l00581" name="l00581"></a><span class="lineno">  581</span>    {</div>
+<div class="line"><a id="l00582" name="l00582"></a><span class="lineno">  582</span>        tHistory.push_back(signalDP.t);</div>
+<div class="line"><a id="l00583" name="l00583"></a><span class="lineno">  583</span>        xHistory.push_back(signalDP.x - r(signalDP.t));</div>
+<div class="line"><a id="l00584" name="l00584"></a><span class="lineno">  584</span>        xdotHistory.push_back(signalDP.xdot - r.<a class="code hl_function" href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">dot</a>(signalDP.t));</div>
+<div class="line"><a id="l00585" name="l00585"></a><span class="lineno">  585</span>    }</div>
+<div class="line"><a id="l00586" name="l00586"></a><span class="lineno">  586</span>    lmr.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tHistory, xHistory, xdotHistory);</div>
+<div class="line"><a id="l00587" name="l00587"></a><span class="lineno">  587</span>    <span class="keywordflow">return</span> lmr;</div>
+<div class="line"><a id="l00588" name="l00588"></a><span class="lineno">  588</span>}</div>
+</div>
+<div class="line"><a id="l00589" name="l00589"></a><span class="lineno">  589</span> </div>
+<div class="line"><a id="l00590" name="l00590"></a><span class="lineno">  590</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
+<div class="foldopen" id="foldopen00591" data-start="{" data-end="}">
+<div class="line"><a id="l00591" name="l00591"></a><span class="lineno"><a class="line" href="Signal_8h.html#ad77fa5fab1a3e9a6ca4d7e87364003b9">  591</a></span><a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a> <a class="code hl_function" href="Signal_8h.html#ad77fa5fab1a3e9a6ca4d7e87364003b9">operator*</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; l, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp; r)</div>
+<div class="line"><a id="l00592" name="l00592"></a><span class="lineno">  592</span>{</div>
+<div class="line"><a id="l00593" name="l00593"></a><span class="lineno">  593</span>    <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a> lr = r;</div>
+<div class="line"><a id="l00594" name="l00594"></a><span class="lineno">  594</span>    lr.x_ *= l;</div>
+<div class="line"><a id="l00595" name="l00595"></a><span class="lineno">  595</span>    lr.xdot_ *= l;</div>
+<div class="line"><a id="l00596" name="l00596"></a><span class="lineno">  596</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; signalDP : lr.signalHistory_)</div>
+<div class="line"><a id="l00597" name="l00597"></a><span class="lineno">  597</span>    {</div>
+<div class="line"><a id="l00598" name="l00598"></a><span class="lineno">  598</span>        signalDP.x *= l;</div>
+<div class="line"><a id="l00599" name="l00599"></a><span class="lineno">  599</span>        signalDP.xdot *= l;</div>
+<div class="line"><a id="l00600" name="l00600"></a><span class="lineno">  600</span>    }</div>
+<div class="line"><a id="l00601" name="l00601"></a><span class="lineno">  601</span>    <span class="keywordflow">return</span> lr;</div>
+<div class="line"><a id="l00602" name="l00602"></a><span class="lineno">  602</span>}</div>
+</div>
+<div class="line"><a id="l00603" name="l00603"></a><span class="lineno">  603</span> </div>
+<div class="line"><a id="l00604" name="l00604"></a><span class="lineno">  604</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
+<div class="foldopen" id="foldopen00605" data-start="{" data-end="}">
+<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"><a class="line" href="Signal_8h.html#ae0b0bee5051aeec3c9cff9fd148d8cb5">  605</a></span><a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a> <a class="code hl_function" href="Signal_8h.html#ad77fa5fab1a3e9a6ca4d7e87364003b9">operator*</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
+<div class="line"><a id="l00606" name="l00606"></a><span class="lineno">  606</span>{</div>
+<div class="line"><a id="l00607" name="l00607"></a><span class="lineno">  607</span>    <a class="code hl_class" href="classSignal.html">Signal&lt;BaseSignalSpec, TangentSignalSpec&gt;</a> lr = l;</div>
+<div class="line"><a id="l00608" name="l00608"></a><span class="lineno">  608</span>    lr.x_ *= r;</div>
+<div class="line"><a id="l00609" name="l00609"></a><span class="lineno">  609</span>    lr.xdot_ *= r;</div>
+<div class="line"><a id="l00610" name="l00610"></a><span class="lineno">  610</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; signalDP : lr.signalHistory_)</div>
+<div class="line"><a id="l00611" name="l00611"></a><span class="lineno">  611</span>    {</div>
+<div class="line"><a id="l00612" name="l00612"></a><span class="lineno">  612</span>        signalDP.x *= r;</div>
+<div class="line"><a id="l00613" name="l00613"></a><span class="lineno">  613</span>        signalDP.xdot *= r;</div>
+<div class="line"><a id="l00614" name="l00614"></a><span class="lineno">  614</span>    }</div>
+<div class="line"><a id="l00615" name="l00615"></a><span class="lineno">  615</span>    <span class="keywordflow">return</span> lr;</div>
+<div class="line"><a id="l00616" name="l00616"></a><span class="lineno">  616</span>}</div>
+</div>
+<div class="line"><a id="l00617" name="l00617"></a><span class="lineno">  617</span> </div>
+<div class="line"><a id="l00618" name="l00618"></a><span class="lineno">  618</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00619" data-start="{" data-end="};">
+<div class="line"><a id="l00619" name="l00619"></a><span class="lineno"><a class="line" href="structScalarSignalSpec.html">  619</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structScalarSignalSpec.html">ScalarSignalSpec</a></div>
+<div class="line"><a id="l00620" name="l00620"></a><span class="lineno">  620</span>{</div>
+<div class="line"><a id="l00621" name="l00621"></a><span class="lineno"><a class="line" href="structScalarSignalSpec.html#a4a319643aeb76b94214f8b41d64d5402">  621</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structScalarSignalSpec.html#a4a319643aeb76b94214f8b41d64d5402">Type</a> = T;</div>
+<div class="foldopen" id="foldopen00622" data-start="{" data-end="}">
+<div class="line"><a id="l00622" name="l00622"></a><span class="lineno"><a class="line" href="structScalarSignalSpec.html#a941ad7ca4c5943d3b2244e1126d1febf">  622</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structScalarSignalSpec.html#a4a319643aeb76b94214f8b41d64d5402">Type</a> <a class="code hl_function" href="structScalarSignalSpec.html#a941ad7ca4c5943d3b2244e1126d1febf">ZeroType</a>()</div>
+<div class="line"><a id="l00623" name="l00623"></a><span class="lineno">  623</span>    {</div>
+<div class="line"><a id="l00624" name="l00624"></a><span class="lineno">  624</span>        <span class="keywordflow">return</span> (T)0.0;</div>
+<div class="line"><a id="l00625" name="l00625"></a><span class="lineno">  625</span>    }</div>
+</div>
+<div class="foldopen" id="foldopen00626" data-start="{" data-end="}">
+<div class="line"><a id="l00626" name="l00626"></a><span class="lineno"><a class="line" href="structScalarSignalSpec.html#a040a016b3023c9df47a913599e9af1e2">  626</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structScalarSignalSpec.html#a4a319643aeb76b94214f8b41d64d5402">Type</a> <a class="code hl_function" href="structScalarSignalSpec.html#a040a016b3023c9df47a913599e9af1e2">NansType</a>()</div>
+<div class="line"><a id="l00627" name="l00627"></a><span class="lineno">  627</span>    {</div>
+<div class="line"><a id="l00628" name="l00628"></a><span class="lineno">  628</span>        <span class="keywordflow">return</span> (T)1. / 0.;</div>
+<div class="line"><a id="l00629" name="l00629"></a><span class="lineno">  629</span>    }</div>
+</div>
+<div class="line"><a id="l00630" name="l00630"></a><span class="lineno">  630</span>};</div>
+</div>
+<div class="line"><a id="l00631" name="l00631"></a><span class="lineno">  631</span> </div>
+<div class="line"><a id="l00632" name="l00632"></a><span class="lineno">  632</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="foldopen" id="foldopen00633" data-start="{" data-end="};">
+<div class="line"><a id="l00633" name="l00633"></a><span class="lineno"><a class="line" href="structVectorSignalSpec.html">  633</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec</a></div>
+<div class="line"><a id="l00634" name="l00634"></a><span class="lineno">  634</span>{</div>
+<div class="line"><a id="l00635" name="l00635"></a><span class="lineno"><a class="line" href="structVectorSignalSpec.html#ac21d15d01635665373eaf23b62f3d440">  635</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structVectorSignalSpec.html#ac21d15d01635665373eaf23b62f3d440">Type</a> = Matrix&lt;T, d, 1&gt;;</div>
+<div class="foldopen" id="foldopen00636" data-start="{" data-end="}">
+<div class="line"><a id="l00636" name="l00636"></a><span class="lineno"><a class="line" href="structVectorSignalSpec.html#a4c535f5d5b25faa7148f8719d74693fd">  636</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structVectorSignalSpec.html#ac21d15d01635665373eaf23b62f3d440">Type</a> <a class="code hl_function" href="structVectorSignalSpec.html#a4c535f5d5b25faa7148f8719d74693fd">ZeroType</a>()</div>
+<div class="line"><a id="l00637" name="l00637"></a><span class="lineno">  637</span>    {</div>
+<div class="line"><a id="l00638" name="l00638"></a><span class="lineno">  638</span>        <span class="keywordflow">return</span> Type::Zero();</div>
+<div class="line"><a id="l00639" name="l00639"></a><span class="lineno">  639</span>    }</div>
+</div>
+<div class="foldopen" id="foldopen00640" data-start="{" data-end="}">
+<div class="line"><a id="l00640" name="l00640"></a><span class="lineno"><a class="line" href="structVectorSignalSpec.html#a3a25051bf64d2677fc511bd026b7f6a2">  640</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structVectorSignalSpec.html#ac21d15d01635665373eaf23b62f3d440">Type</a> <a class="code hl_function" href="structVectorSignalSpec.html#a3a25051bf64d2677fc511bd026b7f6a2">NansType</a>()</div>
+<div class="line"><a id="l00641" name="l00641"></a><span class="lineno">  641</span>    {</div>
+<div class="line"><a id="l00642" name="l00642"></a><span class="lineno">  642</span>        <span class="keywordflow">return</span> Type::Constant(std::numeric_limits&lt;T&gt;::quiet_NaN());</div>
+<div class="line"><a id="l00643" name="l00643"></a><span class="lineno">  643</span>    }</div>
+</div>
+<div class="line"><a id="l00644" name="l00644"></a><span class="lineno">  644</span>};</div>
+</div>
+<div class="line"><a id="l00645" name="l00645"></a><span class="lineno">  645</span> </div>
+<div class="line"><a id="l00646" name="l00646"></a><span class="lineno">  646</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> ManifoldType&gt;</div>
+<div class="foldopen" id="foldopen00647" data-start="{" data-end="};">
+<div class="line"><a id="l00647" name="l00647"></a><span class="lineno"><a class="line" href="structManifoldSignalSpec.html">  647</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structManifoldSignalSpec.html">ManifoldSignalSpec</a></div>
+<div class="line"><a id="l00648" name="l00648"></a><span class="lineno">  648</span>{</div>
+<div class="line"><a id="l00649" name="l00649"></a><span class="lineno"><a class="line" href="structManifoldSignalSpec.html#ae6292debacd46f629429d03cf7e9a342">  649</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structManifoldSignalSpec.html#ae6292debacd46f629429d03cf7e9a342">Type</a> = ManifoldType;</div>
+<div class="foldopen" id="foldopen00650" data-start="{" data-end="}">
+<div class="line"><a id="l00650" name="l00650"></a><span class="lineno"><a class="line" href="structManifoldSignalSpec.html#a445c0d7b5e23264b3a08b881f3c68a72">  650</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structManifoldSignalSpec.html#ae6292debacd46f629429d03cf7e9a342">Type</a> <a class="code hl_function" href="structManifoldSignalSpec.html#a445c0d7b5e23264b3a08b881f3c68a72">ZeroType</a>()</div>
+<div class="line"><a id="l00651" name="l00651"></a><span class="lineno">  651</span>    {</div>
+<div class="line"><a id="l00652" name="l00652"></a><span class="lineno">  652</span>        <span class="keywordflow">return</span> Type::identity();</div>
+<div class="line"><a id="l00653" name="l00653"></a><span class="lineno">  653</span>    }</div>
+</div>
+<div class="foldopen" id="foldopen00654" data-start="{" data-end="}">
+<div class="line"><a id="l00654" name="l00654"></a><span class="lineno"><a class="line" href="structManifoldSignalSpec.html#a8131da54a75205e3f61547afee1ccfcc">  654</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structManifoldSignalSpec.html#ae6292debacd46f629429d03cf7e9a342">Type</a> <a class="code hl_function" href="structManifoldSignalSpec.html#a8131da54a75205e3f61547afee1ccfcc">NansType</a>()</div>
+<div class="line"><a id="l00655" name="l00655"></a><span class="lineno">  655</span>    {</div>
+<div class="line"><a id="l00656" name="l00656"></a><span class="lineno">  656</span>        <span class="keywordflow">return</span> Type::nans();</div>
+<div class="line"><a id="l00657" name="l00657"></a><span class="lineno">  657</span>    }</div>
+</div>
+<div class="line"><a id="l00658" name="l00658"></a><span class="lineno">  658</span>};</div>
+</div>
 <div class="line"><a id="l00659" name="l00659"></a><span class="lineno">  659</span> </div>
 <div class="line"><a id="l00660" name="l00660"></a><span class="lineno">  660</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="foldopen" id="foldopen00661" data-start="{" data-end="}">
-<div class="line"><a id="l00661" name="l00661"></a><span class="lineno"><a class="line" href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">  661</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">ScalarSignal&lt;T&gt;</a>&amp; x)</div>
-<div class="line"><a id="l00662" name="l00662"></a><span class="lineno">  662</span>{</div>
-<div class="line"><a id="l00663" name="l00663"></a><span class="lineno">  663</span>    os &lt;&lt; <span class="stringliteral">&quot;ScalarSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: &quot;</span> &lt;&lt; x();</div>
-<div class="line"><a id="l00664" name="l00664"></a><span class="lineno">  664</span>    <span class="keywordflow">return</span> os;</div>
-<div class="line"><a id="l00665" name="l00665"></a><span class="lineno">  665</span>}</div>
-</div>
-<div class="line"><a id="l00666" name="l00666"></a><span class="lineno">  666</span> </div>
-<div class="line"><a id="l00667" name="l00667"></a><span class="lineno">  667</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
-<div class="line"><a id="l00668" name="l00668"></a><span class="lineno"><a class="line" href="Signal_8h.html#a51a32a4dd69ee28867dba6202c812c5a">  668</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">VectorSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;VectorSignalSpec&lt;T, d&gt;</a>, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, d&gt;</a>&gt;;</div>
+<div class="line"><a id="l00661" name="l00661"></a><span class="lineno"><a class="line" href="Signal_8h.html#a19e9e3fdf9dac462c6fb79ee572d2b4c">  661</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">ScalarSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ScalarSignalSpec&lt;T&gt;</a>, <a class="code hl_struct" href="structScalarSignalSpec.html">ScalarSignalSpec&lt;T&gt;</a>&gt;;</div>
+<div class="line"><a id="l00662" name="l00662"></a><span class="lineno">  662</span> </div>
+<div class="line"><a id="l00663" name="l00663"></a><span class="lineno">  663</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00664" data-start="{" data-end="}">
+<div class="line"><a id="l00664" name="l00664"></a><span class="lineno"><a class="line" href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">  664</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">ScalarSignal&lt;T&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00665" name="l00665"></a><span class="lineno">  665</span>{</div>
+<div class="line"><a id="l00666" name="l00666"></a><span class="lineno">  666</span>    os &lt;&lt; <span class="stringliteral">&quot;ScalarSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: &quot;</span> &lt;&lt; x();</div>
+<div class="line"><a id="l00667" name="l00667"></a><span class="lineno">  667</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00668" name="l00668"></a><span class="lineno">  668</span>}</div>
+</div>
 <div class="line"><a id="l00669" name="l00669"></a><span class="lineno">  669</span> </div>
 <div class="line"><a id="l00670" name="l00670"></a><span class="lineno">  670</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
-<div class="foldopen" id="foldopen00671" data-start="{" data-end="}">
-<div class="line"><a id="l00671" name="l00671"></a><span class="lineno"><a class="line" href="Signal_8h.html#aeb7f6d79d7e692981221b685c0863d54">  671</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">VectorSignal&lt;T, d&gt;</a>&amp; x)</div>
-<div class="line"><a id="l00672" name="l00672"></a><span class="lineno">  672</span>{</div>
-<div class="line"><a id="l00673" name="l00673"></a><span class="lineno">  673</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: &quot;</span> &lt;&lt; x().transpose();</div>
-<div class="line"><a id="l00674" name="l00674"></a><span class="lineno">  674</span>    <span class="keywordflow">return</span> os;</div>
-<div class="line"><a id="l00675" name="l00675"></a><span class="lineno">  675</span>}</div>
-</div>
-<div class="line"><a id="l00676" name="l00676"></a><span class="lineno">  676</span> </div>
-<div class="line"><a id="l00677" name="l00677"></a><span class="lineno">  677</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> d&gt;</div>
-<div class="line"><a id="l00678" name="l00678"></a><span class="lineno"><a class="line" href="Signal_8h.html#a278e5023dd90a58b58ce28b413ecec4a">  678</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">ManifoldSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ManifoldSignalSpec&lt;ManifoldType&gt;</a>, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, d&gt;</a>&gt;;</div>
+<div class="line"><a id="l00671" name="l00671"></a><span class="lineno"><a class="line" href="Signal_8h.html#a51a32a4dd69ee28867dba6202c812c5a">  671</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">VectorSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;VectorSignalSpec&lt;T, d&gt;</a>, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, d&gt;</a>&gt;;</div>
+<div class="line"><a id="l00672" name="l00672"></a><span class="lineno">  672</span> </div>
+<div class="line"><a id="l00673" name="l00673"></a><span class="lineno">  673</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="foldopen" id="foldopen00674" data-start="{" data-end="}">
+<div class="line"><a id="l00674" name="l00674"></a><span class="lineno"><a class="line" href="Signal_8h.html#aeb7f6d79d7e692981221b685c0863d54">  674</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">VectorSignal&lt;T, d&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00675" name="l00675"></a><span class="lineno">  675</span>{</div>
+<div class="line"><a id="l00676" name="l00676"></a><span class="lineno">  676</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: &quot;</span> &lt;&lt; x().transpose();</div>
+<div class="line"><a id="l00677" name="l00677"></a><span class="lineno">  677</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00678" name="l00678"></a><span class="lineno">  678</span>}</div>
+</div>
 <div class="line"><a id="l00679" name="l00679"></a><span class="lineno">  679</span> </div>
 <div class="line"><a id="l00680" name="l00680"></a><span class="lineno">  680</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> d&gt;</div>
-<div class="foldopen" id="foldopen00681" data-start="{" data-end="}">
-<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"><a class="line" href="Signal_8h.html#a6a76598b459ea2e14353617de437c808">  681</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">ManifoldSignal&lt;T, ManifoldType, d&gt;</a>&amp; x)</div>
-<div class="line"><a id="l00682" name="l00682"></a><span class="lineno">  682</span>{</div>
-<div class="line"><a id="l00683" name="l00683"></a><span class="lineno">  683</span>    os &lt;&lt; <span class="stringliteral">&quot;ManifoldSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: &quot;</span> &lt;&lt; x();</div>
-<div class="line"><a id="l00684" name="l00684"></a><span class="lineno">  684</span>    <span class="keywordflow">return</span> os;</div>
-<div class="line"><a id="l00685" name="l00685"></a><span class="lineno">  685</span>}</div>
-</div>
-<div class="line"><a id="l00686" name="l00686"></a><span class="lineno">  686</span> </div>
-<div class="foldopen" id="foldopen00687" data-start="" data-end="">
-<div class="line"><a id="l00687" name="l00687"></a><span class="lineno"><a class="line" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">  687</a></span><span class="preprocessor">#define MAKE_VECTOR_SIGNAL(Dimension)                                                                                  \</span></div>
-<div class="line"><a id="l00688" name="l00688"></a><span class="lineno">  688</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
-<div class="line"><a id="l00689" name="l00689"></a><span class="lineno">  689</span><span class="preprocessor">    using Vector##Dimension##Signal = VectorSignal&lt;T, Dimension&gt;;                                                      \</span></div>
-<div class="line"><a id="l00690" name="l00690"></a><span class="lineno">  690</span><span class="preprocessor">    typedef Vector##Dimension##Signal&lt;double&gt; Vector##Dimension##dSignal;</span></div>
-</div>
-<div class="line"><a id="l00691" name="l00691"></a><span class="lineno">  691</span> </div>
-<div class="foldopen" id="foldopen00692" data-start="" data-end="">
-<div class="line"><a id="l00692" name="l00692"></a><span class="lineno"><a class="line" href="Signal_8h.html#adf89e7a1e286d52fa755d04f0c087ea3">  692</a></span><span class="preprocessor">#define MAKE_MANIF_SIGNAL(Manif, Dimension)                                                                            \</span></div>
-<div class="line"><a id="l00693" name="l00693"></a><span class="lineno">  693</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
-<div class="line"><a id="l00694" name="l00694"></a><span class="lineno">  694</span><span class="preprocessor">    using Manif##Signal = ManifoldSignal&lt;T, Manif&lt;T&gt;, Dimension&gt;;                                                      \</span></div>
-<div class="line"><a id="l00695" name="l00695"></a><span class="lineno">  695</span><span class="preprocessor">    typedef Manif##Signal&lt;double&gt; Manif##dSignal;</span></div>
-</div>
-<div class="line"><a id="l00696" name="l00696"></a><span class="lineno">  696</span> </div>
-<div class="line"><a id="l00697" name="l00697"></a><span class="lineno"><a class="line" href="Signal_8h.html#a5d3a7fde60e049b3fb16e62c397585a0">  697</a></span><span class="keyword">typedef</span> <a class="code hl_class" href="classSignal.html">ScalarSignal&lt;double&gt;</a> <a class="code hl_typedef" href="Signal_8h.html#a5d3a7fde60e049b3fb16e62c397585a0">ScalardSignal</a>;</div>
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-<div class="line"><a id="l00699" name="l00699"></a><span class="lineno"><a class="line" href="Signal_8h.html#a718e737386d2321f3e31df01ffe2fd61">  699</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(2)</div>
-<div class="line"><a id="l00700" name="l00700"></a><span class="lineno"><a class="line" href="Signal_8h.html#addff0c3095fce02a8ae3d8669292ea8a">  700</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(3)</div>
-<div class="line"><a id="l00701" name="l00701"></a><span class="lineno"><a class="line" href="Signal_8h.html#a785560e5ddb26fcf9edc2eb9f34e7ec8">  701</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(4)</div>
-<div class="line"><a id="l00702" name="l00702"></a><span class="lineno"><a class="line" href="Signal_8h.html#ad0b807d45bcfe07cc9a2f54648dd4821">  702</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(5)</div>
-<div class="line"><a id="l00703" name="l00703"></a><span class="lineno"><a class="line" href="Signal_8h.html#acb50cf2886559fdfc3aba4ee722f511a">  703</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(6)</div>
-<div class="line"><a id="l00704" name="l00704"></a><span class="lineno"><a class="line" href="Signal_8h.html#afea76be78e2b329344fb610a62c421e9">  704</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(7)</div>
-<div class="line"><a id="l00705" name="l00705"></a><span class="lineno"><a class="line" href="Signal_8h.html#ad2214d5fb3267b191128fcccb515448b">  705</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(8)</div>
-<div class="line"><a id="l00706" name="l00706"></a><span class="lineno"><a class="line" href="Signal_8h.html#acd349d949f45a7bce633414d05043cc3">  706</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(9)</div>
-<div class="line"><a id="l00707" name="l00707"></a><span class="lineno"><a class="line" href="Signal_8h.html#a75b25f1facc38a02d21c155ec05655cc">  707</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(10)</div>
-<div class="line"><a id="l00708" name="l00708"></a><span class="lineno"><a class="line" href="Signal_8h.html#a43a8b3bb4241f080c75114c98502e21b">  708</a></span><a class="code hl_define" href="Signal_8h.html#adf89e7a1e286d52fa755d04f0c087ea3">MAKE_MANIF_SIGNAL</a>(SO2, 1)</div>
-<div class="line"><a id="l00709" name="l00709"></a><span class="lineno"><a class="line" href="Signal_8h.html#a1fbce3445fc6d54d3dfc2aa95fdcc37f">  709</a></span><a class="code hl_define" href="Signal_8h.html#adf89e7a1e286d52fa755d04f0c087ea3">MAKE_MANIF_SIGNAL</a>(SO3, 3)</div>
-<div class="line"><a id="l00710" name="l00710"></a><span class="lineno"><a class="line" href="Signal_8h.html#a27317de3cebe688fdf9b1f89e8d749ea">  710</a></span><a class="code hl_define" href="Signal_8h.html#adf89e7a1e286d52fa755d04f0c087ea3">MAKE_MANIF_SIGNAL</a>(SE2, 3)</div>
-<div class="line"><a id="l00711" name="l00711"></a><span class="lineno"><a class="line" href="Signal_8h.html#a13875f09fcdcc6dd114766bacc38f01b">  711</a></span><a class="code hl_define" href="Signal_8h.html#adf89e7a1e286d52fa755d04f0c087ea3">MAKE_MANIF_SIGNAL</a>(SE3, 6)</div>
-<div class="ttc" id="aSignal_8h_html_a35d05b0e727a39b86907d8669e9e1242"><div class="ttname"><a href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242">DerivativeMethod</a></div><div class="ttdeci">DerivativeMethod</div><div class="ttdef"><b>Definition</b> Signal.h:28</div></div>
-<div class="ttc" id="aSignal_8h_html_a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e"><div class="ttname"><a href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e">FINITE_DIFF</a></div><div class="ttdeci">@ FINITE_DIFF</div><div class="ttdef"><b>Definition</b> Signal.h:30</div></div>
-<div class="ttc" id="aSignal_8h_html_a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c"><div class="ttname"><a href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c">DIRTY</a></div><div class="ttdeci">@ DIRTY</div><div class="ttdef"><b>Definition</b> Signal.h:29</div></div>
-<div class="ttc" id="aSignal_8h_html_a45ef87a3bf4ac7938147e95995f76849"><div class="ttname"><a href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a></div><div class="ttdeci">#define MAKE_VECTOR_SIGNAL(Dimension)</div><div class="ttdef"><b>Definition</b> Signal.h:687</div></div>
-<div class="ttc" id="aSignal_8h_html_a47318c97bced9b7ee828c94c1a4eeb29"><div class="ttname"><a href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const ScalarSignal&lt; T &gt; &amp;x)</div><div class="ttdef"><b>Definition</b> Signal.h:661</div></div>
-<div class="ttc" id="aSignal_8h_html_a5d3a7fde60e049b3fb16e62c397585a0"><div class="ttname"><a href="Signal_8h.html#a5d3a7fde60e049b3fb16e62c397585a0">ScalardSignal</a></div><div class="ttdeci">ScalarSignal&lt; double &gt; ScalardSignal</div><div class="ttdef"><b>Definition</b> Signal.h:697</div></div>
-<div class="ttc" id="aSignal_8h_html_a9943b8bd1a1a1cdb774553d44c12cde4"><div class="ttname"><a href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4">ExtrapolationMethod</a></div><div class="ttdeci">ExtrapolationMethod</div><div class="ttdef"><b>Definition</b> Signal.h:21</div></div>
-<div class="ttc" id="aSignal_8h_html_a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f"><div class="ttname"><a href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f">ZEROS</a></div><div class="ttdeci">@ ZEROS</div><div class="ttdef"><b>Definition</b> Signal.h:23</div></div>
-<div class="ttc" id="aSignal_8h_html_a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3"><div class="ttname"><a href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3">CLOSEST</a></div><div class="ttdeci">@ CLOSEST</div><div class="ttdef"><b>Definition</b> Signal.h:24</div></div>
-<div class="ttc" id="aSignal_8h_html_a9943b8bd1a1a1cdb774553d44c12cde4af4517d0db561241ccfcf150e1629767f"><div class="ttname"><a href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4af4517d0db561241ccfcf150e1629767f">NANS</a></div><div class="ttdeci">@ NANS</div><div class="ttdef"><b>Definition</b> Signal.h:22</div></div>
-<div class="ttc" id="aSignal_8h_html_aa0081e804011c551ea0f4a596a64b284"><div class="ttname"><a href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284">InterpolationMethod</a></div><div class="ttdeci">InterpolationMethod</div><div class="ttdef"><b>Definition</b> Signal.h:14</div></div>
-<div class="ttc" id="aSignal_8h_html_aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc"><div class="ttname"><a href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc">CUBIC_SPLINE</a></div><div class="ttdeci">@ CUBIC_SPLINE</div><div class="ttdef"><b>Definition</b> Signal.h:17</div></div>
-<div class="ttc" id="aSignal_8h_html_aa0081e804011c551ea0f4a596a64b284ad873f8ab97a3f6e892c8b834b23db574"><div class="ttname"><a href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284ad873f8ab97a3f6e892c8b834b23db574">ZERO_ORDER_HOLD</a></div><div class="ttdeci">@ ZERO_ORDER_HOLD</div><div class="ttdef"><b>Definition</b> Signal.h:15</div></div>
-<div class="ttc" id="aSignal_8h_html_aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb"><div class="ttname"><a href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb">LINEAR</a></div><div class="ttdeci">@ LINEAR</div><div class="ttdef"><b>Definition</b> Signal.h:16</div></div>
-<div class="ttc" id="aSignal_8h_html_aa4dc7aa056ee91a7dc4ec540b6bc9cd3"><div class="ttname"><a href="Signal_8h.html#aa4dc7aa056ee91a7dc4ec540b6bc9cd3">operator+</a></div><div class="ttdeci">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; operator+(const Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;l, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> Signal.h:548</div></div>
-<div class="ttc" id="aSignal_8h_html_ad77fa5fab1a3e9a6ca4d7e87364003b9"><div class="ttname"><a href="Signal_8h.html#ad77fa5fab1a3e9a6ca4d7e87364003b9">operator*</a></div><div class="ttdeci">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; operator*(const double &amp;l, const Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> Signal.h:588</div></div>
-<div class="ttc" id="aSignal_8h_html_adf89e7a1e286d52fa755d04f0c087ea3"><div class="ttname"><a href="Signal_8h.html#adf89e7a1e286d52fa755d04f0c087ea3">MAKE_MANIF_SIGNAL</a></div><div class="ttdeci">#define MAKE_MANIF_SIGNAL(Manif, Dimension)</div><div class="ttdef"><b>Definition</b> Signal.h:692</div></div>
-<div class="ttc" id="aSignal_8h_html_afd611b1d0ab8c1f43be72184926ec8ac"><div class="ttname"><a href="Signal_8h.html#afd611b1d0ab8c1f43be72184926ec8ac">operator-</a></div><div class="ttdeci">Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; operator-(const Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;l, const Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> Signal.h:563</div></div>
+<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"><a class="line" href="Signal_8h.html#a278e5023dd90a58b58ce28b413ecec4a">  681</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">ManifoldSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ManifoldSignalSpec&lt;ManifoldType&gt;</a>, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, d&gt;</a>&gt;;</div>
+<div class="line"><a id="l00682" name="l00682"></a><span class="lineno">  682</span> </div>
+<div class="line"><a id="l00683" name="l00683"></a><span class="lineno">  683</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="foldopen" id="foldopen00684" data-start="{" data-end="}">
+<div class="line"><a id="l00684" name="l00684"></a><span class="lineno"><a class="line" href="Signal_8h.html#a6a76598b459ea2e14353617de437c808">  684</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">ManifoldSignal&lt;T, ManifoldType, d&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00685" name="l00685"></a><span class="lineno">  685</span>{</div>
+<div class="line"><a id="l00686" name="l00686"></a><span class="lineno">  686</span>    os &lt;&lt; <span class="stringliteral">&quot;ManifoldSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: &quot;</span> &lt;&lt; x();</div>
+<div class="line"><a id="l00687" name="l00687"></a><span class="lineno">  687</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00688" name="l00688"></a><span class="lineno">  688</span>}</div>
+</div>
+<div class="line"><a id="l00689" name="l00689"></a><span class="lineno">  689</span> </div>
+<div class="foldopen" id="foldopen00690" data-start="" data-end="">
+<div class="line"><a id="l00690" name="l00690"></a><span class="lineno"><a class="line" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">  690</a></span><span class="preprocessor">#define MAKE_VECTOR_SIGNAL(Dimension)                                                                                  \</span></div>
+<div class="line"><a id="l00691" name="l00691"></a><span class="lineno">  691</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
+<div class="line"><a id="l00692" name="l00692"></a><span class="lineno">  692</span><span class="preprocessor">    using Vector##Dimension##Signal = VectorSignal&lt;T, Dimension&gt;;                                                      \</span></div>
+<div class="line"><a id="l00693" name="l00693"></a><span class="lineno">  693</span><span class="preprocessor">    typedef Vector##Dimension##Signal&lt;double&gt; Vector##Dimension##dSignal;</span></div>
+</div>
+<div class="line"><a id="l00694" name="l00694"></a><span class="lineno">  694</span> </div>
+<div class="foldopen" id="foldopen00695" data-start="" data-end="">
+<div class="line"><a id="l00695" name="l00695"></a><span class="lineno"><a class="line" href="Signal_8h.html#adf89e7a1e286d52fa755d04f0c087ea3">  695</a></span><span class="preprocessor">#define MAKE_MANIF_SIGNAL(Manif, Dimension)                                                                            \</span></div>
+<div class="line"><a id="l00696" name="l00696"></a><span class="lineno">  696</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
+<div class="line"><a id="l00697" name="l00697"></a><span class="lineno">  697</span><span class="preprocessor">    using Manif##Signal = ManifoldSignal&lt;T, Manif&lt;T&gt;, Dimension&gt;;                                                      \</span></div>
+<div class="line"><a id="l00698" name="l00698"></a><span class="lineno">  698</span><span class="preprocessor">    typedef Manif##Signal&lt;double&gt; Manif##dSignal;</span></div>
+</div>
+<div class="line"><a id="l00699" name="l00699"></a><span class="lineno">  699</span> </div>
+<div class="line"><a id="l00700" name="l00700"></a><span class="lineno"><a class="line" href="Signal_8h.html#a5d3a7fde60e049b3fb16e62c397585a0">  700</a></span><span class="keyword">typedef</span> <a class="code hl_class" href="classSignal.html">ScalarSignal&lt;double&gt;</a> <a class="code hl_typedef" href="Signal_8h.html#a5d3a7fde60e049b3fb16e62c397585a0">ScalardSignal</a>;</div>
+<div class="line"><a id="l00701" name="l00701"></a><span class="lineno"><a class="line" href="Signal_8h.html#a22bc2b41e336fe6237cfa41ac7b57d0b">  701</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(1)</div>
+<div class="line"><a id="l00702" name="l00702"></a><span class="lineno"><a class="line" href="Signal_8h.html#a718e737386d2321f3e31df01ffe2fd61">  702</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(2)</div>
+<div class="line"><a id="l00703" name="l00703"></a><span class="lineno"><a class="line" href="Signal_8h.html#addff0c3095fce02a8ae3d8669292ea8a">  703</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(3)</div>
+<div class="line"><a id="l00704" name="l00704"></a><span class="lineno"><a class="line" href="Signal_8h.html#a785560e5ddb26fcf9edc2eb9f34e7ec8">  704</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(4)</div>
+<div class="line"><a id="l00705" name="l00705"></a><span class="lineno"><a class="line" href="Signal_8h.html#ad0b807d45bcfe07cc9a2f54648dd4821">  705</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(5)</div>
+<div class="line"><a id="l00706" name="l00706"></a><span class="lineno"><a class="line" href="Signal_8h.html#acb50cf2886559fdfc3aba4ee722f511a">  706</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(6)</div>
+<div class="line"><a id="l00707" name="l00707"></a><span class="lineno"><a class="line" href="Signal_8h.html#afea76be78e2b329344fb610a62c421e9">  707</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(7)</div>
+<div class="line"><a id="l00708" name="l00708"></a><span class="lineno"><a class="line" href="Signal_8h.html#ad2214d5fb3267b191128fcccb515448b">  708</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(8)</div>
+<div class="line"><a id="l00709" name="l00709"></a><span class="lineno"><a class="line" href="Signal_8h.html#acd349d949f45a7bce633414d05043cc3">  709</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(9)</div>
+<div class="line"><a id="l00710" name="l00710"></a><span class="lineno"><a class="line" href="Signal_8h.html#a75b25f1facc38a02d21c155ec05655cc">  710</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(10)</div>
+<div class="line"><a id="l00711" name="l00711"></a><span class="lineno"><a class="line" href="Signal_8h.html#a43a8b3bb4241f080c75114c98502e21b">  711</a></span><a class="code hl_define" href="Signal_8h.html#adf89e7a1e286d52fa755d04f0c087ea3">MAKE_MANIF_SIGNAL</a>(SO2, 1)</div>
+<div class="line"><a id="l00712" name="l00712"></a><span class="lineno"><a class="line" href="Signal_8h.html#a1fbce3445fc6d54d3dfc2aa95fdcc37f">  712</a></span><a class="code hl_define" href="Signal_8h.html#adf89e7a1e286d52fa755d04f0c087ea3">MAKE_MANIF_SIGNAL</a>(SO3, 3)</div>
+<div class="line"><a id="l00713" name="l00713"></a><span class="lineno"><a class="line" href="Signal_8h.html#a27317de3cebe688fdf9b1f89e8d749ea">  713</a></span><a class="code hl_define" href="Signal_8h.html#adf89e7a1e286d52fa755d04f0c087ea3">MAKE_MANIF_SIGNAL</a>(SE2, 3)</div>
+<div class="line"><a id="l00714" name="l00714"></a><span class="lineno"><a class="line" href="Signal_8h.html#a13875f09fcdcc6dd114766bacc38f01b">  714</a></span><a class="code hl_define" href="Signal_8h.html#adf89e7a1e286d52fa755d04f0c087ea3">MAKE_MANIF_SIGNAL</a>(SE3, 6)</div>
+<div class="ttc" id="aSignal_8h_html_a35d05b0e727a39b86907d8669e9e1242"><div class="ttname"><a href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242">DerivativeMethod</a></div><div class="ttdeci">DerivativeMethod</div><div class="ttdef"><b>Definition</b> Signal.h:31</div></div>
+<div class="ttc" id="aSignal_8h_html_a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e"><div class="ttname"><a href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e">FINITE_DIFF</a></div><div class="ttdeci">@ FINITE_DIFF</div><div class="ttdef"><b>Definition</b> Signal.h:33</div></div>
+<div class="ttc" id="aSignal_8h_html_a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c"><div class="ttname"><a href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c">DIRTY</a></div><div class="ttdeci">@ DIRTY</div><div class="ttdef"><b>Definition</b> Signal.h:32</div></div>
+<div class="ttc" id="aSignal_8h_html_a45ef87a3bf4ac7938147e95995f76849"><div class="ttname"><a href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a></div><div class="ttdeci">#define MAKE_VECTOR_SIGNAL(Dimension)</div><div class="ttdef"><b>Definition</b> Signal.h:690</div></div>
+<div class="ttc" id="aSignal_8h_html_a47318c97bced9b7ee828c94c1a4eeb29"><div class="ttname"><a href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const ScalarSignal&lt; T &gt; &amp;x)</div><div class="ttdef"><b>Definition</b> Signal.h:664</div></div>
+<div class="ttc" id="aSignal_8h_html_a5d3a7fde60e049b3fb16e62c397585a0"><div class="ttname"><a href="Signal_8h.html#a5d3a7fde60e049b3fb16e62c397585a0">ScalardSignal</a></div><div class="ttdeci">ScalarSignal&lt; double &gt; ScalardSignal</div><div class="ttdef"><b>Definition</b> Signal.h:700</div></div>
+<div class="ttc" id="aSignal_8h_html_a9943b8bd1a1a1cdb774553d44c12cde4"><div class="ttname"><a href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4">ExtrapolationMethod</a></div><div class="ttdeci">ExtrapolationMethod</div><div class="ttdef"><b>Definition</b> Signal.h:24</div></div>
+<div class="ttc" id="aSignal_8h_html_a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f"><div class="ttname"><a href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f">ZEROS</a></div><div class="ttdeci">@ ZEROS</div><div class="ttdef"><b>Definition</b> Signal.h:26</div></div>
+<div class="ttc" id="aSignal_8h_html_a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3"><div class="ttname"><a href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3">CLOSEST</a></div><div class="ttdeci">@ CLOSEST</div><div class="ttdef"><b>Definition</b> Signal.h:27</div></div>
+<div class="ttc" id="aSignal_8h_html_a9943b8bd1a1a1cdb774553d44c12cde4af4517d0db561241ccfcf150e1629767f"><div class="ttname"><a href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4af4517d0db561241ccfcf150e1629767f">NANS</a></div><div class="ttdeci">@ NANS</div><div class="ttdef"><b>Definition</b> Signal.h:25</div></div>
+<div class="ttc" id="aSignal_8h_html_aa0081e804011c551ea0f4a596a64b284"><div class="ttname"><a href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284">InterpolationMethod</a></div><div class="ttdeci">InterpolationMethod</div><div class="ttdoc">TODO.</div><div class="ttdef"><b>Definition</b> Signal.h:17</div></div>
+<div class="ttc" id="aSignal_8h_html_aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc"><div class="ttname"><a href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc">CUBIC_SPLINE</a></div><div class="ttdeci">@ CUBIC_SPLINE</div><div class="ttdef"><b>Definition</b> Signal.h:20</div></div>
+<div class="ttc" id="aSignal_8h_html_aa0081e804011c551ea0f4a596a64b284ad873f8ab97a3f6e892c8b834b23db574"><div class="ttname"><a href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284ad873f8ab97a3f6e892c8b834b23db574">ZERO_ORDER_HOLD</a></div><div class="ttdeci">@ ZERO_ORDER_HOLD</div><div class="ttdef"><b>Definition</b> Signal.h:18</div></div>
+<div class="ttc" id="aSignal_8h_html_aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb"><div class="ttname"><a href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb">LINEAR</a></div><div class="ttdeci">@ LINEAR</div><div class="ttdef"><b>Definition</b> Signal.h:19</div></div>
+<div class="ttc" id="aSignal_8h_html_aa4dc7aa056ee91a7dc4ec540b6bc9cd3"><div class="ttname"><a href="Signal_8h.html#aa4dc7aa056ee91a7dc4ec540b6bc9cd3">operator+</a></div><div class="ttdeci">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; operator+(const Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;l, const Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> Signal.h:551</div></div>
+<div class="ttc" id="aSignal_8h_html_ad77fa5fab1a3e9a6ca4d7e87364003b9"><div class="ttname"><a href="Signal_8h.html#ad77fa5fab1a3e9a6ca4d7e87364003b9">operator*</a></div><div class="ttdeci">Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; operator*(const double &amp;l, const Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> Signal.h:591</div></div>
+<div class="ttc" id="aSignal_8h_html_adf89e7a1e286d52fa755d04f0c087ea3"><div class="ttname"><a href="Signal_8h.html#adf89e7a1e286d52fa755d04f0c087ea3">MAKE_MANIF_SIGNAL</a></div><div class="ttdeci">#define MAKE_MANIF_SIGNAL(Manif, Dimension)</div><div class="ttdef"><b>Definition</b> Signal.h:695</div></div>
+<div class="ttc" id="aSignal_8h_html_afd611b1d0ab8c1f43be72184926ec8ac"><div class="ttname"><a href="Signal_8h.html#afd611b1d0ab8c1f43be72184926ec8ac">operator-</a></div><div class="ttdeci">Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; operator-(const Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;l, const Signal&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> Signal.h:566</div></div>
 <div class="ttc" id="aUtils_8h_html"><div class="ttname"><a href="Utils_8h.html">Utils.h</a></div></div>
-<div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:35</div></div>
-<div class="ttc" id="aclassSignal_html_a058783faf86f369b296c50d4e72c0881"><div class="ttname"><a href="classSignal.html#a058783faf86f369b296c50d4e72c0881">Signal::t</a></div><div class="ttdeci">double t() const</div><div class="ttdef"><b>Definition</b> Signal.h:102</div></div>
+<div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:38</div></div>
+<div class="ttc" id="aclassSignal_html_a058783faf86f369b296c50d4e72c0881"><div class="ttname"><a href="classSignal.html#a058783faf86f369b296c50d4e72c0881">Signal::t</a></div><div class="ttdeci">double t() const</div><div class="ttdef"><b>Definition</b> Signal.h:105</div></div>
 <div class="ttc" id="aclassSignal_html_a22d02130c5fec79a084ef4d1a28521dc"><div class="ttname"><a href="classSignal.html#a22d02130c5fec79a084ef4d1a28521dc">Signal::operator-</a></div><div class="ttdeci">friend Signal&lt; TSS, TSS &gt; operator-(const Signal&lt; BSS, TSS &gt; &amp;l, const Signal&lt; BSS, TSS &gt; &amp;r)</div></div>
-<div class="ttc" id="aclassSignal_html_a2d222b24cb25f6f228a0c69d71d95918"><div class="ttname"><a href="classSignal.html#a2d222b24cb25f6f228a0c69d71d95918">Signal::operator()</a></div><div class="ttdeci">BaseType operator()() const</div><div class="ttdef"><b>Definition</b> Signal.h:107</div></div>
+<div class="ttc" id="aclassSignal_html_a2d222b24cb25f6f228a0c69d71d95918"><div class="ttname"><a href="classSignal.html#a2d222b24cb25f6f228a0c69d71d95918">Signal::operator()</a></div><div class="ttdeci">BaseType operator()() const</div><div class="ttdef"><b>Definition</b> Signal.h:110</div></div>
 <div class="ttc" id="aclassSignal_html_a3961e7ce30f40f8104dd3d25f2e70a7f"><div class="ttname"><a href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">Signal::SignalDPComparator</a></div><div class="ttdeci">struct Signal::@0 SignalDPComparator</div></div>
-<div class="ttc" id="aclassSignal_html_a5530308ef517fd0021f510d47c390dc0"><div class="ttname"><a href="classSignal.html#a5530308ef517fd0021f510d47c390dc0">Signal::update</a></div><div class="ttdeci">bool update(const std::vector&lt; double &gt; &amp;_tHistory, const std::vector&lt; BaseType &gt; &amp;_xHistory)</div><div class="ttdef"><b>Definition</b> Signal.h:205</div></div>
-<div class="ttc" id="aclassSignal_html_a6c7174c9bb20970ebb3de64687f771d8"><div class="ttname"><a href="classSignal.html#a6c7174c9bb20970ebb3de64687f771d8">Signal::update</a></div><div class="ttdeci">bool update(const double &amp;_t, const BaseType &amp;_x, const TangentType &amp;_xdot, bool insertHistory=false)</div><div class="ttdef"><b>Definition</b> Signal.h:181</div></div>
-<div class="ttc" id="aclassSignal_html_a74929b7332876f5aeddc9a05d26d3d32"><div class="ttname"><a href="classSignal.html#a74929b7332876f5aeddc9a05d26d3d32">Signal::update</a></div><div class="ttdeci">bool update(const std::vector&lt; double &gt; &amp;_tHistory, const std::vector&lt; BaseType &gt; &amp;_xHistory, const std::vector&lt; TangentType &gt; &amp;_xdotHistory)</div><div class="ttdef"><b>Definition</b> Signal.h:233</div></div>
-<div class="ttc" id="aclassSignal_html_a81a95abda92d3efc0bd4b4ccba77e303"><div class="ttname"><a href="classSignal.html#a81a95abda92d3efc0bd4b4ccba77e303">Signal::Signal</a></div><div class="ttdeci">Signal(const Signal &amp;other)</div><div class="ttdef"><b>Definition</b> Signal.h:67</div></div>
-<div class="ttc" id="aclassSignal_html_a8989cbb307917a9c1f6331be2a5ae4e9"><div class="ttname"><a href="classSignal.html#a8989cbb307917a9c1f6331be2a5ae4e9">Signal::dot</a></div><div class="ttdeci">TangentType dot(const double &amp;t) const</div><div class="ttdef"><b>Definition</b> Signal.h:122</div></div>
-<div class="ttc" id="aclassSignal_html_a8b12b8bc1e74ddbadb67248fab16c461"><div class="ttname"><a href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">Signal::dot</a></div><div class="ttdeci">TangentType dot() const</div><div class="ttdef"><b>Definition</b> Signal.h:112</div></div>
-<div class="ttc" id="aclassSignal_html_a8b5d0a9fba3546f500fed7e2102cd9a7"><div class="ttname"><a href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal::Signal</a></div><div class="ttdeci">Signal()</div><div class="ttdef"><b>Definition</b> Signal.h:59</div></div>
-<div class="ttc" id="aclassSignal_html_a8c25f302d3c4feaa1a4c1f6d59381d89"><div class="ttname"><a href="classSignal.html#a8c25f302d3c4feaa1a4c1f6d59381d89">Signal::setDerivativeMethod</a></div><div class="ttdeci">void setDerivativeMethod(DerivativeMethod method)</div><div class="ttdef"><b>Definition</b> Signal.h:157</div></div>
-<div class="ttc" id="aclassSignal_html_a914fd7f09ae0723c88fce310fd7c79fd"><div class="ttname"><a href="classSignal.html#a914fd7f09ae0723c88fce310fd7c79fd">Signal::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdef"><b>Definition</b> Signal.h:162</div></div>
-<div class="ttc" id="aclassSignal_html_a95241f68d33194232ba1eea1747a5231"><div class="ttname"><a href="classSignal.html#a95241f68d33194232ba1eea1747a5231">Signal::dotSignal</a></div><div class="ttdeci">Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; dotSignal()</div><div class="ttdef"><b>Definition</b> Signal.h:79</div></div>
-<div class="ttc" id="aclassSignal_html_a9bda97fe7663f5481807259ca8bcd8cb"><div class="ttname"><a href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">Signal::BaseType</a></div><div class="ttdeci">typename BaseSignalSpec::Type BaseType</div><div class="ttdef"><b>Definition</b> Signal.h:37</div></div>
-<div class="ttc" id="aclassSignal_html_aa0094b1c69fd482de9de83b99634996a"><div class="ttname"><a href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">Signal::TangentType</a></div><div class="ttdeci">typename TangentSignalSpec::Type TangentType</div><div class="ttdef"><b>Definition</b> Signal.h:38</div></div>
-<div class="ttc" id="aclassSignal_html_aad31a21f4a7d572da1e06e407ccacecd"><div class="ttname"><a href="classSignal.html#aad31a21f4a7d572da1e06e407ccacecd">Signal::dot</a></div><div class="ttdeci">std::vector&lt; TangentType &gt; dot(const std::vector&lt; double &gt; &amp;t) const</div><div class="ttdef"><b>Definition</b> Signal.h:137</div></div>
-<div class="ttc" id="aclassSignal_html_ab91f52b80939a6c67b6863ee463b4ff0"><div class="ttname"><a href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">Signal::update</a></div><div class="ttdeci">bool update(const double &amp;_t, const BaseType &amp;_x, bool insertHistory=false)</div><div class="ttdef"><b>Definition</b> Signal.h:171</div></div>
-<div class="ttc" id="aclassSignal_html_abf8612dae8c835fa349c6f26201016eb"><div class="ttname"><a href="classSignal.html#abf8612dae8c835fa349c6f26201016eb">Signal::operator()</a></div><div class="ttdeci">std::vector&lt; BaseType &gt; operator()(const std::vector&lt; double &gt; &amp;t) const</div><div class="ttdef"><b>Definition</b> Signal.h:127</div></div>
-<div class="ttc" id="aclassSignal_html_ac0536cd4021cc4815a3dbb60c5b4f473"><div class="ttname"><a href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">Signal::derivativeMethod</a></div><div class="ttdeci">DerivativeMethod derivativeMethod</div><div class="ttdef"><b>Definition</b> Signal.h:57</div></div>
-<div class="ttc" id="aclassSignal_html_ac3be206ae717ad5e977d8a108de9b9e4"><div class="ttname"><a href="classSignal.html#ac3be206ae717ad5e977d8a108de9b9e4">Signal::setExtrapolationMethod</a></div><div class="ttdeci">void setExtrapolationMethod(ExtrapolationMethod method)</div><div class="ttdef"><b>Definition</b> Signal.h:152</div></div>
-<div class="ttc" id="aclassSignal_html_ad32d0b6b6bbc54ab8bd0fa63ed3039b9"><div class="ttname"><a href="classSignal.html#ad32d0b6b6bbc54ab8bd0fa63ed3039b9">Signal::operator()</a></div><div class="ttdeci">BaseType operator()(const double &amp;t) const</div><div class="ttdef"><b>Definition</b> Signal.h:117</div></div>
+<div class="ttc" id="aclassSignal_html_a5530308ef517fd0021f510d47c390dc0"><div class="ttname"><a href="classSignal.html#a5530308ef517fd0021f510d47c390dc0">Signal::update</a></div><div class="ttdeci">bool update(const std::vector&lt; double &gt; &amp;_tHistory, const std::vector&lt; BaseType &gt; &amp;_xHistory)</div><div class="ttdef"><b>Definition</b> Signal.h:208</div></div>
+<div class="ttc" id="aclassSignal_html_a6c7174c9bb20970ebb3de64687f771d8"><div class="ttname"><a href="classSignal.html#a6c7174c9bb20970ebb3de64687f771d8">Signal::update</a></div><div class="ttdeci">bool update(const double &amp;_t, const BaseType &amp;_x, const TangentType &amp;_xdot, bool insertHistory=false)</div><div class="ttdef"><b>Definition</b> Signal.h:184</div></div>
+<div class="ttc" id="aclassSignal_html_a74929b7332876f5aeddc9a05d26d3d32"><div class="ttname"><a href="classSignal.html#a74929b7332876f5aeddc9a05d26d3d32">Signal::update</a></div><div class="ttdeci">bool update(const std::vector&lt; double &gt; &amp;_tHistory, const std::vector&lt; BaseType &gt; &amp;_xHistory, const std::vector&lt; TangentType &gt; &amp;_xdotHistory)</div><div class="ttdef"><b>Definition</b> Signal.h:236</div></div>
+<div class="ttc" id="aclassSignal_html_a81a95abda92d3efc0bd4b4ccba77e303"><div class="ttname"><a href="classSignal.html#a81a95abda92d3efc0bd4b4ccba77e303">Signal::Signal</a></div><div class="ttdeci">Signal(const Signal &amp;other)</div><div class="ttdef"><b>Definition</b> Signal.h:70</div></div>
+<div class="ttc" id="aclassSignal_html_a8989cbb307917a9c1f6331be2a5ae4e9"><div class="ttname"><a href="classSignal.html#a8989cbb307917a9c1f6331be2a5ae4e9">Signal::dot</a></div><div class="ttdeci">TangentType dot(const double &amp;t) const</div><div class="ttdef"><b>Definition</b> Signal.h:125</div></div>
+<div class="ttc" id="aclassSignal_html_a8b12b8bc1e74ddbadb67248fab16c461"><div class="ttname"><a href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">Signal::dot</a></div><div class="ttdeci">TangentType dot() const</div><div class="ttdef"><b>Definition</b> Signal.h:115</div></div>
+<div class="ttc" id="aclassSignal_html_a8b5d0a9fba3546f500fed7e2102cd9a7"><div class="ttname"><a href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal::Signal</a></div><div class="ttdeci">Signal()</div><div class="ttdef"><b>Definition</b> Signal.h:62</div></div>
+<div class="ttc" id="aclassSignal_html_a8c25f302d3c4feaa1a4c1f6d59381d89"><div class="ttname"><a href="classSignal.html#a8c25f302d3c4feaa1a4c1f6d59381d89">Signal::setDerivativeMethod</a></div><div class="ttdeci">void setDerivativeMethod(DerivativeMethod method)</div><div class="ttdef"><b>Definition</b> Signal.h:160</div></div>
+<div class="ttc" id="aclassSignal_html_a914fd7f09ae0723c88fce310fd7c79fd"><div class="ttname"><a href="classSignal.html#a914fd7f09ae0723c88fce310fd7c79fd">Signal::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdef"><b>Definition</b> Signal.h:165</div></div>
+<div class="ttc" id="aclassSignal_html_a95241f68d33194232ba1eea1747a5231"><div class="ttname"><a href="classSignal.html#a95241f68d33194232ba1eea1747a5231">Signal::dotSignal</a></div><div class="ttdeci">Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; dotSignal()</div><div class="ttdef"><b>Definition</b> Signal.h:82</div></div>
+<div class="ttc" id="aclassSignal_html_a9bda97fe7663f5481807259ca8bcd8cb"><div class="ttname"><a href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">Signal::BaseType</a></div><div class="ttdeci">typename BaseSignalSpec::Type BaseType</div><div class="ttdef"><b>Definition</b> Signal.h:40</div></div>
+<div class="ttc" id="aclassSignal_html_aa0094b1c69fd482de9de83b99634996a"><div class="ttname"><a href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">Signal::TangentType</a></div><div class="ttdeci">typename TangentSignalSpec::Type TangentType</div><div class="ttdef"><b>Definition</b> Signal.h:41</div></div>
+<div class="ttc" id="aclassSignal_html_aad31a21f4a7d572da1e06e407ccacecd"><div class="ttname"><a href="classSignal.html#aad31a21f4a7d572da1e06e407ccacecd">Signal::dot</a></div><div class="ttdeci">std::vector&lt; TangentType &gt; dot(const std::vector&lt; double &gt; &amp;t) const</div><div class="ttdef"><b>Definition</b> Signal.h:140</div></div>
+<div class="ttc" id="aclassSignal_html_ab91f52b80939a6c67b6863ee463b4ff0"><div class="ttname"><a href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">Signal::update</a></div><div class="ttdeci">bool update(const double &amp;_t, const BaseType &amp;_x, bool insertHistory=false)</div><div class="ttdef"><b>Definition</b> Signal.h:174</div></div>
+<div class="ttc" id="aclassSignal_html_abf8612dae8c835fa349c6f26201016eb"><div class="ttname"><a href="classSignal.html#abf8612dae8c835fa349c6f26201016eb">Signal::operator()</a></div><div class="ttdeci">std::vector&lt; BaseType &gt; operator()(const std::vector&lt; double &gt; &amp;t) const</div><div class="ttdef"><b>Definition</b> Signal.h:130</div></div>
+<div class="ttc" id="aclassSignal_html_ac0536cd4021cc4815a3dbb60c5b4f473"><div class="ttname"><a href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">Signal::derivativeMethod</a></div><div class="ttdeci">DerivativeMethod derivativeMethod</div><div class="ttdef"><b>Definition</b> Signal.h:60</div></div>
+<div class="ttc" id="aclassSignal_html_ac3be206ae717ad5e977d8a108de9b9e4"><div class="ttname"><a href="classSignal.html#ac3be206ae717ad5e977d8a108de9b9e4">Signal::setExtrapolationMethod</a></div><div class="ttdeci">void setExtrapolationMethod(ExtrapolationMethod method)</div><div class="ttdef"><b>Definition</b> Signal.h:155</div></div>
+<div class="ttc" id="aclassSignal_html_ad32d0b6b6bbc54ab8bd0fa63ed3039b9"><div class="ttname"><a href="classSignal.html#ad32d0b6b6bbc54ab8bd0fa63ed3039b9">Signal::operator()</a></div><div class="ttdeci">BaseType operator()(const double &amp;t) const</div><div class="ttdef"><b>Definition</b> Signal.h:120</div></div>
 <div class="ttc" id="aclassSignal_html_ad61a2749da48601dcf27bedaa0cf54fd"><div class="ttname"><a href="classSignal.html#ad61a2749da48601dcf27bedaa0cf54fd">Signal::operator*</a></div><div class="ttdeci">friend Signal&lt; BSS, TSS &gt; operator*(const double &amp;l, const Signal&lt; BSS, TSS &gt; &amp;r)</div></div>
-<div class="ttc" id="aclassSignal_html_ae4c3f0098aaec52921d28cce09ff1ed4"><div class="ttname"><a href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">Signal::interpolationMethod</a></div><div class="ttdeci">InterpolationMethod interpolationMethod</div><div class="ttdef"><b>Definition</b> Signal.h:55</div></div>
+<div class="ttc" id="aclassSignal_html_ae4c3f0098aaec52921d28cce09ff1ed4"><div class="ttname"><a href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">Signal::interpolationMethod</a></div><div class="ttdeci">InterpolationMethod interpolationMethod</div><div class="ttdef"><b>Definition</b> Signal.h:58</div></div>
 <div class="ttc" id="aclassSignal_html_ae5d88905516fd17257964442b0830584"><div class="ttname"><a href="classSignal.html#ae5d88905516fd17257964442b0830584">Signal::operator*</a></div><div class="ttdeci">friend Signal&lt; BSS, TSS &gt; operator*(const Signal&lt; BSS, TSS &gt; &amp;l, const double &amp;r)</div></div>
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-<div class="ttc" id="astructManifoldSignalSpec_html"><div class="ttname"><a href="structManifoldSignalSpec.html">ManifoldSignalSpec</a></div><div class="ttdef"><b>Definition</b> Signal.h:645</div></div>
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-<div class="ttc" id="astructManifoldSignalSpec_html_a8131da54a75205e3f61547afee1ccfcc"><div class="ttname"><a href="structManifoldSignalSpec.html#a8131da54a75205e3f61547afee1ccfcc">ManifoldSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> Signal.h:651</div></div>
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-<div class="ttc" id="astructScalarSignalSpec_html"><div class="ttname"><a href="structScalarSignalSpec.html">ScalarSignalSpec</a></div><div class="ttdef"><b>Definition</b> Signal.h:617</div></div>
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-<div class="ttc" id="astructScalarSignalSpec_html_a4a319643aeb76b94214f8b41d64d5402"><div class="ttname"><a href="structScalarSignalSpec.html#a4a319643aeb76b94214f8b41d64d5402">ScalarSignalSpec::Type</a></div><div class="ttdeci">T Type</div><div class="ttdef"><b>Definition</b> Signal.h:618</div></div>
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-<div class="ttc" id="astructSignal_1_1SignalDP_html"><div class="ttname"><a href="structSignal_1_1SignalDP.html">Signal::SignalDP</a></div><div class="ttdef"><b>Definition</b> Signal.h:41</div></div>
-<div class="ttc" id="astructSignal_1_1SignalDP_html_a31d004bf32039463b33344e4c10bd5bb"><div class="ttname"><a href="structSignal_1_1SignalDP.html#a31d004bf32039463b33344e4c10bd5bb">Signal::SignalDP::xdot</a></div><div class="ttdeci">TangentType xdot</div><div class="ttdef"><b>Definition</b> Signal.h:44</div></div>
-<div class="ttc" id="astructSignal_1_1SignalDP_html_a9b7c7d507ee5f16f1909dccdae98e649"><div class="ttname"><a href="structSignal_1_1SignalDP.html#a9b7c7d507ee5f16f1909dccdae98e649">Signal::SignalDP::x</a></div><div class="ttdeci">BaseType x</div><div class="ttdef"><b>Definition</b> Signal.h:43</div></div>
-<div class="ttc" id="astructSignal_1_1SignalDP_html_ac9d0651b25c9bcf14fcfc65a32fcfa86"><div class="ttname"><a href="structSignal_1_1SignalDP.html#ac9d0651b25c9bcf14fcfc65a32fcfa86">Signal::SignalDP::t</a></div><div class="ttdeci">double t</div><div class="ttdef"><b>Definition</b> Signal.h:42</div></div>
-<div class="ttc" id="astructVectorSignalSpec_html"><div class="ttname"><a href="structVectorSignalSpec.html">VectorSignalSpec</a></div><div class="ttdef"><b>Definition</b> Signal.h:631</div></div>
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+<div class="ttc" id="aclassSignal_html_af336f3d6a2d643040dff9fb5b4c20558"><div class="ttname"><a href="classSignal.html#af336f3d6a2d643040dff9fb5b4c20558">Signal::setInterpolationMethod</a></div><div class="ttdeci">void setInterpolationMethod(InterpolationMethod method)</div><div class="ttdef"><b>Definition</b> Signal.h:150</div></div>
+<div class="ttc" id="aclassSignal_html_aff76e692ad975b7721ecf6e60d33a11f"><div class="ttname"><a href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">Signal::extrapolationMethod</a></div><div class="ttdeci">ExtrapolationMethod extrapolationMethod</div><div class="ttdef"><b>Definition</b> Signal.h:59</div></div>
+<div class="ttc" id="astructManifoldSignalSpec_html"><div class="ttname"><a href="structManifoldSignalSpec.html">ManifoldSignalSpec</a></div><div class="ttdef"><b>Definition</b> Signal.h:648</div></div>
+<div class="ttc" id="astructManifoldSignalSpec_html_a445c0d7b5e23264b3a08b881f3c68a72"><div class="ttname"><a href="structManifoldSignalSpec.html#a445c0d7b5e23264b3a08b881f3c68a72">ManifoldSignalSpec::ZeroType</a></div><div class="ttdeci">static Type ZeroType()</div><div class="ttdef"><b>Definition</b> Signal.h:650</div></div>
+<div class="ttc" id="astructManifoldSignalSpec_html_a8131da54a75205e3f61547afee1ccfcc"><div class="ttname"><a href="structManifoldSignalSpec.html#a8131da54a75205e3f61547afee1ccfcc">ManifoldSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> Signal.h:654</div></div>
+<div class="ttc" id="astructManifoldSignalSpec_html_ae6292debacd46f629429d03cf7e9a342"><div class="ttname"><a href="structManifoldSignalSpec.html#ae6292debacd46f629429d03cf7e9a342">ManifoldSignalSpec::Type</a></div><div class="ttdeci">ManifoldType Type</div><div class="ttdef"><b>Definition</b> Signal.h:649</div></div>
+<div class="ttc" id="astructScalarSignalSpec_html"><div class="ttname"><a href="structScalarSignalSpec.html">ScalarSignalSpec</a></div><div class="ttdef"><b>Definition</b> Signal.h:620</div></div>
+<div class="ttc" id="astructScalarSignalSpec_html_a040a016b3023c9df47a913599e9af1e2"><div class="ttname"><a href="structScalarSignalSpec.html#a040a016b3023c9df47a913599e9af1e2">ScalarSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> Signal.h:626</div></div>
+<div class="ttc" id="astructScalarSignalSpec_html_a4a319643aeb76b94214f8b41d64d5402"><div class="ttname"><a href="structScalarSignalSpec.html#a4a319643aeb76b94214f8b41d64d5402">ScalarSignalSpec::Type</a></div><div class="ttdeci">T Type</div><div class="ttdef"><b>Definition</b> Signal.h:621</div></div>
+<div class="ttc" id="astructScalarSignalSpec_html_a941ad7ca4c5943d3b2244e1126d1febf"><div class="ttname"><a href="structScalarSignalSpec.html#a941ad7ca4c5943d3b2244e1126d1febf">ScalarSignalSpec::ZeroType</a></div><div class="ttdeci">static Type ZeroType()</div><div class="ttdef"><b>Definition</b> Signal.h:622</div></div>
+<div class="ttc" id="astructSignal_1_1SignalDP_html"><div class="ttname"><a href="structSignal_1_1SignalDP.html">Signal::SignalDP</a></div><div class="ttdef"><b>Definition</b> Signal.h:44</div></div>
+<div class="ttc" id="astructSignal_1_1SignalDP_html_a31d004bf32039463b33344e4c10bd5bb"><div class="ttname"><a href="structSignal_1_1SignalDP.html#a31d004bf32039463b33344e4c10bd5bb">Signal::SignalDP::xdot</a></div><div class="ttdeci">TangentType xdot</div><div class="ttdef"><b>Definition</b> Signal.h:47</div></div>
+<div class="ttc" id="astructSignal_1_1SignalDP_html_a9b7c7d507ee5f16f1909dccdae98e649"><div class="ttname"><a href="structSignal_1_1SignalDP.html#a9b7c7d507ee5f16f1909dccdae98e649">Signal::SignalDP::x</a></div><div class="ttdeci">BaseType x</div><div class="ttdef"><b>Definition</b> Signal.h:46</div></div>
+<div class="ttc" id="astructSignal_1_1SignalDP_html_ac9d0651b25c9bcf14fcfc65a32fcfa86"><div class="ttname"><a href="structSignal_1_1SignalDP.html#ac9d0651b25c9bcf14fcfc65a32fcfa86">Signal::SignalDP::t</a></div><div class="ttdeci">double t</div><div class="ttdef"><b>Definition</b> Signal.h:45</div></div>
+<div class="ttc" id="astructVectorSignalSpec_html"><div class="ttname"><a href="structVectorSignalSpec.html">VectorSignalSpec</a></div><div class="ttdef"><b>Definition</b> Signal.h:634</div></div>
+<div class="ttc" id="astructVectorSignalSpec_html_a3a25051bf64d2677fc511bd026b7f6a2"><div class="ttname"><a href="structVectorSignalSpec.html#a3a25051bf64d2677fc511bd026b7f6a2">VectorSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> Signal.h:640</div></div>
+<div class="ttc" id="astructVectorSignalSpec_html_a4c535f5d5b25faa7148f8719d74693fd"><div class="ttname"><a href="structVectorSignalSpec.html#a4c535f5d5b25faa7148f8719d74693fd">VectorSignalSpec::ZeroType</a></div><div class="ttdeci">static Type ZeroType()</div><div class="ttdef"><b>Definition</b> Signal.h:636</div></div>
+<div class="ttc" id="astructVectorSignalSpec_html_ac21d15d01635665373eaf23b62f3d440"><div class="ttname"><a href="structVectorSignalSpec.html#ac21d15d01635665373eaf23b62f3d440">VectorSignalSpec::Type</a></div><div class="ttdeci">Matrix&lt; T, d, 1 &gt; Type</div><div class="ttdef"><b>Definition</b> Signal.h:635</div></div>
 </div><!-- fragment --></div><!-- contents -->
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+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_661483514bb8dea267426763b771558e.html">signals</a></li><li class="navelem"><a class="el" href="Signal_8h.html">Signal.h</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
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diff --git a/docs/Signals_8h.html b/docs/Signals_8h.html
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--- a/docs/Signals_8h.html
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+/* @license-end */
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-</div>
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   <div class="headertitle"><div class="title">Signals.h File Reference</div></div>
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@@ -92,9 +109,13 @@
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+</div><!-- doc-content -->
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+    <li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_661483514bb8dea267426763b771558e.html">signals</a></li><li class="navelem"><a class="el" href="Signals_8h.html">Signals.h</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
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 </body>
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diff --git a/docs/Signals_8h_source.html b/docs/Signals_8h_source.html
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--- a/docs/Signals_8h_source.html
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+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
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@@ -60,6 +65,23 @@
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
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+<div id="doc-content">
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@@ -81,11 +103,6 @@
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
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diff --git a/docs/State_8h.html b/docs/State_8h.html
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@@ -76,11 +98,6 @@
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-</div>
-</div><!-- top -->
 <div class="header">
   <div class="summary">
 <a href="#nested-classes">Classes</a> &#124;
@@ -350,7 +367,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a72800aeb486c7eebe1ab0fe8
 <div class="line">    <span class="keyword">using </span>Manif##StateSignal = <a class="code hl_class" href="classSignal.html">ManifoldStateSignal&lt;T, Manif&lt;T&gt;</a>, Dimension, TangentDimension&gt;;                          \</div>
 <div class="line">    <span class="keyword">typedef</span> Manif##<a class="code hl_struct" href="structState.html">State&lt;double&gt;</a>       Manif##dState;                                                                  \</div>
 <div class="line">    <span class="keyword">typedef</span> Manif##StateSignal&lt;double&gt; Manif##dStateSignal;</div>
-<div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:35</div></div>
+<div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:38</div></div>
 <div class="ttc" id="astructState_html"><div class="ttname"><a href="structState.html">State</a></div><div class="ttdoc">Base type for all Model state representations.</div><div class="ttdef"><b>Definition</b> State.h:34</div></div>
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@@ -1685,9 +1702,13 @@ <h2 class="memtitle"><span class="permalink"><a href="#af1eca508289d2fcbdecd0cc1
 </div>
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
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diff --git a/docs/State_8h.js b/docs/State_8h.js
new file mode 100644
index 0000000..03c8f77
--- /dev/null
+++ b/docs/State_8h.js
@@ -0,0 +1,86 @@
+var State_8h =
+[
+    [ "State< T, PoseTypeSpec, PoseDim, TwistTypeSpec, TwistDim >", "structState.html", "structState" ],
+    [ "ScalarStateSignalSpec< T >", "structScalarStateSignalSpec.html", "structScalarStateSignalSpec" ],
+    [ "VectorStateSignalSpec< T, d >", "structVectorStateSignalSpec.html", "structVectorStateSignalSpec" ],
+    [ "ManifoldStateSignalSpec< T, ManifoldType, PD, TD >", "structManifoldStateSignalSpec.html", "structManifoldStateSignalSpec" ],
+    [ "MAKE_MANIF_STATES", "State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294", null ],
+    [ "MAKE_VECTOR_STATES", "State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b", null ],
+    [ "ManifoldStateSignal", "State_8h.html#a111e9957b3bae43e71ce97678f712b8c", null ],
+    [ "ManifoldStateType", "State_8h.html#a73655df4c5d92f1cf1cf69d5fa057753", null ],
+    [ "ScalardState", "State_8h.html#aab879370bd488ae3cb270da1dfc5f695", null ],
+    [ "ScalardStateSignal", "State_8h.html#a95f500a02b3d50ef0a73883e96ae8768", null ],
+    [ "ScalarState", "State_8h.html#ae2fe8fddd28ed110fbc33b4ca506bd0f", null ],
+    [ "ScalarStateSignal", "State_8h.html#a7059d2190879b0e80afad377593fb225", null ],
+    [ "ScalarStateType", "State_8h.html#aad51d946606df50291c6c2f546030f11", null ],
+    [ "SE2dState", "State_8h.html#abf8de0fae02a60506ddd6e134b75ae00", null ],
+    [ "SE2dStateSignal", "State_8h.html#a709efdac7ba2c93eedbf1533c74e42f5", null ],
+    [ "SE2State", "State_8h.html#a040c943cebaa523f316e57aaa2c90a8f", null ],
+    [ "SE2StateSignal", "State_8h.html#a7de4c0261575a69f6ed4e17cf50e3e03", null ],
+    [ "SE3dState", "State_8h.html#a98daf00f053bcc148a93319eac4901e4", null ],
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+    [ "SE3StateSignal", "State_8h.html#a0f26da8f398a7f20706b5f962e475126", null ],
+    [ "SO2dState", "State_8h.html#af87fca61f7adfb8b62056d2f6c815e51", null ],
+    [ "SO2dStateSignal", "State_8h.html#a4f4b421bf1a450cd6514a24b8c16e8cb", null ],
+    [ "SO2State", "State_8h.html#a53505b4e14d5121cf4ec30c3d5ee854f", null ],
+    [ "SO2StateSignal", "State_8h.html#a4e7a95697e869ec8e9cd31c0723ea2cf", null ],
+    [ "SO3dState", "State_8h.html#a7ab722ee104a5c16222f5cbd0d682657", null ],
+    [ "SO3dStateSignal", "State_8h.html#a7069682eef4672ac723761c44e44bc5a", null ],
+    [ "SO3State", "State_8h.html#a0bc2e14b1e00089eac587823a7028df1", null ],
+    [ "SO3StateSignal", "State_8h.html#ae37ddd285b52c0765cd59fd0e212dfb5", null ],
+    [ "Vector10dState", "State_8h.html#ac15f89e56010b705e5a2e0d9c3c50a6d", null ],
+    [ "Vector10dStateSignal", "State_8h.html#af22d4a3a8e0b033da1e86fbb86d62025", null ],
+    [ "Vector10State", "State_8h.html#aaebcae79f29e8afb31a487a07fe71178", null ],
+    [ "Vector10StateSignal", "State_8h.html#a7aaf0c3fa4fd47f070fb708901981e1d", null ],
+    [ "Vector1dState", "State_8h.html#a1fccb71007e0830388d5c21c85e3344e", null ],
+    [ "Vector1dStateSignal", "State_8h.html#a62568e2f3d59e51a60168009aa1a54bf", null ],
+    [ "Vector1State", "State_8h.html#a0cc4f9bb31ad1c5782e620e2a8168f99", null ],
+    [ "Vector1StateSignal", "State_8h.html#a5e82a65c39e740624f9c118536b5475d", null ],
+    [ "Vector2dState", "State_8h.html#ae54c0630e02ee333a48fe6531d00e071", null ],
+    [ "Vector2dStateSignal", "State_8h.html#a100a0048450baf6c0d0c2f444eccaf8a", null ],
+    [ "Vector2State", "State_8h.html#af2610db569af97f280444234b4632b9b", null ],
+    [ "Vector2StateSignal", "State_8h.html#a33b1f775ddbb45d3b1ae05ca4a7152c0", null ],
+    [ "Vector3dState", "State_8h.html#a0e9c381070552b28ffb2683b44e7b5a3", null ],
+    [ "Vector3dStateSignal", "State_8h.html#a1e20c96461ce98997ef1a3c0ab7b6668", null ],
+    [ "Vector3State", "State_8h.html#aa8c0482241bd43048f5a8ae3365c82be", null ],
+    [ "Vector3StateSignal", "State_8h.html#a007fe0235bfe0d3393d33584f9a38f5b", null ],
+    [ "Vector4dState", "State_8h.html#a8add6ebebc487c439430cb69d2892bbf", null ],
+    [ "Vector4dStateSignal", "State_8h.html#a9013e9f17201a38fdb10648f14ea5c95", null ],
+    [ "Vector4State", "State_8h.html#a4cfd5bd231c0f14e8a360134d9d17bee", null ],
+    [ "Vector4StateSignal", "State_8h.html#a24c5f8ae10f7553987a0bb5c619cf505", null ],
+    [ "Vector5dState", "State_8h.html#a45d6b402de0ba422a815e117b084dde3", null ],
+    [ "Vector5dStateSignal", "State_8h.html#a7a8f2f6fd14951fd2fe337c952b0cb74", null ],
+    [ "Vector5State", "State_8h.html#a2890d15ac36c73fcd73556771b80b47e", null ],
+    [ "Vector5StateSignal", "State_8h.html#a05175ceaa15c466ce47c983d489ce31b", null ],
+    [ "Vector6dState", "State_8h.html#af07e3586e98f931acac5d0ffd9b17cee", null ],
+    [ "Vector6dStateSignal", "State_8h.html#a9df3c94eca5a8200ce96b3221995c46b", null ],
+    [ "Vector6State", "State_8h.html#a767154e6e5b226bf7b6c9dad73aee6d2", null ],
+    [ "Vector6StateSignal", "State_8h.html#a809dbd95b4841c294c3a75a7d40ecf62", null ],
+    [ "Vector7dState", "State_8h.html#ad58fbc5cd721c46fe64d385cc3317380", null ],
+    [ "Vector7dStateSignal", "State_8h.html#a901bd18eae58b6365b68227b38b8a6e1", null ],
+    [ "Vector7State", "State_8h.html#a5c337dc74b2038b11a515b3d0559c1f2", null ],
+    [ "Vector7StateSignal", "State_8h.html#aec3d4775be3f8929cbac8e75b0471e48", null ],
+    [ "Vector8dState", "State_8h.html#acfdf1934f5783c1dcab2987c242ef8af", null ],
+    [ "Vector8dStateSignal", "State_8h.html#a25968e689d254876cbae1ff352b3f184", null ],
+    [ "Vector8State", "State_8h.html#a102cee6380e7d3e8f52988d17ac6a937", null ],
+    [ "Vector8StateSignal", "State_8h.html#a1583d33e935bcb44fb80ee6172a59a9b", null ],
+    [ "Vector9dState", "State_8h.html#a865c1f4de96010d38ee17edc48d6c611", null ],
+    [ "Vector9dStateSignal", "State_8h.html#a0237ae6ced288b7b3853654cd4ce796c", null ],
+    [ "Vector9State", "State_8h.html#acc503352a69f43c7991b9118bb466db2", null ],
+    [ "Vector9StateSignal", "State_8h.html#a0ffa2fdd937c37ee8f09d3fb49057f76", null ],
+    [ "VectorStateSignal", "State_8h.html#a214bd9926c3d8a2bb83b9b471744775b", null ],
+    [ "VectorStateType", "State_8h.html#a60d0230d5788084bb8f559f4561d4d96", null ],
+    [ "operator*", "State_8h.html#a795d2ff5c53f24de712134f27e197001", null ],
+    [ "operator*", "State_8h.html#a7fa016cf853be0dbc882359bf5b637f9", null ],
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diff --git a/docs/State_8h_source.html b/docs/State_8h_source.html
index 5893d8a..ecbcc58 100644
--- a/docs/State_8h_source.html
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@@ -10,6 +10,10 @@
 <script type="text/javascript" src="jquery.js"></script>
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+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
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+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
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@@ -60,6 +65,23 @@
 $(function() { codefold.init(0); });
 /* @license-end */
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+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function(){initNavTree('State_8h_source.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
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@@ -81,11 +103,6 @@
 </div>
 </div>
 
-<div id="nav-path" class="navpath">
-  <ul>
-<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_661483514bb8dea267426763b771558e.html">signals</a></li>  </ul>
-</div>
-</div><!-- top -->
 <div class="header">
   <div class="headertitle"><div class="title">State.h</div></div>
 </div><!--header-->
@@ -102,338 +119,342 @@
 <div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="structState.html#a31bd8aa44dff5f656b2b2057c8d63821">   35</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structState.html#a31bd8aa44dff5f656b2b2057c8d63821">PoseType</a>  = <span class="keyword">typename</span> PoseTypeSpec::Type;</div>
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 <div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
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-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">   39</a></span>    <a class="code hl_typedef" href="structState.html#ab58b6e2fe6ea3c2777c5a8a92f6665a1">TwistType</a> <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
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-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="structState.html#adcb914ebe25fe14622a945801267fa7a">   41</a></span>    <a class="code hl_function" href="structState.html#adcb914ebe25fe14622a945801267fa7a">State</a>() {}</div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="structState.html#a097d236bc46ca02a379e2fd188fe3e97">   43</a></span>    <a class="code hl_function" href="structState.html#a097d236bc46ca02a379e2fd188fe3e97">State</a>(T* arr) : <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>(arr), <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>(arr + PoseDim) {}</div>
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-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
-<div class="foldopen" id="foldopen00059" data-start="{" data-end="}">
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">   59</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">State</a> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">nans</a>()</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    {</div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>        <a class="code hl_struct" href="structState.html">State</a> x;</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>        x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>  = PoseTypeSpec::NansType();</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>        x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> = TwistTypeSpec::NansType();</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        <span class="keywordflow">return</span> x;</div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    }</div>
-</div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
-<div class="foldopen" id="foldopen00067" data-start="{" data-end="}">
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="structState.html#af76faa98cfc18fb81afb0c86f7a0aa75">   67</a></span>    <a class="code hl_struct" href="structState.html">State</a>&amp; <a class="code hl_function" href="structState.html#af76faa98cfc18fb81afb0c86f7a0aa75">operator*=</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; s)</div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    {</div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> *= s;</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>        <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> *= s;</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>        <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    }</div>
-</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span> </div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T2&gt;</div>
-<div class="foldopen" id="foldopen00075" data-start="{" data-end="}">
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="structState.html#a7764970f0c29576eac07ab57c28261be">   75</a></span>    <a class="code hl_struct" href="structState.html">State</a>&amp; <a class="code hl_function" href="structState.html#a7764970f0c29576eac07ab57c28261be">operator+=</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T2, TwistTypeSpec, TwistDim, TwistTypeSpec, TwistDim&gt;</a>&amp; r)</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    {</div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>        <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> += r.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>        <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> += r.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>        <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    }</div>
-</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>};</div>
-</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PTS, <span class="keywordtype">size_t</span> PD, <span class="keyword">typename</span> TTS, <span class="keywordtype">size_t</span> TD&gt;</div>
-<div class="foldopen" id="foldopen00084" data-start="{" data-end="}">
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="State_8h.html#ac3e1ccc35f63b762bdd2c87478f8aad6">   84</a></span><a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> <a class="code hl_function" href="State_8h.html#ac3e1ccc35f63b762bdd2c87478f8aad6">operator+</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; l, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, TTS, TD, TTS, TD&gt;</a>&amp; r)</div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>{</div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> lpr = l;</div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    lpr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> += r.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    lpr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> += r.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="keywordflow">return</span> lpr;</div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>}</div>
-</div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span> </div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PTS, <span class="keywordtype">size_t</span> PD, <span class="keyword">typename</span> TTS, <span class="keywordtype">size_t</span> TD&gt;</div>
-<div class="foldopen" id="foldopen00093" data-start="{" data-end="}">
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="State_8h.html#ad7ac1ecc8c925fbc991d2fa8ca50d4eb">   93</a></span><a class="code hl_struct" href="structState.html">State&lt;T, TTS, TD, TTS, TD&gt;</a> <a class="code hl_function" href="State_8h.html#ad7ac1ecc8c925fbc991d2fa8ca50d4eb">operator-</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; l, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; r)</div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>{</div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    <a class="code hl_struct" href="structState.html">State&lt;T, TTS, TD, TTS, TD&gt;</a> lmr;</div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    lmr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>  = l.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> - r.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    lmr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> = l.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> - r.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    <span class="keywordflow">return</span> lmr;</div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>}</div>
-</div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span> </div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PTS, <span class="keywordtype">size_t</span> PD, <span class="keyword">typename</span> TTS, <span class="keywordtype">size_t</span> TD&gt;</div>
-<div class="foldopen" id="foldopen00102" data-start="{" data-end="}">
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="State_8h.html#a795d2ff5c53f24de712134f27e197001">  102</a></span><a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> <a class="code hl_function" href="State_8h.html#a795d2ff5c53f24de712134f27e197001">operator*</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; l, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; r)</div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>{</div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> lr = r;</div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> *= l;</div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> *= l;</div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>    <span class="keywordflow">return</span> lr;</div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>}</div>
-</div>
-<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span> </div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PTS, <span class="keywordtype">size_t</span> PD, <span class="keyword">typename</span> TTS, <span class="keywordtype">size_t</span> TD&gt;</div>
-<div class="foldopen" id="foldopen00111" data-start="{" data-end="}">
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="State_8h.html#a7fa016cf853be0dbc882359bf5b637f9">  111</a></span><a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> <a class="code hl_function" href="State_8h.html#a795d2ff5c53f24de712134f27e197001">operator*</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>{</div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>    <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> lr = l;</div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> *= r;</div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> *= r;</div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    <span class="keywordflow">return</span> lr;</div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>}</div>
-</div>
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
-<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"><a class="line" href="State_8h.html#aad51d946606df50291c6c2f546030f11">  120</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">ScalarStateType</a> = <a class="code hl_struct" href="structState.html">State&lt;T, ScalarSignalSpec&lt;T&gt;</a>, 1, <a class="code hl_struct" href="structScalarSignalSpec.html">ScalarSignalSpec&lt;T&gt;</a>, 1&gt;;</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">   41</a></span>    <a class="code hl_typedef" href="structState.html#a31bd8aa44dff5f656b2b2057c8d63821">PoseType</a>  <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">   42</a></span>    <a class="code hl_typedef" href="structState.html#ab58b6e2fe6ea3c2777c5a8a92f6665a1">TwistType</a> <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="structState.html#adcb914ebe25fe14622a945801267fa7a">   44</a></span>    <a class="code hl_function" href="structState.html#adcb914ebe25fe14622a945801267fa7a">State</a>() {}</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="structState.html#a097d236bc46ca02a379e2fd188fe3e97">   46</a></span>    <a class="code hl_function" href="structState.html#a097d236bc46ca02a379e2fd188fe3e97">State</a>(T* arr) : <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>(arr), <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>(arr + PoseDim) {}</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
+<div class="foldopen" id="foldopen00048" data-start="{" data-end="}">
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="structState.html#aa10b450dbe8a806a0b203521b4738c0c">   48</a></span>    <a class="code hl_function" href="structState.html#aa10b450dbe8a806a0b203521b4738c0c">State</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State</a>&amp; other)</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    {</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>        this-&gt;pose  = other.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>        this-&gt;twist = other.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    }</div>
+</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
+<div class="foldopen" id="foldopen00054" data-start="{" data-end="}">
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"><a class="line" href="structState.html#a035f1f7193895463743b8ee58d75634f">   54</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">State</a> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">identity</a>()</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    {</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>        <a class="code hl_struct" href="structState.html">State</a> x;</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>        x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>  = PoseTypeSpec::ZeroType();</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>        x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> = TwistTypeSpec::ZeroType();</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        <span class="keywordflow">return</span> x;</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    }</div>
+</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
+<div class="foldopen" id="foldopen00062" data-start="{" data-end="}">
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"><a class="line" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">   62</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">State</a> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">nans</a>()</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    {</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        <a class="code hl_struct" href="structState.html">State</a> x;</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>        x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>  = PoseTypeSpec::NansType();</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>        x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> = TwistTypeSpec::NansType();</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>        <span class="keywordflow">return</span> x;</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    }</div>
+</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
+<div class="foldopen" id="foldopen00070" data-start="{" data-end="}">
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="structState.html#af76faa98cfc18fb81afb0c86f7a0aa75">   70</a></span>    <a class="code hl_struct" href="structState.html">State</a>&amp; <a class="code hl_function" href="structState.html#af76faa98cfc18fb81afb0c86f7a0aa75">operator*=</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; s)</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    {</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> *= s;</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> *= s;</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    }</div>
+</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T2&gt;</div>
+<div class="foldopen" id="foldopen00078" data-start="{" data-end="}">
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="structState.html#a7764970f0c29576eac07ab57c28261be">   78</a></span>    <a class="code hl_struct" href="structState.html">State</a>&amp; <a class="code hl_function" href="structState.html#a7764970f0c29576eac07ab57c28261be">operator+=</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T2, TwistTypeSpec, TwistDim, TwistTypeSpec, TwistDim&gt;</a>&amp; r)</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    {</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>        <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> += r.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>        <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> += r.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>        <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    }</div>
+</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>};</div>
+</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PTS, <span class="keywordtype">size_t</span> PD, <span class="keyword">typename</span> TTS, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="foldopen" id="foldopen00087" data-start="{" data-end="}">
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="State_8h.html#ac3e1ccc35f63b762bdd2c87478f8aad6">   87</a></span><a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> <a class="code hl_function" href="State_8h.html#ac3e1ccc35f63b762bdd2c87478f8aad6">operator+</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; l, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, TTS, TD, TTS, TD&gt;</a>&amp; r)</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>{</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> lpr = l;</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    lpr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> += r.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    lpr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> += r.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    <span class="keywordflow">return</span> lpr;</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>}</div>
+</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PTS, <span class="keywordtype">size_t</span> PD, <span class="keyword">typename</span> TTS, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="foldopen" id="foldopen00096" data-start="{" data-end="}">
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="State_8h.html#ad7ac1ecc8c925fbc991d2fa8ca50d4eb">   96</a></span><a class="code hl_struct" href="structState.html">State&lt;T, TTS, TD, TTS, TD&gt;</a> <a class="code hl_function" href="State_8h.html#ad7ac1ecc8c925fbc991d2fa8ca50d4eb">operator-</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; l, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; r)</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>{</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    <a class="code hl_struct" href="structState.html">State&lt;T, TTS, TD, TTS, TD&gt;</a> lmr;</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    lmr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>  = l.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> - r.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    lmr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> = l.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> - r.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <span class="keywordflow">return</span> lmr;</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>}</div>
+</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span> </div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PTS, <span class="keywordtype">size_t</span> PD, <span class="keyword">typename</span> TTS, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="foldopen" id="foldopen00105" data-start="{" data-end="}">
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="State_8h.html#a795d2ff5c53f24de712134f27e197001">  105</a></span><a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> <a class="code hl_function" href="State_8h.html#a795d2ff5c53f24de712134f27e197001">operator*</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; l, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; r)</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>{</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>    <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> lr = r;</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> *= l;</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> *= l;</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    <span class="keywordflow">return</span> lr;</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>}</div>
+</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span> </div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> PTS, <span class="keywordtype">size_t</span> PD, <span class="keyword">typename</span> TTS, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="foldopen" id="foldopen00114" data-start="{" data-end="}">
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"><a class="line" href="State_8h.html#a7fa016cf853be0dbc882359bf5b637f9">  114</a></span><a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> <a class="code hl_function" href="State_8h.html#a795d2ff5c53f24de712134f27e197001">operator*</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>{</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    <a class="code hl_struct" href="structState.html">State&lt;T, PTS, PD, TTS, TD&gt;</a> lr = l;</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> *= r;</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> *= r;</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>    <span class="keywordflow">return</span> lr;</div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>}</div>
+</div>
 <div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span> </div>
 <div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="foldopen" id="foldopen00123" data-start="{" data-end="}">
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">  123</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>&amp; x)</div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>{</div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    os &lt;&lt; <span class="stringliteral">&quot;ScalarStateType: pose=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    <span class="keywordflow">return</span> os;</div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>}</div>
-</div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span> </div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="foldopen" id="foldopen00130" data-start="{" data-end="}">
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">  130</a></span><a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a> <a class="code hl_function" href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">operator/</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>{</div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a> lr = l;</div>
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> /= r;</div>
-<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> /= r;</div>
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    <span class="keywordflow">return</span> lr;</div>
-<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>}</div>
-</div>
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span> </div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
-<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="State_8h.html#a60d0230d5788084bb8f559f4561d4d96">  139</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">VectorStateType</a> = <a class="code hl_struct" href="structState.html">State&lt;T, VectorSignalSpec&lt;T, d&gt;</a>, d, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, d&gt;</a>, d&gt;;</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="State_8h.html#aad51d946606df50291c6c2f546030f11">  123</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">ScalarStateType</a> = <a class="code hl_struct" href="structState.html">State&lt;T, ScalarSignalSpec&lt;T&gt;</a>, 1, <a class="code hl_struct" href="structScalarSignalSpec.html">ScalarSignalSpec&lt;T&gt;</a>, 1&gt;;</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span> </div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00126" data-start="{" data-end="}">
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">  126</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>{</div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    os &lt;&lt; <span class="stringliteral">&quot;ScalarStateType: pose=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>}</div>
+</div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span> </div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00133" data-start="{" data-end="}">
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"><a class="line" href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">  133</a></span><a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a> <a class="code hl_function" href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">operator/</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>{</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a> lr = l;</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> /= r;</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> /= r;</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>    <span class="keywordflow">return</span> lr;</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>}</div>
+</div>
 <div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span> </div>
 <div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
-<div class="foldopen" id="foldopen00142" data-start="{" data-end="}">
-<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"><a class="line" href="State_8h.html#af1eca508289d2fcbdecd0cc136eed43d">  142</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a>&amp; x)</div>
-<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>{</div>
-<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorStateType: pose=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>.transpose() &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>.transpose();</div>
-<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>    <span class="keywordflow">return</span> os;</div>
-<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>}</div>
-</div>
-<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span> </div>
-<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
-<div class="foldopen" id="foldopen00149" data-start="{" data-end="}">
-<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="State_8h.html#a0f388e10603fb47846a1147ff5b6839d">  149</a></span><a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a> <a class="code hl_function" href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">operator/</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
-<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>{</div>
-<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a> lr = l;</div>
-<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> /= r;</div>
-<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> /= r;</div>
-<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    <span class="keywordflow">return</span> lr;</div>
-<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>}</div>
-</div>
-<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span> </div>
-<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
-<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"><a class="line" href="State_8h.html#a73655df4c5d92f1cf1cf69d5fa057753">  158</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">ManifoldStateType</a> = <a class="code hl_struct" href="structState.html">State&lt;T, ManifoldSignalSpec&lt;ManifoldType&gt;</a>, PD, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, TD&gt;</a>, TD&gt;;</div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"><a class="line" href="State_8h.html#a60d0230d5788084bb8f559f4561d4d96">  142</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">VectorStateType</a> = <a class="code hl_struct" href="structState.html">State&lt;T, VectorSignalSpec&lt;T, d&gt;</a>, d, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, d&gt;</a>, d&gt;;</div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span> </div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="foldopen" id="foldopen00145" data-start="{" data-end="}">
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"><a class="line" href="State_8h.html#af1eca508289d2fcbdecd0cc136eed43d">  145</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>{</div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorStateType: pose=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>.transpose() &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>.transpose();</div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>}</div>
+</div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span> </div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="foldopen" id="foldopen00152" data-start="{" data-end="}">
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="State_8h.html#a0f388e10603fb47846a1147ff5b6839d">  152</a></span><a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a> <a class="code hl_function" href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">operator/</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>{</div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a> lr = l;</div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> /= r;</div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> /= r;</div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    <span class="keywordflow">return</span> lr;</div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>}</div>
+</div>
 <div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span> </div>
 <div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
-<div class="foldopen" id="foldopen00161" data-start="{" data-end="}">
-<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"><a class="line" href="State_8h.html#a494fe74e8c2fc3cd3f7e14886eeb7d6c">  161</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">ManifoldStateType&lt;T, ManifoldType, PD, TD&gt;</a>&amp; x)</div>
-<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>{</div>
-<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorStateType: pose=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
-<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>    <span class="keywordflow">return</span> os;</div>
-<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>}</div>
-</div>
-<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span> </div>
-<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="foldopen" id="foldopen00168" data-start="{" data-end="};">
-<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html">  168</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec</a></div>
-<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>{</div>
-<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html#a7ae52069e3aafdb7c45b14168b1ad11b">  170</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structState.html">Type</a> = <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>;</div>
-<div class="foldopen" id="foldopen00171" data-start="{" data-end="}">
-<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">  171</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">ZeroType</a>()</div>
-<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>    {</div>
-<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">Type::identity</a>();</div>
-<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>    }</div>
-</div>
-<div class="foldopen" id="foldopen00175" data-start="{" data-end="}">
-<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">  175</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">NansType</a>()</div>
-<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    {</div>
-<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">Type::nans</a>();</div>
-<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>    }</div>
-</div>
-<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>};</div>
-</div>
-<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span> </div>
-<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
-<div class="foldopen" id="foldopen00182" data-start="{" data-end="};">
-<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html">  182</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structVectorStateSignalSpec.html">VectorStateSignalSpec</a></div>
-<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>{</div>
-<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html#a3994948f467b39ca2dcd77d220a8cf3a">  184</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structState.html">Type</a> = <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a>;</div>
-<div class="foldopen" id="foldopen00185" data-start="{" data-end="}">
-<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html#ae659b96e95497b25e711fab331037c21">  185</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structVectorStateSignalSpec.html#ae659b96e95497b25e711fab331037c21">ZeroType</a>()</div>
-<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>    {</div>
-<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">Type::identity</a>();</div>
-<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>    }</div>
-</div>
-<div class="foldopen" id="foldopen00189" data-start="{" data-end="}">
-<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html#a4729eec41bab8eb5ed7b45aa8272be4d">  189</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structVectorStateSignalSpec.html#a4729eec41bab8eb5ed7b45aa8272be4d">NansType</a>()</div>
-<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>    {</div>
-<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">Type::nans</a>();</div>
-<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>    }</div>
-</div>
-<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>};</div>
-</div>
-<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span> </div>
-<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
-<div class="foldopen" id="foldopen00196" data-start="{" data-end="};">
-<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html">  196</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec</a></div>
-<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>{</div>
-<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html#aef8d411c012125303e1faa1d66b35c1c">  198</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structState.html">Type</a> = <a class="code hl_struct" href="structState.html">ManifoldStateType&lt;T, ManifoldType, PD, TD&gt;</a>;</div>
-<div class="foldopen" id="foldopen00199" data-start="{" data-end="}">
-<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">  199</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">ZeroType</a>()</div>
-<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>    {</div>
-<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">Type::identity</a>();</div>
-<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>    }</div>
-</div>
-<div class="foldopen" id="foldopen00203" data-start="{" data-end="}">
-<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">  203</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">NansType</a>()</div>
-<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span>    {</div>
-<div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">Type::nans</a>();</div>
-<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>    }</div>
-</div>
-<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span>};</div>
-</div>
-<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span> </div>
-<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"><a class="line" href="State_8h.html#a7059d2190879b0e80afad377593fb225">  210</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">ScalarStateSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ScalarStateSignalSpec&lt;T&gt;</a>, <a class="code hl_struct" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec&lt;T&gt;</a>&gt;;</div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"><a class="line" href="State_8h.html#a73655df4c5d92f1cf1cf69d5fa057753">  161</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">ManifoldStateType</a> = <a class="code hl_struct" href="structState.html">State&lt;T, ManifoldSignalSpec&lt;ManifoldType&gt;</a>, PD, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, TD&gt;</a>, TD&gt;;</div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span> </div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="foldopen" id="foldopen00164" data-start="{" data-end="}">
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"><a class="line" href="State_8h.html#a494fe74e8c2fc3cd3f7e14886eeb7d6c">  164</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">ManifoldStateType&lt;T, ManifoldType, PD, TD&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>{</div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorStateType: pose=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>}</div>
+</div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span> </div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00171" data-start="{" data-end="};">
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html">  171</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec</a></div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>{</div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html#a7ae52069e3aafdb7c45b14168b1ad11b">  173</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structState.html">Type</a> = <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>;</div>
+<div class="foldopen" id="foldopen00174" data-start="{" data-end="}">
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">  174</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">ZeroType</a>()</div>
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>    {</div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">Type::identity</a>();</div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>    }</div>
+</div>
+<div class="foldopen" id="foldopen00178" data-start="{" data-end="}">
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">  178</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">NansType</a>()</div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>    {</div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">Type::nans</a>();</div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>    }</div>
+</div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>};</div>
+</div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span> </div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="foldopen" id="foldopen00185" data-start="{" data-end="};">
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html">  185</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structVectorStateSignalSpec.html">VectorStateSignalSpec</a></div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>{</div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html#a3994948f467b39ca2dcd77d220a8cf3a">  187</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structState.html">Type</a> = <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a>;</div>
+<div class="foldopen" id="foldopen00188" data-start="{" data-end="}">
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html#ae659b96e95497b25e711fab331037c21">  188</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structVectorStateSignalSpec.html#ae659b96e95497b25e711fab331037c21">ZeroType</a>()</div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>    {</div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">Type::identity</a>();</div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>    }</div>
+</div>
+<div class="foldopen" id="foldopen00192" data-start="{" data-end="}">
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html#a4729eec41bab8eb5ed7b45aa8272be4d">  192</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structVectorStateSignalSpec.html#a4729eec41bab8eb5ed7b45aa8272be4d">NansType</a>()</div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>    {</div>
+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">Type::nans</a>();</div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>    }</div>
+</div>
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>};</div>
+</div>
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span> </div>
+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="foldopen" id="foldopen00199" data-start="{" data-end="};">
+<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html">  199</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec</a></div>
+<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>{</div>
+<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html#aef8d411c012125303e1faa1d66b35c1c">  201</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structState.html">Type</a> = <a class="code hl_struct" href="structState.html">ManifoldStateType&lt;T, ManifoldType, PD, TD&gt;</a>;</div>
+<div class="foldopen" id="foldopen00202" data-start="{" data-end="}">
+<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">  202</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">ZeroType</a>()</div>
+<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>    {</div>
+<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">Type::identity</a>();</div>
+<div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>    }</div>
+</div>
+<div class="foldopen" id="foldopen00206" data-start="{" data-end="}">
+<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">  206</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">NansType</a>()</div>
+<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span>    {</div>
+<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">Type::nans</a>();</div>
+<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>    }</div>
+</div>
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>};</div>
+</div>
 <div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span> </div>
 <div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="foldopen" id="foldopen00213" data-start="{" data-end="}">
-<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"><a class="line" href="State_8h.html#ab6fe6347b40120d5f45445b1fc6596f4">  213</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;T&gt;</a>&amp; x)</div>
-<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>{</div>
-<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>    os &lt;&lt; <span class="stringliteral">&quot;ScalarStateSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: pose=&quot;</span> &lt;&lt; x().pose &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x().twist;</div>
-<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>    <span class="keywordflow">return</span> os;</div>
-<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>}</div>
-</div>
-<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span> </div>
-<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
-<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"><a class="line" href="State_8h.html#a214bd9926c3d8a2bb83b9b471744775b">  220</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">VectorStateSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;VectorStateSignalSpec&lt;T, d&gt;</a>, <a class="code hl_struct" href="structVectorStateSignalSpec.html">VectorStateSignalSpec&lt;T, d&gt;</a>&gt;;</div>
+<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"><a class="line" href="State_8h.html#a7059d2190879b0e80afad377593fb225">  213</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">ScalarStateSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ScalarStateSignalSpec&lt;T&gt;</a>, <a class="code hl_struct" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec&lt;T&gt;</a>&gt;;</div>
+<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span> </div>
+<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00216" data-start="{" data-end="}">
+<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"><a class="line" href="State_8h.html#ab6fe6347b40120d5f45445b1fc6596f4">  216</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;T&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>{</div>
+<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>    os &lt;&lt; <span class="stringliteral">&quot;ScalarStateSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: pose=&quot;</span> &lt;&lt; x().pose &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x().twist;</div>
+<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>}</div>
+</div>
 <div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span> </div>
 <div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
-<div class="foldopen" id="foldopen00223" data-start="{" data-end="}">
-<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"><a class="line" href="State_8h.html#a1675ff98779b45e08f5d169056e26a4d">  223</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">VectorStateSignal&lt;T, d&gt;</a>&amp; x)</div>
-<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>{</div>
-<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorStateSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: pose=&quot;</span> &lt;&lt; x().pose.transpose()</div>
-<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>       &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x().twist.transpose();</div>
-<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>    <span class="keywordflow">return</span> os;</div>
-<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>}</div>
-</div>
-<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span> </div>
-<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
-<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"><a class="line" href="State_8h.html#a111e9957b3bae43e71ce97678f712b8c">  231</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">ManifoldStateSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ManifoldStateSignalSpec&lt;T, ManifoldType, PD, TD&gt;</a>, <a class="code hl_struct" href="structVectorStateSignalSpec.html">VectorStateSignalSpec&lt;T, TD&gt;</a>&gt;;</div>
+<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"><a class="line" href="State_8h.html#a214bd9926c3d8a2bb83b9b471744775b">  223</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">VectorStateSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;VectorStateSignalSpec&lt;T, d&gt;</a>, <a class="code hl_struct" href="structVectorStateSignalSpec.html">VectorStateSignalSpec&lt;T, d&gt;</a>&gt;;</div>
+<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span> </div>
+<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
+<div class="foldopen" id="foldopen00226" data-start="{" data-end="}">
+<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"><a class="line" href="State_8h.html#a1675ff98779b45e08f5d169056e26a4d">  226</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">VectorStateSignal&lt;T, d&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>{</div>
+<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorStateSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: pose=&quot;</span> &lt;&lt; x().pose.transpose()</div>
+<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>       &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x().twist.transpose();</div>
+<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>}</div>
+</div>
 <div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span> </div>
 <div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
-<div class="foldopen" id="foldopen00234" data-start="{" data-end="}">
-<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"><a class="line" href="State_8h.html#a6c0f637d1f1980a2de56f125e9cf4ec1">  234</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">ManifoldStateSignal&lt;T, ManifoldType, PD, TD&gt;</a>&amp; x)</div>
-<div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span>{</div>
-<div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span>    os &lt;&lt; <span class="stringliteral">&quot;ManifoldStateSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: pose=&quot;</span> &lt;&lt; x().pose &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x().twist;</div>
-<div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span>    <span class="keywordflow">return</span> os;</div>
-<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span>}</div>
-</div>
-<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span> </div>
-<div class="foldopen" id="foldopen00240" data-start="" data-end="">
-<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"><a class="line" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">  240</a></span><span class="preprocessor">#define MAKE_VECTOR_STATES(Dimension)                                                                                  \</span></div>
-<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
-<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span><span class="preprocessor">    using Vector##Dimension##State = VectorStateType&lt;T, Dimension&gt;;                                                    \</span></div>
-<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
-<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span><span class="preprocessor">    using Vector##Dimension##StateSignal = VectorStateSignal&lt;T, Dimension&gt;;                                            \</span></div>
-<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span><span class="preprocessor">    typedef Vector##Dimension##State&lt;double&gt;       Vector##Dimension##dState;                                          \</span></div>
-<div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span><span class="preprocessor">    typedef Vector##Dimension##StateSignal&lt;double&gt; Vector##Dimension##dStateSignal;</span></div>
-</div>
-<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span> </div>
-<div class="foldopen" id="foldopen00248" data-start="" data-end="">
-<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"><a class="line" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">  248</a></span><span class="preprocessor">#define MAKE_MANIF_STATES(Manif, Dimension, TangentDimension)                                                          \</span></div>
-<div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
-<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span><span class="preprocessor">    using Manif##State = ManifoldStateType&lt;T, Manif&lt;T&gt;, Dimension, TangentDimension&gt;;                                  \</span></div>
-<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
-<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span><span class="preprocessor">    using Manif##StateSignal = ManifoldStateSignal&lt;T, Manif&lt;T&gt;, Dimension, TangentDimension&gt;;                          \</span></div>
-<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span><span class="preprocessor">    typedef Manif##State&lt;double&gt;       Manif##dState;                                                                  \</span></div>
-<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span><span class="preprocessor">    typedef Manif##StateSignal&lt;double&gt; Manif##dStateSignal;</span></div>
-</div>
-<div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span> </div>
-<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"><a class="line" href="State_8h.html#ae2fe8fddd28ed110fbc33b4ca506bd0f">  257</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">ScalarState</a> = <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>;</div>
-<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"><a class="line" href="State_8h.html#aab879370bd488ae3cb270da1dfc5f695">  258</a></span><span class="keyword">typedef</span> <a class="code hl_struct" href="structState.html">ScalarState&lt;double&gt;</a>       <a class="code hl_typedef" href="State_8h.html#aab879370bd488ae3cb270da1dfc5f695">ScalardState</a>;</div>
-<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"><a class="line" href="State_8h.html#a95f500a02b3d50ef0a73883e96ae8768">  259</a></span><span class="keyword">typedef</span> <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;double&gt;</a> <a class="code hl_typedef" href="State_8h.html#a95f500a02b3d50ef0a73883e96ae8768">ScalardStateSignal</a>;</div>
-<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"><a class="line" href="State_8h.html#a1fccb71007e0830388d5c21c85e3344e">  260</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(1)</div>
-<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"><a class="line" href="State_8h.html#ae54c0630e02ee333a48fe6531d00e071">  261</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(2)</div>
-<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"><a class="line" href="State_8h.html#a0e9c381070552b28ffb2683b44e7b5a3">  262</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(3)</div>
-<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"><a class="line" href="State_8h.html#a8add6ebebc487c439430cb69d2892bbf">  263</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(4)</div>
-<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"><a class="line" href="State_8h.html#a45d6b402de0ba422a815e117b084dde3">  264</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(5)</div>
-<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"><a class="line" href="State_8h.html#af07e3586e98f931acac5d0ffd9b17cee">  265</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(6)</div>
-<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"><a class="line" href="State_8h.html#ad58fbc5cd721c46fe64d385cc3317380">  266</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(7)</div>
-<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"><a class="line" href="State_8h.html#acfdf1934f5783c1dcab2987c242ef8af">  267</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(8)</div>
-<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"><a class="line" href="State_8h.html#a865c1f4de96010d38ee17edc48d6c611">  268</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(9)</div>
-<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"><a class="line" href="State_8h.html#ac15f89e56010b705e5a2e0d9c3c50a6d">  269</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(10)</div>
-<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"><a class="line" href="State_8h.html#af87fca61f7adfb8b62056d2f6c815e51">  270</a></span><a class="code hl_define" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a>(SO2, 2, 1)</div>
-<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"><a class="line" href="State_8h.html#a7ab722ee104a5c16222f5cbd0d682657">  271</a></span><a class="code hl_define" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a>(SO3, 4, 3)</div>
-<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"><a class="line" href="State_8h.html#abf8de0fae02a60506ddd6e134b75ae00">  272</a></span><a class="code hl_define" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a>(SE2, 4, 3)</div>
-<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"><a class="line" href="State_8h.html#a98daf00f053bcc148a93319eac4901e4">  273</a></span><a class="code hl_define" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a>(SE3, 7, 6)</div>
+<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"><a class="line" href="State_8h.html#a111e9957b3bae43e71ce97678f712b8c">  234</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">ManifoldStateSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ManifoldStateSignalSpec&lt;T, ManifoldType, PD, TD&gt;</a>, <a class="code hl_struct" href="structVectorStateSignalSpec.html">VectorStateSignalSpec&lt;T, TD&gt;</a>&gt;;</div>
+<div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span> </div>
+<div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
+<div class="foldopen" id="foldopen00237" data-start="{" data-end="}">
+<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"><a class="line" href="State_8h.html#a6c0f637d1f1980a2de56f125e9cf4ec1">  237</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">ManifoldStateSignal&lt;T, ManifoldType, PD, TD&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span>{</div>
+<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>    os &lt;&lt; <span class="stringliteral">&quot;ManifoldStateSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: pose=&quot;</span> &lt;&lt; x().pose &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x().twist;</div>
+<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>    <span class="keywordflow">return</span> os;</div>
+<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>}</div>
+</div>
+<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span> </div>
+<div class="foldopen" id="foldopen00243" data-start="" data-end="">
+<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"><a class="line" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">  243</a></span><span class="preprocessor">#define MAKE_VECTOR_STATES(Dimension)                                                                                  \</span></div>
+<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
+<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span><span class="preprocessor">    using Vector##Dimension##State = VectorStateType&lt;T, Dimension&gt;;                                                    \</span></div>
+<div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
+<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span><span class="preprocessor">    using Vector##Dimension##StateSignal = VectorStateSignal&lt;T, Dimension&gt;;                                            \</span></div>
+<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span><span class="preprocessor">    typedef Vector##Dimension##State&lt;double&gt;       Vector##Dimension##dState;                                          \</span></div>
+<div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span><span class="preprocessor">    typedef Vector##Dimension##StateSignal&lt;double&gt; Vector##Dimension##dStateSignal;</span></div>
+</div>
+<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span> </div>
+<div class="foldopen" id="foldopen00251" data-start="" data-end="">
+<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"><a class="line" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">  251</a></span><span class="preprocessor">#define MAKE_MANIF_STATES(Manif, Dimension, TangentDimension)                                                          \</span></div>
+<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
+<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span><span class="preprocessor">    using Manif##State = ManifoldStateType&lt;T, Manif&lt;T&gt;, Dimension, TangentDimension&gt;;                                  \</span></div>
+<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span><span class="preprocessor">    template&lt;typename T&gt;                                                                                               \</span></div>
+<div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span><span class="preprocessor">    using Manif##StateSignal = ManifoldStateSignal&lt;T, Manif&lt;T&gt;, Dimension, TangentDimension&gt;;                          \</span></div>
+<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span><span class="preprocessor">    typedef Manif##State&lt;double&gt;       Manif##dState;                                                                  \</span></div>
+<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span><span class="preprocessor">    typedef Manif##StateSignal&lt;double&gt; Manif##dStateSignal;</span></div>
+</div>
+<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span> </div>
+<div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"><a class="line" href="State_8h.html#ae2fe8fddd28ed110fbc33b4ca506bd0f">  260</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">ScalarState</a> = <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"><a class="line" href="State_8h.html#aab879370bd488ae3cb270da1dfc5f695">  261</a></span><span class="keyword">typedef</span> <a class="code hl_struct" href="structState.html">ScalarState&lt;double&gt;</a>       <a class="code hl_typedef" href="State_8h.html#aab879370bd488ae3cb270da1dfc5f695">ScalardState</a>;</div>
+<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"><a class="line" href="State_8h.html#a95f500a02b3d50ef0a73883e96ae8768">  262</a></span><span class="keyword">typedef</span> <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;double&gt;</a> <a class="code hl_typedef" href="State_8h.html#a95f500a02b3d50ef0a73883e96ae8768">ScalardStateSignal</a>;</div>
+<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"><a class="line" href="State_8h.html#a1fccb71007e0830388d5c21c85e3344e">  263</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(1)</div>
+<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"><a class="line" href="State_8h.html#ae54c0630e02ee333a48fe6531d00e071">  264</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(2)</div>
+<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"><a class="line" href="State_8h.html#a0e9c381070552b28ffb2683b44e7b5a3">  265</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(3)</div>
+<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"><a class="line" href="State_8h.html#a8add6ebebc487c439430cb69d2892bbf">  266</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(4)</div>
+<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"><a class="line" href="State_8h.html#a45d6b402de0ba422a815e117b084dde3">  267</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(5)</div>
+<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"><a class="line" href="State_8h.html#af07e3586e98f931acac5d0ffd9b17cee">  268</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(6)</div>
+<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"><a class="line" href="State_8h.html#ad58fbc5cd721c46fe64d385cc3317380">  269</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(7)</div>
+<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"><a class="line" href="State_8h.html#acfdf1934f5783c1dcab2987c242ef8af">  270</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(8)</div>
+<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"><a class="line" href="State_8h.html#a865c1f4de96010d38ee17edc48d6c611">  271</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(9)</div>
+<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"><a class="line" href="State_8h.html#ac15f89e56010b705e5a2e0d9c3c50a6d">  272</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(10)</div>
+<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"><a class="line" href="State_8h.html#af87fca61f7adfb8b62056d2f6c815e51">  273</a></span><a class="code hl_define" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a>(SO2, 2, 1)</div>
+<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"><a class="line" href="State_8h.html#a7ab722ee104a5c16222f5cbd0d682657">  274</a></span><a class="code hl_define" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a>(SO3, 4, 3)</div>
+<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"><a class="line" href="State_8h.html#abf8de0fae02a60506ddd6e134b75ae00">  275</a></span><a class="code hl_define" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a>(SE2, 4, 3)</div>
+<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"><a class="line" href="State_8h.html#a98daf00f053bcc148a93319eac4901e4">  276</a></span><a class="code hl_define" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a>(SE3, 7, 6)</div>
 <div class="ttc" id="aSignal_8h_html"><div class="ttname"><a href="Signal_8h.html">Signal.h</a></div></div>
-<div class="ttc" id="aState_8h_html_a72800aeb486c7eebe1ab0fe8cfae6294"><div class="ttname"><a href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a></div><div class="ttdeci">#define MAKE_MANIF_STATES(Manif, Dimension, TangentDimension)</div><div class="ttdef"><b>Definition</b> State.h:248</div></div>
-<div class="ttc" id="aState_8h_html_a795d2ff5c53f24de712134f27e197001"><div class="ttname"><a href="State_8h.html#a795d2ff5c53f24de712134f27e197001">operator*</a></div><div class="ttdeci">State&lt; T, PTS, PD, TTS, TD &gt; operator*(const double &amp;l, const State&lt; T, PTS, PD, TTS, TD &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:102</div></div>
-<div class="ttc" id="aState_8h_html_a95f500a02b3d50ef0a73883e96ae8768"><div class="ttname"><a href="State_8h.html#a95f500a02b3d50ef0a73883e96ae8768">ScalardStateSignal</a></div><div class="ttdeci">ScalarStateSignal&lt; double &gt; ScalardStateSignal</div><div class="ttdef"><b>Definition</b> State.h:259</div></div>
-<div class="ttc" id="aState_8h_html_aab879370bd488ae3cb270da1dfc5f695"><div class="ttname"><a href="State_8h.html#aab879370bd488ae3cb270da1dfc5f695">ScalardState</a></div><div class="ttdeci">ScalarState&lt; double &gt; ScalardState</div><div class="ttdef"><b>Definition</b> State.h:258</div></div>
-<div class="ttc" id="aState_8h_html_ac3e1ccc35f63b762bdd2c87478f8aad6"><div class="ttname"><a href="State_8h.html#ac3e1ccc35f63b762bdd2c87478f8aad6">operator+</a></div><div class="ttdeci">State&lt; T, PTS, PD, TTS, TD &gt; operator+(const State&lt; T, PTS, PD, TTS, TD &gt; &amp;l, const State&lt; T, TTS, TD, TTS, TD &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:84</div></div>
-<div class="ttc" id="aState_8h_html_ad7ac1ecc8c925fbc991d2fa8ca50d4eb"><div class="ttname"><a href="State_8h.html#ad7ac1ecc8c925fbc991d2fa8ca50d4eb">operator-</a></div><div class="ttdeci">State&lt; T, TTS, TD, TTS, TD &gt; operator-(const State&lt; T, PTS, PD, TTS, TD &gt; &amp;l, const State&lt; T, PTS, PD, TTS, TD &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:93</div></div>
-<div class="ttc" id="aState_8h_html_ae29ac55bb38cdbd3acce109857e8e7a4"><div class="ttname"><a href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const ScalarStateType&lt; T &gt; &amp;x)</div><div class="ttdef"><b>Definition</b> State.h:123</div></div>
-<div class="ttc" id="aState_8h_html_aed0e3d5bd576a92c33ab3950c98a4e3b"><div class="ttname"><a href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a></div><div class="ttdeci">#define MAKE_VECTOR_STATES(Dimension)</div><div class="ttdef"><b>Definition</b> State.h:240</div></div>
-<div class="ttc" id="aState_8h_html_af3ec1e7d28a9aac4e1cde4c7f3438128"><div class="ttname"><a href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">operator/</a></div><div class="ttdeci">ScalarStateType&lt; T &gt; operator/(const ScalarStateType&lt; T &gt; &amp;l, const double &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:130</div></div>
-<div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:35</div></div>
-<div class="ttc" id="aclassSignal_html_a058783faf86f369b296c50d4e72c0881"><div class="ttname"><a href="classSignal.html#a058783faf86f369b296c50d4e72c0881">Signal::t</a></div><div class="ttdeci">double t() const</div><div class="ttdef"><b>Definition</b> Signal.h:102</div></div>
-<div class="ttc" id="astructManifoldStateSignalSpec_html"><div class="ttname"><a href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec</a></div><div class="ttdef"><b>Definition</b> State.h:197</div></div>
-<div class="ttc" id="astructManifoldStateSignalSpec_html_a7542075f653a7e8fba76702499936b17"><div class="ttname"><a href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">ManifoldStateSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> State.h:203</div></div>
-<div class="ttc" id="astructManifoldStateSignalSpec_html_adca9f48f26d97f95b2083b9e55bb58cb"><div class="ttname"><a href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">ManifoldStateSignalSpec::ZeroType</a></div><div class="ttdeci">static Type ZeroType()</div><div class="ttdef"><b>Definition</b> State.h:199</div></div>
-<div class="ttc" id="astructScalarSignalSpec_html"><div class="ttname"><a href="structScalarSignalSpec.html">ScalarSignalSpec</a></div><div class="ttdef"><b>Definition</b> Signal.h:617</div></div>
-<div class="ttc" id="astructScalarStateSignalSpec_html"><div class="ttname"><a href="structScalarStateSignalSpec.html">ScalarStateSignalSpec</a></div><div class="ttdef"><b>Definition</b> State.h:169</div></div>
-<div class="ttc" id="astructScalarStateSignalSpec_html_a0dc57853395e3c57d6447a23ae513b91"><div class="ttname"><a href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">ScalarStateSignalSpec::ZeroType</a></div><div class="ttdeci">static Type ZeroType()</div><div class="ttdef"><b>Definition</b> State.h:171</div></div>
-<div class="ttc" id="astructScalarStateSignalSpec_html_ac3878dfd1b21706364c34d09e6da37ce"><div class="ttname"><a href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">ScalarStateSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> State.h:175</div></div>
+<div class="ttc" id="aState_8h_html_a72800aeb486c7eebe1ab0fe8cfae6294"><div class="ttname"><a href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a></div><div class="ttdeci">#define MAKE_MANIF_STATES(Manif, Dimension, TangentDimension)</div><div class="ttdef"><b>Definition</b> State.h:251</div></div>
+<div class="ttc" id="aState_8h_html_a795d2ff5c53f24de712134f27e197001"><div class="ttname"><a href="State_8h.html#a795d2ff5c53f24de712134f27e197001">operator*</a></div><div class="ttdeci">State&lt; T, PTS, PD, TTS, TD &gt; operator*(const double &amp;l, const State&lt; T, PTS, PD, TTS, TD &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:105</div></div>
+<div class="ttc" id="aState_8h_html_a95f500a02b3d50ef0a73883e96ae8768"><div class="ttname"><a href="State_8h.html#a95f500a02b3d50ef0a73883e96ae8768">ScalardStateSignal</a></div><div class="ttdeci">ScalarStateSignal&lt; double &gt; ScalardStateSignal</div><div class="ttdef"><b>Definition</b> State.h:262</div></div>
+<div class="ttc" id="aState_8h_html_aab879370bd488ae3cb270da1dfc5f695"><div class="ttname"><a href="State_8h.html#aab879370bd488ae3cb270da1dfc5f695">ScalardState</a></div><div class="ttdeci">ScalarState&lt; double &gt; ScalardState</div><div class="ttdef"><b>Definition</b> State.h:261</div></div>
+<div class="ttc" id="aState_8h_html_ac3e1ccc35f63b762bdd2c87478f8aad6"><div class="ttname"><a href="State_8h.html#ac3e1ccc35f63b762bdd2c87478f8aad6">operator+</a></div><div class="ttdeci">State&lt; T, PTS, PD, TTS, TD &gt; operator+(const State&lt; T, PTS, PD, TTS, TD &gt; &amp;l, const State&lt; T, TTS, TD, TTS, TD &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:87</div></div>
+<div class="ttc" id="aState_8h_html_ad7ac1ecc8c925fbc991d2fa8ca50d4eb"><div class="ttname"><a href="State_8h.html#ad7ac1ecc8c925fbc991d2fa8ca50d4eb">operator-</a></div><div class="ttdeci">State&lt; T, TTS, TD, TTS, TD &gt; operator-(const State&lt; T, PTS, PD, TTS, TD &gt; &amp;l, const State&lt; T, PTS, PD, TTS, TD &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:96</div></div>
+<div class="ttc" id="aState_8h_html_ae29ac55bb38cdbd3acce109857e8e7a4"><div class="ttname"><a href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const ScalarStateType&lt; T &gt; &amp;x)</div><div class="ttdef"><b>Definition</b> State.h:126</div></div>
+<div class="ttc" id="aState_8h_html_aed0e3d5bd576a92c33ab3950c98a4e3b"><div class="ttname"><a href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a></div><div class="ttdeci">#define MAKE_VECTOR_STATES(Dimension)</div><div class="ttdef"><b>Definition</b> State.h:243</div></div>
+<div class="ttc" id="aState_8h_html_af3ec1e7d28a9aac4e1cde4c7f3438128"><div class="ttname"><a href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">operator/</a></div><div class="ttdeci">ScalarStateType&lt; T &gt; operator/(const ScalarStateType&lt; T &gt; &amp;l, const double &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:133</div></div>
+<div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:38</div></div>
+<div class="ttc" id="aclassSignal_html_a058783faf86f369b296c50d4e72c0881"><div class="ttname"><a href="classSignal.html#a058783faf86f369b296c50d4e72c0881">Signal::t</a></div><div class="ttdeci">double t() const</div><div class="ttdef"><b>Definition</b> Signal.h:105</div></div>
+<div class="ttc" id="astructManifoldStateSignalSpec_html"><div class="ttname"><a href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec</a></div><div class="ttdef"><b>Definition</b> State.h:200</div></div>
+<div class="ttc" id="astructManifoldStateSignalSpec_html_a7542075f653a7e8fba76702499936b17"><div class="ttname"><a href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">ManifoldStateSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> State.h:206</div></div>
+<div class="ttc" id="astructManifoldStateSignalSpec_html_adca9f48f26d97f95b2083b9e55bb58cb"><div class="ttname"><a href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">ManifoldStateSignalSpec::ZeroType</a></div><div class="ttdeci">static Type ZeroType()</div><div class="ttdef"><b>Definition</b> State.h:202</div></div>
+<div class="ttc" id="astructScalarSignalSpec_html"><div class="ttname"><a href="structScalarSignalSpec.html">ScalarSignalSpec</a></div><div class="ttdef"><b>Definition</b> Signal.h:620</div></div>
+<div class="ttc" id="astructScalarStateSignalSpec_html"><div class="ttname"><a href="structScalarStateSignalSpec.html">ScalarStateSignalSpec</a></div><div class="ttdef"><b>Definition</b> State.h:172</div></div>
+<div class="ttc" id="astructScalarStateSignalSpec_html_a0dc57853395e3c57d6447a23ae513b91"><div class="ttname"><a href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">ScalarStateSignalSpec::ZeroType</a></div><div class="ttdeci">static Type ZeroType()</div><div class="ttdef"><b>Definition</b> State.h:174</div></div>
+<div class="ttc" id="astructScalarStateSignalSpec_html_ac3878dfd1b21706364c34d09e6da37ce"><div class="ttname"><a href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">ScalarStateSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> State.h:178</div></div>
 <div class="ttc" id="astructState_html"><div class="ttname"><a href="structState.html">State</a></div><div class="ttdoc">Base type for all Model state representations.</div><div class="ttdef"><b>Definition</b> State.h:34</div></div>
-<div class="ttc" id="astructState_html_a035f1f7193895463743b8ee58d75634f"><div class="ttname"><a href="structState.html#a035f1f7193895463743b8ee58d75634f">State::identity</a></div><div class="ttdeci">static State identity()</div><div class="ttdef"><b>Definition</b> State.h:51</div></div>
-<div class="ttc" id="astructState_html_a097d236bc46ca02a379e2fd188fe3e97"><div class="ttname"><a href="structState.html#a097d236bc46ca02a379e2fd188fe3e97">State::State</a></div><div class="ttdeci">State(T *arr)</div><div class="ttdef"><b>Definition</b> State.h:43</div></div>
-<div class="ttc" id="astructState_html_a0a5874d4c3988770f5498c34ec508c34"><div class="ttname"><a href="structState.html#a0a5874d4c3988770f5498c34ec508c34">State::pose</a></div><div class="ttdeci">PoseType pose</div><div class="ttdef"><b>Definition</b> State.h:38</div></div>
+<div class="ttc" id="astructState_html_a035f1f7193895463743b8ee58d75634f"><div class="ttname"><a href="structState.html#a035f1f7193895463743b8ee58d75634f">State::identity</a></div><div class="ttdeci">static State identity()</div><div class="ttdef"><b>Definition</b> State.h:54</div></div>
+<div class="ttc" id="astructState_html_a097d236bc46ca02a379e2fd188fe3e97"><div class="ttname"><a href="structState.html#a097d236bc46ca02a379e2fd188fe3e97">State::State</a></div><div class="ttdeci">State(T *arr)</div><div class="ttdef"><b>Definition</b> State.h:46</div></div>
+<div class="ttc" id="astructState_html_a0a5874d4c3988770f5498c34ec508c34"><div class="ttname"><a href="structState.html#a0a5874d4c3988770f5498c34ec508c34">State::pose</a></div><div class="ttdeci">PoseType pose</div><div class="ttdoc">TODO.</div><div class="ttdef"><b>Definition</b> State.h:41</div></div>
 <div class="ttc" id="astructState_html_a31bd8aa44dff5f656b2b2057c8d63821"><div class="ttname"><a href="structState.html#a31bd8aa44dff5f656b2b2057c8d63821">State::PoseType</a></div><div class="ttdeci">typename PoseTypeSpec::Type PoseType</div><div class="ttdef"><b>Definition</b> State.h:35</div></div>
-<div class="ttc" id="astructState_html_a3f5fb4275701e71a56d2fa1fb8d54080"><div class="ttname"><a href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">State::twist</a></div><div class="ttdeci">TwistType twist</div><div class="ttdef"><b>Definition</b> State.h:39</div></div>
-<div class="ttc" id="astructState_html_a7764970f0c29576eac07ab57c28261be"><div class="ttname"><a href="structState.html#a7764970f0c29576eac07ab57c28261be">State::operator+=</a></div><div class="ttdeci">State &amp; operator+=(const State&lt; T2, TwistTypeSpec, TwistDim, TwistTypeSpec, TwistDim &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:75</div></div>
-<div class="ttc" id="astructState_html_a9e331e0ecbed1ab2a03d9b3e5a457426"><div class="ttname"><a href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">State::nans</a></div><div class="ttdeci">static State nans()</div><div class="ttdef"><b>Definition</b> State.h:59</div></div>
-<div class="ttc" id="astructState_html_aa10b450dbe8a806a0b203521b4738c0c"><div class="ttname"><a href="structState.html#aa10b450dbe8a806a0b203521b4738c0c">State::State</a></div><div class="ttdeci">State(const State &amp;other)</div><div class="ttdef"><b>Definition</b> State.h:45</div></div>
+<div class="ttc" id="astructState_html_a3f5fb4275701e71a56d2fa1fb8d54080"><div class="ttname"><a href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">State::twist</a></div><div class="ttdeci">TwistType twist</div><div class="ttdef"><b>Definition</b> State.h:42</div></div>
+<div class="ttc" id="astructState_html_a7764970f0c29576eac07ab57c28261be"><div class="ttname"><a href="structState.html#a7764970f0c29576eac07ab57c28261be">State::operator+=</a></div><div class="ttdeci">State &amp; operator+=(const State&lt; T2, TwistTypeSpec, TwistDim, TwistTypeSpec, TwistDim &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:78</div></div>
+<div class="ttc" id="astructState_html_a9e331e0ecbed1ab2a03d9b3e5a457426"><div class="ttname"><a href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">State::nans</a></div><div class="ttdeci">static State nans()</div><div class="ttdef"><b>Definition</b> State.h:62</div></div>
+<div class="ttc" id="astructState_html_aa10b450dbe8a806a0b203521b4738c0c"><div class="ttname"><a href="structState.html#aa10b450dbe8a806a0b203521b4738c0c">State::State</a></div><div class="ttdeci">State(const State &amp;other)</div><div class="ttdef"><b>Definition</b> State.h:48</div></div>
 <div class="ttc" id="astructState_html_ab58b6e2fe6ea3c2777c5a8a92f6665a1"><div class="ttname"><a href="structState.html#ab58b6e2fe6ea3c2777c5a8a92f6665a1">State::TwistType</a></div><div class="ttdeci">typename TwistTypeSpec::Type TwistType</div><div class="ttdef"><b>Definition</b> State.h:36</div></div>
-<div class="ttc" id="astructState_html_adcb914ebe25fe14622a945801267fa7a"><div class="ttname"><a href="structState.html#adcb914ebe25fe14622a945801267fa7a">State::State</a></div><div class="ttdeci">State()</div><div class="ttdef"><b>Definition</b> State.h:41</div></div>
-<div class="ttc" id="astructState_html_af76faa98cfc18fb81afb0c86f7a0aa75"><div class="ttname"><a href="structState.html#af76faa98cfc18fb81afb0c86f7a0aa75">State::operator*=</a></div><div class="ttdeci">State &amp; operator*=(const double &amp;s)</div><div class="ttdef"><b>Definition</b> State.h:67</div></div>
-<div class="ttc" id="astructVectorSignalSpec_html"><div class="ttname"><a href="structVectorSignalSpec.html">VectorSignalSpec</a></div><div class="ttdef"><b>Definition</b> Signal.h:631</div></div>
-<div class="ttc" id="astructVectorStateSignalSpec_html"><div class="ttname"><a href="structVectorStateSignalSpec.html">VectorStateSignalSpec</a></div><div class="ttdef"><b>Definition</b> State.h:183</div></div>
-<div class="ttc" id="astructVectorStateSignalSpec_html_a4729eec41bab8eb5ed7b45aa8272be4d"><div class="ttname"><a href="structVectorStateSignalSpec.html#a4729eec41bab8eb5ed7b45aa8272be4d">VectorStateSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> State.h:189</div></div>
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+<div class="ttc" id="astructState_html_adcb914ebe25fe14622a945801267fa7a"><div class="ttname"><a href="structState.html#adcb914ebe25fe14622a945801267fa7a">State::State</a></div><div class="ttdeci">State()</div><div class="ttdef"><b>Definition</b> State.h:44</div></div>
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
-</small></address>
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/docs/dir_d44c64559bbebec7f509842c48db8b23.js b/docs/dir_d44c64559bbebec7f509842c48db8b23.js
new file mode 100644
index 0000000..b89aeb4
--- /dev/null
+++ b/docs/dir_d44c64559bbebec7f509842c48db8b23.js
@@ -0,0 +1,4 @@
+var dir_d44c64559bbebec7f509842c48db8b23 =
+[
+    [ "signals", "dir_661483514bb8dea267426763b771558e.html", "dir_661483514bb8dea267426763b771558e" ]
+];
\ No newline at end of file
diff --git a/docs/doxygen-awesome-css b/docs/doxygen-awesome-css
new file mode 160000
index 0000000..568f56c
--- /dev/null
+++ b/docs/doxygen-awesome-css
@@ -0,0 +1 @@
+Subproject commit 568f56cde6ac78b6dfcc14acd380b2e745c301ea
diff --git a/docs/doxygen-awesome.css b/docs/doxygen-awesome.css
new file mode 100644
index 0000000..c2f4114
--- /dev/null
+++ b/docs/doxygen-awesome.css
@@ -0,0 +1,2681 @@
+/**
+
+Doxygen Awesome
+https://github.com/jothepro/doxygen-awesome-css
+
+MIT License
+
+Copyright (c) 2021 - 2023 jothepro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+*/
+
+html {
+    /* primary theme color. This will affect the entire websites color scheme: links, arrows, labels, ... */
+    --primary-color: #1779c4;
+    --primary-dark-color: #335c80;
+    --primary-light-color: #70b1e9;
+
+    /* page base colors */
+    --page-background-color: #ffffff;
+    --page-foreground-color: #2f4153;
+    --page-secondary-foreground-color: #6f7e8e;
+
+    /* color for all separators on the website: hr, borders, ... */
+    --separator-color: #dedede;
+
+    /* border radius for all rounded components. Will affect many components, like dropdowns, memitems, codeblocks, ... */
+    --border-radius-large: 8px;
+    --border-radius-small: 4px;
+    --border-radius-medium: 6px;
+
+    /* default spacings. Most components reference these values for spacing, to provide uniform spacing on the page. */
+    --spacing-small: 5px;
+    --spacing-medium: 10px;
+    --spacing-large: 16px;
+
+    /* default box shadow used for raising an element above the normal content. Used in dropdowns, search result, ... */
+    --box-shadow: 0 2px 8px 0 rgba(0,0,0,.075);
+
+    --odd-color: rgba(0,0,0,.028);
+
+    /* font-families. will affect all text on the website
+     * font-family: the normal font for text, headlines, menus
+     * font-family-monospace: used for preformatted text in memtitle, code, fragments
+     */
+    --font-family: -apple-system,BlinkMacSystemFont,Segoe UI,Roboto,Oxygen,Ubuntu,Cantarell,Fira Sans,Droid Sans,Helvetica Neue,sans-serif;
+    --font-family-monospace: ui-monospace,SFMono-Regular,SF Mono,Menlo,Consolas,Liberation Mono,monospace;
+
+    /* font sizes */
+    --page-font-size: 15.6px;
+    --navigation-font-size: 14.4px;
+    --toc-font-size: 13.4px;
+    --code-font-size: 14px; /* affects code, fragment */
+    --title-font-size: 22px;
+
+    /* content text properties. These only affect the page content, not the navigation or any other ui elements */
+    --content-line-height: 27px;
+    /* The content is centered and constraint in it's width. To make the content fill the whole page, set the variable to auto.*/
+    --content-maxwidth: 1050px;
+    --table-line-height: 24px;
+    --toc-sticky-top: var(--spacing-medium);
+    --toc-width: 200px;
+    --toc-max-height: calc(100vh - 2 * var(--spacing-medium) - 85px);
+
+    /* colors for various content boxes: @warning, @note, @deprecated @bug */
+    --warning-color: #faf3d8;
+    --warning-color-dark: #f3a600;
+    --warning-color-darker: #5f4204;
+    --note-color: #e4f3ff;
+    --note-color-dark: #1879C4;
+    --note-color-darker: #274a5c;
+    --todo-color: #e4dafd;
+    --todo-color-dark: #5b2bdd;
+    --todo-color-darker: #2a0d72;
+    --deprecated-color: #ecf0f3;
+    --deprecated-color-dark: #5b6269;
+    --deprecated-color-darker: #43454a;
+    --bug-color: #f8d1cc;
+    --bug-color-dark: #b61825;
+    --bug-color-darker: #75070f;
+    --invariant-color: #d8f1e3;
+    --invariant-color-dark: #44b86f;
+    --invariant-color-darker: #265532;
+
+    /* blockquote colors */
+    --blockquote-background: #f8f9fa;
+    --blockquote-foreground: #636568;
+
+    /* table colors */
+    --tablehead-background: #f1f1f1;
+    --tablehead-foreground: var(--page-foreground-color);
+
+    /* menu-display: block | none
+     * Visibility of the top navigation on screens >= 768px. On smaller screen the menu is always visible.
+     * `GENERATE_TREEVIEW` MUST be enabled!
+     */
+    --menu-display: block;
+
+    --menu-focus-foreground: var(--page-background-color);
+    --menu-focus-background: var(--primary-color);
+    --menu-selected-background: rgba(0,0,0,.05);
+
+
+    --header-background: var(--page-background-color);
+    --header-foreground: var(--page-foreground-color);
+
+    /* searchbar colors */
+    --searchbar-background: var(--side-nav-background);
+    --searchbar-foreground: var(--page-foreground-color);
+
+    /* searchbar size
+     * (`searchbar-width` is only applied on screens >= 768px.
+     * on smaller screens the searchbar will always fill the entire screen width) */
+    --searchbar-height: 33px;
+    --searchbar-width: 210px;
+    --searchbar-border-radius: var(--searchbar-height);
+
+    /* code block colors */
+    --code-background: #f5f5f5;
+    --code-foreground: var(--page-foreground-color);
+
+    /* fragment colors */
+    --fragment-background: #F8F9FA;
+    --fragment-foreground: #37474F;
+    --fragment-keyword: #bb6bb2;
+    --fragment-keywordtype: #8258b3;
+    --fragment-keywordflow: #d67c3b;
+    --fragment-token: #438a59;
+    --fragment-comment: #969696;
+    --fragment-link: #5383d6;
+    --fragment-preprocessor: #46aaa5;
+    --fragment-linenumber-color: #797979;
+    --fragment-linenumber-background: #f4f4f5;
+    --fragment-linenumber-border: #e3e5e7;
+    --fragment-lineheight: 20px;
+
+    /* sidebar navigation (treeview) colors */
+    --side-nav-background: #fbfbfb;
+    --side-nav-foreground: var(--page-foreground-color);
+    --side-nav-arrow-opacity: 0;
+    --side-nav-arrow-hover-opacity: 0.9;
+
+    --toc-background: var(--side-nav-background);
+    --toc-foreground: var(--side-nav-foreground);
+
+    /* height of an item in any tree / collapsible table */
+    --tree-item-height: 30px;
+
+    --memname-font-size: var(--code-font-size);
+    --memtitle-font-size: 18px;
+
+    --webkit-scrollbar-size: 7px;
+    --webkit-scrollbar-padding: 4px;
+    --webkit-scrollbar-color: var(--separator-color);
+
+    --animation-duration: .12s
+}
+
+@media screen and (max-width: 767px) {
+    html {
+        --page-font-size: 16px;
+        --navigation-font-size: 16px;
+        --toc-font-size: 15px;
+        --code-font-size: 15px; /* affects code, fragment */
+        --title-font-size: 22px;
+    }
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) {
+        color-scheme: dark;
+
+        --primary-color: #1982d2;
+        --primary-dark-color: #86a9c4;
+        --primary-light-color: #4779ac;
+
+        --box-shadow: 0 2px 8px 0 rgba(0,0,0,.35);
+
+        --odd-color: rgba(100,100,100,.06);
+
+        --menu-selected-background: rgba(0,0,0,.4);
+
+        --page-background-color: #1C1D1F;
+        --page-foreground-color: #d2dbde;
+        --page-secondary-foreground-color: #859399;
+        --separator-color: #38393b;
+        --side-nav-background: #252628;
+
+        --code-background: #2a2c2f;
+
+        --tablehead-background: #2a2c2f;
+    
+        --blockquote-background: #222325;
+        --blockquote-foreground: #7e8c92;
+
+        --warning-color: #3b2e04;
+        --warning-color-dark: #f1b602;
+        --warning-color-darker: #ceb670;
+        --note-color: #163750;
+        --note-color-dark: #1982D2;
+        --note-color-darker: #dcf0fa;
+        --todo-color: #2a2536;
+        --todo-color-dark: #7661b3;
+        --todo-color-darker: #ae9ed6;
+        --deprecated-color: #2e323b;
+        --deprecated-color-dark: #738396;
+        --deprecated-color-darker: #abb0bd;
+        --bug-color: #2e1917;
+        --bug-color-dark: #ad2617;
+        --bug-color-darker: #f5b1aa;
+        --invariant-color: #303a35;
+        --invariant-color-dark: #76ce96;
+        --invariant-color-darker: #cceed5;
+
+        --fragment-background: #282c34;
+        --fragment-foreground: #dbe4eb;
+        --fragment-keyword: #cc99cd;
+        --fragment-keywordtype: #ab99cd;
+        --fragment-keywordflow: #e08000;
+        --fragment-token: #7ec699;
+        --fragment-comment: #999999;
+        --fragment-link: #98c0e3;
+        --fragment-preprocessor: #65cabe;
+        --fragment-linenumber-color: #cccccc;
+        --fragment-linenumber-background: #35393c;
+        --fragment-linenumber-border: #1f1f1f;
+    }
+}
+
+/* dark mode variables are defined twice, to support both the dark-mode without and with doxygen-awesome-darkmode-toggle.js */
+html.dark-mode {
+    color-scheme: dark;
+
+    --primary-color: #1982d2;
+    --primary-dark-color: #86a9c4;
+    --primary-light-color: #4779ac;
+
+    --box-shadow: 0 2px 8px 0 rgba(0,0,0,.30);
+
+    --odd-color: rgba(100,100,100,.06);
+
+    --menu-selected-background: rgba(0,0,0,.4);
+
+    --page-background-color: #1C1D1F;
+    --page-foreground-color: #d2dbde;
+    --page-secondary-foreground-color: #859399;
+    --separator-color: #38393b;
+    --side-nav-background: #252628;
+
+    --code-background: #2a2c2f;
+
+    --tablehead-background: #2a2c2f;
+
+    --blockquote-background: #222325;
+    --blockquote-foreground: #7e8c92;
+
+    --warning-color: #3b2e04;
+    --warning-color-dark: #f1b602;
+    --warning-color-darker: #ceb670;
+    --note-color: #163750;
+    --note-color-dark: #1982D2;
+    --note-color-darker: #dcf0fa;
+    --todo-color: #2a2536;
+    --todo-color-dark: #7661b3;
+    --todo-color-darker: #ae9ed6;
+    --deprecated-color: #2e323b;
+    --deprecated-color-dark: #738396;
+    --deprecated-color-darker: #abb0bd;
+    --bug-color: #2e1917;
+    --bug-color-dark: #ad2617;
+    --bug-color-darker: #f5b1aa;
+    --invariant-color: #303a35;
+    --invariant-color-dark: #76ce96;
+    --invariant-color-darker: #cceed5;
+
+    --fragment-background: #282c34;
+    --fragment-foreground: #dbe4eb;
+    --fragment-keyword: #cc99cd;
+    --fragment-keywordtype: #ab99cd;
+    --fragment-keywordflow: #e08000;
+    --fragment-token: #7ec699;
+    --fragment-comment: #999999;
+    --fragment-link: #98c0e3;
+    --fragment-preprocessor: #65cabe;
+    --fragment-linenumber-color: #cccccc;
+    --fragment-linenumber-background: #35393c;
+    --fragment-linenumber-border: #1f1f1f;
+}
+
+body {
+    color: var(--page-foreground-color);
+    background-color: var(--page-background-color);
+    font-size: var(--page-font-size);
+}
+
+body, table, div, p, dl, #nav-tree .label, .title,
+.sm-dox a, .sm-dox a:hover, .sm-dox a:focus, #projectname,
+.SelectItem, #MSearchField, .navpath li.navelem a,
+.navpath li.navelem a:hover, p.reference, p.definition, div.toc li, div.toc h3 {
+    font-family: var(--font-family);
+}
+
+h1, h2, h3, h4, h5 {
+    margin-top: 1em;
+    font-weight: 600;
+    line-height: initial;
+}
+
+p, div, table, dl, p.reference, p.definition {
+    font-size: var(--page-font-size);
+}
+
+p.reference, p.definition {
+    color: var(--page-secondary-foreground-color);
+}
+
+a:link, a:visited, a:hover, a:focus, a:active {
+    color: var(--primary-color) !important;
+    font-weight: 500;
+    background: none;
+}
+
+a.anchor {
+    scroll-margin-top: var(--spacing-large);
+    display: block;
+}
+
+/*
+ Title and top navigation
+ */
+
+#top {
+    background: var(--header-background);
+    border-bottom: 1px solid var(--separator-color);
+}
+
+@media screen and (min-width: 768px) {
+    #top {
+        display: flex;
+        flex-wrap: wrap;
+        justify-content: space-between;
+        align-items: center;
+    }
+}
+
+#main-nav {
+    flex-grow: 5;
+    padding: var(--spacing-small) var(--spacing-medium);
+}
+
+#titlearea {
+    width: auto;
+    padding: var(--spacing-medium) var(--spacing-large);
+    background: none;
+    color: var(--header-foreground);
+    border-bottom: none;
+}
+
+@media screen and (max-width: 767px) {
+    #titlearea {
+        padding-bottom: var(--spacing-small);
+    }
+}
+
+#titlearea table tbody tr {
+    height: auto !important;
+}
+
+#projectname {
+    font-size: var(--title-font-size);
+    font-weight: 600;
+}
+
+#projectnumber {
+    font-family: inherit;
+    font-size: 60%;
+}
+
+#projectbrief {
+    font-family: inherit;
+    font-size: 80%;
+}
+
+#projectlogo {
+    vertical-align: middle;
+}
+
+#projectlogo img {
+    max-height: calc(var(--title-font-size) * 2);
+    margin-right: var(--spacing-small);
+}
+
+.sm-dox, .tabs, .tabs2, .tabs3 {
+    background: none;
+    padding: 0;
+}
+
+.tabs, .tabs2, .tabs3 {
+    border-bottom: 1px solid var(--separator-color);
+    margin-bottom: -1px;
+}
+
+.main-menu-btn-icon, .main-menu-btn-icon:before, .main-menu-btn-icon:after {
+    background: var(--page-secondary-foreground-color);
+}
+
+@media screen and (max-width: 767px) {
+    .sm-dox a span.sub-arrow {
+        background: var(--code-background);
+    }
+
+    #main-menu a.has-submenu span.sub-arrow {
+        color: var(--page-secondary-foreground-color);
+        border-radius: var(--border-radius-medium);
+    }
+
+    #main-menu a.has-submenu:hover span.sub-arrow {
+        color: var(--page-foreground-color);
+    }
+}
+
+@media screen and (min-width: 768px) {
+    .sm-dox li, .tablist li {
+        display: var(--menu-display);
+    }
+
+    .sm-dox a span.sub-arrow {
+        border-color: var(--header-foreground) transparent transparent transparent;
+    }
+
+    .sm-dox a:hover span.sub-arrow {
+        border-color: var(--menu-focus-foreground) transparent transparent transparent;
+    }
+
+    .sm-dox ul a span.sub-arrow {
+        border-color: transparent transparent transparent var(--page-foreground-color);
+    }
+
+    .sm-dox ul a:hover span.sub-arrow {
+        border-color: transparent transparent transparent var(--menu-focus-foreground);
+    }
+}
+
+.sm-dox ul {
+    background: var(--page-background-color);
+    box-shadow: var(--box-shadow);
+    border: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-medium) !important;
+    padding: var(--spacing-small);
+    animation: ease-out 150ms slideInMenu;
+}
+
+@keyframes slideInMenu {
+    from {
+        opacity: 0;
+        transform: translate(0px, -2px);
+    }
+
+    to {
+        opacity: 1;
+        transform: translate(0px, 0px);
+    }
+}
+
+.sm-dox ul a {
+    color: var(--page-foreground-color) !important;
+    background: var(--page-background-color);
+    font-size: var(--navigation-font-size);
+}
+
+.sm-dox>li>ul:after {
+    border-bottom-color: var(--page-background-color) !important;
+}
+
+.sm-dox>li>ul:before {
+    border-bottom-color: var(--separator-color) !important;
+}
+
+.sm-dox ul a:hover, .sm-dox ul a:active, .sm-dox ul a:focus {
+    font-size: var(--navigation-font-size) !important;
+    color: var(--menu-focus-foreground) !important;
+    text-shadow: none;
+    background-color: var(--menu-focus-background);
+    border-radius: var(--border-radius-small) !important;
+}
+
+.sm-dox a, .sm-dox a:focus, .tablist li, .tablist li a, .tablist li.current a {
+    text-shadow: none;
+    background: transparent;
+    background-image: none !important;
+    color: var(--header-foreground) !important;
+    font-weight: normal;
+    font-size: var(--navigation-font-size);
+    border-radius: var(--border-radius-small) !important;
+}
+
+.sm-dox a:focus {
+    outline: auto;
+}
+
+.sm-dox a:hover, .sm-dox a:active, .tablist li a:hover {
+    text-shadow: none;
+    font-weight: normal;
+    background: var(--menu-focus-background);
+    color: var(--menu-focus-foreground) !important;
+    border-radius: var(--border-radius-small) !important;
+    font-size: var(--navigation-font-size);
+}
+
+.tablist li.current {
+    border-radius: var(--border-radius-small);
+    background: var(--menu-selected-background);
+}
+
+.tablist li {
+    margin: var(--spacing-small) 0 var(--spacing-small) var(--spacing-small);
+}
+
+.tablist a {
+    padding: 0 var(--spacing-large);
+}
+
+
+/*
+ Search box
+ */
+
+#MSearchBox {
+    height: var(--searchbar-height);
+    background: var(--searchbar-background);
+    border-radius: var(--searchbar-border-radius);
+    border: 1px solid var(--separator-color);
+    overflow: hidden;
+    width: var(--searchbar-width);
+    position: relative;
+    box-shadow: none;
+    display: block;
+    margin-top: 0;
+}
+
+/* until Doxygen 1.9.4 */
+.left img#MSearchSelect {
+    left: 0;
+    user-select: none;
+    padding-left: 8px;
+}
+
+/* Doxygen 1.9.5 */
+.left span#MSearchSelect {
+    left: 0;
+    user-select: none;
+    margin-left: 8px;
+    padding: 0;
+}
+
+.left #MSearchSelect[src$=".png"] {
+    padding-left: 0
+}
+
+.SelectionMark {
+    user-select: none;
+}
+
+.tabs .left #MSearchSelect {
+    padding-left: 0;
+}
+
+.tabs #MSearchBox {
+    position: absolute;
+    right: var(--spacing-medium);
+}
+
+@media screen and (max-width: 767px) {
+    .tabs #MSearchBox {
+        position: relative;
+        right: 0;
+        margin-left: var(--spacing-medium);
+        margin-top: 0;
+    }
+}
+
+#MSearchSelectWindow, #MSearchResultsWindow {
+    z-index: 9999;
+}
+
+#MSearchBox.MSearchBoxActive {
+    border-color: var(--primary-color);
+    box-shadow: inset 0 0 0 1px var(--primary-color);
+}
+
+#main-menu > li:last-child {
+    margin-right: 0;
+}
+
+@media screen and (max-width: 767px) {
+    #main-menu > li:last-child {
+        height: 50px;
+    }
+}
+
+#MSearchField {
+    font-size: var(--navigation-font-size);
+    height: calc(var(--searchbar-height) - 2px);
+    background: transparent;
+    width: calc(var(--searchbar-width) - 64px);
+}
+
+.MSearchBoxActive #MSearchField {
+    color: var(--searchbar-foreground);
+}
+
+#MSearchSelect {
+    top: calc(calc(var(--searchbar-height) / 2) - 11px);
+}
+
+#MSearchBox span.left, #MSearchBox span.right {
+    background: none;
+    background-image: none;
+}
+
+#MSearchBox span.right {
+    padding-top: calc(calc(var(--searchbar-height) / 2) - 12px);
+    position: absolute;
+    right: var(--spacing-small);
+}
+
+.tabs #MSearchBox span.right {
+    top: calc(calc(var(--searchbar-height) / 2) - 12px);
+}
+
+@keyframes slideInSearchResults {
+    from {
+        opacity: 0;
+        transform: translate(0, 15px);
+    }
+
+    to {
+        opacity: 1;
+        transform: translate(0, 20px);
+    }
+}
+
+#MSearchResultsWindow {
+    left: auto !important;
+    right: var(--spacing-medium);
+    border-radius: var(--border-radius-large);
+    border: 1px solid var(--separator-color);
+    transform: translate(0, 20px);
+    box-shadow: var(--box-shadow);
+    animation: ease-out 280ms slideInSearchResults;
+    background: var(--page-background-color);
+}
+
+iframe#MSearchResults {
+    margin: 4px;
+}
+
+iframe {
+    color-scheme: normal;
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) iframe#MSearchResults {
+        filter: invert() hue-rotate(180deg);
+    }
+}
+
+html.dark-mode iframe#MSearchResults {
+    filter: invert() hue-rotate(180deg);
+}
+
+#MSearchResults .SRPage {
+    background-color: transparent;
+}
+
+#MSearchResults .SRPage .SREntry {
+    font-size: 10pt;
+    padding: var(--spacing-small) var(--spacing-medium);
+}
+
+#MSearchSelectWindow {
+    border: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-medium);
+    box-shadow: var(--box-shadow);
+    background: var(--page-background-color);
+    padding-top: var(--spacing-small);
+    padding-bottom: var(--spacing-small);
+}
+
+#MSearchSelectWindow a.SelectItem {
+    font-size: var(--navigation-font-size);
+    line-height: var(--content-line-height);
+    margin: 0 var(--spacing-small);
+    border-radius: var(--border-radius-small);
+    color: var(--page-foreground-color) !important;
+    font-weight: normal;
+}
+
+#MSearchSelectWindow a.SelectItem:hover {
+    background: var(--menu-focus-background);
+    color: var(--menu-focus-foreground) !important;
+}
+
+@media screen and (max-width: 767px) {
+    #MSearchBox {
+        margin-top: var(--spacing-medium);
+        margin-bottom: var(--spacing-medium);
+        width: calc(100vw - 30px);
+    }
+
+    #main-menu > li:last-child {
+        float: none !important;
+    }
+
+    #MSearchField {
+        width: calc(100vw - 110px);
+    }
+
+    @keyframes slideInSearchResultsMobile {
+        from {
+            opacity: 0;
+            transform: translate(0, 15px);
+        }
+
+        to {
+            opacity: 1;
+            transform: translate(0, 20px);
+        }
+    }
+
+    #MSearchResultsWindow {
+        left: var(--spacing-medium) !important;
+        right: var(--spacing-medium);
+        overflow: auto;
+        transform: translate(0, 20px);
+        animation: ease-out 280ms slideInSearchResultsMobile;
+        width: auto !important;
+    }
+
+    /*
+     * Overwrites for fixing the searchbox on mobile in doxygen 1.9.2
+     */
+    label.main-menu-btn ~ #searchBoxPos1 {
+        top: 3px !important;
+        right: 6px !important;
+        left: 45px;
+        display: flex;
+    }
+
+    label.main-menu-btn ~ #searchBoxPos1 > #MSearchBox {
+        margin-top: 0;
+        margin-bottom: 0;
+        flex-grow: 2;
+        float: left;
+    }
+}
+
+/*
+ Tree view
+ */
+
+#side-nav {
+    padding: 0 !important;
+    background: var(--side-nav-background);
+    min-width: 8px;
+    max-width: 50vw;
+}
+
+@media screen and (max-width: 767px) {
+    #side-nav {
+        display: none;
+    }
+
+    #doc-content {
+        margin-left: 0 !important;
+    }
+}
+
+#nav-tree {
+    background: transparent;
+    margin-right: 1px;
+}
+
+#nav-tree .label {
+    font-size: var(--navigation-font-size);
+}
+
+#nav-tree .item {
+    height: var(--tree-item-height);
+    line-height: var(--tree-item-height);
+    overflow: hidden;
+    text-overflow: ellipsis;
+}
+
+#nav-tree .item > a:focus {
+    outline: none;
+}
+
+#nav-sync {
+    bottom: 12px;
+    right: 12px;
+    top: auto !important;
+    user-select: none;
+}
+
+#nav-tree .selected {
+    text-shadow: none;
+    background-image: none;
+    background-color: transparent;
+    position: relative;
+    color: var(--primary-color) !important;
+    font-weight: 500;
+}
+
+#nav-tree .selected::after {
+    content: "";
+    position: absolute;
+    top: 1px;
+    bottom: 1px;
+    left: 0;
+    width: 4px;
+    border-radius: 0 var(--border-radius-small) var(--border-radius-small) 0;
+    background: var(--primary-color);
+}
+
+
+#nav-tree a {
+    color: var(--side-nav-foreground) !important;
+    font-weight: normal;
+}
+
+#nav-tree a:focus {
+    outline-style: auto;
+}
+
+#nav-tree .arrow {
+    opacity: var(--side-nav-arrow-opacity);
+    background: none;
+}
+
+.arrow {
+    color: inherit;
+    cursor: pointer;
+    font-size: 45%;
+    vertical-align: middle;
+    margin-right: 2px;
+    font-family: serif;
+    height: auto;
+    text-align: right;
+}
+
+#nav-tree div.item:hover .arrow, #nav-tree a:focus .arrow {
+    opacity: var(--side-nav-arrow-hover-opacity);
+}
+
+#nav-tree .selected a {
+    color: var(--primary-color) !important;
+    font-weight: bolder;
+    font-weight: 600;
+}
+
+.ui-resizable-e {
+    width: 4px;
+    background: transparent;
+    box-shadow: inset -1px 0 0 0 var(--separator-color);
+}
+
+/*
+ Contents
+ */
+
+div.header {
+    border-bottom: 1px solid var(--separator-color);
+    background-color: var(--page-background-color);
+    background-image: none;
+}
+
+@media screen and (min-width: 1000px) {
+    #doc-content > div > div.contents,
+    .PageDoc > div.contents {
+        display: flex;
+        flex-direction: row-reverse;
+        flex-wrap: nowrap;
+        align-items: flex-start;
+    }
+    
+    div.contents .textblock {
+        min-width: 200px;
+        flex-grow: 1;
+    }
+}
+
+div.contents, div.header .title, div.header .summary {
+    max-width: var(--content-maxwidth);
+}
+
+div.contents, div.header .title  {
+    line-height: initial;
+    margin: calc(var(--spacing-medium) + .2em) auto var(--spacing-medium) auto;
+}
+
+div.header .summary {
+    margin: var(--spacing-medium) auto 0 auto;
+}
+
+div.headertitle {
+    padding: 0;
+}
+
+div.header .title {
+    font-weight: 600;
+    font-size: 225%;
+    padding: var(--spacing-medium) var(--spacing-large);
+    word-break: break-word;
+}
+
+div.header .summary {
+    width: auto;
+    display: block;
+    float: none;
+    padding: 0 var(--spacing-large);
+}
+
+td.memSeparator {
+    border-color: var(--separator-color);
+}
+
+span.mlabel {
+    background: var(--primary-color);
+    border: none;
+    padding: 4px 9px;
+    border-radius: 12px;
+    margin-right: var(--spacing-medium);
+}
+
+span.mlabel:last-of-type {
+    margin-right: 2px;
+}
+
+div.contents {
+    padding: 0 var(--spacing-large);
+}
+
+div.contents p, div.contents li {
+    line-height: var(--content-line-height);
+}
+
+div.contents div.dyncontent {
+    margin: var(--spacing-medium) 0;
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) div.contents div.dyncontent img,
+    html:not(.light-mode) div.contents center img,
+    html:not(.light-mode) div.contents > table img,
+    html:not(.light-mode) div.contents div.dyncontent iframe,
+    html:not(.light-mode) div.contents center iframe,
+    html:not(.light-mode) div.contents table iframe,
+    html:not(.light-mode) div.contents .dotgraph iframe {
+        filter: brightness(89%) hue-rotate(180deg) invert();
+    }
+}
+
+html.dark-mode div.contents div.dyncontent img,
+html.dark-mode div.contents center img,
+html.dark-mode div.contents > table img,
+html.dark-mode div.contents div.dyncontent iframe,
+html.dark-mode div.contents center iframe,
+html.dark-mode div.contents table iframe,
+html.dark-mode div.contents .dotgraph iframe
+ {
+    filter: brightness(89%) hue-rotate(180deg) invert();
+}
+
+h2.groupheader {
+    border-bottom: 0px;
+    color: var(--page-foreground-color);
+    box-shadow: 
+        100px 0 var(--page-background-color), 
+        -100px 0 var(--page-background-color),
+        100px 0.75px var(--separator-color),
+        -100px 0.75px var(--separator-color),
+        500px 0 var(--page-background-color), 
+        -500px 0 var(--page-background-color),
+        500px 0.75px var(--separator-color),
+        -500px 0.75px var(--separator-color),
+        900px 0 var(--page-background-color), 
+        -900px 0 var(--page-background-color),
+        900px 0.75px var(--separator-color),
+        -900px 0.75px var(--separator-color),
+        1400px 0 var(--page-background-color),
+        -1400px 0 var(--page-background-color), 
+        1400px 0.75px var(--separator-color),
+        -1400px 0.75px var(--separator-color),
+        1900px 0 var(--page-background-color),
+        -1900px 0 var(--page-background-color),
+        1900px 0.75px var(--separator-color),
+        -1900px 0.75px var(--separator-color);
+}
+
+blockquote {
+    margin: 0 var(--spacing-medium) 0 var(--spacing-medium);
+    padding: var(--spacing-small) var(--spacing-large);
+    background: var(--blockquote-background);
+    color: var(--blockquote-foreground);
+    border-left: 0;
+    overflow: visible;
+    border-radius: var(--border-radius-medium);
+    overflow: visible;
+    position: relative;
+}
+
+blockquote::before, blockquote::after {
+    font-weight: bold;
+    font-family: serif;
+    font-size: 360%;
+    opacity: .15;
+    position: absolute;
+}
+
+blockquote::before {
+    content: "“";
+    left: -10px;
+    top: 4px;
+}
+
+blockquote::after {
+    content: "”";
+    right: -8px;
+    bottom: -25px;
+}
+
+blockquote p {
+    margin: var(--spacing-small) 0 var(--spacing-medium) 0;
+}
+.paramname, .paramname em {
+    font-weight: 600;
+    color: var(--primary-dark-color);
+}
+
+.paramname > code {
+    border: 0;
+}
+
+table.params .paramname {
+    font-weight: 600;
+    font-family: var(--font-family-monospace);
+    font-size: var(--code-font-size);
+    padding-right: var(--spacing-small);
+    line-height: var(--table-line-height);
+}
+
+h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow {
+    text-shadow: 0 0 15px var(--primary-light-color);
+}
+
+.alphachar a {
+    color: var(--page-foreground-color);
+}
+
+.dotgraph {
+    max-width: 100%;
+    overflow-x: scroll;
+}
+
+.dotgraph .caption {
+    position: sticky;
+    left: 0;
+}
+
+/* Wrap Graphviz graphs with the `interactive_dotgraph` class if `INTERACTIVE_SVG = YES` */
+.interactive_dotgraph .dotgraph iframe {
+    max-width: 100%;
+}
+
+/*
+ Table of Contents
+ */
+
+div.contents .toc {
+    max-height: var(--toc-max-height);
+    min-width: var(--toc-width);
+    border: 0;
+    border-left: 1px solid var(--separator-color);
+    border-radius: 0;
+    background-color: var(--page-background-color);
+    box-shadow: none;
+    position: sticky;
+    top: var(--toc-sticky-top);
+    padding: 0 var(--spacing-large);
+    margin: var(--spacing-small) 0 var(--spacing-large) var(--spacing-large);
+}
+
+div.toc h3 {
+    color: var(--toc-foreground);
+    font-size: var(--navigation-font-size);
+    margin: var(--spacing-large) 0 var(--spacing-medium) 0;
+}
+
+div.toc li {
+    padding: 0;
+    background: none;
+    line-height: var(--toc-font-size);
+    margin: var(--toc-font-size) 0 0 0;
+}
+
+div.toc li::before {
+    display: none;
+}
+
+div.toc ul {
+    margin-top: 0
+}
+
+div.toc li a {
+    font-size: var(--toc-font-size);
+    color: var(--page-foreground-color) !important;
+    text-decoration: none;
+}
+
+div.toc li a:hover, div.toc li a.active {
+    color: var(--primary-color) !important;
+}
+
+div.toc li a.aboveActive {
+    color: var(--page-secondary-foreground-color) !important;
+}
+
+
+@media screen and (max-width: 999px) {
+    div.contents .toc {
+        max-height: 45vh;
+        float: none;
+        width: auto;
+        margin: 0 0 var(--spacing-medium) 0;
+        position: relative;
+        top: 0;
+        position: relative;
+        border: 1px solid var(--separator-color);
+        border-radius: var(--border-radius-medium);
+        background-color: var(--toc-background);
+        box-shadow: var(--box-shadow);
+    }
+
+    div.contents .toc.interactive {
+        max-height: calc(var(--navigation-font-size) + 2 * var(--spacing-large));
+        overflow: hidden;
+    }
+
+    div.contents .toc > h3 {
+        -webkit-tap-highlight-color: transparent;
+        cursor: pointer;
+        position: sticky;
+        top: 0;
+        background-color: var(--toc-background);
+        margin: 0;
+        padding: var(--spacing-large) 0;
+        display: block;
+    }
+
+    div.contents .toc.interactive > h3::before {
+        content: "";
+        width: 0; 
+        height: 0; 
+        border-left: 4px solid transparent;
+        border-right: 4px solid transparent;
+        border-top: 5px solid var(--primary-color);
+        display: inline-block;
+        margin-right: var(--spacing-small);
+        margin-bottom: calc(var(--navigation-font-size) / 4);
+        transform: rotate(-90deg);
+        transition: transform var(--animation-duration) ease-out;
+    }
+
+    div.contents .toc.interactive.open > h3::before {
+        transform: rotate(0deg);
+    }
+
+    div.contents .toc.interactive.open {
+        max-height: 45vh;
+        overflow: auto;
+        transition: max-height 0.2s ease-in-out;
+    }
+
+    div.contents .toc a, div.contents .toc a.active {
+        color: var(--primary-color) !important;
+    }
+
+    div.contents .toc a:hover {
+        text-decoration: underline;
+    }
+}
+
+/*
+ Code & Fragments
+ */
+
+code, div.fragment, pre.fragment {
+    border-radius: var(--border-radius-small);
+    border: 1px solid var(--separator-color);
+    overflow: hidden;
+}
+
+code {
+    display: inline;
+    background: var(--code-background);
+    color: var(--code-foreground);
+    padding: 2px 6px;
+}
+
+div.fragment, pre.fragment {
+    margin: var(--spacing-medium) 0;
+    padding: calc(var(--spacing-large) - (var(--spacing-large) / 6)) var(--spacing-large);
+    background: var(--fragment-background);
+    color: var(--fragment-foreground);
+    overflow-x: auto;
+}
+
+@media screen and (max-width: 767px) {
+    div.fragment, pre.fragment {
+        border-top-right-radius: 0;
+        border-bottom-right-radius: 0;
+        border-right: 0;
+    }
+
+    .contents > div.fragment,
+    .textblock > div.fragment,
+    .textblock > pre.fragment,
+    .textblock > .tabbed > ul > li > div.fragment,
+    .textblock > .tabbed > ul > li > pre.fragment,
+    .contents > .doxygen-awesome-fragment-wrapper > div.fragment,
+    .textblock > .doxygen-awesome-fragment-wrapper > div.fragment,
+    .textblock > .doxygen-awesome-fragment-wrapper > pre.fragment,
+    .textblock > .tabbed > ul > li > .doxygen-awesome-fragment-wrapper > div.fragment,
+    .textblock > .tabbed > ul > li > .doxygen-awesome-fragment-wrapper > pre.fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-large));
+        border-radius: 0;
+        border-left: 0;
+    }
+
+    .textblock li > .fragment,
+    .textblock li > .doxygen-awesome-fragment-wrapper > .fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-large));
+    }
+
+    .memdoc li > .fragment,
+    .memdoc li > .doxygen-awesome-fragment-wrapper > .fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-medium));
+    }
+
+    .textblock ul, .memdoc ul {
+        overflow: initial;
+    }
+
+    .memdoc > div.fragment,
+    .memdoc > pre.fragment,
+    dl dd > div.fragment,
+    dl dd pre.fragment,
+    .memdoc > .doxygen-awesome-fragment-wrapper > div.fragment,
+    .memdoc > .doxygen-awesome-fragment-wrapper > pre.fragment,
+    dl dd > .doxygen-awesome-fragment-wrapper > div.fragment,
+    dl dd .doxygen-awesome-fragment-wrapper > pre.fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-medium));
+        border-radius: 0;
+        border-left: 0;
+    }
+}
+
+code, code a, pre.fragment, div.fragment, div.fragment .line, div.fragment span, div.fragment .line a, div.fragment .line span {
+    font-family: var(--font-family-monospace);
+    font-size: var(--code-font-size) !important;
+}
+
+div.line:after {
+    margin-right: var(--spacing-medium);
+}
+
+div.fragment .line, pre.fragment {
+    white-space: pre;
+    word-wrap: initial;
+    line-height: var(--fragment-lineheight);
+}
+
+div.fragment span.keyword {
+    color: var(--fragment-keyword);
+}
+
+div.fragment span.keywordtype {
+    color: var(--fragment-keywordtype);
+}
+
+div.fragment span.keywordflow {
+    color: var(--fragment-keywordflow);
+}
+
+div.fragment span.stringliteral {
+    color: var(--fragment-token)
+}
+
+div.fragment span.comment {
+    color: var(--fragment-comment);
+}
+
+div.fragment a.code {
+    color: var(--fragment-link) !important;
+}
+
+div.fragment span.preprocessor {
+    color: var(--fragment-preprocessor);
+}
+
+div.fragment span.lineno {
+    display: inline-block;
+    width: 27px;
+    border-right: none;
+    background: var(--fragment-linenumber-background);
+    color: var(--fragment-linenumber-color);
+}
+
+div.fragment span.lineno a {
+    background: none;
+    color: var(--fragment-link) !important;
+}
+
+div.fragment > .line:first-child .lineno {
+    box-shadow: -999999px 0px 0 999999px var(--fragment-linenumber-background), -999998px 0px 0 999999px var(--fragment-linenumber-border);
+    background-color: var(--fragment-linenumber-background) !important;
+}
+
+div.line {
+    border-radius: var(--border-radius-small);
+}
+
+div.line.glow {
+    background-color: var(--primary-light-color);
+    box-shadow: none;
+}
+
+/*
+ dl warning, attention, note, deprecated, bug, ...
+ */
+
+dl.bug dt a, dl.deprecated dt a, dl.todo dt a {
+    font-weight: bold !important;
+}
+
+dl.warning, dl.attention, dl.note, dl.deprecated, dl.bug, dl.invariant, dl.pre, dl.post, dl.todo, dl.remark {
+    padding: var(--spacing-medium);
+    margin: var(--spacing-medium) 0;
+    color: var(--page-background-color);
+    overflow: hidden;
+    margin-left: 0;
+    border-radius: var(--border-radius-small);
+}
+
+dl.section dd {
+    margin-bottom: 2px;
+}
+
+dl.warning, dl.attention {
+    background: var(--warning-color);
+    border-left: 8px solid var(--warning-color-dark);
+    color: var(--warning-color-darker);
+}
+
+dl.warning dt, dl.attention dt {
+    color: var(--warning-color-dark);
+}
+
+dl.note, dl.remark {
+    background: var(--note-color);
+    border-left: 8px solid var(--note-color-dark);
+    color: var(--note-color-darker);
+}
+
+dl.note dt, dl.remark dt {
+    color: var(--note-color-dark);
+}
+
+dl.todo {
+    background: var(--todo-color);
+    border-left: 8px solid var(--todo-color-dark);
+    color: var(--todo-color-darker);
+}
+
+dl.todo dt a {
+    color: var(--todo-color-dark) !important;
+}
+
+dl.bug dt a {
+    color: var(--todo-color-dark) !important;
+}
+
+dl.bug {
+    background: var(--bug-color);
+    border-left: 8px solid var(--bug-color-dark);
+    color: var(--bug-color-darker);
+}
+
+dl.bug dt a {
+    color: var(--bug-color-dark) !important;
+}
+
+dl.deprecated {
+    background: var(--deprecated-color);
+    border-left: 8px solid var(--deprecated-color-dark);
+    color: var(--deprecated-color-darker);
+}
+
+dl.deprecated dt a {
+    color: var(--deprecated-color-dark) !important;
+}
+
+dl.section dd, dl.bug dd, dl.deprecated dd, dl.todo dd {
+    margin-inline-start: 0px;
+}
+
+dl.invariant, dl.pre, dl.post {
+    background: var(--invariant-color);
+    border-left: 8px solid var(--invariant-color-dark);
+    color: var(--invariant-color-darker);
+}
+
+dl.invariant dt, dl.pre dt, dl.post dt {
+    color: var(--invariant-color-dark);
+}
+
+/*
+ memitem
+ */
+
+div.memdoc, div.memproto, h2.memtitle {
+    box-shadow: none;
+    background-image: none;
+    border: none;
+}
+
+div.memdoc {
+    padding: 0 var(--spacing-medium);
+    background: var(--page-background-color);
+}
+
+h2.memtitle, div.memitem {
+    border: 1px solid var(--separator-color);
+    box-shadow: var(--box-shadow);
+}
+
+h2.memtitle {
+    box-shadow: 0px var(--spacing-medium) 0 -1px var(--fragment-background), var(--box-shadow);
+}
+
+div.memitem {
+    transition: none;
+}
+
+div.memproto, h2.memtitle {
+    background: var(--fragment-background);
+}
+
+h2.memtitle {
+    font-weight: 500;
+    font-size: var(--memtitle-font-size);
+    font-family: var(--font-family-monospace);
+    border-bottom: none;
+    border-top-left-radius: var(--border-radius-medium);
+    border-top-right-radius: var(--border-radius-medium);
+    word-break: break-all;
+    position: relative;
+}
+
+h2.memtitle:after {
+    content: "";
+    display: block;
+    background: var(--fragment-background);
+    height: var(--spacing-medium);
+    bottom: calc(0px - var(--spacing-medium));
+    left: 0;
+    right: -14px;
+    position: absolute;
+    border-top-right-radius: var(--border-radius-medium);
+}
+
+h2.memtitle > span.permalink {
+    font-size: inherit;
+}
+
+h2.memtitle > span.permalink > a {
+    text-decoration: none;
+    padding-left: 3px;
+    margin-right: -4px;
+    user-select: none;
+    display: inline-block;
+    margin-top: -6px;
+}
+
+h2.memtitle > span.permalink > a:hover {
+    color: var(--primary-dark-color) !important;
+}
+
+a:target + h2.memtitle, a:target + h2.memtitle + div.memitem {
+    border-color: var(--primary-light-color);
+}
+
+div.memitem {
+    border-top-right-radius: var(--border-radius-medium);
+    border-bottom-right-radius: var(--border-radius-medium);
+    border-bottom-left-radius: var(--border-radius-medium);
+    overflow: hidden;
+    display: block !important;
+}
+
+div.memdoc {
+    border-radius: 0;
+}
+
+div.memproto {
+    border-radius: 0 var(--border-radius-small) 0 0;
+    overflow: auto;
+    border-bottom: 1px solid var(--separator-color);
+    padding: var(--spacing-medium);
+    margin-bottom: -1px;
+}
+
+div.memtitle {
+    border-top-right-radius: var(--border-radius-medium);
+    border-top-left-radius: var(--border-radius-medium);
+}
+
+div.memproto table.memname {
+    font-family: var(--font-family-monospace);
+    color: var(--page-foreground-color);
+    font-size: var(--memname-font-size);
+    text-shadow: none;
+}
+
+div.memproto div.memtemplate {
+    font-family: var(--font-family-monospace);
+    color: var(--primary-dark-color);
+    font-size: var(--memname-font-size);
+    margin-left: 2px;
+    text-shadow: none;
+}
+
+table.mlabels, table.mlabels > tbody {
+    display: block;
+}
+
+td.mlabels-left {
+    width: auto;
+}
+
+td.mlabels-right {
+    margin-top: 3px;
+    position: sticky;
+    left: 0;
+}
+
+table.mlabels > tbody > tr:first-child {
+    display: flex;
+    justify-content: space-between;
+    flex-wrap: wrap;
+}
+
+.memname, .memitem span.mlabels {
+    margin: 0
+}
+
+/*
+ reflist
+ */
+
+dl.reflist {
+    box-shadow: var(--box-shadow);
+    border-radius: var(--border-radius-medium);
+    border: 1px solid var(--separator-color);
+    overflow: hidden;
+    padding: 0;
+}
+
+
+dl.reflist dt, dl.reflist dd {
+    box-shadow: none;
+    text-shadow: none;
+    background-image: none;
+    border: none;
+    padding: 12px;
+}
+
+
+dl.reflist dt {
+    font-weight: 500;
+    border-radius: 0;
+    background: var(--code-background);
+    border-bottom: 1px solid var(--separator-color);
+    color: var(--page-foreground-color)
+}
+
+
+dl.reflist dd {
+    background: none;
+}
+
+/*
+ Table
+ */
+
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname),
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody {
+    display: inline-block;
+    max-width: 100%;
+}
+
+.contents > table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname):not(.classindex) {
+    margin-left: calc(0px - var(--spacing-large));
+    margin-right: calc(0px - var(--spacing-large));
+    max-width: calc(100% + 2 * var(--spacing-large));
+}
+
+table.fieldtable,
+table.markdownTable tbody,
+table.doxtable tbody {
+    border: none;
+    margin: var(--spacing-medium) 0;
+    box-shadow: 0 0 0 1px var(--separator-color);
+    border-radius: var(--border-radius-small);
+}
+
+table.markdownTable, table.doxtable, table.fieldtable {
+    padding: 1px;
+}
+
+table.doxtable caption {
+    display: block;
+}
+
+table.fieldtable {
+    border-collapse: collapse;
+    width: 100%;
+}
+
+th.markdownTableHeadLeft,
+th.markdownTableHeadRight,
+th.markdownTableHeadCenter,
+th.markdownTableHeadNone,
+table.doxtable th {
+    background: var(--tablehead-background);
+    color: var(--tablehead-foreground);
+    font-weight: 600;
+    font-size: var(--page-font-size);
+}
+
+th.markdownTableHeadLeft:first-child,
+th.markdownTableHeadRight:first-child,
+th.markdownTableHeadCenter:first-child,
+th.markdownTableHeadNone:first-child,
+table.doxtable tr th:first-child {
+    border-top-left-radius: var(--border-radius-small);
+}
+
+th.markdownTableHeadLeft:last-child,
+th.markdownTableHeadRight:last-child,
+th.markdownTableHeadCenter:last-child,
+th.markdownTableHeadNone:last-child,
+table.doxtable tr th:last-child {
+    border-top-right-radius: var(--border-radius-small);
+}
+
+table.markdownTable td,
+table.markdownTable th,
+table.fieldtable td,
+table.fieldtable th,
+table.doxtable td,
+table.doxtable th {
+    border: 1px solid var(--separator-color);
+    padding: var(--spacing-small) var(--spacing-medium);
+}
+
+table.markdownTable td:last-child,
+table.markdownTable th:last-child,
+table.fieldtable td:last-child,
+table.fieldtable th:last-child,
+table.doxtable td:last-child,
+table.doxtable th:last-child {
+    border-right: none;
+}
+
+table.markdownTable td:first-child,
+table.markdownTable th:first-child,
+table.fieldtable td:first-child,
+table.fieldtable th:first-child,
+table.doxtable td:first-child,
+table.doxtable th:first-child {
+    border-left: none;
+}
+
+table.markdownTable tr:first-child td,
+table.markdownTable tr:first-child th,
+table.fieldtable tr:first-child td,
+table.fieldtable tr:first-child th,
+table.doxtable tr:first-child td,
+table.doxtable tr:first-child th {
+    border-top: none;
+}
+
+table.markdownTable tr:last-child td,
+table.markdownTable tr:last-child th,
+table.fieldtable tr:last-child td,
+table.fieldtable tr:last-child th,
+table.doxtable tr:last-child td,
+table.doxtable tr:last-child th {
+    border-bottom: none;
+}
+
+table.markdownTable tr, table.doxtable tr {
+    border-bottom: 1px solid var(--separator-color);
+}
+
+table.markdownTable tr:last-child, table.doxtable tr:last-child {
+    border-bottom: none;
+}
+
+.full_width_table table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) {
+    display: block;
+}
+
+.full_width_table table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody {
+    display: table;
+    width: 100%;
+}
+
+table.fieldtable th {
+    font-size: var(--page-font-size);
+    font-weight: 600;
+    background-image: none;
+    background-color: var(--tablehead-background);
+    color: var(--tablehead-foreground);
+}
+
+table.fieldtable td.fieldtype, .fieldtable td.fieldname, .fieldtable td.fieldinit, .fieldtable td.fielddoc, .fieldtable th {
+    border-bottom: 1px solid var(--separator-color);
+    border-right: 1px solid var(--separator-color);
+}
+
+table.fieldtable tr:last-child td:first-child {
+    border-bottom-left-radius: var(--border-radius-small);
+}
+
+table.fieldtable tr:last-child td:last-child {
+    border-bottom-right-radius: var(--border-radius-small);
+}
+
+.memberdecls td.glow, .fieldtable tr.glow {
+    background-color: var(--primary-light-color);
+    box-shadow: none;
+}
+
+table.memberdecls {
+    display: block;
+    -webkit-tap-highlight-color: transparent;
+}
+
+table.memberdecls tr[class^='memitem'] {
+    font-family: var(--font-family-monospace);
+    font-size: var(--code-font-size);
+}
+
+table.memberdecls tr[class^='memitem'] .memTemplParams {
+    font-family: var(--font-family-monospace);
+    font-size: var(--code-font-size);
+    color: var(--primary-dark-color);
+    white-space: normal;
+}
+
+table.memberdecls .memItemLeft,
+table.memberdecls .memItemRight,
+table.memberdecls .memTemplItemLeft,
+table.memberdecls .memTemplItemRight,
+table.memberdecls .memTemplParams {
+    transition: none;
+    padding-top: var(--spacing-small);
+    padding-bottom: var(--spacing-small);
+    border-top: 1px solid var(--separator-color);
+    border-bottom: 1px solid var(--separator-color);
+    background-color: var(--fragment-background);
+}
+
+table.memberdecls .memTemplItemLeft,
+table.memberdecls .memTemplItemRight {
+    padding-top: 2px;
+}
+
+table.memberdecls .memTemplParams {
+    border-bottom: 0;
+    border-left: 1px solid var(--separator-color);
+    border-right: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-small) var(--border-radius-small) 0 0;
+    padding-bottom: var(--spacing-small);
+}
+
+table.memberdecls .memTemplItemLeft {
+    border-radius: 0 0 0 var(--border-radius-small);
+    border-left: 1px solid var(--separator-color);
+    border-top: 0;
+}
+
+table.memberdecls .memTemplItemRight {
+    border-radius: 0 0 var(--border-radius-small) 0;
+    border-right: 1px solid var(--separator-color);
+    padding-left: 0;
+    border-top: 0;
+}
+
+table.memberdecls .memItemLeft {
+    border-radius: var(--border-radius-small) 0 0 var(--border-radius-small);
+    border-left: 1px solid var(--separator-color);
+    padding-left: var(--spacing-medium);
+    padding-right: 0;
+}
+
+table.memberdecls .memItemRight  {
+    border-radius: 0 var(--border-radius-small) var(--border-radius-small) 0;
+    border-right: 1px solid var(--separator-color);
+    padding-right: var(--spacing-medium);
+    padding-left: 0;
+
+}
+
+table.memberdecls .mdescLeft, table.memberdecls .mdescRight {
+    background: none;
+    color: var(--page-foreground-color);
+    padding: var(--spacing-small) 0;
+}
+
+table.memberdecls .memItemLeft,
+table.memberdecls .memTemplItemLeft {
+    padding-right: var(--spacing-medium);
+}
+
+table.memberdecls .memSeparator {
+    background: var(--page-background-color);
+    height: var(--spacing-large);
+    border: 0;
+    transition: none;
+}
+
+table.memberdecls .groupheader {
+    margin-bottom: var(--spacing-large);
+}
+
+table.memberdecls .inherit_header td {
+    padding: 0 0 var(--spacing-medium) 0;
+    text-indent: -12px;
+    color: var(--page-secondary-foreground-color);
+}
+
+table.memberdecls img[src="closed.png"],
+table.memberdecls img[src="open.png"],
+div.dynheader img[src="open.png"],
+div.dynheader img[src="closed.png"] {
+    width: 0; 
+    height: 0; 
+    border-left: 4px solid transparent;
+    border-right: 4px solid transparent;
+    border-top: 5px solid var(--primary-color);
+    margin-top: 8px;
+    display: block;
+    float: left;
+    margin-left: -10px;
+    transition: transform var(--animation-duration) ease-out;
+}
+
+table.memberdecls img {
+    margin-right: 10px;
+}
+
+table.memberdecls img[src="closed.png"],
+div.dynheader img[src="closed.png"] {
+    transform: rotate(-90deg);
+    
+}
+
+.compoundTemplParams {
+    font-family: var(--font-family-monospace);
+    color: var(--primary-dark-color);
+    font-size: var(--code-font-size);
+}
+
+@media screen and (max-width: 767px) {
+
+    table.memberdecls .memItemLeft,
+    table.memberdecls .memItemRight,
+    table.memberdecls .mdescLeft,
+    table.memberdecls .mdescRight,
+    table.memberdecls .memTemplItemLeft,
+    table.memberdecls .memTemplItemRight,
+    table.memberdecls .memTemplParams {
+        display: block;
+        text-align: left;
+        padding-left: var(--spacing-large);
+        margin: 0 calc(0px - var(--spacing-large)) 0 calc(0px - var(--spacing-large));
+        border-right: none;
+        border-left: none;
+        border-radius: 0;
+        white-space: normal;
+    }
+
+    table.memberdecls .memItemLeft,
+    table.memberdecls .mdescLeft,
+    table.memberdecls .memTemplItemLeft {
+        border-bottom: 0;
+        padding-bottom: 0;
+    }
+
+    table.memberdecls .memTemplItemLeft {
+        padding-top: 0;
+    }
+
+    table.memberdecls .mdescLeft {
+        margin-bottom: calc(0px - var(--page-font-size));
+    }
+
+    table.memberdecls .memItemRight, 
+    table.memberdecls .mdescRight,
+    table.memberdecls .memTemplItemRight {
+        border-top: 0;
+        padding-top: 0;
+        padding-right: var(--spacing-large);
+        overflow-x: auto;
+    }
+
+    table.memberdecls tr[class^='memitem']:not(.inherit) {
+        display: block;
+        width: calc(100vw - 2 * var(--spacing-large));
+    }
+
+    table.memberdecls .mdescRight {
+        color: var(--page-foreground-color);
+    }
+
+    table.memberdecls tr.inherit {
+        visibility: hidden;
+    }
+
+    table.memberdecls tr[style="display: table-row;"] {
+        display: block !important;
+        visibility: visible;
+        width: calc(100vw - 2 * var(--spacing-large));
+        animation: fade .5s;
+    }
+
+    @keyframes fade {
+        0% {
+            opacity: 0;
+            max-height: 0;
+        }
+
+        100% {
+            opacity: 1;
+            max-height: 200px;
+        }
+    }
+}
+
+
+/*
+ Horizontal Rule
+ */
+
+hr {
+    margin-top: var(--spacing-large);
+    margin-bottom: var(--spacing-large);
+    height: 1px;
+    background-color: var(--separator-color);
+    border: 0;
+}
+
+.contents hr {
+    box-shadow: 100px 0 var(--separator-color),
+                -100px 0 var(--separator-color),
+                500px 0 var(--separator-color),
+                -500px 0 var(--separator-color),
+                900px 0 var(--separator-color),
+                -900px 0 var(--separator-color),
+                1400px 0 var(--separator-color),
+                -1400px 0 var(--separator-color),
+                1900px 0 var(--separator-color),
+                -1900px 0 var(--separator-color);       
+}
+
+.contents img, .contents .center, .contents center, .contents div.image object {
+    max-width: 100%;
+    overflow: auto;
+}
+
+@media screen and (max-width: 767px) {
+    .contents .dyncontent > .center, .contents > center {
+        margin-left: calc(0px - var(--spacing-large));
+        margin-right: calc(0px - var(--spacing-large));
+        max-width: calc(100% + 2 * var(--spacing-large));
+    }
+}
+
+/*
+ Directories
+ */
+div.directory {
+    border-top: 1px solid var(--separator-color);
+    border-bottom: 1px solid var(--separator-color);
+    width: auto;
+}
+
+table.directory {
+    font-family: var(--font-family);
+    font-size: var(--page-font-size);
+    font-weight: normal;
+    width: 100%;
+}
+
+table.directory td.entry, table.directory td.desc {
+    padding: calc(var(--spacing-small) / 2) var(--spacing-small);
+    line-height: var(--table-line-height);
+}
+
+table.directory tr.even td:last-child {
+    border-radius: 0 var(--border-radius-small) var(--border-radius-small) 0;
+}
+
+table.directory tr.even td:first-child {
+    border-radius: var(--border-radius-small) 0 0 var(--border-radius-small);
+}
+
+table.directory tr.even:last-child td:last-child {
+    border-radius: 0 var(--border-radius-small) 0 0;
+}
+
+table.directory tr.even:last-child td:first-child {
+    border-radius: var(--border-radius-small) 0 0 0;
+}
+
+table.directory td.desc {
+    min-width: 250px;
+}
+
+table.directory tr.even {
+    background-color: var(--odd-color);
+}
+
+table.directory tr.odd {
+    background-color: transparent;
+}
+
+.icona {
+    width: auto;
+    height: auto;
+    margin: 0 var(--spacing-small);
+}
+
+.icon {
+    background: var(--primary-color);
+    border-radius: var(--border-radius-small);
+    font-size: var(--page-font-size);
+    padding: calc(var(--page-font-size) / 5);
+    line-height: var(--page-font-size);
+    transform: scale(0.8);
+    height: auto;
+    width: var(--page-font-size);
+    user-select: none;
+}
+
+.iconfopen, .icondoc, .iconfclosed {
+    background-position: center;
+    margin-bottom: 0;
+    height: var(--table-line-height);
+}
+
+.icondoc {
+    filter: saturate(0.2);
+}
+
+@media screen and (max-width: 767px) {
+    div.directory {
+        margin-left: calc(0px - var(--spacing-large));
+        margin-right: calc(0px - var(--spacing-large));
+    }
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) .iconfopen, html:not(.light-mode) .iconfclosed {
+        filter: hue-rotate(180deg) invert();
+    }
+}
+
+html.dark-mode .iconfopen, html.dark-mode .iconfclosed {
+    filter: hue-rotate(180deg) invert();
+}
+
+/*
+ Class list
+ */
+
+.classindex dl.odd {
+    background: var(--odd-color);
+    border-radius: var(--border-radius-small);
+}
+
+.classindex dl.even {
+    background-color: transparent;
+}
+
+/* 
+ Class Index Doxygen 1.8 
+*/
+
+table.classindex {
+    margin-left: 0;
+    margin-right: 0;
+    width: 100%;
+}
+
+table.classindex table div.ah {
+    background-image: none;
+    background-color: initial;
+    border-color: var(--separator-color);
+    color: var(--page-foreground-color);
+    box-shadow: var(--box-shadow);
+    border-radius: var(--border-radius-large);
+    padding: var(--spacing-small);
+}
+
+div.qindex {
+    background-color: var(--odd-color);
+    border-radius: var(--border-radius-small);
+    border: 1px solid var(--separator-color);
+    padding: var(--spacing-small) 0;
+}
+
+/*
+  Footer and nav-path
+ */
+
+#nav-path {
+    width: 100%;
+}
+
+#nav-path ul {
+    background-image: none;
+    background: var(--page-background-color);
+    border: none;
+    border-top: 1px solid var(--separator-color);
+    border-bottom: 1px solid var(--separator-color);
+    border-bottom: 0;
+    box-shadow: 0 0.75px 0 var(--separator-color);
+    font-size: var(--navigation-font-size);
+}
+
+img.footer {
+    width: 60px;
+}
+
+.navpath li.footer {
+    color: var(--page-secondary-foreground-color);
+}
+
+address.footer {
+    color: var(--page-secondary-foreground-color);
+    margin-bottom: var(--spacing-large);
+}
+
+#nav-path li.navelem {
+    background-image: none;
+    display: flex;
+    align-items: center;
+}
+
+.navpath li.navelem a {
+    text-shadow: none;
+    display: inline-block;
+    color: var(--primary-color) !important;
+}
+
+.navpath li.navelem b {
+    color: var(--primary-dark-color);
+    font-weight: 500;
+}
+
+li.navelem {
+    padding: 0;
+    margin-left: -8px;
+}
+
+li.navelem:first-child {
+    margin-left: var(--spacing-large);
+}
+
+li.navelem:first-child:before {
+    display: none;
+}
+
+#nav-path li.navelem:after {
+    content: '';
+    border: 5px solid var(--page-background-color);
+    border-bottom-color: transparent;
+    border-right-color: transparent;
+    border-top-color: transparent;
+    transform: translateY(-1px) scaleY(4.2);
+    z-index: 10;
+    margin-left: 6px;
+}
+
+#nav-path li.navelem:before {
+    content: '';
+    border: 5px solid var(--separator-color);
+    border-bottom-color: transparent;
+    border-right-color: transparent;
+    border-top-color: transparent;
+    transform: translateY(-1px) scaleY(3.2);
+    margin-right: var(--spacing-small);
+}
+
+.navpath li.navelem a:hover {
+    color: var(--primary-color);
+}
+
+/*
+ Scrollbars for Webkit
+*/
+
+#nav-tree::-webkit-scrollbar,
+div.fragment::-webkit-scrollbar,
+pre.fragment::-webkit-scrollbar,
+div.memproto::-webkit-scrollbar,
+.contents center::-webkit-scrollbar,
+.contents .center::-webkit-scrollbar,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody::-webkit-scrollbar,
+div.contents .toc::-webkit-scrollbar,
+.contents .dotgraph::-webkit-scrollbar,
+.contents .tabs-overview-container::-webkit-scrollbar {
+    background: transparent;
+    width: calc(var(--webkit-scrollbar-size) + var(--webkit-scrollbar-padding) + var(--webkit-scrollbar-padding));
+    height: calc(var(--webkit-scrollbar-size) + var(--webkit-scrollbar-padding) + var(--webkit-scrollbar-padding));
+}
+
+#nav-tree::-webkit-scrollbar-thumb,
+div.fragment::-webkit-scrollbar-thumb,
+pre.fragment::-webkit-scrollbar-thumb,
+div.memproto::-webkit-scrollbar-thumb,
+.contents center::-webkit-scrollbar-thumb,
+.contents .center::-webkit-scrollbar-thumb,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody::-webkit-scrollbar-thumb,
+div.contents .toc::-webkit-scrollbar-thumb,
+.contents .dotgraph::-webkit-scrollbar-thumb,
+.contents .tabs-overview-container::-webkit-scrollbar-thumb {
+    background-color: transparent;
+    border: var(--webkit-scrollbar-padding) solid transparent;
+    border-radius: calc(var(--webkit-scrollbar-padding) + var(--webkit-scrollbar-padding));
+    background-clip: padding-box;  
+}
+
+#nav-tree:hover::-webkit-scrollbar-thumb,
+div.fragment:hover::-webkit-scrollbar-thumb,
+pre.fragment:hover::-webkit-scrollbar-thumb,
+div.memproto:hover::-webkit-scrollbar-thumb,
+.contents center:hover::-webkit-scrollbar-thumb,
+.contents .center:hover::-webkit-scrollbar-thumb,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody:hover::-webkit-scrollbar-thumb,
+div.contents .toc:hover::-webkit-scrollbar-thumb,
+.contents .dotgraph:hover::-webkit-scrollbar-thumb,
+.contents .tabs-overview-container:hover::-webkit-scrollbar-thumb {
+    background-color: var(--webkit-scrollbar-color);
+}
+
+#nav-tree::-webkit-scrollbar-track,
+div.fragment::-webkit-scrollbar-track,
+pre.fragment::-webkit-scrollbar-track,
+div.memproto::-webkit-scrollbar-track,
+.contents center::-webkit-scrollbar-track,
+.contents .center::-webkit-scrollbar-track,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody::-webkit-scrollbar-track,
+div.contents .toc::-webkit-scrollbar-track,
+.contents .dotgraph::-webkit-scrollbar-track,
+.contents .tabs-overview-container::-webkit-scrollbar-track {
+    background: transparent;
+}
+
+#nav-tree::-webkit-scrollbar-corner {
+    background-color: var(--side-nav-background);
+}
+
+#nav-tree,
+div.fragment,
+pre.fragment,
+div.memproto,
+.contents center,
+.contents .center,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody,
+div.contents .toc {
+    overflow-x: auto;
+    overflow-x: overlay;
+}
+
+#nav-tree {
+    overflow-x: auto;
+    overflow-y: auto;
+    overflow-y: overlay;
+}
+
+/*
+ Scrollbars for Firefox
+*/
+
+#nav-tree,
+div.fragment,
+pre.fragment,
+div.memproto,
+.contents center,
+.contents .center,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody,
+div.contents .toc,
+.contents .dotgraph,
+.contents .tabs-overview-container {
+    scrollbar-width: thin;
+}
+
+/*
+  Optional Dark mode toggle button
+*/
+
+doxygen-awesome-dark-mode-toggle {
+    display: inline-block;
+    margin: 0 0 0 var(--spacing-small);
+    padding: 0;
+    width: var(--searchbar-height);
+    height: var(--searchbar-height);
+    background: none;
+    border: none;
+    border-radius: var(--searchbar-height);
+    vertical-align: middle;
+    text-align: center;
+    line-height: var(--searchbar-height);
+    font-size: 22px;
+    display: flex;
+    align-items: center;
+    justify-content: center;
+    user-select: none;
+    cursor: pointer;
+}
+
+doxygen-awesome-dark-mode-toggle > svg {
+    transition: transform var(--animation-duration) ease-in-out;
+}
+
+doxygen-awesome-dark-mode-toggle:active > svg {
+    transform: scale(.5);
+}
+
+doxygen-awesome-dark-mode-toggle:hover {
+    background-color: rgba(0,0,0,.03);
+}
+
+html.dark-mode doxygen-awesome-dark-mode-toggle:hover {
+    background-color: rgba(0,0,0,.18);
+}
+
+/*
+ Optional fragment copy button
+*/
+.doxygen-awesome-fragment-wrapper {
+    position: relative;
+}
+
+doxygen-awesome-fragment-copy-button {
+    opacity: 0;
+    background: var(--fragment-background);
+    width: 28px;
+    height: 28px;
+    position: absolute;
+    right: calc(var(--spacing-large) - (var(--spacing-large) / 2.5));
+    top: calc(var(--spacing-large) - (var(--spacing-large) / 2.5));
+    border: 1px solid var(--fragment-foreground);
+    cursor: pointer;
+    border-radius: var(--border-radius-small);
+    display: flex;
+    justify-content: center;
+    align-items: center;
+}
+
+.doxygen-awesome-fragment-wrapper:hover doxygen-awesome-fragment-copy-button, doxygen-awesome-fragment-copy-button.success {
+    opacity: .28;
+}
+
+doxygen-awesome-fragment-copy-button:hover, doxygen-awesome-fragment-copy-button.success {
+    opacity: 1 !important;
+}
+
+doxygen-awesome-fragment-copy-button:active:not([class~=success]) svg {
+    transform: scale(.91);
+}
+
+doxygen-awesome-fragment-copy-button svg {
+    fill: var(--fragment-foreground);
+    width: 18px;
+    height: 18px;
+}
+
+doxygen-awesome-fragment-copy-button.success svg {
+    fill: rgb(14, 168, 14);
+}
+
+doxygen-awesome-fragment-copy-button.success {
+    border-color: rgb(14, 168, 14);
+}
+
+@media screen and (max-width: 767px) {
+    .textblock > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button,
+    .textblock li > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button,
+    .memdoc li > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button,
+    .memdoc > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button,
+    dl dd > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button {
+        right: 0;
+    }
+}
+
+/*
+ Optional paragraph link button
+*/
+
+a.anchorlink {
+    font-size: 90%;
+    margin-left: var(--spacing-small);
+    color: var(--page-foreground-color) !important;
+    text-decoration: none;
+    opacity: .15;
+    display: none;
+    transition: opacity var(--animation-duration) ease-in-out, color var(--animation-duration) ease-in-out;
+}
+
+a.anchorlink svg {
+    fill: var(--page-foreground-color);
+}
+
+h3 a.anchorlink svg, h4 a.anchorlink svg {
+    margin-bottom: -3px;
+    margin-top: -4px;
+}
+
+a.anchorlink:hover {
+    opacity: .45;
+}
+
+h2:hover a.anchorlink, h1:hover a.anchorlink, h3:hover a.anchorlink, h4:hover a.anchorlink  {
+    display: inline-block;
+}
+
+/*
+ Optional tab feature
+*/
+
+.tabbed > ul {
+    padding-inline-start: 0px;
+    margin: 0;
+    padding: var(--spacing-small) 0;
+}
+
+.tabbed > ul > li {
+    display: none;
+}
+
+.tabbed > ul > li.selected {
+    display: block;
+}
+
+.tabs-overview-container {
+    overflow-x: auto;
+    display: block;
+    overflow-y: visible;
+}
+
+.tabs-overview {
+    border-bottom: 1px solid var(--separator-color);
+    display: flex;
+    flex-direction: row;
+}
+
+@media screen and (max-width: 767px) {
+    .tabs-overview-container {
+        margin: 0 calc(0px - var(--spacing-large));
+    }
+    .tabs-overview {
+        padding: 0 var(--spacing-large)
+    }
+}
+
+.tabs-overview button.tab-button {
+    color: var(--page-foreground-color);
+    margin: 0;
+    border: none;
+    background: transparent;
+    padding: calc(var(--spacing-large) / 2) 0;
+    display: inline-block;
+    font-size: var(--page-font-size);
+    cursor: pointer;
+    box-shadow: 0 1px 0 0 var(--separator-color);
+    position: relative;
+    
+    -webkit-tap-highlight-color: transparent;
+}
+
+.tabs-overview button.tab-button .tab-title::before {
+    display: block;
+    content: attr(title);
+    font-weight: 600;
+    height: 0;
+    overflow: hidden;
+    visibility: hidden;
+}
+
+.tabs-overview button.tab-button .tab-title {
+    float: left;
+    white-space: nowrap;
+    font-weight: normal;
+    padding: calc(var(--spacing-large) / 2) var(--spacing-large);
+    border-radius: var(--border-radius-medium);
+    transition: background-color var(--animation-duration) ease-in-out, font-weight var(--animation-duration) ease-in-out;
+}
+
+.tabs-overview button.tab-button:not(:last-child) .tab-title {
+    box-shadow: 8px 0 0 -7px var(--separator-color);
+}
+
+.tabs-overview button.tab-button:hover .tab-title {
+    background: var(--separator-color);
+    box-shadow: none;
+}
+
+.tabs-overview button.tab-button.active .tab-title {
+    font-weight: 600;
+}
+
+.tabs-overview button.tab-button::after {
+    content: '';
+    display: block;
+    position: absolute;
+    left: 0;
+    bottom: 0;
+    right: 0;
+    height: 0;
+    width: 0%;
+    margin: 0 auto;
+    border-radius: var(--border-radius-small) var(--border-radius-small) 0 0;
+    background-color: var(--primary-color);
+    transition: width var(--animation-duration) ease-in-out, height var(--animation-duration) ease-in-out;
+}
+
+.tabs-overview button.tab-button.active::after {
+    width: 100%;
+    box-sizing: border-box;
+    height: 3px;
+}
+
+
+/*
+ Navigation Buttons
+*/
+
+.section_buttons:not(:empty) {
+    margin-top: calc(var(--spacing-large) * 3);
+}
+
+.section_buttons table.markdownTable {
+    display: block;
+    width: 100%;
+}
+
+.section_buttons table.markdownTable tbody {
+    display: table !important;
+    width: 100%;
+    box-shadow: none;
+    border-spacing: 10px;
+}
+
+.section_buttons table.markdownTable td {
+    padding: 0;
+}
+
+.section_buttons table.markdownTable th {
+    display: none;
+}
+
+.section_buttons table.markdownTable tr.markdownTableHead {
+    border: none;
+}
+
+.section_buttons tr th, .section_buttons tr td {
+    background: none;
+    border: none;
+    padding: var(--spacing-large) 0 var(--spacing-small);
+}
+
+.section_buttons a {
+    display: inline-block;
+    border: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-medium);
+    color: var(--page-secondary-foreground-color) !important;
+    text-decoration: none;
+    transition: color var(--animation-duration) ease-in-out, background-color var(--animation-duration) ease-in-out;
+}
+
+.section_buttons a:hover {
+    color: var(--page-foreground-color) !important;
+    background-color: var(--odd-color);
+}
+
+.section_buttons tr td.markdownTableBodyLeft a {
+    padding: var(--spacing-medium) var(--spacing-large) var(--spacing-medium) calc(var(--spacing-large) / 2);
+}
+
+.section_buttons tr td.markdownTableBodyRight a {
+    padding: var(--spacing-medium) calc(var(--spacing-large) / 2) var(--spacing-medium) var(--spacing-large);
+}
+
+.section_buttons tr td.markdownTableBodyLeft a::before,
+.section_buttons tr td.markdownTableBodyRight a::after {
+    color: var(--page-secondary-foreground-color) !important;
+    display: inline-block;
+    transition: color .08s ease-in-out, transform .09s ease-in-out;
+}
+
+.section_buttons tr td.markdownTableBodyLeft a::before {
+    content: '〈';
+    padding-right: var(--spacing-large);
+}
+
+
+.section_buttons tr td.markdownTableBodyRight a::after {
+    content: '〉';
+    padding-left: var(--spacing-large);
+}
+
+
+.section_buttons tr td.markdownTableBodyLeft a:hover::before {
+    color: var(--page-foreground-color) !important;
+    transform: translateX(-3px);
+}
+
+.section_buttons tr td.markdownTableBodyRight a:hover::after {
+    color: var(--page-foreground-color) !important;
+    transform: translateX(3px);
+}
+
+@media screen and (max-width: 450px) {
+    .section_buttons a {
+        width: 100%;
+        box-sizing: border-box;
+    }
+
+    .section_buttons tr td:nth-of-type(1).markdownTableBodyLeft a {
+        border-radius: var(--border-radius-medium) 0 0 var(--border-radius-medium);
+        border-right: none;
+    }
+
+    .section_buttons tr td:nth-of-type(2).markdownTableBodyRight a {
+        border-radius: 0 var(--border-radius-medium) var(--border-radius-medium) 0;
+    }
+}
diff --git a/docs/doxygen.css b/docs/doxygen.css
index 7b7d851..b4fc124 100644
--- a/docs/doxygen.css
+++ b/docs/doxygen.css
@@ -1,409 +1,21 @@
 /* The standard CSS for doxygen 1.10.0*/
 
-html {
-/* page base colors */
---page-background-color: white;
---page-foreground-color: black;
---page-link-color: #3D578C;
---page-visited-link-color: #4665A2;
-
-/* index */
---index-odd-item-bg-color: #F8F9FC;
---index-even-item-bg-color: white;
---index-header-color: black;
---index-separator-color: #A0A0A0;
-
-/* header */
---header-background-color: #F9FAFC;
---header-separator-color: #C4CFE5;
---header-gradient-image: url('nav_h.png');
---group-header-separator-color: #879ECB;
---group-header-color: #354C7B;
---inherit-header-color: gray;
-
---footer-foreground-color: #2A3D61;
---footer-logo-width: 104px;
---citation-label-color: #334975;
---glow-color: cyan;
-
---title-background-color: white;
---title-separator-color: #5373B4;
---directory-separator-color: #9CAFD4;
---separator-color: #4A6AAA;
-
---blockquote-background-color: #F7F8FB;
---blockquote-border-color: #9CAFD4;
-
---scrollbar-thumb-color: #9CAFD4;
---scrollbar-background-color: #F9FAFC;
-
---icon-background-color: #728DC1;
---icon-foreground-color: white;
---icon-doc-image: url('doc.svg');
---icon-folder-open-image: url('folderopen.svg');
---icon-folder-closed-image: url('folderclosed.svg');
-
-/* brief member declaration list */
---memdecl-background-color: #F9FAFC;
---memdecl-separator-color: #DEE4F0;
---memdecl-foreground-color: #555;
---memdecl-template-color: #4665A2;
-
-/* detailed member list */
---memdef-border-color: #A8B8D9;
---memdef-title-background-color: #E2E8F2;
---memdef-title-gradient-image: url('nav_f.png');
---memdef-proto-background-color: #DFE5F1;
---memdef-proto-text-color: #253555;
---memdef-proto-text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
---memdef-doc-background-color: white;
---memdef-param-name-color: #602020;
---memdef-template-color: #4665A2;
-
-/* tables */
---table-cell-border-color: #2D4068;
---table-header-background-color: #374F7F;
---table-header-foreground-color: #FFFFFF;
-
-/* labels */
---label-background-color: #728DC1;
---label-left-top-border-color: #5373B4;
---label-right-bottom-border-color: #C4CFE5;
---label-foreground-color: white;
-
-/** navigation bar/tree/menu */
---nav-background-color: #F9FAFC;
---nav-foreground-color: #364D7C;
---nav-gradient-image: url('tab_b.png');
---nav-gradient-hover-image: url('tab_h.png');
---nav-gradient-active-image: url('tab_a.png');
---nav-gradient-active-image-parent: url("../tab_a.png");
---nav-separator-image: url('tab_s.png');
---nav-breadcrumb-image: url('bc_s.png');
---nav-breadcrumb-border-color: #C2CDE4;
---nav-splitbar-image: url('splitbar.png');
---nav-font-size-level1: 13px;
---nav-font-size-level2: 10px;
---nav-font-size-level3: 9px;
---nav-text-normal-color: #283A5D;
---nav-text-hover-color: white;
---nav-text-active-color: white;
---nav-text-normal-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
---nav-text-hover-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
---nav-text-active-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
---nav-menu-button-color: #364D7C;
---nav-menu-background-color: white;
---nav-menu-foreground-color: #555555;
---nav-menu-toggle-color: rgba(255, 255, 255, 0.5);
---nav-arrow-color: #9CAFD4;
---nav-arrow-selected-color: #9CAFD4;
-
-/* table of contents */
---toc-background-color: #F4F6FA;
---toc-border-color: #D8DFEE;
---toc-header-color: #4665A2;
---toc-down-arrow-image: url("data:image/svg+xml;utf8,<svg xmlns='http://www.w3.org/2000/svg' version='1.1' height='10px' width='5px' fill='grey'><text x='0' y='5' font-size='10'>&%238595;</text></svg>");
-
-/** search field */
---search-background-color: white;
---search-foreground-color: #909090;
---search-magnification-image: url('mag.svg');
---search-magnification-select-image: url('mag_sel.svg');
---search-active-color: black;
---search-filter-background-color: #F9FAFC;
---search-filter-foreground-color: black;
---search-filter-border-color: #90A5CE;
---search-filter-highlight-text-color: white;
---search-filter-highlight-bg-color: #3D578C;
---search-results-foreground-color: #425E97;
---search-results-background-color: #EEF1F7;
---search-results-border-color: black;
---search-box-shadow: inset 0.5px 0.5px 3px 0px #555;
-
-/** code fragments */
---code-keyword-color: #008000;
---code-type-keyword-color: #604020;
---code-flow-keyword-color: #E08000;
---code-comment-color: #800000;
---code-preprocessor-color: #806020;
---code-string-literal-color: #002080;
---code-char-literal-color: #008080;
---code-xml-cdata-color: black;
---code-vhdl-digit-color: #FF00FF;
---code-vhdl-char-color: #000000;
---code-vhdl-keyword-color: #700070;
---code-vhdl-logic-color: #FF0000;
---code-link-color: #4665A2;
---code-external-link-color: #4665A2;
---fragment-foreground-color: black;
---fragment-background-color: #FBFCFD;
---fragment-border-color: #C4CFE5;
---fragment-lineno-border-color: #00FF00;
---fragment-lineno-background-color: #E8E8E8;
---fragment-lineno-foreground-color: black;
---fragment-lineno-link-fg-color: #4665A2;
---fragment-lineno-link-bg-color: #D8D8D8;
---fragment-lineno-link-hover-fg-color: #4665A2;
---fragment-lineno-link-hover-bg-color: #C8C8C8;
---fragment-copy-ok-color: #2EC82E;
---tooltip-foreground-color: black;
---tooltip-background-color: white;
---tooltip-border-color: gray;
---tooltip-doc-color: grey;
---tooltip-declaration-color: #006318;
---tooltip-link-color: #4665A2;
---tooltip-shadow: 1px 1px 7px gray;
---fold-line-color: #808080;
---fold-minus-image: url('minus.svg');
---fold-plus-image: url('plus.svg');
---fold-minus-image-relpath: url('../../minus.svg');
---fold-plus-image-relpath: url('../../plus.svg');
-
-/** font-family */
---font-family-normal: Roboto,sans-serif;
---font-family-monospace: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
---font-family-nav: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
---font-family-title: Tahoma,Arial,sans-serif;
---font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif;
---font-family-search: Arial,Verdana,sans-serif;
---font-family-icon: Arial,Helvetica;
---font-family-tooltip: Roboto,sans-serif;
-
-/** special sections */
---warning-color-bg: #f8d1cc;
---warning-color-hl: #b61825;
---warning-color-text: #75070f;
---note-color-bg: #faf3d8;
---note-color-hl: #f3a600;
---note-color-text: #5f4204;
---todo-color-bg: #e4f3ff;
---todo-color-hl: #1879C4;
---todo-color-text: #274a5c;
---test-color-bg: #e8e8ff;
---test-color-hl: #3939C4;
---test-color-text: #1a1a5c;
---deprecated-color-bg: #ecf0f3;
---deprecated-color-hl: #5b6269;
---deprecated-color-text: #43454a;
---bug-color-bg: #e4dafd;
---bug-color-hl: #5b2bdd;
---bug-color-text: #2a0d72;
---invariant-color-bg: #d8f1e3;
---invariant-color-hl: #44b86f;
---invariant-color-text: #265532;
-}
-
-@media (prefers-color-scheme: dark) {
-  html:not(.dark-mode) {
-    color-scheme: dark;
-
-/* page base colors */
---page-background-color: black;
---page-foreground-color: #C9D1D9;
---page-link-color: #90A5CE;
---page-visited-link-color: #A3B4D7;
-
-/* index */
---index-odd-item-bg-color: #0B101A;
---index-even-item-bg-color: black;
---index-header-color: #C4CFE5;
---index-separator-color: #334975;
-
-/* header */
---header-background-color: #070B11;
---header-separator-color: #141C2E;
---header-gradient-image: url('nav_hd.png');
---group-header-separator-color: #283A5D;
---group-header-color: #90A5CE;
---inherit-header-color: #A0A0A0;
-
---footer-foreground-color: #5B7AB7;
---footer-logo-width: 60px;
---citation-label-color: #90A5CE;
---glow-color: cyan;
-
---title-background-color: #090D16;
---title-separator-color: #354C79;
---directory-separator-color: #283A5D;
---separator-color: #283A5D;
-
---blockquote-background-color: #101826;
---blockquote-border-color: #283A5D;
-
---scrollbar-thumb-color: #283A5D;
---scrollbar-background-color: #070B11;
-
---icon-background-color: #334975;
---icon-foreground-color: #C4CFE5;
---icon-doc-image: url('docd.svg');
---icon-folder-open-image: url('folderopend.svg');
---icon-folder-closed-image: url('folderclosedd.svg');
-
-/* brief member declaration list */
---memdecl-background-color: #0B101A;
---memdecl-separator-color: #2C3F65;
---memdecl-foreground-color: #BBB;
---memdecl-template-color: #7C95C6;
-
-/* detailed member list */
---memdef-border-color: #233250;
---memdef-title-background-color: #1B2840;
---memdef-title-gradient-image: url('nav_fd.png');
---memdef-proto-background-color: #19243A;
---memdef-proto-text-color: #9DB0D4;
---memdef-proto-text-shadow: 0px 1px 1px rgba(0, 0, 0, 0.9);
---memdef-doc-background-color: black;
---memdef-param-name-color: #D28757;
---memdef-template-color: #7C95C6;
-
-/* tables */
---table-cell-border-color: #283A5D;
---table-header-background-color: #283A5D;
---table-header-foreground-color: #C4CFE5;
-
-/* labels */
---label-background-color: #354C7B;
---label-left-top-border-color: #4665A2;
---label-right-bottom-border-color: #283A5D;
---label-foreground-color: #CCCCCC;
-
-/** navigation bar/tree/menu */
---nav-background-color: #101826;
---nav-foreground-color: #364D7C;
---nav-gradient-image: url('tab_bd.png');
---nav-gradient-hover-image: url('tab_hd.png');
---nav-gradient-active-image: url('tab_ad.png');
---nav-gradient-active-image-parent: url("../tab_ad.png");
---nav-separator-image: url('tab_sd.png');
---nav-breadcrumb-image: url('bc_sd.png');
---nav-breadcrumb-border-color: #2A3D61;
---nav-splitbar-image: url('splitbard.png');
---nav-font-size-level1: 13px;
---nav-font-size-level2: 10px;
---nav-font-size-level3: 9px;
---nav-text-normal-color: #B6C4DF;
---nav-text-hover-color: #DCE2EF;
---nav-text-active-color: #DCE2EF;
---nav-text-normal-shadow: 0px 1px 1px black;
---nav-text-hover-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
---nav-text-active-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
---nav-menu-button-color: #B6C4DF;
---nav-menu-background-color: #05070C;
---nav-menu-foreground-color: #BBBBBB;
---nav-menu-toggle-color: rgba(255, 255, 255, 0.2);
---nav-arrow-color: #334975;
---nav-arrow-selected-color: #90A5CE;
-
-/* table of contents */
---toc-background-color: #151E30;
---toc-border-color: #202E4A;
---toc-header-color: #A3B4D7;
---toc-down-arrow-image: url("data:image/svg+xml;utf8,<svg xmlns='http://www.w3.org/2000/svg' version='1.1' height='10px' width='5px'><text x='0' y='5' font-size='10' fill='grey'>&%238595;</text></svg>");
-
-/** search field */
---search-background-color: black;
---search-foreground-color: #C5C5C5;
---search-magnification-image: url('mag_d.svg');
---search-magnification-select-image: url('mag_seld.svg');
---search-active-color: #C5C5C5;
---search-filter-background-color: #101826;
---search-filter-foreground-color: #90A5CE;
---search-filter-border-color: #7C95C6;
---search-filter-highlight-text-color: #BCC9E2;
---search-filter-highlight-bg-color: #283A5D;
---search-results-background-color: #101826;
---search-results-foreground-color: #90A5CE;
---search-results-border-color: #7C95C6;
---search-box-shadow: inset 0.5px 0.5px 3px 0px #2F436C;
-
-/** code fragments */
---code-keyword-color: #CC99CD;
---code-type-keyword-color: #AB99CD;
---code-flow-keyword-color: #E08000;
---code-comment-color: #717790;
---code-preprocessor-color: #65CABE;
---code-string-literal-color: #7EC699;
---code-char-literal-color: #00E0F0;
---code-xml-cdata-color: #C9D1D9;
---code-vhdl-digit-color: #FF00FF;
---code-vhdl-char-color: #C0C0C0;
---code-vhdl-keyword-color: #CF53C9;
---code-vhdl-logic-color: #FF0000;
---code-link-color: #79C0FF;
---code-external-link-color: #79C0FF;
---fragment-foreground-color: #C9D1D9;
---fragment-background-color: #090D16;
---fragment-border-color: #30363D;
---fragment-lineno-border-color: #30363D;
---fragment-lineno-background-color: black;
---fragment-lineno-foreground-color: #6E7681;
---fragment-lineno-link-fg-color: #6E7681;
---fragment-lineno-link-bg-color: #303030;
---fragment-lineno-link-hover-fg-color: #8E96A1;
---fragment-lineno-link-hover-bg-color: #505050;
---fragment-copy-ok-color: #0EA80E;
---tooltip-foreground-color: #C9D1D9;
---tooltip-background-color: #202020;
---tooltip-border-color: #C9D1D9;
---tooltip-doc-color: #D9E1E9;
---tooltip-declaration-color: #20C348;
---tooltip-link-color: #79C0FF;
---tooltip-shadow: none;
---fold-line-color: #808080;
---fold-minus-image: url('minusd.svg');
---fold-plus-image: url('plusd.svg');
---fold-minus-image-relpath: url('../../minusd.svg');
---fold-plus-image-relpath: url('../../plusd.svg');
-
-/** font-family */
---font-family-normal: Roboto,sans-serif;
---font-family-monospace: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
---font-family-nav: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
---font-family-title: Tahoma,Arial,sans-serif;
---font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif;
---font-family-search: Arial,Verdana,sans-serif;
---font-family-icon: Arial,Helvetica;
---font-family-tooltip: Roboto,sans-serif;
-
-/** special sections */
---warning-color-bg: #2e1917;
---warning-color-hl: #ad2617;
---warning-color-text: #f5b1aa;
---note-color-bg: #3b2e04;
---note-color-hl: #f1b602;
---note-color-text: #ceb670;
---todo-color-bg: #163750;
---todo-color-hl: #1982D2;
---todo-color-text: #dcf0fa;
---test-color-bg: #121258;
---test-color-hl: #4242cf;
---test-color-text: #c0c0da;
---deprecated-color-bg: #2e323b;
---deprecated-color-hl: #738396;
---deprecated-color-text: #abb0bd;
---bug-color-bg: #2a2536;
---bug-color-hl: #7661b3;
---bug-color-text: #ae9ed6;
---invariant-color-bg: #303a35;
---invariant-color-hl: #76ce96;
---invariant-color-text: #cceed5;
-}}
 body {
-    background-color: var(--page-background-color);
-    color: var(--page-foreground-color);
+    background-color: white;
+    color: black;
 }
 
 body, table, div, p, dl {
 	font-weight: 400;
 	font-size: 14px;
-	font-family: var(--font-family-normal);
+	font-family: Roboto,sans-serif;
 	line-height: 22px;
 }
 
 /* @group Heading Levels */
 
 .title {
-	font-family: var(--font-family-normal);
+	font-family: Roboto,sans-serif;
 	line-height: 28px;
 	font-size: 150%;
 	font-weight: bold;
@@ -415,8 +27,8 @@ h1.groupheader {
 }
 
 h2.groupheader {
-	border-bottom: 1px solid var(--group-header-separator-color);
-	color: var(--group-header-color);
+	border-bottom: 1px solid #879ECB;
+	color: #354C7B;
 	font-size: 150%;
 	font-weight: normal;
 	margin-top: 1.75em;
@@ -439,7 +51,7 @@ h1, h2, h3, h4, h5, h6 {
 }
 
 h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow {
-	text-shadow: 0 0 15px var(--glow-color);
+	text-shadow: 0 0 15px cyan;
 }
 
 dt {
@@ -512,15 +124,15 @@ td.navtab {
 }
 
 td.navtabHL {
-	background-image: var(--nav-gradient-active-image);
+	background-image: url('tab_a.png');
 	background-repeat:repeat-x;
 	padding-right: 6px;
 	padding-left: 6px;
 }
 
 td.navtabHL a, td.navtabHL a:visited {
-	color: var(--nav-text-hover-color);
-	text-shadow: var(--nav-text-hover-shadow);
+	color: white;
+	text-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
 }
 
 a.navtab {
@@ -532,7 +144,7 @@ div.qindex{
 	width: 100%;
 	line-height: 140%;
 	font-size: 130%;
-	color: var(--index-separator-color);
+	color: #A0A0A0;
 }
 
 #main-menu a:focus {
@@ -547,7 +159,7 @@ dt.alphachar{
 }
 
 .alphachar a{
-	color: var(--index-header-color);
+	color: black;
 }
 
 .alphachar a:hover, .alphachar a:visited{
@@ -567,11 +179,11 @@ dt.alphachar{
 }
 
 .classindex dl.even {
-	background-color: var(--index-even-item-bg-color);
+	background-color: white;
 }
 
 .classindex dl.odd {
-	background-color: var(--index-odd-item-bg-color);
+	background-color: #F8F9FC;
 }
 
 @media(min-width: 1120px) {
@@ -590,13 +202,13 @@ dt.alphachar{
 /* @group Link Styling */
 
 a {
-	color: var(--page-link-color);
+	color: #3D578C;
 	font-weight: normal;
 	text-decoration: none;
 }
 
 .contents a:visited {
-	color: var(--page-visited-link-color);
+	color: #4665A2;
 }
 
 a:hover {
@@ -606,7 +218,7 @@ a:hover {
 
 a:hover > span.arrow {
         text-decoration: none;
-        background : var(--nav-background-color);
+        background : #F9FAFC;
 }
 
 a.el {
@@ -617,11 +229,11 @@ a.elRef {
 }
 
 a.code, a.code:visited, a.line, a.line:visited {
-	color: var(--code-link-color);
+	color: #4665A2;
 }
 
 a.codeRef, a.codeRef:visited, a.lineRef, a.lineRef:visited {
-	color: var(--code-external-link-color);
+	color: #4665A2;
 }
 
 a.code.hl_class { /* style for links to class names in code snippets */ }
@@ -688,17 +300,17 @@ ul.multicol {
   min-height: 12px;
   margin: 10px 0px;
   padding: 10px 10px;
-  border: 1px solid var(--fragment-border-color);
+  border: 1px solid #C4CFE5;
   border-radius: 4px;
-  background-color: var(--fragment-background-color);
-  color: var(--fragment-foreground-color);
+  background-color: #FBFCFD;
+  color: black;
 }
 
 pre.fragment {
   word-wrap: break-word;
   font-size:  10pt;
   line-height: 125%;
-  font-family: var(--font-family-monospace);
+  font-family: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
 }
 
 .clipboard {
@@ -710,14 +322,14 @@ pre.fragment {
         position: absolute;
         display: inline;
         overflow: auto;
-        fill: var(--fragment-foreground-color);
+        fill: black;
         justify-content: center;
         align-items: center;
         cursor: pointer;
 }
 
 .clipboard.success {
-        border: 1px solid var(--fragment-foreground-color);
+        border: 1px solid black;
         border-radius: 4px;
 }
 
@@ -734,15 +346,15 @@ pre.fragment {
 }
 
 .clipboard.success svg {
-        fill: var(--fragment-copy-ok-color);
+        fill: #2EC82E;
 }
 
 .clipboard.success {
-        border-color: var(--fragment-copy-ok-color);
+        border-color: #2EC82E;
 }
 
 div.line {
-	font-family: var(--font-family-monospace);
+	font-family: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
         font-size: 13px;
 	min-height: 13px;
 	line-height: 1.2;
@@ -774,8 +386,8 @@ div.line:after {
 }
 
 div.line.glow {
-	background-color: var(--glow-color);
-	box-shadow: 0 0 10px var(--glow-color);
+	background-color: cyan;
+	box-shadow: 0 0 10px cyan;
 }
 
 span.fold {
@@ -795,19 +407,19 @@ span.lineno {
 	padding-right: 4px;
         margin-right: 9px;
 	text-align: right;
-	border-right: 2px solid var(--fragment-lineno-border-color);
-	color: var(--fragment-lineno-foreground-color);
-	background-color: var(--fragment-lineno-background-color);
+	border-right: 2px solid #00FF00;
+	color: black;
+	background-color: #E8E8E8;
         white-space: pre;
 }
 span.lineno a, span.lineno a:visited {
-	color: var(--fragment-lineno-link-fg-color);
-	background-color: var(--fragment-lineno-link-bg-color);
+	color: #4665A2;
+	background-color: #D8D8D8;
 }
 
 span.lineno a:hover {
-	color: var(--fragment-lineno-link-hover-fg-color);
-	background-color: var(--fragment-lineno-link-hover-bg-color);
+	color: #4665A2;
+	background-color: #C8C8C8;
 }
 
 .lineno {
@@ -840,7 +452,7 @@ div.groupText {
 }
 
 body {
-	color: var(--page-foreground-color);
+	color: black;
         margin: 0;
 }
 
@@ -884,11 +496,11 @@ address.footer {
 img.footer {
 	border: 0px;
 	vertical-align: middle;
-	width: var(--footer-logo-width);
+	width: 104px;
 }
 
 .compoundTemplParams {
-	color: var(--memdecl-template-color);
+	color: #4665A2;
 	font-size: 80%;
 	line-height: 120%;
 }
@@ -896,56 +508,56 @@ img.footer {
 /* @group Code Colorization */
 
 span.keyword {
-	color: var(--code-keyword-color);
+	color: #008000;
 }
 
 span.keywordtype {
-	color: var(--code-type-keyword-color);
+	color: #604020;
 }
 
 span.keywordflow {
-	color: var(--code-flow-keyword-color);
+	color: #E08000;
 }
 
 span.comment {
-	color: var(--code-comment-color);
+	color: #800000;
 }
 
 span.preprocessor {
-	color: var(--code-preprocessor-color);
+	color: #806020;
 }
 
 span.stringliteral {
-	color: var(--code-string-literal-color);
+	color: #002080;
 }
 
 span.charliteral {
-	color: var(--code-char-literal-color);
+	color: #008080;
 }
 
 span.xmlcdata {
-	color: var(--code-xml-cdata-color);
+	color: black;
 }
 
 span.vhdldigit { 
-	color: var(--code-vhdl-digit-color);
+	color: #FF00FF;
 }
 
 span.vhdlchar { 
-	color: var(--code-vhdl-char-color);
+	color: #000000;
 }
 
 span.vhdlkeyword { 
-	color: var(--code-vhdl-keyword-color);
+	color: #700070;
 }
 
 span.vhdllogic { 
-	color: var(--code-vhdl-logic-color);
+	color: #FF0000;
 }
 
 blockquote {
-        background-color: var(--blockquote-background-color);
-        border-left: 2px solid var(--blockquote-border-color);
+        background-color: #F7F8FB;
+        border-left: 2px solid #9CAFD4;
         margin: 0 24px 0 4px;
         padding: 0 12px 0 16px;
 }
@@ -959,19 +571,19 @@ td.tiny {
 .dirtab {
 	padding: 4px;
 	border-collapse: collapse;
-	border: 1px solid var(--table-cell-border-color);
+	border: 1px solid #2D4068;
 }
 
 th.dirtab {
-	background-color: var(--table-header-background-color);
-	color: var(--table-header-foreground-color);
+	background-color: #374F7F;
+	color: #FFFFFF;
 	font-weight: bold;
 }
 
 hr {
 	height: 0px;
 	border: none;
-	border-top: 1px solid var(--separator-color);
+	border-top: 1px solid #4A6AAA;
 }
 
 hr.footer {
@@ -999,14 +611,14 @@ table.memberdecls {
 }
 
 .memberdecls td.glow, .fieldtable tr.glow {
-	background-color: var(--glow-color);
-	box-shadow: 0 0 15px var(--glow-color);
+	background-color: cyan;
+	box-shadow: 0 0 15px cyan;
 }
 
 .mdescLeft, .mdescRight,
 .memItemLeft, .memItemRight,
 .memTemplItemLeft, .memTemplItemRight, .memTemplParams {
-	background-color: var(--memdecl-background-color);
+	background-color: #F9FAFC;
 	border: none;
 	margin: 4px;
 	padding: 1px 0 0 8px;
@@ -1014,11 +626,11 @@ table.memberdecls {
 
 .mdescLeft, .mdescRight {
 	padding: 0px 8px 4px 8px;
-	color: var(--memdecl-foreground-color);
+	color: #555;
 }
 
 .memSeparator {
-        border-bottom: 1px solid var(--memdecl-separator-color);
+        border-bottom: 1px solid #DEE4F0;
         line-height: 1px;
         margin: 0px;
         padding: 0px;
@@ -1033,7 +645,7 @@ table.memberdecls {
 }
 
 .memTemplParams {
-	color: var(--memdecl-template-color);
+	color: #4665A2;
         white-space: nowrap;
 	font-size: 80%;
 }
@@ -1046,15 +658,15 @@ table.memberdecls {
 
 .memtitle {
 	padding: 8px;
-	border-top: 1px solid var(--memdef-border-color);
-	border-left: 1px solid var(--memdef-border-color);
-	border-right: 1px solid var(--memdef-border-color);
+	border-top: 1px solid #A8B8D9;
+	border-left: 1px solid #A8B8D9;
+	border-right: 1px solid #A8B8D9;
 	border-top-right-radius: 4px;
 	border-top-left-radius: 4px;
 	margin-bottom: -1px;
-	background-image: var(--memdef-title-gradient-image);
+	background-image: url('nav_f.png');
 	background-repeat: repeat-x;
-	background-color: var(--memdef-title-background-color);
+	background-color: #E2E8F2;
 	line-height: 1.25;
 	font-weight: 300;
 	float:left;
@@ -1069,7 +681,7 @@ table.memberdecls {
 
 .memtemplate {
 	font-size: 80%;
-	color: var(--memdef-template-color);
+	color: #4665A2;
 	font-weight: normal;
 	margin-left: 9px;
 }
@@ -1092,7 +704,7 @@ table.memberdecls {
 }
 
 .memitem.glow {
-         box-shadow: 0 0 15px var(--glow-color);
+         box-shadow: 0 0 15px cyan;
 }
 
 .memname {
@@ -1105,32 +717,32 @@ table.memberdecls {
 }
 
 .memproto, dl.reflist dt {
-        border-top: 1px solid var(--memdef-border-color);
-        border-left: 1px solid var(--memdef-border-color);
-        border-right: 1px solid var(--memdef-border-color);
+        border-top: 1px solid #A8B8D9;
+        border-left: 1px solid #A8B8D9;
+        border-right: 1px solid #A8B8D9;
         padding: 6px 0px 6px 0px;
-        color: var(--memdef-proto-text-color);
+        color: #253555;
         font-weight: bold;
-        text-shadow: var(--memdef-proto-text-shadow);
-        background-color: var(--memdef-proto-background-color);
+        text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+        background-color: #DFE5F1;
         box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
         border-top-right-radius: 4px;
 }
 
 .overload {
-        font-family: var(--font-family-monospace);
+        font-family: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
 	font-size: 65%;
 }
 
 .memdoc, dl.reflist dd {
-        border-bottom: 1px solid var(--memdef-border-color);
-        border-left: 1px solid var(--memdef-border-color);
-        border-right: 1px solid var(--memdef-border-color);
+        border-bottom: 1px solid #A8B8D9;
+        border-left: 1px solid #A8B8D9;
+        border-right: 1px solid #A8B8D9;
         padding: 6px 10px 2px 10px;
         border-top-width: 0;
         background-image:url('nav_g.png');
         background-repeat:repeat-x;
-        background-color: var(--memdef-doc-background-color);
+        background-color: white;
         /* opera specific markup */
         border-bottom-left-radius: 4px;
         border-bottom-right-radius: 4px;
@@ -1172,13 +784,13 @@ dl.reflist dd {
 }
 
 .paramname em {
-	color: var(--memdef-param-name-color);
+	color: #602020;
 	font-style: normal;
 	margin-right: 1px;
 }
 
 .paramname .paramdefval {
-	font-family: var(--font-family-monospace);
+	font-family: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
 }
 
 .params, .retval, .exception, .tparams {
@@ -1197,7 +809,7 @@ dl.reflist dd {
 }
 
 .params .paramdir, .tparams .paramdir {
-        font-family: var(--font-family-monospace);
+        font-family: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
         vertical-align: top;
 }
 
@@ -1221,13 +833,13 @@ span.mlabels {
 }
 
 span.mlabel {
-        background-color: var(--label-background-color);
-        border-top:1px solid var(--label-left-top-border-color);
-        border-left:1px solid var(--label-left-top-border-color);
-        border-right:1px solid var(--label-right-bottom-border-color);
-        border-bottom:1px solid var(--label-right-bottom-border-color);
+        background-color: #728DC1;
+        border-top:1px solid #5373B4;
+        border-left:1px solid #5373B4;
+        border-right:1px solid #C4CFE5;
+        border-bottom:1px solid #C4CFE5;
 	text-shadow: none;
-	color: var(--label-foreground-color);
+	color: white;
 	margin-right: 4px;
 	padding: 2px 3px;
 	border-radius: 3px;
@@ -1244,8 +856,8 @@ span.mlabel {
 
 div.directory {
         margin: 10px 0px;
-        border-top: 1px solid var(--directory-separator-color);
-        border-bottom: 1px solid var(--directory-separator-color);
+        border-top: 1px solid #9CAFD4;
+        border-bottom: 1px solid #9CAFD4;
         width: 100%;
 }
 
@@ -1283,12 +895,12 @@ div.directory {
 
 .directory tr.odd {
 	padding-left: 6px;
-	background-color: var(--index-odd-item-bg-color);
+	background-color: #F8F9FC;
 }
 
 .directory tr.even {
 	padding-left: 6px;
-	background-color: var(--index-even-item-bg-color);
+	background-color: white;
 }
 
 .directory img {
@@ -1306,11 +918,11 @@ div.directory {
         cursor: pointer;
         padding-left: 2px;
         padding-right: 2px;
-	color: var(--page-link-color);
+	color: #3D578C;
 }
 
 .arrow {
-    color: var(--nav-arrow-color);
+    color: #9CAFD4;
     -webkit-user-select: none;
     -khtml-user-select: none;
     -moz-user-select: none;
@@ -1324,15 +936,15 @@ div.directory {
 }
 
 .icon {
-    font-family: var(--font-family-icon);
+    font-family: Arial,Helvetica;
     line-height: normal;
     font-weight: bold;
     font-size: 12px;
     height: 14px;
     width: 16px;
     display: inline-block;
-    background-color: var(--icon-background-color);
-    color: var(--icon-foreground-color);
+    background-color: #728DC1;
+    color: white;
     text-align: center;
     border-radius: 4px;
     margin-left: 2px;
@@ -1349,7 +961,7 @@ div.directory {
     width: 24px;
     height: 18px;
     margin-bottom: 4px;
-    background-image:var(--icon-folder-open-image);
+    background-image:url('folderopen.svg');
     background-repeat: repeat-y;
     vertical-align:top;
     display: inline-block;
@@ -1359,7 +971,7 @@ div.directory {
     width: 24px;
     height: 18px;
     margin-bottom: 4px;
-    background-image:var(--icon-folder-closed-image);
+    background-image:url('folderclosed.svg');
     background-repeat: repeat-y;
     vertical-align:top;
     display: inline-block;
@@ -1369,7 +981,7 @@ div.directory {
     width: 24px;
     height: 18px;
     margin-bottom: 4px;
-    background-image:var(--icon-doc-image);
+    background-image:url('doc.svg');
     background-position: 0px -4px;
     background-repeat: repeat-y;
     vertical-align:top;
@@ -1390,7 +1002,7 @@ div.dynheader {
 
 address {
 	font-style: normal;
-	color: var(--footer-foreground-color);
+	color: #2A3D61;
 }
 
 table.doxtable caption {
@@ -1404,13 +1016,13 @@ table.doxtable {
 }
 
 table.doxtable td, table.doxtable th {
-	border: 1px solid var(--table-cell-border-color);
+	border: 1px solid #2D4068;
 	padding: 3px 7px 2px;
 }
 
 table.doxtable th {
-	background-color: var(--table-header-background-color);
-	color: var(--table-header-foreground-color);
+	background-color: #374F7F;
+	color: #FFFFFF;
 	font-size: 110%;
 	padding-bottom: 4px;
 	padding-top: 5px;
@@ -1418,7 +1030,7 @@ table.doxtable th {
 
 table.fieldtable {
         margin-bottom: 10px;
-        border: 1px solid var(--memdef-border-color);
+        border: 1px solid #A8B8D9;
         border-spacing: 0px;
         border-radius: 4px;
         box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
@@ -1430,8 +1042,8 @@ table.fieldtable {
 
 .fieldtable td.fieldtype, .fieldtable td.fieldname {
         white-space: nowrap;
-        border-right: 1px solid var(--memdef-border-color);
-        border-bottom: 1px solid var(--memdef-border-color);
+        border-right: 1px solid #A8B8D9;
+        border-bottom: 1px solid #A8B8D9;
         vertical-align: top;
 }
 
@@ -1440,7 +1052,7 @@ table.fieldtable {
 }
 
 .fieldtable td.fielddoc {
-        border-bottom: 1px solid var(--memdef-border-color);
+        border-bottom: 1px solid #A8B8D9;
 }
 
 .fieldtable td.fielddoc p:first-child {
@@ -1456,18 +1068,18 @@ table.fieldtable {
 }
 
 .fieldtable th {
-        background-image: var(--memdef-title-gradient-image);
+        background-image: url('nav_f.png');
         background-repeat:repeat-x;
-        background-color: var(--memdef-title-background-color);
+        background-color: #E2E8F2;
         font-size: 90%;
-        color: var(--memdef-proto-text-color);
+        color: #253555;
         padding-bottom: 4px;
         padding-top: 5px;
         text-align:left;
         font-weight: 400;
         border-top-left-radius: 4px;
         border-top-right-radius: 4px;
-        border-bottom: 1px solid var(--memdef-border-color);
+        border-bottom: 1px solid #A8B8D9;
 }
 
 
@@ -1475,7 +1087,7 @@ table.fieldtable {
 	top: 0px;
 	left: 10px;
 	height: 36px;
-	background-image: var(--nav-gradient-image);
+	background-image: url('tab_b.png');
 	z-index: 101;
 	overflow: hidden;
 	font-size: 13px;
@@ -1484,13 +1096,13 @@ table.fieldtable {
 .navpath ul
 {
 	font-size: 11px;
-	background-image: var(--nav-gradient-image);
+	background-image: url('tab_b.png');
 	background-repeat:repeat-x;
 	background-position: 0 -5px;
 	height:30px;
 	line-height:30px;
-	color:var(--nav-text-normal-color);
-	border:solid 1px var(--nav-breadcrumb-border-color);
+	color:#283A5D;
+	border:solid 1px #C2CDE4;
 	overflow:hidden;
 	margin:0px;
 	padding:0px;
@@ -1502,10 +1114,10 @@ table.fieldtable {
 	float:left;
 	padding-left:10px;
 	padding-right:15px;
-	background-image:var(--nav-breadcrumb-image);
+	background-image:url('bc_s.png');
 	background-repeat:no-repeat;
 	background-position:right;
-	color: var(--nav-foreground-color);
+	color: #364D7C;
 }
 
 .navpath li.navelem a
@@ -1513,16 +1125,16 @@ table.fieldtable {
 	height:32px;
 	display:block;
 	outline: none;
-	color: var(--nav-text-normal-color);
-	font-family: var(--font-family-nav);
-	text-shadow: var(--nav-text-normal-shadow);
+	color: #283A5D;
+	font-family: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
+	text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
 	text-decoration: none;
 }
 
 .navpath li.navelem a:hover
 {
-	color: var(--nav-text-hover-color);
-	text-shadow: var(--nav-text-hover-shadow);
+	color: white;
+	text-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
 }
 
 .navpath li.footer
@@ -1534,7 +1146,7 @@ table.fieldtable {
         background-image:none;
         background-repeat:no-repeat;
         background-position:right;
-        color: var(--footer-foreground-color);
+        color: #2A3D61;
         font-size: 8pt;
 }
 
@@ -1579,11 +1191,11 @@ div.ingroups a
 
 div.header
 {
-        background-image: var(--header-gradient-image);
+        background-image: url('nav_h.png');
         background-repeat:repeat-x;
-	background-color: var(--header-background-color);
+	background-color: #F9FAFC;
 	margin:  0px;
-	border-bottom: 1px solid var(--header-separator-color);
+	border-bottom: 1px solid #C4CFE5;
 }
 
 div.headertitle
@@ -1676,67 +1288,67 @@ dl.section dd {
 }
 
 dl.warning, dl.attention {
-    background: var(--warning-color-bg);
-    border-left: 8px solid var(--warning-color-hl);
-    color: var(--warning-color-text);
+    background: #f8d1cc;
+    border-left: 8px solid #b61825;
+    color: #75070f;
 }
 
 dl.warning dt, dl.attention dt {
-    color: var(--warning-color-hl);
+    color: #b61825;
 }
 
 dl.note, dl.remark {
-    background: var(--note-color-bg);
-    border-left: 8px solid var(--note-color-hl);
-    color: var(--note-color-text);
+    background: #faf3d8;
+    border-left: 8px solid #f3a600;
+    color: #5f4204;
 }
 
 dl.note dt, dl.remark dt {
-    color: var(--note-color-hl);
+    color: #f3a600;
 }
 
 dl.todo {
-    background: var(--todo-color-bg);
-    border-left: 8px solid var(--todo-color-hl);
-    color: var(--todo-color-text);
+    background: #e4f3ff;
+    border-left: 8px solid #1879C4;
+    color: #274a5c;
 }
 
 dl.todo dt {
-    color: var(--todo-color-hl);
+    color: #1879C4;
 }
 
 dl.test {
-    background: var(--test-color-bg);
-    border-left: 8px solid var(--test-color-hl);
-    color: var(--test-color-text);
+    background: #e8e8ff;
+    border-left: 8px solid #3939C4;
+    color: #1a1a5c;
 }
 
 dl.test dt {
-    color: var(--test-color-hl);
+    color: #3939C4;
 }
 
 dl.bug dt a {
-    color: var(--bug-color-hl) !important;
+    color: #5b2bdd !important;
 }
 
 dl.bug {
-    background: var(--bug-color-bg);
-    border-left: 8px solid var(--bug-color-hl);
-    color: var(--bug-color-text);
+    background: #e4dafd;
+    border-left: 8px solid #5b2bdd;
+    color: #2a0d72;
 }
 
 dl.bug dt a {
-    color: var(--bug-color-hl) !important;
+    color: #5b2bdd !important;
 }
 
 dl.deprecated {
-    background: var(--deprecated-color-bg);
-    border-left: 8px solid var(--deprecated-color-hl);
-    color: var(--deprecated-color-text);
+    background: #ecf0f3;
+    border-left: 8px solid #5b6269;
+    color: #43454a;
 }
 
 dl.deprecated dt a {
-    color: var(--deprecated-color-hl) !important;
+    color: #5b6269 !important;
 }
 
 dl.section dd, dl.bug dd, dl.deprecated dd, dl.todo dd, dl.test dd {
@@ -1744,13 +1356,13 @@ dl.section dd, dl.bug dd, dl.deprecated dd, dl.todo dd, dl.test dd {
 }
 
 dl.invariant, dl.pre, dl.post {
-    background: var(--invariant-color-bg);
-    border-left: 8px solid var(--invariant-color-hl);
-    color: var(--invariant-color-text);
+    background: #d8f1e3;
+    border-left: 8px solid #44b86f;
+    color: #265532;
 }
 
 dl.invariant dt, dl.pre dt, dl.post dt {
-    color: var(--invariant-color-hl);
+    color: #44b86f;
 }
 
 
@@ -1780,7 +1392,7 @@ dl.invariant dt, dl.pre dt, dl.post dt {
 #projectname
 {
 	font-size: 200%;
-	font-family: var(--font-family-title);
+	font-family: Tahoma,Arial,sans-serif;
 	margin: 0px;
 	padding: 2px 0px;
 }
@@ -1788,7 +1400,7 @@ dl.invariant dt, dl.pre dt, dl.post dt {
 #projectbrief
 {
 	font-size: 90%;
-        font-family: var(--font-family-title);
+        font-family: Tahoma,Arial,sans-serif;
 	margin: 0px;
 	padding: 0px;
 }
@@ -1796,7 +1408,7 @@ dl.invariant dt, dl.pre dt, dl.post dt {
 #projectnumber
 {
 	font-size: 50%;
-	font-family: 50% var(--font-family-title);
+	font-family: 50% Tahoma,Arial,sans-serif;
 	margin: 0px;
 	padding: 0px;
 }
@@ -1806,8 +1418,8 @@ dl.invariant dt, dl.pre dt, dl.post dt {
 	padding: 0px;
 	margin: 0px;
 	width: 100%;
-	border-bottom: 1px solid var(--title-separator-color);
-	background-color: var(--title-background-color);
+	border-bottom: 1px solid #5373B4;
+	background-color: white;
 }
 
 .image
@@ -1845,7 +1457,7 @@ dl.citelist {
 }
 
 dl.citelist dt {
-        color:var(--citation-label-color);
+        color:#334975;
         float:left;
         font-weight:bold;
         margin-right:10px;
@@ -1861,8 +1473,8 @@ dl.citelist dd {
 
 div.toc {
         padding: 14px 25px;
-        background-color: var(--toc-background-color);
-        border: 1px solid var(--toc-border-color);
+        background-color: #F4F6FA;
+        border: 1px solid #D8DFEE;
         border-radius: 7px 7px 7px 7px;
         float: right;
         height: auto;
@@ -1871,16 +1483,16 @@ div.toc {
 }
 
 div.toc li {
-        background: var(--toc-down-arrow-image) no-repeat scroll 0 5px transparent;
-        font: 10px/1.2 var(--font-family-toc);
+        background: url("data:image/svg+xml;utf8,<svg xmlns='http://www.w3.org/2000/svg' version='1.1' height='10px' width='5px' fill='grey'><text x='0' y='5' font-size='10'>&%238595;</text></svg>") no-repeat scroll 0 5px transparent;
+        font: 10px/1.2 Verdana,'DejaVu Sans',Geneva,sans-serif;
         margin-top: 5px;
         padding-left: 10px;
         padding-top: 2px;
 }
 
 div.toc h3 {
-        font: bold 12px/1.2 var(--font-family-toc);
-	color: var(--toc-header-color);
+        font: bold 12px/1.2 Verdana,'DejaVu Sans',Geneva,sans-serif;
+	color: #4665A2;
         border-bottom: 0 none;
         margin: 0;
 }
@@ -1919,7 +1531,7 @@ span.obfuscator {
 
 .inherit_header {
         font-weight: bold;
-        color: var(--inherit-header-color);
+        color: gray;
         cursor: pointer;
 	-webkit-touch-callout: none;
 	-webkit-user-select: none;
@@ -1952,11 +1564,11 @@ tr.heading h2 {
 #powerTip {
 	cursor: default;
 	/*white-space: nowrap;*/
-        color: var(--tooltip-foreground-color);
-	background-color: var(--tooltip-background-color);
-	border: 1px solid var(--tooltip-border-color);
+        color: black;
+	background-color: white;
+	border: 1px solid gray;
 	border-radius: 4px 4px 4px 4px;
-	box-shadow: var(--tooltip-shadow);
+	box-shadow: 1px 1px 7px gray;
 	display: none;
 	font-size: smaller;
 	max-width: 80%;
@@ -1967,7 +1579,7 @@ tr.heading h2 {
 }
 
 #powerTip div.ttdoc {
-        color: var(--tooltip-doc-color);
+        color: grey;
 	font-style: italic;
 }
 
@@ -1976,7 +1588,7 @@ tr.heading h2 {
 }
 
 #powerTip a {
-	color: var(--tooltip-link-color);
+	color: #4665A2;
 }
 
 #powerTip div.ttname {
@@ -1984,14 +1596,14 @@ tr.heading h2 {
 }
 
 #powerTip div.ttdeci {
-        color: var(--tooltip-declaration-color);
+        color: #006318;
 }
 
 #powerTip div {
         margin: 0px;
         padding: 0px;
         font-size: 12px;
-       	font-family: var(--font-family-tooltip);
+       	font-family: Roboto,sans-serif;
 	line-height: 16px;
 }
 
@@ -2037,12 +1649,12 @@ tr.heading h2 {
 }
 
 #powerTip.n:after, #powerTip.ne:after, #powerTip.nw:after {
-	border-top-color: var(--tooltip-background-color);
+	border-top-color: white;
 	border-width: 10px;
 	margin: 0px -10px;
 }
 #powerTip.n:before, #powerTip.ne:before, #powerTip.nw:before {
-	border-top-color: var(--tooltip-border-color);
+	border-top-color: gray;
 	border-width: 11px;
 	margin: 0px -11px;
 }
@@ -2065,13 +1677,13 @@ tr.heading h2 {
 }
 
 #powerTip.s:after, #powerTip.se:after, #powerTip.sw:after {
-	border-bottom-color: var(--tooltip-background-color);
+	border-bottom-color: white;
 	border-width: 10px;
 	margin: 0px -10px;
 }
 
 #powerTip.s:before, #powerTip.se:before, #powerTip.sw:before {
-	border-bottom-color: var(--tooltip-border-color);
+	border-bottom-color: gray;
 	border-width: 11px;
 	margin: 0px -11px;
 }
@@ -2092,13 +1704,13 @@ tr.heading h2 {
 	left: 100%;
 }
 #powerTip.e:after {
-	border-left-color: var(--tooltip-border-color);
+	border-left-color: gray;
 	border-width: 10px;
 	top: 50%;
 	margin-top: -10px;
 }
 #powerTip.e:before {
-	border-left-color: var(--tooltip-border-color);
+	border-left-color: gray;
 	border-width: 11px;
 	top: 50%;
 	margin-top: -11px;
@@ -2108,13 +1720,13 @@ tr.heading h2 {
 	right: 100%;
 }
 #powerTip.w:after {
-	border-right-color: var(--tooltip-border-color);
+	border-right-color: gray;
 	border-width: 10px;
 	top: 50%;
 	margin-top: -10px;
 }
 #powerTip.w:before {
-	border-right-color: var(--tooltip-border-color);
+	border-right-color: gray;
 	border-width: 11px;
 	top: 50%;
 	margin-top: -11px;
@@ -2148,7 +1760,7 @@ table.markdownTable {
 }
 
 table.markdownTable td, table.markdownTable th {
-	border: 1px solid var(--table-cell-border-color);
+	border: 1px solid #2D4068;
 	padding: 3px 7px 2px;
 }
 
@@ -2156,8 +1768,8 @@ table.markdownTable tr {
 }
 
 th.markdownTableHeadLeft, th.markdownTableHeadRight, th.markdownTableHeadCenter, th.markdownTableHeadNone {
-	background-color: var(--table-header-background-color);
-	color: var(--table-header-foreground-color);
+	background-color: #374F7F;
+	color: #FFFFFF;
 	font-size: 110%;
 	padding-bottom: 4px;
 	padding-top: 5px;
@@ -2205,21 +1817,3 @@ details[open]>summary::before {
     font-size: 80%;
 }
 
-body {
-    scrollbar-color: var(--scrollbar-thumb-color) var(--scrollbar-background-color);
-}
-
-::-webkit-scrollbar {
-        background-color: var(--scrollbar-background-color);
-        height: 12px;
-        width: 12px;
-}
-::-webkit-scrollbar-thumb {
-        border-radius: 6px;
-        box-shadow: inset 0 0 12px 12px var(--scrollbar-thumb-color);
-        border: solid 2px transparent;
-}
-::-webkit-scrollbar-corner {
-        background-color: var(--scrollbar-background-color);
-}
-
diff --git a/docs/dynsections.js b/docs/dynsections.js
index 8f49326..8012854 100644
--- a/docs/dynsections.js
+++ b/docs/dynsections.js
@@ -124,8 +124,8 @@ let codefold = {
   opened : true,
 
   // in case HTML_COLORSTYLE is LIGHT or DARK the vars will be replaced, so we write them out explicitly and use double quotes
-  plusImg:  [ "var(--fold-plus-image)",  "var(--fold-plus-image-relpath)" ],
-  minusImg: [ "var(--fold-minus-image)", "var(--fold-minus-image-relpath)" ],
+  plusImg:  [ "url('plus.svg')",  "url('../../plus.svg')" ],
+  minusImg: [ "url('minus.svg')", "url('../../minus.svg')" ],
 
   // toggle all folding blocks
   toggle_all : function(relPath) {
@@ -153,7 +153,7 @@ let codefold = {
       'margin-right':'2px',
       'display':'inline-block',
       'width':'54px',
-      'background':'linear-gradient(var(--fold-line-color),var(--fold-line-color)) no-repeat 46px/2px 100%'
+      'background':'linear-gradient(#808080,#808080) no-repeat 46px/2px 100%'
     });
     // add global toggle to first line
     $('span[class=lineno]:first').append('<span class="fold" id="fold_all" '+
diff --git a/docs/files.html b/docs/files.html
index e120c17..a1ad5e3 100644
--- a/docs/files.html
+++ b/docs/files.html
@@ -10,6 +10,10 @@
 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="search/searchdata.js"></script>
@@ -22,6 +26,7 @@
 </script>
 <script type="text/javascript" async="async" src="https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
@@ -56,6 +61,22 @@
 </script>
 <div id="main-nav"></div>
 </div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function(){initNavTree('files.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
      onmouseover="return searchBox.OnSearchSelectShow()"
@@ -94,9 +115,12 @@
 </table>
 </div><!-- directory -->
 </div><!-- contents -->
+</div><!-- doc-content -->
 <!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
-</small></address>
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/docs/files_dup.js b/docs/files_dup.js
new file mode 100644
index 0000000..f1749d9
--- /dev/null
+++ b/docs/files_dup.js
@@ -0,0 +1,4 @@
+var files_dup =
+[
+    [ "include", "dir_d44c64559bbebec7f509842c48db8b23.html", "dir_d44c64559bbebec7f509842c48db8b23" ]
+];
\ No newline at end of file
diff --git a/docs/functions.html b/docs/functions.html
index fa5aa84..0deee29 100644
--- a/docs/functions.html
+++ b/docs/functions.html
@@ -10,6 +10,10 @@
 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="search/searchdata.js"></script>
@@ -22,6 +26,7 @@
 </script>
 <script type="text/javascript" async="async" src="https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
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 </html>
diff --git a/docs/namespaces_dup.js b/docs/namespaces_dup.js
new file mode 100644
index 0000000..78e9c45
--- /dev/null
+++ b/docs/namespaces_dup.js
@@ -0,0 +1,6 @@
+var namespaces_dup =
+[
+    [ "signal_utils", "namespacesignal__utils.html", [
+      [ "getTimeDelta", "namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c", null ]
+    ] ]
+];
\ No newline at end of file
diff --git a/docs/namespacesignal__utils.html b/docs/namespacesignal__utils.html
index eb28eca..b9533da 100644
--- a/docs/namespacesignal__utils.html
+++ b/docs/namespacesignal__utils.html
@@ -10,6 +10,10 @@
 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="search/searchdata.js"></script>
@@ -22,6 +26,7 @@
 </script>
 <script type="text/javascript" async="async" src="https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
@@ -55,6 +60,23 @@
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function(){initNavTree('namespacesignal__utils.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
      onmouseover="return searchBox.OnSearchSelectShow()"
@@ -76,7 +98,6 @@
 </div>
 </div>
 
-</div><!-- top -->
 <div class="header">
   <div class="summary">
 <a href="#func-members">Functions</a>  </div>
@@ -130,9 +151,13 @@ <h2 class="memtitle"><span class="permalink"><a href="#ad7667542f893604d059a5d00
 </div>
 </div>
 </div><!-- contents -->
+</div><!-- doc-content -->
 <!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
-</small></address>
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacesignal__utils.html">signal_utils</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/docs/navtree.css b/docs/navtree.css
new file mode 100644
index 0000000..6b1e5e4
--- /dev/null
+++ b/docs/navtree.css
@@ -0,0 +1,149 @@
+#nav-tree .children_ul {
+  margin:0;
+  padding:4px;
+}
+
+#nav-tree ul {
+  list-style:none outside none;
+  margin:0px;
+  padding:0px;
+}
+
+#nav-tree li {
+  white-space:nowrap;
+  margin:0px;
+  padding:0px;
+}
+
+#nav-tree .plus {
+  margin:0px;
+}
+
+#nav-tree .selected {
+  background-image: url('tab_a.png');
+  background-repeat:repeat-x;
+  color: white;
+  text-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
+}
+
+#nav-tree .selected .arrow {
+  color: #9CAFD4;
+  text-shadow: none;
+}
+
+#nav-tree img {
+  margin:0px;
+  padding:0px;
+  border:0px;
+  vertical-align: middle;
+}
+
+#nav-tree a {
+  text-decoration:none;
+  padding:0px;
+  margin:0px;
+}
+
+#nav-tree .label {
+  margin:0px;
+  padding:0px;
+  font: 12px 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
+}
+
+#nav-tree .label a {
+  padding:2px;
+}
+
+#nav-tree .selected a {
+  text-decoration:none;
+  color:white;
+}
+
+#nav-tree .children_ul {
+  margin:0px;
+  padding:0px;
+}
+
+#nav-tree .item {
+  margin:0px;
+  padding:0px;
+}
+
+#nav-tree {
+  padding: 0px 0px;
+  font-size:14px;
+  overflow:auto;
+}
+
+#doc-content {
+  overflow:auto;
+  display:block;
+  padding:0px;
+  margin:0px;
+  -webkit-overflow-scrolling : touch; /* iOS 5+ */
+}
+
+#side-nav {
+  padding:0 6px 0 0;
+  margin: 0px;
+  display:block;
+  position: absolute;
+  left: 0px;
+  width: $width;
+  overflow : hidden;
+}
+
+.ui-resizable .ui-resizable-handle {
+  display:block;
+}
+
+.ui-resizable-e {
+  background-image:url('splitbar.png');
+  background-size:100%;
+  background-repeat:repeat-y;
+  background-attachment: scroll;
+  cursor:ew-resize;
+  height:100%;
+  right:0;
+  top:0;
+  width:6px;
+}
+
+.ui-resizable-handle {
+  display:none;
+  font-size:0.1px;
+  position:absolute;
+  z-index:1;
+}
+
+#nav-tree-contents {
+  margin: 6px 0px 0px 0px;
+}
+
+#nav-tree {
+  background-repeat:repeat-x;
+  background-color: #F9FAFC;
+  -webkit-overflow-scrolling : touch; /* iOS 5+ */
+}
+
+#nav-sync {
+  position:absolute;
+  top:5px;
+  right:24px;
+  z-index:0;
+}
+
+#nav-sync img {
+  opacity:0.3;
+}
+
+#nav-sync img:hover {
+  opacity:0.9;
+}
+
+@media print
+{
+  #nav-tree { display: none; }
+  div.ui-resizable-handle { display: none; position: relative; }
+}
+
diff --git a/docs/navtree.js b/docs/navtree.js
new file mode 100644
index 0000000..884b79b
--- /dev/null
+++ b/docs/navtree.js
@@ -0,0 +1,482 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+
+function initNavTree(toroot,relpath) {
+  let navTreeSubIndices = [];
+  const ARROW_DOWN = '&#9660;';
+  const ARROW_RIGHT = '&#9658;';
+  const NAVPATH_COOKIE_NAME = ''+'navpath';
+
+  const getData = function(varName) {
+    const i = varName.lastIndexOf('/');
+    const n = i>=0 ? varName.substring(i+1) : varName;
+    return eval(n.replace(/-/g,'_'));
+  }
+
+  const stripPath = function(uri) {
+    return uri.substring(uri.lastIndexOf('/')+1);
+  }
+
+  const stripPath2 = function(uri) {
+    const i = uri.lastIndexOf('/');
+    const s = uri.substring(i+1);
+    const m = uri.substring(0,i+1).match(/\/d\w\/d\w\w\/$/);
+    return m ? uri.substring(i-6) : s;
+  }
+
+  const hashValue = function() {
+    return $(location).attr('hash').substring(1).replace(/[^\w-]/g,'');
+  }
+
+  const hashUrl = function() {
+    return '#'+hashValue();
+  }
+
+  const pathName = function() {
+    return $(location).attr('pathname').replace(/[^-A-Za-z0-9+&@#/%?=~_|!:,.;()]/g, '');
+  }
+
+  const storeLink = function(link) {
+    if (!$("#nav-sync").hasClass('sync')) {
+      Cookie.writeSetting(NAVPATH_COOKIE_NAME,link,0);
+    }
+  }
+
+  const deleteLink = function() {
+    Cookie.eraseSetting(NAVPATH_COOKIE_NAME);
+  }
+
+  const cachedLink = function() {
+    return Cookie.readSetting(NAVPATH_COOKIE_NAME,'');
+  }
+
+  const getScript = function(scriptName,func) {
+    const head = document.getElementsByTagName("head")[0];
+    const script = document.createElement('script');
+    script.id = scriptName;
+    script.type = 'text/javascript';
+    script.onload = func;
+    script.src = scriptName+'.js';
+    head.appendChild(script);
+  }
+
+  const createIndent = function(o,domNode,node) {
+    let level=-1;
+    let n = node;
+    while (n.parentNode) { level++; n=n.parentNode; }
+    if (node.childrenData) {
+      const imgNode = document.createElement("span");
+      imgNode.className = 'arrow';
+      imgNode.style.paddingLeft=(16*level).toString()+'px';
+      imgNode.innerHTML=ARROW_RIGHT;
+      node.plus_img = imgNode;
+      node.expandToggle = document.createElement("a");
+      node.expandToggle.href = "javascript:void(0)";
+      node.expandToggle.onclick = function() {
+        if (node.expanded) {
+          $(node.getChildrenUL()).slideUp("fast");
+          node.plus_img.innerHTML=ARROW_RIGHT;
+          node.expanded = false;
+        } else {
+          expandNode(o, node, false, true);
+        }
+      }
+      node.expandToggle.appendChild(imgNode);
+      domNode.appendChild(node.expandToggle);
+    } else {
+      let span = document.createElement("span");
+      span.className = 'arrow';
+      span.style.width   = 16*(level+1)+'px';
+      span.innerHTML = '&#160;';
+      domNode.appendChild(span);
+    }
+  }
+
+  let animationInProgress = false;
+
+  const gotoAnchor = function(anchor,aname) {
+    let pos, docContent = $('#doc-content');
+    let ancParent = $(anchor.parent());
+    if (ancParent.hasClass('memItemLeft') || ancParent.hasClass('memtitle')  ||
+        ancParent.hasClass('fieldname')   || ancParent.hasClass('fieldtype') ||
+        ancParent.is(':header')) {
+      pos = ancParent.position().top;
+    } else if (anchor.position()) {
+      pos = anchor.position().top;
+    }
+    if (pos) {
+      const dcOffset    = docContent.offset().top;
+      const dcHeight    = docContent.height();
+      const dcScrHeight = docContent[0].scrollHeight
+      const dcScrTop    = docContent.scrollTop();
+      let dist = Math.abs(Math.min(pos-dcOffset,dcScrHeight-dcHeight-dcScrTop));
+      animationInProgress = true;
+      docContent.animate({
+        scrollTop: pos + dcScrTop - dcOffset
+      },Math.max(50,Math.min(500,dist)),function() {
+        window.location.href=aname;
+        animationInProgress=false;
+      });
+    }
+  }
+
+  const newNode = function(o, po, text, link, childrenData, lastNode) {
+    const node = {
+      children     : [],
+      childrenData : childrenData,
+      depth        : po.depth + 1,
+      relpath      : po.relpath,
+      isLast       : lastNode,
+      li           : document.createElement("li"),
+      parentNode   : po,
+      itemDiv      : document.createElement("div"),
+      labelSpan    : document.createElement("span"),
+      label        : document.createTextNode(text),
+      expanded     : false,
+      childrenUL   : null,
+      getChildrenUL : function() {
+        if (!this.childrenUL) {
+          this.childrenUL = document.createElement("ul");
+          this.childrenUL.className = "children_ul";
+          this.childrenUL.style.display = "none";
+          this.li.appendChild(node.childrenUL);
+        }
+        return node.childrenUL;
+      },
+    };
+
+    node.itemDiv.className = "item";
+    node.labelSpan.className = "label";
+    createIndent(o,node.itemDiv,node);
+    node.itemDiv.appendChild(node.labelSpan);
+    node.li.appendChild(node.itemDiv);
+
+    const a = document.createElement("a");
+    node.labelSpan.appendChild(a);
+    po.getChildrenUL().appendChild(node.li);
+    a.appendChild(node.label);
+    if (link) {
+      let url;
+      if (link.substring(0,1)=='^') {
+        url = link.substring(1);
+        link = url;
+      } else {
+        url = node.relpath+link;
+      }
+      a.className = stripPath(link.replace('#',':'));
+      if (link.indexOf('#')!=-1) {
+        const aname = '#'+link.split('#')[1];
+        const srcPage = stripPath(pathName());
+        const targetPage = stripPath(link.split('#')[0]);
+        a.href = srcPage!=targetPage ? url : aname;
+        a.onclick = function() {
+          storeLink(link);
+          aPPar = $(a).parent().parent();
+          if (!aPPar.hasClass('selected')) {
+            $('.item').removeClass('selected');
+            $('.item').removeAttr('id');
+            aPPar.addClass('selected');
+            aPPar.attr('id','selected');
+          }
+          const anchor = $(aname);
+          gotoAnchor(anchor,aname);
+        };
+      } else {
+        a.href = url;
+        a.onclick = () => storeLink(link);
+      }
+    } else if (childrenData != null) {
+      a.className = "nolink";
+      a.href = "javascript:void(0)";
+      a.onclick = node.expandToggle.onclick;
+    }
+    return node;
+  }
+
+  const showRoot = function() {
+    const headerHeight = $("#top").height();
+    const footerHeight = $("#nav-path").height();
+    const windowHeight = $(window).height() - headerHeight - footerHeight;
+    (function() { // retry until we can scroll to the selected item
+      try {
+        const navtree=$('#nav-tree');
+        navtree.scrollTo('#selected',100,{offset:-windowHeight/2});
+      } catch (err) {
+        setTimeout(arguments.callee, 0);
+      }
+    })();
+  }
+
+  const expandNode = function(o, node, imm, setFocus) {
+    if (node.childrenData && !node.expanded) {
+      if (typeof(node.childrenData)==='string') {
+        const varName = node.childrenData;
+        getScript(node.relpath+varName,function() {
+          node.childrenData = getData(varName);
+          expandNode(o, node, imm, setFocus);
+        });
+      } else {
+        if (!node.childrenVisited) {
+          getNode(o, node);
+        }
+        $(node.getChildrenUL()).slideDown("fast");
+        node.plus_img.innerHTML = ARROW_DOWN;
+        node.expanded = true;
+        if (setFocus) {
+          $(node.expandToggle).focus();
+        }
+      }
+    }
+  }
+
+  const glowEffect = function(n,duration) {
+    n.addClass('glow').delay(duration).queue(function(next) {
+      $(this).removeClass('glow');next();
+    });
+  }
+
+  const highlightAnchor = function() {
+    const aname = hashUrl();
+    const anchor = $(aname);
+    if (anchor.parent().attr('class')=='memItemLeft') {
+      let rows = $('.memberdecls tr[class$="'+hashValue()+'"]');
+      glowEffect(rows.children(),300); // member without details
+    } else if (anchor.parent().attr('class')=='fieldname') {
+      glowEffect(anchor.parent().parent(),1000); // enum value
+    } else if (anchor.parent().attr('class')=='fieldtype') {
+      glowEffect(anchor.parent().parent(),1000); // struct field
+    } else if (anchor.parent().is(":header")) {
+      glowEffect(anchor.parent(),1000); // section header
+    } else {
+      glowEffect(anchor.next(),1000); // normal member
+    }
+    gotoAnchor(anchor,aname);
+  }
+
+  const selectAndHighlight = function(hash,n) {
+    let a;
+    if (hash) {
+      const link=stripPath(pathName())+':'+hash.substring(1);
+      a=$('.item a[class$="'+link+'"]');
+    }
+    if (a && a.length) {
+      a.parent().parent().addClass('selected');
+      a.parent().parent().attr('id','selected');
+      highlightAnchor();
+    } else if (n) {
+      $(n.itemDiv).addClass('selected');
+      $(n.itemDiv).attr('id','selected');
+    }
+    let topOffset=5;
+    if ($('#nav-tree-contents .item:first').hasClass('selected')) {
+      topOffset+=25;
+    }
+    $('#nav-sync').css('top',topOffset+'px');
+    showRoot();
+  }
+
+  const showNode = function(o, node, index, hash) {
+    if (node && node.childrenData) {
+      if (typeof(node.childrenData)==='string') {
+        const varName = node.childrenData;
+        getScript(node.relpath+varName,function() {
+          node.childrenData = getData(varName);
+          showNode(o,node,index,hash);
+        });
+      } else {
+        if (!node.childrenVisited) {
+          getNode(o, node);
+        }
+        $(node.getChildrenUL()).css({'display':'block'});
+        node.plus_img.innerHTML = ARROW_DOWN;
+        node.expanded = true;
+        const n = node.children[o.breadcrumbs[index]];
+        if (index+1<o.breadcrumbs.length) {
+          showNode(o,n,index+1,hash);
+        } else if (typeof(n.childrenData)==='string') {
+          const varName = n.childrenData;
+          getScript(n.relpath+varName,function() {
+            n.childrenData = getData(varName);
+            node.expanded=false;
+            showNode(o,node,index,hash); // retry with child node expanded
+          });
+        } else {
+          const rootBase = stripPath(o.toroot.replace(/\..+$/, ''));
+          if (rootBase=="index" || rootBase=="pages" || rootBase=="search") {
+            expandNode(o, n, true, false);
+          }
+          selectAndHighlight(hash,n);
+        }
+      }
+    } else {
+      selectAndHighlight(hash);
+    }
+  }
+
+  const removeToInsertLater = function(element) {
+    const parentNode = element.parentNode;
+    const nextSibling = element.nextSibling;
+    parentNode.removeChild(element);
+    return function() {
+      if (nextSibling) {
+        parentNode.insertBefore(element, nextSibling);
+      } else {
+        parentNode.appendChild(element);
+      }
+    };
+  }
+
+  const getNode = function(o, po) {
+    const insertFunction = removeToInsertLater(po.li);
+    po.childrenVisited = true;
+    const l = po.childrenData.length-1;
+    for (let i in po.childrenData) {
+      const nodeData = po.childrenData[i];
+      po.children[i] = newNode(o, po, nodeData[0], nodeData[1], nodeData[2], i==l);
+    }
+    insertFunction();
+  }
+
+  const gotoNode = function(o,subIndex,root,hash,relpath) {
+    const nti = navTreeSubIndices[subIndex][root+hash];
+    o.breadcrumbs = $.extend(true, [], nti ? nti : navTreeSubIndices[subIndex][root]);
+    if (!o.breadcrumbs && root!=NAVTREE[0][1]) { // fallback: show index
+      navTo(o,NAVTREE[0][1],"",relpath);
+      $('.item').removeClass('selected');
+      $('.item').removeAttr('id');
+    }
+    if (o.breadcrumbs) {
+      o.breadcrumbs.unshift(0); // add 0 for root node
+      showNode(o, o.node, 0, hash);
+    }
+  }
+
+  const navTo = function(o,root,hash,relpath) {
+    const link = cachedLink();
+    if (link) {
+      const parts = link.split('#');
+      root = parts[0];
+      hash = parts.length>1 ? '#'+parts[1].replace(/[^\w-]/g,'') : '';
+    }
+    if (hash.match(/^#l\d+$/)) {
+      const anchor=$('a[name='+hash.substring(1)+']');
+      glowEffect(anchor.parent(),1000); // line number
+      hash=''; // strip line number anchors
+    }
+    const url=root+hash;
+    let i=-1;
+    while (NAVTREEINDEX[i+1]<=url) i++;
+    if (i==-1) { i=0; root=NAVTREE[0][1]; } // fallback: show index
+    if (navTreeSubIndices[i]) {
+      gotoNode(o,i,root,hash,relpath)
+    } else {
+      getScript(relpath+'navtreeindex'+i,function() {
+        navTreeSubIndices[i] = eval('NAVTREEINDEX'+i);
+        if (navTreeSubIndices[i]) {
+          gotoNode(o,i,root,hash,relpath);
+        }
+      });
+    }
+  }
+
+  const showSyncOff = function(n,relpath) {
+    n.html('<img src="'+relpath+'sync_off.png" title="'+SYNCOFFMSG+'"/>');
+  }
+
+  const showSyncOn = function(n,relpath) {
+    n.html('<img src="'+relpath+'sync_on.png" title="'+SYNCONMSG+'"/>');
+  }
+
+  const o = {
+    toroot : toroot,
+    node   : {
+      childrenData  : NAVTREE,
+      children      : [],
+      childrenUL    : document.createElement("ul"),
+      getChildrenUL : function() { return this.childrenUL },
+      li            : document.getElementById("nav-tree-contents"),
+      depth         : 0,
+      relpath       : relpath,
+      expanded      : false,
+      isLast        : true,
+      plus_img      : document.createElement("span"),
+    },
+  };
+  o.node.li.appendChild(o.node.childrenUL);
+  o.node.plus_img.className = 'arrow';
+  o.node.plus_img.innerHTML = ARROW_RIGHT;
+
+  const navSync = $('#nav-sync');
+  if (cachedLink()) {
+    showSyncOff(navSync,relpath);
+    navSync.removeClass('sync');
+  } else {
+    showSyncOn(navSync,relpath);
+  }
+
+  navSync.click(() => {
+    const navSync = $('#nav-sync');
+    if (navSync.hasClass('sync')) {
+      navSync.removeClass('sync');
+      showSyncOff(navSync,relpath);
+      storeLink(stripPath2(pathName())+hashUrl());
+    } else {
+      navSync.addClass('sync');
+      showSyncOn(navSync,relpath);
+      deleteLink();
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diff --git a/docs/resize.js b/docs/resize.js
new file mode 100644
index 0000000..6ad2ae8
--- /dev/null
+++ b/docs/resize.js
@@ -0,0 +1,109 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+
+function initResizable() {
+  let sidenav,navtree,content,header,footer,barWidth=6;
+  const RESIZE_COOKIE_NAME = ''+'width';
+
+  function resizeWidth() {
+    const sidenavWidth = $(sidenav).outerWidth();
+    content.css({marginLeft:parseInt(sidenavWidth)+"px"});
+    if (typeof page_layout!=='undefined' && page_layout==1) {
+      footer.css({marginLeft:parseInt(sidenavWidth)+"px"});
+    }
+    Cookie.writeSetting(RESIZE_COOKIE_NAME,sidenavWidth-barWidth);
+  }
+
+  function restoreWidth(navWidth) {
+    content.css({marginLeft:parseInt(navWidth)+barWidth+"px"});
+    if (typeof page_layout!=='undefined' && page_layout==1) {
+      footer.css({marginLeft:parseInt(navWidth)+barWidth+"px"});
+    }
+    sidenav.css({width:navWidth + "px"});
+  }
+
+  function resizeHeight() {
+    const headerHeight = header.outerHeight();
+    const footerHeight = footer.outerHeight();
+    const windowHeight = $(window).height();
+    let contentHeight,navtreeHeight,sideNavHeight;
+    if (typeof page_layout==='undefined' || page_layout==0) { /* DISABLE_INDEX=NO */
+      contentHeight = windowHeight - headerHeight - footerHeight;
+      navtreeHeight = contentHeight;
+      sideNavHeight = contentHeight;
+    } else if (page_layout==1) { /* DISABLE_INDEX=YES */
+      contentHeight = windowHeight - footerHeight;
+      navtreeHeight = windowHeight - headerHeight;
+      sideNavHeight = windowHeight;
+    }
+    content.css({height:contentHeight + "px"});
+    navtree.css({height:navtreeHeight + "px"});
+    sidenav.css({height:sideNavHeight + "px"});
+    if (location.hash.slice(1)) {
+      (document.getElementById(location.hash.slice(1))||document.body).scrollIntoView();
+    }
+  }
+
+  function collapseExpand() {
+    let newWidth;
+    if (sidenav.width()>0) {
+      newWidth=0;
+    } else {
+      const width = Cookie.readSetting(RESIZE_COOKIE_NAME,250);
+      newWidth = (width>250 && width<$(window).width()) ? width : 250;
+    }
+    restoreWidth(newWidth);
+    const sidenavWidth = $(sidenav).outerWidth();
+    Cookie.writeSetting(RESIZE_COOKIE_NAME,sidenavWidth-barWidth);
+  }
+
+  header  = $("#top");
+  sidenav = $("#side-nav");
+  content = $("#doc-content");
+  navtree = $("#nav-tree");
+  footer  = $("#nav-path");
+  $(".side-nav-resizable").resizable({resize: () => resizeWidth() });
+  $(sidenav).resizable({ minWidth: 0 });
+  $(window).resize(() => resizeHeight());
+  const device = navigator.userAgent.toLowerCase();
+  const touch_device = device.match(/(iphone|ipod|ipad|android)/);
+  if (touch_device) { /* wider split bar for touch only devices */
+    $(sidenav).css({ paddingRight:'20px' });
+    $('.ui-resizable-e').css({ width:'20px' });
+    $('#nav-sync').css({ right:'34px' });
+    barWidth=20;
+  }
+  const width = Cookie.readSetting(RESIZE_COOKIE_NAME,250);
+  if (width) { restoreWidth(width); } else { resizeWidth(); }
+  resizeHeight();
+  const url = location.href;
+  const i=url.indexOf("#");
+  if (i>=0) window.location.hash=url.substr(i);
+  const _preventDefault = (evt) => evt.preventDefault();
+  $("#splitbar").bind("dragstart", _preventDefault).bind("selectstart", _preventDefault);
+  $(".ui-resizable-handle").dblclick(collapseExpand);
+  $(window).on('load',resizeHeight);
+}
+/* @license-end */
diff --git a/docs/search/search.css b/docs/search/search.css
index 19f76f9..d7b0f90 100644
--- a/docs/search/search.css
+++ b/docs/search/search.css
@@ -25,9 +25,9 @@ dark-mode-toggle {
 #MSearchBox {
     display: inline-block;
     white-space : nowrap;
-    background: var(--search-background-color);
+    background: white;
     border-radius: 0.65em;
-    box-shadow: var(--search-box-shadow);
+    box-shadow: inset 0.5px 0.5px 3px 0px #555;
     z-index: 102;
 }
 
@@ -42,7 +42,7 @@ dark-mode-toggle {
     vertical-align: middle;
     width: 20px;
     height: 19px;
-    background-image: var(--search-magnification-select-image);
+    background-image: url('mag_sel.svg');
     margin: 0 0 0 0.3em;
     padding: 0;
 }
@@ -52,7 +52,7 @@ dark-mode-toggle {
     vertical-align: middle;
     width: 10px;
     height: 19px;
-    background-image: var(--search-magnification-image);
+    background-image: url('mag.svg');
     margin: 0 0 0 0.5em;
     padding: 0;
 }
@@ -67,9 +67,9 @@ dark-mode-toggle {
     padding: 0;
     line-height: 1em;
     border:none;
-    color: var(--search-foreground-color);
+    color: #909090;
     outline: none;
-    font-family: var(--font-family-search);
+    font-family: Arial,Verdana,sans-serif;
     -webkit-border-radius: 0px;
     border-radius: 0px;
     background: none;
@@ -106,7 +106,7 @@ dark-mode-toggle {
 }
 
 .MSearchBoxActive #MSearchField {
-    color: var(--search-active-color);
+    color: black;
 }
 
 
@@ -117,8 +117,8 @@ dark-mode-toggle {
     display: none;
     position: absolute;
     left: 0; top: 0;
-    border: 1px solid var(--search-filter-border-color);
-    background-color: var(--search-filter-background-color);
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+  </ul>
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 </body>
 </html>
diff --git a/docs/structEulerIntegratorSpec.html b/docs/structEulerIntegratorSpec.html
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+<script type="text/javascript">
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+<div id="doc-content">
 <!-- window showing the filter options -->
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 </table></div><!-- contents -->
+</div><!-- doc-content -->
 <!-- start footer part -->
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-</small></address>
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
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 </body>
 </html>
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 <div id="main-nav"></div>
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 </ul>
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+  <ul>
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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-</small></address>
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
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new file mode 100644
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+    [ "InputType", "structRigidBodyDynamics6DOF.html#ac8780c98b59889f8329aa467a5b375fe", null ],
+    [ "ParamsType", "structRigidBodyDynamics6DOF.html#ad252337a912dcd1cfaa097d9c2d5814e", null ],
+    [ "StateDotDotType", "structRigidBodyDynamics6DOF.html#a32c92b85c94f66739358385a0a3a07fc", null ],
+    [ "StateDotSignalType", "structRigidBodyDynamics6DOF.html#afcafc7961087b27b239ad998e436da9a", null ],
+    [ "StateDotType", "structRigidBodyDynamics6DOF.html#aa664579d3d691fcd4c5824b242dd2061", null ],
+    [ "StateSignalType", "structRigidBodyDynamics6DOF.html#ad4e0605bf2a0c90acbe9a1a333b9b952", null ],
+    [ "StateType", "structRigidBodyDynamics6DOF.html#adf5c3e5f6090032d18019c7aeab91f51", null ]
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+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
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 <script type="text/javascript" src="search/searchdata.js"></script>
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 </head>
 <body>
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@@ -55,6 +60,23 @@
 /* @license-end */
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+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
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+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function(){initNavTree('structRigidBodyParams1D.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
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 <div id="MSearchSelectWindow"
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 </div>
 
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+</div><!-- doc-content -->
 <!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
-</small></address>
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
+</div>
 </body>
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 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
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+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
@@ -55,6 +60,23 @@
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function(){initNavTree('structRigidBodyParams1D.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
      onmouseover="return searchBox.OnSearchSelectShow()"
@@ -76,7 +98,6 @@
 </div>
 </div>
 
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 <div class="header">
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 <li>include/signals/<a class="el" href="Models_8h_source.html">Models.h</a></li>
 </ul>
 </div><!-- contents -->
+</div><!-- doc-content -->
 <!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
-</small></address>
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="structRigidBodyParams1D.html">RigidBodyParams1D</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/docs/structRigidBodyParams1D.js b/docs/structRigidBodyParams1D.js
new file mode 100644
index 0000000..83288f1
--- /dev/null
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@@ -0,0 +1,6 @@
+var structRigidBodyParams1D =
+[
+    [ "RigidBodyParams1D", "structRigidBodyParams1D.html#ab2b9c3eb89bcbf0ac06a33e95725e0eb", null ],
+    [ "g", "structRigidBodyParams1D.html#a823d208bcbabadd83d3cc8f222973c95", null ],
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+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
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 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
@@ -55,6 +60,23 @@
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function(){initNavTree('structRigidBodyParams2D.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
      onmouseover="return searchBox.OnSearchSelectShow()"
@@ -76,7 +98,6 @@
 </div>
 </div>
 
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 <div class="header">
   <div class="headertitle"><div class="title">RigidBodyParams2D Member List</div></div>
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 </table></div><!-- contents -->
+</div><!-- doc-content -->
 <!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
-</small></address>
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/docs/structRigidBodyParams2D.html b/docs/structRigidBodyParams2D.html
index 74f2bfe..3eeb920 100644
--- a/docs/structRigidBodyParams2D.html
+++ b/docs/structRigidBodyParams2D.html
@@ -10,6 +10,10 @@
 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="search/searchdata.js"></script>
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 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
@@ -55,6 +60,23 @@
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function(){initNavTree('structRigidBodyParams2D.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
      onmouseover="return searchBox.OnSearchSelectShow()"
@@ -76,7 +98,6 @@
 </div>
 </div>
 
-</div><!-- top -->
 <div class="header">
   <div class="summary">
 <a href="#pub-methods">Public Member Functions</a> &#124;
@@ -192,9 +213,13 @@ <h2 class="memtitle"><span class="permalink"><a href="#a5e37a979a1a69333bcc5576d
 <li>include/signals/<a class="el" href="Models_8h_source.html">Models.h</a></li>
 </ul>
 </div><!-- contents -->
+</div><!-- doc-content -->
 <!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
-</small></address>
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="structRigidBodyParams2D.html">RigidBodyParams2D</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
+</div>
 </body>
 </html>
diff --git a/docs/structRigidBodyParams2D.js b/docs/structRigidBodyParams2D.js
new file mode 100644
index 0000000..695919a
--- /dev/null
+++ b/docs/structRigidBodyParams2D.js
@@ -0,0 +1,7 @@
+var structRigidBodyParams2D =
+[
+    [ "RigidBodyParams2D", "structRigidBodyParams2D.html#a6febaa8c9f355105b908979da3dd1255", null ],
+    [ "g", "structRigidBodyParams2D.html#ab212f53241edb1bf232499a6ba963258", null ],
+    [ "J", "structRigidBodyParams2D.html#aaefd836b5e013be87bc317aaba261a25", null ],
+    [ "m", "structRigidBodyParams2D.html#a5e37a979a1a69333bcc5576d14397185", null ]
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 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="search/searchdata.js"></script>
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 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
@@ -55,6 +60,23 @@
 /* @license-end */
 </script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function(){initNavTree('structRigidBodyParams3D.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
 <!-- window showing the filter options -->
 <div id="MSearchSelectWindow"
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@@ -76,7 +98,6 @@
 </div>
 </div>
 
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+<script type="text/javascript">
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+<script type="text/javascript">
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 </table></div><!-- contents -->
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 <!-- start footer part -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
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From 48360acc39f26e8b6cb3841c0e58815082955799 Mon Sep 17 00:00:00 2001
From: Andrew Torgesen <andrew.torgesen@gmail.com>
Date: Fri, 12 Sep 2025 20:58:30 -0700
Subject: [PATCH 05/11] wip

---
 .github/_nixshell                             |  12 +
 README.md                                     |  46 ++
 docs/Integration_8h.html                      |  58 +-
 docs/Integration_8h.js                        |   6 +-
 docs/Integration_8h_source.html               |  43 +-
 docs/Models_8h.html                           | 170 ++---
 docs/Models_8h.js                             |  14 +-
 docs/Models_8h_source.html                    | 222 +++---
 docs/Signal_8h.html                           | 342 ++++-----
 docs/Signal_8h.js                             |  28 +-
 docs/Signal_8h_source.html                    | 118 ++--
 docs/Signals_8h.html                          |  18 +-
 docs/Signals_8h_source.html                   |  25 +-
 docs/State_8h.html                            | 655 +++++++++---------
 docs/State_8h.js                              |  56 +-
 docs/State_8h_source.html                     | 125 ++--
 docs/Utils_8h.html                            |  20 +-
 docs/Utils_8h.js                              |   2 +-
 docs/Utils_8h_source.html                     |  23 +-
 docs/annotated.html                           |  18 +-
 docs/classModel-members.html                  |  18 +-
 docs/classModel.html                          | 106 +--
 docs/classSignal-members.html                 |  28 +-
 docs/classSignal.html                         | 182 ++---
 docs/classSignal.js                           |   2 +-
 docs/classes.html                             |  18 +-
 docs/clipboard.js                             |   4 +-
 .../dir_661483514bb8dea267426763b771558e.html |  18 +-
 .../dir_d44c64559bbebec7f509842c48db8b23.html |  18 +-
 docs/doxygen.css                              |  70 +-
 docs/doxygen_crawl.html                       | 460 ++++++++----
 docs/dynsections.js                           |   4 +
 docs/files.html                               |  18 +-
 docs/functions.html                           |  22 +-
 docs/functions_func.html                      |  18 +-
 docs/functions_rela.html                      |  18 +-
 docs/functions_type.html                      |  18 +-
 docs/functions_vars.html                      |  20 +-
 docs/globals.html                             | 126 ++--
 docs/globals_defs.html                        |  18 +-
 docs/globals_enum.html                        |  18 +-
 docs/globals_eval.html                        |  18 +-
 docs/globals_func.html                        |  22 +-
 docs/globals_type.html                        | 122 ++--
 docs/index.html                               |  20 +-
 docs/jquery.js                                | 190 ++++-
 docs/menu.js                                  |   4 +-
 docs/namespacemembers.html                    |  18 +-
 docs/namespacemembers_func.html               |  18 +-
 docs/namespaces.html                          |  18 +-
 docs/namespacesignal__utils.html              |  28 +-
 docs/navtree.js                               |  59 +-
 docs/navtreedata.js                           |   6 +-
 docs/navtreeindex0.js                         | 112 +--
 docs/navtreeindex1.js                         |   1 -
 docs/resize.js                                | 104 ++-
 docs/search/all_10.js                         |  19 +-
 docs/search/all_12.js                         |  60 +-
 docs/search/all_2.js                          |   4 +-
 docs/search/all_3.js                          |   6 +-
 docs/search/all_7.js                          |   9 +-
 docs/search/all_a.js                          |  16 +-
 docs/search/all_b.js                          |   4 +-
 docs/search/all_c.js                          |   6 +-
 docs/search/all_e.js                          |   8 +-
 docs/search/all_f.js                          | 129 +++-
 docs/search/classes_1.js                      |   5 +-
 docs/search/classes_2.js                      |  16 +-
 docs/search/classes_4.js                      |  69 +-
 docs/search/classes_5.js                      |   5 +-
 docs/search/related_0.js                      |   2 +-
 docs/search/typedefs_1.js                     |   2 +-
 docs/search/typedefs_5.js                     |   8 +-
 docs/search/typedefs_6.js                     |  26 +-
 docs/search/typedefs_7.js                     |   8 +-
 docs/search/typedefs_8.js                     |  60 +-
 docs/search/variables_7.js                    |   2 +-
 docs/structEulerIntegratorSpec-members.html   |  18 +-
 docs/structEulerIntegratorSpec.html           |  32 +-
 docs/structIntegrator-members.html            |  18 +-
 docs/structIntegrator.html                    |  58 +-
 docs/structManifoldSignalSpec-members.html    |  18 +-
 docs/structManifoldSignalSpec.html            |  32 +-
 ...structManifoldStateSignalSpec-members.html |  18 +-
 docs/structManifoldStateSignalSpec.html       |  32 +-
 docs/structRigidBodyDynamics3DOF-members.html |  18 +-
 docs/structRigidBodyDynamics3DOF.html         |  66 +-
 docs/structRigidBodyDynamics6DOF-members.html |  18 +-
 docs/structRigidBodyDynamics6DOF.html         |  66 +-
 docs/structRigidBodyParams1D-members.html     |  18 +-
 docs/structRigidBodyParams1D.html             |  22 +-
 docs/structRigidBodyParams2D-members.html     |  18 +-
 docs/structRigidBodyParams2D.html             |  22 +-
 docs/structRigidBodyParams3D-members.html     |  18 +-
 docs/structRigidBodyParams3D.html             |  22 +-
 .../structRotationalDynamics1DOF-members.html |  18 +-
 docs/structRotationalDynamics1DOF.html        |  66 +-
 .../structRotationalDynamics3DOF-members.html |  18 +-
 docs/structRotationalDynamics3DOF.html        |  66 +-
 docs/structScalarSignalSpec-members.html      |  18 +-
 docs/structScalarSignalSpec.html              |  32 +-
 docs/structScalarStateSignalSpec-members.html |  18 +-
 docs/structScalarStateSignalSpec.html         |  32 +-
 docs/structSignal_1_1SignalDP-members.html    |  18 +-
 docs/structSignal_1_1SignalDP.html            |  24 +-
 docs/structSimpsonIntegratorSpec-members.html |  18 +-
 docs/structSimpsonIntegratorSpec.html         |  32 +-
 docs/structState-members.html                 |  18 +-
 docs/structState.html                         |  64 +-
 ...ructTranslationalDynamicsBase-members.html |  18 +-
 docs/structTranslationalDynamicsBase.html     |  54 +-
 ...ructTrapezoidalIntegratorSpec-members.html |  18 +-
 docs/structTrapezoidalIntegratorSpec.html     |  32 +-
 docs/structVectorSignalSpec-members.html      |  18 +-
 docs/structVectorSignalSpec.html              |  32 +-
 docs/structVectorStateSignalSpec-members.html |  18 +-
 docs/structVectorStateSignalSpec.html         |  32 +-
 docs/tabs.css                                 |   2 +-
 118 files changed, 3305 insertions(+), 2284 deletions(-)
 create mode 100644 .github/_nixshell

diff --git a/.github/_nixshell b/.github/_nixshell
new file mode 100644
index 0000000..4f76971
--- /dev/null
+++ b/.github/_nixshell
@@ -0,0 +1,12 @@
+let pkgs = import (builtins.fetchTarball
+    "https://github.com/goromal/anixpkgs/archive/refs/tags/v6.22.0.tar.gz") {};
+in with pkgs; mkShell {
+  nativeBuildInputs = [
+        cmake
+        lcov
+    ];
+    buildInputs = [
+        boost
+        eigen
+    ];
+}
diff --git a/README.md b/README.md
index 340705d..8e9a2b0 100644
--- a/README.md
+++ b/README.md
@@ -23,6 +23,52 @@ make # or make install
 
 By default, building will also build and run the unit tests, but this can be turned off with the CMake option `BUILD_TESTS`.
 
+### Signals
+
+Manifold signal types:
+
+```
+SO3Signal<T> x;
+SE3Signal<T> x;
+```
+
+### Integrators
+
+Euler integrator:
+
+```cpp
+IntegrateEuler f;
+f(SignalType &xInt, TangentSignalType x, double t, bool insertHistory = false);
+f(SignalType &xInt, TangentSignalType x, double t, double dt, bool insertHistory = false);
+```
+
+Trapezoidal integrator:
+
+```cpp
+IntegrateTrapezoidal f;
+f(SignalType &xInt, TangentSignalType x, double t, bool insertHistory = false);
+f(SignalType &xInt, TangentSignalType x, double t, double dt, bool insertHistory = false);
+```
+
+### System Models
+
+*Pending implementations:*
+
+- `TranslationalDynamics1DOF<T>`
+  - Point mass system confined to a straight line.
+- `TranslationalDynamics2DOF<T>`
+  - Point mass system confined to a plane.
+- `TranslationalDynamics3DOF<T>`
+  - Point mass system in a 3-dimensional space.
+- `RotationalDynamics1DOF<T>`
+  - Single-axis rotating mass system fixed in space.
+- `RotationalDynamics3DOF<T>`
+  - Rotating mass fixed in 3D space.
+- `RigidBodyDynamics3DOF<T>`
+  - Rigid body system confined to a plane (unicycle model).
+- `RigidBodyDynamics6DOF<T>`
+  - Rigid body system in 3D space.
+
 ## Docs Generation
 
 Generate updated docs in the `docs/` directory with
diff --git a/docs/Integration_8h.html b/docs/Integration_8h.html
index c2628f8..6e6e4b0 100644
--- a/docs/Integration_8h.html
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+<meta name="generator" content="Doxygen 1.13.2"/>
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 <title>signals-cpp: include/signals/Integration.h File Reference</title>
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@@ -11,9 +11,9 @@
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 <script type="text/javascript" src="clipboard.js"></script>
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-<script type="text/javascript" src="resize.js"></script>
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+<script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
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@@ -43,18 +42,23 @@
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+<!-- Generated by Doxygen 1.13.2 -->
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 /* @license-end */
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
+/* @license-end */
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+  initMenu('',true,false,'search.php','Search',true);
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@@ -73,7 +77,7 @@
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+$(function(){initNavTree('Integration_8h.html',''); initResizable(true); });
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@@ -127,17 +131,17 @@
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-<tr class="separator:aa29ec69e4ec01e7fe15ed9bbc59fd93b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0e36b47220a522ff9899d9624dd7c01b" id="r_a0e36b47220a522ff9899d9624dd7c01b"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structIntegrator.html">Integrator</a>&lt; <a class="el" href="structEulerIntegratorSpec.html">EulerIntegratorSpec</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a0e36b47220a522ff9899d9624dd7c01b">EulerIntegrator</a></td></tr>
+<tr class="separator:a0e36b47220a522ff9899d9624dd7c01b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a123a7b32e66b7e1acc68d61a997abc96"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+          <td class="paramtype"></td>          <td class="paramname"><span class="paramname"><em>IntegratorName</em></span></td><td>)</td>
+          <td></td>
         </tr>
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-
+<b>Value:</b><div class="fragment"><div class="line"><span class="keyword">typedef</span> <a class="code hl_struct" href="structIntegrator.html">Integrator&lt;IntegratorName##IntegratorSpec&gt;</a> IntegratorName##<a class="code hl_struct" href="structIntegrator.html">Integrator</a>;</div>
+<div class="ttc" id="astructIntegrator_html"><div class="ttname"><a href="structIntegrator.html">Integrator</a></div><div class="ttdoc">Base type for all integrators.</div><div class="ttdef"><b>Definition</b> Integration.h:18</div></div>
+</div><!-- fragment -->
 </div>
 </div>
 <h2 class="groupheader">Typedef Documentation</h2>
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         <tr>
           <td class="memname">#define MAKE_MODEL</td>
           <td>(</td>
-          <td class="paramtype"></td>          <td class="paramname"><span class="paramname">ModelBaseName, </span></td>
+          <td class="paramtype"></td>          <td class="paramname"><span class="paramname"><em>ModelBaseName</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype"></td>          <td class="paramname"><span class="paramname">ModelDOF</span>&#160;)</td>
+          <td class="paramtype"></td>          <td class="paramname"><span class="paramname"><em>ModelDOF</em></span>&#160;)</td>
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@@ -221,16 +225,16 @@ <h2 class="memtitle"><span class="permalink"><a href="#a01637abb86bd3009fcff2ceb
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 <h2 class="groupheader">Typedef Documentation</h2>
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-<h2 class="memtitle"><span class="permalink"><a href="#a253b3866118f6e70cfc4f08b471c2975">&#9670;&#160;</a></span>RigidBody3DOFModel</h2>
+<a id="ab084e172ef604e5975b5ff17e33d06ce" name="ab084e172ef604e5975b5ff17e33d06ce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab084e172ef604e5975b5ff17e33d06ce">&#9670;&#160;</a></span>RigidBody3DOFModel</h2>
 
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+          <td class="memname">using <a class="el" href="#ab084e172ef604e5975b5ff17e33d06ce">RigidBody3DOFModel</a> = <a class="el" href="classModel.html">Model</a>&lt;<a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a>&lt;T&gt;&gt;</td>
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         <tr>
-          <td class="memname">typedef <a class="el" href="#a253b3866118f6e70cfc4f08b471c2975">RigidBody3DOFModel</a>&lt;double&gt; <a class="el" href="#a46f2319cb159c02e4eb4801d850d54d9">RigidBody3DOFModeld</a></td>
+          <td class="memname">typedef <a class="el" href="#ab084e172ef604e5975b5ff17e33d06ce">RigidBody3DOFModel</a>&lt;double&gt; <a class="el" href="#a46f2319cb159c02e4eb4801d850d54d9">RigidBody3DOFModeld</a></td>
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-<h2 class="memtitle"><span class="permalink"><a href="#ac6b34f1aa0a10dcb6e9fda4a2814a9b3">&#9670;&#160;</a></span>RigidBody6DOFModel</h2>
+<a id="a8f7d8c7063cb9c51d2bb794931db3a34" name="a8f7d8c7063cb9c51d2bb794931db3a34"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8f7d8c7063cb9c51d2bb794931db3a34">&#9670;&#160;</a></span>RigidBody6DOFModel</h2>
 
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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-          <td class="memname">using <a class="el" href="#ac6b34f1aa0a10dcb6e9fda4a2814a9b3">RigidBody6DOFModel</a> = <a class="el" href="classModel.html">Model</a>&lt; <a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a> &lt;T&gt;&gt;</td>
+          <td class="memname">using <a class="el" href="#a8f7d8c7063cb9c51d2bb794931db3a34">RigidBody6DOFModel</a> = <a class="el" href="classModel.html">Model</a>&lt;<a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a>&lt;T&gt;&gt;</td>
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+          <td class="memname">typedef <a class="el" href="#a8f7d8c7063cb9c51d2bb794931db3a34">RigidBody6DOFModel</a>&lt;double&gt; <a class="el" href="#a40c2fc8d427c1bd6dfee02295ccb3cb6">RigidBody6DOFModeld</a></td>
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-<h2 class="memtitle"><span class="permalink"><a href="#a44917fd68b589ce4fc82e69e00c41201">&#9670;&#160;</a></span>Rotational1DOFModel</h2>
+<a id="abc1d5223da3343a9537cc0a6f5abd239" name="abc1d5223da3343a9537cc0a6f5abd239"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abc1d5223da3343a9537cc0a6f5abd239">&#9670;&#160;</a></span>Rotational1DOFModel</h2>
 
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-template&lt;typename T &gt; </div>
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+          <td class="memname">using <a class="el" href="#abc1d5223da3343a9537cc0a6f5abd239">Rotational1DOFModel</a> = <a class="el" href="classModel.html">Model</a>&lt;<a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a>&lt;T&gt;&gt;</td>
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-          <td class="memname">typedef <a class="el" href="#a44917fd68b589ce4fc82e69e00c41201">Rotational1DOFModel</a>&lt;double&gt; <a class="el" href="#af9b104589a404874af160185cf8a725c">Rotational1DOFModeld</a></td>
+          <td class="memname">typedef <a class="el" href="#abc1d5223da3343a9537cc0a6f5abd239">Rotational1DOFModel</a>&lt;double&gt; <a class="el" href="#af9b104589a404874af160185cf8a725c">Rotational1DOFModeld</a></td>
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+<a id="a287ab38fdf9b2634bf844a17719b9115" name="a287ab38fdf9b2634bf844a17719b9115"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a287ab38fdf9b2634bf844a17719b9115">&#9670;&#160;</a></span>Rotational3DOFModel</h2>
 
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-template&lt;typename T &gt; </div>
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+          <td class="memname">using <a class="el" href="#a287ab38fdf9b2634bf844a17719b9115">Rotational3DOFModel</a> = <a class="el" href="classModel.html">Model</a>&lt;<a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a>&lt;T&gt;&gt;</td>
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+          <td class="memname">typedef <a class="el" href="#a287ab38fdf9b2634bf844a17719b9115">Rotational3DOFModel</a>&lt;double&gt; <a class="el" href="#a51e40a2924a4b6ff134878368461bb1a">Rotational3DOFModeld</a></td>
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+          <td class="memname">using <a class="el" href="#af9ad4901a092a7e81f8b092d1dbcf5f5">Translational1DOFModel</a> = <a class="el" href="classModel.html">Model</a>&lt;<a class="el" href="#aac436ed3df206f07f93110e3daffe773">TranslationalDynamics1DOF</a>&lt;T&gt;&gt;</td>
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+          <td class="memname">typedef <a class="el" href="#af9ad4901a092a7e81f8b092d1dbcf5f5">Translational1DOFModel</a>&lt;double&gt; <a class="el" href="#ab405c6c48aa770f74c7e942302b956c5">Translational1DOFModeld</a></td>
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+          <td class="memname">using <a class="el" href="#aee5681b9331f5514938a77680e9e1162">Translational2DOFModel</a> = <a class="el" href="classModel.html">Model</a>&lt;<a class="el" href="#ae3889fdff8dd169aef62fcdf6340e0e1">TranslationalDynamics2DOF</a>&lt;T&gt;&gt;</td>
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+          <td class="memname">typedef <a class="el" href="#aee5681b9331f5514938a77680e9e1162">Translational2DOFModel</a>&lt;double&gt; <a class="el" href="#a7768cd6b33a5d94a677357664052d096">Translational2DOFModeld</a></td>
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-          <td class="memname">using <a class="el" href="#aae658b45855be04ff99456f612008b96">Translational3DOFModel</a> = <a class="el" href="classModel.html">Model</a>&lt; <a class="el" href="#ad1ba77eac61f5da29df59b8b4b0d7a0d">TranslationalDynamics3DOF</a> &lt;T&gt;&gt;</td>
+          <td class="memname">using <a class="el" href="#a3d0d9bd06d48c1d0022090b040895a62">Translational3DOFModel</a> = <a class="el" href="classModel.html">Model</a>&lt;<a class="el" href="#ad1ba77eac61f5da29df59b8b4b0d7a0d">TranslationalDynamics3DOF</a>&lt;T&gt;&gt;</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -424,7 +428,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a3c501b1f5d946eb9aa36b92d
 <div class="memproto">
       <table class="memname">
         <tr>
-          <td class="memname">typedef <a class="el" href="#aae658b45855be04ff99456f612008b96">Translational3DOFModel</a>&lt;double&gt; <a class="el" href="#a3c501b1f5d946eb9aa36b92d2ec611c5">Translational3DOFModeld</a></td>
+          <td class="memname">typedef <a class="el" href="#a3d0d9bd06d48c1d0022090b040895a62">Translational3DOFModel</a>&lt;double&gt; <a class="el" href="#a3c501b1f5d946eb9aa36b92d2ec611c5">Translational3DOFModeld</a></td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -437,7 +441,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aac436ed3df206f07f93110e3
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname">using <a class="el" href="#aac436ed3df206f07f93110e3daffe773">TranslationalDynamics1DOF</a></td>
@@ -445,8 +449,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#aac436ed3df206f07f93110e3
       </table>
 </div><div class="memdoc">
 <b>Initial value:</b><div class="fragment"><div class="line"> </div>
-<div class="line">    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;ScalarSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;T&gt;</a>, 1, <a class="code hl_struct" href="structRigidBodyParams1D.html">RigidBodyParams1D</a>&gt;</div>
-<div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:38</div></div>
+<div class="line">    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;ScalarSignal&lt;T&gt;</a>, <a class="code hl_typedef" href="State_8h.html#a7059d2190879b0e80afad377593fb225">ScalarStateSignal&lt;T&gt;</a>, <a class="code hl_typedef" href="State_8h.html#a7059d2190879b0e80afad377593fb225">ScalarStateSignal&lt;T&gt;</a>, 1, <a class="code hl_struct" href="structRigidBodyParams1D.html">RigidBodyParams1D</a>&gt;</div>
+<div class="ttc" id="aState_8h_html_a7059d2190879b0e80afad377593fb225"><div class="ttname"><a href="State_8h.html#a7059d2190879b0e80afad377593fb225">ScalarStateSignal</a></div><div class="ttdeci">Signal&lt; ScalarStateSignalSpec&lt; T &gt;, ScalarStateSignalSpec&lt; T &gt; &gt; ScalarStateSignal</div><div class="ttdef"><b>Definition</b> State.h:213</div></div>
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 <div class="ttc" id="astructTranslationalDynamicsBase_html"><div class="ttname"><a href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a></div><div class="ttdoc">Base class for defining the dynamics for 1D, 2D, and 3D point masses.</div><div class="ttdef"><b>Definition</b> Models.h:236</div></div>
 </div><!-- fragment -->
@@ -458,7 +462,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ae3889fdff8dd169aef62fcdf
 <div class="memitem">
 <div class="memproto">
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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 <b>Initial value:</b><div class="fragment"><div class="line"> </div>
-<div class="line">    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;Vector2Signal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector2StateSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector2StateSignal&lt;T&gt;</a>, 2, <a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a>&gt;</div>
+<div class="line">    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;Vector2Signal&lt;T&gt;</a>, <a class="code hl_typedef" href="State_8h.html#a8733dc322548a85201a19ddea01ea50e">Vector2StateSignal&lt;T&gt;</a>, <a class="code hl_typedef" href="State_8h.html#a8733dc322548a85201a19ddea01ea50e">Vector2StateSignal&lt;T&gt;</a>, 2, <a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a>&gt;</div>
+<div class="ttc" id="aState_8h_html_a8733dc322548a85201a19ddea01ea50e"><div class="ttname"><a href="State_8h.html#a8733dc322548a85201a19ddea01ea50e">Vector2StateSignal</a></div><div class="ttdeci">VectorStateSignal&lt; T, 2 &gt; Vector2StateSignal</div><div class="ttdef"><b>Definition</b> State.h:264</div></div>
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 </div><!-- fragment -->
 </div>
@@ -477,7 +482,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ad1ba77eac61f5da29df59b8b
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname">using <a class="el" href="#ad1ba77eac61f5da29df59b8b4b0d7a0d">TranslationalDynamics3DOF</a></td>
@@ -485,7 +490,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#ad1ba77eac61f5da29df59b8b
       </table>
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 <b>Initial value:</b><div class="fragment"><div class="line"> </div>
-<div class="line">    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;Vector3Signal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>, 3, <a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a>&gt;</div>
+<div class="line">    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;Vector3Signal&lt;T&gt;</a>, <a class="code hl_typedef" href="State_8h.html#ae29a8cc7a8cfe9179c9befa2d9cf217d">Vector3StateSignal&lt;T&gt;</a>, <a class="code hl_typedef" href="State_8h.html#ae29a8cc7a8cfe9179c9befa2d9cf217d">Vector3StateSignal&lt;T&gt;</a>, 3, <a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a>&gt;</div>
+<div class="ttc" id="aState_8h_html_ae29a8cc7a8cfe9179c9befa2d9cf217d"><div class="ttname"><a href="State_8h.html#ae29a8cc7a8cfe9179c9befa2d9cf217d">Vector3StateSignal</a></div><div class="ttdeci">VectorStateSignal&lt; T, 3 &gt; Vector3StateSignal</div><div class="ttdef"><b>Definition</b> State.h:265</div></div>
 <div class="ttc" id="astructRigidBodyParams3D_html"><div class="ttname"><a href="structRigidBodyParams3D.html">RigidBodyParams3D</a></div><div class="ttdoc">Parameters for a 3D rigid body model.</div><div class="ttdef"><b>Definition</b> Models.h:211</div></div>
 </div><!-- fragment -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
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diff --git a/docs/Models_8h.js b/docs/Models_8h.js
index 7435468..e54d3a9 100644
--- a/docs/Models_8h.js
+++ b/docs/Models_8h.js
@@ -10,19 +10,19 @@ var Models_8h =
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     [ "RigidBodyDynamics6DOF< T >", "structRigidBodyDynamics6DOF.html", "structRigidBodyDynamics6DOF" ],
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-    [ "RigidBody3DOFModel", "Models_8h.html#a253b3866118f6e70cfc4f08b471c2975", null ],
+    [ "RigidBody3DOFModel", "Models_8h.html#ab084e172ef604e5975b5ff17e33d06ce", null ],
     [ "RigidBody3DOFModeld", "Models_8h.html#a46f2319cb159c02e4eb4801d850d54d9", null ],
-    [ "RigidBody6DOFModel", "Models_8h.html#ac6b34f1aa0a10dcb6e9fda4a2814a9b3", null ],
+    [ "RigidBody6DOFModel", "Models_8h.html#a8f7d8c7063cb9c51d2bb794931db3a34", null ],
     [ "RigidBody6DOFModeld", "Models_8h.html#a40c2fc8d427c1bd6dfee02295ccb3cb6", null ],
-    [ "Rotational1DOFModel", "Models_8h.html#a44917fd68b589ce4fc82e69e00c41201", null ],
+    [ "Rotational1DOFModel", "Models_8h.html#abc1d5223da3343a9537cc0a6f5abd239", null ],
     [ "Rotational1DOFModeld", "Models_8h.html#af9b104589a404874af160185cf8a725c", null ],
-    [ "Rotational3DOFModel", "Models_8h.html#ad5282fd410476dbdd8381772a38ac2f1", null ],
+    [ "Rotational3DOFModel", "Models_8h.html#a287ab38fdf9b2634bf844a17719b9115", null ],
     [ "Rotational3DOFModeld", "Models_8h.html#a51e40a2924a4b6ff134878368461bb1a", null ],
-    [ "Translational1DOFModel", "Models_8h.html#a06f4823dd2b571a8718ccad09ce44fe7", null ],
+    [ "Translational1DOFModel", "Models_8h.html#af9ad4901a092a7e81f8b092d1dbcf5f5", null ],
     [ "Translational1DOFModeld", "Models_8h.html#ab405c6c48aa770f74c7e942302b956c5", null ],
-    [ "Translational2DOFModel", "Models_8h.html#aa8b7fa1f2cfd2453d95d80ce49abd8fc", null ],
+    [ "Translational2DOFModel", "Models_8h.html#aee5681b9331f5514938a77680e9e1162", null ],
     [ "Translational2DOFModeld", "Models_8h.html#a7768cd6b33a5d94a677357664052d096", null ],
-    [ "Translational3DOFModel", "Models_8h.html#aae658b45855be04ff99456f612008b96", null ],
+    [ "Translational3DOFModel", "Models_8h.html#a3d0d9bd06d48c1d0022090b040895a62", null ],
     [ "Translational3DOFModeld", "Models_8h.html#a3c501b1f5d946eb9aa36b92d2ec611c5", null ],
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diff --git a/docs/Models_8h_source.html b/docs/Models_8h_source.html
index dffeaeb..0da6b03 100644
--- a/docs/Models_8h_source.html
+++ b/docs/Models_8h_source.html
@@ -3,7 +3,7 @@
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-<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="generator" content="Doxygen 1.13.2"/>
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@@ -11,9 +11,9 @@
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-<script type="text/javascript" src="resize.js"></script>
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+<script type="text/javascript" src="resize.js"></script>
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@@ -26,7 +26,6 @@
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@@ -43,28 +42,28 @@
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+<!-- Generated by Doxygen 1.13.2 -->
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+<script type="text/javascript">
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+$(function() { codefold.init(0); });
+/* @license-end */
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 <div id="doc-content">
@@ -113,17 +112,17 @@
 <div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;<a class="code" href="Integration_8h.html">signals/Integration.h</a>&quot;</span></div>
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 <div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">using namespace </span>Eigen;</div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span></div>
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 <div class="foldopen" id="foldopen00024" data-start="{" data-end="};">
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="classModel.html">   24</a></span><span class="keyword">class </span><a class="code hl_class" href="classModel.html">Model</a></div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="classModel.html">   24</a></span><span class="keyword">class </span><a class="code hl_function" href="classModel.html#a3cbccc00606661a35110dbe111af54ad">Model</a></div>
 <div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>{</div>
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-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
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-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span></div>
 <div class="foldopen" id="foldopen00051" data-start="{" data-end="}">
 <div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="classModel.html#a96533143a30ab87c379e411fcae59643">   51</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classModel.html#a96533143a30ab87c379e411fcae59643">setParams</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classModel.html#aec20251d98505785fa51c52eb81dd3a2">ParamsType</a>&amp; params)</div>
 <div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    {</div>
 <div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>        params_ = params;</div>
 <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    }</div>
 </div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span></div>
 <div class="foldopen" id="foldopen00059" data-start="{" data-end="}">
 <div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">   59</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">hasParams</a>()</div>
 <div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    {</div>
 <div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>        <span class="keywordflow">return</span> params_.has_value();</div>
 <div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    }</div>
 </div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span></div>
 <div class="foldopen" id="foldopen00067" data-start="{" data-end="}">
 <div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="classModel.html#a823536a9764d6a35cce173573ee62e90">   67</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classModel.html#a823536a9764d6a35cce173573ee62e90">reset</a>()</div>
 <div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    {</div>
@@ -155,14 +154,14 @@
 <div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>        <a class="code hl_variable" href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">xdot</a>.reset();</div>
 <div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    }</div>
 </div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span> </div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span></div>
 <div class="foldopen" id="foldopen00076" data-start="{" data-end="}">
 <div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="classModel.html#a7661852411b9ffd59240d5d5ca0e4dd3">   76</a></span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classModel.html#a7661852411b9ffd59240d5d5ca0e4dd3">t</a>()<span class="keyword"> const</span></div>
 <div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span><span class="keyword">    </span>{</div>
 <div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>        <span class="keywordflow">return</span> <a class="code hl_variable" href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">x</a>.t();</div>
 <div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    }</div>
 </div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span> </div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span></div>
 <div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> IntegratorType&gt;</div>
 <div class="foldopen" id="foldopen00090" data-start="{" data-end="}">
 <div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classModel.html#ac7446138b27c8feba779ebfe8e82b99d">   90</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classModel.html#ac7446138b27c8feba779ebfe8e82b99d">simulate</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classModel.html#ac990dd4740b30e4477bca86fc6172970">InputSignalType</a>&amp; u,</div>
@@ -189,7 +188,7 @@
 <div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
 <div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    }</div>
 </div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span> </div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span></div>
 <div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> IntegratorType&gt;</div>
 <div class="foldopen" id="foldopen00125" data-start="{" data-end="}">
 <div class="line"><a id="l00125" name="l00125"></a><span class="lineno"><a class="line" href="classModel.html#ac2550ae8ed888d167450160ce55286df">  125</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classModel.html#ac2550ae8ed888d167450160ce55286df">simulate</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classModel.html#ac990dd4740b30e4477bca86fc6172970">InputSignalType</a>&amp; u,</div>
@@ -227,18 +226,18 @@
 <div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    std::optional&lt;ParamsType&gt; params_;</div>
 <div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>};</div>
 </div>
-<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span> </div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span></div>
 <div class="foldopen" id="foldopen00164" data-start="{" data-end="};">
-<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"><a class="line" href="structRigidBodyParams1D.html">  164</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRigidBodyParams1D.html">RigidBodyParams1D</a></div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"><a class="line" href="structRigidBodyParams1D.html">  164</a></span><span class="keyword">struct </span><a class="code hl_function" href="structRigidBodyParams1D.html#ab2b9c3eb89bcbf0ac06a33e95725e0eb">RigidBodyParams1D</a></div>
 <div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>{</div>
 <div class="line"><a id="l00166" name="l00166"></a><span class="lineno"><a class="line" href="structRigidBodyParams1D.html#ab2b9c3eb89bcbf0ac06a33e95725e0eb">  166</a></span>    <a class="code hl_function" href="structRigidBodyParams1D.html#ab2b9c3eb89bcbf0ac06a33e95725e0eb">RigidBodyParams1D</a>() : <a class="code hl_variable" href="structRigidBodyParams1D.html#a2f5a1c0e6320c14d72d0ff98ad979332">m</a>(1), <a class="code hl_variable" href="structRigidBodyParams1D.html#a823d208bcbabadd83d3cc8f222973c95">g</a>(0) {}</div>
 <div class="line"><a id="l00170" name="l00170"></a><span class="lineno"><a class="line" href="structRigidBodyParams1D.html#a2f5a1c0e6320c14d72d0ff98ad979332">  170</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structRigidBodyParams1D.html#a2f5a1c0e6320c14d72d0ff98ad979332">m</a>;</div>
 <div class="line"><a id="l00176" name="l00176"></a><span class="lineno"><a class="line" href="structRigidBodyParams1D.html#a823d208bcbabadd83d3cc8f222973c95">  176</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structRigidBodyParams1D.html#a823d208bcbabadd83d3cc8f222973c95">g</a>;</div>
 <div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>};</div>
 </div>
-<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span> </div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span></div>
 <div class="foldopen" id="foldopen00184" data-start="{" data-end="};">
-<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"><a class="line" href="structRigidBodyParams2D.html">  184</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a></div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"><a class="line" href="structRigidBodyParams2D.html">  184</a></span><span class="keyword">struct </span><a class="code hl_function" href="structRigidBodyParams2D.html#a6febaa8c9f355105b908979da3dd1255">RigidBodyParams2D</a></div>
 <div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>{</div>
 <div class="line"><a id="l00186" name="l00186"></a><span class="lineno"><a class="line" href="structRigidBodyParams2D.html#a6febaa8c9f355105b908979da3dd1255">  186</a></span>    <a class="code hl_function" href="structRigidBodyParams2D.html#a6febaa8c9f355105b908979da3dd1255">RigidBodyParams2D</a>() : <a class="code hl_variable" href="structRigidBodyParams2D.html#a5e37a979a1a69333bcc5576d14397185">m</a>(1), <a class="code hl_variable" href="structRigidBodyParams2D.html#aaefd836b5e013be87bc317aaba261a25">J</a>(1), <a class="code hl_variable" href="structRigidBodyParams2D.html#ab212f53241edb1bf232499a6ba963258">g</a>(Vector2d::Zero()) {}</div>
 <div class="line"><a id="l00190" name="l00190"></a><span class="lineno"><a class="line" href="structRigidBodyParams2D.html#a5e37a979a1a69333bcc5576d14397185">  190</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structRigidBodyParams2D.html#a5e37a979a1a69333bcc5576d14397185">m</a>;</div>
@@ -246,9 +245,9 @@
 <div class="line"><a id="l00202" name="l00202"></a><span class="lineno"><a class="line" href="structRigidBodyParams2D.html#ab212f53241edb1bf232499a6ba963258">  202</a></span>    Vector2d <a class="code hl_variable" href="structRigidBodyParams2D.html#ab212f53241edb1bf232499a6ba963258">g</a>;</div>
 <div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>};</div>
 </div>
-<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span> </div>
+<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span></div>
 <div class="foldopen" id="foldopen00210" data-start="{" data-end="};">
-<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"><a class="line" href="structRigidBodyParams3D.html">  210</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a></div>
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"><a class="line" href="structRigidBodyParams3D.html">  210</a></span><span class="keyword">struct </span><a class="code hl_function" href="structRigidBodyParams3D.html#a8aa76fea7a0790ead025bf79e767d0cf">RigidBodyParams3D</a></div>
 <div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>{</div>
 <div class="line"><a id="l00212" name="l00212"></a><span class="lineno"><a class="line" href="structRigidBodyParams3D.html#a8aa76fea7a0790ead025bf79e767d0cf">  212</a></span>    <a class="code hl_function" href="structRigidBodyParams3D.html#a8aa76fea7a0790ead025bf79e767d0cf">RigidBodyParams3D</a>() : <a class="code hl_variable" href="structRigidBodyParams3D.html#acfa4c165c3278306dac4c0f51819e694">m</a>(1), <a class="code hl_variable" href="structRigidBodyParams3D.html#a049fb70b2897579849053dfe2ea840e6">J</a>(Matrix3d::Identity()), <a class="code hl_variable" href="structRigidBodyParams3D.html#a87b9c6a467ebcd6805a1d9419e6149d1">g</a>(Vector3d::Zero()) {}</div>
 <div class="line"><a id="l00216" name="l00216"></a><span class="lineno"><a class="line" href="structRigidBodyParams3D.html#acfa4c165c3278306dac4c0f51819e694">  216</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structRigidBodyParams3D.html#acfa4c165c3278306dac4c0f51819e694">m</a>;</div>
@@ -256,7 +255,7 @@
 <div class="line"><a id="l00228" name="l00228"></a><span class="lineno"><a class="line" href="structRigidBodyParams3D.html#a87b9c6a467ebcd6805a1d9419e6149d1">  228</a></span>    Vector3d <a class="code hl_variable" href="structRigidBodyParams3D.html#a87b9c6a467ebcd6805a1d9419e6149d1">g</a>;</div>
 <div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>};</div>
 </div>
-<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span> </div>
+<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span></div>
 <div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> IST, <span class="keyword">typename</span> SST, <span class="keyword">typename</span> SDST, <span class="keywordtype">size_t</span> d, <span class="keyword">typename</span> PT&gt;</div>
 <div class="foldopen" id="foldopen00235" data-start="{" data-end="};">
 <div class="line"><a id="l00235" name="l00235"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html">  235</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a></div>
@@ -271,7 +270,7 @@
 <div class="line"><a id="l00244" name="l00244"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#a4ae3874e31bcc97d54f4cebea0606002">  244</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a4ae3874e31bcc97d54f4cebea0606002">StateDotDotType</a> = <span class="keyword">typename</span> StateDotSignalType::TangentType;</div>
 <div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span> </div>
 <div class="line"><a id="l00246" name="l00246"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#a4ba374f05dd1f5c4168adf3d6a15ef0c">  246</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a4ba374f05dd1f5c4168adf3d6a15ef0c">ParamsType</a> = PT;</div>
-<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span> </div>
+<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span></div>
 <div class="foldopen" id="foldopen00259" data-start="{" data-end="}">
 <div class="line"><a id="l00259" name="l00259"></a><span class="lineno"><a class="line" href="structTranslationalDynamicsBase.html#a3f1e02018ec014fe38ba851dc0d5b2ed">  259</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structTranslationalDynamicsBase.html#a3f1e02018ec014fe38ba851dc0d5b2ed">update</a>(<a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a3870f6b57fcb6cb578b3640401331a39">StateDotSignalType</a>&amp;    xdot,</div>
 <div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a1f0fdd4bbfb73f52878c7e5c7e459f16">StateSignalType</a>&amp; x,</div>
@@ -287,15 +286,15 @@
 <div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span> </div>
 <div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span>        <a class="code hl_typedef" href="structTranslationalDynamicsBase.html#a25c6532290d222c25e727394a0afa0b7">StateDotType</a> xdot_k;</div>
 <div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>        xdot_k.pose  = x_k.twist;</div>
-<div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>        xdot_k.twist = -params.g + u_k / params.m;</div>
+<div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>        xdot_k.twist = -params.<a class="code hl_variable" href="structRigidBodyParams1D.html#a823d208bcbabadd83d3cc8f222973c95">g</a> + u_k / params.<a class="code hl_variable" href="structRigidBodyParams1D.html#a2f5a1c0e6320c14d72d0ff98ad979332">m</a>;</div>
 <div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span> </div>
 <div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>        <span class="keywordflow">if</span> (calculateXddot)</div>
 <div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>        {</div>
-<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>            <span class="keywordflow">return</span> xdot.update(tf, xdot_k, insertIntoHistory);</div>
+<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, insertIntoHistory);</div>
 <div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span>        }</div>
 <div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span>        <span class="keywordflow">else</span></div>
 <div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>        {</div>
-<div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>            <span class="keywordflow">return</span> xdot.update(tf, xdot_k, StateDotDotType::identity(), insertIntoHistory);</div>
+<div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>            <span class="keywordflow">return</span> xdot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(tf, xdot_k, StateDotDotType::identity(), insertIntoHistory);</div>
 <div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>        }</div>
 <div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>    }</div>
 </div>
@@ -303,39 +302,39 @@
 </div>
 <div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span> </div>
 <div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"><a class="line" href="Models_8h.html#aac436ed3df206f07f93110e3daffe773">  287</a></span><span class="keyword">using </span><a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamics1DOF</a> =</div>
-<div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;ScalarSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;T&gt;</a>, 1, <a class="code hl_struct" href="structRigidBodyParams1D.html">RigidBodyParams1D</a>&gt;;</div>
+<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"><a class="line" href="Models_8h.html#aac436ed3df206f07f93110e3daffe773">  287</a></span><span class="keyword">using </span><a class="code hl_typedef" href="Models_8h.html#aac436ed3df206f07f93110e3daffe773">TranslationalDynamics1DOF</a> =</div>
+<div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;ScalarSignal&lt;T&gt;</a>, <a class="code hl_typedef" href="State_8h.html#a7059d2190879b0e80afad377593fb225">ScalarStateSignal&lt;T&gt;</a>, <a class="code hl_typedef" href="State_8h.html#a7059d2190879b0e80afad377593fb225">ScalarStateSignal&lt;T&gt;</a>, 1, <a class="code hl_struct" href="structRigidBodyParams1D.html">RigidBodyParams1D</a>&gt;;</div>
 <div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span> </div>
 <div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"><a class="line" href="Models_8h.html#ae3889fdff8dd169aef62fcdf6340e0e1">  291</a></span><span class="keyword">using </span><a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamics2DOF</a> =</div>
-<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;Vector2Signal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector2StateSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector2StateSignal&lt;T&gt;</a>, 2, <a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a>&gt;;</div>
+<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"><a class="line" href="Models_8h.html#ae3889fdff8dd169aef62fcdf6340e0e1">  291</a></span><span class="keyword">using </span><a class="code hl_typedef" href="Models_8h.html#ae3889fdff8dd169aef62fcdf6340e0e1">TranslationalDynamics2DOF</a> =</div>
+<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;Vector2Signal&lt;T&gt;</a>, <a class="code hl_typedef" href="State_8h.html#a8733dc322548a85201a19ddea01ea50e">Vector2StateSignal&lt;T&gt;</a>, <a class="code hl_typedef" href="State_8h.html#a8733dc322548a85201a19ddea01ea50e">Vector2StateSignal&lt;T&gt;</a>, 2, <a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a>&gt;;</div>
 <div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span> </div>
 <div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"><a class="line" href="Models_8h.html#ad1ba77eac61f5da29df59b8b4b0d7a0d">  295</a></span><span class="keyword">using </span><a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamics3DOF</a> =</div>
-<div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;Vector3Signal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>, <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>, 3, <a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a>&gt;;</div>
-<div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span> </div>
+<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"><a class="line" href="Models_8h.html#ad1ba77eac61f5da29df59b8b4b0d7a0d">  295</a></span><span class="keyword">using </span><a class="code hl_typedef" href="Models_8h.html#ad1ba77eac61f5da29df59b8b4b0d7a0d">TranslationalDynamics3DOF</a> =</div>
+<div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>    <a class="code hl_struct" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase&lt;Vector3Signal&lt;T&gt;</a>, <a class="code hl_typedef" href="State_8h.html#ae29a8cc7a8cfe9179c9befa2d9cf217d">Vector3StateSignal&lt;T&gt;</a>, <a class="code hl_typedef" href="State_8h.html#ae29a8cc7a8cfe9179c9befa2d9cf217d">Vector3StateSignal&lt;T&gt;</a>, 3, <a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a>&gt;;</div>
+<div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span></div>
 <div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
 <div class="foldopen" id="foldopen00302" data-start="{" data-end="};">
 <div class="line"><a id="l00302" name="l00302"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html">  302</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a></div>
 <div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>{</div>
-<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a80b5f730e292fda15bdcf1e8b96fe02e">  304</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">InputSignalType</a>    = <a class="code hl_class" href="classSignal.html">Vector1Signal&lt;T&gt;</a>;</div>
-<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#ac321d27d0098cb3e8e64ea0d98500cb6">  305</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateSignalType</a>    = <a class="code hl_class" href="classSignal.html">SO2StateSignal&lt;T&gt;</a>;</div>
-<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a32c4979bf8f6aa3f9c1b0f2818ba4abd">  306</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateDotSignalType</a> = <a class="code hl_class" href="classSignal.html">Vector1StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a80b5f730e292fda15bdcf1e8b96fe02e">  304</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics1DOF.html#a80b5f730e292fda15bdcf1e8b96fe02e">InputSignalType</a>    = <a class="code hl_typedef" href="Signal_8h.html#a532b7bae92d23faa5962b50fab59ee1a">Vector1Signal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#ac321d27d0098cb3e8e64ea0d98500cb6">  305</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics1DOF.html#ac321d27d0098cb3e8e64ea0d98500cb6">StateSignalType</a>    = <a class="code hl_typedef" href="State_8h.html#a455c23e3eed1fa310813120299d8cc95">SO2StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a32c4979bf8f6aa3f9c1b0f2818ba4abd">  306</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics1DOF.html#a32c4979bf8f6aa3f9c1b0f2818ba4abd">StateDotSignalType</a> = <a class="code hl_typedef" href="State_8h.html#ab5090b8cb9c45dbe82c31d42d73d785e">Vector1StateSignal&lt;T&gt;</a>;</div>
 <div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span> </div>
 <div class="line"><a id="l00308" name="l00308"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#ad43b9ce6a37b65d677d01ceafe448259">  308</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics1DOF.html#ad43b9ce6a37b65d677d01ceafe448259">InputType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a>;</div>
 <div class="line"><a id="l00309" name="l00309"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#aada86d78db85576298e606afda8c928d">  309</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics1DOF.html#aada86d78db85576298e606afda8c928d">StateType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a>;</div>
 <div class="line"><a id="l00310" name="l00310"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a7df05f9db990eecd331f506d1a17597e">  310</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics1DOF.html#a7df05f9db990eecd331f506d1a17597e">StateDotType</a>    = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a>;</div>
 <div class="line"><a id="l00311" name="l00311"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a5e2f1cd471e7be99dc9e0f3f29f146f3">  311</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics1DOF.html#a5e2f1cd471e7be99dc9e0f3f29f146f3">StateDotDotType</a> = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a>;</div>
 <div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span> </div>
-<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a38ff3a3028dc85817407d15587bf3451">  313</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structRigidBodyParams2D.html">ParamsType</a> = <a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a>;</div>
-<div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span> </div>
+<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a38ff3a3028dc85817407d15587bf3451">  313</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics1DOF.html#a38ff3a3028dc85817407d15587bf3451">ParamsType</a> = <a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a>;</div>
+<div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span></div>
 <div class="foldopen" id="foldopen00326" data-start="{" data-end="}">
-<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a433f042fafdcff07948eb952e47f13b6">  326</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structRotationalDynamics1DOF.html#a433f042fafdcff07948eb952e47f13b6">update</a>(<a class="code hl_class" href="classSignal.html">StateDotSignalType</a>&amp;    xdot,</div>
-<div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">StateSignalType</a>&amp; x,</div>
-<div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">InputSignalType</a>&amp; u,</div>
+<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"><a class="line" href="structRotationalDynamics1DOF.html#a433f042fafdcff07948eb952e47f13b6">  326</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structRotationalDynamics1DOF.html#a433f042fafdcff07948eb952e47f13b6">update</a>(<a class="code hl_typedef" href="structRotationalDynamics1DOF.html#a32c4979bf8f6aa3f9c1b0f2818ba4abd">StateDotSignalType</a>&amp;    xdot,</div>
+<div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structRotationalDynamics1DOF.html#ac321d27d0098cb3e8e64ea0d98500cb6">StateSignalType</a>&amp; x,</div>
+<div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structRotationalDynamics1DOF.html#a80b5f730e292fda15bdcf1e8b96fe02e">InputSignalType</a>&amp; u,</div>
 <div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          t0,</div>
 <div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
-<div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>                       <span class="keyword">const</span> <a class="code hl_struct" href="structRigidBodyParams2D.html">ParamsType</a>&amp;      params,</div>
+<div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structRotationalDynamics1DOF.html#a38ff3a3028dc85817407d15587bf3451">ParamsType</a>&amp;      params,</div>
 <div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
 <div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
 <div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span>    {</div>
@@ -358,29 +357,29 @@
 </div>
 <div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>};</div>
 </div>
-<div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span> </div>
+<div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span></div>
 <div class="line"><a id="l00356" name="l00356"></a><span class="lineno">  356</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
 <div class="foldopen" id="foldopen00357" data-start="{" data-end="};">
 <div class="line"><a id="l00357" name="l00357"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html">  357</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a></div>
 <div class="line"><a id="l00358" name="l00358"></a><span class="lineno">  358</span>{</div>
-<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#aac317f9992071217ce644f6b9ccd8763">  359</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">InputSignalType</a>    = <a class="code hl_class" href="classSignal.html">Vector3Signal&lt;T&gt;</a>;</div>
-<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a2814e21ab959a4cb71fdc2682d1cad69">  360</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateSignalType</a>    = <a class="code hl_class" href="classSignal.html">SO3StateSignal&lt;T&gt;</a>;</div>
-<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a6b1ce3427c65404128d15a66c3d11621">  361</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateDotSignalType</a> = <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#aac317f9992071217ce644f6b9ccd8763">  359</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics3DOF.html#aac317f9992071217ce644f6b9ccd8763">InputSignalType</a>    = <a class="code hl_typedef" href="Signal_8h.html#a59c30838434bb9eabab59a54a0dceb9f">Vector3Signal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a2814e21ab959a4cb71fdc2682d1cad69">  360</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics3DOF.html#a2814e21ab959a4cb71fdc2682d1cad69">StateSignalType</a>    = <a class="code hl_typedef" href="State_8h.html#a07ec000c82b285e661a861ae5f90736a">SO3StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a6b1ce3427c65404128d15a66c3d11621">  361</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics3DOF.html#a6b1ce3427c65404128d15a66c3d11621">StateDotSignalType</a> = <a class="code hl_typedef" href="State_8h.html#ae29a8cc7a8cfe9179c9befa2d9cf217d">Vector3StateSignal&lt;T&gt;</a>;</div>
 <div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span> </div>
 <div class="line"><a id="l00363" name="l00363"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#aafaa22bb44de6a10f6293f66da5c52e5">  363</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics3DOF.html#aafaa22bb44de6a10f6293f66da5c52e5">InputType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a>;</div>
 <div class="line"><a id="l00364" name="l00364"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#aaee29651f3b1671b6ab4e10656ea6f9a">  364</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics3DOF.html#aaee29651f3b1671b6ab4e10656ea6f9a">StateType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a>;</div>
 <div class="line"><a id="l00365" name="l00365"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a40c9649794d2d6e82da6451d17c32bb5">  365</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics3DOF.html#a40c9649794d2d6e82da6451d17c32bb5">StateDotType</a>    = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a>;</div>
 <div class="line"><a id="l00366" name="l00366"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a6e75764a6e9b0ec406d716dfb60943b1">  366</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics3DOF.html#a6e75764a6e9b0ec406d716dfb60943b1">StateDotDotType</a> = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a>;</div>
 <div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span> </div>
-<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a2ac951c964726729410488c2bfcfa156">  368</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structRigidBodyParams3D.html">ParamsType</a> = <a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a>;</div>
-<div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span> </div>
+<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#a2ac951c964726729410488c2bfcfa156">  368</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRotationalDynamics3DOF.html#a2ac951c964726729410488c2bfcfa156">ParamsType</a> = <a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a>;</div>
+<div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span></div>
 <div class="foldopen" id="foldopen00381" data-start="{" data-end="}">
-<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#aee5958f7949268650c00097b2a871252">  381</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structRotationalDynamics3DOF.html#aee5958f7949268650c00097b2a871252">update</a>(<a class="code hl_class" href="classSignal.html">StateDotSignalType</a>&amp;    xdot,</div>
-<div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">StateSignalType</a>&amp; x,</div>
-<div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">InputSignalType</a>&amp; u,</div>
+<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"><a class="line" href="structRotationalDynamics3DOF.html#aee5958f7949268650c00097b2a871252">  381</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structRotationalDynamics3DOF.html#aee5958f7949268650c00097b2a871252">update</a>(<a class="code hl_typedef" href="structRotationalDynamics3DOF.html#a6b1ce3427c65404128d15a66c3d11621">StateDotSignalType</a>&amp;    xdot,</div>
+<div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structRotationalDynamics3DOF.html#a2814e21ab959a4cb71fdc2682d1cad69">StateSignalType</a>&amp; x,</div>
+<div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structRotationalDynamics3DOF.html#aac317f9992071217ce644f6b9ccd8763">InputSignalType</a>&amp; u,</div>
 <div class="line"><a id="l00384" name="l00384"></a><span class="lineno">  384</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          t0,</div>
 <div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
-<div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span>                       <span class="keyword">const</span> <a class="code hl_struct" href="structRigidBodyParams3D.html">ParamsType</a>&amp;      params,</div>
+<div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structRotationalDynamics3DOF.html#a2ac951c964726729410488c2bfcfa156">ParamsType</a>&amp;      params,</div>
 <div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
 <div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
 <div class="line"><a id="l00389" name="l00389"></a><span class="lineno">  389</span>    {</div>
@@ -403,29 +402,29 @@
 </div>
 <div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span>};</div>
 </div>
-<div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span> </div>
+<div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span></div>
 <div class="line"><a id="l00411" name="l00411"></a><span class="lineno">  411</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
 <div class="foldopen" id="foldopen00412" data-start="{" data-end="};">
 <div class="line"><a id="l00412" name="l00412"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html">  412</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a></div>
 <div class="line"><a id="l00413" name="l00413"></a><span class="lineno">  413</span>{</div>
-<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a4341d5e4a676e15edc8f8faafef5431a">  414</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">InputSignalType</a>    = <a class="code hl_class" href="classSignal.html">Vector3Signal&lt;T&gt;</a>;</div>
-<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a0c346a983bc929f1f7a6e5d2be3a0841">  415</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateSignalType</a>    = <a class="code hl_class" href="classSignal.html">SE2StateSignal&lt;T&gt;</a>;</div>
-<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a28d138392ca0069c5e6274f78fd08e29">  416</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateDotSignalType</a> = <a class="code hl_class" href="classSignal.html">Vector3StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a4341d5e4a676e15edc8f8faafef5431a">  414</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a4341d5e4a676e15edc8f8faafef5431a">InputSignalType</a>    = <a class="code hl_typedef" href="Signal_8h.html#a59c30838434bb9eabab59a54a0dceb9f">Vector3Signal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a0c346a983bc929f1f7a6e5d2be3a0841">  415</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a0c346a983bc929f1f7a6e5d2be3a0841">StateSignalType</a>    = <a class="code hl_typedef" href="State_8h.html#ae34074b7d367592e7022441b0ee836d9">SE2StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a28d138392ca0069c5e6274f78fd08e29">  416</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a28d138392ca0069c5e6274f78fd08e29">StateDotSignalType</a> = <a class="code hl_typedef" href="State_8h.html#ae29a8cc7a8cfe9179c9befa2d9cf217d">Vector3StateSignal&lt;T&gt;</a>;</div>
 <div class="line"><a id="l00417" name="l00417"></a><span class="lineno">  417</span> </div>
 <div class="line"><a id="l00418" name="l00418"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#aa90232643a368b1d4b9fd618ae8d57f7">  418</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#aa90232643a368b1d4b9fd618ae8d57f7">InputType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a>;</div>
 <div class="line"><a id="l00419" name="l00419"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a448c5efb998f492d1518eb0d2d7ded74">  419</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a448c5efb998f492d1518eb0d2d7ded74">StateType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a>;</div>
 <div class="line"><a id="l00420" name="l00420"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a7a9fa29ba97531d856e87560806a805c">  420</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a7a9fa29ba97531d856e87560806a805c">StateDotType</a>    = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a>;</div>
 <div class="line"><a id="l00421" name="l00421"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#a562a8cc5e6e8dca19982509022a22ba4">  421</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a562a8cc5e6e8dca19982509022a22ba4">StateDotDotType</a> = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a>;</div>
 <div class="line"><a id="l00422" name="l00422"></a><span class="lineno">  422</span> </div>
-<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#afa1ade3cc027b78a2d2c65df867d52b0">  423</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structRigidBodyParams2D.html">ParamsType</a> = <a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a>;</div>
-<div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span> </div>
+<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#afa1ade3cc027b78a2d2c65df867d52b0">  423</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#afa1ade3cc027b78a2d2c65df867d52b0">ParamsType</a> = <a class="code hl_struct" href="structRigidBodyParams2D.html">RigidBodyParams2D</a>;</div>
+<div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span></div>
 <div class="foldopen" id="foldopen00436" data-start="{" data-end="}">
-<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#acafe68f9e9ea78f54bc70d64a1b39d9c">  436</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structRigidBodyDynamics3DOF.html#acafe68f9e9ea78f54bc70d64a1b39d9c">update</a>(<a class="code hl_class" href="classSignal.html">StateDotSignalType</a>&amp;    xdot,</div>
-<div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">StateSignalType</a>&amp; x,</div>
-<div class="line"><a id="l00438" name="l00438"></a><span class="lineno">  438</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">InputSignalType</a>&amp; u,</div>
+<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics3DOF.html#acafe68f9e9ea78f54bc70d64a1b39d9c">  436</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structRigidBodyDynamics3DOF.html#acafe68f9e9ea78f54bc70d64a1b39d9c">update</a>(<a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a28d138392ca0069c5e6274f78fd08e29">StateDotSignalType</a>&amp;    xdot,</div>
+<div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a0c346a983bc929f1f7a6e5d2be3a0841">StateSignalType</a>&amp; x,</div>
+<div class="line"><a id="l00438" name="l00438"></a><span class="lineno">  438</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#a4341d5e4a676e15edc8f8faafef5431a">InputSignalType</a>&amp; u,</div>
 <div class="line"><a id="l00439" name="l00439"></a><span class="lineno">  439</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          t0,</div>
 <div class="line"><a id="l00440" name="l00440"></a><span class="lineno">  440</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
-<div class="line"><a id="l00441" name="l00441"></a><span class="lineno">  441</span>                       <span class="keyword">const</span> <a class="code hl_struct" href="structRigidBodyParams2D.html">ParamsType</a>&amp;      params,</div>
+<div class="line"><a id="l00441" name="l00441"></a><span class="lineno">  441</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structRigidBodyDynamics3DOF.html#afa1ade3cc027b78a2d2c65df867d52b0">ParamsType</a>&amp;      params,</div>
 <div class="line"><a id="l00442" name="l00442"></a><span class="lineno">  442</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
 <div class="line"><a id="l00443" name="l00443"></a><span class="lineno">  443</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
 <div class="line"><a id="l00444" name="l00444"></a><span class="lineno">  444</span>    {</div>
@@ -451,29 +450,29 @@
 </div>
 <div class="line"><a id="l00464" name="l00464"></a><span class="lineno">  464</span>};</div>
 </div>
-<div class="line"><a id="l00465" name="l00465"></a><span class="lineno">  465</span> </div>
+<div class="line"><a id="l00465" name="l00465"></a><span class="lineno">  465</span></div>
 <div class="line"><a id="l00469" name="l00469"></a><span class="lineno">  469</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
 <div class="foldopen" id="foldopen00470" data-start="{" data-end="};">
 <div class="line"><a id="l00470" name="l00470"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html">  470</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a></div>
 <div class="line"><a id="l00471" name="l00471"></a><span class="lineno">  471</span>{</div>
-<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#a8927301269f2ce616317819c769b9364">  472</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">InputSignalType</a>    = <a class="code hl_class" href="classSignal.html">Vector6Signal&lt;T&gt;</a>;</div>
-<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#ad4e0605bf2a0c90acbe9a1a333b9b952">  473</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateSignalType</a>    = <a class="code hl_class" href="classSignal.html">SE3StateSignal&lt;T&gt;</a>;</div>
-<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#afcafc7961087b27b239ad998e436da9a">  474</a></span>    <span class="keyword">using </span><a class="code hl_class" href="classSignal.html">StateDotSignalType</a> = <a class="code hl_class" href="classSignal.html">Vector6StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#a8927301269f2ce616317819c769b9364">  472</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#a8927301269f2ce616317819c769b9364">InputSignalType</a>    = <a class="code hl_typedef" href="Signal_8h.html#a4da3e39a6224769606055a56f1508e6b">Vector6Signal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#ad4e0605bf2a0c90acbe9a1a333b9b952">  473</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#ad4e0605bf2a0c90acbe9a1a333b9b952">StateSignalType</a>    = <a class="code hl_typedef" href="State_8h.html#a337f5beba24e405d11550802e4375c73">SE3StateSignal&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#afcafc7961087b27b239ad998e436da9a">  474</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#afcafc7961087b27b239ad998e436da9a">StateDotSignalType</a> = <a class="code hl_typedef" href="State_8h.html#a10d976072ce9070523cb22605d2ab584">Vector6StateSignal&lt;T&gt;</a>;</div>
 <div class="line"><a id="l00475" name="l00475"></a><span class="lineno">  475</span> </div>
 <div class="line"><a id="l00476" name="l00476"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#ac8780c98b59889f8329aa467a5b375fe">  476</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#ac8780c98b59889f8329aa467a5b375fe">InputType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">InputSignalType::BaseType</a>;</div>
 <div class="line"><a id="l00477" name="l00477"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#adf5c3e5f6090032d18019c7aeab91f51">  477</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#adf5c3e5f6090032d18019c7aeab91f51">StateType</a>       = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateSignalType::BaseType</a>;</div>
 <div class="line"><a id="l00478" name="l00478"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#aa664579d3d691fcd4c5824b242dd2061">  478</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#aa664579d3d691fcd4c5824b242dd2061">StateDotType</a>    = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">StateDotSignalType::BaseType</a>;</div>
 <div class="line"><a id="l00479" name="l00479"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#a32c92b85c94f66739358385a0a3a07fc">  479</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#a32c92b85c94f66739358385a0a3a07fc">StateDotDotType</a> = <span class="keyword">typename</span> <a class="code hl_typedef" href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">StateDotSignalType::TangentType</a>;</div>
 <div class="line"><a id="l00480" name="l00480"></a><span class="lineno">  480</span> </div>
-<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#ad252337a912dcd1cfaa097d9c2d5814e">  481</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structRigidBodyParams3D.html">ParamsType</a> = <a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a>;</div>
-<div class="line"><a id="l00482" name="l00482"></a><span class="lineno">  482</span> </div>
+<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#ad252337a912dcd1cfaa097d9c2d5814e">  481</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#ad252337a912dcd1cfaa097d9c2d5814e">ParamsType</a> = <a class="code hl_struct" href="structRigidBodyParams3D.html">RigidBodyParams3D</a>;</div>
+<div class="line"><a id="l00482" name="l00482"></a><span class="lineno">  482</span></div>
 <div class="foldopen" id="foldopen00494" data-start="{" data-end="}">
-<div class="line"><a id="l00494" name="l00494"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#ae0d9bb27da7f804a1f8dc4923546a95d">  494</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structRigidBodyDynamics6DOF.html#ae0d9bb27da7f804a1f8dc4923546a95d">update</a>(<a class="code hl_class" href="classSignal.html">StateDotSignalType</a>&amp;    xdot,</div>
-<div class="line"><a id="l00495" name="l00495"></a><span class="lineno">  495</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">StateSignalType</a>&amp; x,</div>
-<div class="line"><a id="l00496" name="l00496"></a><span class="lineno">  496</span>                       <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">InputSignalType</a>&amp; u,</div>
+<div class="line"><a id="l00494" name="l00494"></a><span class="lineno"><a class="line" href="structRigidBodyDynamics6DOF.html#ae0d9bb27da7f804a1f8dc4923546a95d">  494</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structRigidBodyDynamics6DOF.html#ae0d9bb27da7f804a1f8dc4923546a95d">update</a>(<a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#afcafc7961087b27b239ad998e436da9a">StateDotSignalType</a>&amp;    xdot,</div>
+<div class="line"><a id="l00495" name="l00495"></a><span class="lineno">  495</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#ad4e0605bf2a0c90acbe9a1a333b9b952">StateSignalType</a>&amp; x,</div>
+<div class="line"><a id="l00496" name="l00496"></a><span class="lineno">  496</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#a8927301269f2ce616317819c769b9364">InputSignalType</a>&amp; u,</div>
 <div class="line"><a id="l00497" name="l00497"></a><span class="lineno">  497</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          t0,</div>
 <div class="line"><a id="l00498" name="l00498"></a><span class="lineno">  498</span>                       <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;          tf,</div>
-<div class="line"><a id="l00499" name="l00499"></a><span class="lineno">  499</span>                       <span class="keyword">const</span> <a class="code hl_struct" href="structRigidBodyParams3D.html">ParamsType</a>&amp;      params,</div>
+<div class="line"><a id="l00499" name="l00499"></a><span class="lineno">  499</span>                       <span class="keyword">const</span> <a class="code hl_typedef" href="structRigidBodyDynamics6DOF.html#ad252337a912dcd1cfaa097d9c2d5814e">ParamsType</a>&amp;      params,</div>
 <div class="line"><a id="l00500" name="l00500"></a><span class="lineno">  500</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            insertIntoHistory = <span class="keyword">false</span>,</div>
 <div class="line"><a id="l00501" name="l00501"></a><span class="lineno">  501</span>                       <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp;            calculateXddot    = <span class="keyword">false</span>)</div>
 <div class="line"><a id="l00502" name="l00502"></a><span class="lineno">  502</span>    {</div>
@@ -514,47 +513,68 @@
 <div class="line"><a id="l00534" name="l00534"></a><span class="lineno">  534</span><span class="preprocessor">    typedef ModelBaseName##ModelDOF##Model&lt;double&gt; ModelBaseName##ModelDOF##Modeld;</span></div>
 </div>
 <div class="line"><a id="l00535" name="l00535"></a><span class="lineno">  535</span> </div>
-<div class="line"><a id="l00536" name="l00536"></a><span class="lineno"><a class="line" href="Models_8h.html#a06f4823dd2b571a8718ccad09ce44fe7">  536</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Translational, 1DOF)</div>
-<div class="line"><a id="l00537" name="l00537"></a><span class="lineno"><a class="line" href="Models_8h.html#aa8b7fa1f2cfd2453d95d80ce49abd8fc">  537</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Translational, 2DOF)</div>
-<div class="line"><a id="l00538" name="l00538"></a><span class="lineno"><a class="line" href="Models_8h.html#aae658b45855be04ff99456f612008b96">  538</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Translational, 3DOF)</div>
-<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"><a class="line" href="Models_8h.html#a44917fd68b589ce4fc82e69e00c41201">  539</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Rotational, 1DOF)</div>
-<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"><a class="line" href="Models_8h.html#ad5282fd410476dbdd8381772a38ac2f1">  540</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Rotational, 3DOF)</div>
-<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"><a class="line" href="Models_8h.html#a253b3866118f6e70cfc4f08b471c2975">  541</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(RigidBody, 3DOF)</div>
-<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"><a class="line" href="Models_8h.html#ac6b34f1aa0a10dcb6e9fda4a2814a9b3">  542</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(RigidBody, 6DOF)</div>
+<div class="line"><a id="l00536" name="l00536"></a><span class="lineno"><a class="line" href="Models_8h.html#af9ad4901a092a7e81f8b092d1dbcf5f5">  536</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Translational, 1DOF)</div>
+<div class="line"><a id="l00537" name="l00537"></a><span class="lineno"><a class="line" href="Models_8h.html#aee5681b9331f5514938a77680e9e1162">  537</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Translational, 2DOF)</div>
+<div class="line"><a id="l00538" name="l00538"></a><span class="lineno"><a class="line" href="Models_8h.html#a3d0d9bd06d48c1d0022090b040895a62">  538</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Translational, 3DOF)</div>
+<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"><a class="line" href="Models_8h.html#abc1d5223da3343a9537cc0a6f5abd239">  539</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Rotational, 1DOF)</div>
+<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"><a class="line" href="Models_8h.html#a287ab38fdf9b2634bf844a17719b9115">  540</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(Rotational, 3DOF)</div>
+<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"><a class="line" href="Models_8h.html#ab084e172ef604e5975b5ff17e33d06ce">  541</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(RigidBody, 3DOF)</div>
+<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"><a class="line" href="Models_8h.html#a8f7d8c7063cb9c51d2bb794931db3a34">  542</a></span><a class="code hl_define" href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a>(RigidBody, 6DOF)</div>
 <div class="ttc" id="aIntegration_8h_html"><div class="ttname"><a href="Integration_8h.html">Integration.h</a></div></div>
 <div class="ttc" id="aModels_8h_html_a01637abb86bd3009fcff2cebc8a8735a"><div class="ttname"><a href="Models_8h.html#a01637abb86bd3009fcff2cebc8a8735a">MAKE_MODEL</a></div><div class="ttdeci">#define MAKE_MODEL(ModelBaseName, ModelDOF)</div><div class="ttdef"><b>Definition</b> Models.h:531</div></div>
+<div class="ttc" id="aModels_8h_html_aac436ed3df206f07f93110e3daffe773"><div class="ttname"><a href="Models_8h.html#aac436ed3df206f07f93110e3daffe773">TranslationalDynamics1DOF</a></div><div class="ttdeci">TranslationalDynamicsBase&lt; ScalarSignal&lt; T &gt;, ScalarStateSignal&lt; T &gt;, ScalarStateSignal&lt; T &gt;, 1, RigidBodyParams1D &gt; TranslationalDynamics1DOF</div><div class="ttdef"><b>Definition</b> Models.h:287</div></div>
+<div class="ttc" id="aModels_8h_html_ad1ba77eac61f5da29df59b8b4b0d7a0d"><div class="ttname"><a href="Models_8h.html#ad1ba77eac61f5da29df59b8b4b0d7a0d">TranslationalDynamics3DOF</a></div><div class="ttdeci">TranslationalDynamicsBase&lt; Vector3Signal&lt; T &gt;, Vector3StateSignal&lt; T &gt;, Vector3StateSignal&lt; T &gt;, 3, RigidBodyParams3D &gt; TranslationalDynamics3DOF</div><div class="ttdef"><b>Definition</b> Models.h:295</div></div>
+<div class="ttc" id="aModels_8h_html_ae3889fdff8dd169aef62fcdf6340e0e1"><div class="ttname"><a href="Models_8h.html#ae3889fdff8dd169aef62fcdf6340e0e1">TranslationalDynamics2DOF</a></div><div class="ttdeci">TranslationalDynamicsBase&lt; Vector2Signal&lt; T &gt;, Vector2StateSignal&lt; T &gt;, Vector2StateSignal&lt; T &gt;, 2, RigidBodyParams2D &gt; TranslationalDynamics2DOF</div><div class="ttdef"><b>Definition</b> Models.h:291</div></div>
+<div class="ttc" id="aSignal_8h_html_a4da3e39a6224769606055a56f1508e6b"><div class="ttname"><a href="Signal_8h.html#a4da3e39a6224769606055a56f1508e6b">Vector6Signal</a></div><div class="ttdeci">VectorSignal&lt; T, 6 &gt; Vector6Signal</div><div class="ttdef"><b>Definition</b> Signal.h:706</div></div>
+<div class="ttc" id="aSignal_8h_html_a532b7bae92d23faa5962b50fab59ee1a"><div class="ttname"><a href="Signal_8h.html#a532b7bae92d23faa5962b50fab59ee1a">Vector1Signal</a></div><div class="ttdeci">VectorSignal&lt; T, 1 &gt; Vector1Signal</div><div class="ttdef"><b>Definition</b> Signal.h:701</div></div>
+<div class="ttc" id="aSignal_8h_html_a59c30838434bb9eabab59a54a0dceb9f"><div class="ttname"><a href="Signal_8h.html#a59c30838434bb9eabab59a54a0dceb9f">Vector3Signal</a></div><div class="ttdeci">VectorSignal&lt; T, 3 &gt; Vector3Signal</div><div class="ttdef"><b>Definition</b> Signal.h:703</div></div>
 <div class="ttc" id="aState_8h_html"><div class="ttname"><a href="State_8h.html">State.h</a></div></div>
-<div class="ttc" id="aclassModel_html"><div class="ttname"><a href="classModel.html">Model</a></div><div class="ttdoc">Base type for all model simulators.</div><div class="ttdef"><b>Definition</b> Models.h:25</div></div>
+<div class="ttc" id="aState_8h_html_a07ec000c82b285e661a861ae5f90736a"><div class="ttname"><a href="State_8h.html#a07ec000c82b285e661a861ae5f90736a">SO3StateSignal</a></div><div class="ttdeci">ManifoldStateSignal&lt; T, SO3&lt; T &gt;, 4, 3 &gt; SO3StateSignal</div><div class="ttdef"><b>Definition</b> State.h:274</div></div>
+<div class="ttc" id="aState_8h_html_a10d976072ce9070523cb22605d2ab584"><div class="ttname"><a href="State_8h.html#a10d976072ce9070523cb22605d2ab584">Vector6StateSignal</a></div><div class="ttdeci">VectorStateSignal&lt; T, 6 &gt; Vector6StateSignal</div><div class="ttdef"><b>Definition</b> State.h:268</div></div>
+<div class="ttc" id="aState_8h_html_a337f5beba24e405d11550802e4375c73"><div class="ttname"><a href="State_8h.html#a337f5beba24e405d11550802e4375c73">SE3StateSignal</a></div><div class="ttdeci">ManifoldStateSignal&lt; T, SE3&lt; T &gt;, 7, 6 &gt; SE3StateSignal</div><div class="ttdef"><b>Definition</b> State.h:276</div></div>
+<div class="ttc" id="aState_8h_html_a455c23e3eed1fa310813120299d8cc95"><div class="ttname"><a href="State_8h.html#a455c23e3eed1fa310813120299d8cc95">SO2StateSignal</a></div><div class="ttdeci">ManifoldStateSignal&lt; T, SO2&lt; T &gt;, 2, 1 &gt; SO2StateSignal</div><div class="ttdef"><b>Definition</b> State.h:273</div></div>
+<div class="ttc" id="aState_8h_html_a7059d2190879b0e80afad377593fb225"><div class="ttname"><a href="State_8h.html#a7059d2190879b0e80afad377593fb225">ScalarStateSignal</a></div><div class="ttdeci">Signal&lt; ScalarStateSignalSpec&lt; T &gt;, ScalarStateSignalSpec&lt; T &gt; &gt; ScalarStateSignal</div><div class="ttdef"><b>Definition</b> State.h:213</div></div>
+<div class="ttc" id="aState_8h_html_a8733dc322548a85201a19ddea01ea50e"><div class="ttname"><a href="State_8h.html#a8733dc322548a85201a19ddea01ea50e">Vector2StateSignal</a></div><div class="ttdeci">VectorStateSignal&lt; T, 2 &gt; Vector2StateSignal</div><div class="ttdef"><b>Definition</b> State.h:264</div></div>
+<div class="ttc" id="aState_8h_html_ab5090b8cb9c45dbe82c31d42d73d785e"><div class="ttname"><a href="State_8h.html#ab5090b8cb9c45dbe82c31d42d73d785e">Vector1StateSignal</a></div><div class="ttdeci">VectorStateSignal&lt; T, 1 &gt; Vector1StateSignal</div><div class="ttdef"><b>Definition</b> State.h:263</div></div>
+<div class="ttc" id="aState_8h_html_ae29a8cc7a8cfe9179c9befa2d9cf217d"><div class="ttname"><a href="State_8h.html#ae29a8cc7a8cfe9179c9befa2d9cf217d">Vector3StateSignal</a></div><div class="ttdeci">VectorStateSignal&lt; T, 3 &gt; Vector3StateSignal</div><div class="ttdef"><b>Definition</b> State.h:265</div></div>
+<div class="ttc" id="aState_8h_html_ae34074b7d367592e7022441b0ee836d9"><div class="ttname"><a href="State_8h.html#ae34074b7d367592e7022441b0ee836d9">SE2StateSignal</a></div><div class="ttdeci">ManifoldStateSignal&lt; T, SE2&lt; T &gt;, 4, 3 &gt; SE2StateSignal</div><div class="ttdef"><b>Definition</b> State.h:275</div></div>
 <div class="ttc" id="aclassModel_html_a3cbccc00606661a35110dbe111af54ad"><div class="ttname"><a href="classModel.html#a3cbccc00606661a35110dbe111af54ad">Model::Model</a></div><div class="ttdeci">Model()</div><div class="ttdef"><b>Definition</b> Models.h:41</div></div>
-<div class="ttc" id="aclassModel_html_a4f059d658bfda1665bf44a36b7aaf8e5"><div class="ttname"><a href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">Model::hasParams</a></div><div class="ttdeci">bool hasParams()</div><div class="ttdoc">Verify that the model has parameters explicity set by setParams().</div><div class="ttdef"><b>Definition</b> Models.h:59</div></div>
+<div class="ttc" id="aclassModel_html_a4f059d658bfda1665bf44a36b7aaf8e5"><div class="ttname"><a href="classModel.html#a4f059d658bfda1665bf44a36b7aaf8e5">Model&lt; TranslationalDynamics1DOF&lt; T &gt; &gt;::hasParams</a></div><div class="ttdeci">bool hasParams()</div><div class="ttdef"><b>Definition</b> Models.h:59</div></div>
 <div class="ttc" id="aclassModel_html_a643e1a47ddbb10c5c10844f9aea5be98"><div class="ttname"><a href="classModel.html#a643e1a47ddbb10c5c10844f9aea5be98">Model::StateSignalType</a></div><div class="ttdeci">typename DynamicsType::StateSignalType StateSignalType</div><div class="ttdef"><b>Definition</b> Models.h:29</div></div>
-<div class="ttc" id="aclassModel_html_a7661852411b9ffd59240d5d5ca0e4dd3"><div class="ttname"><a href="classModel.html#a7661852411b9ffd59240d5d5ca0e4dd3">Model::t</a></div><div class="ttdeci">double t() const</div><div class="ttdoc">Get the current simulation time.</div><div class="ttdef"><b>Definition</b> Models.h:76</div></div>
+<div class="ttc" id="aclassModel_html_a7661852411b9ffd59240d5d5ca0e4dd3"><div class="ttname"><a href="classModel.html#a7661852411b9ffd59240d5d5ca0e4dd3">Model&lt; TranslationalDynamics1DOF&lt; T &gt; &gt;::t</a></div><div class="ttdeci">double t() const</div><div class="ttdef"><b>Definition</b> Models.h:76</div></div>
 <div class="ttc" id="aclassModel_html_a823536a9764d6a35cce173573ee62e90"><div class="ttname"><a href="classModel.html#a823536a9764d6a35cce173573ee62e90">Model::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">Zero out the model state and derivative variables and reset simulation time to zero.</div><div class="ttdef"><b>Definition</b> Models.h:67</div></div>
 <div class="ttc" id="aclassModel_html_a8abdf37c6158386a9f1d2c6c506f6839"><div class="ttname"><a href="classModel.html#a8abdf37c6158386a9f1d2c6c506f6839">Model::StateDotSignalType</a></div><div class="ttdeci">typename DynamicsType::StateDotSignalType StateDotSignalType</div><div class="ttdef"><b>Definition</b> Models.h:28</div></div>
-<div class="ttc" id="aclassModel_html_a96533143a30ab87c379e411fcae59643"><div class="ttname"><a href="classModel.html#a96533143a30ab87c379e411fcae59643">Model::setParams</a></div><div class="ttdeci">void setParams(const ParamsType &amp;params)</div><div class="ttdoc">Initialize the model with any required parameters.</div><div class="ttdef"><b>Definition</b> Models.h:51</div></div>
-<div class="ttc" id="aclassModel_html_ab8bb4819a03ed642326295c28bea6fa7"><div class="ttname"><a href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">Model::xdot</a></div><div class="ttdeci">StateDotSignalType xdot</div><div class="ttdoc">Time derivative of the model state signal.</div><div class="ttdef"><b>Definition</b> Models.h:39</div></div>
-<div class="ttc" id="aclassModel_html_abfe8871b9f0eac35c76af3f5cfcdea35"><div class="ttname"><a href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">Model::x</a></div><div class="ttdeci">StateSignalType x</div><div class="ttdoc">Model state signal.</div><div class="ttdef"><b>Definition</b> Models.h:35</div></div>
-<div class="ttc" id="aclassModel_html_ac2550ae8ed888d167450160ce55286df"><div class="ttname"><a href="classModel.html#ac2550ae8ed888d167450160ce55286df">Model::simulate</a></div><div class="ttdeci">bool simulate(const InputSignalType &amp;u, const double &amp;tf, const double &amp;dt, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdoc">Simulate the system response to an input over a specified time interval, chunked up into smaller inte...</div><div class="ttdef"><b>Definition</b> Models.h:125</div></div>
-<div class="ttc" id="aclassModel_html_ac7446138b27c8feba779ebfe8e82b99d"><div class="ttname"><a href="classModel.html#ac7446138b27c8feba779ebfe8e82b99d">Model::simulate</a></div><div class="ttdeci">bool simulate(const InputSignalType &amp;u, const double &amp;tf, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdoc">Simulate the system response to an input over a specified time interval.</div><div class="ttdef"><b>Definition</b> Models.h:90</div></div>
+<div class="ttc" id="aclassModel_html_a96533143a30ab87c379e411fcae59643"><div class="ttname"><a href="classModel.html#a96533143a30ab87c379e411fcae59643">Model&lt; TranslationalDynamics1DOF&lt; T &gt; &gt;::setParams</a></div><div class="ttdeci">void setParams(const ParamsType &amp;params)</div><div class="ttdef"><b>Definition</b> Models.h:51</div></div>
+<div class="ttc" id="aclassModel_html_ab8bb4819a03ed642326295c28bea6fa7"><div class="ttname"><a href="classModel.html#ab8bb4819a03ed642326295c28bea6fa7">Model&lt; TranslationalDynamics1DOF&lt; T &gt; &gt;&lt; double &gt;::xdot</a></div><div class="ttdeci">StateDotSignalType xdot</div><div class="ttdef"><b>Definition</b> Models.h:39</div></div>
+<div class="ttc" id="aclassModel_html_abfe8871b9f0eac35c76af3f5cfcdea35"><div class="ttname"><a href="classModel.html#abfe8871b9f0eac35c76af3f5cfcdea35">Model&lt; TranslationalDynamics1DOF&lt; T &gt; &gt;&lt; double &gt;::x</a></div><div class="ttdeci">StateSignalType x</div><div class="ttdef"><b>Definition</b> Models.h:35</div></div>
+<div class="ttc" id="aclassModel_html_ac2550ae8ed888d167450160ce55286df"><div class="ttname"><a href="classModel.html#ac2550ae8ed888d167450160ce55286df">Model&lt; TranslationalDynamics1DOF&lt; T &gt; &gt;::simulate</a></div><div class="ttdeci">bool simulate(const InputSignalType &amp;u, const double &amp;tf, const double &amp;dt, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdef"><b>Definition</b> Models.h:125</div></div>
+<div class="ttc" id="aclassModel_html_ac7446138b27c8feba779ebfe8e82b99d"><div class="ttname"><a href="classModel.html#ac7446138b27c8feba779ebfe8e82b99d">Model&lt; TranslationalDynamics1DOF&lt; T &gt; &gt;::simulate</a></div><div class="ttdeci">bool simulate(const InputSignalType &amp;u, const double &amp;tf, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdef"><b>Definition</b> Models.h:90</div></div>
 <div class="ttc" id="aclassModel_html_ac990dd4740b30e4477bca86fc6172970"><div class="ttname"><a href="classModel.html#ac990dd4740b30e4477bca86fc6172970">Model::InputSignalType</a></div><div class="ttdeci">typename DynamicsType::InputSignalType InputSignalType</div><div class="ttdef"><b>Definition</b> Models.h:27</div></div>
 <div class="ttc" id="aclassModel_html_aec20251d98505785fa51c52eb81dd3a2"><div class="ttname"><a href="classModel.html#aec20251d98505785fa51c52eb81dd3a2">Model::ParamsType</a></div><div class="ttdeci">typename DynamicsType::ParamsType ParamsType</div><div class="ttdef"><b>Definition</b> Models.h:30</div></div>
-<div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:38</div></div>
-<div class="ttc" id="aclassSignal_html_a9bda97fe7663f5481807259ca8bcd8cb"><div class="ttname"><a href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">Signal::BaseType</a></div><div class="ttdeci">typename BaseSignalSpec::Type BaseType</div><div class="ttdef"><b>Definition</b> Signal.h:40</div></div>
-<div class="ttc" id="aclassSignal_html_aa0094b1c69fd482de9de83b99634996a"><div class="ttname"><a href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">Signal::TangentType</a></div><div class="ttdeci">typename TangentSignalSpec::Type TangentType</div><div class="ttdef"><b>Definition</b> Signal.h:41</div></div>
+<div class="ttc" id="aclassSignal_html_a9bda97fe7663f5481807259ca8bcd8cb"><div class="ttname"><a href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">Signal&lt; VectorSignalSpec&lt; T, d &gt;, VectorSignalSpec&lt; T, d &gt; &gt;::BaseType</a></div><div class="ttdeci">typename VectorSignalSpec&lt; T, d &gt;::Type BaseType</div><div class="ttdef"><b>Definition</b> Signal.h:40</div></div>
+<div class="ttc" id="aclassSignal_html_aa0094b1c69fd482de9de83b99634996a"><div class="ttname"><a href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">Signal&lt; VectorStateSignalSpec&lt; T, d &gt;, VectorStateSignalSpec&lt; T, d &gt; &gt;::TangentType</a></div><div class="ttdeci">typename VectorStateSignalSpec&lt; T, d &gt;::Type TangentType</div><div class="ttdef"><b>Definition</b> Signal.h:41</div></div>
 <div class="ttc" id="aclassSignal_html_ab91f52b80939a6c67b6863ee463b4ff0"><div class="ttname"><a href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">Signal::update</a></div><div class="ttdeci">bool update(const double &amp;_t, const BaseType &amp;_x, bool insertHistory=false)</div><div class="ttdef"><b>Definition</b> Signal.h:174</div></div>
 <div class="ttc" id="anamespacesignal__utils_html_ad7667542f893604d059a5d0022d2890c"><div class="ttname"><a href="namespacesignal__utils.html#ad7667542f893604d059a5d0022d2890c">signal_utils::getTimeDelta</a></div><div class="ttdeci">bool getTimeDelta(double &amp;dt, const double &amp;t0, const double &amp;tf, const double &amp;dt_max=std::numeric_limits&lt; double &gt;::max())</div><div class="ttdef"><b>Definition</b> Utils.h:11</div></div>
-<div class="ttc" id="astructRigidBodyDynamics3DOF_html"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a></div><div class="ttdoc">Definition of the dynamics for planar motion of a mass that's allowed to rotate.</div><div class="ttdef"><b>Definition</b> Models.h:413</div></div>
+<div class="ttc" id="astructRigidBodyDynamics3DOF_html"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a></div><div class="ttdoc">Definition of the dynamics for planar motion of a mass that&#39;s allowed to rotate.</div><div class="ttdef"><b>Definition</b> Models.h:413</div></div>
+<div class="ttc" id="astructRigidBodyDynamics3DOF_html_a0c346a983bc929f1f7a6e5d2be3a0841"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#a0c346a983bc929f1f7a6e5d2be3a0841">RigidBodyDynamics3DOF::StateSignalType</a></div><div class="ttdeci">SE2StateSignal&lt; T &gt; StateSignalType</div><div class="ttdef"><b>Definition</b> Models.h:415</div></div>
+<div class="ttc" id="astructRigidBodyDynamics3DOF_html_a28d138392ca0069c5e6274f78fd08e29"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#a28d138392ca0069c5e6274f78fd08e29">RigidBodyDynamics3DOF::StateDotSignalType</a></div><div class="ttdeci">Vector3StateSignal&lt; T &gt; StateDotSignalType</div><div class="ttdef"><b>Definition</b> Models.h:416</div></div>
+<div class="ttc" id="astructRigidBodyDynamics3DOF_html_a4341d5e4a676e15edc8f8faafef5431a"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#a4341d5e4a676e15edc8f8faafef5431a">RigidBodyDynamics3DOF::InputSignalType</a></div><div class="ttdeci">Vector3Signal&lt; T &gt; InputSignalType</div><div class="ttdef"><b>Definition</b> Models.h:414</div></div>
 <div class="ttc" id="astructRigidBodyDynamics3DOF_html_a448c5efb998f492d1518eb0d2d7ded74"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#a448c5efb998f492d1518eb0d2d7ded74">RigidBodyDynamics3DOF::StateType</a></div><div class="ttdeci">typename StateSignalType::BaseType StateType</div><div class="ttdef"><b>Definition</b> Models.h:419</div></div>
 <div class="ttc" id="astructRigidBodyDynamics3DOF_html_a562a8cc5e6e8dca19982509022a22ba4"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#a562a8cc5e6e8dca19982509022a22ba4">RigidBodyDynamics3DOF::StateDotDotType</a></div><div class="ttdeci">typename StateDotSignalType::TangentType StateDotDotType</div><div class="ttdef"><b>Definition</b> Models.h:421</div></div>
 <div class="ttc" id="astructRigidBodyDynamics3DOF_html_a7a9fa29ba97531d856e87560806a805c"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#a7a9fa29ba97531d856e87560806a805c">RigidBodyDynamics3DOF::StateDotType</a></div><div class="ttdeci">typename StateDotSignalType::BaseType StateDotType</div><div class="ttdef"><b>Definition</b> Models.h:420</div></div>
 <div class="ttc" id="astructRigidBodyDynamics3DOF_html_aa90232643a368b1d4b9fd618ae8d57f7"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#aa90232643a368b1d4b9fd618ae8d57f7">RigidBodyDynamics3DOF::InputType</a></div><div class="ttdeci">typename InputSignalType::BaseType InputType</div><div class="ttdef"><b>Definition</b> Models.h:418</div></div>
 <div class="ttc" id="astructRigidBodyDynamics3DOF_html_acafe68f9e9ea78f54bc70d64a1b39d9c"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#acafe68f9e9ea78f54bc70d64a1b39d9c">RigidBodyDynamics3DOF::update</a></div><div class="ttdeci">static bool update(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdoc">Update a provided state time derivative given an input and time interval.</div><div class="ttdef"><b>Definition</b> Models.h:436</div></div>
+<div class="ttc" id="astructRigidBodyDynamics3DOF_html_afa1ade3cc027b78a2d2c65df867d52b0"><div class="ttname"><a href="structRigidBodyDynamics3DOF.html#afa1ade3cc027b78a2d2c65df867d52b0">RigidBodyDynamics3DOF::ParamsType</a></div><div class="ttdeci">RigidBodyParams2D ParamsType</div><div class="ttdef"><b>Definition</b> Models.h:423</div></div>
 <div class="ttc" id="astructRigidBodyDynamics6DOF_html"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a></div><div class="ttdoc">Definition of the dynamics for a 3D rigid body that can rotate about any axis.</div><div class="ttdef"><b>Definition</b> Models.h:471</div></div>
 <div class="ttc" id="astructRigidBodyDynamics6DOF_html_a32c92b85c94f66739358385a0a3a07fc"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#a32c92b85c94f66739358385a0a3a07fc">RigidBodyDynamics6DOF::StateDotDotType</a></div><div class="ttdeci">typename StateDotSignalType::TangentType StateDotDotType</div><div class="ttdef"><b>Definition</b> Models.h:479</div></div>
+<div class="ttc" id="astructRigidBodyDynamics6DOF_html_a8927301269f2ce616317819c769b9364"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#a8927301269f2ce616317819c769b9364">RigidBodyDynamics6DOF::InputSignalType</a></div><div class="ttdeci">Vector6Signal&lt; T &gt; InputSignalType</div><div class="ttdef"><b>Definition</b> Models.h:472</div></div>
 <div class="ttc" id="astructRigidBodyDynamics6DOF_html_aa664579d3d691fcd4c5824b242dd2061"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#aa664579d3d691fcd4c5824b242dd2061">RigidBodyDynamics6DOF::StateDotType</a></div><div class="ttdeci">typename StateDotSignalType::BaseType StateDotType</div><div class="ttdef"><b>Definition</b> Models.h:478</div></div>
 <div class="ttc" id="astructRigidBodyDynamics6DOF_html_ac8780c98b59889f8329aa467a5b375fe"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#ac8780c98b59889f8329aa467a5b375fe">RigidBodyDynamics6DOF::InputType</a></div><div class="ttdeci">typename InputSignalType::BaseType InputType</div><div class="ttdef"><b>Definition</b> Models.h:476</div></div>
+<div class="ttc" id="astructRigidBodyDynamics6DOF_html_ad252337a912dcd1cfaa097d9c2d5814e"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#ad252337a912dcd1cfaa097d9c2d5814e">RigidBodyDynamics6DOF::ParamsType</a></div><div class="ttdeci">RigidBodyParams3D ParamsType</div><div class="ttdef"><b>Definition</b> Models.h:481</div></div>
+<div class="ttc" id="astructRigidBodyDynamics6DOF_html_ad4e0605bf2a0c90acbe9a1a333b9b952"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#ad4e0605bf2a0c90acbe9a1a333b9b952">RigidBodyDynamics6DOF::StateSignalType</a></div><div class="ttdeci">SE3StateSignal&lt; T &gt; StateSignalType</div><div class="ttdef"><b>Definition</b> Models.h:473</div></div>
 <div class="ttc" id="astructRigidBodyDynamics6DOF_html_adf5c3e5f6090032d18019c7aeab91f51"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#adf5c3e5f6090032d18019c7aeab91f51">RigidBodyDynamics6DOF::StateType</a></div><div class="ttdeci">typename StateSignalType::BaseType StateType</div><div class="ttdef"><b>Definition</b> Models.h:477</div></div>
 <div class="ttc" id="astructRigidBodyDynamics6DOF_html_ae0d9bb27da7f804a1f8dc4923546a95d"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#ae0d9bb27da7f804a1f8dc4923546a95d">RigidBodyDynamics6DOF::update</a></div><div class="ttdeci">static bool update(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdoc">Update a provided state time derivative given an input and time interval.</div><div class="ttdef"><b>Definition</b> Models.h:494</div></div>
+<div class="ttc" id="astructRigidBodyDynamics6DOF_html_afcafc7961087b27b239ad998e436da9a"><div class="ttname"><a href="structRigidBodyDynamics6DOF.html#afcafc7961087b27b239ad998e436da9a">RigidBodyDynamics6DOF::StateDotSignalType</a></div><div class="ttdeci">Vector6StateSignal&lt; T &gt; StateDotSignalType</div><div class="ttdef"><b>Definition</b> Models.h:474</div></div>
 <div class="ttc" id="astructRigidBodyParams1D_html"><div class="ttname"><a href="structRigidBodyParams1D.html">RigidBodyParams1D</a></div><div class="ttdoc">Parameters for a 1D rigid body model.</div><div class="ttdef"><b>Definition</b> Models.h:165</div></div>
 <div class="ttc" id="astructRigidBodyParams1D_html_a2f5a1c0e6320c14d72d0ff98ad979332"><div class="ttname"><a href="structRigidBodyParams1D.html#a2f5a1c0e6320c14d72d0ff98ad979332">RigidBodyParams1D::m</a></div><div class="ttdeci">double m</div><div class="ttdoc">Model mass.</div><div class="ttdef"><b>Definition</b> Models.h:170</div></div>
 <div class="ttc" id="astructRigidBodyParams1D_html_a823d208bcbabadd83d3cc8f222973c95"><div class="ttname"><a href="structRigidBodyParams1D.html#a823d208bcbabadd83d3cc8f222973c95">RigidBodyParams1D::g</a></div><div class="ttdeci">double g</div><div class="ttdoc">Gravitational constant.</div><div class="ttdef"><b>Definition</b> Models.h:176</div></div>
@@ -570,14 +590,22 @@
 <div class="ttc" id="astructRigidBodyParams3D_html_a8aa76fea7a0790ead025bf79e767d0cf"><div class="ttname"><a href="structRigidBodyParams3D.html#a8aa76fea7a0790ead025bf79e767d0cf">RigidBodyParams3D::RigidBodyParams3D</a></div><div class="ttdeci">RigidBodyParams3D()</div><div class="ttdef"><b>Definition</b> Models.h:212</div></div>
 <div class="ttc" id="astructRigidBodyParams3D_html_acfa4c165c3278306dac4c0f51819e694"><div class="ttname"><a href="structRigidBodyParams3D.html#acfa4c165c3278306dac4c0f51819e694">RigidBodyParams3D::m</a></div><div class="ttdeci">double m</div><div class="ttdoc">Model mass.</div><div class="ttdef"><b>Definition</b> Models.h:216</div></div>
 <div class="ttc" id="astructRotationalDynamics1DOF_html"><div class="ttname"><a href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a></div><div class="ttdoc">Definition of the dynamics for planar rotation-only motion of a mass.</div><div class="ttdef"><b>Definition</b> Models.h:303</div></div>
+<div class="ttc" id="astructRotationalDynamics1DOF_html_a32c4979bf8f6aa3f9c1b0f2818ba4abd"><div class="ttname"><a href="structRotationalDynamics1DOF.html#a32c4979bf8f6aa3f9c1b0f2818ba4abd">RotationalDynamics1DOF::StateDotSignalType</a></div><div class="ttdeci">Vector1StateSignal&lt; T &gt; StateDotSignalType</div><div class="ttdef"><b>Definition</b> Models.h:306</div></div>
+<div class="ttc" id="astructRotationalDynamics1DOF_html_a38ff3a3028dc85817407d15587bf3451"><div class="ttname"><a href="structRotationalDynamics1DOF.html#a38ff3a3028dc85817407d15587bf3451">RotationalDynamics1DOF::ParamsType</a></div><div class="ttdeci">RigidBodyParams2D ParamsType</div><div class="ttdef"><b>Definition</b> Models.h:313</div></div>
 <div class="ttc" id="astructRotationalDynamics1DOF_html_a433f042fafdcff07948eb952e47f13b6"><div class="ttname"><a href="structRotationalDynamics1DOF.html#a433f042fafdcff07948eb952e47f13b6">RotationalDynamics1DOF::update</a></div><div class="ttdeci">static bool update(StateDotSignalType &amp;xdot, const StateSignalType &amp;x, const InputSignalType &amp;u, const double &amp;t0, const double &amp;tf, const ParamsType &amp;params, const bool &amp;insertIntoHistory=false, const bool &amp;calculateXddot=false)</div><div class="ttdoc">Update a provided state time derivative given an input and time interval.</div><div class="ttdef"><b>Definition</b> Models.h:326</div></div>
 <div class="ttc" id="astructRotationalDynamics1DOF_html_a5e2f1cd471e7be99dc9e0f3f29f146f3"><div class="ttname"><a href="structRotationalDynamics1DOF.html#a5e2f1cd471e7be99dc9e0f3f29f146f3">RotationalDynamics1DOF::StateDotDotType</a></div><div class="ttdeci">typename StateDotSignalType::TangentType StateDotDotType</div><div class="ttdef"><b>Definition</b> Models.h:311</div></div>
 <div class="ttc" id="astructRotationalDynamics1DOF_html_a7df05f9db990eecd331f506d1a17597e"><div class="ttname"><a href="structRotationalDynamics1DOF.html#a7df05f9db990eecd331f506d1a17597e">RotationalDynamics1DOF::StateDotType</a></div><div class="ttdeci">typename StateDotSignalType::BaseType StateDotType</div><div class="ttdef"><b>Definition</b> Models.h:310</div></div>
+<div class="ttc" id="astructRotationalDynamics1DOF_html_a80b5f730e292fda15bdcf1e8b96fe02e"><div class="ttname"><a href="structRotationalDynamics1DOF.html#a80b5f730e292fda15bdcf1e8b96fe02e">RotationalDynamics1DOF::InputSignalType</a></div><div class="ttdeci">Vector1Signal&lt; T &gt; InputSignalType</div><div class="ttdef"><b>Definition</b> Models.h:304</div></div>
 <div class="ttc" id="astructRotationalDynamics1DOF_html_aada86d78db85576298e606afda8c928d"><div class="ttname"><a href="structRotationalDynamics1DOF.html#aada86d78db85576298e606afda8c928d">RotationalDynamics1DOF::StateType</a></div><div class="ttdeci">typename StateSignalType::BaseType StateType</div><div class="ttdef"><b>Definition</b> Models.h:309</div></div>
+<div class="ttc" id="astructRotationalDynamics1DOF_html_ac321d27d0098cb3e8e64ea0d98500cb6"><div class="ttname"><a href="structRotationalDynamics1DOF.html#ac321d27d0098cb3e8e64ea0d98500cb6">RotationalDynamics1DOF::StateSignalType</a></div><div class="ttdeci">SO2StateSignal&lt; T &gt; StateSignalType</div><div class="ttdef"><b>Definition</b> Models.h:305</div></div>
 <div class="ttc" id="astructRotationalDynamics1DOF_html_ad43b9ce6a37b65d677d01ceafe448259"><div class="ttname"><a href="structRotationalDynamics1DOF.html#ad43b9ce6a37b65d677d01ceafe448259">RotationalDynamics1DOF::InputType</a></div><div class="ttdeci">typename InputSignalType::BaseType InputType</div><div class="ttdef"><b>Definition</b> Models.h:308</div></div>
 <div class="ttc" id="astructRotationalDynamics3DOF_html"><div class="ttname"><a href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a></div><div class="ttdoc">Definition of the dynamics for 3D rotation-only motion of a mass.</div><div class="ttdef"><b>Definition</b> Models.h:358</div></div>
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+<tr class="memitem:a5c686d1c1e780f578c950182943ecf41"><td class="memTemplItemLeft" align="right" valign="top">using&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a5c686d1c1e780f578c950182943ecf41">SE2Signal</a> = <a class="el" href="#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal</a>&lt;T, SE2&lt;T&gt;, 3&gt;</td></tr>
+<tr class="separator:a5c686d1c1e780f578c950182943ecf41"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a27317de3cebe688fdf9b1f89e8d749ea" id="r_a27317de3cebe688fdf9b1f89e8d749ea"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="#a5c686d1c1e780f578c950182943ecf41">SE2Signal</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a27317de3cebe688fdf9b1f89e8d749ea">SE2dSignal</a></td></tr>
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-<tr class="memitem:a765b6ae13329153a6b634a059a9402a3"><td class="memTemplItemLeft" align="right" valign="top">using&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a765b6ae13329153a6b634a059a9402a3">SE3Signal</a> = <a class="el" href="#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal</a>&lt;T, SE3 &lt;T&gt;, 6 &gt;</td></tr>
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+<tr class="memitem:ab87588076a67398d28c7f77a2103470b" id="r_ab87588076a67398d28c7f77a2103470b"><td class="memTemplParams" colspan="2">template&lt;typename T&gt; </td></tr>
+<tr class="memitem:ab87588076a67398d28c7f77a2103470b"><td class="memTemplItemLeft" align="right" valign="top">using&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#ab87588076a67398d28c7f77a2103470b">SE3Signal</a> = <a class="el" href="#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal</a>&lt;T, SE3&lt;T&gt;, 6&gt;</td></tr>
+<tr class="separator:ab87588076a67398d28c7f77a2103470b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:aa4dc7aa056ee91a7dc4ec540b6bc9cd3" id="r_aa4dc7aa056ee91a7dc4ec540b6bc9cd3"><td class="memTemplParams" colspan="2">template&lt;typename BaseSignalSpec, typename TangentSignalSpec&gt; </td></tr>
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+<tr class="memitem:afd611b1d0ab8c1f43be72184926ec8ac" id="r_afd611b1d0ab8c1f43be72184926ec8ac"><td class="memTemplParams" colspan="2">template&lt;typename BaseSignalSpec, typename TangentSignalSpec&gt; </td></tr>
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+<tr class="memitem:ad77fa5fab1a3e9a6ca4d7e87364003b9" id="r_ad77fa5fab1a3e9a6ca4d7e87364003b9"><td class="memTemplParams" colspan="2">template&lt;typename BaseSignalSpec, typename TangentSignalSpec&gt; </td></tr>
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+<tr class="memitem:ae0b0bee5051aeec3c9cff9fd148d8cb5" id="r_ae0b0bee5051aeec3c9cff9fd148d8cb5"><td class="memTemplParams" colspan="2">template&lt;typename BaseSignalSpec, typename TangentSignalSpec&gt; </td></tr>
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+<tr class="memitem:a47318c97bced9b7ee828c94c1a4eeb29" id="r_a47318c97bced9b7ee828c94c1a4eeb29"><td class="memTemplParams" colspan="2">template&lt;typename T&gt; </td></tr>
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+<tr class="memitem:aeb7f6d79d7e692981221b685c0863d54" id="r_aeb7f6d79d7e692981221b685c0863d54"><td class="memTemplParams" colspan="2">template&lt;typename T, size_t d&gt; </td></tr>
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+<tr class="memitem:a6a76598b459ea2e14353617de437c808" id="r_a6a76598b459ea2e14353617de437c808"><td class="memTemplParams" colspan="2">template&lt;typename T, typename ManifoldType, size_t d&gt; </td></tr>
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@@ -275,18 +279,19 @@ <h2 class="memtitle"><span class="permalink"><a href="#adf89e7a1e286d52fa755d04f
         <tr>
           <td class="memname">#define MAKE_MANIF_SIGNAL</td>
           <td>(</td>
-          <td class="paramtype"></td>          <td class="paramname"><span class="paramname">Manif, </span></td>
+          <td class="paramtype"></td>          <td class="paramname"><span class="paramname"><em>Manif</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype"></td>          <td class="paramname"><span class="paramname">Dimension</span>&#160;)</td>
+          <td class="paramtype"></td>          <td class="paramname"><span class="paramname"><em>Dimension</em></span>&#160;)</td>
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 <b>Value:</b><div class="fragment"><div class="line">    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;                                                                                               \</div>
-<div class="line">    <span class="keyword">using </span>Manif##<a class="code hl_class" href="classSignal.html">Signal</a> = <a class="code hl_class" href="classSignal.html">ManifoldSignal&lt;T, Manif&lt;T&gt;</a>, Dimension&gt;;                                                      \</div>
+<div class="line">    <span class="keyword">using </span>Manif##<a class="code hl_class" href="classSignal.html">Signal</a> = <a class="code hl_typedef" href="#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal&lt;T, Manif&lt;T&gt;</a>, Dimension&gt;;                                                      \</div>
 <div class="line">    <span class="keyword">typedef</span> Manif##<a class="code hl_class" href="classSignal.html">Signal&lt;double&gt;</a> Manif##dSignal;</div>
+<div class="ttc" id="aSignal_8h_html_a278e5023dd90a58b58ce28b413ecec4a"><div class="ttname"><a href="#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal</a></div><div class="ttdeci">Signal&lt; ManifoldSignalSpec&lt; ManifoldType &gt;, VectorSignalSpec&lt; T, d &gt; &gt; ManifoldSignal</div><div class="ttdef"><b>Definition</b> Signal.h:681</div></div>
 <div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:38</div></div>
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@@ -300,14 +305,15 @@ <h2 class="memtitle"><span class="permalink"><a href="#a45ef87a3bf4ac7938147e959
         <tr>
           <td class="memname">#define MAKE_VECTOR_SIGNAL</td>
           <td>(</td>
-          <td class="paramtype"></td>          <td class="paramname"><span class="paramname">Dimension</span></td><td>)</td>
+          <td class="paramtype"></td>          <td class="paramname"><span class="paramname"><em>Dimension</em></span></td><td>)</td>
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         </tr>
       </table>
 </div><div class="memdoc">
 <b>Value:</b><div class="fragment"><div class="line">    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;                                                                                               \</div>
-<div class="line">    <span class="keyword">using </span>Vector##Dimension##<a class="code hl_class" href="classSignal.html">Signal</a> = <a class="code hl_class" href="classSignal.html">VectorSignal&lt;T, Dimension&gt;</a>;                                                      \</div>
+<div class="line">    <span class="keyword">using </span>Vector##Dimension##<a class="code hl_class" href="classSignal.html">Signal</a> = <a class="code hl_typedef" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal&lt;T, Dimension&gt;</a>;                                                      \</div>
 <div class="line">    <span class="keyword">typedef</span> Vector##Dimension##<a class="code hl_class" href="classSignal.html">Signal&lt;double&gt;</a> Vector##Dimension##dSignal;</div>
+<div class="ttc" id="aSignal_8h_html_a51a32a4dd69ee28867dba6202c812c5a"><div class="ttname"><a href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a></div><div class="ttdeci">Signal&lt; VectorSignalSpec&lt; T, d &gt;, VectorSignalSpec&lt; T, d &gt; &gt; VectorSignal</div><div class="ttdef"><b>Definition</b> Signal.h:671</div></div>
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@@ -318,7 +324,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a278e5023dd90a58b58ce28b4
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-template&lt;typename T , typename ManifoldType , size_t d&gt; </div>
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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+          <td class="memname">typedef <a class="el" href="#a5c686d1c1e780f578c950182943ecf41">SE2Signal</a>&lt;double&gt; <a class="el" href="#a27317de3cebe688fdf9b1f89e8d749ea">SE2dSignal</a></td>
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-<h2 class="memtitle"><span class="permalink"><a href="#ad643119cf3272132185b21288c55d408">&#9670;&#160;</a></span>SE2Signal</h2>
+<a id="a5c686d1c1e780f578c950182943ecf41" name="a5c686d1c1e780f578c950182943ecf41"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5c686d1c1e780f578c950182943ecf41">&#9670;&#160;</a></span>SE2Signal</h2>
 
 <div class="memitem">
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-template&lt;typename T &gt; </div>
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+          <td class="memname">using <a class="el" href="#a5c686d1c1e780f578c950182943ecf41">SE2Signal</a> = <a class="el" href="#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal</a>&lt;T, SE2&lt;T&gt;, 3&gt;</td>
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+          <td class="memname">typedef <a class="el" href="#ab87588076a67398d28c7f77a2103470b">SE3Signal</a>&lt;double&gt; <a class="el" href="#a13875f09fcdcc6dd114766bacc38f01b">SE3dSignal</a></td>
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-<h2 class="memtitle"><span class="permalink"><a href="#a765b6ae13329153a6b634a059a9402a3">&#9670;&#160;</a></span>SE3Signal</h2>
+<a id="ab87588076a67398d28c7f77a2103470b" name="ab87588076a67398d28c7f77a2103470b"></a>
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-template&lt;typename T &gt; </div>
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+          <td class="memname">using <a class="el" href="#ab87588076a67398d28c7f77a2103470b">SE3Signal</a> = <a class="el" href="#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal</a>&lt;T, SE3&lt;T&gt;, 6&gt;</td>
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 <div class="memproto">
       <table class="memname">
         <tr>
-          <td class="memname">typedef <a class="el" href="#ac36c4f295327639b98a801301e288845">SO2Signal</a>&lt;double&gt; <a class="el" href="#a43a8b3bb4241f080c75114c98502e21b">SO2dSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#acbd9dbde916447b024121b565ee6ea96">SO2Signal</a>&lt;double&gt; <a class="el" href="#a43a8b3bb4241f080c75114c98502e21b">SO2dSignal</a></td>
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-<h2 class="memtitle"><span class="permalink"><a href="#ac36c4f295327639b98a801301e288845">&#9670;&#160;</a></span>SO2Signal</h2>
+<a id="acbd9dbde916447b024121b565ee6ea96" name="acbd9dbde916447b024121b565ee6ea96"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acbd9dbde916447b024121b565ee6ea96">&#9670;&#160;</a></span>SO2Signal</h2>
 
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
-          <td class="memname">using <a class="el" href="#ac36c4f295327639b98a801301e288845">SO2Signal</a> = <a class="el" href="#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal</a>&lt;T, SO2 &lt;T&gt;, 1 &gt;</td>
+          <td class="memname">using <a class="el" href="#acbd9dbde916447b024121b565ee6ea96">SO2Signal</a> = <a class="el" href="#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal</a>&lt;T, SO2&lt;T&gt;, 1&gt;</td>
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@@ -455,23 +461,23 @@ <h2 class="memtitle"><span class="permalink"><a href="#a1fbce3445fc6d54d3dfc2aa9
 <div class="memproto">
       <table class="memname">
         <tr>
-          <td class="memname">typedef <a class="el" href="#afca3faa089af1abf0b808bcb6be5e740">SO3Signal</a>&lt;double&gt; <a class="el" href="#a1fbce3445fc6d54d3dfc2aa95fdcc37f">SO3dSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#a25f5e910566ad4b1b610a8eebb96274d">SO3Signal</a>&lt;double&gt; <a class="el" href="#a1fbce3445fc6d54d3dfc2aa95fdcc37f">SO3dSignal</a></td>
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 </div>
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-<h2 class="memtitle"><span class="permalink"><a href="#afca3faa089af1abf0b808bcb6be5e740">&#9670;&#160;</a></span>SO3Signal</h2>
+<a id="a25f5e910566ad4b1b610a8eebb96274d" name="a25f5e910566ad4b1b610a8eebb96274d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a25f5e910566ad4b1b610a8eebb96274d">&#9670;&#160;</a></span>SO3Signal</h2>
 
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 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
-          <td class="memname">using <a class="el" href="#afca3faa089af1abf0b808bcb6be5e740">SO3Signal</a> = <a class="el" href="#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal</a>&lt;T, SO3 &lt;T&gt;, 3 &gt;</td>
+          <td class="memname">using <a class="el" href="#a25f5e910566ad4b1b610a8eebb96274d">SO3Signal</a> = <a class="el" href="#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal</a>&lt;T, SO3&lt;T&gt;, 3&gt;</td>
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@@ -485,23 +491,23 @@ <h2 class="memtitle"><span class="permalink"><a href="#a75b25f1facc38a02d21c155e
 <div class="memproto">
       <table class="memname">
         <tr>
-          <td class="memname">typedef <a class="el" href="#ae39387d9fa8cf1afc6a66334312b3e68">Vector10Signal</a>&lt;double&gt; <a class="el" href="#a75b25f1facc38a02d21c155ec05655cc">Vector10dSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#acda8904322955c5f969f290bf1a42595">Vector10Signal</a>&lt;double&gt; <a class="el" href="#a75b25f1facc38a02d21c155ec05655cc">Vector10dSignal</a></td>
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-<h2 class="memtitle"><span class="permalink"><a href="#ae39387d9fa8cf1afc6a66334312b3e68">&#9670;&#160;</a></span>Vector10Signal</h2>
+<a id="acda8904322955c5f969f290bf1a42595" name="acda8904322955c5f969f290bf1a42595"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acda8904322955c5f969f290bf1a42595">&#9670;&#160;</a></span>Vector10Signal</h2>
 
 <div class="memitem">
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 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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         <tr>
-          <td class="memname">using <a class="el" href="#ae39387d9fa8cf1afc6a66334312b3e68">Vector10Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 10 &gt;</td>
+          <td class="memname">using <a class="el" href="#acda8904322955c5f969f290bf1a42595">Vector10Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 10&gt;</td>
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 <div class="memproto">
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         <tr>
-          <td class="memname">typedef <a class="el" href="#a655827b9e6d4727905cbaae6a996df8f">Vector1Signal</a>&lt;double&gt; <a class="el" href="#a22bc2b41e336fe6237cfa41ac7b57d0b">Vector1dSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#a532b7bae92d23faa5962b50fab59ee1a">Vector1Signal</a>&lt;double&gt; <a class="el" href="#a22bc2b41e336fe6237cfa41ac7b57d0b">Vector1dSignal</a></td>
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 </div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a655827b9e6d4727905cbaae6a996df8f">&#9670;&#160;</a></span>Vector1Signal</h2>
+<a id="a532b7bae92d23faa5962b50fab59ee1a" name="a532b7bae92d23faa5962b50fab59ee1a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a532b7bae92d23faa5962b50fab59ee1a">&#9670;&#160;</a></span>Vector1Signal</h2>
 
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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         <tr>
-          <td class="memname">using <a class="el" href="#a655827b9e6d4727905cbaae6a996df8f">Vector1Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 1 &gt;</td>
+          <td class="memname">using <a class="el" href="#a532b7bae92d23faa5962b50fab59ee1a">Vector1Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 1&gt;</td>
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         <tr>
-          <td class="memname">typedef <a class="el" href="#af705b24c209ce15ac1b412cbe7e52615">Vector2Signal</a>&lt;double&gt; <a class="el" href="#a718e737386d2321f3e31df01ffe2fd61">Vector2dSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#af4c2088cbc0c8f8c95be6f22e990d0d1">Vector2Signal</a>&lt;double&gt; <a class="el" href="#a718e737386d2321f3e31df01ffe2fd61">Vector2dSignal</a></td>
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-<h2 class="memtitle"><span class="permalink"><a href="#af705b24c209ce15ac1b412cbe7e52615">&#9670;&#160;</a></span>Vector2Signal</h2>
+<a id="af4c2088cbc0c8f8c95be6f22e990d0d1" name="af4c2088cbc0c8f8c95be6f22e990d0d1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af4c2088cbc0c8f8c95be6f22e990d0d1">&#9670;&#160;</a></span>Vector2Signal</h2>
 
 <div class="memitem">
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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         <tr>
-          <td class="memname">using <a class="el" href="#af705b24c209ce15ac1b412cbe7e52615">Vector2Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 2 &gt;</td>
+          <td class="memname">using <a class="el" href="#af4c2088cbc0c8f8c95be6f22e990d0d1">Vector2Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 2&gt;</td>
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         <tr>
-          <td class="memname">typedef <a class="el" href="#a6f00143250c4d5856a25417d2fb5908f">Vector3Signal</a>&lt;double&gt; <a class="el" href="#addff0c3095fce02a8ae3d8669292ea8a">Vector3dSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#a59c30838434bb9eabab59a54a0dceb9f">Vector3Signal</a>&lt;double&gt; <a class="el" href="#addff0c3095fce02a8ae3d8669292ea8a">Vector3dSignal</a></td>
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-<h2 class="memtitle"><span class="permalink"><a href="#a6f00143250c4d5856a25417d2fb5908f">&#9670;&#160;</a></span>Vector3Signal</h2>
+<a id="a59c30838434bb9eabab59a54a0dceb9f" name="a59c30838434bb9eabab59a54a0dceb9f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a59c30838434bb9eabab59a54a0dceb9f">&#9670;&#160;</a></span>Vector3Signal</h2>
 
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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         <tr>
-          <td class="memname">using <a class="el" href="#a6f00143250c4d5856a25417d2fb5908f">Vector3Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 3 &gt;</td>
+          <td class="memname">using <a class="el" href="#a59c30838434bb9eabab59a54a0dceb9f">Vector3Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 3&gt;</td>
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-          <td class="memname">typedef <a class="el" href="#a30e3e4193a15b7c565df9edcf0b1a81b">Vector4Signal</a>&lt;double&gt; <a class="el" href="#a785560e5ddb26fcf9edc2eb9f34e7ec8">Vector4dSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#a04b5a6ff0c189cb66f0e3137b1362c30">Vector4Signal</a>&lt;double&gt; <a class="el" href="#a785560e5ddb26fcf9edc2eb9f34e7ec8">Vector4dSignal</a></td>
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-<h2 class="memtitle"><span class="permalink"><a href="#a30e3e4193a15b7c565df9edcf0b1a81b">&#9670;&#160;</a></span>Vector4Signal</h2>
+<a id="a04b5a6ff0c189cb66f0e3137b1362c30" name="a04b5a6ff0c189cb66f0e3137b1362c30"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a04b5a6ff0c189cb66f0e3137b1362c30">&#9670;&#160;</a></span>Vector4Signal</h2>
 
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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-          <td class="memname">using <a class="el" href="#a30e3e4193a15b7c565df9edcf0b1a81b">Vector4Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 4 &gt;</td>
+          <td class="memname">using <a class="el" href="#a04b5a6ff0c189cb66f0e3137b1362c30">Vector4Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 4&gt;</td>
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         <tr>
-          <td class="memname">typedef <a class="el" href="#ab517aee0ae3891deb305ebd61de6f0e4">Vector5Signal</a>&lt;double&gt; <a class="el" href="#ad0b807d45bcfe07cc9a2f54648dd4821">Vector5dSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#a9f0b242918cfdc4b6eaecdeb6574b6cb">Vector5Signal</a>&lt;double&gt; <a class="el" href="#ad0b807d45bcfe07cc9a2f54648dd4821">Vector5dSignal</a></td>
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-<h2 class="memtitle"><span class="permalink"><a href="#ab517aee0ae3891deb305ebd61de6f0e4">&#9670;&#160;</a></span>Vector5Signal</h2>
+<a id="a9f0b242918cfdc4b6eaecdeb6574b6cb" name="a9f0b242918cfdc4b6eaecdeb6574b6cb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9f0b242918cfdc4b6eaecdeb6574b6cb">&#9670;&#160;</a></span>Vector5Signal</h2>
 
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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-          <td class="memname">using <a class="el" href="#ab517aee0ae3891deb305ebd61de6f0e4">Vector5Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 5 &gt;</td>
+          <td class="memname">using <a class="el" href="#a9f0b242918cfdc4b6eaecdeb6574b6cb">Vector5Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 5&gt;</td>
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@@ -665,23 +671,23 @@ <h2 class="memtitle"><span class="permalink"><a href="#acb50cf2886559fdfc3aba4ee
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-          <td class="memname">typedef <a class="el" href="#a74174cf187bc4e74b3e7494b247e0284">Vector6Signal</a>&lt;double&gt; <a class="el" href="#acb50cf2886559fdfc3aba4ee722f511a">Vector6dSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#a4da3e39a6224769606055a56f1508e6b">Vector6Signal</a>&lt;double&gt; <a class="el" href="#acb50cf2886559fdfc3aba4ee722f511a">Vector6dSignal</a></td>
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-<a id="a74174cf187bc4e74b3e7494b247e0284" name="a74174cf187bc4e74b3e7494b247e0284"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a74174cf187bc4e74b3e7494b247e0284">&#9670;&#160;</a></span>Vector6Signal</h2>
+<a id="a4da3e39a6224769606055a56f1508e6b" name="a4da3e39a6224769606055a56f1508e6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4da3e39a6224769606055a56f1508e6b">&#9670;&#160;</a></span>Vector6Signal</h2>
 
 <div class="memitem">
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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         <tr>
-          <td class="memname">using <a class="el" href="#a74174cf187bc4e74b3e7494b247e0284">Vector6Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 6 &gt;</td>
+          <td class="memname">using <a class="el" href="#a4da3e39a6224769606055a56f1508e6b">Vector6Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 6&gt;</td>
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@@ -695,23 +701,23 @@ <h2 class="memtitle"><span class="permalink"><a href="#afea76be78e2b329344fb610a
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-          <td class="memname">typedef <a class="el" href="#a992c3596420601f0271876e30a152c1b">Vector7Signal</a>&lt;double&gt; <a class="el" href="#afea76be78e2b329344fb610a62c421e9">Vector7dSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#ac71cd26f6afca210f51cc394d520779b">Vector7Signal</a>&lt;double&gt; <a class="el" href="#afea76be78e2b329344fb610a62c421e9">Vector7dSignal</a></td>
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-<a id="a992c3596420601f0271876e30a152c1b" name="a992c3596420601f0271876e30a152c1b"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a992c3596420601f0271876e30a152c1b">&#9670;&#160;</a></span>Vector7Signal</h2>
+<a id="ac71cd26f6afca210f51cc394d520779b" name="ac71cd26f6afca210f51cc394d520779b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac71cd26f6afca210f51cc394d520779b">&#9670;&#160;</a></span>Vector7Signal</h2>
 
 <div class="memitem">
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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-          <td class="memname">using <a class="el" href="#a992c3596420601f0271876e30a152c1b">Vector7Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 7 &gt;</td>
+          <td class="memname">using <a class="el" href="#ac71cd26f6afca210f51cc394d520779b">Vector7Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 7&gt;</td>
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@@ -725,23 +731,23 @@ <h2 class="memtitle"><span class="permalink"><a href="#ad2214d5fb3267b191128fccc
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         <tr>
-          <td class="memname">typedef <a class="el" href="#afaa686fc5ec63962f7da9907e6093e65">Vector8Signal</a>&lt;double&gt; <a class="el" href="#ad2214d5fb3267b191128fcccb515448b">Vector8dSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#a6fe111909e599c7d732507ef08213e06">Vector8Signal</a>&lt;double&gt; <a class="el" href="#ad2214d5fb3267b191128fcccb515448b">Vector8dSignal</a></td>
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-<h2 class="memtitle"><span class="permalink"><a href="#afaa686fc5ec63962f7da9907e6093e65">&#9670;&#160;</a></span>Vector8Signal</h2>
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+          <td class="memname">using <a class="el" href="#a6fe111909e599c7d732507ef08213e06">Vector8Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 8&gt;</td>
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-          <td class="memname">typedef <a class="el" href="#a20d6ecf779577c444e3d1299861a3f8b">Vector9Signal</a>&lt;double&gt; <a class="el" href="#acd349d949f45a7bce633414d05043cc3">Vector9dSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#ae78698ceb51c16ea2ffea1ea2b5507e3">Vector9Signal</a>&lt;double&gt; <a class="el" href="#acd349d949f45a7bce633414d05043cc3">Vector9dSignal</a></td>
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-<h2 class="memtitle"><span class="permalink"><a href="#a20d6ecf779577c444e3d1299861a3f8b">&#9670;&#160;</a></span>Vector9Signal</h2>
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+template&lt;typename T&gt; </div>
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-          <td class="memname">using <a class="el" href="#a20d6ecf779577c444e3d1299861a3f8b">Vector9Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 9 &gt;</td>
+          <td class="memname">using <a class="el" href="#ae78698ceb51c16ea2ffea1ea2b5507e3">Vector9Signal</a> = <a class="el" href="#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a>&lt;T, 9&gt;</td>
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-template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
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-          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em></span>, </td>
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-template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
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           <td class="memname"><a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; operator* </td>
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+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em></span>, </td>
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-template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
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           <td class="memname"><a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; operator+ </td>
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-          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em></span>, </td>
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+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em></span>, </td>
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-template&lt;typename T , typename ManifoldType , size_t d&gt; </div>
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-          <td class="paramtype">std::ostream &amp;</td>          <td class="paramname"><span class="paramname"><em>os</em>, </span></td>
+          <td class="paramtype">std::ostream &amp;</td>          <td class="paramname"><span class="paramname"><em>os</em></span>, </td>
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+          <td class="paramtype">std::ostream &amp;</td>          <td class="paramname"><span class="paramname"><em>os</em></span>, </td>
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index d2f5430..bac5337 100644
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+++ b/docs/Signal_8h.js
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-    [ "SE2Signal", "Signal_8h.html#ad643119cf3272132185b21288c55d408", null ],
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-    [ "SE3Signal", "Signal_8h.html#a765b6ae13329153a6b634a059a9402a3", null ],
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+    [ "SO2Signal", "Signal_8h.html#acbd9dbde916447b024121b565ee6ea96", null ],
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-    [ "SO3Signal", "Signal_8h.html#afca3faa089af1abf0b808bcb6be5e740", null ],
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-    [ "Vector10Signal", "Signal_8h.html#ae39387d9fa8cf1afc6a66334312b3e68", null ],
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-    [ "Vector1Signal", "Signal_8h.html#a655827b9e6d4727905cbaae6a996df8f", null ],
+    [ "Vector1Signal", "Signal_8h.html#a532b7bae92d23faa5962b50fab59ee1a", null ],
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-    [ "Vector2Signal", "Signal_8h.html#af705b24c209ce15ac1b412cbe7e52615", null ],
+    [ "Vector2Signal", "Signal_8h.html#af4c2088cbc0c8f8c95be6f22e990d0d1", null ],
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-    [ "Vector3Signal", "Signal_8h.html#a6f00143250c4d5856a25417d2fb5908f", null ],
+    [ "Vector3Signal", "Signal_8h.html#a59c30838434bb9eabab59a54a0dceb9f", null ],
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-    [ "Vector4Signal", "Signal_8h.html#a30e3e4193a15b7c565df9edcf0b1a81b", null ],
+    [ "Vector4Signal", "Signal_8h.html#a04b5a6ff0c189cb66f0e3137b1362c30", null ],
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-    [ "Vector5Signal", "Signal_8h.html#ab517aee0ae3891deb305ebd61de6f0e4", null ],
+    [ "Vector5Signal", "Signal_8h.html#a9f0b242918cfdc4b6eaecdeb6574b6cb", null ],
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-    [ "Vector6Signal", "Signal_8h.html#a74174cf187bc4e74b3e7494b247e0284", null ],
+    [ "Vector6Signal", "Signal_8h.html#a4da3e39a6224769606055a56f1508e6b", null ],
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-    [ "Vector7Signal", "Signal_8h.html#a992c3596420601f0271876e30a152c1b", null ],
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 <div id="doc-content">
@@ -118,14 +117,14 @@
 <div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &quot;<a class="code" href="Utils_8h.html">Utils.h</a>&quot;</span></div>
 <div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
 <div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="keyword">using namespace </span>Eigen;</div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span></div>
 <div class="foldopen" id="foldopen00016" data-start="{" data-end="};">
 <div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284">   16</a></span><span class="keyword">enum</span> <a class="code hl_enumeration" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284">InterpolationMethod</a></div>
 <div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>{</div>
 <div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284ad873f8ab97a3f6e892c8b834b23db574">   18</a></span>    <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284ad873f8ab97a3f6e892c8b834b23db574">ZERO_ORDER_HOLD</a>,</div>
 <div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb">   19</a></span>    <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284adc101ebf31c49c2d4b80b7c6f59f22cb">LINEAR</a>,</div>
-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc">CUBIC_SPLINE</a></div>
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc">   21</a></span>};</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc">   20</a></span>    <a class="code hl_enumvalue" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284a13480ea7779c90806a9fa4ef70322ebc">CUBIC_SPLINE</a></div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>};</div>
 </div>
 <div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
 <div class="foldopen" id="foldopen00023" data-start="{" data-end="};">
@@ -133,21 +132,21 @@
 <div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>{</div>
 <div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4af4517d0db561241ccfcf150e1629767f">   25</a></span>    <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4af4517d0db561241ccfcf150e1629767f">NANS</a>,</div>
 <div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f">   26</a></span>    <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f">ZEROS</a>,</div>
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3">CLOSEST</a></div>
-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"><a class="line" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3">   28</a></span>};</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3">   27</a></span>    <a class="code hl_enumvalue" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a901e715f86c693ccd2851e8c0b64cca3">CLOSEST</a></div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>};</div>
 </div>
 <div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
 <div class="foldopen" id="foldopen00030" data-start="{" data-end="};">
 <div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242">   30</a></span><span class="keyword">enum</span> <a class="code hl_enumeration" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242">DerivativeMethod</a></div>
 <div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>{</div>
 <div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c">   32</a></span>    <a class="code hl_enumvalue" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c">DIRTY</a>,</div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <a class="code hl_enumvalue" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e">FINITE_DIFF</a></div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"><a class="line" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e">   34</a></span>};</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e">   33</a></span>    <a class="code hl_enumvalue" href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e">FINITE_DIFF</a></div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>};</div>
 </div>
 <div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
 <div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> BaseSignalSpec, <span class="keyword">typename</span> TangentSignalSpec&gt;</div>
 <div class="foldopen" id="foldopen00037" data-start="{" data-end="};">
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="classSignal.html">   37</a></span><span class="keyword">class </span><a class="code hl_class" href="classSignal.html">Signal</a></div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="classSignal.html">   37</a></span><span class="keyword">class </span><a class="code hl_function" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal</a></div>
 <div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>{</div>
 <div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span><span class="keyword">public</span>:</div>
 <div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">   40</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a>    = <span class="keyword">typename</span> BaseSignalSpec::Type;</div>
@@ -168,7 +167,7 @@
 <div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span><span class="keyword">        </span>{</div>
 <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>            <span class="keywordflow">return</span> a.<a class="code hl_variable" href="structSignal_1_1SignalDP.html#ac9d0651b25c9bcf14fcfc65a32fcfa86">t</a> &lt; b.<a class="code hl_variable" href="structSignal_1_1SignalDP.html#ac9d0651b25c9bcf14fcfc65a32fcfa86">t</a>;</div>
 <div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>        }</div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">   56</a></span>    } <a class="code hl_variable" href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">SignalDPComparator</a>;</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classSignal.html#a6db70e8a2784b5596a47f2249a2627b7">   56</a></span>    } <a class="code hl_variable" href="classSignal.html#a6db70e8a2784b5596a47f2249a2627b7">SignalDPComparator</a>;</div>
 <div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
 <div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">   58</a></span>    <a class="code hl_enumeration" href="Signal_8h.html#aa0081e804011c551ea0f4a596a64b284">InterpolationMethod</a> <a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a>;</div>
 <div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">   59</a></span>    <a class="code hl_enumeration" href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4">ExtrapolationMethod</a> <a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a>;</div>
@@ -185,7 +184,7 @@
 </div>
 <div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
 <div class="foldopen" id="foldopen00070" data-start="{" data-end="}">
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="classSignal.html#a81a95abda92d3efc0bd4b4ccba77e303">   70</a></span>    <a class="code hl_function" href="classSignal.html#a81a95abda92d3efc0bd4b4ccba77e303">Signal</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal</a>&amp; other)</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="classSignal.html#a81a95abda92d3efc0bd4b4ccba77e303">   70</a></span>    <a class="code hl_function" href="classSignal.html#a81a95abda92d3efc0bd4b4ccba77e303">Signal</a>(<span class="keyword">const</span> <a class="code hl_function" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal</a>&amp; other)</div>
 <div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    {</div>
 <div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        this-&gt;interpolationMethod = other.<a class="code hl_variable" href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">interpolationMethod</a>;</div>
 <div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        this-&gt;extrapolationMethod = other.<a class="code hl_variable" href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">extrapolationMethod</a>;</div>
@@ -199,9 +198,9 @@
 </div>
 <div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
 <div class="foldopen" id="foldopen00082" data-start="{" data-end="}">
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="classSignal.html#a95241f68d33194232ba1eea1747a5231">   82</a></span>    <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a> <a class="code hl_function" href="classSignal.html#a95241f68d33194232ba1eea1747a5231">dotSignal</a>()</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="classSignal.html#a95241f68d33194232ba1eea1747a5231">   82</a></span>    <a class="code hl_function" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a> <a class="code hl_function" href="classSignal.html#a95241f68d33194232ba1eea1747a5231">dotSignal</a>()</div>
 <div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    {</div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>        <a class="code hl_class" href="classSignal.html">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a> signalDot;</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>        <a class="code hl_function" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal&lt;TangentSignalSpec, TangentSignalSpec&gt;</a> signalDot;</div>
 <div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>        <span class="keywordflow">for</span> (<span class="keyword">auto</span> signalDP : signalHistory_)</div>
 <div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        {</div>
 <div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>            signalDot.<a class="code hl_function" href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">update</a>(signalDP.t, signalDP.xdot, <span class="keyword">true</span>);</div>
@@ -212,16 +211,16 @@
 </div>
 <div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
 <div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BSS, <span class="keyword">typename</span> TSS&gt;</div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classSignal.html#aead0dbc78a90fbd6ad3f86ab61ed65f7">   94</a></span>    <span class="keyword">friend</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a> <a class="code hl_friend" href="classSignal.html#aead0dbc78a90fbd6ad3f86ab61ed65f7">operator+</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a>&amp; l, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TSS, TSS&gt;</a>&amp; r);</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classSignal.html#aead0dbc78a90fbd6ad3f86ab61ed65f7">   94</a></span>    <span class="keyword">friend</span> <a class="code hl_function" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal&lt;BSS, TSS&gt;</a> <a class="code hl_friend" href="classSignal.html#aead0dbc78a90fbd6ad3f86ab61ed65f7">operator+</a>(<span class="keyword">const</span> <a class="code hl_function" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal&lt;BSS, TSS&gt;</a>&amp; l, <span class="keyword">const</span> <a class="code hl_function" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal&lt;TSS, TSS&gt;</a>&amp; r);</div>
 <div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
 <div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BSS, <span class="keyword">typename</span> TSS&gt;</div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classSignal.html#a22d02130c5fec79a084ef4d1a28521dc">   97</a></span>    <span class="keyword">friend</span> <a class="code hl_class" href="classSignal.html">Signal&lt;TSS, TSS&gt;</a> <a class="code hl_friend" href="classSignal.html#a22d02130c5fec79a084ef4d1a28521dc">operator-</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a>&amp; l, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a>&amp; r);</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classSignal.html#a22d02130c5fec79a084ef4d1a28521dc">   97</a></span>    <span class="keyword">friend</span> <a class="code hl_function" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal&lt;TSS, TSS&gt;</a> <a class="code hl_friend" href="classSignal.html#a22d02130c5fec79a084ef4d1a28521dc">operator-</a>(<span class="keyword">const</span> <a class="code hl_function" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal&lt;BSS, TSS&gt;</a>&amp; l, <span class="keyword">const</span> <a class="code hl_function" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal&lt;BSS, TSS&gt;</a>&amp; r);</div>
 <div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
 <div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BSS, <span class="keyword">typename</span> TSS&gt;</div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="classSignal.html#ad61a2749da48601dcf27bedaa0cf54fd">  100</a></span>    <span class="keyword">friend</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a> <a class="code hl_friend" href="classSignal.html#ad61a2749da48601dcf27bedaa0cf54fd">operator*</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; l, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a>&amp; r);</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="classSignal.html#ad61a2749da48601dcf27bedaa0cf54fd">  100</a></span>    <span class="keyword">friend</span> <a class="code hl_function" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal&lt;BSS, TSS&gt;</a> <a class="code hl_friend" href="classSignal.html#ad61a2749da48601dcf27bedaa0cf54fd">operator*</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; l, <span class="keyword">const</span> <a class="code hl_function" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal&lt;BSS, TSS&gt;</a>&amp; r);</div>
 <div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
 <div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> BSS, <span class="keyword">typename</span> TSS&gt;</div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="classSignal.html#ae5d88905516fd17257964442b0830584">  103</a></span>    <span class="keyword">friend</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a> <a class="code hl_friend" href="classSignal.html#ae5d88905516fd17257964442b0830584">operator*</a>(<span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">Signal&lt;BSS, TSS&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r);</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="classSignal.html#ae5d88905516fd17257964442b0830584">  103</a></span>    <span class="keyword">friend</span> <a class="code hl_function" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal&lt;BSS, TSS&gt;</a> <a class="code hl_friend" href="classSignal.html#ae5d88905516fd17257964442b0830584">operator*</a>(<span class="keyword">const</span> <a class="code hl_function" href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal&lt;BSS, TSS&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r);</div>
 <div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span> </div>
 <div class="foldopen" id="foldopen00105" data-start="{" data-end="}">
 <div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">  105</a></span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>()<span class="keyword"> const</span></div>
@@ -338,7 +337,7 @@
 <div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>            {</div>
 <div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>                <span class="keywordflow">if</span> (needsSort_)</div>
 <div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>                {</div>
-<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>                    std::sort(signalHistory_.begin(), signalHistory_.end(), <a class="code hl_variable" href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">SignalDPComparator</a>);</div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>                    std::sort(signalHistory_.begin(), signalHistory_.end(), <a class="code hl_variable" href="classSignal.html#a6db70e8a2784b5596a47f2249a2627b7">SignalDPComparator</a>);</div>
 <div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>                    needsSort_ = <span class="keyword">false</span>;</div>
 <div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>                }</div>
 <div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>                <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
@@ -375,7 +374,7 @@
 <div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>        }</div>
 <div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>        <span class="keywordflow">if</span> (needsSort_)</div>
 <div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>        {</div>
-<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>            std::sort(signalHistory_.begin(), signalHistory_.end(), <a class="code hl_variable" href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">SignalDPComparator</a>);</div>
+<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>            std::sort(signalHistory_.begin(), signalHistory_.end(), <a class="code hl_variable" href="classSignal.html#a6db70e8a2784b5596a47f2249a2627b7">SignalDPComparator</a>);</div>
 <div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>            needsSort_ = <span class="keyword">false</span>;</div>
 <div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span>        }</div>
 <div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
@@ -403,7 +402,7 @@
 <div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>        }</div>
 <div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>        <span class="keywordflow">if</span> (needsSort_)</div>
 <div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span>        {</div>
-<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>            std::sort(signalHistory_.begin(), signalHistory_.end(), <a class="code hl_variable" href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">SignalDPComparator</a>);</div>
+<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>            std::sort(signalHistory_.begin(), signalHistory_.end(), <a class="code hl_variable" href="classSignal.html#a6db70e8a2784b5596a47f2249a2627b7">SignalDPComparator</a>);</div>
 <div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>            needsSort_ = <span class="keyword">false</span>;</div>
 <div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span>        }</div>
 <div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
@@ -836,11 +835,11 @@
 </div>
 <div class="line"><a id="l00659" name="l00659"></a><span class="lineno">  659</span> </div>
 <div class="line"><a id="l00660" name="l00660"></a><span class="lineno">  660</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="line"><a id="l00661" name="l00661"></a><span class="lineno"><a class="line" href="Signal_8h.html#a19e9e3fdf9dac462c6fb79ee572d2b4c">  661</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">ScalarSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ScalarSignalSpec&lt;T&gt;</a>, <a class="code hl_struct" href="structScalarSignalSpec.html">ScalarSignalSpec&lt;T&gt;</a>&gt;;</div>
+<div class="line"><a id="l00661" name="l00661"></a><span class="lineno"><a class="line" href="Signal_8h.html#a19e9e3fdf9dac462c6fb79ee572d2b4c">  661</a></span><span class="keyword">using </span><a class="code hl_typedef" href="Signal_8h.html#a19e9e3fdf9dac462c6fb79ee572d2b4c">ScalarSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ScalarSignalSpec&lt;T&gt;</a>, <a class="code hl_struct" href="structScalarSignalSpec.html">ScalarSignalSpec&lt;T&gt;</a>&gt;;</div>
 <div class="line"><a id="l00662" name="l00662"></a><span class="lineno">  662</span> </div>
 <div class="line"><a id="l00663" name="l00663"></a><span class="lineno">  663</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
 <div class="foldopen" id="foldopen00664" data-start="{" data-end="}">
-<div class="line"><a id="l00664" name="l00664"></a><span class="lineno"><a class="line" href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">  664</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">ScalarSignal&lt;T&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00664" name="l00664"></a><span class="lineno"><a class="line" href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">  664</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_typedef" href="Signal_8h.html#a19e9e3fdf9dac462c6fb79ee572d2b4c">ScalarSignal&lt;T&gt;</a>&amp; x)</div>
 <div class="line"><a id="l00665" name="l00665"></a><span class="lineno">  665</span>{</div>
 <div class="line"><a id="l00666" name="l00666"></a><span class="lineno">  666</span>    os &lt;&lt; <span class="stringliteral">&quot;ScalarSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: &quot;</span> &lt;&lt; x();</div>
 <div class="line"><a id="l00667" name="l00667"></a><span class="lineno">  667</span>    <span class="keywordflow">return</span> os;</div>
@@ -848,11 +847,11 @@
 </div>
 <div class="line"><a id="l00669" name="l00669"></a><span class="lineno">  669</span> </div>
 <div class="line"><a id="l00670" name="l00670"></a><span class="lineno">  670</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
-<div class="line"><a id="l00671" name="l00671"></a><span class="lineno"><a class="line" href="Signal_8h.html#a51a32a4dd69ee28867dba6202c812c5a">  671</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">VectorSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;VectorSignalSpec&lt;T, d&gt;</a>, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, d&gt;</a>&gt;;</div>
+<div class="line"><a id="l00671" name="l00671"></a><span class="lineno"><a class="line" href="Signal_8h.html#a51a32a4dd69ee28867dba6202c812c5a">  671</a></span><span class="keyword">using </span><a class="code hl_typedef" href="Signal_8h.html#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;VectorSignalSpec&lt;T, d&gt;</a>, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, d&gt;</a>&gt;;</div>
 <div class="line"><a id="l00672" name="l00672"></a><span class="lineno">  672</span> </div>
 <div class="line"><a id="l00673" name="l00673"></a><span class="lineno">  673</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
 <div class="foldopen" id="foldopen00674" data-start="{" data-end="}">
-<div class="line"><a id="l00674" name="l00674"></a><span class="lineno"><a class="line" href="Signal_8h.html#aeb7f6d79d7e692981221b685c0863d54">  674</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">VectorSignal&lt;T, d&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00674" name="l00674"></a><span class="lineno"><a class="line" href="Signal_8h.html#aeb7f6d79d7e692981221b685c0863d54">  674</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_typedef" href="Signal_8h.html#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal&lt;T, d&gt;</a>&amp; x)</div>
 <div class="line"><a id="l00675" name="l00675"></a><span class="lineno">  675</span>{</div>
 <div class="line"><a id="l00676" name="l00676"></a><span class="lineno">  676</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: &quot;</span> &lt;&lt; x().transpose();</div>
 <div class="line"><a id="l00677" name="l00677"></a><span class="lineno">  677</span>    <span class="keywordflow">return</span> os;</div>
@@ -860,11 +859,11 @@
 </div>
 <div class="line"><a id="l00679" name="l00679"></a><span class="lineno">  679</span> </div>
 <div class="line"><a id="l00680" name="l00680"></a><span class="lineno">  680</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> d&gt;</div>
-<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"><a class="line" href="Signal_8h.html#a278e5023dd90a58b58ce28b413ecec4a">  681</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">ManifoldSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ManifoldSignalSpec&lt;ManifoldType&gt;</a>, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, d&gt;</a>&gt;;</div>
+<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"><a class="line" href="Signal_8h.html#a278e5023dd90a58b58ce28b413ecec4a">  681</a></span><span class="keyword">using </span><a class="code hl_typedef" href="Signal_8h.html#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ManifoldSignalSpec&lt;ManifoldType&gt;</a>, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, d&gt;</a>&gt;;</div>
 <div class="line"><a id="l00682" name="l00682"></a><span class="lineno">  682</span> </div>
 <div class="line"><a id="l00683" name="l00683"></a><span class="lineno">  683</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> d&gt;</div>
 <div class="foldopen" id="foldopen00684" data-start="{" data-end="}">
-<div class="line"><a id="l00684" name="l00684"></a><span class="lineno"><a class="line" href="Signal_8h.html#a6a76598b459ea2e14353617de437c808">  684</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">ManifoldSignal&lt;T, ManifoldType, d&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00684" name="l00684"></a><span class="lineno"><a class="line" href="Signal_8h.html#a6a76598b459ea2e14353617de437c808">  684</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_typedef" href="Signal_8h.html#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal&lt;T, ManifoldType, d&gt;</a>&amp; x)</div>
 <div class="line"><a id="l00685" name="l00685"></a><span class="lineno">  685</span>{</div>
 <div class="line"><a id="l00686" name="l00686"></a><span class="lineno">  686</span>    os &lt;&lt; <span class="stringliteral">&quot;ManifoldSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: &quot;</span> &lt;&lt; x();</div>
 <div class="line"><a id="l00687" name="l00687"></a><span class="lineno">  687</span>    <span class="keywordflow">return</span> os;</div>
@@ -885,7 +884,7 @@
 <div class="line"><a id="l00698" name="l00698"></a><span class="lineno">  698</span><span class="preprocessor">    typedef Manif##Signal&lt;double&gt; Manif##dSignal;</span></div>
 </div>
 <div class="line"><a id="l00699" name="l00699"></a><span class="lineno">  699</span> </div>
-<div class="line"><a id="l00700" name="l00700"></a><span class="lineno"><a class="line" href="Signal_8h.html#a5d3a7fde60e049b3fb16e62c397585a0">  700</a></span><span class="keyword">typedef</span> <a class="code hl_class" href="classSignal.html">ScalarSignal&lt;double&gt;</a> <a class="code hl_typedef" href="Signal_8h.html#a5d3a7fde60e049b3fb16e62c397585a0">ScalardSignal</a>;</div>
+<div class="line"><a id="l00700" name="l00700"></a><span class="lineno"><a class="line" href="Signal_8h.html#a5d3a7fde60e049b3fb16e62c397585a0">  700</a></span><span class="keyword">typedef</span> <a class="code hl_typedef" href="Signal_8h.html#a19e9e3fdf9dac462c6fb79ee572d2b4c">ScalarSignal&lt;double&gt;</a> <a class="code hl_typedef" href="Signal_8h.html#a5d3a7fde60e049b3fb16e62c397585a0">ScalardSignal</a>;</div>
 <div class="line"><a id="l00701" name="l00701"></a><span class="lineno"><a class="line" href="Signal_8h.html#a22bc2b41e336fe6237cfa41ac7b57d0b">  701</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(1)</div>
 <div class="line"><a id="l00702" name="l00702"></a><span class="lineno"><a class="line" href="Signal_8h.html#a718e737386d2321f3e31df01ffe2fd61">  702</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(2)</div>
 <div class="line"><a id="l00703" name="l00703"></a><span class="lineno"><a class="line" href="Signal_8h.html#addff0c3095fce02a8ae3d8669292ea8a">  703</a></span><a class="code hl_define" href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a>(3)</div>
@@ -900,11 +899,14 @@
 <div class="line"><a id="l00712" name="l00712"></a><span class="lineno"><a class="line" href="Signal_8h.html#a1fbce3445fc6d54d3dfc2aa95fdcc37f">  712</a></span><a class="code hl_define" href="Signal_8h.html#adf89e7a1e286d52fa755d04f0c087ea3">MAKE_MANIF_SIGNAL</a>(SO3, 3)</div>
 <div class="line"><a id="l00713" name="l00713"></a><span class="lineno"><a class="line" href="Signal_8h.html#a27317de3cebe688fdf9b1f89e8d749ea">  713</a></span><a class="code hl_define" href="Signal_8h.html#adf89e7a1e286d52fa755d04f0c087ea3">MAKE_MANIF_SIGNAL</a>(SE2, 3)</div>
 <div class="line"><a id="l00714" name="l00714"></a><span class="lineno"><a class="line" href="Signal_8h.html#a13875f09fcdcc6dd114766bacc38f01b">  714</a></span><a class="code hl_define" href="Signal_8h.html#adf89e7a1e286d52fa755d04f0c087ea3">MAKE_MANIF_SIGNAL</a>(SE3, 6)</div>
+<div class="ttc" id="aSignal_8h_html_a19e9e3fdf9dac462c6fb79ee572d2b4c"><div class="ttname"><a href="Signal_8h.html#a19e9e3fdf9dac462c6fb79ee572d2b4c">ScalarSignal</a></div><div class="ttdeci">Signal&lt; ScalarSignalSpec&lt; T &gt;, ScalarSignalSpec&lt; T &gt; &gt; ScalarSignal</div><div class="ttdef"><b>Definition</b> Signal.h:661</div></div>
+<div class="ttc" id="aSignal_8h_html_a278e5023dd90a58b58ce28b413ecec4a"><div class="ttname"><a href="Signal_8h.html#a278e5023dd90a58b58ce28b413ecec4a">ManifoldSignal</a></div><div class="ttdeci">Signal&lt; ManifoldSignalSpec&lt; ManifoldType &gt;, VectorSignalSpec&lt; T, d &gt; &gt; ManifoldSignal</div><div class="ttdef"><b>Definition</b> Signal.h:681</div></div>
 <div class="ttc" id="aSignal_8h_html_a35d05b0e727a39b86907d8669e9e1242"><div class="ttname"><a href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242">DerivativeMethod</a></div><div class="ttdeci">DerivativeMethod</div><div class="ttdef"><b>Definition</b> Signal.h:31</div></div>
 <div class="ttc" id="aSignal_8h_html_a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e"><div class="ttname"><a href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a31a5b438304c770230e3fbb9999c9c2e">FINITE_DIFF</a></div><div class="ttdeci">@ FINITE_DIFF</div><div class="ttdef"><b>Definition</b> Signal.h:33</div></div>
 <div class="ttc" id="aSignal_8h_html_a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c"><div class="ttname"><a href="Signal_8h.html#a35d05b0e727a39b86907d8669e9e1242a6a4e132eb192a22c351397837d4c082c">DIRTY</a></div><div class="ttdeci">@ DIRTY</div><div class="ttdef"><b>Definition</b> Signal.h:32</div></div>
 <div class="ttc" id="aSignal_8h_html_a45ef87a3bf4ac7938147e95995f76849"><div class="ttname"><a href="Signal_8h.html#a45ef87a3bf4ac7938147e95995f76849">MAKE_VECTOR_SIGNAL</a></div><div class="ttdeci">#define MAKE_VECTOR_SIGNAL(Dimension)</div><div class="ttdef"><b>Definition</b> Signal.h:690</div></div>
 <div class="ttc" id="aSignal_8h_html_a47318c97bced9b7ee828c94c1a4eeb29"><div class="ttname"><a href="Signal_8h.html#a47318c97bced9b7ee828c94c1a4eeb29">operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const ScalarSignal&lt; T &gt; &amp;x)</div><div class="ttdef"><b>Definition</b> Signal.h:664</div></div>
+<div class="ttc" id="aSignal_8h_html_a51a32a4dd69ee28867dba6202c812c5a"><div class="ttname"><a href="Signal_8h.html#a51a32a4dd69ee28867dba6202c812c5a">VectorSignal</a></div><div class="ttdeci">Signal&lt; VectorSignalSpec&lt; T, d &gt;, VectorSignalSpec&lt; T, d &gt; &gt; VectorSignal</div><div class="ttdef"><b>Definition</b> Signal.h:671</div></div>
 <div class="ttc" id="aSignal_8h_html_a5d3a7fde60e049b3fb16e62c397585a0"><div class="ttname"><a href="Signal_8h.html#a5d3a7fde60e049b3fb16e62c397585a0">ScalardSignal</a></div><div class="ttdeci">ScalarSignal&lt; double &gt; ScalardSignal</div><div class="ttdef"><b>Definition</b> Signal.h:700</div></div>
 <div class="ttc" id="aSignal_8h_html_a9943b8bd1a1a1cdb774553d44c12cde4"><div class="ttname"><a href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4">ExtrapolationMethod</a></div><div class="ttdeci">ExtrapolationMethod</div><div class="ttdef"><b>Definition</b> Signal.h:24</div></div>
 <div class="ttc" id="aSignal_8h_html_a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f"><div class="ttname"><a href="Signal_8h.html#a9943b8bd1a1a1cdb774553d44c12cde4a5d7341ec5879a7f47c5cb82c0fdf6b5f">ZEROS</a></div><div class="ttdeci">@ ZEROS</div><div class="ttdef"><b>Definition</b> Signal.h:26</div></div>
@@ -921,33 +923,33 @@
 <div class="ttc" id="aUtils_8h_html"><div class="ttname"><a href="Utils_8h.html">Utils.h</a></div></div>
 <div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:38</div></div>
 <div class="ttc" id="aclassSignal_html_a058783faf86f369b296c50d4e72c0881"><div class="ttname"><a href="classSignal.html#a058783faf86f369b296c50d4e72c0881">Signal::t</a></div><div class="ttdeci">double t() const</div><div class="ttdef"><b>Definition</b> Signal.h:105</div></div>
-<div class="ttc" id="aclassSignal_html_a22d02130c5fec79a084ef4d1a28521dc"><div class="ttname"><a href="classSignal.html#a22d02130c5fec79a084ef4d1a28521dc">Signal::operator-</a></div><div class="ttdeci">friend Signal&lt; TSS, TSS &gt; operator-(const Signal&lt; BSS, TSS &gt; &amp;l, const Signal&lt; BSS, TSS &gt; &amp;r)</div></div>
+<div class="ttc" id="aclassSignal_html_a22d02130c5fec79a084ef4d1a28521dc"><div class="ttname"><a href="classSignal.html#a22d02130c5fec79a084ef4d1a28521dc">Signal&lt; ScalarSignalSpec&lt; T &gt;, ScalarSignalSpec&lt; T &gt; &gt;::operator-</a></div><div class="ttdeci">friend Signal&lt; TSS, TSS &gt; operator-(const Signal&lt; BSS, TSS &gt; &amp;l, const Signal&lt; BSS, TSS &gt; &amp;r)</div></div>
 <div class="ttc" id="aclassSignal_html_a2d222b24cb25f6f228a0c69d71d95918"><div class="ttname"><a href="classSignal.html#a2d222b24cb25f6f228a0c69d71d95918">Signal::operator()</a></div><div class="ttdeci">BaseType operator()() const</div><div class="ttdef"><b>Definition</b> Signal.h:110</div></div>
-<div class="ttc" id="aclassSignal_html_a3961e7ce30f40f8104dd3d25f2e70a7f"><div class="ttname"><a href="classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f">Signal::SignalDPComparator</a></div><div class="ttdeci">struct Signal::@0 SignalDPComparator</div></div>
-<div class="ttc" id="aclassSignal_html_a5530308ef517fd0021f510d47c390dc0"><div class="ttname"><a href="classSignal.html#a5530308ef517fd0021f510d47c390dc0">Signal::update</a></div><div class="ttdeci">bool update(const std::vector&lt; double &gt; &amp;_tHistory, const std::vector&lt; BaseType &gt; &amp;_xHistory)</div><div class="ttdef"><b>Definition</b> Signal.h:208</div></div>
-<div class="ttc" id="aclassSignal_html_a6c7174c9bb20970ebb3de64687f771d8"><div class="ttname"><a href="classSignal.html#a6c7174c9bb20970ebb3de64687f771d8">Signal::update</a></div><div class="ttdeci">bool update(const double &amp;_t, const BaseType &amp;_x, const TangentType &amp;_xdot, bool insertHistory=false)</div><div class="ttdef"><b>Definition</b> Signal.h:184</div></div>
-<div class="ttc" id="aclassSignal_html_a74929b7332876f5aeddc9a05d26d3d32"><div class="ttname"><a href="classSignal.html#a74929b7332876f5aeddc9a05d26d3d32">Signal::update</a></div><div class="ttdeci">bool update(const std::vector&lt; double &gt; &amp;_tHistory, const std::vector&lt; BaseType &gt; &amp;_xHistory, const std::vector&lt; TangentType &gt; &amp;_xdotHistory)</div><div class="ttdef"><b>Definition</b> Signal.h:236</div></div>
-<div class="ttc" id="aclassSignal_html_a81a95abda92d3efc0bd4b4ccba77e303"><div class="ttname"><a href="classSignal.html#a81a95abda92d3efc0bd4b4ccba77e303">Signal::Signal</a></div><div class="ttdeci">Signal(const Signal &amp;other)</div><div class="ttdef"><b>Definition</b> Signal.h:70</div></div>
-<div class="ttc" id="aclassSignal_html_a8989cbb307917a9c1f6331be2a5ae4e9"><div class="ttname"><a href="classSignal.html#a8989cbb307917a9c1f6331be2a5ae4e9">Signal::dot</a></div><div class="ttdeci">TangentType dot(const double &amp;t) const</div><div class="ttdef"><b>Definition</b> Signal.h:125</div></div>
+<div class="ttc" id="aclassSignal_html_a5530308ef517fd0021f510d47c390dc0"><div class="ttname"><a href="classSignal.html#a5530308ef517fd0021f510d47c390dc0">Signal&lt; ScalarSignalSpec&lt; T &gt;, ScalarSignalSpec&lt; T &gt; &gt;::update</a></div><div class="ttdeci">bool update(const std::vector&lt; double &gt; &amp;_tHistory, const std::vector&lt; BaseType &gt; &amp;_xHistory)</div><div class="ttdef"><b>Definition</b> Signal.h:208</div></div>
+<div class="ttc" id="aclassSignal_html_a6c7174c9bb20970ebb3de64687f771d8"><div class="ttname"><a href="classSignal.html#a6c7174c9bb20970ebb3de64687f771d8">Signal&lt; ScalarSignalSpec&lt; T &gt;, ScalarSignalSpec&lt; T &gt; &gt;::update</a></div><div class="ttdeci">bool update(const double &amp;_t, const BaseType &amp;_x, const TangentType &amp;_xdot, bool insertHistory=false)</div><div class="ttdef"><b>Definition</b> Signal.h:184</div></div>
+<div class="ttc" id="aclassSignal_html_a6db70e8a2784b5596a47f2249a2627b7"><div class="ttname"><a href="classSignal.html#a6db70e8a2784b5596a47f2249a2627b7">Signal::SignalDPComparator</a></div><div class="ttdeci">struct Signal::@053250032031010315204017007310244260026177164207 SignalDPComparator</div></div>
+<div class="ttc" id="aclassSignal_html_a74929b7332876f5aeddc9a05d26d3d32"><div class="ttname"><a href="classSignal.html#a74929b7332876f5aeddc9a05d26d3d32">Signal&lt; ScalarSignalSpec&lt; T &gt;, ScalarSignalSpec&lt; T &gt; &gt;::update</a></div><div class="ttdeci">bool update(const std::vector&lt; double &gt; &amp;_tHistory, const std::vector&lt; BaseType &gt; &amp;_xHistory, const std::vector&lt; TangentType &gt; &amp;_xdotHistory)</div><div class="ttdef"><b>Definition</b> Signal.h:236</div></div>
+<div class="ttc" id="aclassSignal_html_a81a95abda92d3efc0bd4b4ccba77e303"><div class="ttname"><a href="classSignal.html#a81a95abda92d3efc0bd4b4ccba77e303">Signal&lt; ScalarSignalSpec&lt; T &gt;, ScalarSignalSpec&lt; T &gt; &gt;::Signal</a></div><div class="ttdeci">Signal(const Signal &amp;other)</div><div class="ttdef"><b>Definition</b> Signal.h:70</div></div>
+<div class="ttc" id="aclassSignal_html_a8989cbb307917a9c1f6331be2a5ae4e9"><div class="ttname"><a href="classSignal.html#a8989cbb307917a9c1f6331be2a5ae4e9">Signal&lt; ScalarSignalSpec&lt; T &gt;, ScalarSignalSpec&lt; T &gt; &gt;::dot</a></div><div class="ttdeci">TangentType dot(const double &amp;t) const</div><div class="ttdef"><b>Definition</b> Signal.h:125</div></div>
 <div class="ttc" id="aclassSignal_html_a8b12b8bc1e74ddbadb67248fab16c461"><div class="ttname"><a href="classSignal.html#a8b12b8bc1e74ddbadb67248fab16c461">Signal::dot</a></div><div class="ttdeci">TangentType dot() const</div><div class="ttdef"><b>Definition</b> Signal.h:115</div></div>
 <div class="ttc" id="aclassSignal_html_a8b5d0a9fba3546f500fed7e2102cd9a7"><div class="ttname"><a href="classSignal.html#a8b5d0a9fba3546f500fed7e2102cd9a7">Signal::Signal</a></div><div class="ttdeci">Signal()</div><div class="ttdef"><b>Definition</b> Signal.h:62</div></div>
-<div class="ttc" id="aclassSignal_html_a8c25f302d3c4feaa1a4c1f6d59381d89"><div class="ttname"><a href="classSignal.html#a8c25f302d3c4feaa1a4c1f6d59381d89">Signal::setDerivativeMethod</a></div><div class="ttdeci">void setDerivativeMethod(DerivativeMethod method)</div><div class="ttdef"><b>Definition</b> Signal.h:160</div></div>
+<div class="ttc" id="aclassSignal_html_a8c25f302d3c4feaa1a4c1f6d59381d89"><div class="ttname"><a href="classSignal.html#a8c25f302d3c4feaa1a4c1f6d59381d89">Signal&lt; ScalarSignalSpec&lt; T &gt;, ScalarSignalSpec&lt; T &gt; &gt;::setDerivativeMethod</a></div><div class="ttdeci">void setDerivativeMethod(DerivativeMethod method)</div><div class="ttdef"><b>Definition</b> Signal.h:160</div></div>
 <div class="ttc" id="aclassSignal_html_a914fd7f09ae0723c88fce310fd7c79fd"><div class="ttname"><a href="classSignal.html#a914fd7f09ae0723c88fce310fd7c79fd">Signal::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdef"><b>Definition</b> Signal.h:165</div></div>
-<div class="ttc" id="aclassSignal_html_a95241f68d33194232ba1eea1747a5231"><div class="ttname"><a href="classSignal.html#a95241f68d33194232ba1eea1747a5231">Signal::dotSignal</a></div><div class="ttdeci">Signal&lt; TangentSignalSpec, TangentSignalSpec &gt; dotSignal()</div><div class="ttdef"><b>Definition</b> Signal.h:82</div></div>
+<div class="ttc" id="aclassSignal_html_a95241f68d33194232ba1eea1747a5231"><div class="ttname"><a href="classSignal.html#a95241f68d33194232ba1eea1747a5231">Signal&lt; ScalarSignalSpec&lt; T &gt;, ScalarSignalSpec&lt; T &gt; &gt;::dotSignal</a></div><div class="ttdeci">Signal&lt; ScalarSignalSpec&lt; T &gt;, ScalarSignalSpec&lt; T &gt; &gt; dotSignal()</div><div class="ttdef"><b>Definition</b> Signal.h:82</div></div>
 <div class="ttc" id="aclassSignal_html_a9bda97fe7663f5481807259ca8bcd8cb"><div class="ttname"><a href="classSignal.html#a9bda97fe7663f5481807259ca8bcd8cb">Signal::BaseType</a></div><div class="ttdeci">typename BaseSignalSpec::Type BaseType</div><div class="ttdef"><b>Definition</b> Signal.h:40</div></div>
 <div class="ttc" id="aclassSignal_html_aa0094b1c69fd482de9de83b99634996a"><div class="ttname"><a href="classSignal.html#aa0094b1c69fd482de9de83b99634996a">Signal::TangentType</a></div><div class="ttdeci">typename TangentSignalSpec::Type TangentType</div><div class="ttdef"><b>Definition</b> Signal.h:41</div></div>
-<div class="ttc" id="aclassSignal_html_aad31a21f4a7d572da1e06e407ccacecd"><div class="ttname"><a href="classSignal.html#aad31a21f4a7d572da1e06e407ccacecd">Signal::dot</a></div><div class="ttdeci">std::vector&lt; TangentType &gt; dot(const std::vector&lt; double &gt; &amp;t) const</div><div class="ttdef"><b>Definition</b> Signal.h:140</div></div>
+<div class="ttc" id="aclassSignal_html_aad31a21f4a7d572da1e06e407ccacecd"><div class="ttname"><a href="classSignal.html#aad31a21f4a7d572da1e06e407ccacecd">Signal&lt; ScalarSignalSpec&lt; T &gt;, ScalarSignalSpec&lt; T &gt; &gt;::dot</a></div><div class="ttdeci">std::vector&lt; TangentType &gt; dot(const std::vector&lt; double &gt; &amp;t) const</div><div class="ttdef"><b>Definition</b> Signal.h:140</div></div>
 <div class="ttc" id="aclassSignal_html_ab91f52b80939a6c67b6863ee463b4ff0"><div class="ttname"><a href="classSignal.html#ab91f52b80939a6c67b6863ee463b4ff0">Signal::update</a></div><div class="ttdeci">bool update(const double &amp;_t, const BaseType &amp;_x, bool insertHistory=false)</div><div class="ttdef"><b>Definition</b> Signal.h:174</div></div>
-<div class="ttc" id="aclassSignal_html_abf8612dae8c835fa349c6f26201016eb"><div class="ttname"><a href="classSignal.html#abf8612dae8c835fa349c6f26201016eb">Signal::operator()</a></div><div class="ttdeci">std::vector&lt; BaseType &gt; operator()(const std::vector&lt; double &gt; &amp;t) const</div><div class="ttdef"><b>Definition</b> Signal.h:130</div></div>
-<div class="ttc" id="aclassSignal_html_ac0536cd4021cc4815a3dbb60c5b4f473"><div class="ttname"><a href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">Signal::derivativeMethod</a></div><div class="ttdeci">DerivativeMethod derivativeMethod</div><div class="ttdef"><b>Definition</b> Signal.h:60</div></div>
-<div class="ttc" id="aclassSignal_html_ac3be206ae717ad5e977d8a108de9b9e4"><div class="ttname"><a href="classSignal.html#ac3be206ae717ad5e977d8a108de9b9e4">Signal::setExtrapolationMethod</a></div><div class="ttdeci">void setExtrapolationMethod(ExtrapolationMethod method)</div><div class="ttdef"><b>Definition</b> Signal.h:155</div></div>
-<div class="ttc" id="aclassSignal_html_ad32d0b6b6bbc54ab8bd0fa63ed3039b9"><div class="ttname"><a href="classSignal.html#ad32d0b6b6bbc54ab8bd0fa63ed3039b9">Signal::operator()</a></div><div class="ttdeci">BaseType operator()(const double &amp;t) const</div><div class="ttdef"><b>Definition</b> Signal.h:120</div></div>
-<div class="ttc" id="aclassSignal_html_ad61a2749da48601dcf27bedaa0cf54fd"><div class="ttname"><a href="classSignal.html#ad61a2749da48601dcf27bedaa0cf54fd">Signal::operator*</a></div><div class="ttdeci">friend Signal&lt; BSS, TSS &gt; operator*(const double &amp;l, const Signal&lt; BSS, TSS &gt; &amp;r)</div></div>
-<div class="ttc" id="aclassSignal_html_ae4c3f0098aaec52921d28cce09ff1ed4"><div class="ttname"><a href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">Signal::interpolationMethod</a></div><div class="ttdeci">InterpolationMethod interpolationMethod</div><div class="ttdef"><b>Definition</b> Signal.h:58</div></div>
-<div class="ttc" id="aclassSignal_html_ae5d88905516fd17257964442b0830584"><div class="ttname"><a href="classSignal.html#ae5d88905516fd17257964442b0830584">Signal::operator*</a></div><div class="ttdeci">friend Signal&lt; BSS, TSS &gt; operator*(const Signal&lt; BSS, TSS &gt; &amp;l, const double &amp;r)</div></div>
-<div class="ttc" id="aclassSignal_html_aead0dbc78a90fbd6ad3f86ab61ed65f7"><div class="ttname"><a href="classSignal.html#aead0dbc78a90fbd6ad3f86ab61ed65f7">Signal::operator+</a></div><div class="ttdeci">friend Signal&lt; BSS, TSS &gt; operator+(const Signal&lt; BSS, TSS &gt; &amp;l, const Signal&lt; TSS, TSS &gt; &amp;r)</div></div>
-<div class="ttc" id="aclassSignal_html_af336f3d6a2d643040dff9fb5b4c20558"><div class="ttname"><a href="classSignal.html#af336f3d6a2d643040dff9fb5b4c20558">Signal::setInterpolationMethod</a></div><div class="ttdeci">void setInterpolationMethod(InterpolationMethod method)</div><div class="ttdef"><b>Definition</b> Signal.h:150</div></div>
-<div class="ttc" id="aclassSignal_html_aff76e692ad975b7721ecf6e60d33a11f"><div class="ttname"><a href="classSignal.html#aff76e692ad975b7721ecf6e60d33a11f">Signal::extrapolationMethod</a></div><div class="ttdeci">ExtrapolationMethod extrapolationMethod</div><div class="ttdef"><b>Definition</b> Signal.h:59</div></div>
+<div class="ttc" id="aclassSignal_html_abf8612dae8c835fa349c6f26201016eb"><div class="ttname"><a href="classSignal.html#abf8612dae8c835fa349c6f26201016eb">Signal&lt; ScalarSignalSpec&lt; T &gt;, ScalarSignalSpec&lt; T &gt; &gt;::operator()</a></div><div class="ttdeci">std::vector&lt; BaseType &gt; operator()(const std::vector&lt; double &gt; &amp;t) const</div><div class="ttdef"><b>Definition</b> Signal.h:130</div></div>
+<div class="ttc" id="aclassSignal_html_ac0536cd4021cc4815a3dbb60c5b4f473"><div class="ttname"><a href="classSignal.html#ac0536cd4021cc4815a3dbb60c5b4f473">Signal&lt; ScalarSignalSpec&lt; T &gt;, ScalarSignalSpec&lt; T &gt; &gt;&lt; double &gt;::derivativeMethod</a></div><div class="ttdeci">DerivativeMethod derivativeMethod</div><div class="ttdef"><b>Definition</b> Signal.h:60</div></div>
+<div class="ttc" id="aclassSignal_html_ac3be206ae717ad5e977d8a108de9b9e4"><div class="ttname"><a href="classSignal.html#ac3be206ae717ad5e977d8a108de9b9e4">Signal&lt; ScalarSignalSpec&lt; T &gt;, ScalarSignalSpec&lt; T &gt; &gt;::setExtrapolationMethod</a></div><div class="ttdeci">void setExtrapolationMethod(ExtrapolationMethod method)</div><div class="ttdef"><b>Definition</b> Signal.h:155</div></div>
+<div class="ttc" id="aclassSignal_html_ad32d0b6b6bbc54ab8bd0fa63ed3039b9"><div class="ttname"><a href="classSignal.html#ad32d0b6b6bbc54ab8bd0fa63ed3039b9">Signal&lt; ScalarSignalSpec&lt; T &gt;, ScalarSignalSpec&lt; T &gt; &gt;::operator()</a></div><div class="ttdeci">BaseType operator()(const double &amp;t) const</div><div class="ttdef"><b>Definition</b> Signal.h:120</div></div>
+<div class="ttc" id="aclassSignal_html_ad61a2749da48601dcf27bedaa0cf54fd"><div class="ttname"><a href="classSignal.html#ad61a2749da48601dcf27bedaa0cf54fd">Signal&lt; ScalarSignalSpec&lt; T &gt;, ScalarSignalSpec&lt; T &gt; &gt;::operator*</a></div><div class="ttdeci">friend Signal&lt; BSS, TSS &gt; operator*(const double &amp;l, const Signal&lt; BSS, TSS &gt; &amp;r)</div></div>
+<div class="ttc" id="aclassSignal_html_ae4c3f0098aaec52921d28cce09ff1ed4"><div class="ttname"><a href="classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4">Signal&lt; ScalarSignalSpec&lt; T &gt;, ScalarSignalSpec&lt; T &gt; &gt;&lt; double &gt;::interpolationMethod</a></div><div class="ttdeci">InterpolationMethod interpolationMethod</div><div class="ttdef"><b>Definition</b> Signal.h:58</div></div>
+<div class="ttc" id="aclassSignal_html_ae5d88905516fd17257964442b0830584"><div class="ttname"><a href="classSignal.html#ae5d88905516fd17257964442b0830584">Signal&lt; ScalarSignalSpec&lt; T &gt;, ScalarSignalSpec&lt; T &gt; &gt;::operator*</a></div><div class="ttdeci">friend Signal&lt; BSS, TSS &gt; operator*(const Signal&lt; BSS, TSS &gt; &amp;l, const double &amp;r)</div></div>
+<div class="ttc" id="aclassSignal_html_aead0dbc78a90fbd6ad3f86ab61ed65f7"><div class="ttname"><a href="classSignal.html#aead0dbc78a90fbd6ad3f86ab61ed65f7">Signal&lt; ScalarSignalSpec&lt; T &gt;, ScalarSignalSpec&lt; T &gt; &gt;::operator+</a></div><div class="ttdeci">friend Signal&lt; BSS, TSS &gt; operator+(const Signal&lt; BSS, TSS &gt; &amp;l, const Signal&lt; TSS, TSS &gt; &amp;r)</div></div>
+<div class="ttc" id="aclassSignal_html_af336f3d6a2d643040dff9fb5b4c20558"><div class="ttname"><a href="classSignal.html#af336f3d6a2d643040dff9fb5b4c20558">Signal&lt; ScalarSignalSpec&lt; T &gt;, ScalarSignalSpec&lt; T &gt; &gt;::setInterpolationMethod</a></div><div class="ttdeci">void setInterpolationMethod(InterpolationMethod method)</div><div class="ttdef"><b>Definition</b> Signal.h:150</div></div>
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+<tr class="memitem:a41c34d11317aa1e268232a6ddf9c0ba7" id="r_a41c34d11317aa1e268232a6ddf9c0ba7"><td class="memTemplParams" colspan="2">template&lt;typename T&gt; </td></tr>
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+<tr class="memitem:a337f5beba24e405d11550802e4375c73"><td class="memTemplItemLeft" align="right" valign="top">using&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a337f5beba24e405d11550802e4375c73">SE3StateSignal</a> = <a class="el" href="#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal</a>&lt;T, SE3&lt;T&gt;, 7, 6&gt;</td></tr>
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 </table><table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="func-members" name="func-members"></a>
 Functions</h2></td></tr>
-<tr class="memitem:ac3e1ccc35f63b762bdd2c87478f8aad6" id="r_ac3e1ccc35f63b762bdd2c87478f8aad6"><td class="memTemplParams" colspan="2">template&lt;typename T , typename PTS , size_t PD, typename TTS , size_t TD&gt; </td></tr>
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 <tr class="memitem:ac3e1ccc35f63b762bdd2c87478f8aad6"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#ac3e1ccc35f63b762bdd2c87478f8aad6">operator+</a> (const <a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; &amp;l, const <a class="el" href="structState.html">State</a>&lt; T, TTS, TD, TTS, TD &gt; &amp;r)</td></tr>
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 <tr class="memitem:ae29ac55bb38cdbd3acce109857e8e7a4"><td class="memTemplItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a> (std::ostream &amp;os, const <a class="el" href="#aad51d946606df50291c6c2f546030f11">ScalarStateType</a>&lt; T &gt; &amp;x)</td></tr>
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-<tr class="memitem:af1eca508289d2fcbdecd0cc136eed43d" id="r_af1eca508289d2fcbdecd0cc136eed43d"><td class="memTemplParams" colspan="2">template&lt;typename T , size_t d&gt; </td></tr>
+<tr class="memitem:af1eca508289d2fcbdecd0cc136eed43d" id="r_af1eca508289d2fcbdecd0cc136eed43d"><td class="memTemplParams" colspan="2">template&lt;typename T, size_t d&gt; </td></tr>
 <tr class="memitem:af1eca508289d2fcbdecd0cc136eed43d"><td class="memTemplItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#af1eca508289d2fcbdecd0cc136eed43d">operator&lt;&lt;</a> (std::ostream &amp;os, const <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt; T, d &gt; &amp;x)</td></tr>
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 <tr class="memitem:a494fe74e8c2fc3cd3f7e14886eeb7d6c"><td class="memTemplItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a494fe74e8c2fc3cd3f7e14886eeb7d6c">operator&lt;&lt;</a> (std::ostream &amp;os, const <a class="el" href="#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a>&lt; T, ManifoldType, PD, TD &gt; &amp;x)</td></tr>
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-<tr class="memitem:ab6fe6347b40120d5f45445b1fc6596f4" id="r_ab6fe6347b40120d5f45445b1fc6596f4"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:ab6fe6347b40120d5f45445b1fc6596f4" id="r_ab6fe6347b40120d5f45445b1fc6596f4"><td class="memTemplParams" colspan="2">template&lt;typename T&gt; </td></tr>
 <tr class="memitem:ab6fe6347b40120d5f45445b1fc6596f4"><td class="memTemplItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#ab6fe6347b40120d5f45445b1fc6596f4">operator&lt;&lt;</a> (std::ostream &amp;os, const <a class="el" href="#a7059d2190879b0e80afad377593fb225">ScalarStateSignal</a>&lt; T &gt; &amp;x)</td></tr>
 <tr class="separator:ab6fe6347b40120d5f45445b1fc6596f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a1675ff98779b45e08f5d169056e26a4d" id="r_a1675ff98779b45e08f5d169056e26a4d"><td class="memTemplParams" colspan="2">template&lt;typename T , size_t d&gt; </td></tr>
+<tr class="memitem:a1675ff98779b45e08f5d169056e26a4d" id="r_a1675ff98779b45e08f5d169056e26a4d"><td class="memTemplParams" colspan="2">template&lt;typename T, size_t d&gt; </td></tr>
 <tr class="memitem:a1675ff98779b45e08f5d169056e26a4d"><td class="memTemplItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a1675ff98779b45e08f5d169056e26a4d">operator&lt;&lt;</a> (std::ostream &amp;os, const <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt; T, d &gt; &amp;x)</td></tr>
 <tr class="separator:a1675ff98779b45e08f5d169056e26a4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a6c0f637d1f1980a2de56f125e9cf4ec1" id="r_a6c0f637d1f1980a2de56f125e9cf4ec1"><td class="memTemplParams" colspan="2">template&lt;typename T , typename ManifoldType , size_t PD, size_t TD&gt; </td></tr>
+<tr class="memitem:a6c0f637d1f1980a2de56f125e9cf4ec1" id="r_a6c0f637d1f1980a2de56f125e9cf4ec1"><td class="memTemplParams" colspan="2">template&lt;typename T, typename ManifoldType, size_t PD, size_t TD&gt; </td></tr>
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 <tr class="separator:a6c0f637d1f1980a2de56f125e9cf4ec1"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
@@ -347,27 +351,28 @@ <h2 class="memtitle"><span class="permalink"><a href="#a72800aeb486c7eebe1ab0fe8
         <tr>
           <td class="memname">#define MAKE_MANIF_STATES</td>
           <td>(</td>
-          <td class="paramtype"></td>          <td class="paramname"><span class="paramname">Manif, </span></td>
+          <td class="paramtype"></td>          <td class="paramname"><span class="paramname"><em>Manif</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype"></td>          <td class="paramname"><span class="paramname">Dimension, </span></td>
+          <td class="paramtype"></td>          <td class="paramname"><span class="paramname"><em>Dimension</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype"></td>          <td class="paramname"><span class="paramname">TangentDimension</span>&#160;)</td>
+          <td class="paramtype"></td>          <td class="paramname"><span class="paramname"><em>TangentDimension</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
 <b>Value:</b><div class="fragment"><div class="line">    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;                                                                                               \</div>
-<div class="line">    <span class="keyword">using </span>Manif##<a class="code hl_struct" href="structState.html">State</a> = <a class="code hl_struct" href="structState.html">ManifoldStateType&lt;T, Manif&lt;T&gt;</a>, Dimension, TangentDimension&gt;;                                  \</div>
+<div class="line">    <span class="keyword">using </span>Manif##<a class="code hl_struct" href="structState.html">State</a> = <a class="code hl_typedef" href="#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType&lt;T, Manif&lt;T&gt;</a>, Dimension, TangentDimension&gt;;                                  \</div>
 <div class="line">    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;                                                                                               \</div>
-<div class="line">    <span class="keyword">using </span>Manif##StateSignal = <a class="code hl_class" href="classSignal.html">ManifoldStateSignal&lt;T, Manif&lt;T&gt;</a>, Dimension, TangentDimension&gt;;                          \</div>
+<div class="line">    <span class="keyword">using </span>Manif##StateSignal = <a class="code hl_typedef" href="#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal&lt;T, Manif&lt;T&gt;</a>, Dimension, TangentDimension&gt;;                          \</div>
 <div class="line">    <span class="keyword">typedef</span> Manif##<a class="code hl_struct" href="structState.html">State&lt;double&gt;</a>       Manif##dState;                                                                  \</div>
 <div class="line">    <span class="keyword">typedef</span> Manif##StateSignal&lt;double&gt; Manif##dStateSignal;</div>
-<div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:38</div></div>
+<div class="ttc" id="aState_8h_html_a111e9957b3bae43e71ce97678f712b8c"><div class="ttname"><a href="#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal</a></div><div class="ttdeci">Signal&lt; ManifoldStateSignalSpec&lt; T, ManifoldType, PD, TD &gt;, VectorStateSignalSpec&lt; T, TD &gt; &gt; ManifoldStateSignal</div><div class="ttdef"><b>Definition</b> State.h:234</div></div>
+<div class="ttc" id="aState_8h_html_a73655df4c5d92f1cf1cf69d5fa057753"><div class="ttname"><a href="#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a></div><div class="ttdeci">State&lt; T, ManifoldSignalSpec&lt; ManifoldType &gt;, PD, VectorSignalSpec&lt; T, TD &gt;, TD &gt; ManifoldStateType</div><div class="ttdef"><b>Definition</b> State.h:161</div></div>
 <div class="ttc" id="astructState_html"><div class="ttname"><a href="structState.html">State</a></div><div class="ttdoc">Base type for all Model state representations.</div><div class="ttdef"><b>Definition</b> State.h:34</div></div>
 </div><!-- fragment -->
 </div>
@@ -381,17 +386,19 @@ <h2 class="memtitle"><span class="permalink"><a href="#aed0e3d5bd576a92c33ab3950
         <tr>
           <td class="memname">#define MAKE_VECTOR_STATES</td>
           <td>(</td>
-          <td class="paramtype"></td>          <td class="paramname"><span class="paramname">Dimension</span></td><td>)</td>
+          <td class="paramtype"></td>          <td class="paramname"><span class="paramname"><em>Dimension</em></span></td><td>)</td>
           <td></td>
         </tr>
       </table>
 </div><div class="memdoc">
 <b>Value:</b><div class="fragment"><div class="line">    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;                                                                                               \</div>
-<div class="line">    <span class="keyword">using </span>Vector##Dimension##<a class="code hl_struct" href="structState.html">State</a> = <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, Dimension&gt;</a>;                                                    \</div>
+<div class="line">    <span class="keyword">using </span>Vector##Dimension##<a class="code hl_struct" href="structState.html">State</a> = <a class="code hl_typedef" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType&lt;T, Dimension&gt;</a>;                                                    \</div>
 <div class="line">    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;                                                                                               \</div>
-<div class="line">    <span class="keyword">using </span>Vector##Dimension##StateSignal = <a class="code hl_class" href="classSignal.html">VectorStateSignal&lt;T, Dimension&gt;</a>;                                            \</div>
+<div class="line">    <span class="keyword">using </span>Vector##Dimension##StateSignal = <a class="code hl_typedef" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal&lt;T, Dimension&gt;</a>;                                            \</div>
 <div class="line">    <span class="keyword">typedef</span> Vector##Dimension##<a class="code hl_struct" href="structState.html">State&lt;double&gt;</a>       Vector##Dimension##dState;                                          \</div>
 <div class="line">    <span class="keyword">typedef</span> Vector##Dimension##StateSignal&lt;double&gt; Vector##Dimension##dStateSignal;</div>
+<div class="ttc" id="aState_8h_html_a214bd9926c3d8a2bb83b9b471744775b"><div class="ttname"><a href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a></div><div class="ttdeci">Signal&lt; VectorStateSignalSpec&lt; T, d &gt;, VectorStateSignalSpec&lt; T, d &gt; &gt; VectorStateSignal</div><div class="ttdef"><b>Definition</b> State.h:223</div></div>
+<div class="ttc" id="aState_8h_html_a60d0230d5788084bb8f559f4561d4d96"><div class="ttname"><a href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a></div><div class="ttdeci">State&lt; T, VectorSignalSpec&lt; T, d &gt;, d, VectorSignalSpec&lt; T, d &gt;, d &gt; VectorStateType</div><div class="ttdef"><b>Definition</b> State.h:142</div></div>
 </div><!-- fragment -->
 </div>
 </div>
@@ -402,7 +409,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a111e9957b3bae43e71ce9767
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T , typename ManifoldType , size_t PD, size_t TD&gt; </div>
+template&lt;typename T, typename ManifoldType, size_t PD, size_t TD&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname">using <a class="el" href="#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal</a> = <a class="el" href="classSignal.html">Signal</a>&lt;<a class="el" href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec</a>&lt;T, ManifoldType, PD, TD&gt;, <a class="el" href="structVectorStateSignalSpec.html">VectorStateSignalSpec</a>&lt;T, TD&gt;&gt;</td>
@@ -418,7 +425,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a73655df4c5d92f1cf1cf69d5
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T , typename ManifoldType , size_t PD, size_t TD&gt; </div>
+template&lt;typename T, typename ManifoldType, size_t PD, size_t TD&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname">using <a class="el" href="#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a> = <a class="el" href="structState.html">State</a>&lt;T, <a class="el" href="structManifoldSignalSpec.html">ManifoldSignalSpec</a>&lt;ManifoldType&gt;, PD, <a class="el" href="structVectorSignalSpec.html">VectorSignalSpec</a>&lt;T, TD&gt;, TD&gt;</td>
@@ -462,7 +469,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ae2fe8fddd28ed110fbc33b4c
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname">using <a class="el" href="#ae2fe8fddd28ed110fbc33b4ca506bd0f">ScalarState</a> = <a class="el" href="#aad51d946606df50291c6c2f546030f11">ScalarStateType</a>&lt;T&gt;</td>
@@ -478,7 +485,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a7059d2190879b0e80afad377
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname">using <a class="el" href="#a7059d2190879b0e80afad377593fb225">ScalarStateSignal</a> = <a class="el" href="classSignal.html">Signal</a>&lt;<a class="el" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec</a>&lt;T&gt;, <a class="el" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec</a>&lt;T&gt;&gt;</td>
@@ -494,7 +501,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aad51d946606df50291c6c2f5
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname">using <a class="el" href="#aad51d946606df50291c6c2f546030f11">ScalarStateType</a> = <a class="el" href="structState.html">State</a>&lt;T, <a class="el" href="structScalarSignalSpec.html">ScalarSignalSpec</a>&lt;T&gt;, 1, <a class="el" href="structScalarSignalSpec.html">ScalarSignalSpec</a>&lt;T&gt;, 1&gt;</td>
@@ -511,7 +518,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#abf8de0fae02a60506ddd6e13
 <div class="memproto">
       <table class="memname">
         <tr>
-          <td class="memname">typedef <a class="el" href="#a040c943cebaa523f316e57aaa2c90a8f">SE2State</a>&lt;double&gt; <a class="el" href="#abf8de0fae02a60506ddd6e134b75ae00">SE2dState</a></td>
+          <td class="memname">typedef <a class="el" href="#acc2213abe7e1f1169bce3603e87f44d2">SE2State</a>&lt;double&gt; <a class="el" href="#abf8de0fae02a60506ddd6e134b75ae00">SE2dState</a></td>
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       </table>
 </div><div class="memdoc">
@@ -525,39 +532,39 @@ <h2 class="memtitle"><span class="permalink"><a href="#a709efdac7ba2c93eedbf1533
 <div class="memproto">
       <table class="memname">
         <tr>
-          <td class="memname">typedef <a class="el" href="#a7de4c0261575a69f6ed4e17cf50e3e03">SE2StateSignal</a>&lt;double&gt; <a class="el" href="#a709efdac7ba2c93eedbf1533c74e42f5">SE2dStateSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#ae34074b7d367592e7022441b0ee836d9">SE2StateSignal</a>&lt;double&gt; <a class="el" href="#a709efdac7ba2c93eedbf1533c74e42f5">SE2dStateSignal</a></td>
         </tr>
       </table>
 </div><div class="memdoc">
 
 </div>
 </div>
-<a id="a040c943cebaa523f316e57aaa2c90a8f" name="a040c943cebaa523f316e57aaa2c90a8f"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a040c943cebaa523f316e57aaa2c90a8f">&#9670;&#160;</a></span>SE2State</h2>
+<a id="acc2213abe7e1f1169bce3603e87f44d2" name="acc2213abe7e1f1169bce3603e87f44d2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acc2213abe7e1f1169bce3603e87f44d2">&#9670;&#160;</a></span>SE2State</h2>
 
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
-          <td class="memname">using <a class="el" href="#a040c943cebaa523f316e57aaa2c90a8f">SE2State</a> = <a class="el" href="#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a>&lt;T, SE2 &lt;T&gt;, 4 , 3 &gt;</td>
+          <td class="memname">using <a class="el" href="#acc2213abe7e1f1169bce3603e87f44d2">SE2State</a> = <a class="el" href="#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a>&lt;T, SE2&lt;T&gt;, 4, 3&gt;</td>
         </tr>
       </table>
 </div><div class="memdoc">
 
 </div>
 </div>
-<a id="a7de4c0261575a69f6ed4e17cf50e3e03" name="a7de4c0261575a69f6ed4e17cf50e3e03"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a7de4c0261575a69f6ed4e17cf50e3e03">&#9670;&#160;</a></span>SE2StateSignal</h2>
+<a id="ae34074b7d367592e7022441b0ee836d9" name="ae34074b7d367592e7022441b0ee836d9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae34074b7d367592e7022441b0ee836d9">&#9670;&#160;</a></span>SE2StateSignal</h2>
 
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
-          <td class="memname">using <a class="el" href="#a7de4c0261575a69f6ed4e17cf50e3e03">SE2StateSignal</a> = <a class="el" href="#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal</a>&lt;T, SE2 &lt;T&gt;, 4 , 3 &gt;</td>
+          <td class="memname">using <a class="el" href="#ae34074b7d367592e7022441b0ee836d9">SE2StateSignal</a> = <a class="el" href="#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal</a>&lt;T, SE2&lt;T&gt;, 4, 3&gt;</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -571,7 +578,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a98daf00f053bcc148a93319e
 <div class="memproto">
       <table class="memname">
         <tr>
-          <td class="memname">typedef <a class="el" href="#aac8e0a5eaf4f01fa2a6f388c116187b6">SE3State</a>&lt;double&gt; <a class="el" href="#a98daf00f053bcc148a93319eac4901e4">SE3dState</a></td>
+          <td class="memname">typedef <a class="el" href="#a41c34d11317aa1e268232a6ddf9c0ba7">SE3State</a>&lt;double&gt; <a class="el" href="#a98daf00f053bcc148a93319eac4901e4">SE3dState</a></td>
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       </table>
 </div><div class="memdoc">
@@ -585,39 +592,39 @@ <h2 class="memtitle"><span class="permalink"><a href="#a9b00d890fcdbf16abfbb2630
 <div class="memproto">
       <table class="memname">
         <tr>
-          <td class="memname">typedef <a class="el" href="#a0f26da8f398a7f20706b5f962e475126">SE3StateSignal</a>&lt;double&gt; <a class="el" href="#a9b00d890fcdbf16abfbb263061e9bc98">SE3dStateSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#a337f5beba24e405d11550802e4375c73">SE3StateSignal</a>&lt;double&gt; <a class="el" href="#a9b00d890fcdbf16abfbb263061e9bc98">SE3dStateSignal</a></td>
         </tr>
       </table>
 </div><div class="memdoc">
 
 </div>
 </div>
-<a id="aac8e0a5eaf4f01fa2a6f388c116187b6" name="aac8e0a5eaf4f01fa2a6f388c116187b6"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#aac8e0a5eaf4f01fa2a6f388c116187b6">&#9670;&#160;</a></span>SE3State</h2>
+<a id="a41c34d11317aa1e268232a6ddf9c0ba7" name="a41c34d11317aa1e268232a6ddf9c0ba7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41c34d11317aa1e268232a6ddf9c0ba7">&#9670;&#160;</a></span>SE3State</h2>
 
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
-          <td class="memname">using <a class="el" href="#aac8e0a5eaf4f01fa2a6f388c116187b6">SE3State</a> = <a class="el" href="#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a>&lt;T, SE3 &lt;T&gt;, 7 , 6 &gt;</td>
+          <td class="memname">using <a class="el" href="#a41c34d11317aa1e268232a6ddf9c0ba7">SE3State</a> = <a class="el" href="#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a>&lt;T, SE3&lt;T&gt;, 7, 6&gt;</td>
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 </div>
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-<a id="a0f26da8f398a7f20706b5f962e475126" name="a0f26da8f398a7f20706b5f962e475126"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a0f26da8f398a7f20706b5f962e475126">&#9670;&#160;</a></span>SE3StateSignal</h2>
+<a id="a337f5beba24e405d11550802e4375c73" name="a337f5beba24e405d11550802e4375c73"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a337f5beba24e405d11550802e4375c73">&#9670;&#160;</a></span>SE3StateSignal</h2>
 
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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-          <td class="memname">using <a class="el" href="#a0f26da8f398a7f20706b5f962e475126">SE3StateSignal</a> = <a class="el" href="#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal</a>&lt;T, SE3 &lt;T&gt;, 7 , 6 &gt;</td>
+          <td class="memname">using <a class="el" href="#a337f5beba24e405d11550802e4375c73">SE3StateSignal</a> = <a class="el" href="#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal</a>&lt;T, SE3&lt;T&gt;, 7, 6&gt;</td>
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 <div class="memproto">
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-          <td class="memname">typedef <a class="el" href="#a53505b4e14d5121cf4ec30c3d5ee854f">SO2State</a>&lt;double&gt; <a class="el" href="#af87fca61f7adfb8b62056d2f6c815e51">SO2dState</a></td>
+          <td class="memname">typedef <a class="el" href="#ab2d123ee7121bd4e6c7e55ce62c770ee">SO2State</a>&lt;double&gt; <a class="el" href="#af87fca61f7adfb8b62056d2f6c815e51">SO2dState</a></td>
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@@ -645,39 +652,39 @@ <h2 class="memtitle"><span class="permalink"><a href="#a4f4b421bf1a450cd6514a24b
 <div class="memproto">
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-          <td class="memname">typedef <a class="el" href="#a4e7a95697e869ec8e9cd31c0723ea2cf">SO2StateSignal</a>&lt;double&gt; <a class="el" href="#a4f4b421bf1a450cd6514a24b8c16e8cb">SO2dStateSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#a455c23e3eed1fa310813120299d8cc95">SO2StateSignal</a>&lt;double&gt; <a class="el" href="#a4f4b421bf1a450cd6514a24b8c16e8cb">SO2dStateSignal</a></td>
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-<a id="a53505b4e14d5121cf4ec30c3d5ee854f" name="a53505b4e14d5121cf4ec30c3d5ee854f"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a53505b4e14d5121cf4ec30c3d5ee854f">&#9670;&#160;</a></span>SO2State</h2>
+<a id="ab2d123ee7121bd4e6c7e55ce62c770ee" name="ab2d123ee7121bd4e6c7e55ce62c770ee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab2d123ee7121bd4e6c7e55ce62c770ee">&#9670;&#160;</a></span>SO2State</h2>
 
 <div class="memitem">
 <div class="memproto">
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
-          <td class="memname">using <a class="el" href="#a53505b4e14d5121cf4ec30c3d5ee854f">SO2State</a> = <a class="el" href="#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a>&lt;T, SO2 &lt;T&gt;, 2 , 1 &gt;</td>
+          <td class="memname">using <a class="el" href="#ab2d123ee7121bd4e6c7e55ce62c770ee">SO2State</a> = <a class="el" href="#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a>&lt;T, SO2&lt;T&gt;, 2, 1&gt;</td>
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-<h2 class="memtitle"><span class="permalink"><a href="#a4e7a95697e869ec8e9cd31c0723ea2cf">&#9670;&#160;</a></span>SO2StateSignal</h2>
+<a id="a455c23e3eed1fa310813120299d8cc95" name="a455c23e3eed1fa310813120299d8cc95"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a455c23e3eed1fa310813120299d8cc95">&#9670;&#160;</a></span>SO2StateSignal</h2>
 
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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-          <td class="memname">using <a class="el" href="#a4e7a95697e869ec8e9cd31c0723ea2cf">SO2StateSignal</a> = <a class="el" href="#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal</a>&lt;T, SO2 &lt;T&gt;, 2 , 1 &gt;</td>
+          <td class="memname">using <a class="el" href="#a455c23e3eed1fa310813120299d8cc95">SO2StateSignal</a> = <a class="el" href="#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal</a>&lt;T, SO2&lt;T&gt;, 2, 1&gt;</td>
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-          <td class="memname">typedef <a class="el" href="#a0bc2e14b1e00089eac587823a7028df1">SO3State</a>&lt;double&gt; <a class="el" href="#a7ab722ee104a5c16222f5cbd0d682657">SO3dState</a></td>
+          <td class="memname">typedef <a class="el" href="#ae37ec421e65f8ce1346e62704e6ea859">SO3State</a>&lt;double&gt; <a class="el" href="#a7ab722ee104a5c16222f5cbd0d682657">SO3dState</a></td>
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-          <td class="memname">typedef <a class="el" href="#ae37ddd285b52c0765cd59fd0e212dfb5">SO3StateSignal</a>&lt;double&gt; <a class="el" href="#a7069682eef4672ac723761c44e44bc5a">SO3dStateSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#a07ec000c82b285e661a861ae5f90736a">SO3StateSignal</a>&lt;double&gt; <a class="el" href="#a7069682eef4672ac723761c44e44bc5a">SO3dStateSignal</a></td>
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-<h2 class="memtitle"><span class="permalink"><a href="#a0bc2e14b1e00089eac587823a7028df1">&#9670;&#160;</a></span>SO3State</h2>
+<a id="ae37ec421e65f8ce1346e62704e6ea859" name="ae37ec421e65f8ce1346e62704e6ea859"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae37ec421e65f8ce1346e62704e6ea859">&#9670;&#160;</a></span>SO3State</h2>
 
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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-          <td class="memname">using <a class="el" href="#a0bc2e14b1e00089eac587823a7028df1">SO3State</a> = <a class="el" href="#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a>&lt;T, SO3 &lt;T&gt;, 4 , 3 &gt;</td>
+          <td class="memname">using <a class="el" href="#ae37ec421e65f8ce1346e62704e6ea859">SO3State</a> = <a class="el" href="#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a>&lt;T, SO3&lt;T&gt;, 4, 3&gt;</td>
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-<a id="ae37ddd285b52c0765cd59fd0e212dfb5" name="ae37ddd285b52c0765cd59fd0e212dfb5"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ae37ddd285b52c0765cd59fd0e212dfb5">&#9670;&#160;</a></span>SO3StateSignal</h2>
+<a id="a07ec000c82b285e661a861ae5f90736a" name="a07ec000c82b285e661a861ae5f90736a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a07ec000c82b285e661a861ae5f90736a">&#9670;&#160;</a></span>SO3StateSignal</h2>
 
 <div class="memitem">
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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-          <td class="memname">using <a class="el" href="#ae37ddd285b52c0765cd59fd0e212dfb5">SO3StateSignal</a> = <a class="el" href="#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal</a>&lt;T, SO3 &lt;T&gt;, 4 , 3 &gt;</td>
+          <td class="memname">using <a class="el" href="#a07ec000c82b285e661a861ae5f90736a">SO3StateSignal</a> = <a class="el" href="#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal</a>&lt;T, SO3&lt;T&gt;, 4, 3&gt;</td>
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-          <td class="memname">typedef <a class="el" href="#aaebcae79f29e8afb31a487a07fe71178">Vector10State</a>&lt;double&gt; <a class="el" href="#ac15f89e56010b705e5a2e0d9c3c50a6d">Vector10dState</a></td>
+          <td class="memname">typedef <a class="el" href="#ae80b1d8972029135f755109d7c9cefcc">Vector10State</a>&lt;double&gt; <a class="el" href="#ac15f89e56010b705e5a2e0d9c3c50a6d">Vector10dState</a></td>
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-          <td class="memname">typedef <a class="el" href="#a7aaf0c3fa4fd47f070fb708901981e1d">Vector10StateSignal</a>&lt;double&gt; <a class="el" href="#af22d4a3a8e0b033da1e86fbb86d62025">Vector10dStateSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#a1317973b896b1e34cafa85ed9476facc">Vector10StateSignal</a>&lt;double&gt; <a class="el" href="#af22d4a3a8e0b033da1e86fbb86d62025">Vector10dStateSignal</a></td>
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-<a id="aaebcae79f29e8afb31a487a07fe71178" name="aaebcae79f29e8afb31a487a07fe71178"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#aaebcae79f29e8afb31a487a07fe71178">&#9670;&#160;</a></span>Vector10State</h2>
+<a id="ae80b1d8972029135f755109d7c9cefcc" name="ae80b1d8972029135f755109d7c9cefcc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae80b1d8972029135f755109d7c9cefcc">&#9670;&#160;</a></span>Vector10State</h2>
 
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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-          <td class="memname">using <a class="el" href="#aaebcae79f29e8afb31a487a07fe71178">Vector10State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 10 &gt;</td>
+          <td class="memname">using <a class="el" href="#ae80b1d8972029135f755109d7c9cefcc">Vector10State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 10&gt;</td>
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-<a id="a7aaf0c3fa4fd47f070fb708901981e1d" name="a7aaf0c3fa4fd47f070fb708901981e1d"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a7aaf0c3fa4fd47f070fb708901981e1d">&#9670;&#160;</a></span>Vector10StateSignal</h2>
+<a id="a1317973b896b1e34cafa85ed9476facc" name="a1317973b896b1e34cafa85ed9476facc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1317973b896b1e34cafa85ed9476facc">&#9670;&#160;</a></span>Vector10StateSignal</h2>
 
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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-          <td class="memname">using <a class="el" href="#a7aaf0c3fa4fd47f070fb708901981e1d">Vector10StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 10 &gt;</td>
+          <td class="memname">using <a class="el" href="#a1317973b896b1e34cafa85ed9476facc">Vector10StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 10&gt;</td>
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@@ -811,7 +818,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a1fccb71007e0830388d5c21c
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-          <td class="memname">typedef <a class="el" href="#a0cc4f9bb31ad1c5782e620e2a8168f99">Vector1State</a>&lt;double&gt; <a class="el" href="#a1fccb71007e0830388d5c21c85e3344e">Vector1dState</a></td>
+          <td class="memname">typedef <a class="el" href="#abc0badbf8fbf6b0c2669496da71cda67">Vector1State</a>&lt;double&gt; <a class="el" href="#a1fccb71007e0830388d5c21c85e3344e">Vector1dState</a></td>
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@@ -825,39 +832,39 @@ <h2 class="memtitle"><span class="permalink"><a href="#a62568e2f3d59e51a60168009
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-          <td class="memname">typedef <a class="el" href="#a5e82a65c39e740624f9c118536b5475d">Vector1StateSignal</a>&lt;double&gt; <a class="el" href="#a62568e2f3d59e51a60168009aa1a54bf">Vector1dStateSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#ab5090b8cb9c45dbe82c31d42d73d785e">Vector1StateSignal</a>&lt;double&gt; <a class="el" href="#a62568e2f3d59e51a60168009aa1a54bf">Vector1dStateSignal</a></td>
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-<a id="a0cc4f9bb31ad1c5782e620e2a8168f99" name="a0cc4f9bb31ad1c5782e620e2a8168f99"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a0cc4f9bb31ad1c5782e620e2a8168f99">&#9670;&#160;</a></span>Vector1State</h2>
+<a id="abc0badbf8fbf6b0c2669496da71cda67" name="abc0badbf8fbf6b0c2669496da71cda67"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abc0badbf8fbf6b0c2669496da71cda67">&#9670;&#160;</a></span>Vector1State</h2>
 
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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-          <td class="memname">using <a class="el" href="#a0cc4f9bb31ad1c5782e620e2a8168f99">Vector1State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 1 &gt;</td>
+          <td class="memname">using <a class="el" href="#abc0badbf8fbf6b0c2669496da71cda67">Vector1State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 1&gt;</td>
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-<h2 class="memtitle"><span class="permalink"><a href="#a5e82a65c39e740624f9c118536b5475d">&#9670;&#160;</a></span>Vector1StateSignal</h2>
+<a id="ab5090b8cb9c45dbe82c31d42d73d785e" name="ab5090b8cb9c45dbe82c31d42d73d785e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab5090b8cb9c45dbe82c31d42d73d785e">&#9670;&#160;</a></span>Vector1StateSignal</h2>
 
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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-          <td class="memname">using <a class="el" href="#a5e82a65c39e740624f9c118536b5475d">Vector1StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 1 &gt;</td>
+          <td class="memname">using <a class="el" href="#ab5090b8cb9c45dbe82c31d42d73d785e">Vector1StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 1&gt;</td>
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-          <td class="memname">typedef <a class="el" href="#af2610db569af97f280444234b4632b9b">Vector2State</a>&lt;double&gt; <a class="el" href="#ae54c0630e02ee333a48fe6531d00e071">Vector2dState</a></td>
+          <td class="memname">typedef <a class="el" href="#a7f9f341c30868667e4855dbb3092e78d">Vector2State</a>&lt;double&gt; <a class="el" href="#ae54c0630e02ee333a48fe6531d00e071">Vector2dState</a></td>
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@@ -885,39 +892,39 @@ <h2 class="memtitle"><span class="permalink"><a href="#a100a0048450baf6c0d0c2f44
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-          <td class="memname">typedef <a class="el" href="#a33b1f775ddbb45d3b1ae05ca4a7152c0">Vector2StateSignal</a>&lt;double&gt; <a class="el" href="#a100a0048450baf6c0d0c2f444eccaf8a">Vector2dStateSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#a8733dc322548a85201a19ddea01ea50e">Vector2StateSignal</a>&lt;double&gt; <a class="el" href="#a100a0048450baf6c0d0c2f444eccaf8a">Vector2dStateSignal</a></td>
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-<a id="af2610db569af97f280444234b4632b9b" name="af2610db569af97f280444234b4632b9b"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#af2610db569af97f280444234b4632b9b">&#9670;&#160;</a></span>Vector2State</h2>
+<a id="a7f9f341c30868667e4855dbb3092e78d" name="a7f9f341c30868667e4855dbb3092e78d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7f9f341c30868667e4855dbb3092e78d">&#9670;&#160;</a></span>Vector2State</h2>
 
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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-          <td class="memname">using <a class="el" href="#af2610db569af97f280444234b4632b9b">Vector2State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 2 &gt;</td>
+          <td class="memname">using <a class="el" href="#a7f9f341c30868667e4855dbb3092e78d">Vector2State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 2&gt;</td>
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-<h2 class="memtitle"><span class="permalink"><a href="#a33b1f775ddbb45d3b1ae05ca4a7152c0">&#9670;&#160;</a></span>Vector2StateSignal</h2>
+<a id="a8733dc322548a85201a19ddea01ea50e" name="a8733dc322548a85201a19ddea01ea50e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8733dc322548a85201a19ddea01ea50e">&#9670;&#160;</a></span>Vector2StateSignal</h2>
 
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
-          <td class="memname">using <a class="el" href="#a33b1f775ddbb45d3b1ae05ca4a7152c0">Vector2StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 2 &gt;</td>
+          <td class="memname">using <a class="el" href="#a8733dc322548a85201a19ddea01ea50e">Vector2StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 2&gt;</td>
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 <div class="memproto">
       <table class="memname">
         <tr>
-          <td class="memname">typedef <a class="el" href="#aa8c0482241bd43048f5a8ae3365c82be">Vector3State</a>&lt;double&gt; <a class="el" href="#a0e9c381070552b28ffb2683b44e7b5a3">Vector3dState</a></td>
+          <td class="memname">typedef <a class="el" href="#a76ad6fc3428b4c484c36cb9b24db72f0">Vector3State</a>&lt;double&gt; <a class="el" href="#a0e9c381070552b28ffb2683b44e7b5a3">Vector3dState</a></td>
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@@ -945,39 +952,39 @@ <h2 class="memtitle"><span class="permalink"><a href="#a1e20c96461ce98997ef1a3c0
 <div class="memproto">
       <table class="memname">
         <tr>
-          <td class="memname">typedef <a class="el" href="#a007fe0235bfe0d3393d33584f9a38f5b">Vector3StateSignal</a>&lt;double&gt; <a class="el" href="#a1e20c96461ce98997ef1a3c0ab7b6668">Vector3dStateSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#ae29a8cc7a8cfe9179c9befa2d9cf217d">Vector3StateSignal</a>&lt;double&gt; <a class="el" href="#a1e20c96461ce98997ef1a3c0ab7b6668">Vector3dStateSignal</a></td>
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 </div>
 </div>
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-<h2 class="memtitle"><span class="permalink"><a href="#aa8c0482241bd43048f5a8ae3365c82be">&#9670;&#160;</a></span>Vector3State</h2>
+<a id="a76ad6fc3428b4c484c36cb9b24db72f0" name="a76ad6fc3428b4c484c36cb9b24db72f0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a76ad6fc3428b4c484c36cb9b24db72f0">&#9670;&#160;</a></span>Vector3State</h2>
 
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
-          <td class="memname">using <a class="el" href="#aa8c0482241bd43048f5a8ae3365c82be">Vector3State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 3 &gt;</td>
+          <td class="memname">using <a class="el" href="#a76ad6fc3428b4c484c36cb9b24db72f0">Vector3State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 3&gt;</td>
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-<h2 class="memtitle"><span class="permalink"><a href="#a007fe0235bfe0d3393d33584f9a38f5b">&#9670;&#160;</a></span>Vector3StateSignal</h2>
+<a id="ae29a8cc7a8cfe9179c9befa2d9cf217d" name="ae29a8cc7a8cfe9179c9befa2d9cf217d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae29a8cc7a8cfe9179c9befa2d9cf217d">&#9670;&#160;</a></span>Vector3StateSignal</h2>
 
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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         <tr>
-          <td class="memname">using <a class="el" href="#a007fe0235bfe0d3393d33584f9a38f5b">Vector3StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 3 &gt;</td>
+          <td class="memname">using <a class="el" href="#ae29a8cc7a8cfe9179c9befa2d9cf217d">Vector3StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 3&gt;</td>
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 <div class="memproto">
       <table class="memname">
         <tr>
-          <td class="memname">typedef <a class="el" href="#a4cfd5bd231c0f14e8a360134d9d17bee">Vector4State</a>&lt;double&gt; <a class="el" href="#a8add6ebebc487c439430cb69d2892bbf">Vector4dState</a></td>
+          <td class="memname">typedef <a class="el" href="#a7123f01cd05975f377e8ff9e6ee1a06a">Vector4State</a>&lt;double&gt; <a class="el" href="#a8add6ebebc487c439430cb69d2892bbf">Vector4dState</a></td>
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@@ -1005,39 +1012,39 @@ <h2 class="memtitle"><span class="permalink"><a href="#a9013e9f17201a38fdb10648f
 <div class="memproto">
       <table class="memname">
         <tr>
-          <td class="memname">typedef <a class="el" href="#a24c5f8ae10f7553987a0bb5c619cf505">Vector4StateSignal</a>&lt;double&gt; <a class="el" href="#a9013e9f17201a38fdb10648f14ea5c95">Vector4dStateSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#a5c328c48320c78070fff7e7982b311e9">Vector4StateSignal</a>&lt;double&gt; <a class="el" href="#a9013e9f17201a38fdb10648f14ea5c95">Vector4dStateSignal</a></td>
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 </div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a4cfd5bd231c0f14e8a360134d9d17bee">&#9670;&#160;</a></span>Vector4State</h2>
+<a id="a7123f01cd05975f377e8ff9e6ee1a06a" name="a7123f01cd05975f377e8ff9e6ee1a06a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7123f01cd05975f377e8ff9e6ee1a06a">&#9670;&#160;</a></span>Vector4State</h2>
 
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
-          <td class="memname">using <a class="el" href="#a4cfd5bd231c0f14e8a360134d9d17bee">Vector4State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 4 &gt;</td>
+          <td class="memname">using <a class="el" href="#a7123f01cd05975f377e8ff9e6ee1a06a">Vector4State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 4&gt;</td>
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-<h2 class="memtitle"><span class="permalink"><a href="#a24c5f8ae10f7553987a0bb5c619cf505">&#9670;&#160;</a></span>Vector4StateSignal</h2>
+<a id="a5c328c48320c78070fff7e7982b311e9" name="a5c328c48320c78070fff7e7982b311e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5c328c48320c78070fff7e7982b311e9">&#9670;&#160;</a></span>Vector4StateSignal</h2>
 
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
-          <td class="memname">using <a class="el" href="#a24c5f8ae10f7553987a0bb5c619cf505">Vector4StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 4 &gt;</td>
+          <td class="memname">using <a class="el" href="#a5c328c48320c78070fff7e7982b311e9">Vector4StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 4&gt;</td>
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       <table class="memname">
         <tr>
-          <td class="memname">typedef <a class="el" href="#a2890d15ac36c73fcd73556771b80b47e">Vector5State</a>&lt;double&gt; <a class="el" href="#a45d6b402de0ba422a815e117b084dde3">Vector5dState</a></td>
+          <td class="memname">typedef <a class="el" href="#ab5ce046688e9436f8b33892d42309eee">Vector5State</a>&lt;double&gt; <a class="el" href="#a45d6b402de0ba422a815e117b084dde3">Vector5dState</a></td>
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@@ -1065,39 +1072,39 @@ <h2 class="memtitle"><span class="permalink"><a href="#a7a8f2f6fd14951fd2fe337c9
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       <table class="memname">
         <tr>
-          <td class="memname">typedef <a class="el" href="#a05175ceaa15c466ce47c983d489ce31b">Vector5StateSignal</a>&lt;double&gt; <a class="el" href="#a7a8f2f6fd14951fd2fe337c952b0cb74">Vector5dStateSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#a4af99c5e283d22f79b5556ff27474965">Vector5StateSignal</a>&lt;double&gt; <a class="el" href="#a7a8f2f6fd14951fd2fe337c952b0cb74">Vector5dStateSignal</a></td>
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-<h2 class="memtitle"><span class="permalink"><a href="#a2890d15ac36c73fcd73556771b80b47e">&#9670;&#160;</a></span>Vector5State</h2>
+<a id="ab5ce046688e9436f8b33892d42309eee" name="ab5ce046688e9436f8b33892d42309eee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab5ce046688e9436f8b33892d42309eee">&#9670;&#160;</a></span>Vector5State</h2>
 
 <div class="memitem">
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 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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         <tr>
-          <td class="memname">using <a class="el" href="#a2890d15ac36c73fcd73556771b80b47e">Vector5State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 5 &gt;</td>
+          <td class="memname">using <a class="el" href="#ab5ce046688e9436f8b33892d42309eee">Vector5State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 5&gt;</td>
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-<a id="a05175ceaa15c466ce47c983d489ce31b" name="a05175ceaa15c466ce47c983d489ce31b"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a05175ceaa15c466ce47c983d489ce31b">&#9670;&#160;</a></span>Vector5StateSignal</h2>
+<a id="a4af99c5e283d22f79b5556ff27474965" name="a4af99c5e283d22f79b5556ff27474965"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4af99c5e283d22f79b5556ff27474965">&#9670;&#160;</a></span>Vector5StateSignal</h2>
 
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
-          <td class="memname">using <a class="el" href="#a05175ceaa15c466ce47c983d489ce31b">Vector5StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 5 &gt;</td>
+          <td class="memname">using <a class="el" href="#a4af99c5e283d22f79b5556ff27474965">Vector5StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 5&gt;</td>
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         <tr>
-          <td class="memname">typedef <a class="el" href="#a767154e6e5b226bf7b6c9dad73aee6d2">Vector6State</a>&lt;double&gt; <a class="el" href="#af07e3586e98f931acac5d0ffd9b17cee">Vector6dState</a></td>
+          <td class="memname">typedef <a class="el" href="#a5b9da17f6286f92692b0004ee4966bc9">Vector6State</a>&lt;double&gt; <a class="el" href="#af07e3586e98f931acac5d0ffd9b17cee">Vector6dState</a></td>
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@@ -1125,39 +1132,39 @@ <h2 class="memtitle"><span class="permalink"><a href="#a9df3c94eca5a8200ce96b322
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         <tr>
-          <td class="memname">typedef <a class="el" href="#a809dbd95b4841c294c3a75a7d40ecf62">Vector6StateSignal</a>&lt;double&gt; <a class="el" href="#a9df3c94eca5a8200ce96b3221995c46b">Vector6dStateSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#a10d976072ce9070523cb22605d2ab584">Vector6StateSignal</a>&lt;double&gt; <a class="el" href="#a9df3c94eca5a8200ce96b3221995c46b">Vector6dStateSignal</a></td>
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-<h2 class="memtitle"><span class="permalink"><a href="#a767154e6e5b226bf7b6c9dad73aee6d2">&#9670;&#160;</a></span>Vector6State</h2>
+<a id="a5b9da17f6286f92692b0004ee4966bc9" name="a5b9da17f6286f92692b0004ee4966bc9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5b9da17f6286f92692b0004ee4966bc9">&#9670;&#160;</a></span>Vector6State</h2>
 
 <div class="memitem">
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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         <tr>
-          <td class="memname">using <a class="el" href="#a767154e6e5b226bf7b6c9dad73aee6d2">Vector6State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 6 &gt;</td>
+          <td class="memname">using <a class="el" href="#a5b9da17f6286f92692b0004ee4966bc9">Vector6State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 6&gt;</td>
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-<a id="a809dbd95b4841c294c3a75a7d40ecf62" name="a809dbd95b4841c294c3a75a7d40ecf62"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a809dbd95b4841c294c3a75a7d40ecf62">&#9670;&#160;</a></span>Vector6StateSignal</h2>
+<a id="a10d976072ce9070523cb22605d2ab584" name="a10d976072ce9070523cb22605d2ab584"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a10d976072ce9070523cb22605d2ab584">&#9670;&#160;</a></span>Vector6StateSignal</h2>
 
 <div class="memitem">
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
-          <td class="memname">using <a class="el" href="#a809dbd95b4841c294c3a75a7d40ecf62">Vector6StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 6 &gt;</td>
+          <td class="memname">using <a class="el" href="#a10d976072ce9070523cb22605d2ab584">Vector6StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 6&gt;</td>
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@@ -1171,7 +1178,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ad58fbc5cd721c46fe64d385c
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-          <td class="memname">typedef <a class="el" href="#a5c337dc74b2038b11a515b3d0559c1f2">Vector7State</a>&lt;double&gt; <a class="el" href="#ad58fbc5cd721c46fe64d385cc3317380">Vector7dState</a></td>
+          <td class="memname">typedef <a class="el" href="#a78b7e325313bda6591c62d59c25b2009">Vector7State</a>&lt;double&gt; <a class="el" href="#ad58fbc5cd721c46fe64d385cc3317380">Vector7dState</a></td>
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@@ -1185,39 +1192,39 @@ <h2 class="memtitle"><span class="permalink"><a href="#a901bd18eae58b6365b68227b
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-          <td class="memname">typedef <a class="el" href="#aec3d4775be3f8929cbac8e75b0471e48">Vector7StateSignal</a>&lt;double&gt; <a class="el" href="#a901bd18eae58b6365b68227b38b8a6e1">Vector7dStateSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#a0e0d0803fd68f9e69ed39bed579c0a8c">Vector7StateSignal</a>&lt;double&gt; <a class="el" href="#a901bd18eae58b6365b68227b38b8a6e1">Vector7dStateSignal</a></td>
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-<h2 class="memtitle"><span class="permalink"><a href="#a5c337dc74b2038b11a515b3d0559c1f2">&#9670;&#160;</a></span>Vector7State</h2>
+<a id="a78b7e325313bda6591c62d59c25b2009" name="a78b7e325313bda6591c62d59c25b2009"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a78b7e325313bda6591c62d59c25b2009">&#9670;&#160;</a></span>Vector7State</h2>
 
 <div class="memitem">
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 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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         <tr>
-          <td class="memname">using <a class="el" href="#a5c337dc74b2038b11a515b3d0559c1f2">Vector7State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 7 &gt;</td>
+          <td class="memname">using <a class="el" href="#a78b7e325313bda6591c62d59c25b2009">Vector7State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 7&gt;</td>
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-<a id="aec3d4775be3f8929cbac8e75b0471e48" name="aec3d4775be3f8929cbac8e75b0471e48"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#aec3d4775be3f8929cbac8e75b0471e48">&#9670;&#160;</a></span>Vector7StateSignal</h2>
+<a id="a0e0d0803fd68f9e69ed39bed579c0a8c" name="a0e0d0803fd68f9e69ed39bed579c0a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0e0d0803fd68f9e69ed39bed579c0a8c">&#9670;&#160;</a></span>Vector7StateSignal</h2>
 
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
-          <td class="memname">using <a class="el" href="#aec3d4775be3f8929cbac8e75b0471e48">Vector7StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 7 &gt;</td>
+          <td class="memname">using <a class="el" href="#a0e0d0803fd68f9e69ed39bed579c0a8c">Vector7StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 7&gt;</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -1231,7 +1238,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#acfdf1934f5783c1dcab2987c
 <div class="memproto">
       <table class="memname">
         <tr>
-          <td class="memname">typedef <a class="el" href="#a102cee6380e7d3e8f52988d17ac6a937">Vector8State</a>&lt;double&gt; <a class="el" href="#acfdf1934f5783c1dcab2987c242ef8af">Vector8dState</a></td>
+          <td class="memname">typedef <a class="el" href="#ae8dd0ef45fa5734f0e752551ba62e863">Vector8State</a>&lt;double&gt; <a class="el" href="#acfdf1934f5783c1dcab2987c242ef8af">Vector8dState</a></td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -1245,39 +1252,39 @@ <h2 class="memtitle"><span class="permalink"><a href="#a25968e689d254876cbae1ff3
 <div class="memproto">
       <table class="memname">
         <tr>
-          <td class="memname">typedef <a class="el" href="#a1583d33e935bcb44fb80ee6172a59a9b">Vector8StateSignal</a>&lt;double&gt; <a class="el" href="#a25968e689d254876cbae1ff352b3f184">Vector8dStateSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#a9b199ed43adea9fec91e40f9bab9457f">Vector8StateSignal</a>&lt;double&gt; <a class="el" href="#a25968e689d254876cbae1ff352b3f184">Vector8dStateSignal</a></td>
         </tr>
       </table>
 </div><div class="memdoc">
 
 </div>
 </div>
-<a id="a102cee6380e7d3e8f52988d17ac6a937" name="a102cee6380e7d3e8f52988d17ac6a937"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a102cee6380e7d3e8f52988d17ac6a937">&#9670;&#160;</a></span>Vector8State</h2>
+<a id="ae8dd0ef45fa5734f0e752551ba62e863" name="ae8dd0ef45fa5734f0e752551ba62e863"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae8dd0ef45fa5734f0e752551ba62e863">&#9670;&#160;</a></span>Vector8State</h2>
 
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
-          <td class="memname">using <a class="el" href="#a102cee6380e7d3e8f52988d17ac6a937">Vector8State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 8 &gt;</td>
+          <td class="memname">using <a class="el" href="#ae8dd0ef45fa5734f0e752551ba62e863">Vector8State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 8&gt;</td>
         </tr>
       </table>
 </div><div class="memdoc">
 
 </div>
 </div>
-<a id="a1583d33e935bcb44fb80ee6172a59a9b" name="a1583d33e935bcb44fb80ee6172a59a9b"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a1583d33e935bcb44fb80ee6172a59a9b">&#9670;&#160;</a></span>Vector8StateSignal</h2>
+<a id="a9b199ed43adea9fec91e40f9bab9457f" name="a9b199ed43adea9fec91e40f9bab9457f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9b199ed43adea9fec91e40f9bab9457f">&#9670;&#160;</a></span>Vector8StateSignal</h2>
 
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
-          <td class="memname">using <a class="el" href="#a1583d33e935bcb44fb80ee6172a59a9b">Vector8StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 8 &gt;</td>
+          <td class="memname">using <a class="el" href="#a9b199ed43adea9fec91e40f9bab9457f">Vector8StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 8&gt;</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -1291,7 +1298,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a865c1f4de96010d38ee17edc
 <div class="memproto">
       <table class="memname">
         <tr>
-          <td class="memname">typedef <a class="el" href="#acc503352a69f43c7991b9118bb466db2">Vector9State</a>&lt;double&gt; <a class="el" href="#a865c1f4de96010d38ee17edc48d6c611">Vector9dState</a></td>
+          <td class="memname">typedef <a class="el" href="#af1297813c5b5754edb4cf75ca0875849">Vector9State</a>&lt;double&gt; <a class="el" href="#a865c1f4de96010d38ee17edc48d6c611">Vector9dState</a></td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -1305,39 +1312,39 @@ <h2 class="memtitle"><span class="permalink"><a href="#a0237ae6ced288b7b3853654c
 <div class="memproto">
       <table class="memname">
         <tr>
-          <td class="memname">typedef <a class="el" href="#a0ffa2fdd937c37ee8f09d3fb49057f76">Vector9StateSignal</a>&lt;double&gt; <a class="el" href="#a0237ae6ced288b7b3853654cd4ce796c">Vector9dStateSignal</a></td>
+          <td class="memname">typedef <a class="el" href="#a9ab7680e24d1538be50e761b8a8ecb21">Vector9StateSignal</a>&lt;double&gt; <a class="el" href="#a0237ae6ced288b7b3853654cd4ce796c">Vector9dStateSignal</a></td>
         </tr>
       </table>
 </div><div class="memdoc">
 
 </div>
 </div>
-<a id="acc503352a69f43c7991b9118bb466db2" name="acc503352a69f43c7991b9118bb466db2"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#acc503352a69f43c7991b9118bb466db2">&#9670;&#160;</a></span>Vector9State</h2>
+<a id="af1297813c5b5754edb4cf75ca0875849" name="af1297813c5b5754edb4cf75ca0875849"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af1297813c5b5754edb4cf75ca0875849">&#9670;&#160;</a></span>Vector9State</h2>
 
 <div class="memitem">
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 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
-          <td class="memname">using <a class="el" href="#acc503352a69f43c7991b9118bb466db2">Vector9State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 9 &gt;</td>
+          <td class="memname">using <a class="el" href="#af1297813c5b5754edb4cf75ca0875849">Vector9State</a> = <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt;T, 9&gt;</td>
         </tr>
       </table>
 </div><div class="memdoc">
 
 </div>
 </div>
-<a id="a0ffa2fdd937c37ee8f09d3fb49057f76" name="a0ffa2fdd937c37ee8f09d3fb49057f76"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a0ffa2fdd937c37ee8f09d3fb49057f76">&#9670;&#160;</a></span>Vector9StateSignal</h2>
+<a id="a9ab7680e24d1538be50e761b8a8ecb21" name="a9ab7680e24d1538be50e761b8a8ecb21"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ab7680e24d1538be50e761b8a8ecb21">&#9670;&#160;</a></span>Vector9StateSignal</h2>
 
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
-          <td class="memname">using <a class="el" href="#a0ffa2fdd937c37ee8f09d3fb49057f76">Vector9StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 9 &gt;</td>
+          <td class="memname">using <a class="el" href="#a9ab7680e24d1538be50e761b8a8ecb21">Vector9StateSignal</a> = <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a>&lt;T, 9&gt;</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -1350,7 +1357,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a214bd9926c3d8a2bb83b9b47
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T , size_t d&gt; </div>
+template&lt;typename T, size_t d&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname">using <a class="el" href="#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a> = <a class="el" href="classSignal.html">Signal</a>&lt;<a class="el" href="structVectorStateSignalSpec.html">VectorStateSignalSpec</a>&lt;T, d&gt;, <a class="el" href="structVectorStateSignalSpec.html">VectorStateSignalSpec</a>&lt;T, d&gt;&gt;</td>
@@ -1366,7 +1373,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a60d0230d5788084bb8f559f4
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T , size_t d&gt; </div>
+template&lt;typename T, size_t d&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname">using <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a> = <a class="el" href="structState.html">State</a>&lt;T, <a class="el" href="structVectorSignalSpec.html">VectorSignalSpec</a>&lt;T, d&gt;, d, <a class="el" href="structVectorSignalSpec.html">VectorSignalSpec</a>&lt;T, d&gt;, d&gt;</td>
@@ -1383,12 +1390,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a795d2ff5c53f24de712134f2
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T , typename PTS , size_t PD, typename TTS , size_t TD&gt; </div>
+template&lt;typename T, typename PTS, size_t PD, typename TTS, size_t TD&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname"><a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; operator* </td>
           <td>(</td>
-          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
@@ -1406,12 +1413,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a7fa016cf853be0dbc882359b
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 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T , typename PTS , size_t PD, typename TTS , size_t TD&gt; </div>
+template&lt;typename T, typename PTS, size_t PD, typename TTS, size_t TD&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname"><a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; operator* </td>
           <td>(</td>
-          <td class="paramtype">const <a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+          <td class="paramtype">const <a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
@@ -1429,12 +1436,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#ac3e1ccc35f63b762bdd2c874
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T , typename PTS , size_t PD, typename TTS , size_t TD&gt; </div>
+template&lt;typename T, typename PTS, size_t PD, typename TTS, size_t TD&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname"><a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; operator+ </td>
           <td>(</td>
-          <td class="paramtype">const <a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+          <td class="paramtype">const <a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
@@ -1452,12 +1459,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#ad7ac1ecc8c925fbc991d2fa8
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T , typename PTS , size_t PD, typename TTS , size_t TD&gt; </div>
+template&lt;typename T, typename PTS, size_t PD, typename TTS, size_t TD&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname"><a class="el" href="structState.html">State</a>&lt; T, TTS, TD, TTS, TD &gt; operator- </td>
           <td>(</td>
-          <td class="paramtype">const <a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+          <td class="paramtype">const <a class="el" href="structState.html">State</a>&lt; T, PTS, PD, TTS, TD &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
@@ -1475,12 +1482,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#af3ec1e7d28a9aac4e1cde4c7
 <div class="memitem">
 <div class="memproto">
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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         <tr>
           <td class="memname"><a class="el" href="#aad51d946606df50291c6c2f546030f11">ScalarStateType</a>&lt; T &gt; operator/ </td>
           <td>(</td>
-          <td class="paramtype">const <a class="el" href="#aad51d946606df50291c6c2f546030f11">ScalarStateType</a>&lt; T &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+          <td class="paramtype">const <a class="el" href="#aad51d946606df50291c6c2f546030f11">ScalarStateType</a>&lt; T &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
@@ -1498,12 +1505,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a0f388e10603fb47846a1147f
 <div class="memitem">
 <div class="memproto">
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-template&lt;typename T , size_t d&gt; </div>
+template&lt;typename T, size_t d&gt; </div>
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         <tr>
           <td class="memname"><a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt; T, d &gt; operator/ </td>
           <td>(</td>
-          <td class="paramtype">const <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt; T, d &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em>, </span></td>
+          <td class="paramtype">const <a class="el" href="#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a>&lt; T, d &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
@@ -1521,7 +1528,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a6c0f637d1f1980a2de56f125
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 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T , typename ManifoldType , size_t PD, size_t TD&gt; </div>
+template&lt;typename T, typename ManifoldType, size_t PD, size_t TD&gt; </div>
 <table class="mlabels">
   <tr>
   <td class="mlabels-left">
@@ -1529,7 +1536,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a6c0f637d1f1980a2de56f125
         <tr>
           <td class="memname">std::ostream &amp; operator&lt;&lt; </td>
           <td>(</td>
-          <td class="paramtype">std::ostream &amp;</td>          <td class="paramname"><span class="paramname"><em>os</em>, </span></td>
+          <td class="paramtype">std::ostream &amp;</td>          <td class="paramname"><span class="paramname"><em>os</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
@@ -1539,7 +1546,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a6c0f637d1f1980a2de56f125
       </table>
   </td>
   <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+<span class="mlabels"><span class="mlabel inline">inline</span></span>  </td>
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 </table>
 </div><div class="memdoc">
@@ -1552,7 +1559,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a494fe74e8c2fc3cd3f7e1488
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 <div class="memtemplate">
-template&lt;typename T , typename ManifoldType , size_t PD, size_t TD&gt; </div>
+template&lt;typename T, typename ManifoldType, size_t PD, size_t TD&gt; </div>
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   <tr>
   <td class="mlabels-left">
@@ -1560,7 +1567,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a494fe74e8c2fc3cd3f7e1488
         <tr>
           <td class="memname">std::ostream &amp; operator&lt;&lt; </td>
           <td>(</td>
-          <td class="paramtype">std::ostream &amp;</td>          <td class="paramname"><span class="paramname"><em>os</em>, </span></td>
+          <td class="paramtype">std::ostream &amp;</td>          <td class="paramname"><span class="paramname"><em>os</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
@@ -1570,7 +1577,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a494fe74e8c2fc3cd3f7e1488
       </table>
   </td>
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-<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+<span class="mlabels"><span class="mlabel inline">inline</span></span>  </td>
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@@ -1583,7 +1590,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab6fe6347b40120d5f45445b1
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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@@ -1591,7 +1598,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab6fe6347b40120d5f45445b1
         <tr>
           <td class="memname">std::ostream &amp; operator&lt;&lt; </td>
           <td>(</td>
-          <td class="paramtype">std::ostream &amp;</td>          <td class="paramname"><span class="paramname"><em>os</em>, </span></td>
+          <td class="paramtype">std::ostream &amp;</td>          <td class="paramname"><span class="paramname"><em>os</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
@@ -1601,7 +1608,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab6fe6347b40120d5f45445b1
       </table>
   </td>
   <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+<span class="mlabels"><span class="mlabel inline">inline</span></span>  </td>
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@@ -1614,7 +1621,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ae29ac55bb38cdbd3acce1098
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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diff --git a/docs/State_8h.js b/docs/State_8h.js
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 <div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
@@ -127,7 +126,7 @@
 <div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="structState.html#a097d236bc46ca02a379e2fd188fe3e97">   46</a></span>    <a class="code hl_function" href="structState.html#a097d236bc46ca02a379e2fd188fe3e97">State</a>(T* arr) : <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>(arr), <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>(arr + PoseDim) {}</div>
 <div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
 <div class="foldopen" id="foldopen00048" data-start="{" data-end="}">
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="structState.html#aa10b450dbe8a806a0b203521b4738c0c">   48</a></span>    <a class="code hl_function" href="structState.html#aa10b450dbe8a806a0b203521b4738c0c">State</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State</a>&amp; other)</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="structState.html#aa10b450dbe8a806a0b203521b4738c0c">   48</a></span>    <a class="code hl_function" href="structState.html#aa10b450dbe8a806a0b203521b4738c0c">State</a>(<span class="keyword">const</span> <a class="code hl_function" href="structState.html#adcb914ebe25fe14622a945801267fa7a">State</a>&amp; other)</div>
 <div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    {</div>
 <div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>        this-&gt;pose  = other.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
 <div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>        this-&gt;twist = other.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
@@ -135,9 +134,9 @@
 </div>
 <div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
 <div class="foldopen" id="foldopen00054" data-start="{" data-end="}">
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"><a class="line" href="structState.html#a035f1f7193895463743b8ee58d75634f">   54</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">State</a> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">identity</a>()</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"><a class="line" href="structState.html#a035f1f7193895463743b8ee58d75634f">   54</a></span>    <span class="keyword">static</span> <a class="code hl_function" href="structState.html#adcb914ebe25fe14622a945801267fa7a">State</a> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">identity</a>()</div>
 <div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    {</div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>        <a class="code hl_struct" href="structState.html">State</a> x;</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>        <a class="code hl_function" href="structState.html#adcb914ebe25fe14622a945801267fa7a">State</a> x;</div>
 <div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>        x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>  = PoseTypeSpec::ZeroType();</div>
 <div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>        x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> = TwistTypeSpec::ZeroType();</div>
 <div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        <span class="keywordflow">return</span> x;</div>
@@ -145,9 +144,9 @@
 </div>
 <div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
 <div class="foldopen" id="foldopen00062" data-start="{" data-end="}">
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"><a class="line" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">   62</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">State</a> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">nans</a>()</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"><a class="line" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">   62</a></span>    <span class="keyword">static</span> <a class="code hl_function" href="structState.html#adcb914ebe25fe14622a945801267fa7a">State</a> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">nans</a>()</div>
 <div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    {</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        <a class="code hl_struct" href="structState.html">State</a> x;</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        <a class="code hl_function" href="structState.html#adcb914ebe25fe14622a945801267fa7a">State</a> x;</div>
 <div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>        x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>  = PoseTypeSpec::NansType();</div>
 <div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>        x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> = TwistTypeSpec::NansType();</div>
 <div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>        <span class="keywordflow">return</span> x;</div>
@@ -155,7 +154,7 @@
 </div>
 <div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
 <div class="foldopen" id="foldopen00070" data-start="{" data-end="}">
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="structState.html#af76faa98cfc18fb81afb0c86f7a0aa75">   70</a></span>    <a class="code hl_struct" href="structState.html">State</a>&amp; <a class="code hl_function" href="structState.html#af76faa98cfc18fb81afb0c86f7a0aa75">operator*=</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; s)</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="structState.html#af76faa98cfc18fb81afb0c86f7a0aa75">   70</a></span>    <a class="code hl_function" href="structState.html#adcb914ebe25fe14622a945801267fa7a">State</a>&amp; <a class="code hl_function" href="structState.html#af76faa98cfc18fb81afb0c86f7a0aa75">operator*=</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; s)</div>
 <div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    {</div>
 <div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> *= s;</div>
 <div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> *= s;</div>
@@ -165,7 +164,7 @@
 <div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
 <div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T2&gt;</div>
 <div class="foldopen" id="foldopen00078" data-start="{" data-end="}">
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="structState.html#a7764970f0c29576eac07ab57c28261be">   78</a></span>    <a class="code hl_struct" href="structState.html">State</a>&amp; <a class="code hl_function" href="structState.html#a7764970f0c29576eac07ab57c28261be">operator+=</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">State&lt;T2, TwistTypeSpec, TwistDim, TwistTypeSpec, TwistDim&gt;</a>&amp; r)</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="structState.html#a7764970f0c29576eac07ab57c28261be">   78</a></span>    <a class="code hl_function" href="structState.html#adcb914ebe25fe14622a945801267fa7a">State</a>&amp; <a class="code hl_function" href="structState.html#a7764970f0c29576eac07ab57c28261be">operator+=</a>(<span class="keyword">const</span> <a class="code hl_function" href="structState.html#adcb914ebe25fe14622a945801267fa7a">State&lt;T2, TwistTypeSpec, TwistDim, TwistTypeSpec, TwistDim&gt;</a>&amp; r)</div>
 <div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    {</div>
 <div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>        <a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> += r.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>;</div>
 <div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>        <a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> += r.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
@@ -220,11 +219,11 @@
 </div>
 <div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span> </div>
 <div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="State_8h.html#aad51d946606df50291c6c2f546030f11">  123</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">ScalarStateType</a> = <a class="code hl_struct" href="structState.html">State&lt;T, ScalarSignalSpec&lt;T&gt;</a>, 1, <a class="code hl_struct" href="structScalarSignalSpec.html">ScalarSignalSpec&lt;T&gt;</a>, 1&gt;;</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="State_8h.html#aad51d946606df50291c6c2f546030f11">  123</a></span><span class="keyword">using </span><a class="code hl_typedef" href="State_8h.html#aad51d946606df50291c6c2f546030f11">ScalarStateType</a> = <a class="code hl_struct" href="structState.html">State&lt;T, ScalarSignalSpec&lt;T&gt;</a>, 1, <a class="code hl_struct" href="structScalarSignalSpec.html">ScalarSignalSpec&lt;T&gt;</a>, 1&gt;;</div>
 <div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span> </div>
 <div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
 <div class="foldopen" id="foldopen00126" data-start="{" data-end="}">
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">  126</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">  126</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_typedef" href="State_8h.html#aad51d946606df50291c6c2f546030f11">ScalarStateType&lt;T&gt;</a>&amp; x)</div>
 <div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>{</div>
 <div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    os &lt;&lt; <span class="stringliteral">&quot;ScalarStateType: pose=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
 <div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    <span class="keywordflow">return</span> os;</div>
@@ -233,9 +232,9 @@
 <div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span> </div>
 <div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
 <div class="foldopen" id="foldopen00133" data-start="{" data-end="}">
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"><a class="line" href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">  133</a></span><a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a> <a class="code hl_function" href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">operator/</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"><a class="line" href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">  133</a></span><a class="code hl_typedef" href="State_8h.html#aad51d946606df50291c6c2f546030f11">ScalarStateType&lt;T&gt;</a> <a class="code hl_function" href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">operator/</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="State_8h.html#aad51d946606df50291c6c2f546030f11">ScalarStateType&lt;T&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
 <div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>{</div>
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a> lr = l;</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    <a class="code hl_typedef" href="State_8h.html#aad51d946606df50291c6c2f546030f11">ScalarStateType&lt;T&gt;</a> lr = l;</div>
 <div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> /= r;</div>
 <div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> /= r;</div>
 <div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>    <span class="keywordflow">return</span> lr;</div>
@@ -243,11 +242,11 @@
 </div>
 <div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span> </div>
 <div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
-<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"><a class="line" href="State_8h.html#a60d0230d5788084bb8f559f4561d4d96">  142</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">VectorStateType</a> = <a class="code hl_struct" href="structState.html">State&lt;T, VectorSignalSpec&lt;T, d&gt;</a>, d, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, d&gt;</a>, d&gt;;</div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"><a class="line" href="State_8h.html#a60d0230d5788084bb8f559f4561d4d96">  142</a></span><span class="keyword">using </span><a class="code hl_typedef" href="State_8h.html#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a> = <a class="code hl_struct" href="structState.html">State&lt;T, VectorSignalSpec&lt;T, d&gt;</a>, d, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, d&gt;</a>, d&gt;;</div>
 <div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span> </div>
 <div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
 <div class="foldopen" id="foldopen00145" data-start="{" data-end="}">
-<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"><a class="line" href="State_8h.html#af1eca508289d2fcbdecd0cc136eed43d">  145</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"><a class="line" href="State_8h.html#af1eca508289d2fcbdecd0cc136eed43d">  145</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_typedef" href="State_8h.html#a60d0230d5788084bb8f559f4561d4d96">VectorStateType&lt;T, d&gt;</a>&amp; x)</div>
 <div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>{</div>
 <div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorStateType: pose=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a>.transpose() &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>.transpose();</div>
 <div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    <span class="keywordflow">return</span> os;</div>
@@ -256,9 +255,9 @@
 <div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span> </div>
 <div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
 <div class="foldopen" id="foldopen00152" data-start="{" data-end="}">
-<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="State_8h.html#a0f388e10603fb47846a1147ff5b6839d">  152</a></span><a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a> <a class="code hl_function" href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">operator/</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="State_8h.html#a0f388e10603fb47846a1147ff5b6839d">  152</a></span><a class="code hl_typedef" href="State_8h.html#a60d0230d5788084bb8f559f4561d4d96">VectorStateType&lt;T, d&gt;</a> <a class="code hl_function" href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">operator/</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="State_8h.html#a60d0230d5788084bb8f559f4561d4d96">VectorStateType&lt;T, d&gt;</a>&amp; l, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; r)</div>
 <div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>{</div>
-<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a> lr = l;</div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    <a class="code hl_typedef" href="State_8h.html#a60d0230d5788084bb8f559f4561d4d96">VectorStateType&lt;T, d&gt;</a> lr = l;</div>
 <div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    lr.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> /= r;</div>
 <div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    lr.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a> /= r;</div>
 <div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    <span class="keywordflow">return</span> lr;</div>
@@ -266,11 +265,11 @@
 </div>
 <div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span> </div>
 <div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
-<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"><a class="line" href="State_8h.html#a73655df4c5d92f1cf1cf69d5fa057753">  161</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">ManifoldStateType</a> = <a class="code hl_struct" href="structState.html">State&lt;T, ManifoldSignalSpec&lt;ManifoldType&gt;</a>, PD, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, TD&gt;</a>, TD&gt;;</div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"><a class="line" href="State_8h.html#a73655df4c5d92f1cf1cf69d5fa057753">  161</a></span><span class="keyword">using </span><a class="code hl_typedef" href="State_8h.html#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a> = <a class="code hl_struct" href="structState.html">State&lt;T, ManifoldSignalSpec&lt;ManifoldType&gt;</a>, PD, <a class="code hl_struct" href="structVectorSignalSpec.html">VectorSignalSpec&lt;T, TD&gt;</a>, TD&gt;;</div>
 <div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span> </div>
 <div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
 <div class="foldopen" id="foldopen00164" data-start="{" data-end="}">
-<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"><a class="line" href="State_8h.html#a494fe74e8c2fc3cd3f7e14886eeb7d6c">  164</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_struct" href="structState.html">ManifoldStateType&lt;T, ManifoldType, PD, TD&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"><a class="line" href="State_8h.html#a494fe74e8c2fc3cd3f7e14886eeb7d6c">  164</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_typedef" href="State_8h.html#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType&lt;T, ManifoldType, PD, TD&gt;</a>&amp; x)</div>
 <div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>{</div>
 <div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorStateType: pose=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a0a5874d4c3988770f5498c34ec508c34">pose</a> &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x.<a class="code hl_variable" href="structState.html#a3f5fb4275701e71a56d2fa1fb8d54080">twist</a>;</div>
 <div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>    <span class="keywordflow">return</span> os;</div>
@@ -281,15 +280,15 @@
 <div class="foldopen" id="foldopen00171" data-start="{" data-end="};">
 <div class="line"><a id="l00171" name="l00171"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html">  171</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec</a></div>
 <div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>{</div>
-<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html#a7ae52069e3aafdb7c45b14168b1ad11b">  173</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structState.html">Type</a> = <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html#a7ae52069e3aafdb7c45b14168b1ad11b">  173</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structScalarStateSignalSpec.html#a7ae52069e3aafdb7c45b14168b1ad11b">Type</a> = <a class="code hl_typedef" href="State_8h.html#aad51d946606df50291c6c2f546030f11">ScalarStateType&lt;T&gt;</a>;</div>
 <div class="foldopen" id="foldopen00174" data-start="{" data-end="}">
-<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">  174</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">ZeroType</a>()</div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">  174</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structScalarStateSignalSpec.html#a7ae52069e3aafdb7c45b14168b1ad11b">Type</a> <a class="code hl_function" href="structScalarStateSignalSpec.html#a0dc57853395e3c57d6447a23ae513b91">ZeroType</a>()</div>
 <div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>    {</div>
 <div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">Type::identity</a>();</div>
 <div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>    }</div>
 </div>
 <div class="foldopen" id="foldopen00178" data-start="{" data-end="}">
-<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">  178</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">NansType</a>()</div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"><a class="line" href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">  178</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structScalarStateSignalSpec.html#a7ae52069e3aafdb7c45b14168b1ad11b">Type</a> <a class="code hl_function" href="structScalarStateSignalSpec.html#ac3878dfd1b21706364c34d09e6da37ce">NansType</a>()</div>
 <div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>    {</div>
 <div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">Type::nans</a>();</div>
 <div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>    }</div>
@@ -301,15 +300,15 @@
 <div class="foldopen" id="foldopen00185" data-start="{" data-end="};">
 <div class="line"><a id="l00185" name="l00185"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html">  185</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structVectorStateSignalSpec.html">VectorStateSignalSpec</a></div>
 <div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>{</div>
-<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html#a3994948f467b39ca2dcd77d220a8cf3a">  187</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structState.html">Type</a> = <a class="code hl_struct" href="structState.html">VectorStateType&lt;T, d&gt;</a>;</div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html#a3994948f467b39ca2dcd77d220a8cf3a">  187</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structVectorStateSignalSpec.html#a3994948f467b39ca2dcd77d220a8cf3a">Type</a> = <a class="code hl_typedef" href="State_8h.html#a60d0230d5788084bb8f559f4561d4d96">VectorStateType&lt;T, d&gt;</a>;</div>
 <div class="foldopen" id="foldopen00188" data-start="{" data-end="}">
-<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html#ae659b96e95497b25e711fab331037c21">  188</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structVectorStateSignalSpec.html#ae659b96e95497b25e711fab331037c21">ZeroType</a>()</div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html#ae659b96e95497b25e711fab331037c21">  188</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structVectorStateSignalSpec.html#a3994948f467b39ca2dcd77d220a8cf3a">Type</a> <a class="code hl_function" href="structVectorStateSignalSpec.html#ae659b96e95497b25e711fab331037c21">ZeroType</a>()</div>
 <div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>    {</div>
 <div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">Type::identity</a>();</div>
 <div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>    }</div>
 </div>
 <div class="foldopen" id="foldopen00192" data-start="{" data-end="}">
-<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html#a4729eec41bab8eb5ed7b45aa8272be4d">  192</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structVectorStateSignalSpec.html#a4729eec41bab8eb5ed7b45aa8272be4d">NansType</a>()</div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"><a class="line" href="structVectorStateSignalSpec.html#a4729eec41bab8eb5ed7b45aa8272be4d">  192</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structVectorStateSignalSpec.html#a3994948f467b39ca2dcd77d220a8cf3a">Type</a> <a class="code hl_function" href="structVectorStateSignalSpec.html#a4729eec41bab8eb5ed7b45aa8272be4d">NansType</a>()</div>
 <div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>    {</div>
 <div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">Type::nans</a>();</div>
 <div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>    }</div>
@@ -321,15 +320,15 @@
 <div class="foldopen" id="foldopen00199" data-start="{" data-end="};">
 <div class="line"><a id="l00199" name="l00199"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html">  199</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec</a></div>
 <div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>{</div>
-<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html#aef8d411c012125303e1faa1d66b35c1c">  201</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structState.html">Type</a> = <a class="code hl_struct" href="structState.html">ManifoldStateType&lt;T, ManifoldType, PD, TD&gt;</a>;</div>
+<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html#aef8d411c012125303e1faa1d66b35c1c">  201</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="structManifoldStateSignalSpec.html#aef8d411c012125303e1faa1d66b35c1c">Type</a> = <a class="code hl_typedef" href="State_8h.html#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType&lt;T, ManifoldType, PD, TD&gt;</a>;</div>
 <div class="foldopen" id="foldopen00202" data-start="{" data-end="}">
-<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">  202</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">ZeroType</a>()</div>
+<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">  202</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structManifoldStateSignalSpec.html#aef8d411c012125303e1faa1d66b35c1c">Type</a> <a class="code hl_function" href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">ZeroType</a>()</div>
 <div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>    {</div>
 <div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a035f1f7193895463743b8ee58d75634f">Type::identity</a>();</div>
 <div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>    }</div>
 </div>
 <div class="foldopen" id="foldopen00206" data-start="{" data-end="}">
-<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">  206</a></span>    <span class="keyword">static</span> <a class="code hl_struct" href="structState.html">Type</a> <a class="code hl_function" href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">NansType</a>()</div>
+<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"><a class="line" href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">  206</a></span>    <span class="keyword">static</span> <a class="code hl_typedef" href="structManifoldStateSignalSpec.html#aef8d411c012125303e1faa1d66b35c1c">Type</a> <a class="code hl_function" href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">NansType</a>()</div>
 <div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span>    {</div>
 <div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="structState.html#a9e331e0ecbed1ab2a03d9b3e5a457426">Type::nans</a>();</div>
 <div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>    }</div>
@@ -338,11 +337,11 @@
 </div>
 <div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span> </div>
 <div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"><a class="line" href="State_8h.html#a7059d2190879b0e80afad377593fb225">  213</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">ScalarStateSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ScalarStateSignalSpec&lt;T&gt;</a>, <a class="code hl_struct" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec&lt;T&gt;</a>&gt;;</div>
+<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"><a class="line" href="State_8h.html#a7059d2190879b0e80afad377593fb225">  213</a></span><span class="keyword">using </span><a class="code hl_typedef" href="State_8h.html#a7059d2190879b0e80afad377593fb225">ScalarStateSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ScalarStateSignalSpec&lt;T&gt;</a>, <a class="code hl_struct" href="structScalarStateSignalSpec.html">ScalarStateSignalSpec&lt;T&gt;</a>&gt;;</div>
 <div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span> </div>
 <div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
 <div class="foldopen" id="foldopen00216" data-start="{" data-end="}">
-<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"><a class="line" href="State_8h.html#ab6fe6347b40120d5f45445b1fc6596f4">  216</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;T&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"><a class="line" href="State_8h.html#ab6fe6347b40120d5f45445b1fc6596f4">  216</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_typedef" href="State_8h.html#a7059d2190879b0e80afad377593fb225">ScalarStateSignal&lt;T&gt;</a>&amp; x)</div>
 <div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>{</div>
 <div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>    os &lt;&lt; <span class="stringliteral">&quot;ScalarStateSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: pose=&quot;</span> &lt;&lt; x().pose &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x().twist;</div>
 <div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>    <span class="keywordflow">return</span> os;</div>
@@ -350,11 +349,11 @@
 </div>
 <div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span> </div>
 <div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
-<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"><a class="line" href="State_8h.html#a214bd9926c3d8a2bb83b9b471744775b">  223</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">VectorStateSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;VectorStateSignalSpec&lt;T, d&gt;</a>, <a class="code hl_struct" href="structVectorStateSignalSpec.html">VectorStateSignalSpec&lt;T, d&gt;</a>&gt;;</div>
+<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"><a class="line" href="State_8h.html#a214bd9926c3d8a2bb83b9b471744775b">  223</a></span><span class="keyword">using </span><a class="code hl_typedef" href="State_8h.html#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;VectorStateSignalSpec&lt;T, d&gt;</a>, <a class="code hl_struct" href="structVectorStateSignalSpec.html">VectorStateSignalSpec&lt;T, d&gt;</a>&gt;;</div>
 <div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span> </div>
 <div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keywordtype">size_t</span> d&gt;</div>
 <div class="foldopen" id="foldopen00226" data-start="{" data-end="}">
-<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"><a class="line" href="State_8h.html#a1675ff98779b45e08f5d169056e26a4d">  226</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">VectorStateSignal&lt;T, d&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"><a class="line" href="State_8h.html#a1675ff98779b45e08f5d169056e26a4d">  226</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_typedef" href="State_8h.html#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal&lt;T, d&gt;</a>&amp; x)</div>
 <div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>{</div>
 <div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>    os &lt;&lt; <span class="stringliteral">&quot;VectorStateSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: pose=&quot;</span> &lt;&lt; x().pose.transpose()</div>
 <div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>       &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x().twist.transpose();</div>
@@ -363,11 +362,11 @@
 </div>
 <div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span> </div>
 <div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
-<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"><a class="line" href="State_8h.html#a111e9957b3bae43e71ce97678f712b8c">  234</a></span><span class="keyword">using </span><a class="code hl_class" href="classSignal.html">ManifoldStateSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ManifoldStateSignalSpec&lt;T, ManifoldType, PD, TD&gt;</a>, <a class="code hl_struct" href="structVectorStateSignalSpec.html">VectorStateSignalSpec&lt;T, TD&gt;</a>&gt;;</div>
+<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"><a class="line" href="State_8h.html#a111e9957b3bae43e71ce97678f712b8c">  234</a></span><span class="keyword">using </span><a class="code hl_typedef" href="State_8h.html#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal</a> = <a class="code hl_class" href="classSignal.html">Signal&lt;ManifoldStateSignalSpec&lt;T, ManifoldType, PD, TD&gt;</a>, <a class="code hl_struct" href="structVectorStateSignalSpec.html">VectorStateSignalSpec&lt;T, TD&gt;</a>&gt;;</div>
 <div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span> </div>
 <div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> ManifoldType, <span class="keywordtype">size_t</span> PD, <span class="keywordtype">size_t</span> TD&gt;</div>
 <div class="foldopen" id="foldopen00237" data-start="{" data-end="}">
-<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"><a class="line" href="State_8h.html#a6c0f637d1f1980a2de56f125e9cf4ec1">  237</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_class" href="classSignal.html">ManifoldStateSignal&lt;T, ManifoldType, PD, TD&gt;</a>&amp; x)</div>
+<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"><a class="line" href="State_8h.html#a6c0f637d1f1980a2de56f125e9cf4ec1">  237</a></span><span class="keyword">inline</span> std::ostream&amp; <a class="code hl_function" href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a>(std::ostream&amp; os, <span class="keyword">const</span> <a class="code hl_typedef" href="State_8h.html#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal&lt;T, ManifoldType, PD, TD&gt;</a>&amp; x)</div>
 <div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span>{</div>
 <div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>    os &lt;&lt; <span class="stringliteral">&quot;ManifoldStateSignal at t=&quot;</span> &lt;&lt; x.<a class="code hl_function" href="classSignal.html#a058783faf86f369b296c50d4e72c0881">t</a>() &lt;&lt; <span class="stringliteral">&quot;: pose=&quot;</span> &lt;&lt; x().pose &lt;&lt; <span class="stringliteral">&quot;; twist=&quot;</span> &lt;&lt; x().twist;</div>
 <div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>    <span class="keywordflow">return</span> os;</div>
@@ -395,9 +394,9 @@
 </div>
 <div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span> </div>
 <div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span><span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"><a class="line" href="State_8h.html#ae2fe8fddd28ed110fbc33b4ca506bd0f">  260</a></span><span class="keyword">using </span><a class="code hl_struct" href="structState.html">ScalarState</a> = <a class="code hl_struct" href="structState.html">ScalarStateType&lt;T&gt;</a>;</div>
-<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"><a class="line" href="State_8h.html#aab879370bd488ae3cb270da1dfc5f695">  261</a></span><span class="keyword">typedef</span> <a class="code hl_struct" href="structState.html">ScalarState&lt;double&gt;</a>       <a class="code hl_typedef" href="State_8h.html#aab879370bd488ae3cb270da1dfc5f695">ScalardState</a>;</div>
-<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"><a class="line" href="State_8h.html#a95f500a02b3d50ef0a73883e96ae8768">  262</a></span><span class="keyword">typedef</span> <a class="code hl_class" href="classSignal.html">ScalarStateSignal&lt;double&gt;</a> <a class="code hl_typedef" href="State_8h.html#a95f500a02b3d50ef0a73883e96ae8768">ScalardStateSignal</a>;</div>
+<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"><a class="line" href="State_8h.html#ae2fe8fddd28ed110fbc33b4ca506bd0f">  260</a></span><span class="keyword">using </span><a class="code hl_typedef" href="State_8h.html#ae2fe8fddd28ed110fbc33b4ca506bd0f">ScalarState</a> = <a class="code hl_typedef" href="State_8h.html#aad51d946606df50291c6c2f546030f11">ScalarStateType&lt;T&gt;</a>;</div>
+<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"><a class="line" href="State_8h.html#aab879370bd488ae3cb270da1dfc5f695">  261</a></span><span class="keyword">typedef</span> <a class="code hl_typedef" href="State_8h.html#ae2fe8fddd28ed110fbc33b4ca506bd0f">ScalarState&lt;double&gt;</a>       <a class="code hl_typedef" href="State_8h.html#aab879370bd488ae3cb270da1dfc5f695">ScalardState</a>;</div>
+<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"><a class="line" href="State_8h.html#a95f500a02b3d50ef0a73883e96ae8768">  262</a></span><span class="keyword">typedef</span> <a class="code hl_typedef" href="State_8h.html#a7059d2190879b0e80afad377593fb225">ScalarStateSignal&lt;double&gt;</a> <a class="code hl_typedef" href="State_8h.html#a95f500a02b3d50ef0a73883e96ae8768">ScalardStateSignal</a>;</div>
 <div class="line"><a id="l00263" name="l00263"></a><span class="lineno"><a class="line" href="State_8h.html#a1fccb71007e0830388d5c21c85e3344e">  263</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(1)</div>
 <div class="line"><a id="l00264" name="l00264"></a><span class="lineno"><a class="line" href="State_8h.html#ae54c0630e02ee333a48fe6531d00e071">  264</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(2)</div>
 <div class="line"><a id="l00265" name="l00265"></a><span class="lineno"><a class="line" href="State_8h.html#a0e9c381070552b28ffb2683b44e7b5a3">  265</a></span><a class="code hl_define" href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a>(3)</div>
@@ -413,13 +412,20 @@
 <div class="line"><a id="l00275" name="l00275"></a><span class="lineno"><a class="line" href="State_8h.html#abf8de0fae02a60506ddd6e134b75ae00">  275</a></span><a class="code hl_define" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a>(SE2, 4, 3)</div>
 <div class="line"><a id="l00276" name="l00276"></a><span class="lineno"><a class="line" href="State_8h.html#a98daf00f053bcc148a93319eac4901e4">  276</a></span><a class="code hl_define" href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a>(SE3, 7, 6)</div>
 <div class="ttc" id="aSignal_8h_html"><div class="ttname"><a href="Signal_8h.html">Signal.h</a></div></div>
+<div class="ttc" id="aState_8h_html_a111e9957b3bae43e71ce97678f712b8c"><div class="ttname"><a href="State_8h.html#a111e9957b3bae43e71ce97678f712b8c">ManifoldStateSignal</a></div><div class="ttdeci">Signal&lt; ManifoldStateSignalSpec&lt; T, ManifoldType, PD, TD &gt;, VectorStateSignalSpec&lt; T, TD &gt; &gt; ManifoldStateSignal</div><div class="ttdef"><b>Definition</b> State.h:234</div></div>
+<div class="ttc" id="aState_8h_html_a214bd9926c3d8a2bb83b9b471744775b"><div class="ttname"><a href="State_8h.html#a214bd9926c3d8a2bb83b9b471744775b">VectorStateSignal</a></div><div class="ttdeci">Signal&lt; VectorStateSignalSpec&lt; T, d &gt;, VectorStateSignalSpec&lt; T, d &gt; &gt; VectorStateSignal</div><div class="ttdef"><b>Definition</b> State.h:223</div></div>
+<div class="ttc" id="aState_8h_html_a60d0230d5788084bb8f559f4561d4d96"><div class="ttname"><a href="State_8h.html#a60d0230d5788084bb8f559f4561d4d96">VectorStateType</a></div><div class="ttdeci">State&lt; T, VectorSignalSpec&lt; T, d &gt;, d, VectorSignalSpec&lt; T, d &gt;, d &gt; VectorStateType</div><div class="ttdef"><b>Definition</b> State.h:142</div></div>
+<div class="ttc" id="aState_8h_html_a7059d2190879b0e80afad377593fb225"><div class="ttname"><a href="State_8h.html#a7059d2190879b0e80afad377593fb225">ScalarStateSignal</a></div><div class="ttdeci">Signal&lt; ScalarStateSignalSpec&lt; T &gt;, ScalarStateSignalSpec&lt; T &gt; &gt; ScalarStateSignal</div><div class="ttdef"><b>Definition</b> State.h:213</div></div>
 <div class="ttc" id="aState_8h_html_a72800aeb486c7eebe1ab0fe8cfae6294"><div class="ttname"><a href="State_8h.html#a72800aeb486c7eebe1ab0fe8cfae6294">MAKE_MANIF_STATES</a></div><div class="ttdeci">#define MAKE_MANIF_STATES(Manif, Dimension, TangentDimension)</div><div class="ttdef"><b>Definition</b> State.h:251</div></div>
+<div class="ttc" id="aState_8h_html_a73655df4c5d92f1cf1cf69d5fa057753"><div class="ttname"><a href="State_8h.html#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a></div><div class="ttdeci">State&lt; T, ManifoldSignalSpec&lt; ManifoldType &gt;, PD, VectorSignalSpec&lt; T, TD &gt;, TD &gt; ManifoldStateType</div><div class="ttdef"><b>Definition</b> State.h:161</div></div>
 <div class="ttc" id="aState_8h_html_a795d2ff5c53f24de712134f27e197001"><div class="ttname"><a href="State_8h.html#a795d2ff5c53f24de712134f27e197001">operator*</a></div><div class="ttdeci">State&lt; T, PTS, PD, TTS, TD &gt; operator*(const double &amp;l, const State&lt; T, PTS, PD, TTS, TD &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:105</div></div>
 <div class="ttc" id="aState_8h_html_a95f500a02b3d50ef0a73883e96ae8768"><div class="ttname"><a href="State_8h.html#a95f500a02b3d50ef0a73883e96ae8768">ScalardStateSignal</a></div><div class="ttdeci">ScalarStateSignal&lt; double &gt; ScalardStateSignal</div><div class="ttdef"><b>Definition</b> State.h:262</div></div>
 <div class="ttc" id="aState_8h_html_aab879370bd488ae3cb270da1dfc5f695"><div class="ttname"><a href="State_8h.html#aab879370bd488ae3cb270da1dfc5f695">ScalardState</a></div><div class="ttdeci">ScalarState&lt; double &gt; ScalardState</div><div class="ttdef"><b>Definition</b> State.h:261</div></div>
+<div class="ttc" id="aState_8h_html_aad51d946606df50291c6c2f546030f11"><div class="ttname"><a href="State_8h.html#aad51d946606df50291c6c2f546030f11">ScalarStateType</a></div><div class="ttdeci">State&lt; T, ScalarSignalSpec&lt; T &gt;, 1, ScalarSignalSpec&lt; T &gt;, 1 &gt; ScalarStateType</div><div class="ttdef"><b>Definition</b> State.h:123</div></div>
 <div class="ttc" id="aState_8h_html_ac3e1ccc35f63b762bdd2c87478f8aad6"><div class="ttname"><a href="State_8h.html#ac3e1ccc35f63b762bdd2c87478f8aad6">operator+</a></div><div class="ttdeci">State&lt; T, PTS, PD, TTS, TD &gt; operator+(const State&lt; T, PTS, PD, TTS, TD &gt; &amp;l, const State&lt; T, TTS, TD, TTS, TD &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:87</div></div>
 <div class="ttc" id="aState_8h_html_ad7ac1ecc8c925fbc991d2fa8ca50d4eb"><div class="ttname"><a href="State_8h.html#ad7ac1ecc8c925fbc991d2fa8ca50d4eb">operator-</a></div><div class="ttdeci">State&lt; T, TTS, TD, TTS, TD &gt; operator-(const State&lt; T, PTS, PD, TTS, TD &gt; &amp;l, const State&lt; T, PTS, PD, TTS, TD &gt; &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:96</div></div>
 <div class="ttc" id="aState_8h_html_ae29ac55bb38cdbd3acce109857e8e7a4"><div class="ttname"><a href="State_8h.html#ae29ac55bb38cdbd3acce109857e8e7a4">operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const ScalarStateType&lt; T &gt; &amp;x)</div><div class="ttdef"><b>Definition</b> State.h:126</div></div>
+<div class="ttc" id="aState_8h_html_ae2fe8fddd28ed110fbc33b4ca506bd0f"><div class="ttname"><a href="State_8h.html#ae2fe8fddd28ed110fbc33b4ca506bd0f">ScalarState</a></div><div class="ttdeci">ScalarStateType&lt; T &gt; ScalarState</div><div class="ttdef"><b>Definition</b> State.h:260</div></div>
 <div class="ttc" id="aState_8h_html_aed0e3d5bd576a92c33ab3950c98a4e3b"><div class="ttname"><a href="State_8h.html#aed0e3d5bd576a92c33ab3950c98a4e3b">MAKE_VECTOR_STATES</a></div><div class="ttdeci">#define MAKE_VECTOR_STATES(Dimension)</div><div class="ttdef"><b>Definition</b> State.h:243</div></div>
 <div class="ttc" id="aState_8h_html_af3ec1e7d28a9aac4e1cde4c7f3438128"><div class="ttname"><a href="State_8h.html#af3ec1e7d28a9aac4e1cde4c7f3438128">operator/</a></div><div class="ttdeci">ScalarStateType&lt; T &gt; operator/(const ScalarStateType&lt; T &gt; &amp;l, const double &amp;r)</div><div class="ttdef"><b>Definition</b> State.h:133</div></div>
 <div class="ttc" id="aclassSignal_html"><div class="ttname"><a href="classSignal.html">Signal</a></div><div class="ttdef"><b>Definition</b> Signal.h:38</div></div>
@@ -427,24 +433,27 @@
 <div class="ttc" id="astructManifoldStateSignalSpec_html"><div class="ttname"><a href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec</a></div><div class="ttdef"><b>Definition</b> State.h:200</div></div>
 <div class="ttc" id="astructManifoldStateSignalSpec_html_a7542075f653a7e8fba76702499936b17"><div class="ttname"><a href="structManifoldStateSignalSpec.html#a7542075f653a7e8fba76702499936b17">ManifoldStateSignalSpec::NansType</a></div><div class="ttdeci">static Type NansType()</div><div class="ttdef"><b>Definition</b> State.h:206</div></div>
 <div class="ttc" id="astructManifoldStateSignalSpec_html_adca9f48f26d97f95b2083b9e55bb58cb"><div class="ttname"><a href="structManifoldStateSignalSpec.html#adca9f48f26d97f95b2083b9e55bb58cb">ManifoldStateSignalSpec::ZeroType</a></div><div class="ttdeci">static Type ZeroType()</div><div class="ttdef"><b>Definition</b> State.h:202</div></div>
+<div class="ttc" id="astructManifoldStateSignalSpec_html_aef8d411c012125303e1faa1d66b35c1c"><div class="ttname"><a href="structManifoldStateSignalSpec.html#aef8d411c012125303e1faa1d66b35c1c">ManifoldStateSignalSpec::Type</a></div><div class="ttdeci">ManifoldStateType&lt; T, ManifoldType, PD, TD &gt; Type</div><div class="ttdef"><b>Definition</b> State.h:201</div></div>
 <div class="ttc" id="astructScalarSignalSpec_html"><div class="ttname"><a href="structScalarSignalSpec.html">ScalarSignalSpec</a></div><div class="ttdef"><b>Definition</b> Signal.h:620</div></div>
 <div class="ttc" id="astructScalarStateSignalSpec_html"><div class="ttname"><a href="structScalarStateSignalSpec.html">ScalarStateSignalSpec</a></div><div class="ttdef"><b>Definition</b> State.h:172</div></div>
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 <tr class="memitem:a7661852411b9ffd59240d5d5ca0e4dd3" id="r_a7661852411b9ffd59240d5d5ca0e4dd3"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a7661852411b9ffd59240d5d5ca0e4dd3">t</a> () const</td></tr>
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 <tr class="memdesc:ac7446138b27c8feba779ebfe8e82b99d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Simulate the system response to an input over a specified time interval.  <br /></td></tr>
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 <tr class="memdesc:ac2550ae8ed888d167450160ce55286df"><td class="mdescLeft">&#160;</td><td class="mdescRight">Simulate the system response to an input over a specified time interval, chunked up into smaller integration increments.  <br /></td></tr>
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 <p>Provides methods for initialization, reset, and simulation of dynamic models.</p>
 <p><b>Derived types</b>:</p>
 <ul>
-<li><code><a class="el" href="Models_8h.html#a06f4823dd2b571a8718ccad09ce44fe7">Translational1DOFModel(d)</a></code></li>
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-template&lt;typename DynamicsType &gt; </div>
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-template&lt;typename DynamicsType &gt; </div>
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-template&lt;typename DynamicsType &gt; </div>
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-template&lt;typename DynamicsType &gt; </div>
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+          <td class="paramtype">const std::vector&lt; <a class="el" href="#a9bda97fe7663f5481807259ca8bcd8cb">BaseType</a> &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>_xHistory</em></span>, </td>
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+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; BSS, TSS &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em></span>, </td>
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+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; BSS, TSS &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>l</em></span>, </td>
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
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index 8b3db6d..be4991f 100644
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     [ "interpolationMethod", "classSignal.html#ae4c3f0098aaec52921d28cce09ff1ed4", null ],
-    [ "SignalDPComparator", "classSignal.html#a3961e7ce30f40f8104dd3d25f2e70a7f", null ]
+    [ "SignalDPComparator", "classSignal.html#a6db70e8a2784b5596a47f2249a2627b7", null ]
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-<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="generator" content="Doxygen 1.13.2"/>
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-<script type="text/javascript" src="resize.js"></script>
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+<script type="text/javascript" src="resize.js"></script>
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+<script type="text/javascript">
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+$(function() { codefold.init(0); });
+/* @license-end */
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+$(function(){initNavTree('classes.html',''); initResizable(true); });
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+let clipboard_icon = `<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24" width="24" height="24"><path fill="#888" d="M16 1H4c-1.1 0-2 .9-2 2v14h2V3h12V1zm3 4H8c-1.1 0-2 .9-2 2v14c0 1.1.9 2 2 2h11c1.1 0 2-.9 2-2V7c0-1.1-.9-2-2-2zm0 16H8V7h11v14z"/></svg>`
+let clipboard_successIcon = `<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24" width="24" height="24"><path d="M9 16.17L4.83 12l-1.42 1.41L9 19 21 7l-1.41-1.41L9 16.17z"/></svg>`
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-<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="generator" content="Doxygen 1.13.2"/>
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+<script type="text/javascript" src="resize.js"></script>
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-<!-- Generated by Doxygen 1.10.0 -->
+<!-- Generated by Doxygen 1.13.2 -->
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  initMenu('',true,false,'search.php','Search',true);
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@@ -73,7 +77,7 @@
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+$(function(){initNavTree('dir_661483514bb8dea267426763b771558e.html',''); initResizable(true); });
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@@ -124,7 +128,7 @@
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
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+<meta name="generator" content="Doxygen 1.13.2"/>
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-<script type="text/javascript" src="resize.js"></script>
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+<script type="text/javascript" src="resize.js"></script>
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+<!-- Generated by Doxygen 1.13.2 -->
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  initMenu('',true,false,'search.php','Search',true);
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@@ -114,7 +118,7 @@
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
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@@ -269,7 +269,24 @@ dl.el {
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+
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@@ -321,8 +338,7 @@ pre.fragment {
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+        padding-top: 3px;
+        text-align: right;
+}
+
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@@ -1397,6 +1421,11 @@ dl.invariant dt, dl.pre dt, dl.post dt {
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t=e.data("ui-form-reset-instances");y.each(t,function(){this.refresh()})})},_bindFormResetHandler:function(){var t;this.form=this.element._form(),this.form.length&&((t=this.form.data("ui-form-reset-instances")||[]).length||this.form.on("reset.ui-form-reset",this._formResetHandler),t.push(this),this.form.data("ui-form-reset-instances",t))},_unbindFormResetHandler:function(){var t;this.form.length&&((t=this.form.data("ui-form-reset-instances")).splice(y.inArray(this,t),1),t.length?this.form.data("ui-form-reset-instances",t):this.form.removeData("ui-form-reset-instances").off("reset.ui-form-reset"))}};y.expr.pseudos||(y.expr.pseudos=y.expr[":"]),y.uniqueSort||(y.uniqueSort=y.unique),y.escapeSelector||(e=/([\0-\x1f\x7f]|^-?\d)|^-$|[^\x80-\uFFFF\w-]/g,d=function(t,e){return e?"\0"===t?"�":t.slice(0,-1)+"\\"+t.charCodeAt(t.length-1).toString(16)+" ":"\\"+t},y.escapeSelector=function(t){return(t+"").replace(e,d)}),y.fn.even&&y.fn.odd||y.fn.extend({even:function(){return 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e,i,s=!1;for(e in this.handles)(i=y(this.handles[e])[0])!==t.target&&!y.contains(i,t.target)||(s=!0);return!this.options.disabled&&s},_mouseStart:function(t){var e,i,s=this.options,n=this.element;return this.resizing=!0,this._renderProxy(),e=this._num(this.helper.css("left")),i=this._num(this.helper.css("top")),s.containment&&(e+=y(s.containment).scrollLeft()||0,i+=y(s.containment).scrollTop()||0),this.offset=this.helper.offset(),this.position={left:e,top:i},this.size=this._helper?{width:this.helper.width(),height:this.helper.height()}:{width:n.width(),height:n.height()},this.originalSize=this._helper?{width:n.outerWidth(),height:n.outerHeight()}:{width:n.width(),height:n.height()},this.sizeDiff={width:n.outerWidth()-n.width(),height:n.outerHeight()-n.height()},this.originalPosition={left:e,top:i},this.originalMousePosition={left:t.pageX,top:t.pageY},this.aspectRatio="number"==typeof 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this._helper&&(s=(e=(i=this._proportionallyResizeElements).length&&/textarea/i.test(i[0].nodeName))&&this._hasScroll(i[0],"left")?0:o.sizeDiff.height,i=e?0:o.sizeDiff.width,e={width:o.helper.width()-i,height:o.helper.height()-s},i=parseFloat(o.element.css("left"))+(o.position.left-o.originalPosition.left)||null,s=parseFloat(o.element.css("top"))+(o.position.top-o.originalPosition.top)||null,n.animate||this.element.css(y.extend(e,{top:s,left:i})),o.helper.height(o.size.height),o.helper.width(o.size.width),this._helper&&!n.animate&&this._proportionallyResize()),y("body").css("cursor","auto"),this._removeClass("ui-resizable-resizing"),this._propagate("stop",t),this._helper&&this.helper.remove(),!1},_updatePrevProperties:function(){this.prevPosition={top:this.position.top,left:this.position.left},this.prevSize={width:this.size.width,height:this.size.height}},_applyChanges:function(){var t={};return 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+/**
  * Copyright (c) 2007 Ariel Flesler - aflesler ○ gmail • com | https://github.com/flesler
  * Licensed under MIT
  * @author Ariel Flesler
  * @version 2.1.2
- */
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  PowerTip v1.3.1 (2018-04-15)
  https://stevenbenner.github.io/jquery-powertip/
@@ -19,7 +145,26 @@
  Released under MIT license.
  https://raw.github.com/stevenbenner/jquery-powertip/master/LICENSE.txt
 */
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session={tooltips:null,isTipOpen:false,isFixedTipOpen:false,isClosing:false,tipOpenImminent:false,activeHover:null,currentX:0,currentY:0,previousX:0,previousY:0,desyncTimeout:null,closeDelayTimeout:null,mouseTrackingActive:false,delayInProgress:false,windowWidth:0,windowHeight:0,scrollTop:0,scrollLeft:0};var Collision={none:0,top:1,bottom:2,left:4,right:8};$.fn.powerTip=function(opts,arg){var targetElements=this,options,tipController;if(!targetElements.length){return targetElements}if($.type(opts)==="string"&&$.powerTip[opts]){return $.powerTip[opts].call(targetElements,targetElements,arg)}options=$.extend({},$.fn.powerTip.defaults,opts);tipController=new TooltipController(options);initTracking();targetElements.each(function elementSetup(){var $this=$(this),dataPowertip=$this.data(DATA_POWERTIP),dataElem=$this.data(DATA_POWERTIPJQ),dataTarget=$this.data(DATA_POWERTIPTARGET),title=$this.attr("title");if(!dataPowertip&&!dataTarget&&!dataElem&&title){$this.data(DATA_POWERTIP,title);$this.data(DATA_ORIGINALTITLE,title);$this.removeAttr("title")}$this.data(DATA_DISPLAYCONTROLLER,new DisplayController($this,options,tipController))});if(!options.manual){$.each(options.openEvents,function(idx,evt){if($.inArray(evt,options.closeEvents)>-1){targetElements.on(evt+EVENT_NAMESPACE,function elementToggle(event){$.powerTip.toggle(this,event)})}else{targetElements.on(evt+EVENT_NAMESPACE,function elementOpen(event){$.powerTip.show(this,event)})}});$.each(options.closeEvents,function(idx,evt){if($.inArray(evt,options.openEvents)<0){targetElements.on(evt+EVENT_NAMESPACE,function elementClose(event){$.powerTip.hide(this,!isMouseEvent(event))})}});targetElements.on("keydown"+EVENT_NAMESPACE,function elementKeyDown(event){if(event.keyCode===27){$.powerTip.hide(this,true)}})}return targetElements};$.fn.powerTip.defaults={fadeInTime:200,fadeOutTime:100,followMouse:false,popupId:"powerTip",popupClass:null,intentSensitivity:7,intentPollInterval:100,closeDelay:100,placement:"n",smartPlacement:false,offset:10,mouseOnToPopup:false,manual:false,openEvents:["mouseenter","focus"],closeEvents:["mouseleave","blur"]};$.fn.powerTip.smartPlacementLists={n:["n","ne","nw","s"],e:["e","ne","se","w","nw","sw","n","s","e"],s:["s","se","sw","n"],w:["w","nw","sw","e","ne","se","n","s","w"],nw:["nw","w","sw","n","s","se","nw"],ne:["ne","e","se","n","s","sw","ne"],sw:["sw","w","nw","s","n","ne","sw"],se:["se","e","ne","s","n","nw","se"],"nw-alt":["nw-alt","n","ne-alt","sw-alt","s","se-alt","w","e"],"ne-alt":["ne-alt","n","nw-alt","se-alt","s","sw-alt","e","w"],"sw-alt":["sw-alt","s","se-alt","nw-alt","n","ne-alt","w","e"],"se-alt":["se-alt","s","sw-alt","ne-alt","n","nw-alt","e","w"]};$.powerTip={show:function apiShowTip(element,event){if(isMouseEvent(event)){trackMouse(event);session.previousX=event.pageX;session.previousY=event.pageY;$(element).data(DATA_DISPLAYCONTROLLER).show()}else{$(element).first().data(DATA_DISPLAYCONTROLLER).show(true,true)}return element},reposition:function apiResetPosition(element){$(element).first().data(DATA_DISPLAYCONTROLLER).resetPosition();return element},hide:function apiCloseTip(element,immediate){var displayController;immediate=element?immediate:true;if(element){displayController=$(element).first().data(DATA_DISPLAYCONTROLLER)}else if(session.activeHover){displayController=session.activeHover.data(DATA_DISPLAYCONTROLLER)}if(displayController){displayController.hide(immediate)}return element},toggle:function apiToggle(element,event){if(session.activeHover&&session.activeHover.is(element)){$.powerTip.hide(element,!isMouseEvent(event))}else{$.powerTip.show(element,event)}return element}};$.powerTip.showTip=$.powerTip.show;$.powerTip.closeTip=$.powerTip.hide;function CSSCoordinates(){var me=this;me.top="auto";me.left="auto";me.right="auto";me.bottom="auto";me.set=function(property,value){if($.isNumeric(value)){me[property]=Math.round(value)}}}function DisplayController(element,options,tipController){var hoverTimer=null,myCloseDelay=null;function openTooltip(immediate,forceOpen){cancelTimer();if(!element.data(DATA_HASACTIVEHOVER)){if(!immediate){session.tipOpenImminent=true;hoverTimer=setTimeout(function intentDelay(){hoverTimer=null;checkForIntent()},options.intentPollInterval)}else{if(forceOpen){element.data(DATA_FORCEDOPEN,true)}closeAnyDelayed();tipController.showTip(element)}}else{cancelClose()}}function closeTooltip(disableDelay){if(myCloseDelay){myCloseDelay=session.closeDelayTimeout=clearTimeout(myCloseDelay);session.delayInProgress=false}cancelTimer();session.tipOpenImminent=false;if(element.data(DATA_HASACTIVEHOVER)){element.data(DATA_FORCEDOPEN,false);if(!disableDelay){session.delayInProgress=true;session.closeDelayTimeout=setTimeout(function closeDelay(){session.closeDelayTimeout=null;tipController.hideTip(element);session.delayInProgress=false;myCloseDelay=null},options.closeDelay);myCloseDelay=session.closeDelayTimeout}else{tipController.hideTip(element)}}}function checkForIntent(){var xDifference=Math.abs(session.previousX-session.currentX),yDifference=Math.abs(session.previousY-session.currentY),totalDifference=xDifference+yDifference;if(totalDifference<options.intentSensitivity){cancelClose();closeAnyDelayed();tipController.showTip(element)}else{session.previousX=session.currentX;session.previousY=session.currentY;openTooltip()}}function cancelTimer(stopClose){hoverTimer=clearTimeout(hoverTimer);if(session.closeDelayTimeout&&myCloseDelay===session.closeDelayTimeout||stopClose){cancelClose()}}function cancelClose(){session.closeDelayTimeout=clearTimeout(session.closeDelayTimeout);session.delayInProgress=false}function closeAnyDelayed(){if(session.delayInProgress&&session.activeHover&&!session.activeHover.is(element)){session.activeHover.data(DATA_DISPLAYCONTROLLER).hide(true)}}function repositionTooltip(){tipController.resetPosition(element)}this.show=openTooltip;this.hide=closeTooltip;this.cancel=cancelTimer;this.resetPosition=repositionTooltip}function PlacementCalculator(){function computePlacementCoords(element,placement,tipWidth,tipHeight,offset){var placementBase=placement.split("-")[0],coords=new CSSCoordinates,position;if(isSvgElement(element)){position=getSvgPlacement(element,placementBase)}else{position=getHtmlPlacement(element,placementBase)}switch(placement){case"n":coords.set("left",position.left-tipWidth/2);coords.set("bottom",session.windowHeight-position.top+offset);break;case"e":coords.set("left",position.left+offset);coords.set("top",position.top-tipHeight/2);break;case"s":coords.set("left",position.left-tipWidth/2);coords.set("top",position.top+offset);break;case"w":coords.set("top",position.top-tipHeight/2);coords.set("right",session.windowWidth-position.left+offset);break;case"nw":coords.set("bottom",session.windowHeight-position.top+offset);coords.set("right",session.windowWidth-position.left-20);break;case"nw-alt":coords.set("left",position.left);coords.set("bottom",session.windowHeight-position.top+offset);break;case"ne":coords.set("left",position.left-20);coords.set("bottom",session.windowHeight-position.top+offset);break;case"ne-alt":coords.set("bottom",session.windowHeight-position.top+offset);coords.set("right",session.windowWidth-position.left);break;case"sw":coords.set("top",position.top+offset);coords.set("right",session.windowWidth-position.left-20);break;case"sw-alt":coords.set("left",position.left);coords.set("top",position.top+offset);break;case"se":coords.set("left",position.left-20);coords.set("top",position.top+offset);break;case"se-alt":coords.set("top",position.top+offset);coords.set("right",session.windowWidth-position.left);break}return coords}function getHtmlPlacement(element,placement){var objectOffset=element.offset(),objectWidth=element.outerWidth(),objectHeight=element.outerHeight(),left,top;switch(placement){case"n":left=objectOffset.left+objectWidth/2;top=objectOffset.top;break;case"e":left=objectOffset.left+objectWidth;top=objectOffset.top+objectHeight/2;break;case"s":left=objectOffset.left+objectWidth/2;top=objectOffset.top+objectHeight;break;case"w":left=objectOffset.left;top=objectOffset.top+objectHeight/2;break;case"nw":left=objectOffset.left;top=objectOffset.top;break;case"ne":left=objectOffset.left+objectWidth;top=objectOffset.top;break;case"sw":left=objectOffset.left;top=objectOffset.top+objectHeight;break;case"se":left=objectOffset.left+objectWidth;top=objectOffset.top+objectHeight;break}return{top:top,left:left}}function getSvgPlacement(element,placement){var svgElement=element.closest("svg")[0],domElement=element[0],point=svgElement.createSVGPoint(),boundingBox=domElement.getBBox(),matrix=domElement.getScreenCTM(),halfWidth=boundingBox.width/2,halfHeight=boundingBox.height/2,placements=[],placementKeys=["nw","n","ne","e","se","s","sw","w"],coords,rotation,steps,x;function pushPlacement(){placements.push(point.matrixTransform(matrix))}point.x=boundingBox.x;point.y=boundingBox.y;pushPlacement();point.x+=halfWidth;pushPlacement();point.x+=halfWidth;pushPlacement();point.y+=halfHeight;pushPlacement();point.y+=halfHeight;pushPlacement();point.x-=halfWidth;pushPlacement();point.x-=halfWidth;pushPlacement();point.y-=halfHeight;pushPlacement();if(placements[0].y!==placements[1].y||placements[0].x!==placements[7].x){rotation=Math.atan2(matrix.b,matrix.a)*RAD2DEG;steps=Math.ceil((rotation%360-22.5)/45);if(steps<1){steps+=8}while(steps--){placementKeys.push(placementKeys.shift())}}for(x=0;x<placements.length;x++){if(placementKeys[x]===placement){coords=placements[x];break}}return{top:coords.y+session.scrollTop,left:coords.x+session.scrollLeft}}this.compute=computePlacementCoords}function TooltipController(options){var placementCalculator=new PlacementCalculator,tipElement=$("#"+options.popupId);if(tipElement.length===0){tipElement=$("<div/>",{id:options.popupId});if($body.length===0){$body=$("body")}$body.append(tipElement);session.tooltips=session.tooltips?session.tooltips.add(tipElement):tipElement}if(options.followMouse){if(!tipElement.data(DATA_HASMOUSEMOVE)){$document.on("mousemove"+EVENT_NAMESPACE,positionTipOnCursor);$window.on("scroll"+EVENT_NAMESPACE,positionTipOnCursor);tipElement.data(DATA_HASMOUSEMOVE,true)}}function beginShowTip(element){element.data(DATA_HASACTIVEHOVER,true);tipElement.queue(function queueTipInit(next){showTip(element);next()})}function showTip(element){var tipContent;if(!element.data(DATA_HASACTIVEHOVER)){return}if(session.isTipOpen){if(!session.isClosing){hideTip(session.activeHover)}tipElement.delay(100).queue(function queueTipAgain(next){showTip(element);next()});return}element.trigger("powerTipPreRender");tipContent=getTooltipContent(element);if(tipContent){tipElement.empty().append(tipContent)}else{return}element.trigger("powerTipRender");session.activeHover=element;session.isTipOpen=true;tipElement.data(DATA_MOUSEONTOTIP,options.mouseOnToPopup);tipElement.addClass(options.popupClass);if(!options.followMouse||element.data(DATA_FORCEDOPEN)){positionTipOnElement(element);session.isFixedTipOpen=true}else{positionTipOnCursor()}if(!element.data(DATA_FORCEDOPEN)&&!options.followMouse){$document.on("click"+EVENT_NAMESPACE,function documentClick(event){var target=event.target;if(target!==element[0]){if(options.mouseOnToPopup){if(target!==tipElement[0]&&!$.contains(tipElement[0],target)){$.powerTip.hide()}}else{$.powerTip.hide()}}})}if(options.mouseOnToPopup&&!options.manual){tipElement.on("mouseenter"+EVENT_NAMESPACE,function tipMouseEnter(){if(session.activeHover){session.activeHover.data(DATA_DISPLAYCONTROLLER).cancel()}});tipElement.on("mouseleave"+EVENT_NAMESPACE,function tipMouseLeave(){if(session.activeHover){session.activeHover.data(DATA_DISPLAYCONTROLLER).hide()}})}tipElement.fadeIn(options.fadeInTime,function fadeInCallback(){if(!session.desyncTimeout){session.desyncTimeout=setInterval(closeDesyncedTip,500)}element.trigger("powerTipOpen")})}function hideTip(element){session.isClosing=true;session.isTipOpen=false;session.desyncTimeout=clearInterval(session.desyncTimeout);element.data(DATA_HASACTIVEHOVER,false);element.data(DATA_FORCEDOPEN,false);$document.off("click"+EVENT_NAMESPACE);tipElement.off(EVENT_NAMESPACE);tipElement.fadeOut(options.fadeOutTime,function fadeOutCallback(){var coords=new CSSCoordinates;session.activeHover=null;session.isClosing=false;session.isFixedTipOpen=false;tipElement.removeClass();coords.set("top",session.currentY+options.offset);coords.set("left",session.currentX+options.offset);tipElement.css(coords);element.trigger("powerTipClose")})}function positionTipOnCursor(){var tipWidth,tipHeight,coords,collisions,collisionCount;if(!session.isFixedTipOpen&&(session.isTipOpen||session.tipOpenImminent&&tipElement.data(DATA_HASMOUSEMOVE))){tipWidth=tipElement.outerWidth();tipHeight=tipElement.outerHeight();coords=new CSSCoordinates;coords.set("top",session.currentY+options.offset);coords.set("left",session.currentX+options.offset);collisions=getViewportCollisions(coords,tipWidth,tipHeight);if(collisions!==Collision.none){collisionCount=countFlags(collisions);if(collisionCount===1){if(collisions===Collision.right){coords.set("left",session.scrollLeft+session.windowWidth-tipWidth)}else if(collisions===Collision.bottom){coords.set("top",session.scrollTop+session.windowHeight-tipHeight)}}else{coords.set("left",session.currentX-tipWidth-options.offset);coords.set("top",session.currentY-tipHeight-options.offset)}}tipElement.css(coords)}}function positionTipOnElement(element){var priorityList,finalPlacement;if(options.smartPlacement||options.followMouse&&element.data(DATA_FORCEDOPEN)){priorityList=$.fn.powerTip.smartPlacementLists[options.placement];$.each(priorityList,function(idx,pos){var collisions=getViewportCollisions(placeTooltip(element,pos),tipElement.outerWidth(),tipElement.outerHeight());finalPlacement=pos;return collisions!==Collision.none})}else{placeTooltip(element,options.placement);finalPlacement=options.placement}tipElement.removeClass("w nw sw e ne se n s w se-alt sw-alt ne-alt nw-alt");tipElement.addClass(finalPlacement)}function placeTooltip(element,placement){var iterationCount=0,tipWidth,tipHeight,coords=new CSSCoordinates;coords.set("top",0);coords.set("left",0);tipElement.css(coords);do{tipWidth=tipElement.outerWidth();tipHeight=tipElement.outerHeight();coords=placementCalculator.compute(element,placement,tipWidth,tipHeight,options.offset);tipElement.css(coords)}while(++iterationCount<=5&&(tipWidth!==tipElement.outerWidth()||tipHeight!==tipElement.outerHeight()));return coords}function closeDesyncedTip(){var isDesynced=false,hasDesyncableCloseEvent=$.grep(["mouseleave","mouseout","blur","focusout"],function(eventType){return $.inArray(eventType,options.closeEvents)!==-1}).length>0;if(session.isTipOpen&&!session.isClosing&&!session.delayInProgress&&hasDesyncableCloseEvent){if(session.activeHover.data(DATA_HASACTIVEHOVER)===false||session.activeHover.is(":disabled")){isDesynced=true}else if(!isMouseOver(session.activeHover)&&!session.activeHover.is(":focus")&&!session.activeHover.data(DATA_FORCEDOPEN)){if(tipElement.data(DATA_MOUSEONTOTIP)){if(!isMouseOver(tipElement)){isDesynced=true}}else{isDesynced=true}}if(isDesynced){hideTip(session.activeHover)}}}this.showTip=beginShowTip;this.hideTip=hideTip;this.resetPosition=positionTipOnElement}function isSvgElement(element){return Boolean(window.SVGElement&&element[0]instanceof SVGElement)}function isMouseEvent(event){return Boolean(event&&$.inArray(event.type,MOUSE_EVENTS)>-1&&typeof event.pageX==="number")}function initTracking(){if(!session.mouseTrackingActive){session.mouseTrackingActive=true;getViewportDimensions();$(getViewportDimensions);$document.on("mousemove"+EVENT_NAMESPACE,trackMouse);$window.on("resize"+EVENT_NAMESPACE,trackResize);$window.on("scroll"+EVENT_NAMESPACE,trackScroll)}}function getViewportDimensions(){session.scrollLeft=$window.scrollLeft();session.scrollTop=$window.scrollTop();session.windowWidth=$window.width();session.windowHeight=$window.height()}function trackResize(){session.windowWidth=$window.width();session.windowHeight=$window.height()}function trackScroll(){var x=$window.scrollLeft(),y=$window.scrollTop();if(x!==session.scrollLeft){session.currentX+=x-session.scrollLeft;session.scrollLeft=x}if(y!==session.scrollTop){session.currentY+=y-session.scrollTop;session.scrollTop=y}}function trackMouse(event){session.currentX=event.pageX;session.currentY=event.pageY}function isMouseOver(element){var elementPosition=element.offset(),elementBox=element[0].getBoundingClientRect(),elementWidth=elementBox.right-elementBox.left,elementHeight=elementBox.bottom-elementBox.top;return session.currentX>=elementPosition.left&&session.currentX<=elementPosition.left+elementWidth&&session.currentY>=elementPosition.top&&session.currentY<=elementPosition.top+elementHeight}function getTooltipContent(element){var tipText=element.data(DATA_POWERTIP),tipObject=element.data(DATA_POWERTIPJQ),tipTarget=element.data(DATA_POWERTIPTARGET),targetElement,content;if(tipText){if($.isFunction(tipText)){tipText=tipText.call(element[0])}content=tipText}else if(tipObject){if($.isFunction(tipObject)){tipObject=tipObject.call(element[0])}if(tipObject.length>0){content=tipObject.clone(true,true)}}else if(tipTarget){targetElement=$("#"+tipTarget);if(targetElement.length>0){content=targetElement.html()}}return content}function getViewportCollisions(coords,elementWidth,elementHeight){var viewportTop=session.scrollTop,viewportLeft=session.scrollLeft,viewportBottom=viewportTop+session.windowHeight,viewportRight=viewportLeft+session.windowWidth,collisions=Collision.none;if(coords.top<viewportTop||Math.abs(coords.bottom-session.windowHeight)-elementHeight<viewportTop){collisions|=Collision.top}if(coords.top+elementHeight>viewportBottom||Math.abs(coords.bottom-session.windowHeight)>viewportBottom){collisions|=Collision.bottom}if(coords.left<viewportLeft||coords.right+elementWidth>viewportRight){collisions|=Collision.left}if(coords.left+elementWidth>viewportRight||coords.right<viewportLeft){collisions|=Collision.right}return collisions}function countFlags(value){var count=0;while(value){value&=value-1;count++}return count}return $.powerTip});/*!
+(function(root,factory){if(typeof define==="function"&&define.amd){define(["jquery"],factory)}else if(typeof module==="object"&&module.exports){module.exports=factory(require("jquery"))}else{factory(root.jQuery)}})(this,function($){var $document=$(document),$window=$(window),$body=$("body");var DATA_DISPLAYCONTROLLER="displayController",DATA_HASACTIVEHOVER="hasActiveHover",DATA_FORCEDOPEN="forcedOpen",DATA_HASMOUSEMOVE="hasMouseMove",DATA_MOUSEONTOTIP="mouseOnToPopup",DATA_ORIGINALTITLE="originalTitle",DATA_POWERTIP="powertip",DATA_POWERTIPJQ="powertipjq",DATA_POWERTIPTARGET="powertiptarget",EVENT_NAMESPACE=".powertip",RAD2DEG=180/Math.PI,MOUSE_EVENTS=["click","dblclick","mousedown","mouseup","mousemove","mouseover","mouseout","mouseenter","mouseleave","contextmenu"];var session={tooltips:null,isTipOpen:false,isFixedTipOpen:false,isClosing:false,tipOpenImminent:false,activeHover:null,currentX:0,currentY:0,previousX:0,previousY:0,desyncTimeout:null,closeDelayTimeout:null,mouseTrackingActive:false,
+delayInProgress:false,windowWidth:0,windowHeight:0,scrollTop:0,scrollLeft:0};var Collision={none:0,top:1,bottom:2,left:4,right:8};$.fn.powerTip=function(opts,arg){var targetElements=this,options,tipController;if(!targetElements.length){return targetElements}if($.type(opts)==="string"&&$.powerTip[opts]){return $.powerTip[opts].call(targetElements,targetElements,arg)}options=$.extend({},$.fn.powerTip.defaults,opts);tipController=new TooltipController(options);initTracking();targetElements.each(function elementSetup(){var $this=$(this),dataPowertip=$this.data(DATA_POWERTIP),dataElem=$this.data(DATA_POWERTIPJQ),dataTarget=$this.data(DATA_POWERTIPTARGET),title=$this.attr("title");if(!dataPowertip&&!dataTarget&&!dataElem&&title){$this.data(DATA_POWERTIP,title);$this.data(DATA_ORIGINALTITLE,title);$this.removeAttr("title")}$this.data(DATA_DISPLAYCONTROLLER,new DisplayController($this,options,tipController))});if(!options.manual){$.each(options.openEvents,function(idx,evt){if($.inArray(evt,options.closeEvents)>-1){
+targetElements.on(evt+EVENT_NAMESPACE,function elementToggle(event){$.powerTip.toggle(this,event)})}else{targetElements.on(evt+EVENT_NAMESPACE,function elementOpen(event){$.powerTip.show(this,event)})}});$.each(options.closeEvents,function(idx,evt){if($.inArray(evt,options.openEvents)<0){targetElements.on(evt+EVENT_NAMESPACE,function elementClose(event){$.powerTip.hide(this,!isMouseEvent(event))})}});targetElements.on("keydown"+EVENT_NAMESPACE,function elementKeyDown(event){if(event.keyCode===27){$.powerTip.hide(this,true)}})}return targetElements};$.fn.powerTip.defaults={fadeInTime:200,fadeOutTime:100,followMouse:false,popupId:"powerTip",popupClass:null,intentSensitivity:7,intentPollInterval:100,closeDelay:100,placement:"n",smartPlacement:false,offset:10,mouseOnToPopup:false,manual:false,openEvents:["mouseenter","focus"],closeEvents:["mouseleave","blur"]};$.fn.powerTip.smartPlacementLists={n:["n","ne","nw","s"],e:["e","ne","se","w","nw","sw","n","s","e"],s:["s","se","sw","n"],w:["w","nw","sw","e","ne","se",
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+session.activeHover){displayController=session.activeHover.data(DATA_DISPLAYCONTROLLER)}if(displayController){displayController.hide(immediate)}return element},toggle:function apiToggle(element,event){if(session.activeHover&&session.activeHover.is(element)){$.powerTip.hide(element,!isMouseEvent(event))}else{$.powerTip.show(element,event)}return element}};$.powerTip.showTip=$.powerTip.show;$.powerTip.closeTip=$.powerTip.hide;function CSSCoordinates(){var me=this;me.top="auto";me.left="auto";me.right="auto";me.bottom="auto";me.set=function(property,value){if($.isNumeric(value)){me[property]=Math.round(value)}}}function DisplayController(element,options,tipController){var hoverTimer=null,myCloseDelay=null;function openTooltip(immediate,forceOpen){cancelTimer();if(!element.data(DATA_HASACTIVEHOVER)){if(!immediate){session.tipOpenImminent=true;hoverTimer=setTimeout(function intentDelay(){hoverTimer=null;checkForIntent()},options.intentPollInterval)}else{if(forceOpen){element.data(DATA_FORCEDOPEN,true)}
+closeAnyDelayed();tipController.showTip(element)}}else{cancelClose()}}function closeTooltip(disableDelay){if(myCloseDelay){myCloseDelay=session.closeDelayTimeout=clearTimeout(myCloseDelay);session.delayInProgress=false}cancelTimer();session.tipOpenImminent=false;if(element.data(DATA_HASACTIVEHOVER)){element.data(DATA_FORCEDOPEN,false);if(!disableDelay){session.delayInProgress=true;session.closeDelayTimeout=setTimeout(function closeDelay(){session.closeDelayTimeout=null;tipController.hideTip(element);session.delayInProgress=false;myCloseDelay=null},options.closeDelay);myCloseDelay=session.closeDelayTimeout}else{tipController.hideTip(element)}}}function checkForIntent(){var xDifference=Math.abs(session.previousX-session.currentX),yDifference=Math.abs(session.previousY-session.currentY),totalDifference=xDifference+yDifference;if(totalDifference<options.intentSensitivity){cancelClose();closeAnyDelayed();tipController.showTip(element)}else{session.previousX=session.currentX;session.previousY=session.currentY;
+openTooltip()}}function cancelTimer(stopClose){hoverTimer=clearTimeout(hoverTimer);if(session.closeDelayTimeout&&myCloseDelay===session.closeDelayTimeout||stopClose){cancelClose()}}function cancelClose(){session.closeDelayTimeout=clearTimeout(session.closeDelayTimeout);session.delayInProgress=false}function closeAnyDelayed(){if(session.delayInProgress&&session.activeHover&&!session.activeHover.is(element)){session.activeHover.data(DATA_DISPLAYCONTROLLER).hide(true)}}function repositionTooltip(){tipController.resetPosition(element)}this.show=openTooltip;this.hide=closeTooltip;this.cancel=cancelTimer;this.resetPosition=repositionTooltip}function PlacementCalculator(){function computePlacementCoords(element,placement,tipWidth,tipHeight,offset){var placementBase=placement.split("-")[0],coords=new CSSCoordinates,position;if(isSvgElement(element)){position=getSvgPlacement(element,placementBase)}else{position=getHtmlPlacement(element,placementBase)}switch(placement){case"n":coords.set("left",position.left-tipWidth/2
+);coords.set("bottom",session.windowHeight-position.top+offset);break;case"e":coords.set("left",position.left+offset);coords.set("top",position.top-tipHeight/2);break;case"s":coords.set("left",position.left-tipWidth/2);coords.set("top",position.top+offset);break;case"w":coords.set("top",position.top-tipHeight/2);coords.set("right",session.windowWidth-position.left+offset);break;case"nw":coords.set("bottom",session.windowHeight-position.top+offset);coords.set("right",session.windowWidth-position.left-20);break;case"nw-alt":coords.set("left",position.left);coords.set("bottom",session.windowHeight-position.top+offset);break;case"ne":coords.set("left",position.left-20);coords.set("bottom",session.windowHeight-position.top+offset);break;case"ne-alt":coords.set("bottom",session.windowHeight-position.top+offset);coords.set("right",session.windowWidth-position.left);break;case"sw":coords.set("top",position.top+offset);coords.set("right",session.windowWidth-position.left-20);break;case"sw-alt":coords.set("left",
+position.left);coords.set("top",position.top+offset);break;case"se":coords.set("left",position.left-20);coords.set("top",position.top+offset);break;case"se-alt":coords.set("top",position.top+offset);coords.set("right",session.windowWidth-position.left);break}return coords}function getHtmlPlacement(element,placement){var objectOffset=element.offset(),objectWidth=element.outerWidth(),objectHeight=element.outerHeight(),left,top;switch(placement){case"n":left=objectOffset.left+objectWidth/2;top=objectOffset.top;break;case"e":left=objectOffset.left+objectWidth;top=objectOffset.top+objectHeight/2;break;case"s":left=objectOffset.left+objectWidth/2;top=objectOffset.top+objectHeight;break;case"w":left=objectOffset.left;top=objectOffset.top+objectHeight/2;break;case"nw":left=objectOffset.left;top=objectOffset.top;break;case"ne":left=objectOffset.left+objectWidth;top=objectOffset.top;break;case"sw":left=objectOffset.left;top=objectOffset.top+objectHeight;break;case"se":left=objectOffset.left+objectWidth;
+top=objectOffset.top+objectHeight;break}return{top:top,left:left}}function getSvgPlacement(element,placement){var svgElement=element.closest("svg")[0],domElement=element[0],point=svgElement.createSVGPoint(),boundingBox=domElement.getBBox(),matrix=domElement.getScreenCTM(),halfWidth=boundingBox.width/2,halfHeight=boundingBox.height/2,placements=[],placementKeys=["nw","n","ne","e","se","s","sw","w"],coords,rotation,steps,x;function pushPlacement(){placements.push(point.matrixTransform(matrix))}point.x=boundingBox.x;point.y=boundingBox.y;pushPlacement();point.x+=halfWidth;pushPlacement();point.x+=halfWidth;pushPlacement();point.y+=halfHeight;pushPlacement();point.y+=halfHeight;pushPlacement();point.x-=halfWidth;pushPlacement();point.x-=halfWidth;pushPlacement();point.y-=halfHeight;pushPlacement();if(placements[0].y!==placements[1].y||placements[0].x!==placements[7].x){rotation=Math.atan2(matrix.b,matrix.a)*RAD2DEG;steps=Math.ceil((rotation%360-22.5)/45);if(steps<1){steps+=8}while(steps--){placementKeys.push(
+placementKeys.shift())}}for(x=0;x<placements.length;x++){if(placementKeys[x]===placement){coords=placements[x];break}}return{top:coords.y+session.scrollTop,left:coords.x+session.scrollLeft}}this.compute=computePlacementCoords}function TooltipController(options){var placementCalculator=new PlacementCalculator,tipElement=$("#"+options.popupId);if(tipElement.length===0){tipElement=$("<div/>",{id:options.popupId});if($body.length===0){$body=$("body")}$body.append(tipElement);session.tooltips=session.tooltips?session.tooltips.add(tipElement):tipElement}if(options.followMouse){if(!tipElement.data(DATA_HASMOUSEMOVE)){$document.on("mousemove"+EVENT_NAMESPACE,positionTipOnCursor);$window.on("scroll"+EVENT_NAMESPACE,positionTipOnCursor);tipElement.data(DATA_HASMOUSEMOVE,true)}}function beginShowTip(element){element.data(DATA_HASACTIVEHOVER,true);tipElement.queue(function queueTipInit(next){showTip(element);next()})}function showTip(element){var tipContent;if(!element.data(DATA_HASACTIVEHOVER)){return}if(
+session.isTipOpen){if(!session.isClosing){hideTip(session.activeHover)}tipElement.delay(100).queue(function queueTipAgain(next){showTip(element);next()});return}element.trigger("powerTipPreRender");tipContent=getTooltipContent(element);if(tipContent){tipElement.empty().append(tipContent)}else{return}element.trigger("powerTipRender");session.activeHover=element;session.isTipOpen=true;tipElement.data(DATA_MOUSEONTOTIP,options.mouseOnToPopup);tipElement.addClass(options.popupClass);if(!options.followMouse||element.data(DATA_FORCEDOPEN)){positionTipOnElement(element);session.isFixedTipOpen=true}else{positionTipOnCursor()}if(!element.data(DATA_FORCEDOPEN)&&!options.followMouse){$document.on("click"+EVENT_NAMESPACE,function documentClick(event){var target=event.target;if(target!==element[0]){if(options.mouseOnToPopup){if(target!==tipElement[0]&&!$.contains(tipElement[0],target)){$.powerTip.hide()}}else{$.powerTip.hide()}}})}if(options.mouseOnToPopup&&!options.manual){tipElement.on("mouseenter"+EVENT_NAMESPACE,
+function tipMouseEnter(){if(session.activeHover){session.activeHover.data(DATA_DISPLAYCONTROLLER).cancel()}});tipElement.on("mouseleave"+EVENT_NAMESPACE,function tipMouseLeave(){if(session.activeHover){session.activeHover.data(DATA_DISPLAYCONTROLLER).hide()}})}tipElement.fadeIn(options.fadeInTime,function fadeInCallback(){if(!session.desyncTimeout){session.desyncTimeout=setInterval(closeDesyncedTip,500)}element.trigger("powerTipOpen")})}function hideTip(element){session.isClosing=true;session.isTipOpen=false;session.desyncTimeout=clearInterval(session.desyncTimeout);element.data(DATA_HASACTIVEHOVER,false);element.data(DATA_FORCEDOPEN,false);$document.off("click"+EVENT_NAMESPACE);tipElement.off(EVENT_NAMESPACE);tipElement.fadeOut(options.fadeOutTime,function fadeOutCallback(){var coords=new CSSCoordinates;session.activeHover=null;session.isClosing=false;session.isFixedTipOpen=false;tipElement.removeClass();coords.set("top",session.currentY+options.offset);coords.set("left",session.currentX+options.offset);
+tipElement.css(coords);element.trigger("powerTipClose")})}function positionTipOnCursor(){var tipWidth,tipHeight,coords,collisions,collisionCount;if(!session.isFixedTipOpen&&(session.isTipOpen||session.tipOpenImminent&&tipElement.data(DATA_HASMOUSEMOVE))){tipWidth=tipElement.outerWidth();tipHeight=tipElement.outerHeight();coords=new CSSCoordinates;coords.set("top",session.currentY+options.offset);coords.set("left",session.currentX+options.offset);collisions=getViewportCollisions(coords,tipWidth,tipHeight);if(collisions!==Collision.none){collisionCount=countFlags(collisions);if(collisionCount===1){if(collisions===Collision.right){coords.set("left",session.scrollLeft+session.windowWidth-tipWidth)}else if(collisions===Collision.bottom){coords.set("top",session.scrollTop+session.windowHeight-tipHeight)}}else{coords.set("left",session.currentX-tipWidth-options.offset);coords.set("top",session.currentY-tipHeight-options.offset)}}tipElement.css(coords)}}function positionTipOnElement(element){var priorityList,
+finalPlacement;if(options.smartPlacement||options.followMouse&&element.data(DATA_FORCEDOPEN)){priorityList=$.fn.powerTip.smartPlacementLists[options.placement];$.each(priorityList,function(idx,pos){var collisions=getViewportCollisions(placeTooltip(element,pos),tipElement.outerWidth(),tipElement.outerHeight());finalPlacement=pos;return collisions!==Collision.none})}else{placeTooltip(element,options.placement);finalPlacement=options.placement}tipElement.removeClass("w nw sw e ne se n s w se-alt sw-alt ne-alt nw-alt");tipElement.addClass(finalPlacement)}function placeTooltip(element,placement){var iterationCount=0,tipWidth,tipHeight,coords=new CSSCoordinates;coords.set("top",0);coords.set("left",0);tipElement.css(coords);do{tipWidth=tipElement.outerWidth();tipHeight=tipElement.outerHeight();coords=placementCalculator.compute(element,placement,tipWidth,tipHeight,options.offset);tipElement.css(coords)}while(++iterationCount<=5&&(tipWidth!==tipElement.outerWidth()||tipHeight!==tipElement.outerHeight()));
+return coords}function closeDesyncedTip(){var isDesynced=false,hasDesyncableCloseEvent=$.grep(["mouseleave","mouseout","blur","focusout"],function(eventType){return $.inArray(eventType,options.closeEvents)!==-1}).length>0;if(session.isTipOpen&&!session.isClosing&&!session.delayInProgress&&hasDesyncableCloseEvent){if(session.activeHover.data(DATA_HASACTIVEHOVER)===false||session.activeHover.is(":disabled")){isDesynced=true}else if(!isMouseOver(session.activeHover)&&!session.activeHover.is(":focus")&&!session.activeHover.data(DATA_FORCEDOPEN)){if(tipElement.data(DATA_MOUSEONTOTIP)){if(!isMouseOver(tipElement)){isDesynced=true}}else{isDesynced=true}}if(isDesynced){hideTip(session.activeHover)}}}this.showTip=beginShowTip;this.hideTip=hideTip;this.resetPosition=positionTipOnElement}function isSvgElement(element){return Boolean(window.SVGElement&&element[0]instanceof SVGElement)}function isMouseEvent(event){return Boolean(event&&$.inArray(event.type,MOUSE_EVENTS)>-1&&typeof event.pageX==="number")}
+function initTracking(){if(!session.mouseTrackingActive){session.mouseTrackingActive=true;getViewportDimensions();$(getViewportDimensions);$document.on("mousemove"+EVENT_NAMESPACE,trackMouse);$window.on("resize"+EVENT_NAMESPACE,trackResize);$window.on("scroll"+EVENT_NAMESPACE,trackScroll)}}function getViewportDimensions(){session.scrollLeft=$window.scrollLeft();session.scrollTop=$window.scrollTop();session.windowWidth=$window.width();session.windowHeight=$window.height()}function trackResize(){session.windowWidth=$window.width();session.windowHeight=$window.height()}function trackScroll(){var x=$window.scrollLeft(),y=$window.scrollTop();if(x!==session.scrollLeft){session.currentX+=x-session.scrollLeft;session.scrollLeft=x}if(y!==session.scrollTop){session.currentY+=y-session.scrollTop;session.scrollTop=y}}function trackMouse(event){session.currentX=event.pageX;session.currentY=event.pageY}function isMouseOver(element){var elementPosition=element.offset(),elementBox=element[0].getBoundingClientRect(),
+elementWidth=elementBox.right-elementBox.left,elementHeight=elementBox.bottom-elementBox.top;return session.currentX>=elementPosition.left&&session.currentX<=elementPosition.left+elementWidth&&session.currentY>=elementPosition.top&&session.currentY<=elementPosition.top+elementHeight}function getTooltipContent(element){var tipText=element.data(DATA_POWERTIP),tipObject=element.data(DATA_POWERTIPJQ),tipTarget=element.data(DATA_POWERTIPTARGET),targetElement,content;if(tipText){if($.isFunction(tipText)){tipText=tipText.call(element[0])}content=tipText}else if(tipObject){if($.isFunction(tipObject)){tipObject=tipObject.call(element[0])}if(tipObject.length>0){content=tipObject.clone(true,true)}}else if(tipTarget){targetElement=$("#"+tipTarget);if(targetElement.length>0){content=targetElement.html()}}return content}function getViewportCollisions(coords,elementWidth,elementHeight){var viewportTop=session.scrollTop,viewportLeft=session.scrollLeft,viewportBottom=viewportTop+session.windowHeight,
+viewportRight=viewportLeft+session.windowWidth,collisions=Collision.none;if(coords.top<viewportTop||Math.abs(coords.bottom-session.windowHeight)-elementHeight<viewportTop){collisions|=Collision.top}if(coords.top+elementHeight>viewportBottom||Math.abs(coords.bottom-session.windowHeight)>viewportBottom){collisions|=Collision.bottom}if(coords.left<viewportLeft||coords.right+elementWidth>viewportRight){collisions|=Collision.left}if(coords.left+elementWidth>viewportRight||coords.right<viewportLeft){collisions|=Collision.right}return collisions}function countFlags(value){var count=0;while(value){value&=value-1;count++}return count}return $.powerTip});
+/*!
  * jQuery UI Touch Punch 0.2.3
  *
  * Copyright 2011–2014, Dave Furfero
@@ -28,7 +173,32 @@
  * Depends:
  *  jquery.ui.widget.js
  *  jquery.ui.mouse.js
- */
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+ */!function(a){function f(a,b){if(!(a.originalEvent.touches.length>1)){a.preventDefault();var c=a.originalEvent.changedTouches[0],d=document.createEvent("MouseEvents");d.initMouseEvent(b,!0,!0,window,1,c.screenX,c.screenY,c.clientX,c.clientY,!1,!1,!1,!1,0,null),a.target.dispatchEvent(d)}}if(a.support.touch="ontouchend"in document,a.support.touch){var e,b=a.ui.mouse.prototype,c=b._mouseInit,d=b._mouseDestroy;b._touchStart=function(a){var b=this;!e&&b._mouseCapture(a.originalEvent.changedTouches[0])&&(e=!0,b._touchMoved=!1,f(a,"mouseover"),f(a,"mousemove"),f(a,"mousedown"))},b._touchMove=function(a){e&&(this._touchMoved=!0,f(a,"mousemove"))},b._touchEnd=function(a){e&&(f(a,"mouseup"),f(a,"mouseout"),this._touchMoved||f(a,"click"),e=!1)},b._mouseInit=function(){var b=this;b.element.bind({touchstart:a.proxy(b,"_touchStart"),touchmove:a.proxy(b,"_touchMove"),touchend:a.proxy(b,"_touchEnd")}),c.call(b)},b._mouseDestroy=function(){var b=this;b.element.unbind({touchstart:a.proxy(b,"_touchStart"),touchmove:a.proxy(b,
+"_touchMove"),touchend:a.proxy(b,"_touchEnd")}),d.call(b)}}}(jQuery);
+/*! SmartMenus jQuery Plugin - v1.1.0 - September 17, 2017
  * http://www.smartmenus.org/
- * Copyright Vasil Dinkov, Vadikom Web Ltd. http://vadikom.com; Licensed MIT */(function(t){"function"==typeof define&&define.amd?define(["jquery"],t):"object"==typeof module&&"object"==typeof module.exports?module.exports=t(require("jquery")):t(jQuery)})(function($){function initMouseDetection(t){var e=".smartmenus_mouse";if(mouseDetectionEnabled||t)mouseDetectionEnabled&&t&&($(document).off(e),mouseDetectionEnabled=!1);else{var i=!0,s=null,o={mousemove:function(t){var e={x:t.pageX,y:t.pageY,timeStamp:(new Date).getTime()};if(s){var o=Math.abs(s.x-e.x),a=Math.abs(s.y-e.y);if((o>0||a>0)&&2>=o&&2>=a&&300>=e.timeStamp-s.timeStamp&&(mouse=!0,i)){var n=$(t.target).closest("a");n.is("a")&&$.each(menuTrees,function(){return $.contains(this.$root[0],n[0])?(this.itemEnter({currentTarget:n[0]}),!1):void 0}),i=!1}}s=e}};o[touchEvents?"touchstart":"pointerover pointermove pointerout MSPointerOver MSPointerMove 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0}),t},isLinkInMegaMenu:function(t){return $(this.getClosestMenu(t[0])).hasClass("mega-menu")},isTouchMode:function(){return!mouse||this.opts.noMouseOver||this.isCollapsible()},itemActivate:function(t,e){var i=t.closest("ul"),s=i.dataSM("level");if(s>1&&(!this.activatedItems[s-2]||this.activatedItems[s-2][0]!=i.dataSM("parent-a")[0])){var o=this;$(i.parentsUntil("[data-smartmenus-id]","ul").get().reverse()).add(i).each(function(){o.itemActivate($(this).dataSM("parent-a"))})}if((!this.isCollapsible()||e)&&this.menuHideSubMenus(this.activatedItems[s-1]&&this.activatedItems[s-1][0]==t[0]?s:s-1),this.activatedItems[s-1]=t,this.$root.triggerHandler("activate.smapi",t[0])!==!1){var a=t.dataSM("sub");a&&(this.isTouchMode()||!this.opts.showOnClick||this.clickActivated)&&this.menuShow(a)}},itemBlur:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&this.$root.triggerHandler("blur.smapi",e[0])},itemClick:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(this.$touchScrollingSub&&this.$touchScrollingSub[0]==e.closest("ul")[0])return this.$touchScrollingSub=null,t.stopPropagation(),!1;if(this.$root.triggerHandler("click.smapi",e[0])===!1)return!1;var i=$(t.target).is(".sub-arrow"),s=e.dataSM("sub"),o=s?2==s.dataSM("level"):!1,a=this.isCollapsible(),n=/toggle$/.test(this.opts.collapsibleBehavior),r=/link$/.test(this.opts.collapsibleBehavior),h=/^accordion/.test(this.opts.collapsibleBehavior);if(s&&!s.is(":visible")){if((!r||!a||i)&&(this.opts.showOnClick&&o&&(this.clickActivated=!0),this.itemActivate(e,h),s.is(":visible")))return this.focusActivated=!0,!1}else if(a&&(n||i))return this.itemActivate(e,h),this.menuHide(s),n&&(this.focusActivated=!1),!1;return this.opts.showOnClick&&o||e.hasClass("disabled")||this.$root.triggerHandler("select.smapi",e[0])===!1?!1:void 0}},itemDown:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&e.dataSM("mousedown",!0)},itemEnter:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(!this.isTouchMode()){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);var i=this;this.showTimeout=setTimeout(function(){i.itemActivate(e)},this.opts.showOnClick&&1==e.closest("ul").dataSM("level")?1:this.opts.showTimeout)}this.$root.triggerHandler("mouseenter.smapi",e[0])}},itemFocus:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(!this.focusActivated||this.isTouchMode()&&e.dataSM("mousedown")||this.activatedItems.length&&this.activatedItems[this.activatedItems.length-1][0]==e[0]||this.itemActivate(e,!0),this.$root.triggerHandler("focus.smapi",e[0]))},itemLeave:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(this.isTouchMode()||(e[0].blur(),this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0)),e.removeDataSM("mousedown"),this.$root.triggerHandler("mouseleave.smapi",e[0]))},menuHide:function(t){if(this.$root.triggerHandler("beforehide.smapi",t[0])!==!1&&(canAnimate&&t.stop(!0,!0),"none"!=t.css("display"))){var e=function(){t.css("z-index","")};this.isCollapsible()?canAnimate&&this.opts.collapsibleHideFunction?this.opts.collapsibleHideFunction.call(this,t,e):t.hide(this.opts.collapsibleHideDuration,e):canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,t,e):t.hide(this.opts.hideDuration,e),t.dataSM("scroll")&&(this.menuScrollStop(t),t.css({"touch-action":"","-ms-touch-action":"","-webkit-transform":"",transform:""}).off(".smartmenus_scroll").removeDataSM("scroll").dataSM("scroll-arrows").hide()),t.dataSM("parent-a").removeClass("highlighted").attr("aria-expanded","false"),t.attr({"aria-expanded":"false","aria-hidden":"true"});var i=t.dataSM("level");this.activatedItems.splice(i-1,1),this.visibleSubMenus.splice($.inArray(t,this.visibleSubMenus),1),this.$root.triggerHandler("hide.smapi",t[0])}},menuHideAll:function(){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);for(var t=this.opts.isPopup?1:0,e=this.visibleSubMenus.length-1;e>=t;e--)this.menuHide(this.visibleSubMenus[e]);this.opts.isPopup&&(canAnimate&&this.$root.stop(!0,!0),this.$root.is(":visible")&&(canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,this.$root):this.$root.hide(this.opts.hideDuration))),this.activatedItems=[],this.visibleSubMenus=[],this.clickActivated=!1,this.focusActivated=!1,this.zIndexInc=0,this.$root.triggerHandler("hideAll.smapi")},menuHideSubMenus:function(t){for(var e=this.activatedItems.length-1;e>=t;e--){var i=this.activatedItems[e].dataSM("sub");i&&this.menuHide(i)}},menuInit:function(t){if(!t.dataSM("in-mega")){t.hasClass("mega-menu")&&t.find("ul").dataSM("in-mega",!0);for(var e=2,i=t[0];(i=i.parentNode.parentNode)!=this.$root[0];)e++;var s=t.prevAll("a").eq(-1);s.length||(s=t.prevAll().find("a").eq(-1)),s.addClass("has-submenu").dataSM("sub",t),t.dataSM("parent-a",s).dataSM("level",e).parent().dataSM("sub",t);var o=s.attr("id")||this.accessIdPrefix+ 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e,i,s=t.dataSM("parent-a"),o=s.closest("li"),a=o.parent(),n=t.dataSM("level"),r=this.getWidth(t),h=this.getHeight(t),u=s.offset(),l=u.left,c=u.top,d=this.getWidth(s),m=this.getHeight(s),p=$(window),f=p.scrollLeft(),v=p.scrollTop(),b=this.getViewportWidth(),S=this.getViewportHeight(),g=a.parent().is("[data-sm-horizontal-sub]")||2==n&&!a.hasClass("sm-vertical"),M=this.opts.rightToLeftSubMenus&&!o.is("[data-sm-reverse]")||!this.opts.rightToLeftSubMenus&&o.is("[data-sm-reverse]"),w=2==n?this.opts.mainMenuSubOffsetX:this.opts.subMenusSubOffsetX,T=2==n?this.opts.mainMenuSubOffsetY:this.opts.subMenusSubOffsetY;if(g?(e=M?d-r-w:w,i=this.opts.bottomToTopSubMenus?-h-T:m+T):(e=M?w-r:d-w,i=this.opts.bottomToTopSubMenus?m-T-h:T),this.opts.keepInViewport){var y=l+e,I=c+i;if(M&&f>y?e=g?f-y+e:d-w:!M&&y+r>f+b&&(e=g?f+b-r-y+e:w-r),g||(S>h&&I+h>v+S?i+=v+S-h-I:(h>=S||v>I)&&(i+=v-I)),g&&(I+h>v+S+.49||v>I)||!g&&h>S+.49){var x=this;t.dataSM("scroll-arrows")||t.dataSM("scroll-arrows",$([$('<span 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r=t.dataSM("level");if(this.activatedItems[r-1]&&this.activatedItems[r-1].dataSM("sub")&&this.activatedItems[r-1].dataSM("sub").is(":visible")&&this.menuHideSubMenus(r-1),o.y=o.up&&o.y>=n||!o.up&&n>=o.y?o.y:Math.abs(n-o.y)>s?o.y+(o.up?s:-s):n,t.css(this.cssTransforms3d?{"-webkit-transform":"translate3d(0, "+o.y+"px, 0)",transform:"translate3d(0, "+o.y+"px, 0)"}:{marginTop:o.y}),mouse&&(o.up&&o.y>o.downEnd||!o.up&&o.y<o.upEnd)&&a.eq(o.up?1:0).show(),o.y==n)mouse&&a.eq(o.up?0:1).hide(),this.menuScrollStop(t);else if(!e){this.opts.scrollAccelerate&&o.step<this.opts.scrollStep&&(o.step+=.2);var h=this;this.scrollTimeout=requestAnimationFrame(function(){h.menuScroll(t)})}},menuScrollMousewheel:function(t,e){if(this.getClosestMenu(e.target)==t[0]){e=e.originalEvent;var i=(e.wheelDelta||-e.detail)>0;t.dataSM("scroll-arrows").eq(i?0:1).is(":visible")&&(t.dataSM("scroll").up=i,this.menuScroll(t,!0))}e.preventDefault()},menuScrollOut:function(t,e){mouse&&(/^scroll-(up|down)/.test((e.relatedTarget||"").className)||(t[0]==e.relatedTarget||$.contains(t[0],e.relatedTarget))&&this.getClosestMenu(e.relatedTarget)==t[0]||t.dataSM("scroll-arrows").css("visibility","hidden"))},menuScrollOver:function(t,e){if(mouse&&!/^scroll-(up|down)/.test(e.target.className)&&this.getClosestMenu(e.target)==t[0]){this.menuScrollRefreshData(t);var i=t.dataSM("scroll"),s=$(window).scrollTop()-t.dataSM("parent-a").offset().top-i.itemH;t.dataSM("scroll-arrows").eq(0).css("margin-top",s).end().eq(1).css("margin-top",s+this.getViewportHeight()-i.arrowDownH).end().css("visibility","visible")}},menuScrollRefreshData:function(t){var e=t.dataSM("scroll"),i=$(window).scrollTop()-t.dataSM("parent-a").offset().top-e.itemH;this.cssTransforms3d&&(i=-(parseFloat(t.css("margin-top"))-i)),$.extend(e,{upEnd:i,downEnd:i+this.getViewportHeight()-e.subH})},menuScrollStop:function(t){return this.scrollTimeout?(cancelAnimationFrame(this.scrollTimeout),this.scrollTimeout=0,t.dataSM("scroll").step=1,!0):void 0},menuScrollTouch:function(t,e){if(e=e.originalEvent,isTouchEvent(e)){var i=this.getTouchPoint(e);if(this.getClosestMenu(i.target)==t[0]){var s=t.dataSM("scroll");if(/(start|down)$/i.test(e.type))this.menuScrollStop(t)?(e.preventDefault(),this.$touchScrollingSub=t):this.$touchScrollingSub=null,this.menuScrollRefreshData(t),$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp});else if(/move$/i.test(e.type)){var o=void 0!==s.touchY?s.touchY:s.touchStartY;if(void 0!==o&&o!=i.pageY){this.$touchScrollingSub=t;var a=i.pageY>o;void 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e=t.dataSM("parent-a"),i=this.isCollapsible();if((this.opts.keepHighlighted||i)&&e.addClass("highlighted"),i)t.removeClass("sm-nowrap").css({zIndex:"",width:"auto",minWidth:"",maxWidth:"",top:"",left:"",marginLeft:"",marginTop:""});else{if(t.css("z-index",this.zIndexInc=(this.zIndexInc||this.getStartZIndex())+1),(this.opts.subMenusMinWidth||this.opts.subMenusMaxWidth)&&(t.css({width:"auto",minWidth:"",maxWidth:""}).addClass("sm-nowrap"),this.opts.subMenusMinWidth&&t.css("min-width",this.opts.subMenusMinWidth),this.opts.subMenusMaxWidth)){var s=this.getWidth(t);t.css("max-width",this.opts.subMenusMaxWidth),s>this.getWidth(t)&&t.removeClass("sm-nowrap").css("width",this.opts.subMenusMaxWidth)}this.menuPosition(t)}var o=function(){t.css("overflow","")};i?canAnimate&&this.opts.collapsibleShowFunction?this.opts.collapsibleShowFunction.call(this,t,o):t.show(this.opts.collapsibleShowDuration,o):canAnimate&&this.opts.showFunction?this.opts.showFunction.call(this,t,o):t.show(this.opts.showDuration,o),e.attr("aria-expanded","true"),t.attr({"aria-expanded":"true","aria-hidden":"false"}),this.visibleSubMenus.push(t),this.$root.triggerHandler("show.smapi",t[0])}},popupHide:function(t){this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0);var e=this;this.hideTimeout=setTimeout(function(){e.menuHideAll()},t?1:this.opts.hideTimeout)},popupShow:function(t,e){if(!this.opts.isPopup)return alert('SmartMenus jQuery Error:\n\nIf you want to show this menu via the "popupShow" method, set the isPopup:true option.'),void 0;if(this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0),this.$root.dataSM("shown-before",!0),canAnimate&&this.$root.stop(!0,!0),!this.$root.is(":visible")){this.$root.css({left:t,top:e});var i=this,s=function(){i.$root.css("overflow","")};canAnimate&&this.opts.showFunction?this.opts.showFunction.call(this,this.$root,s):this.$root.show(this.opts.showDuration,s),this.visibleSubMenus[0]=this.$root}},refresh:function(){this.destroy(!0),this.init(!0)},rootKeyDown:function(t){if(this.handleEvents())switch(t.keyCode){case 27:var e=this.activatedItems[0];if(e){this.menuHideAll(),e[0].focus();var i=e.dataSM("sub");i&&this.menuHide(i)}break;case 32:var s=$(t.target);if(s.is("a")&&this.handleItemEvents(s)){var i=s.dataSM("sub");i&&!i.is(":visible")&&(this.itemClick({currentTarget:t.target}),t.preventDefault())}}},rootOut:function(t){if(this.handleEvents()&&!this.isTouchMode()&&t.target!=this.$root[0]&&(this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0),!this.opts.showOnClick||!this.opts.hideOnClick)){var e=this;this.hideTimeout=setTimeout(function(){e.menuHideAll()},this.opts.hideTimeout)}},rootOver:function(t){this.handleEvents()&&!this.isTouchMode()&&t.target!=this.$root[0]&&this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0)},winResize:function(t){if(this.handleEvents()){if(!("onorientationchange"in window)||"orientationchange"==t.type){var e=this.isCollapsible();this.wasCollapsible&&e||(this.activatedItems.length&&this.activatedItems[this.activatedItems.length-1][0].blur(),this.menuHideAll()),this.wasCollapsible=e}}else if(this.$disableOverlay){var i=this.$root.offset();this.$disableOverlay.css({top:i.top,left:i.left,width:this.$root.outerWidth(),height:this.$root.outerHeight()})}}}}),$.fn.dataSM=function(t,e){return e?this.data(t+"_smartmenus",e):this.data(t+"_smartmenus")},$.fn.removeDataSM=function(t){return this.removeData(t+"_smartmenus")},$.fn.smartmenus=function(options){if("string"==typeof options){var args=arguments,method=options;return Array.prototype.shift.call(args),this.each(function(){var t=$(this).data("smartmenus");t&&t[method]&&t[method].apply(t,args)})}return this.each(function(){var dataOpts=$(this).data("sm-options")||null;if(dataOpts)try{dataOpts=eval("("+dataOpts+")")}catch(e){dataOpts=null,alert('ERROR\n\nSmartMenus jQuery init:\nInvalid "data-sm-options" attribute value syntax.')}new 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\ No newline at end of file
+ * Copyright Vasil Dinkov, Vadikom Web Ltd. http://vadikom.com; Licensed MIT */(function(t){"function"==typeof define&&define.amd?define(["jquery"],t):"object"==typeof module&&"object"==typeof module.exports?module.exports=t(require("jquery")):t(jQuery)})(function($){function initMouseDetection(t){var e=".smartmenus_mouse";if(mouseDetectionEnabled||t)mouseDetectionEnabled&&t&&($(document).off(e),mouseDetectionEnabled=!1);else{var i=!0,s=null,o={mousemove:function(t){var e={x:t.pageX,y:t.pageY,timeStamp:(new Date).getTime()};if(s){var o=Math.abs(s.x-e.x),a=Math.abs(s.y-e.y);if((o>0||a>0)&&2>=o&&2>=a&&300>=e.timeStamp-s.timeStamp&&(mouse=!0,i)){var n=$(t.target).closest("a");n.is("a")&&$.each(menuTrees,function(){return $.contains(this.$root[0],n[0])?(this.itemEnter({currentTarget:n[0]}),!1):void 0}),i=!1}}s=e}};o[touchEvents?"touchstart":"pointerover pointermove pointerout MSPointerOver MSPointerMove MSPointerOut"]=function(t){isTouchEvent(t.originalEvent)&&(mouse=!1)},$(document).on(getEventsNS(o,e)),
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+$.SmartMenus,{hideAll:function(){$.each(menuTrees,function(){this.menuHideAll()})},destroy:function(){for(;menuTrees.length;)menuTrees[0].destroy();initMouseDetection(!0)},prototype:{init:function(t){var e=this;if(!t){menuTrees.push(this),this.rootId=((new Date).getTime()+Math.random()+"").replace(/\D/g,""),this.accessIdPrefix="sm-"+this.rootId+"-",this.$root.hasClass("sm-rtl")&&(this.opts.rightToLeftSubMenus=!0);var i=".smartmenus";this.$root.data("smartmenus",this).attr("data-smartmenus-id",this.rootId).dataSM("level",1).on(getEventsNS({"mouseover focusin":$.proxy(this.rootOver,this),"mouseout focusout":$.proxy(this.rootOut,this),keydown:$.proxy(this.rootKeyDown,this)},i)).on(getEventsNS({mouseenter:$.proxy(this.itemEnter,this),mouseleave:$.proxy(this.itemLeave,this),mousedown:$.proxy(this.itemDown,this),focus:$.proxy(this.itemFocus,this),blur:$.proxy(this.itemBlur,this),click:$.proxy(this.itemClick,this)},i),"a"),i+=this.rootId,this.opts.hideOnClick&&$(document).on(getEventsNS({touchstart:$.proxy(
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+)||2==n&&!a.hasClass("sm-vertical"),M=this.opts.rightToLeftSubMenus&&!o.is("[data-sm-reverse]")||!this.opts.rightToLeftSubMenus&&o.is("[data-sm-reverse]"),w=2==n?this.opts.mainMenuSubOffsetX:this.opts.subMenusSubOffsetX,T=2==n?this.opts.mainMenuSubOffsetY:this.opts.subMenusSubOffsetY;if(g?(e=M?d-r-w:w,i=this.opts.bottomToTopSubMenus?-h-T:m+T):(e=M?w-r:d-w,i=this.opts.bottomToTopSubMenus?m-T-h:T),this.opts.keepInViewport){var y=l+e,I=c+i;if(M&&f>y?e=g?f-y+e:d-w:!M&&y+r>f+b&&(e=g?f+b-r-y+e:w-r),g||(S>h&&I+h>v+S?i+=v+S-h-I:(h>=S||v>I)&&(i+=v-I)),g&&(I+h>v+S+.49||v>I)||!g&&h>S+.49){var x=this;t.dataSM("scroll-arrows")||t.dataSM("scroll-arrows",$([$('<span class="scroll-up"><span class="scroll-up-arrow"></span></span>')[0],$('<span class="scroll-down"><span class="scroll-down-arrow"></span></span>')[0]]).on({mouseenter:function(){t.dataSM("scroll").up=$(this).hasClass("scroll-up"),x.menuScroll(t)},mouseleave:function(e){x.menuScrollStop(t),x.menuScrollOut(t,e)},"mousewheel DOMMouseScroll":function(t){
+t.preventDefault()}}).insertAfter(t));var A=".smartmenus_scroll";if(t.dataSM("scroll",{y:this.cssTransforms3d?0:i-m,step:1,itemH:m,subH:h,arrowDownH:this.getHeight(t.dataSM("scroll-arrows").eq(1))}).on(getEventsNS({mouseover:function(e){x.menuScrollOver(t,e)},mouseout:function(e){x.menuScrollOut(t,e)},"mousewheel DOMMouseScroll":function(e){x.menuScrollMousewheel(t,e)}},A)).dataSM("scroll-arrows").css({top:"auto",left:"0",marginLeft:e+(parseInt(t.css("border-left-width"))||0),width:r-(parseInt(t.css("border-left-width"))||0)-(parseInt(t.css("border-right-width"))||0),zIndex:t.css("z-index")}).eq(g&&this.opts.bottomToTopSubMenus?0:1).show(),this.isFixed()){var C={};C[touchEvents?"touchstart touchmove touchend":"pointerdown pointermove pointerup MSPointerDown MSPointerMove MSPointerUp"]=function(e){x.menuScrollTouch(t,e)},t.css({"touch-action":"none","-ms-touch-action":"none"}).on(getEventsNS(C,A))}}}t.css({top:"auto",left:"0",marginLeft:e,marginTop:i-m})},menuScroll:function(t,e,i){var s,o=t.dataSM("scroll"),
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+e.wheelDelta||-e.detail)>0;t.dataSM("scroll-arrows").eq(i?0:1).is(":visible")&&(t.dataSM("scroll").up=i,this.menuScroll(t,!0))}e.preventDefault()},menuScrollOut:function(t,e){mouse&&(/^scroll-(up|down)/.test((e.relatedTarget||"").className)||(t[0]==e.relatedTarget||$.contains(t[0],e.relatedTarget))&&this.getClosestMenu(e.relatedTarget)==t[0]||t.dataSM("scroll-arrows").css("visibility","hidden"))},menuScrollOver:function(t,e){if(mouse&&!/^scroll-(up|down)/.test(e.target.className)&&this.getClosestMenu(e.target)==t[0]){this.menuScrollRefreshData(t);var i=t.dataSM("scroll"),s=$(window).scrollTop()-t.dataSM("parent-a").offset().top-i.itemH;t.dataSM("scroll-arrows").eq(0).css("margin-top",s).end().eq(1).css("margin-top",s+this.getViewportHeight()-i.arrowDownH).end().css("visibility","visible")}},menuScrollRefreshData:function(t){var e=t.dataSM("scroll"),i=$(window).scrollTop()-t.dataSM("parent-a").offset().top-e.itemH;this.cssTransforms3d&&(i=-(parseFloat(t.css("margin-top"))-i)),$.extend(e,{upEnd:i,
+downEnd:i+this.getViewportHeight()-e.subH})},menuScrollStop:function(t){return this.scrollTimeout?(cancelAnimationFrame(this.scrollTimeout),this.scrollTimeout=0,t.dataSM("scroll").step=1,!0):void 0},menuScrollTouch:function(t,e){if(e=e.originalEvent,isTouchEvent(e)){var i=this.getTouchPoint(e);if(this.getClosestMenu(i.target)==t[0]){var s=t.dataSM("scroll");if(/(start|down)$/i.test(e.type))this.menuScrollStop(t)?(e.preventDefault(),this.$touchScrollingSub=t):this.$touchScrollingSub=null,this.menuScrollRefreshData(t),$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp});else if(/move$/i.test(e.type)){var o=void 0!==s.touchY?s.touchY:s.touchStartY;if(void 0!==o&&o!=i.pageY){this.$touchScrollingSub=t;var a=i.pageY>o;void 0!==s.up&&s.up!=a&&$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp}),$.extend(s,{up:a,touchY:i.pageY}),this.menuScroll(t,!0,Math.abs(i.pageY-o))}e.preventDefault()}else void 0!==s.touchY&&((s.momentum=15*Math.pow(Math.abs(i.pageY-s.touchStartY)/(e.timeStamp-s.touchStartTime),2)
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diff --git a/docs/menu.js b/docs/menu.js
index 717761d..0fd1e99 100644
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@@ -22,7 +22,7 @@
 
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index 0a46afe..f7c443c 100644
--- a/docs/namespacemembers.html
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
+/* @license-end */
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+  initMenu('',true,false,'search.php','Search',true);
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@@ -73,7 +77,7 @@
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+$(function(){initNavTree('namespacemembers.html',''); initResizable(true); });
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@@ -107,7 +111,7 @@
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
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diff --git a/docs/namespacemembers_func.html b/docs/namespacemembers_func.html
index f12b75e..36fd00b 100644
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+<meta name="generator" content="Doxygen 1.13.2"/>
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+<script type="text/javascript" src="resize.js"></script>
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+<!-- Generated by Doxygen 1.13.2 -->
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
+/* @license-end */
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+  initMenu('',true,false,'search.php','Search',true);
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 <script type="text/javascript">
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+$(function(){initNavTree('namespacemembers_func.html',''); initResizable(true); });
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
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diff --git a/docs/namespaces.html b/docs/namespaces.html
index 3a2c6c6..585860f 100644
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+<meta name="generator" content="Doxygen 1.13.2"/>
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+<script type="text/javascript" src="resize.js"></script>
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+<!-- Generated by Doxygen 1.13.2 -->
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 /* @license-end */
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
+/* @license-end */
+</script>
 <script type="text/javascript" src="menudata.js"></script>
 <script type="text/javascript" src="menu.js"></script>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search');
+  initMenu('',true,false,'search.php','Search',true);
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 <script type="text/javascript">
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+$(function(){initNavTree('namespaces.html',''); initResizable(true); });
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>dt_max</em></span><span class="paramdefsep"> = </span><span class="paramdefval">std::numeric_limits&lt;double&gt;::max()</span>&#160;)</td>
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     <li class="navelem"><a class="el" href="namespacesignal__utils.html">signal_utils</a></li>
-    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
   </ul>
 </div>
 </body>
diff --git a/docs/navtree.js b/docs/navtree.js
index 884b79b..2d4fa84 100644
--- a/docs/navtree.js
+++ b/docs/navtree.js
@@ -122,9 +122,9 @@ function initNavTree(toroot,relpath) {
     if (ancParent.hasClass('memItemLeft') || ancParent.hasClass('memtitle')  ||
         ancParent.hasClass('fieldname')   || ancParent.hasClass('fieldtype') ||
         ancParent.is(':header')) {
-      pos = ancParent.position().top;
+      pos = ancParent.offset().top;
     } else if (anchor.position()) {
-      pos = anchor.position().top;
+      pos = anchor.offset().top;
     }
     if (pos) {
       const dcOffset    = docContent.offset().top;
@@ -136,8 +136,19 @@ function initNavTree(toroot,relpath) {
       docContent.animate({
         scrollTop: pos + dcScrTop - dcOffset
       },Math.max(50,Math.min(500,dist)),function() {
-        window.location.href=aname;
         animationInProgress=false;
+        if (anchor.parent().attr('class')=='memItemLeft') {
+          let rows = $('.memberdecls tr[class$="'+hashValue()+'"]');
+          glowEffect(rows.children(),300); // member without details
+        } else if (anchor.parent().attr('class')=='fieldname') {
+          glowEffect(anchor.parent().parent(),1000); // enum value
+        } else if (anchor.parent().attr('class')=='fieldtype') {
+          glowEffect(anchor.parent().parent(),1000); // struct field
+        } else if (anchor.parent().is(":header")) {
+          glowEffect(anchor.parent(),1000); // section header
+        } else {
+          glowEffect(anchor.next(),1000); // normal member
+        }
       });
     }
   }
@@ -260,18 +271,6 @@ function initNavTree(toroot,relpath) {
   const highlightAnchor = function() {
     const aname = hashUrl();
     const anchor = $(aname);
-    if (anchor.parent().attr('class')=='memItemLeft') {
-      let rows = $('.memberdecls tr[class$="'+hashValue()+'"]');
-      glowEffect(rows.children(),300); // member without details
-    } else if (anchor.parent().attr('class')=='fieldname') {
-      glowEffect(anchor.parent().parent(),1000); // enum value
-    } else if (anchor.parent().attr('class')=='fieldtype') {
-      glowEffect(anchor.parent().parent(),1000); // struct field
-    } else if (anchor.parent().is(":header")) {
-      glowEffect(anchor.parent(),1000); // section header
-    } else {
-      glowEffect(anchor.next(),1000); // normal member
-    }
     gotoAnchor(anchor,aname);
   }
 
@@ -453,23 +452,25 @@ function initNavTree(toroot,relpath) {
   showRoot();
 
   $(window).bind('hashchange', () => {
-    if (window.location.hash && window.location.hash.length>1) {
-      let a;
-      if ($(location).attr('hash')) {
-        const clslink=stripPath(pathName())+':'+hashValue();
-        a=$('.item a[class$="'+clslink.replace(/</g,'\\3c ')+'"]');
-      }
-      if (a==null || !$(a).parent().parent().hasClass('selected')) {
+    if (!animationInProgress) {
+      if (window.location.hash && window.location.hash.length>1) {
+        let a;
+        if ($(location).attr('hash')) {
+          const clslink=stripPath(pathName())+':'+hashValue();
+          a=$('.item a[class$="'+clslink.replace(/</g,'\\3c ')+'"]');
+        }
+        if (a==null || !$(a).parent().parent().hasClass('selected')) {
+          $('.item').removeClass('selected');
+          $('.item').removeAttr('id');
+        }
+        const link=stripPath2(pathName());
+        navTo(o,link,hashUrl(),relpath);
+        } else {
+        $('#doc-content').scrollTop(0);
         $('.item').removeClass('selected');
         $('.item').removeAttr('id');
+        navTo(o,toroot,hashUrl(),relpath);
       }
-      const link=stripPath2(pathName());
-      navTo(o,link,hashUrl(),relpath);
-    } else if (!animationInProgress) {
-      $('#doc-content').scrollTop(0);
-      $('.item').removeClass('selected');
-      $('.item').removeAttr('id');
-      navTo(o,toroot,hashUrl(),relpath);
     }
   });
 
diff --git a/docs/navtreedata.js b/docs/navtreedata.js
index b9ea22f..0cff289 100644
--- a/docs/navtreedata.js
+++ b/docs/navtreedata.js
@@ -61,8 +61,8 @@ var NAVTREE =
 var NAVTREEINDEX =
 [
 "Integration_8h.html",
-"structRigidBodyDynamics6DOF.html"
+"structRigidBodyDynamics6DOF.html#a32c92b85c94f66739358385a0a3a07fc"
 ];
 
-var SYNCONMSG = 'click to disable panel synchronisation';
-var SYNCOFFMSG = 'click to enable panel synchronisation';
\ No newline at end of file
+var SYNCONMSG = 'click to disable panel synchronization';
+var SYNCOFFMSG = 'click to enable panel synchronization';
\ No newline at end of file
diff --git a/docs/navtreeindex0.js b/docs/navtreeindex0.js
index 67dab45..083afc3 100644
--- a/docs/navtreeindex0.js
+++ b/docs/navtreeindex0.js
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diff --git a/docs/navtreeindex1.js b/docs/navtreeindex1.js
index 1c3674e..9c68903 100644
--- a/docs/navtreeindex1.js
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index 6ad2ae8..178d03b 100644
--- a/docs/resize.js
+++ b/docs/resize.js
@@ -23,7 +23,7 @@
  @licend  The above is the entire license notice for the JavaScript code in this file
  */
 
-function initResizable() {
+function initResizable(treeview) {
   let sidenav,navtree,content,header,footer,barWidth=6;
   const RESIZE_COOKIE_NAME = ''+'width';
 
@@ -44,23 +44,31 @@ function initResizable() {
     sidenav.css({width:navWidth + "px"});
   }
 
-  function resizeHeight() {
+  function resizeHeight(treeview) {
     const headerHeight = header.outerHeight();
-    const footerHeight = footer.outerHeight();
     const windowHeight = $(window).height();
-    let contentHeight,navtreeHeight,sideNavHeight;
-    if (typeof page_layout==='undefined' || page_layout==0) { /* DISABLE_INDEX=NO */
-      contentHeight = windowHeight - headerHeight - footerHeight;
-      navtreeHeight = contentHeight;
-      sideNavHeight = contentHeight;
-    } else if (page_layout==1) { /* DISABLE_INDEX=YES */
-      contentHeight = windowHeight - footerHeight;
-      navtreeHeight = windowHeight - headerHeight;
-      sideNavHeight = windowHeight;
+    let contentHeight;
+    if (treeview)
+    {
+      const footerHeight = footer.outerHeight();
+      let navtreeHeight,sideNavHeight;
+      if (typeof page_layout==='undefined' || page_layout==0) { /* DISABLE_INDEX=NO */
+        contentHeight = windowHeight - headerHeight - footerHeight;
+        navtreeHeight = contentHeight;
+        sideNavHeight = contentHeight;
+      } else if (page_layout==1) { /* DISABLE_INDEX=YES */
+        contentHeight = windowHeight - footerHeight;
+        navtreeHeight = windowHeight - headerHeight;
+        sideNavHeight = windowHeight;
+      }
+      navtree.css({height:navtreeHeight + "px"});
+      sidenav.css({height:sideNavHeight + "px"});
+    }
+    else
+    {
+      contentHeight = windowHeight - headerHeight;
     }
     content.css({height:contentHeight + "px"});
-    navtree.css({height:navtreeHeight + "px"});
-    sidenav.css({height:sideNavHeight + "px"});
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   header  = $("#top");
-  sidenav = $("#side-nav");
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-  navtree = $("#nav-tree");
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-  $(".side-nav-resizable").resizable({resize: () => resizeWidth() });
-  $(sidenav).resizable({ minWidth: 0 });
-  $(window).resize(() => resizeHeight());
-  const device = navigator.userAgent.toLowerCase();
-  const touch_device = device.match(/(iphone|ipod|ipad|android)/);
-  if (touch_device) { /* wider split bar for touch only devices */
-    $(sidenav).css({ paddingRight:'20px' });
-    $('.ui-resizable-e').css({ width:'20px' });
-    $('#nav-sync').css({ right:'34px' });
-    barWidth=20;
+  sidenav = $("#side-nav");
+  if (!treeview) {
+//    title   = $("#titlearea");
+//    titleH  = $(title).height();
+//    let animating = false;
+//    content.on("scroll", function() {
+//      slideOpts = { duration: 200,
+//                    step: function() {
+//                        contentHeight = $(window).height() - header.outerHeight();
+//                        content.css({ height : contentHeight + "px" });
+//                      },
+//                    done: function() { animating=false; }
+//                  };
+//      if (content.scrollTop()>titleH && title.css('display')!='none' && !animating) {
+//        title.slideUp(slideOpts);
+//        animating=true;
+//      } else if (content.scrollTop()<=titleH && title.css('display')=='none' && !animating) {
+//        title.slideDown(slideOpts);
+//        animating=true;
+//      }
+//    });
+  } else {
+    navtree = $("#nav-tree");
+    $(".side-nav-resizable").resizable({resize: function(e, ui) { resizeWidth(); } });
+    $(sidenav).resizable({ minWidth: 0 });
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-  const width = Cookie.readSetting(RESIZE_COOKIE_NAME,250);
-  if (width) { restoreWidth(width); } else { resizeWidth(); }
-  resizeHeight();
+  $(window).resize(function() { resizeHeight(treeview); });
+  if (treeview)
+  {
+    const device = navigator.userAgent.toLowerCase();
+    const touch_device = device.match(/(iphone|ipod|ipad|android)/);
+    if (touch_device) { /* wider split bar for touch only devices */
+      $(sidenav).css({ paddingRight:'20px' });
+      $('.ui-resizable-e').css({ width:'20px' });
+      $('#nav-sync').css({ right:'34px' });
+      barWidth=20;
+    }
+    const width = Cookie.readSetting(RESIZE_COOKIE_NAME,250);
+    if (width) { restoreWidth(width); } else { resizeWidth(); }
+  }
+  resizeHeight(treeview);
   const url = location.href;
   const i=url.indexOf("#");
   if (i>=0) window.location.hash=url.substr(i);
-  const _preventDefault = (evt) => evt.preventDefault();
-  $("#splitbar").bind("dragstart", _preventDefault).bind("selectstart", _preventDefault);
-  $(".ui-resizable-handle").dblclick(collapseExpand);
-  $(window).on('load',resizeHeight);
+  const _preventDefault = function(evt) { evt.preventDefault(); };
+  if (treeview)
+  {
+    $("#splitbar").bind("dragstart", _preventDefault).bind("selectstart", _preventDefault);
+    $(".ui-resizable-handle").dblclick(collapseExpand);
+    // workaround for firefox
+    $("body").css({overflow: "hidden"});
+  }
+  $(window).on('load',function() { resizeHeight(treeview); });
 }
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index b04f6ae..4da5f2c 100644
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 <table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
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 <tr class="memdesc:ab3bebaa347f6019f3d2da2b2bcee5918"><td class="mdescLeft">&#160;</td><td class="mdescRight">Integrate a signal from the current time to the specified end time.  <br /></td></tr>
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 <p><b>Derived types</b>:</p>
 <ul>
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+<!-- Generated by Doxygen 1.13.2 -->
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
+/* @license-end */
+</script>
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 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  initMenu('',true,false,'search.php','Search',true);
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@@ -73,7 +77,7 @@
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+$(function(){initNavTree('structManifoldSignalSpec.html',''); initResizable(true); });
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@@ -113,7 +117,7 @@
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
   </ul>
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diff --git a/docs/structManifoldSignalSpec.html b/docs/structManifoldSignalSpec.html
index b9297f6..36a7d1a 100644
--- a/docs/structManifoldSignalSpec.html
+++ b/docs/structManifoldSignalSpec.html
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-<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="generator" content="Doxygen 1.13.2"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
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@@ -11,9 +11,9 @@
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+<script type="text/javascript" src="resize.js"></script>
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@@ -26,7 +26,6 @@
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@@ -43,18 +42,23 @@
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-<!-- Generated by Doxygen 1.10.0 -->
+<!-- Generated by Doxygen 1.13.2 -->
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
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+</script>
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 <script type="text/javascript" src="menu.js"></script>
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 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  initMenu('',true,false,'search.php','Search',true);
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 </div>
 <script type="text/javascript">
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+$(function(){initNavTree('structManifoldSignalSpec.html',''); initResizable(true); });
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@@ -128,7 +132,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ae6292debacd46f629429d03c
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 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename ManifoldType &gt; </div>
+template&lt;typename ManifoldType&gt; </div>
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           <td class="memname">using <a class="el" href="structManifoldSignalSpec.html">ManifoldSignalSpec</a>&lt; ManifoldType &gt;::Type = ManifoldType</td>
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 <div class="memproto">
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-template&lt;typename ManifoldType &gt; </div>
+template&lt;typename ManifoldType&gt; </div>
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           <td>(</td>
-          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
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-template&lt;typename ManifoldType &gt; </div>
+template&lt;typename ManifoldType&gt; </div>
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           <td>(</td>
-          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
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       </table>
   </td>
   <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
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diff --git a/docs/structManifoldStateSignalSpec-members.html b/docs/structManifoldStateSignalSpec-members.html
index c7bdf46..2bc086b 100644
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-<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="generator" content="Doxygen 1.13.2"/>
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@@ -11,9 +11,9 @@
 <script type="text/javascript" src="dynsections.js"></script>
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-<script type="text/javascript" src="resize.js"></script>
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+<script type="text/javascript" src="resize.js"></script>
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 <link href="search/search.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="search/searchdata.js"></script>
@@ -26,7 +26,6 @@
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 </head>
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@@ -43,18 +42,23 @@
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-<!-- Generated by Doxygen 1.10.0 -->
+<!-- Generated by Doxygen 1.13.2 -->
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 var searchBox = new SearchBox("searchBox", "search/",'.html');
 /* @license-end */
 </script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
+/* @license-end */
+</script>
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 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  initMenu('',true,false,'search.php','Search',true);
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@@ -73,7 +77,7 @@
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 <script type="text/javascript">
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+$(function(){initNavTree('structManifoldStateSignalSpec.html',''); initResizable(true); });
 /* @license-end */
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@@ -113,7 +117,7 @@
 <!-- start footer part -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
   </ul>
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diff --git a/docs/structManifoldStateSignalSpec.html b/docs/structManifoldStateSignalSpec.html
index 492ffe3..5a0b527 100644
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-<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="generator" content="Doxygen 1.13.2"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
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@@ -11,9 +11,9 @@
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-<script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="navtreedata.js"></script>
 <script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
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@@ -26,7 +26,6 @@
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 </head>
 <body>
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@@ -43,18 +42,23 @@
 </table>
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-<!-- Generated by Doxygen 1.10.0 -->
+<!-- Generated by Doxygen 1.13.2 -->
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 var searchBox = new SearchBox("searchBox", "search/",'.html');
 /* @license-end */
 </script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
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+</script>
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 <script type="text/javascript" src="menu.js"></script>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
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+  initMenu('',true,false,'search.php','Search',true);
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 </div>
 <script type="text/javascript">
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+$(function(){initNavTree('structManifoldStateSignalSpec.html',''); initResizable(true); });
 /* @license-end */
 </script>
 <div id="doc-content">
@@ -128,7 +132,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aef8d411c012125303e1faa1d
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T , typename ManifoldType , size_t PD, size_t TD&gt; </div>
+template&lt;typename T, typename ManifoldType, size_t PD, size_t TD&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname">using <a class="el" href="structManifoldStateSignalSpec.html">ManifoldStateSignalSpec</a>&lt; T, ManifoldType, PD, TD &gt;::Type = <a class="el" href="State_8h.html#a73655df4c5d92f1cf1cf69d5fa057753">ManifoldStateType</a>&lt;T, ManifoldType, PD, TD&gt;</td>
@@ -145,7 +149,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a7542075f653a7e8fba767024
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T , typename ManifoldType , size_t PD, size_t TD&gt; </div>
+template&lt;typename T, typename ManifoldType, size_t PD, size_t TD&gt; </div>
 <table class="mlabels">
   <tr>
   <td class="mlabels-left">
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         <tr>
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           <td>(</td>
-          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
           <td></td>
         </tr>
       </table>
   </td>
   <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
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 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T , typename ManifoldType , size_t PD, size_t TD&gt; </div>
+template&lt;typename T, typename ManifoldType, size_t PD, size_t TD&gt; </div>
 <table class="mlabels">
   <tr>
   <td class="mlabels-left">
@@ -180,13 +184,13 @@ <h2 class="memtitle"><span class="permalink"><a href="#adca9f48f26d97f95b2083b9e
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           <td>(</td>
-          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
           <td></td>
         </tr>
       </table>
   </td>
   <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+<span class="mlabels"><span class="mlabel inline">inline</span><span class="mlabel static">static</span></span>  </td>
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 </table>
 </div><div class="memdoc">
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
   </ul>
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diff --git a/docs/structRigidBodyDynamics3DOF-members.html b/docs/structRigidBodyDynamics3DOF-members.html
index 026824d..f4df096 100644
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+<meta name="generator" content="Doxygen 1.13.2"/>
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@@ -11,9 +11,9 @@
 <script type="text/javascript" src="dynsections.js"></script>
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-<script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="navtreedata.js"></script>
 <script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript" src="resize.js"></script>
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@@ -43,18 +42,23 @@
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+<!-- Generated by Doxygen 1.13.2 -->
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 </script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
+/* @license-end */
+</script>
 <script type="text/javascript" src="menudata.js"></script>
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+$(function(){initNavTree('structRigidBodyDynamics3DOF.html',''); initResizable(true); });
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
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diff --git a/docs/structRigidBodyDynamics3DOF.html b/docs/structRigidBodyDynamics3DOF.html
index c7cac46..12a8017 100644
--- a/docs/structRigidBodyDynamics3DOF.html
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-<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="generator" content="Doxygen 1.13.2"/>
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@@ -11,9 +11,9 @@
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-<script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="navtreedata.js"></script>
 <script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
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@@ -26,7 +26,6 @@
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 </head>
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@@ -43,18 +42,23 @@
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+<!-- Generated by Doxygen 1.13.2 -->
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 /* @license-end */
 </script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
+/* @license-end */
+</script>
 <script type="text/javascript" src="menudata.js"></script>
 <script type="text/javascript" src="menu.js"></script>
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 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
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+  initMenu('',true,false,'search.php','Search',true);
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+$(function(){initNavTree('structRigidBodyDynamics3DOF.html',''); initResizable(true); });
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+<tr class="memitem:a4341d5e4a676e15edc8f8faafef5431a" id="r_a4341d5e4a676e15edc8f8faafef5431a"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4341d5e4a676e15edc8f8faafef5431a">InputSignalType</a> = <a class="el" href="Signal_8h.html#a59c30838434bb9eabab59a54a0dceb9f">Vector3Signal</a>&lt;T&gt;</td></tr>
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+<tr class="memitem:a0c346a983bc929f1f7a6e5d2be3a0841" id="r_a0c346a983bc929f1f7a6e5d2be3a0841"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a0c346a983bc929f1f7a6e5d2be3a0841">StateSignalType</a> = <a class="el" href="State_8h.html#ae34074b7d367592e7022441b0ee836d9">SE2StateSignal</a>&lt;T&gt;</td></tr>
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+<tr class="memitem:a28d138392ca0069c5e6274f78fd08e29" id="r_a28d138392ca0069c5e6274f78fd08e29"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a28d138392ca0069c5e6274f78fd08e29">StateDotSignalType</a> = <a class="el" href="State_8h.html#ae29a8cc7a8cfe9179c9befa2d9cf217d">Vector3StateSignal</a>&lt;T&gt;</td></tr>
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 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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+          <td class="memname">using <a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a>&lt; T &gt;::InputSignalType = <a class="el" href="Signal_8h.html#a59c30838434bb9eabab59a54a0dceb9f">Vector3Signal</a>&lt;T&gt;</td>
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 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
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 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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+          <td class="memname">using <a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a>&lt; T &gt;::StateDotSignalType = <a class="el" href="State_8h.html#ae29a8cc7a8cfe9179c9befa2d9cf217d">Vector3StateSignal</a>&lt;T&gt;</td>
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 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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-          <td class="memname">using <a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a>&lt; T &gt;::StateSignalType = <a class="el" href="State_8h.html#a7de4c0261575a69f6ed4e17cf50e3e03">SE2StateSignal</a>&lt;T&gt;</td>
+          <td class="memname">using <a class="el" href="structRigidBodyDynamics3DOF.html">RigidBodyDynamics3DOF</a>&lt; T &gt;::StateSignalType = <a class="el" href="State_8h.html#ae34074b7d367592e7022441b0ee836d9">SE2StateSignal</a>&lt;T&gt;</td>
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 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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 <div class="memitem">
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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-          <td class="paramtype"><a class="el" href="#a28d138392ca0069c5e6274f78fd08e29">StateDotSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>xdot</em>, </span></td>
+          <td class="paramtype"><a class="el" href="#a28d138392ca0069c5e6274f78fd08e29">StateDotSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>xdot</em></span>, </td>
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           <td></td>
-          <td class="paramtype">const <a class="el" href="#a0c346a983bc929f1f7a6e5d2be3a0841">StateSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em>, </span></td>
+          <td class="paramtype">const <a class="el" href="#a0c346a983bc929f1f7a6e5d2be3a0841">StateSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em></span>, </td>
         </tr>
         <tr>
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           <td></td>
-          <td class="paramtype">const <a class="el" href="#a4341d5e4a676e15edc8f8faafef5431a">InputSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>u</em>, </span></td>
+          <td class="paramtype">const <a class="el" href="#a4341d5e4a676e15edc8f8faafef5431a">InputSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>u</em></span>, </td>
         </tr>
         <tr>
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           <td></td>
-          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t0</em>, </span></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t0</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em>, </span></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">const <a class="el" href="#afa1ade3cc027b78a2d2c65df867d52b0">ParamsType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>params</em>, </span></td>
+          <td class="paramtype">const <a class="el" href="#afa1ade3cc027b78a2d2c65df867d52b0">ParamsType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>params</em></span>, </td>
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           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>insertIntoHistory</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span>, </span></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>insertIntoHistory</em></span><span class="paramdefsep"> = </span><span class="paramdefval">false</span>, </td>
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         <tr>
           <td class="paramkey"></td>
           <td></td>
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+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>calculateXddot</em></span><span class="paramdefsep"> = </span><span class="paramdefval">false</span>&#160;)</td>
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       </table>
   </td>
   <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
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+<meta name="generator" content="Doxygen 1.13.2"/>
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@@ -11,9 +11,9 @@
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
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-<!-- Generated by Doxygen 1.10.0 -->
+<!-- Generated by Doxygen 1.13.2 -->
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 </script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
+/* @license-end */
+</script>
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+$(function(){initNavTree('structRigidBodyDynamics6DOF.html',''); initResizable(true); });
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
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diff --git a/docs/structRigidBodyDynamics6DOF.html b/docs/structRigidBodyDynamics6DOF.html
index aeb6d64..4bb9dc7 100644
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@@ -3,7 +3,7 @@
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-<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="generator" content="Doxygen 1.13.2"/>
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@@ -11,9 +11,9 @@
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-<script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="navtreedata.js"></script>
 <script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript" src="resize.js"></script>
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@@ -26,7 +26,6 @@
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@@ -43,18 +42,23 @@
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+<!-- Generated by Doxygen 1.13.2 -->
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 /* @license-end */
 </script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
+/* @license-end */
+</script>
 <script type="text/javascript" src="menudata.js"></script>
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 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  initMenu('',true,false,'search.php','Search',true);
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+$(function(){initNavTree('structRigidBodyDynamics6DOF.html',''); initResizable(true); });
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+<tr class="memitem:a8927301269f2ce616317819c769b9364" id="r_a8927301269f2ce616317819c769b9364"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a8927301269f2ce616317819c769b9364">InputSignalType</a> = <a class="el" href="Signal_8h.html#a4da3e39a6224769606055a56f1508e6b">Vector6Signal</a>&lt;T&gt;</td></tr>
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+<tr class="memitem:ad4e0605bf2a0c90acbe9a1a333b9b952" id="r_ad4e0605bf2a0c90acbe9a1a333b9b952"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad4e0605bf2a0c90acbe9a1a333b9b952">StateSignalType</a> = <a class="el" href="State_8h.html#a337f5beba24e405d11550802e4375c73">SE3StateSignal</a>&lt;T&gt;</td></tr>
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+<tr class="memitem:afcafc7961087b27b239ad998e436da9a" id="r_afcafc7961087b27b239ad998e436da9a"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#afcafc7961087b27b239ad998e436da9a">StateDotSignalType</a> = <a class="el" href="State_8h.html#a10d976072ce9070523cb22605d2ab584">Vector6StateSignal</a>&lt;T&gt;</td></tr>
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 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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+          <td class="memname">using <a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a>&lt; T &gt;::InputSignalType = <a class="el" href="Signal_8h.html#a4da3e39a6224769606055a56f1508e6b">Vector6Signal</a>&lt;T&gt;</td>
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 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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+          <td class="memname">using <a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a>&lt; T &gt;::StateDotSignalType = <a class="el" href="State_8h.html#a10d976072ce9070523cb22605d2ab584">Vector6StateSignal</a>&lt;T&gt;</td>
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 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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+          <td class="memname">using <a class="el" href="structRigidBodyDynamics6DOF.html">RigidBodyDynamics6DOF</a>&lt; T &gt;::StateSignalType = <a class="el" href="State_8h.html#a337f5beba24e405d11550802e4375c73">SE3StateSignal</a>&lt;T&gt;</td>
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 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
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         <tr>
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-          <td class="paramtype"><a class="el" href="#afcafc7961087b27b239ad998e436da9a">StateDotSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>xdot</em>, </span></td>
+          <td class="paramtype"><a class="el" href="#afcafc7961087b27b239ad998e436da9a">StateDotSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>xdot</em></span>, </td>
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           <td></td>
-          <td class="paramtype">const <a class="el" href="#ad4e0605bf2a0c90acbe9a1a333b9b952">StateSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em>, </span></td>
+          <td class="paramtype">const <a class="el" href="#ad4e0605bf2a0c90acbe9a1a333b9b952">StateSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em></span>, </td>
         </tr>
         <tr>
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           <td></td>
-          <td class="paramtype">const <a class="el" href="#a8927301269f2ce616317819c769b9364">InputSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>u</em>, </span></td>
+          <td class="paramtype">const <a class="el" href="#a8927301269f2ce616317819c769b9364">InputSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>u</em></span>, </td>
         </tr>
         <tr>
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           <td></td>
-          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t0</em>, </span></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t0</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em>, </span></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">const <a class="el" href="#ad252337a912dcd1cfaa097d9c2d5814e">ParamsType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>params</em>, </span></td>
+          <td class="paramtype">const <a class="el" href="#ad252337a912dcd1cfaa097d9c2d5814e">ParamsType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>params</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>insertIntoHistory</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span>, </span></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>insertIntoHistory</em></span><span class="paramdefsep"> = </span><span class="paramdefval">false</span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>calculateXddot</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span></span>&#160;)</td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>calculateXddot</em></span><span class="paramdefsep"> = </span><span class="paramdefval">false</span>&#160;)</td>
         </tr>
       </table>
   </td>
   <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+<span class="mlabels"><span class="mlabel inline">inline</span><span class="mlabel static">static</span></span>  </td>
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   <ul>
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
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diff --git a/docs/structRigidBodyParams1D-members.html b/docs/structRigidBodyParams1D-members.html
index e372927..4e73e0e 100644
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+<meta name="generator" content="Doxygen 1.13.2"/>
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@@ -11,9 +11,9 @@
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
 <link href="navtree.css" rel="stylesheet" type="text/css"/>
-<script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="navtreedata.js"></script>
 <script type="text/javascript" src="navtree.js"></script>
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           <td>(</td>
-          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
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+<span class="mlabels"><span class="mlabel inline">inline</span></span>  </td>
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
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diff --git a/docs/structRotationalDynamics1DOF-members.html b/docs/structRotationalDynamics1DOF-members.html
index c93e4d7..6d39276 100644
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+<meta name="generator" content="Doxygen 1.13.2"/>
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+<script type="text/javascript" src="resize.js"></script>
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@@ -43,18 +42,23 @@
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-<!-- Generated by Doxygen 1.10.0 -->
+<!-- Generated by Doxygen 1.13.2 -->
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 /* @license-end */
 </script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
+/* @license-end */
+</script>
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 <script type="text/javascript" src="menu.js"></script>
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 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  initMenu('',true,false,'search.php','Search',true);
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-$(function(){initNavTree('structRotationalDynamics1DOF.html',''); initResizable(); });
+$(function(){initNavTree('structRotationalDynamics1DOF.html',''); initResizable(true); });
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@@ -119,7 +123,7 @@
 <!-- start footer part -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
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diff --git a/docs/structRotationalDynamics1DOF.html b/docs/structRotationalDynamics1DOF.html
index aa77d61..94a2097 100644
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+<meta name="generator" content="Doxygen 1.13.2"/>
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-<script type="text/javascript" src="resize.js"></script>
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+<script type="text/javascript" src="resize.js"></script>
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@@ -26,7 +26,6 @@
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+<!-- Generated by Doxygen 1.13.2 -->
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 /* @license-end */
 </script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
+/* @license-end */
+</script>
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+  initMenu('',true,false,'search.php','Search',true);
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+<tr class="memitem:a80b5f730e292fda15bdcf1e8b96fe02e" id="r_a80b5f730e292fda15bdcf1e8b96fe02e"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a80b5f730e292fda15bdcf1e8b96fe02e">InputSignalType</a> = <a class="el" href="Signal_8h.html#a532b7bae92d23faa5962b50fab59ee1a">Vector1Signal</a>&lt;T&gt;</td></tr>
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+<tr class="memitem:ac321d27d0098cb3e8e64ea0d98500cb6" id="r_ac321d27d0098cb3e8e64ea0d98500cb6"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac321d27d0098cb3e8e64ea0d98500cb6">StateSignalType</a> = <a class="el" href="State_8h.html#a455c23e3eed1fa310813120299d8cc95">SO2StateSignal</a>&lt;T&gt;</td></tr>
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+<tr class="memitem:a32c4979bf8f6aa3f9c1b0f2818ba4abd" id="r_a32c4979bf8f6aa3f9c1b0f2818ba4abd"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a32c4979bf8f6aa3f9c1b0f2818ba4abd">StateDotSignalType</a> = <a class="el" href="State_8h.html#ab5090b8cb9c45dbe82c31d42d73d785e">Vector1StateSignal</a>&lt;T&gt;</td></tr>
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 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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+          <td class="memname">using <a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a>&lt; T &gt;::InputSignalType = <a class="el" href="Signal_8h.html#a532b7bae92d23faa5962b50fab59ee1a">Vector1Signal</a>&lt;T&gt;</td>
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 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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-template&lt;typename T &gt; </div>
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 <div class="memtemplate">
-template&lt;typename T &gt; </div>
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-template&lt;typename T &gt; </div>
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+          <td class="memname">using <a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a>&lt; T &gt;::StateDotSignalType = <a class="el" href="State_8h.html#ab5090b8cb9c45dbe82c31d42d73d785e">Vector1StateSignal</a>&lt;T&gt;</td>
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-template&lt;typename T &gt; </div>
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-template&lt;typename T &gt; </div>
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+          <td class="memname">using <a class="el" href="structRotationalDynamics1DOF.html">RotationalDynamics1DOF</a>&lt; T &gt;::StateSignalType = <a class="el" href="State_8h.html#a455c23e3eed1fa310813120299d8cc95">SO2StateSignal</a>&lt;T&gt;</td>
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-template&lt;typename T &gt; </div>
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+          <td class="paramtype"><a class="el" href="#a32c4979bf8f6aa3f9c1b0f2818ba4abd">StateDotSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>xdot</em></span>, </td>
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+          <td class="paramtype">const <a class="el" href="#ac321d27d0098cb3e8e64ea0d98500cb6">StateSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em></span>, </td>
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           <td></td>
-          <td class="paramtype">const <a class="el" href="#a80b5f730e292fda15bdcf1e8b96fe02e">InputSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>u</em>, </span></td>
+          <td class="paramtype">const <a class="el" href="#a80b5f730e292fda15bdcf1e8b96fe02e">InputSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>u</em></span>, </td>
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           <td></td>
-          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t0</em>, </span></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t0</em></span>, </td>
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           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em>, </span></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em></span>, </td>
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           <td></td>
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+          <td class="paramtype">const <a class="el" href="#a38ff3a3028dc85817407d15587bf3451">ParamsType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>params</em></span>, </td>
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+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>insertIntoHistory</em></span><span class="paramdefsep"> = </span><span class="paramdefval">false</span>, </td>
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+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>calculateXddot</em></span><span class="paramdefsep"> = </span><span class="paramdefval">false</span>&#160;)</td>
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
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+$(function(){initNavTree('structRotationalDynamics3DOF.html',''); initResizable(true); });
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
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+<tr class="memitem:aac317f9992071217ce644f6b9ccd8763" id="r_aac317f9992071217ce644f6b9ccd8763"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aac317f9992071217ce644f6b9ccd8763">InputSignalType</a> = <a class="el" href="Signal_8h.html#a59c30838434bb9eabab59a54a0dceb9f">Vector3Signal</a>&lt;T&gt;</td></tr>
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+<tr class="memitem:a2814e21ab959a4cb71fdc2682d1cad69" id="r_a2814e21ab959a4cb71fdc2682d1cad69"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a2814e21ab959a4cb71fdc2682d1cad69">StateSignalType</a> = <a class="el" href="State_8h.html#a07ec000c82b285e661a861ae5f90736a">SO3StateSignal</a>&lt;T&gt;</td></tr>
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-template&lt;typename T &gt; </div>
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+          <td class="memname">using <a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a>&lt; T &gt;::InputSignalType = <a class="el" href="Signal_8h.html#a59c30838434bb9eabab59a54a0dceb9f">Vector3Signal</a>&lt;T&gt;</td>
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 <div class="memtemplate">
-template&lt;typename T &gt; </div>
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-template&lt;typename T &gt; </div>
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 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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+          <td class="memname">using <a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a>&lt; T &gt;::StateDotSignalType = <a class="el" href="State_8h.html#ae29a8cc7a8cfe9179c9befa2d9cf217d">Vector3StateSignal</a>&lt;T&gt;</td>
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 <div class="memtemplate">
-template&lt;typename T &gt; </div>
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-template&lt;typename T &gt; </div>
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+          <td class="memname">using <a class="el" href="structRotationalDynamics3DOF.html">RotationalDynamics3DOF</a>&lt; T &gt;::StateSignalType = <a class="el" href="State_8h.html#a07ec000c82b285e661a861ae5f90736a">SO3StateSignal</a>&lt;T&gt;</td>
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 <div class="memtemplate">
-template&lt;typename T &gt; </div>
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+          <td class="paramtype"><a class="el" href="#a6b1ce3427c65404128d15a66c3d11621">StateDotSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>xdot</em></span>, </td>
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+          <td class="paramtype">const <a class="el" href="#a2814e21ab959a4cb71fdc2682d1cad69">StateSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em></span>, </td>
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+          <td class="paramtype">const <a class="el" href="#aac317f9992071217ce644f6b9ccd8763">InputSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>u</em></span>, </td>
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           <td></td>
-          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t0</em>, </span></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t0</em></span>, </td>
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           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em>, </span></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em></span>, </td>
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+          <td class="paramtype">const <a class="el" href="#a2ac951c964726729410488c2bfcfa156">ParamsType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>params</em></span>, </td>
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+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>insertIntoHistory</em></span><span class="paramdefsep"> = </span><span class="paramdefval">false</span>, </td>
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+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>calculateXddot</em></span><span class="paramdefsep"> = </span><span class="paramdefval">false</span>&#160;)</td>
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   </td>
   <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+<span class="mlabels"><span class="mlabel inline">inline</span><span class="mlabel static">static</span></span>  </td>
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   <ul>
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
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diff --git a/docs/structScalarSignalSpec-members.html b/docs/structScalarSignalSpec-members.html
index 5f4ebbb..5d7916b 100644
--- a/docs/structScalarSignalSpec-members.html
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-<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="generator" content="Doxygen 1.13.2"/>
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+<script type="text/javascript" src="resize.js"></script>
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 <script type="text/javascript" src="search/searchdata.js"></script>
@@ -26,7 +26,6 @@
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-<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
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@@ -43,18 +42,23 @@
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-<!-- Generated by Doxygen 1.10.0 -->
+<!-- Generated by Doxygen 1.13.2 -->
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 var searchBox = new SearchBox("searchBox", "search/",'.html');
 /* @license-end */
 </script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
+/* @license-end */
+</script>
 <script type="text/javascript" src="menudata.js"></script>
 <script type="text/javascript" src="menu.js"></script>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search');
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
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@@ -73,7 +77,7 @@
 </div>
 <script type="text/javascript">
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-$(function(){initNavTree('structScalarSignalSpec.html',''); initResizable(); });
+$(function(){initNavTree('structScalarSignalSpec.html',''); initResizable(true); });
 /* @license-end */
 </script>
 <div id="doc-content">
@@ -113,7 +117,7 @@
 <!-- start footer part -->
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   <ul>
-    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
   </ul>
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diff --git a/docs/structScalarSignalSpec.html b/docs/structScalarSignalSpec.html
index 2f46f91..3034fbd 100644
--- a/docs/structScalarSignalSpec.html
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-<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="generator" content="Doxygen 1.13.2"/>
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-<script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="navtreedata.js"></script>
 <script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
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 <script type="text/javascript" src="search/searchdata.js"></script>
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 </head>
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@@ -43,18 +42,23 @@
 </table>
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-<!-- Generated by Doxygen 1.10.0 -->
+<!-- Generated by Doxygen 1.13.2 -->
 <script type="text/javascript">
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 var searchBox = new SearchBox("searchBox", "search/",'.html');
 /* @license-end */
 </script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
+/* @license-end */
+</script>
 <script type="text/javascript" src="menudata.js"></script>
 <script type="text/javascript" src="menu.js"></script>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search');
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
@@ -73,7 +77,7 @@
 </div>
 <script type="text/javascript">
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-$(function(){initNavTree('structScalarSignalSpec.html',''); initResizable(); });
+$(function(){initNavTree('structScalarSignalSpec.html',''); initResizable(true); });
 /* @license-end */
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 <div id="doc-content">
@@ -128,7 +132,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a4a319643aeb76b94214f8b41
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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         <tr>
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 <div class="memitem">
 <div class="memproto">
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-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
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           <td>(</td>
-          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
           <td></td>
         </tr>
       </table>
   </td>
   <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+<span class="mlabels"><span class="mlabel inline">inline</span><span class="mlabel static">static</span></span>  </td>
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 </table>
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@@ -172,7 +176,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a941ad7ca4c5943d3b2244e11
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
 <table class="mlabels">
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           <td>(</td>
-          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
           <td></td>
         </tr>
       </table>
   </td>
   <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+<span class="mlabels"><span class="mlabel inline">inline</span><span class="mlabel static">static</span></span>  </td>
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 </table>
 </div><div class="memdoc">
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 <div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
   <ul>
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-    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
   </ul>
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diff --git a/docs/structScalarStateSignalSpec-members.html b/docs/structScalarStateSignalSpec-members.html
index ba5700b..cb77cbb 100644
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-<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="generator" content="Doxygen 1.13.2"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
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 <link href="tabs.css" rel="stylesheet" type="text/css"/>
@@ -11,9 +11,9 @@
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
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-<script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="navtreedata.js"></script>
 <script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="search/searchdata.js"></script>
@@ -26,7 +26,6 @@
 </script>
 <script type="text/javascript" async="async" src="https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
-<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
@@ -43,18 +42,23 @@
 </table>
 </div>
 <!-- end header part -->
-<!-- Generated by Doxygen 1.10.0 -->
+<!-- Generated by Doxygen 1.13.2 -->
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 var searchBox = new SearchBox("searchBox", "search/",'.html');
 /* @license-end */
 </script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
+/* @license-end */
+</script>
 <script type="text/javascript" src="menudata.js"></script>
 <script type="text/javascript" src="menu.js"></script>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search');
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
@@ -73,7 +77,7 @@
 </div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){initNavTree('structScalarStateSignalSpec.html',''); initResizable(); });
+$(function(){initNavTree('structScalarStateSignalSpec.html',''); initResizable(true); });
 /* @license-end */
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 <div id="doc-content">
@@ -113,7 +117,7 @@
 <!-- start footer part -->
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   <ul>
-    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
   </ul>
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diff --git a/docs/structScalarStateSignalSpec.html b/docs/structScalarStateSignalSpec.html
index cdf40eb..5b924a7 100644
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-<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="generator" content="Doxygen 1.13.2"/>
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@@ -11,9 +11,9 @@
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
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-<script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="navtreedata.js"></script>
 <script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="search/searchdata.js"></script>
@@ -26,7 +26,6 @@
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 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
@@ -43,18 +42,23 @@
 </table>
 </div>
 <!-- end header part -->
-<!-- Generated by Doxygen 1.10.0 -->
+<!-- Generated by Doxygen 1.13.2 -->
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 var searchBox = new SearchBox("searchBox", "search/",'.html');
 /* @license-end */
 </script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
+/* @license-end */
+</script>
 <script type="text/javascript" src="menudata.js"></script>
 <script type="text/javascript" src="menu.js"></script>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search');
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
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@@ -73,7 +77,7 @@
 </div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){initNavTree('structScalarStateSignalSpec.html',''); initResizable(); });
+$(function(){initNavTree('structScalarStateSignalSpec.html',''); initResizable(true); });
 /* @license-end */
 </script>
 <div id="doc-content">
@@ -128,7 +132,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a7ae52069e3aafdb7c45b1416
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
       <table class="memname">
         <tr>
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 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
 <table class="mlabels">
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   <td class="mlabels-left">
@@ -153,13 +157,13 @@ <h2 class="memtitle"><span class="permalink"><a href="#ac3878dfd1b21706364c34d09
         <tr>
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           <td>(</td>
-          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
           <td></td>
         </tr>
       </table>
   </td>
   <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+<span class="mlabels"><span class="mlabel inline">inline</span><span class="mlabel static">static</span></span>  </td>
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 </table>
 </div><div class="memdoc">
@@ -172,7 +176,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a0dc57853395e3c57d6447a23
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T &gt; </div>
+template&lt;typename T&gt; </div>
 <table class="mlabels">
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           <td>(</td>
-          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
           <td></td>
         </tr>
       </table>
   </td>
   <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+<span class="mlabels"><span class="mlabel inline">inline</span><span class="mlabel static">static</span></span>  </td>
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 </table>
 </div><div class="memdoc">
@@ -202,7 +206,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a0dc57853395e3c57d6447a23
 <div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
   </ul>
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diff --git a/docs/structSignal_1_1SignalDP-members.html b/docs/structSignal_1_1SignalDP-members.html
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diff --git a/docs/structState.html b/docs/structState.html
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+<script type="text/javascript">
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diff --git a/docs/structTranslationalDynamicsBase.html b/docs/structTranslationalDynamicsBase.html
index 72e19e5..8aae15d 100644
--- a/docs/structTranslationalDynamicsBase.html
+++ b/docs/structTranslationalDynamicsBase.html
@@ -3,7 +3,7 @@
 <head>
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-<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="generator" content="Doxygen 1.13.2"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
 <title>signals-cpp: TranslationalDynamicsBase&lt; IST, SST, SDST, d, PT &gt; Struct Template Reference</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
@@ -11,9 +11,9 @@
 <script type="text/javascript" src="dynsections.js"></script>
 <script type="text/javascript" src="clipboard.js"></script>
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-<script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="navtreedata.js"></script>
 <script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="search/searchdata.js"></script>
@@ -26,7 +26,6 @@
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 <script type="text/javascript" async="async" src="https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js"></script>
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-<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
@@ -43,18 +42,23 @@
 </table>
 </div>
 <!-- end header part -->
-<!-- Generated by Doxygen 1.10.0 -->
+<!-- Generated by Doxygen 1.13.2 -->
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 var searchBox = new SearchBox("searchBox", "search/",'.html');
 /* @license-end */
 </script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
+/* @license-end */
+</script>
 <script type="text/javascript" src="menudata.js"></script>
 <script type="text/javascript" src="menu.js"></script>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search');
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
@@ -73,7 +77,7 @@
 </div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){initNavTree('structTranslationalDynamicsBase.html',''); initResizable(); });
+$(function(){initNavTree('structTranslationalDynamicsBase.html',''); initResizable(true); });
 /* @license-end */
 </script>
 <div id="doc-content">
@@ -147,7 +151,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aac403e4db54adf389b8f1fa3
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename IST , typename SST , typename SDST , size_t d, typename PT &gt; </div>
+template&lt;typename IST, typename SST, typename SDST, size_t d, typename PT&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname">using <a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a>&lt; IST, SST, SDST, d, PT &gt;::InputSignalType = IST</td>
@@ -163,7 +167,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ac57d5ab2e4cf3e6afe4a5ae5
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename IST , typename SST , typename SDST , size_t d, typename PT &gt; </div>
+template&lt;typename IST, typename SST, typename SDST, size_t d, typename PT&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname">using <a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a>&lt; IST, SST, SDST, d, PT &gt;::InputType = typename InputSignalType::BaseType</td>
@@ -179,7 +183,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a4ba374f05dd1f5c4168adf3d
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename IST , typename SST , typename SDST , size_t d, typename PT &gt; </div>
+template&lt;typename IST, typename SST, typename SDST, size_t d, typename PT&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname">using <a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a>&lt; IST, SST, SDST, d, PT &gt;::ParamsType = PT</td>
@@ -195,7 +199,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a4ae3874e31bcc97d54f4cebe
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename IST , typename SST , typename SDST , size_t d, typename PT &gt; </div>
+template&lt;typename IST, typename SST, typename SDST, size_t d, typename PT&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname">using <a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a>&lt; IST, SST, SDST, d, PT &gt;::StateDotDotType = typename StateDotSignalType::TangentType</td>
@@ -211,7 +215,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a3870f6b57fcb6cb578b36404
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename IST , typename SST , typename SDST , size_t d, typename PT &gt; </div>
+template&lt;typename IST, typename SST, typename SDST, size_t d, typename PT&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname">using <a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a>&lt; IST, SST, SDST, d, PT &gt;::StateDotSignalType = SST</td>
@@ -227,7 +231,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a25c6532290d222c25e727394
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename IST , typename SST , typename SDST , size_t d, typename PT &gt; </div>
+template&lt;typename IST, typename SST, typename SDST, size_t d, typename PT&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname">using <a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a>&lt; IST, SST, SDST, d, PT &gt;::StateDotType = typename StateDotSignalType::BaseType</td>
@@ -243,7 +247,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a1f0fdd4bbfb73f52878c7e5c
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename IST , typename SST , typename SDST , size_t d, typename PT &gt; </div>
+template&lt;typename IST, typename SST, typename SDST, size_t d, typename PT&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname">using <a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a>&lt; IST, SST, SDST, d, PT &gt;::StateSignalType = SDST</td>
@@ -259,7 +263,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aabb958cc98babacfc8478a04
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename IST , typename SST , typename SDST , size_t d, typename PT &gt; </div>
+template&lt;typename IST, typename SST, typename SDST, size_t d, typename PT&gt; </div>
       <table class="memname">
         <tr>
           <td class="memname">using <a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a>&lt; IST, SST, SDST, d, PT &gt;::StateType = typename StateSignalType::BaseType</td>
@@ -276,7 +280,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a3f1e02018ec014fe38ba851d
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename IST , typename SST , typename SDST , size_t d, typename PT &gt; </div>
+template&lt;typename IST, typename SST, typename SDST, size_t d, typename PT&gt; </div>
 <table class="mlabels">
   <tr>
   <td class="mlabels-left">
@@ -284,47 +288,47 @@ <h2 class="memtitle"><span class="permalink"><a href="#a3f1e02018ec014fe38ba851d
         <tr>
           <td class="memname">static bool <a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a>&lt; IST, SST, SDST, d, PT &gt;::update </td>
           <td>(</td>
-          <td class="paramtype"><a class="el" href="#a3870f6b57fcb6cb578b3640401331a39">StateDotSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>xdot</em>, </span></td>
+          <td class="paramtype"><a class="el" href="#a3870f6b57fcb6cb578b3640401331a39">StateDotSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>xdot</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">const <a class="el" href="#a1f0fdd4bbfb73f52878c7e5c7e459f16">StateSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em>, </span></td>
+          <td class="paramtype">const <a class="el" href="#a1f0fdd4bbfb73f52878c7e5c7e459f16">StateSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">const <a class="el" href="#aac403e4db54adf389b8f1fa3700f6f6a">InputSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>u</em>, </span></td>
+          <td class="paramtype">const <a class="el" href="#aac403e4db54adf389b8f1fa3700f6f6a">InputSignalType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>u</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t0</em>, </span></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t0</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em>, </span></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">const <a class="el" href="#a4ba374f05dd1f5c4168adf3d6a15ef0c">ParamsType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>params</em>, </span></td>
+          <td class="paramtype">const <a class="el" href="#a4ba374f05dd1f5c4168adf3d6a15ef0c">ParamsType</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>params</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>insertIntoHistory</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span>, </span></td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>insertIntoHistory</em></span><span class="paramdefsep"> = </span><span class="paramdefval">false</span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>calculateXddot</em><span class="paramdefsep"> = </span><span class="paramdefval">false</span></span>&#160;)</td>
+          <td class="paramtype">const bool &amp;</td>          <td class="paramname"><span class="paramname"><em>calculateXddot</em></span><span class="paramdefsep"> = </span><span class="paramdefval">false</span>&#160;)</td>
         </tr>
       </table>
   </td>
   <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+<span class="mlabels"><span class="mlabel inline">inline</span><span class="mlabel static">static</span></span>  </td>
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 </table>
 </div><div class="memdoc">
@@ -355,7 +359,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a3f1e02018ec014fe38ba851d
 <div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
   <ul>
     <li class="navelem"><a class="el" href="structTranslationalDynamicsBase.html">TranslationalDynamicsBase</a></li>
-    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
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diff --git a/docs/structTrapezoidalIntegratorSpec-members.html b/docs/structTrapezoidalIntegratorSpec-members.html
index 5045fdc..9ceb7b0 100644
--- a/docs/structTrapezoidalIntegratorSpec-members.html
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@@ -3,7 +3,7 @@
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 <meta http-equiv="X-UA-Compatible" content="IE=11"/>
-<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="generator" content="Doxygen 1.13.2"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
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 <script type="text/javascript" src="dynsections.js"></script>
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-<script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="navtreedata.js"></script>
 <script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="cookie.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="search/searchdata.js"></script>
@@ -26,7 +26,6 @@
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 <link href="doxygen.css" rel="stylesheet" type="text/css" />
-<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
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@@ -43,18 +42,23 @@
 </table>
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-<!-- Generated by Doxygen 1.10.0 -->
+<!-- Generated by Doxygen 1.13.2 -->
 <script type="text/javascript">
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 var searchBox = new SearchBox("searchBox", "search/",'.html');
 /* @license-end */
 </script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
+/* @license-end */
+</script>
 <script type="text/javascript" src="menudata.js"></script>
 <script type="text/javascript" src="menu.js"></script>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search');
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
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 /* @license-end */
@@ -73,7 +77,7 @@
 </div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){initNavTree('structTrapezoidalIntegratorSpec.html',''); initResizable(); });
+$(function(){initNavTree('structTrapezoidalIntegratorSpec.html',''); initResizable(true); });
 /* @license-end */
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 <div id="doc-content">
@@ -111,7 +115,7 @@
 <!-- start footer part -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
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diff --git a/docs/structTrapezoidalIntegratorSpec.html b/docs/structTrapezoidalIntegratorSpec.html
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+<meta name="generator" content="Doxygen 1.13.2"/>
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@@ -11,9 +11,9 @@
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-<script type="text/javascript" src="resize.js"></script>
 <script type="text/javascript" src="navtreedata.js"></script>
 <script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript" src="resize.js"></script>
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 <script type="text/javascript" src="search/searchdata.js"></script>
@@ -26,7 +26,6 @@
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-<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
@@ -43,18 +42,23 @@
 </table>
 </div>
 <!-- end header part -->
-<!-- Generated by Doxygen 1.10.0 -->
+<!-- Generated by Doxygen 1.13.2 -->
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 var searchBox = new SearchBox("searchBox", "search/",'.html');
 /* @license-end */
 </script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
+/* @license-end */
+</script>
 <script type="text/javascript" src="menudata.js"></script>
 <script type="text/javascript" src="menu.js"></script>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 $(function() {
-  initMenu('',true,false,'search.php','Search');
+  initMenu('',true,false,'search.php','Search',true);
   $(function() { init_search(); });
 });
 /* @license-end */
@@ -73,7 +77,7 @@
 </div>
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
-$(function(){initNavTree('structTrapezoidalIntegratorSpec.html',''); initResizable(); });
+$(function(){initNavTree('structTrapezoidalIntegratorSpec.html',''); initResizable(true); });
 /* @license-end */
 </script>
 <div id="doc-content">
@@ -113,7 +117,7 @@
 <table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
 Static Public Member Functions</h2></td></tr>
-<tr class="memitem:a38c21a876135bae55c62ec43c3a18a86" id="r_a38c21a876135bae55c62ec43c3a18a86"><td class="memTemplParams" colspan="2">template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </td></tr>
+<tr class="memitem:a38c21a876135bae55c62ec43c3a18a86" id="r_a38c21a876135bae55c62ec43c3a18a86"><td class="memTemplParams" colspan="2">template&lt;typename BaseSignalSpec, typename TangentSignalSpec&gt; </td></tr>
 <tr class="memitem:a38c21a876135bae55c62ec43c3a18a86"><td class="memTemplItemLeft" align="right" valign="top">static bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a38c21a876135bae55c62ec43c3a18a86">integrate</a> (<a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;xInt, const <a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;x, const double &amp;t0, const double &amp;tf, const bool &amp;insertIntoHistory)</td></tr>
 <tr class="memdesc:a38c21a876135bae55c62ec43c3a18a86"><td class="mdescLeft">&#160;</td><td class="mdescRight">Trapezoidal integration implementation.  <br /></td></tr>
 <tr class="separator:a38c21a876135bae55c62ec43c3a18a86"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -127,7 +131,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a38c21a876135bae55c62ec43
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename BaseSignalSpec , typename TangentSignalSpec &gt; </div>
+template&lt;typename BaseSignalSpec, typename TangentSignalSpec&gt; </div>
 <table class="mlabels">
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+          <td class="paramtype"><a class="el" href="classSignal.html">Signal</a>&lt; BaseSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>xInt</em></span>, </td>
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+          <td class="paramtype">const <a class="el" href="classSignal.html">Signal</a>&lt; TangentSignalSpec, TangentSignalSpec &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t0</em>, </span></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>t0</em></span>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em>, </span></td>
+          <td class="paramtype">const double &amp;</td>          <td class="paramname"><span class="paramname"><em>tf</em></span>, </td>
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         <tr>
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+<meta name="generator" content="Doxygen 1.13.2"/>
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@@ -43,18 +42,23 @@
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+<!-- Generated by Doxygen 1.13.2 -->
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 </script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
+/* @license-end */
+</script>
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 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  initMenu('',true,false,'search.php','Search',true);
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+$(function(){initNavTree('structVectorSignalSpec.html',''); initResizable(true); });
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@@ -113,7 +117,7 @@
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-    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
   </ul>
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diff --git a/docs/structVectorSignalSpec.html b/docs/structVectorSignalSpec.html
index 6010eb8..06a163f 100644
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-<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="generator" content="Doxygen 1.13.2"/>
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+<script type="text/javascript" src="resize.js"></script>
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@@ -43,18 +42,23 @@
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+<!-- Generated by Doxygen 1.13.2 -->
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+</script>
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+  initMenu('',true,false,'search.php','Search',true);
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 <script type="text/javascript">
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+$(function(){initNavTree('structVectorSignalSpec.html',''); initResizable(true); });
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@@ -128,7 +132,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ac21d15d01635665373eaf23b
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-template&lt;typename T , size_t d&gt; </div>
+template&lt;typename T, size_t d&gt; </div>
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-template&lt;typename T , size_t d&gt; </div>
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           <td>(</td>
-          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
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       </table>
   </td>
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-<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
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-template&lt;typename T , size_t d&gt; </div>
+template&lt;typename T, size_t d&gt; </div>
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           <td>(</td>
-          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
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       </table>
   </td>
   <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
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diff --git a/docs/structVectorStateSignalSpec-members.html b/docs/structVectorStateSignalSpec-members.html
index ffde5cf..c7adf21 100644
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+<script type="text/javascript" src="resize.js"></script>
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@@ -26,7 +26,6 @@
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+<!-- Generated by Doxygen 1.13.2 -->
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 </script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() { codefold.init(0); });
+/* @license-end */
+</script>
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+$(function(){initNavTree('structVectorStateSignalSpec.html',''); initResizable(true); });
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@@ -113,7 +117,7 @@
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.13.2 </li>
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diff --git a/docs/structVectorStateSignalSpec.html b/docs/structVectorStateSignalSpec.html
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@@ -11,9 +11,9 @@
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+<script type="text/javascript" src="resize.js"></script>
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@@ -43,18 +42,23 @@
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-<!-- Generated by Doxygen 1.10.0 -->
+<!-- Generated by Doxygen 1.13.2 -->
 <script type="text/javascript">
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 var searchBox = new SearchBox("searchBox", "search/",'.html');
 /* @license-end */
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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 <div id="doc-content">
@@ -128,7 +132,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a3994948f467b39ca2dcd77d2
 <div class="memitem">
 <div class="memproto">
 <div class="memtemplate">
-template&lt;typename T , size_t d&gt; </div>
+template&lt;typename T, size_t d&gt; </div>
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         <tr>
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 <div class="memproto">
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           <td>(</td>
-          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
           <td></td>
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       </table>
   </td>
   <td class="mlabels-right">
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ul{border:1px solid #bbb;padding:5px 0;background:white;-moz-border-radius:5px !important;-webkit-border-radius:5px;border-radius:5px !important;-moz-box-shadow:0 5px 9px rgba(0,0,0,0.2);-webkit-box-shadow:0 5px 9px rgba(0,0,0,0.2);box-shadow:0 5px 9px rgba(0,0,0,0.2)}.sm-dox ul a span.sub-arrow{right:8px;top:50%;margin-top:-5px;border-width:5px;border-color:transparent transparent transparent #555555;border-style:dashed dashed dashed solid}.sm-dox ul a,.sm-dox ul a:hover,.sm-dox ul a:focus,.sm-dox ul a:active,.sm-dox ul a.highlighted{color:#555555;background-image:none;border:0 !important}.sm-dox ul a:hover{background-image:url('tab_a.png');background-repeat:repeat-x;color:white;text-shadow:0px 1px 1px rgba(0, 0, 0, 1.0)}.sm-dox ul a:hover span.sub-arrow{border-color:transparent transparent transparent white}.sm-dox span.scroll-up,.sm-dox span.scroll-down{position:absolute;display:none;visibility:hidden;overflow:hidden;background:white;height:36px}.sm-dox span.scroll-up:hover,.sm-dox 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From d1b207db9c6f26b59b7f7982917fbdeae30d9d0c Mon Sep 17 00:00:00 2001
From: Andrew Torgesen <andrew.torgesen@gmail.com>
Date: Fri, 12 Sep 2025 21:20:45 -0700
Subject: [PATCH 06/11] cov

---
 .github/workflows/test.yml | 56 +++++++++++++++++++++++++++++++++++++-
 1 file changed, 55 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 5ee0cca..1b87430 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -20,4 +20,58 @@ jobs:
         authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
     - run: >
         git config --global url."https://github.com/".insteadOf ssh://git@github.com/
-    - run: export NIXPKGS_ALLOW_UNFREE=1 && nix-build -E 'with (import (fetchTarball "https://github.com/goromal/anixpkgs/archive/refs/tags/v0.5.0.tar.gz") {}); signals-cpp.override { pkg-src = lib.cleanSource ./.; }'
+    - run: export NIXPKGS_ALLOW_UNFREE=1 && nix-build -E 'with (import (fetchTarball "https://github.com/goromal/anixpkgs/archive/refs/heads/master.tar.gz") {}); signals-cpp.override { pkg-src = lib.cleanSource ./.; }'
+  code-cov:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - uses: cachix/install-nix-action@v25
+      with:
+        nix_path: nixpkgs=channel:nixos-unstable
+    - uses: cachix/cachix-action@v10
+      with:
+        name: github-public
+        authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+    - name: Build, test, and generate coverage HTML report
+      run: |
+        mkdir build && cd build
+        nix-shell ../.github/_nixshell --run "cmake .. -DCMAKE_BUILD_TYPE=Debug && make unit-tests"
+        nix-shell ../.github/_nixshell --run "lcov --capture --directory . --output-file coverage.info && \
+                                              lcov --remove coverage.info '/usr/*' '*/test/*' --output-file coverage.info.cleaned && \
+                                              genhtml --branch-coverage --ignore-errors source --output-directory coverage_report coverage.info.cleaned"
+    - name: Upload coverage report artifact
+      uses: actions/upload-artifact@v4
+      with:
+        name: code-coverage-report
+        path: build/coverage_report
+    - name: Post PR comment with coverage artifact (optional)
+      if: github.event_name == 'pull_request'
+      uses: actions/github-script@v7
+      with:
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        script: |
+          const artifactUrl = `https://github.com/${{ github.repository }}/actions/runs/${{ github.run_id }}`;
+          const comment = `
+          ### 🧪 Code Coverage Report
+          The code coverage report has been generated for this PR.
+
+          ➡️ [View coverage artifact](${artifactUrl})
+          `;
+          github.rest.issues.createComment({
+            issue_number: context.issue.number,
+            owner: context.repo.owner,
+            repo: context.repo.repo,
+            body: comment
+          });
+    - name: Copy coverage report into docs/
+      run: |
+        mkdir -p docs/coverage
+        cp -r build/coverage_report/* docs/coverage/
+    - name: Commit coverage report to docs/
+      if: github.ref == 'refs/heads/master'
+      run: |
+        git config --global user.name "github-actions"
+        git config --global user.email "github-actions@github.com"
+        git add docs/coverage
+        git commit -m "Update coverage report [skip ci]" || echo "No changes to commit"
+        git push

From 6560914bbc7d3762b315e71270b00d6082c545af Mon Sep 17 00:00:00 2001
From: Andrew Torgesen <andrew.torgesen@gmail.com>
Date: Fri, 12 Sep 2025 21:29:09 -0700
Subject: [PATCH 07/11] wip

---
 .github/_nixshell | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/_nixshell b/.github/_nixshell
index 4f76971..e519ea2 100644
--- a/.github/_nixshell
+++ b/.github/_nixshell
@@ -8,5 +8,6 @@ in with pkgs; mkShell {
     buildInputs = [
         boost
         eigen
+        manif-geom-cpp
     ];
 }

From ee78022934f2653d830a964def9f721c27283448 Mon Sep 17 00:00:00 2001
From: Andrew Torgesen <andrew.torgesen@gmail.com>
Date: Fri, 12 Sep 2025 21:59:22 -0700
Subject: [PATCH 08/11] wip

---
 CMakeLists.txt | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index fb4d27b..fe98b88 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,10 +3,18 @@ cmake_minimum_required (VERSION 3.16)
 set(PROJ_NAME signals-cpp)
 project(${PROJ_NAME})
 
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE Release CACHE STRING "Build type" FORCE)
+endif()
+
 set(CMAKE_CXX_STANDARD 17)
 
 option(BUILD_TESTS "Build Tests" ON)
 
+if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage -O0 -g")
+endif()
+
 find_package(Eigen3 REQUIRED NO_MODULE)
 find_package(manif-geom-cpp REQUIRED)
 

From 3fa77be753a8f9c5c75ef80b96191a6a720b0f90 Mon Sep 17 00:00:00 2001
From: Andrew Torgesen <andrew.torgesen@gmail.com>
Date: Fri, 12 Sep 2025 22:29:32 -0700
Subject: [PATCH 09/11] docs updates

---
 docs/Integration_8h.html                          | 1 +
 docs/Integration_8h_source.html                   | 1 +
 docs/Models_8h.html                               | 1 +
 docs/Models_8h_source.html                        | 1 +
 docs/Signal_8h.html                               | 1 +
 docs/Signal_8h_source.html                        | 1 +
 docs/Signals_8h.html                              | 1 +
 docs/Signals_8h_source.html                       | 1 +
 docs/State_8h.html                                | 1 +
 docs/State_8h_source.html                         | 1 +
 docs/Utils_8h.html                                | 1 +
 docs/Utils_8h_source.html                         | 1 +
 docs/annotated.html                               | 1 +
 docs/classModel-members.html                      | 1 +
 docs/classModel.html                              | 1 +
 docs/classSignal-members.html                     | 1 +
 docs/classSignal.html                             | 1 +
 docs/classes.html                                 | 1 +
 docs/dir_661483514bb8dea267426763b771558e.html    | 1 +
 docs/dir_d44c64559bbebec7f509842c48db8b23.html    | 1 +
 docs/files.html                                   | 1 +
 docs/functions.html                               | 1 +
 docs/functions_func.html                          | 1 +
 docs/functions_rela.html                          | 1 +
 docs/functions_type.html                          | 1 +
 docs/functions_vars.html                          | 1 +
 docs/globals.html                                 | 1 +
 docs/globals_defs.html                            | 1 +
 docs/globals_enum.html                            | 1 +
 docs/globals_eval.html                            | 1 +
 docs/globals_func.html                            | 1 +
 docs/globals_type.html                            | 1 +
 docs/index.html                                   | 1 +
 docs/namespacemembers.html                        | 1 +
 docs/namespacemembers_func.html                   | 1 +
 docs/namespaces.html                              | 1 +
 docs/namespacesignal__utils.html                  | 1 +
 docs/structEulerIntegratorSpec-members.html       | 1 +
 docs/structEulerIntegratorSpec.html               | 1 +
 docs/structIntegrator-members.html                | 1 +
 docs/structIntegrator.html                        | 1 +
 docs/structManifoldSignalSpec-members.html        | 1 +
 docs/structManifoldSignalSpec.html                | 1 +
 docs/structManifoldStateSignalSpec-members.html   | 1 +
 docs/structManifoldStateSignalSpec.html           | 1 +
 docs/structRigidBodyDynamics3DOF-members.html     | 1 +
 docs/structRigidBodyDynamics3DOF.html             | 1 +
 docs/structRigidBodyDynamics6DOF-members.html     | 1 +
 docs/structRigidBodyDynamics6DOF.html             | 1 +
 docs/structRigidBodyParams1D-members.html         | 1 +
 docs/structRigidBodyParams1D.html                 | 1 +
 docs/structRigidBodyParams2D-members.html         | 1 +
 docs/structRigidBodyParams2D.html                 | 1 +
 docs/structRigidBodyParams3D-members.html         | 1 +
 docs/structRigidBodyParams3D.html                 | 1 +
 docs/structRotationalDynamics1DOF-members.html    | 1 +
 docs/structRotationalDynamics1DOF.html            | 1 +
 docs/structRotationalDynamics3DOF-members.html    | 1 +
 docs/structRotationalDynamics3DOF.html            | 1 +
 docs/structScalarSignalSpec-members.html          | 1 +
 docs/structScalarSignalSpec.html                  | 1 +
 docs/structScalarStateSignalSpec-members.html     | 1 +
 docs/structScalarStateSignalSpec.html             | 1 +
 docs/structSignal_1_1SignalDP-members.html        | 1 +
 docs/structSignal_1_1SignalDP.html                | 1 +
 docs/structSimpsonIntegratorSpec-members.html     | 1 +
 docs/structSimpsonIntegratorSpec.html             | 1 +
 docs/structState-members.html                     | 1 +
 docs/structState.html                             | 1 +
 docs/structTranslationalDynamicsBase-members.html | 1 +
 docs/structTranslationalDynamicsBase.html         | 1 +
 docs/structTrapezoidalIntegratorSpec-members.html | 1 +
 docs/structTrapezoidalIntegratorSpec.html         | 1 +
 docs/structVectorSignalSpec-members.html          | 1 +
 docs/structVectorSignalSpec.html                  | 1 +
 docs/structVectorStateSignalSpec-members.html     | 1 +
 docs/structVectorStateSignalSpec.html             | 1 +
 doxygen-awesome-css                               | 1 +
 78 files changed, 78 insertions(+)
 create mode 160000 doxygen-awesome-css

diff --git a/docs/Integration_8h.html b/docs/Integration_8h.html
index 6e6e4b0..2ca30c9 100644
--- a/docs/Integration_8h.html
+++ b/docs/Integration_8h.html
@@ -26,6 +26,7 @@
 </script>
 <script type="text/javascript" async="async" src="https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/docs/Integration_8h_source.html b/docs/Integration_8h_source.html
index 91a2215..aca2b8e 100644
--- a/docs/Integration_8h_source.html
+++ b/docs/Integration_8h_source.html
@@ -26,6 +26,7 @@
 </script>
 <script type="text/javascript" async="async" src="https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/docs/Models_8h.html b/docs/Models_8h.html
index 3fa732b..b7e1439 100644
--- a/docs/Models_8h.html
+++ b/docs/Models_8h.html
@@ -26,6 +26,7 @@
 </script>
 <script type="text/javascript" async="async" src="https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/docs/Models_8h_source.html b/docs/Models_8h_source.html
index 0da6b03..117b332 100644
--- a/docs/Models_8h_source.html
+++ b/docs/Models_8h_source.html
@@ -26,6 +26,7 @@
 </script>
 <script type="text/javascript" async="async" src="https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/docs/Signal_8h.html b/docs/Signal_8h.html
index fe1d507..bdf6a6d 100644
--- a/docs/Signal_8h.html
+++ b/docs/Signal_8h.html
@@ -26,6 +26,7 @@
 </script>
 <script type="text/javascript" async="async" src="https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/docs/Signal_8h_source.html b/docs/Signal_8h_source.html
index 92ae6c9..a9335b2 100644
--- a/docs/Signal_8h_source.html
+++ b/docs/Signal_8h_source.html
@@ -26,6 +26,7 @@
 </script>
 <script type="text/javascript" async="async" src="https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/docs/Signals_8h.html b/docs/Signals_8h.html
index 06b08bb..1a1b1ac 100644
--- a/docs/Signals_8h.html
+++ b/docs/Signals_8h.html
@@ -26,6 +26,7 @@
 </script>
 <script type="text/javascript" async="async" src="https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/docs/Signals_8h_source.html b/docs/Signals_8h_source.html
index 0cd2635..7b076d3 100644
--- a/docs/Signals_8h_source.html
+++ b/docs/Signals_8h_source.html
@@ -26,6 +26,7 @@
 </script>
 <script type="text/javascript" async="async" src="https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/docs/State_8h.html b/docs/State_8h.html
index 35370a9..b736e2c 100644
--- a/docs/State_8h.html
+++ b/docs/State_8h.html
@@ -26,6 +26,7 @@
 </script>
 <script type="text/javascript" async="async" src="https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/docs/State_8h_source.html b/docs/State_8h_source.html
index fb830b2..288bc9f 100644
--- a/docs/State_8h_source.html
+++ b/docs/State_8h_source.html
@@ -26,6 +26,7 @@
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 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/docs/Utils_8h.html b/docs/Utils_8h.html
index a1c63bb..467420a 100644
--- a/docs/Utils_8h.html
+++ b/docs/Utils_8h.html
@@ -26,6 +26,7 @@
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+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
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diff --git a/docs/Utils_8h_source.html b/docs/Utils_8h_source.html
index 2bf94d5..7ab3673 100644
--- a/docs/Utils_8h_source.html
+++ b/docs/Utils_8h_source.html
@@ -26,6 +26,7 @@
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+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/docs/annotated.html b/docs/annotated.html
index 78336b1..10e0802 100644
--- a/docs/annotated.html
+++ b/docs/annotated.html
@@ -26,6 +26,7 @@
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 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/docs/classModel-members.html b/docs/classModel-members.html
index 73e31a2..c37ef33 100644
--- a/docs/classModel-members.html
+++ b/docs/classModel-members.html
@@ -26,6 +26,7 @@
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 <script type="text/javascript" async="async" src="https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/docs/classModel.html b/docs/classModel.html
index 2f8e47e..6626ec3 100644
--- a/docs/classModel.html
+++ b/docs/classModel.html
@@ -26,6 +26,7 @@
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index 5d7916b..f020e8c 100644
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+++ b/docs/structScalarSignalSpec-members.html
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index 3034fbd..449bf34 100644
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+++ b/docs/structScalarSignalSpec.html
@@ -26,6 +26,7 @@
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index cb77cbb..8796473 100644
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index 5f3d569..226852b 100644
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@@ -26,6 +26,7 @@
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index b84eadd..1593329 100644
--- a/docs/structSignal_1_1SignalDP.html
+++ b/docs/structSignal_1_1SignalDP.html
@@ -26,6 +26,7 @@
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index 8cfb045..3d9c095 100644
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index 9e55a1a..aefe78d 100644
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@@ -26,6 +26,7 @@
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diff --git a/docs/structState-members.html b/docs/structState-members.html
index 5fe2ec8..e9fe118 100644
--- a/docs/structState-members.html
+++ b/docs/structState-members.html
@@ -26,6 +26,7 @@
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index e47f686..5c99b3d 100644
--- a/docs/structState.html
+++ b/docs/structState.html
@@ -26,6 +26,7 @@
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index 3971e5a..d3503eb 100644
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+++ b/docs/structTranslationalDynamicsBase-members.html
@@ -26,6 +26,7 @@
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index 8aae15d..7d34662 100644
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+++ b/docs/structTranslationalDynamicsBase.html
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diff --git a/docs/structTrapezoidalIntegratorSpec-members.html b/docs/structTrapezoidalIntegratorSpec-members.html
index 9ceb7b0..d2824c1 100644
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+++ b/docs/structTrapezoidalIntegratorSpec-members.html
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index 958c3ba..71af624 100644
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index 9c06c3a..339f1c2 100644
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+++ b/docs/structVectorSignalSpec-members.html
@@ -26,6 +26,7 @@
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index 06a163f..f3ef9b3 100644
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@@ -26,6 +26,7 @@
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index c7adf21..b81d281 100644
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+++ b/docs/structVectorStateSignalSpec-members.html
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index db4616d..9962802 100644
--- a/docs/structVectorStateSignalSpec.html
+++ b/docs/structVectorStateSignalSpec.html
@@ -26,6 +26,7 @@
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diff --git a/doxygen-awesome-css b/doxygen-awesome-css
new file mode 160000
index 0000000..9760c30
--- /dev/null
+++ b/doxygen-awesome-css
@@ -0,0 +1 @@
+Subproject commit 9760c30014131f4eacb8e96f15f3869c7bc5dd8c

From b45e4caae81edc87c496823ec6273cea8665958c Mon Sep 17 00:00:00 2001
From: Andrew Torgesen <andrew.torgesen@gmail.com>
Date: Fri, 12 Sep 2025 22:49:14 -0700
Subject: [PATCH 10/11] wip docs

---
 include/signals/Models.h |  3 +++
 include/signals/State.h  | 49 ++++++++++++++++++++++++++++++++++++++--
 2 files changed, 50 insertions(+), 2 deletions(-)

diff --git a/include/signals/Models.h b/include/signals/Models.h
index be348c2..42b74d4 100644
--- a/include/signals/Models.h
+++ b/include/signals/Models.h
@@ -38,6 +38,9 @@ class Model
      */
     StateDotSignalType xdot;
 
+    /**
+     * @brief Initialize a model with no parameters.
+     */
     Model() : params_{std::nullopt}
     {
         reset();
diff --git a/include/signals/State.h b/include/signals/State.h
index e9ab67b..62c401b 100644
--- a/include/signals/State.h
+++ b/include/signals/State.h
@@ -36,21 +36,36 @@ struct State
     using TwistType = typename TwistTypeSpec::Type;
 
     /**
-     * @brief TODO
+     * @brief Pose type.
+     */
+    PoseType pose;
+    /**
+     * @brief Twist (derivative of Pose) type.
      */
-    PoseType  pose;
     TwistType twist;
 
+    /**
+     * @brief Initialize an empty state.
+     */
     State() {}
 
+    /**
+     * @brief Initialize state from a pose and twist pointer array.
+     */
     State(T* arr) : pose(arr), twist(arr + PoseDim) {}
 
+    /**
+     * @brief State copy constructor.
+     */
     State(const State& other)
     {
         this->pose  = other.pose;
         this->twist = other.twist;
     }
 
+    /**
+     * @brief Set the state to identity (zero) values across the board.
+     */
     static State identity()
     {
         State x;
@@ -59,6 +74,9 @@ struct State
         return x;
     }
 
+    /**
+     * @brief Set the state to NaN values across the board.
+     */
     static State nans()
     {
         State x;
@@ -67,6 +85,9 @@ struct State
         return x;
     }
 
+    /**
+     * @brief Scale the state (pose and twist) by a scalar.
+     */
     State& operator*=(const double& s)
     {
         pose *= s;
@@ -74,6 +95,9 @@ struct State
         return *this;
     }
 
+    /**
+     * @brief Add a tangent space state (twist and derivative of twist) to the current state.
+     */
     template<typename T2>
     State& operator+=(const State<T2, TwistTypeSpec, TwistDim, TwistTypeSpec, TwistDim>& r)
     {
@@ -83,6 +107,9 @@ struct State
     }
 };
 
+/**
+ * @brief Add a tangent space state (twist and derivative of twist) to the current state.
+ */
 template<typename T, typename PTS, size_t PD, typename TTS, size_t TD>
 State<T, PTS, PD, TTS, TD> operator+(const State<T, PTS, PD, TTS, TD>& l, const State<T, TTS, TD, TTS, TD>& r)
 {
@@ -92,6 +119,9 @@ State<T, PTS, PD, TTS, TD> operator+(const State<T, PTS, PD, TTS, TD>& l, const
     return lpr;
 }
 
+/**
+ * @brief Subtract a tangent space state (twist and derivative of twist) from the current state.
+ */
 template<typename T, typename PTS, size_t PD, typename TTS, size_t TD>
 State<T, TTS, TD, TTS, TD> operator-(const State<T, PTS, PD, TTS, TD>& l, const State<T, PTS, PD, TTS, TD>& r)
 {
@@ -101,6 +131,9 @@ State<T, TTS, TD, TTS, TD> operator-(const State<T, PTS, PD, TTS, TD>& l, const
     return lmr;
 }
 
+/**
+ * @brief Scale the state (pose and twist) by a scalar.
+ */
 template<typename T, typename PTS, size_t PD, typename TTS, size_t TD>
 State<T, PTS, PD, TTS, TD> operator*(const double& l, const State<T, PTS, PD, TTS, TD>& r)
 {
@@ -110,6 +143,9 @@ State<T, PTS, PD, TTS, TD> operator*(const double& l, const State<T, PTS, PD, TT
     return lr;
 }
 
+/**
+ * @brief Scale the state (pose and twist) by a scalar.
+ */
 template<typename T, typename PTS, size_t PD, typename TTS, size_t TD>
 State<T, PTS, PD, TTS, TD> operator*(const State<T, PTS, PD, TTS, TD>& l, const double& r)
 {
@@ -129,6 +165,9 @@ inline std::ostream& operator<<(std::ostream& os, const ScalarStateType<T>& x)
     return os;
 }
 
+/**
+ * @brief Scale the state (pose and twist) by a scalar.
+ */
 template<typename T>
 ScalarStateType<T> operator/(const ScalarStateType<T>& l, const double& r)
 {
@@ -148,6 +187,9 @@ inline std::ostream& operator<<(std::ostream& os, const VectorStateType<T, d>& x
     return os;
 }
 
+/**
+ * @brief Scale the state (pose and twist) by a scalar.
+ */
 template<typename T, size_t d>
 VectorStateType<T, d> operator/(const VectorStateType<T, d>& l, const double& r)
 {
@@ -171,6 +213,9 @@ template<typename T>
 struct ScalarStateSignalSpec
 {
     using Type = ScalarStateType<T>;
+    /**
+     * TODO
+     */
     static Type ZeroType()
     {
         return Type::identity();

From fb143d2ac94b901eb6c42b2a24abfd7b245505cc Mon Sep 17 00:00:00 2001
From: Andrew Torgesen <andrew.torgesen@gmail.com>
Date: Fri, 12 Sep 2025 22:55:16 -0700
Subject: [PATCH 11/11] wip

---
 include/signals/Signal.h | 2 +-
 include/signals/State.h  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/include/signals/Signal.h b/include/signals/Signal.h
index c92e6aa..b9e2a66 100644
--- a/include/signals/Signal.h
+++ b/include/signals/Signal.h
@@ -11,7 +11,7 @@
 using namespace Eigen;
 
 /**
- * @brief TODO
+ * @brief ^^^^ TODO
  */
 enum InterpolationMethod
 {
diff --git a/include/signals/State.h b/include/signals/State.h
index 62c401b..e85dbc0 100644
--- a/include/signals/State.h
+++ b/include/signals/State.h
@@ -214,7 +214,7 @@ struct ScalarStateSignalSpec
 {
     using Type = ScalarStateType<T>;
     /**
-     * TODO
+     * ^^^^ TODO
      */
     static Type ZeroType()
     {