From 3fb1d74c52b531c98e748e37698ab34069b843bb Mon Sep 17 00:00:00 2001
From: chapulina <chapulina@users.noreply.github.com>
Date: Thu, 24 Oct 2024 06:25:47 +0000
Subject: [PATCH] deploy: 0e243ebeb1d0aecb56b63b85e7e819a19ed63fa6

---
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 .../classgz_1_1math_1_1DiffDriveOdometry.html |   1 +
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 ...classgz_1_1math_1_1GaussMarkovProcess.html |   3 +-
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 ..._1_1math_1_1VolumetricGridLookupField.html |  14 ++
 api/math/7/deprecated.html                    |   8 +
 api/math/7/doxygen.css                        |  28 +++
 api/math/7/dynsections.js                     |  11 ++
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 api/math/7/gz_2math_2SpeedLimiter_8hh.html    |   2 +-
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 api/math/7/gz_2math_2Sphere_8hh.html          |   2 +-
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 .../7/gz_2math_2SphericalCoordinates_8hh.html |   2 +-
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 api/math/7/hierarchy.html                     | 150 ++++++++--------
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-</div><!-- fragment --></div><!-- contents -->
-      </div>
-    </main>
-  </div>
-</body>
- href="http://en.cppreference.com/w/cpp/container/map.html">std::map&lt;std::string, math::Matrix4d&gt;</a> <a class="code" href="classgz_1_1common_1_1SkeletonAnimation.html#a2abd4217b1acb2050d942687482e475f" title="Returns a dictionary of transformations indexed by name at a specific time if a node does not exist a...">PoseAt</a>(</div>
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 <div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
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 <div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                  <span class="keyword">const</span> <span class="keywordtype">bool</span> _updateChildren = <span class="keyword">true</span>);</div>
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 <div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
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 <div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
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+<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1SkeletonNode.html#ae6572000c22bf27e275891b17030d882">  105</a></span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1common_1_1SkeletonNode.html#ae6572000c22bf27e275891b17030d882" title="Reset the transformation to the initial transformation.">Reset</a>(<span class="keyword">const</span> <span class="keywordtype">bool</span> _resetChildren);</div>
 <div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
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 <div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
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+<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1SkeletonNode.html#ad71083a4038209a6beb5f1994b46ba44">  112</a></span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1common_1_1SkeletonNode.html#ad71083a4038209a6beb5f1994b46ba44" title="Set the parent node.">SetParent</a>(<a class="code" href="classgz_1_1common_1_1SkeletonNode.html" title="A skeleton node.">SkeletonNode</a> *_parent);</div>
 <div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
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+<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1SkeletonNode.html#a36df7a167178e33f1796b47db51d2618">  116</a></span>&#160;      <span class="keyword">public</span>: <a class="code" href="classgz_1_1common_1_1SkeletonNode.html" title="A skeleton node.">SkeletonNode</a> *<a class="code" href="classgz_1_1common_1_1SkeletonNode.html#a36df7a167178e33f1796b47db51d2618" title="Returns the parent node.">Parent</a>() <span class="keyword">const</span>;</div>
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 <div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
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+<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1SkeletonNode.html#ac3644e1729cc117b019cd27381ca993f">  124</a></span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1common_1_1SkeletonNode.html#ac3644e1729cc117b019cd27381ca993f" title="Add a new child.">AddChild</a>(<a class="code" href="classgz_1_1common_1_1SkeletonNode.html" title="A skeleton node.">SkeletonNode</a> *_child);</div>
 <div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
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+<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1SkeletonNode.html#aed4370e25e174290dface82459b3c89b">  128</a></span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classgz_1_1common_1_1SkeletonNode.html#aed4370e25e174290dface82459b3c89b" title="Returns the children count.">ChildCount</a>() <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
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+<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1SkeletonNode.html#a5589af3170d7b69cc4488b29d98e16d7">  133</a></span>&#160;      <span class="keyword">public</span>: <a class="code" href="classgz_1_1common_1_1SkeletonNode.html" title="A skeleton node.">SkeletonNode</a> *<a class="code" href="classgz_1_1common_1_1SkeletonNode.html#a5589af3170d7b69cc4488b29d98e16d7" title="Find a child by index.">Child</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _index) <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
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+<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1SkeletonNode.html#ac98115beda3cfb1cd131ca26a2aa8366">  143</a></span>&#160;      <span class="keyword">public</span>: <a class="code" href="classgz_1_1common_1_1SkeletonNode.html" title="A skeleton node.">SkeletonNode</a> *<a class="code" href="classgz_1_1common_1_1SkeletonNode.html#ac98115beda3cfb1cd131ca26a2aa8366" title="Get child by string id.">ChildById</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_id) <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
-<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">void</span> Handle(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _h);</div>
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-<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
-<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">void</span> SetInverseBindTransform(<span class="keyword">const</span> <a class="codeRef" href="https://gazebosim.org/api/math/7/classgz_1_1math_1_1Matrix4.html">math::Matrix4d</a> &amp;_invBM);</div>
-<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
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-<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
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-<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
-<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      GZ_UTILS_IMPL_PTR(dataPtr)</div>
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-<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="preprocessor">#endif</span></div>
-</div><!-- fragment --></div><!-- contents -->
-      </div>
-    </main>
-  </div>
-</body>
-a></span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1common_1_1SkeletonNode.html#af8339a18ae9622db5e4c2c9239b4f5b9" title="Assign a handle number.">Handle</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _h);</div>
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 <div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
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+<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1Skeleton.html#a75c5875c72f9e801e461c90197028366">   43</a></span>&#160;      <span class="keyword">public</span>: <a class="code" href="classgz_1_1common_1_1Skeleton.html#a75c5875c72f9e801e461c90197028366" title="Constructor.">Skeleton</a>();</div>
 <div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
-<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;      <span class="keyword">public</span>: <span class="keyword">explicit</span> <a class="code" href="classgz_1_1common_1_1Skeleton.html" title="A skeleton, usually used for animation purposes.">Skeleton</a>(<a class="code" href="classgz_1_1common_1_1SkeletonNode.html" title="A skeleton node.">SkeletonNode</a> *_root);</div>
+<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1Skeleton.html#a9d996d3887340a53c0df3c02365bccac">   47</a></span>&#160;      <span class="keyword">public</span>: <span class="keyword">explicit</span> <a class="code" href="classgz_1_1common_1_1Skeleton.html#a9d996d3887340a53c0df3c02365bccac" title="Constructor.">Skeleton</a>(<a class="code" href="classgz_1_1common_1_1SkeletonNode.html" title="A skeleton node.">SkeletonNode</a> *_root);</div>
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 <div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
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+<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1Skeleton.html#ace075ba977ca76843fe1c462453c1116">   54</a></span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1common_1_1Skeleton.html#ace075ba977ca76843fe1c462453c1116" title="Change the root node.">RootNode</a>(<a class="code" href="classgz_1_1common_1_1SkeletonNode.html" title="A skeleton node.">SkeletonNode</a> *_node);</div>
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+<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1Skeleton.html#ac406800c6c51135c9875b4af8142a2eb">   68</a></span>&#160;      <span class="keyword">public</span>: <a class="code" href="classgz_1_1common_1_1SkeletonNode.html" title="A skeleton node.">SkeletonNode</a> *<a class="code" href="classgz_1_1common_1_1Skeleton.html#ac406800c6c51135c9875b4af8142a2eb" title="Find node by index.">NodeById</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_id) <span class="keyword">const</span>;</div>
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+<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1Skeleton.html#ac2b24a4f5a8097ab3954cffc3cd95033">   89</a></span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1common_1_1Skeleton.html#ac2b24a4f5a8097ab3954cffc3cd95033" title="Set the bind pose skeletal transform.">SetBindShapeTransform</a>(<span class="keyword">const</span> <a class="codeRef" href="https://gazebosim.org/api/math/7/classgz_1_1math_1_1Matrix4.html">math::Matrix4d</a> &amp;_trans);</div>
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+<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1Skeleton.html#ad45f235d279178b5748fdbe5adb99b26">   93</a></span>&#160;      <span class="keyword">public</span>: <a class="codeRef" href="https://gazebosim.org/api/math/7/classgz_1_1math_1_1Matrix4.html">math::Matrix4d</a> <a class="code" href="classgz_1_1common_1_1Skeleton.html#ad45f235d279178b5748fdbe5adb99b26" title="Return bind pose skeletal transform.">BindShapeTransform</a>() <span class="keyword">const</span>;</div>
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 <div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
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+<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1SubMesh.html#a8f79e25eb5b498dc3a65a3abff009a22">  199</a></span>&#160;      <span class="keyword">public</span>: <a class="codeRef" href="https://gazebosim.org/api/math/7/classgz_1_1math_1_1Vector2.html">gz::math::Vector2d</a> <a class="code" href="classgz_1_1common_1_1SubMesh.html#a8f79e25eb5b498dc3a65a3abff009a22" title="Get a texture coordinate for a texture coordinate set.">TexCoordBySet</a>(</div>
 <div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;                  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _index,</div>
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 <div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
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+<div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1SubMesh.html#a283adb9c95db07cfda05686eeba57e42">  216</a></span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1common_1_1SubMesh.html#a283adb9c95db07cfda05686eeba57e42" title="Set a texture coordinate for a texture coordinate set.">SetTexCoordBySet</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _index,</div>
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 <div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;                               <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _setIdex);</div>
 <div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
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+<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1SubMesh.html#aa06109f31dcfff25b8cf673e8a668572">  223</a></span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">int</span> <a class="code" href="classgz_1_1common_1_1SubMesh.html#aa06109f31dcfff25b8cf673e8a668572" title="Get an index value from the index array.">Index</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _index) <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
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+<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1SubMesh.html#a2895f172f335de3a056ab19f680c55d6">  229</a></span>&#160;      <span class="keyword">public</span>: <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>* <a class="code" href="classgz_1_1common_1_1SubMesh.html#a2895f172f335de3a056ab19f680c55d6" title="Get the raw index pointer. This is unsafe, it is the caller&#39;s responsibility to ensure it&#39;s not index...">IndexPtr</a>() <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
-<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">void</span> SetIndex(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _index,</div>
+<div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1SubMesh.html#a92572ba21371878019beaae43ae7248b">  234</a></span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1common_1_1SubMesh.html#a92572ba21371878019beaae43ae7248b" title="Set an index.">SetIndex</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _index,</div>
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 <div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
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+<div class="line"><a name="l00243"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1SubMesh.html#aecbbbe7bc292e64fa0668b8ee581f9ca">  243</a></span>&#160;      <span class="keyword">public</span>: <a class="code" href="classgz_1_1common_1_1NodeAssignment.html" title="Vertex to node weighted assignment for skeleton animation visualization.">NodeAssignment</a> <a class="code" href="classgz_1_1common_1_1SubMesh.html#aecbbbe7bc292e64fa0668b8ee581f9ca" title="Get a vertex - skeleton node assignment.">NodeAssignmentByIndex</a>(</div>
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 <div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
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+<div class="line"><a name="l00248"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1SubMesh.html#ae2e42687271090a31ccc203495062bc0">  248</a></span>&#160;      <span class="keyword">public</span>: <a class="codeRef" href="https://gazebosim.org/api/math/7/classgz_1_1math_1_1Vector3.html">gz::math::Vector3d</a> <a class="code" href="classgz_1_1common_1_1SubMesh.html#ae2e42687271090a31ccc203495062bc0" title="Get the maximum X, Y, Z values from all the vertices.">Max</a>() <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
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 <div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
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 <div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
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 <div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
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 Macros</h2></td></tr>
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 <tr class="memdesc:a237a3e45192ff95acd92eabd58a8f3e7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compilers might warn about deleting a pointer to a class that has virtual functions without a virtual destructor or a <code>final</code> declaration, because the pointer might secretly be pointing to a more derived class type. We want to suppress this warning when we know for certain (via the design of our implementation) that the pointer is definitely not pointing to a more derived type.  <a href="gz_2common_2SuppressWarning_8hh.html#a237a3e45192ff95acd92eabd58a8f3e7">More...</a><br /></td></tr>
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+          <td class="memname">#define IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING&#160;&#160;&#160;  GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING</td>
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+          <td class="memname">#define IGN_COMMON_WARN_RESUME__DELETE_NON_VIRTUAL_DESTRUCTOR&#160;&#160;&#160;  GZ_UTILS_WARN_RESUME__NON_VIRTUAL_DESTRUCTOR</td>
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-          <td class="memname">#define IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING&#160;&#160;&#160;GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING</td>
+          <td class="memname">#define IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING&#160;&#160;&#160;  GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING</td>
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+<div class="line"><a name="l00314"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1URIFragment.html#aaddfb4dfb519779cea771ab27cdff9e2">  314</a></span>&#160;      <span class="keyword">public</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> <a class="code" href="classgz_1_1common_1_1URIFragment.html#aaddfb4dfb519779cea771ab27cdff9e2" title="Get the fragment as a string.">Str</a>() <span class="keyword">const</span>;</div>
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+<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1Dem.html#ab741b9fa6a95f5327a4985b524c8e707">   95</a></span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">float</span> <a class="code" href="classgz_1_1common_1_1Dem.html#ab741b9fa6a95f5327a4985b524c8e707" title="Get the terrain&#39;s minimum elevation in meters.">MinElevation</a>() <span class="keyword">const override</span>;</div>
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-<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">float</span> MaxElevation() <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1Dem.html#a5bd193e9d9219b6d329d5c35098713fe">   99</a></span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">float</span> <a class="code" href="classgz_1_1common_1_1Dem.html#a5bd193e9d9219b6d329d5c35098713fe" title="Get the terrain&#39;s maximum elevation in meters.">MaxElevation</a>() <span class="keyword">const override</span>;</div>
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-<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">bool</span> GeoReferenceOrigin(<a class="codeRef" href="https://gazebosim.org/api/math/7/classgz_1_1math_1_1Angle.html">gz::math::Angle</a> &amp;_latitude,</div>
+<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1Dem.html#a9c2722ce374de79b5840db1be7af1027">  106</a></span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">bool</span> <a class="code" href="classgz_1_1common_1_1Dem.html#a9c2722ce374de79b5840db1be7af1027" title="Get the georeferenced coordinates (lat, long) of the terrain&#39;s origin.">GeoReferenceOrigin</a>(<a class="codeRef" href="https://gazebosim.org/api/math/7/classgz_1_1math_1_1Angle.html">gz::math::Angle</a> &amp;_latitude,</div>
 <div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                  <a class="codeRef" href="https://gazebosim.org/api/math/7/classgz_1_1math_1_1Angle.html">gz::math::Angle</a> &amp;_longitude) <span class="keyword">const</span>;</div>
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-<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> Height() <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1Dem.html#aa81031e09e2645a87a05f23a185948f1">  116</a></span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classgz_1_1common_1_1Dem.html#aa81031e09e2645a87a05f23a185948f1" title="Get the terrain&#39;s height. Due to the Ogre constrains, this value will be a power of two plus one....">Height</a>() <span class="keyword">const override</span>;</div>
 <div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
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+<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1Dem.html#acf4417ca1a33616804be890cb1b072c7">  125</a></span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classgz_1_1common_1_1Dem.html#acf4417ca1a33616804be890cb1b072c7" title="Get the terrain&#39;s width. Due to the Ogre constrains, this value will be a power of two plus one....">Width</a>() <span class="keyword">const override</span>;</div>
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-<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">double</span> WorldWidth() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1Dem.html#a46cb5d6fbce35c72935338fe2ca92d01">  129</a></span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1common_1_1Dem.html#a46cb5d6fbce35c72935338fe2ca92d01" title="Get the real world width in meters.">WorldWidth</a>() <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
-<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">double</span> WorldHeight() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1Dem.html#ad686e95e4a5a4cbde4e02c26dfc73694">  133</a></span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1common_1_1Dem.html#ad686e95e4a5a4cbde4e02c26dfc73694" title="Get the real world height in meters.">WorldHeight</a>() <span class="keyword">const</span>;</div>
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-<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">void</span> FillHeightMap(<span class="keyword">const</span> <span class="keywordtype">int</span> _subSampling,</div>
-<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _vertSize,</div>
-<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                  <span class="keyword">const</span> <a class="codeRef" href="https://gazebosim.org/api/math/7/classgz_1_1math_1_1Vector3.html">gz::math::Vector3d</a> &amp;_size,</div>
-<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                  <span class="keyword">const</span> <a class="codeRef" href="https://gazebosim.org/api/math/7/classgz_1_1math_1_1Vector3.html">gz::math::Vector3d</a> &amp;_scale,</div>
-<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                  <span class="keyword">const</span> <span class="keywordtype">bool</span> _flipY,</div>
-<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;                  <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html" title="STL class.">std::vector&lt;float&gt;</a> &amp;_heights) <span class="keyword">const override</span>;</div>
-<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
-<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="keyword">private</span>: <span class="keywordtype">bool</span> GeoReference(<span class="keywordtype">double</span> _x, <span class="keywordtype">double</span> _y,</div>
-<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                                 <a class="codeRef" href="https://gazebosim.org/api/math/7/classgz_1_1math_1_1Angle.html">gz::math::Angle</a> &amp;_latitude,</div>
-<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                                 <a class="codeRef" href="https://gazebosim.org/api/math/7/classgz_1_1math_1_1Angle.html">gz::math::Angle</a> &amp;_longitude) <span class="keyword">const</span>;</div>
-<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
-<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="keyword">private</span>: <span class="keywordtype">int</span> LoadData();</div>
-<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
-<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="comment">// Documentation inherited.</span></div>
-<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="keyword">public</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> Filename() <span class="keyword">const override</span>;</div>
-<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
-<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      GZ_UTILS_IMPL_PTR(dataPtr)</div>
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-<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  }</div>
-<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;}</div>
-<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="preprocessor">#endif</span></div>
-</div><!-- fragment --></div><!-- contents -->
-      </div>
-    </main>
-  </div>
-</body>
-ass="lineno">  134</span>&#160; </div>
 <div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1Dem.html#acc7742638ca2879746bd9d1bc2a6a8f4">  145</a></span>&#160;      <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1common_1_1Dem.html#acc7742638ca2879746bd9d1bc2a6a8f4" title="Create a lookup table of the terrain&#39;s height.">FillHeightMap</a>(<span class="keyword">const</span> <span class="keywordtype">int</span> _subSampling,</div>
 <div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _vertSize,</div>
 <div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                  <span class="keyword">const</span> <a class="codeRef" href="https://gazebosim.org/api/math/7/classgz_1_1math_1_1Vector3.html">gz::math::Vector3d</a> &amp;_size,</div>
diff --git a/api/common/5/gz_2common_2geospatial_2HeightmapData_8hh.html b/api/common/5/gz_2common_2geospatial_2HeightmapData_8hh.html
index 0d8f62e8e..a2b3918fb 100644
--- a/api/common/5/gz_2common_2geospatial_2HeightmapData_8hh.html
+++ b/api/common/5/gz_2common_2geospatial_2HeightmapData_8hh.html
@@ -132,7 +132,7 @@ <h2>API Reference</h2>
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+<!-- Generated by Doxygen 1.9.1 -->
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   <ul>
 <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_277c712ff583274ab17cbf3506ea257a.html">gz-common</a></li><li class="navelem"><a class="el" href="dir_aaa85c0daa539d5e5911d7e23cc89012.html">geospatial</a></li><li class="navelem"><a class="el" href="dir_fdbd698d2e5018225aebda33cc1fd58d.html">include</a></li><li class="navelem"><a class="el" href="dir_3053131ed7dbf49eb2388996da508355.html">gz</a></li><li class="navelem"><a class="el" href="dir_172f4650a85ed594baf850b1d41e5176.html">common</a></li><li class="navelem"><a class="el" href="dir_deefbed8308e87b49e3e65a12ab88071.html">geospatial</a></li>  </ul>
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index 116f2fc39..6addeca04 100644
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+++ b/api/common/5/gz_2common_2geospatial_2HeightmapData_8hh_source.html
@@ -132,7 +132,7 @@ <h2>API Reference</h2>
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     <main class="mdl-layout__content mdl-color--white">
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@@ -173,37 +173,24 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  {</div>
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 <div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    {</div>
-<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;      <span class="keyword">public</span>: <span class="keyword">virtual</span> ~<a class="code" href="classgz_1_1common_1_1HeightmapData.html" title="Encapsulates a generic heightmap data file.">HeightmapData</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1HeightmapData.html#a2abb17aafa30e068850fbf85e270a4e7">   33</a></span>&#160;      <span class="keyword">public</span>: <span class="keyword">virtual</span> <a class="code" href="classgz_1_1common_1_1HeightmapData.html#a2abb17aafa30e068850fbf85e270a4e7" title="Destructor.">~HeightmapData</a>() = <span class="keywordflow">default</span>;</div>
 <div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
-<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;      <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">void</span> FillHeightMap(<span class="keywordtype">int</span> _subSampling,</div>
+<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1HeightmapData.html#ab4fbccbbc770bcca8cd841e14cfd11d5">   45</a></span>&#160;      <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classgz_1_1common_1_1HeightmapData.html#ab4fbccbbc770bcca8cd841e14cfd11d5" title="Create a lookup table of the terrain&#39;s height.">FillHeightMap</a>(<span class="keywordtype">int</span> _subSampling,</div>
 <div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _vertSize, <span class="keyword">const</span> <a class="codeRef" href="https://gazebosim.org/api/math/7/classgz_1_1math_1_1Vector3.html">math::Vector3d</a> &amp;_size,</div>
 <div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;          <span class="keyword">const</span> <a class="codeRef" href="https://gazebosim.org/api/math/7/classgz_1_1math_1_1Vector3.html">math::Vector3d</a> &amp;_scale, <span class="keywordtype">bool</span> _flipY,</div>
-<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;          <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html" title="STL class.">std::vector&lt;float&gt;</a> &amp;_heights) <span class="keyword">const</span> = 0;</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;          <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;float&gt;</a> &amp;_heights) <span class="keyword">const</span> = 0;</div>
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-<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> Height() <span class="keyword">const</span> = 0;</div>
+<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1HeightmapData.html#aad592b314fa03fe204d3b2bbdd097db6">   52</a></span>&#160;      <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classgz_1_1common_1_1HeightmapData.html#aad592b314fa03fe204d3b2bbdd097db6" title="Get the terrain&#39;s height.">Height</a>() <span class="keyword">const</span> = 0;</div>
 <div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
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+<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1HeightmapData.html#aeea37c491658649b3aa909fa96ce2c75">   56</a></span>&#160;      <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classgz_1_1common_1_1HeightmapData.html#aeea37c491658649b3aa909fa96ce2c75" title="Get the terrain&#39;s width.">Width</a>() <span class="keyword">const</span> = 0;</div>
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-<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">float</span> MaxElevation() <span class="keyword">const</span> = 0;</div>
+<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1HeightmapData.html#a5d0538e9e7b69ea38c4007ebfe99aff5">   60</a></span>&#160;      <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">float</span> <a class="code" href="classgz_1_1common_1_1HeightmapData.html#a5d0538e9e7b69ea38c4007ebfe99aff5" title="Get the maximum terrain&#39;s elevation.">MaxElevation</a>() <span class="keyword">const</span> = 0;</div>
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 <div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keyword">              </span>{</div>
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-<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">public</span>: <span class="keyword">virtual</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> Filename() <span class="keyword">const</span> = 0;</div>
-<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    };</div>
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+<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classgz_1_1common_1_1ImageHeightmap.html#acfa717fab82275bf9963e7519452d13d">   53</a></span>&#160;      <span class="keyword">public</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> <a class="code" href="classgz_1_1common_1_1ImageHeightmap.html#acfa717fab82275bf9963e7519452d13d" title="Get the full filename of loaded heightmap image/dem.">Filename</a>() <span class="keyword">const</span>;</div>
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-<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keywordtype">bool</span> _flipY, <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html" title="STL class.">std::vector&lt;float&gt;</a> &amp;_heights)<span class="keyword"> const</span></div>
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+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">protected</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> FullLogPath() <span class="keyword">const</span>;</div>
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+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_projectSourcePath = <a class="code" href="namespacetesting.html#a85b5b938e450e8b935f4df742db7277e" title="Constant referring to the project source dir of the current project.">kTestingProjectSourceDir</a>);</div>
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+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<a class="codeRef" href="http://en.cppreference.com/w/cpp/memory/unique_ptr.html">std::unique_ptr&lt;TestPaths&gt;</a></div>
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+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_projectSourcePath = <a class="code" href="namespacetesting.html#a85b5b938e450e8b935f4df742db7277e" title="Constant referring to the project source dir of the current project.">kTestingProjectSourceDir</a>);</div>
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+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> dataDir;</div>
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 <div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span>... Args&gt;</div>
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+<div class="line"><a name="l00193"></a><span class="lineno"><a class="line" href="namespacetesting.html#a3a1475c9d19afa633bee644136e3600c">  193</a></span>&#160;<a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> <a class="code" href="namespacetesting.html#a3a1475c9d19afa633bee644136e3600c" title="Get the path to a file in a temporary directory.">TempPath</a>(Args <span class="keyword">const</span> &amp;... args)</div>
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+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> dataDir;</div>
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 <div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;}</div>
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diff --git a/api/common/5/gz_2common_2testing_2Utils_8hh_source.html b/api/common/5/gz_2common_2testing_2Utils_8hh_source.html
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+<tr id="row_29_" 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="classgz_1_1common_1_1Material.html" target="_self">Material</a></td><td class="desc">Encapsulates description of a material </td></tr>
+<tr id="row_30_"><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="classgz_1_1common_1_1MaterialDensity.html" target="_self">MaterialDensity</a></td><td class="desc">Encapsulates density types </td></tr>
+<tr id="row_31_" 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="classgz_1_1common_1_1Mesh.html" target="_self">Mesh</a></td><td class="desc">A 3D mesh </td></tr>
+<tr id="row_32_"><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="classgz_1_1common_1_1MeshCSG.html" target="_self">MeshCSG</a></td><td class="desc">Creates CSG meshes </td></tr>
+<tr id="row_33_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_33_" class="arrow" onclick="toggleFolder('33_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1MeshExporter.html" target="_self">MeshExporter</a></td><td class="desc">Base class for exporting meshes </td></tr>
+<tr id="row_33_0_"><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="classgz_1_1common_1_1ColladaExporter.html" target="_self">ColladaExporter</a></td><td class="desc">Class used to export Collada mesh files </td></tr>
+<tr id="row_34_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_34_" class="arrow" onclick="toggleFolder('34_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1MeshLoader.html" target="_self">MeshLoader</a></td><td class="desc">Base class for loading meshes </td></tr>
+<tr id="row_34_0_"><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="classgz_1_1common_1_1AssimpLoader.html" target="_self">AssimpLoader</a></td><td class="desc">Class used to load mesh files using the assimp lodaer </td></tr>
+<tr id="row_34_1_" class="even"><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="classgz_1_1common_1_1ColladaLoader.html" target="_self">ColladaLoader</a></td><td class="desc">Class used to load Collada mesh files </td></tr>
+<tr id="row_34_2_"><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="classgz_1_1common_1_1OBJLoader.html" target="_self">OBJLoader</a></td><td class="desc">Class used to load obj mesh files </td></tr>
+<tr id="row_34_3_" class="even"><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="classgz_1_1common_1_1STLLoader.html" target="_self">STLLoader</a></td><td class="desc">Class used to load STL mesh files </td></tr>
+<tr id="row_35_"><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="classgz_1_1common_1_1MouseEvent.html" target="_self">MouseEvent</a></td><td class="desc">Generic description of a mouse event </td></tr>
+<tr id="row_36_" 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="classgz_1_1common_1_1MovingWindowFilter.html" target="_self">MovingWindowFilter&lt; T &gt;</a></td><td class="desc">Base class for <a class="el" href="classgz_1_1common_1_1MovingWindowFilter.html" title="Base class for MovingWindowFilter.">MovingWindowFilter</a> </td></tr>
+<tr id="row_37_"><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="classgz_1_1common_1_1NodeAnimation.html" target="_self">NodeAnimation</a></td><td class="desc">Node animation </td></tr>
+<tr id="row_38_" 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="classgz_1_1common_1_1NodeAssignment.html" target="_self">NodeAssignment</a></td><td class="desc">Vertex to node weighted assignment for skeleton animation visualization </td></tr>
+<tr id="row_39_"><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="classgz_1_1common_1_1NodeTransform.html" target="_self">NodeTransform</a></td><td class="desc">A transformation node </td></tr>
 <tr id="row_40_" 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="classgz_1_1common_1_1Pbr.html" target="_self">Pbr</a></td><td class="desc">This class contains Physically-Based-Rendering (PBR) workflow properties </td></tr>
 <tr id="row_41_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_41_" class="arrow" onclick="toggleFolder('41_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1Plugin.html" target="_self">Plugin</a></td><td class="desc"></td></tr>
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-<tr id="row_70_"><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="classgz_1_1common_1_1Uuid.html" target="_self">Uuid</a></td><td class="desc">A portable class for representing a Universally Unique Identifier </td></tr>
-<tr id="row_71_" 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="classgz_1_1common_1_1Video.html" target="_self">Video</a></td><td class="desc">Handle video encoding and decoding using libavcodec </td></tr>
-<tr id="row_72_"><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="classgz_1_1common_1_1VideoEncoder.html" target="_self">VideoEncoder</a></td><td class="desc">Supports encoding a series of images to a video format, and then writing the video to disk </td></tr>
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@@ -177,13 +177,13 @@ <h2><a class="anchor" id="autotoc_md4"></a>
 </div><!-- fragment --><p>Gazebo Common so far supports:</p>
 <table class="markdownTable">
 <tr class="markdownTableHead">
-<th class="markdownTableHeadNone">Encoder </th><th class="markdownTableHeadNone">Technology </th><th class="markdownTableHeadNone">Platforms </th><th class="markdownTableHeadNone">GPU vendors </th><th class="markdownTableHeadNone">Gazebo Common name  </th></tr>
+<th class="markdownTableHeadNone">Encoder   </th><th class="markdownTableHeadNone">Technology   </th><th class="markdownTableHeadNone">Platforms   </th><th class="markdownTableHeadNone">GPU vendors   </th><th class="markdownTableHeadNone">Gazebo Common name    </th></tr>
 <tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>h264_nvenc</code> </td><td class="markdownTableBodyNone"><a href="https://en.wikipedia.org/wiki/Nvidia_NVENC">NVidia NVEnc</a> </td><td class="markdownTableBodyNone">Windows + x86 Linux </td><td class="markdownTableBodyNone">NVidia GPUs </td><td class="markdownTableBodyNone">NVENC  </td></tr>
+<td class="markdownTableBodyNone"><code>h264_nvenc</code>   </td><td class="markdownTableBodyNone"><a href="https://en.wikipedia.org/wiki/Nvidia_NVENC">NVidia NVEnc</a>   </td><td class="markdownTableBodyNone">Windows + x86 Linux   </td><td class="markdownTableBodyNone">NVidia GPUs   </td><td class="markdownTableBodyNone">NVENC    </td></tr>
 <tr class="markdownTableRowEven">
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+<td class="markdownTableBodyNone"><code>h264_qsv</code>   </td><td class="markdownTableBodyNone"><a href="https://en.wikipedia.org/wiki/Intel_Quick_Sync_Video">Intel QuickSync</a>   </td><td class="markdownTableBodyNone">Windows + x86 Linux   </td><td class="markdownTableBodyNone">Intel GPUs   </td><td class="markdownTableBodyNone">QSV    </td></tr>
 <tr class="markdownTableRowOdd">
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 <p>Adding support for more is possible and should not be a big problem, but needs someone with the right hardware to verify the implementation.</p>
 <p>The acceleration libraries may also need some drivers for them to work:</p>
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 <p>Then there is the full signature:</p>
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 <h2><a class="anchor" id="autotoc_md14"></a>
 Linux/Win + Intel GPU</h2>
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-</pre><h2><a class="anchor" id="autotoc_md15"></a>
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 Linux/Win + NVidia GPU</h2>
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-</pre><h2><a class="anchor" id="autotoc_md16"></a>
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-</pre><h2><a class="anchor" id="autotoc_md17"></a>
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 Linux NVidia Multi-GPU machine</h2>
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-</pre><h1><a class="anchor" id="autotoc_md18"></a>
+</pre> <h1><a class="anchor" id="autotoc_md18"></a>
 Caveats</h1>
 <h2><a class="anchor" id="autotoc_md19"></a>
 NVEnc per-machine limit</h2>
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+, <a class="el" href="namespacegz_1_1common.html#aa3af19a931d89b6e807403c7f23a4a3da3dcfe0046eb5876e287dbf0914819b16">ROTATE</a>
+, <a class="el" href="namespacegz_1_1common.html#aa3af19a931d89b6e807403c7f23a4a3da593be05a10070b4e7e0856e20590eaaf">SCALE</a>
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 <tr class="memitem:ae78e0379b00c1529a1f0490bb3335b94"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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-<tr class="memdesc:ae78e0379b00c1529a1f0490bb3335b94"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the SHA1 hash of an array of bytes.  <a href="include_2gz_2common_2Util_8hh.html#ae78e0379b00c1529a1f0490bb3335b94">More...</a><br /></td></tr>
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 <tr class="memitem:a646592d47a81a1fb0a2bf300ac0b69fc"><td class="memItemLeft" align="right" valign="top"><a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacegz_1_1common.html#a646592d47a81a1fb0a2bf300ac0b69fc">sha1</a> (void const *_buffer, <a class="elRef" href="http://en.cppreference.com/w/cpp/types/size_t.html">std::size_t</a> _byteCount)</td></tr>
-<tr class="memdesc:a646592d47a81a1fb0a2bf300ac0b69fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the SHA1 hash of an array of bytes. Use <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> <a class="el" href="namespacegz_1_1common.html#add0aa170c7b616cc15d6666f501c950a" title="Compute the SHA1 hash of an array of bytes.">sha1(const T &amp;_buffer)</a> instead of this function.  <a href="namespacegz_1_1common.html#a646592d47a81a1fb0a2bf300ac0b69fc">More...</a><br /></td></tr>
+<tr class="memdesc:a646592d47a81a1fb0a2bf300ac0b69fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the SHA1 hash of an array of bytes. Use <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> <a class="el" href="namespacegz_1_1common.html#add0aa170c7b616cc15d6666f501c950a" title="Compute the SHA1 hash of an array of bytes.">sha1(const T &amp;_buffer)</a> instead of this function.  <a href="namespacegz_1_1common.html#a646592d47a81a1fb0a2bf300ac0b69fc">More...</a><br /></td></tr>
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 <tr class="memitem:a45609db0b3e4e84a005eb13075030ef5"><td class="memItemLeft" align="right" valign="top"><a class="elRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector</a>&lt; <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacegz_1_1common.html#a45609db0b3e4e84a005eb13075030ef5">split</a> (const <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_str, const <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_delim)</td></tr>
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@@ -668,6 +667,21 @@ <h2 class="memtitle"><span class="permalink"><a href="#ae78e0379b00c1529a1f0490b
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+</div>
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+          <td class="paramtype">const T &amp;&#160;</td>
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 <p>Compute the SHA1 hash of an array of bytes. </p>
 <dl class="params"><dt>Parameters</dt><dd>
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diff --git a/api/common/5/index.html b/api/common/5/index.html
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-<div class="textblock"><p>Gazebo Common is a component in Gazebo, a set of libraries designed to rapidly develop robot and simulation applications.</p>
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 <h1><a class="anchor" id="autotoc_md1"></a>
 License</h1>
 <p>The code associated with this documentation is licensed under an <a href="https://www.apache.org/licenses/LICENSE-2.0">Apache 2.0 License</a>.</p>
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 macOS</h3>
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-<li><p class="startli">Clone the repository </p><div class="fragment"><div class="line">git clone https://github.com/gazebosim/gz-common -b gz-common&lt;#&gt;</div>
-</div><!-- fragment --><p class="startli">Be sure to replace <code>&lt;#&gt;</code> with a number value, such as 3 or 4, depending on which version you need. From version 5 use <code>gz-common&lt;#&gt;</code> for lower versions use <code>ign-common&lt;#&gt;</code>.</p>
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-</div><!-- fragment --><p class="startli">Be sure to replace <code>&lt;#&gt;</code> with a number value, such as 3 or 4, depending on which version you need.</p>
-</li>
+<li>Clone the repository <div class="fragment"><div class="line">git clone https://github.com/gazebosim/gz-common -b gz-common&lt;#&gt;</div>
+</div><!-- fragment --> Be sure to replace <code>&lt;#&gt;</code> with a number value, such as 3 or 4, depending on which version you need. From version 5 use <code>gz-common&lt;#&gt;</code> for lower versions use <code>ign-common&lt;#&gt;</code>.</li>
+<li>Install dependencies <div class="fragment"><div class="line">brew install --only-dependencies gz-common&lt;#&gt;</div>
+</div><!-- fragment --> Be sure to replace <code>&lt;#&gt;</code> with a number value, such as 3 or 4, depending on which version you need.</li>
 <li>Configure and build <div class="fragment"><div class="line">cd gz-common</div>
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@@ -435,26 +435,26 @@ <h2>API Reference</h2>
 </table><table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="enum-members"></a>
 Enumerations</h2></td></tr>
-<tr class="memitem:a218e06376463f78726114f003071fef0"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacegz_1_1common.html#a218e06376463f78726114f003071fef0">FilesystemWarningOp</a> { <a class="el" href="namespacegz_1_1common.html#a218e06376463f78726114f003071fef0abaf00f20f89e7d7ac71c1ce4d278c0c0">FSWO_LOG_WARNINGS</a> = 0, 
-<a class="el" href="namespacegz_1_1common.html#a218e06376463f78726114f003071fef0a9953c9dbc46e6743409dc25de2f5e125">FSWO_SUPPRESS_WARNINGS</a>
+<tr class="memitem:a218e06376463f78726114f003071fef0"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacegz_1_1common.html#a218e06376463f78726114f003071fef0">FilesystemWarningOp</a> { <a class="el" href="namespacegz_1_1common.html#a218e06376463f78726114f003071fef0abaf00f20f89e7d7ac71c1ce4d278c0c0">FSWO_LOG_WARNINGS</a> = 0
+, <a class="el" href="namespacegz_1_1common.html#a218e06376463f78726114f003071fef0a9953c9dbc46e6743409dc25de2f5e125">FSWO_SUPPRESS_WARNINGS</a>
  }</td></tr>
 <tr class="memdesc:a218e06376463f78726114f003071fef0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Options for how to handle errors that occur in functions that manipulate the filesystem.  <a href="namespacegz_1_1common.html#a218e06376463f78726114f003071fef0">More...</a><br /></td></tr>
 <tr class="separator:a218e06376463f78726114f003071fef0"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:aa3af19a931d89b6e807403c7f23a4a3d"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacegz_1_1common.html#aa3af19a931d89b6e807403c7f23a4a3d">NodeTransformType</a> { <a class="el" href="namespacegz_1_1common.html#aa3af19a931d89b6e807403c7f23a4a3dabc6501410409b0638909b580970b35f7">TRANSLATE</a>, 
-<a class="el" href="namespacegz_1_1common.html#aa3af19a931d89b6e807403c7f23a4a3da3dcfe0046eb5876e287dbf0914819b16">ROTATE</a>, 
-<a class="el" href="namespacegz_1_1common.html#aa3af19a931d89b6e807403c7f23a4a3da593be05a10070b4e7e0856e20590eaaf">SCALE</a>, 
-<a class="el" href="namespacegz_1_1common.html#aa3af19a931d89b6e807403c7f23a4a3da1d20a1221a789adf82ff0e890a403210">MATRIX</a>
+<tr class="memitem:aa3af19a931d89b6e807403c7f23a4a3d"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacegz_1_1common.html#aa3af19a931d89b6e807403c7f23a4a3d">NodeTransformType</a> { <a class="el" href="namespacegz_1_1common.html#aa3af19a931d89b6e807403c7f23a4a3dabc6501410409b0638909b580970b35f7">TRANSLATE</a>
+, <a class="el" href="namespacegz_1_1common.html#aa3af19a931d89b6e807403c7f23a4a3da3dcfe0046eb5876e287dbf0914819b16">ROTATE</a>
+, <a class="el" href="namespacegz_1_1common.html#aa3af19a931d89b6e807403c7f23a4a3da593be05a10070b4e7e0856e20590eaaf">SCALE</a>
+, <a class="el" href="namespacegz_1_1common.html#aa3af19a931d89b6e807403c7f23a4a3da1d20a1221a789adf82ff0e890a403210">MATRIX</a>
  }</td></tr>
 <tr class="memdesc:aa3af19a931d89b6e807403c7f23a4a3d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enumeration of the transform types.  <a href="namespacegz_1_1common.html#aa3af19a931d89b6e807403c7f23a4a3d">More...</a><br /></td></tr>
 <tr class="separator:aa3af19a931d89b6e807403c7f23a4a3d"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a8ca34bd57b22e84a2763da2b992d0bb0"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacegz_1_1common.html#a8ca34bd57b22e84a2763da2b992d0bb0">NormalMapSpace</a> : int { <a class="el" href="namespacegz_1_1common.html#a8ca34bd57b22e84a2763da2b992d0bb0a4da56c3c2d4ee59a3461da5b2ad1a25d">TANGENT</a> = 0, 
-<a class="el" href="namespacegz_1_1common.html#a8ca34bd57b22e84a2763da2b992d0bb0a8eee8e217391199668cbac89472ace53">OBJECT</a> = 1
+<tr class="memitem:a8ca34bd57b22e84a2763da2b992d0bb0"><td class="memItemLeft" align="right" valign="top">enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacegz_1_1common.html#a8ca34bd57b22e84a2763da2b992d0bb0">NormalMapSpace</a> : int { <a class="el" href="namespacegz_1_1common.html#a8ca34bd57b22e84a2763da2b992d0bb0a4da56c3c2d4ee59a3461da5b2ad1a25d">TANGENT</a> = 0
+, <a class="el" href="namespacegz_1_1common.html#a8ca34bd57b22e84a2763da2b992d0bb0a8eee8e217391199668cbac89472ace53">OBJECT</a> = 1
  }</td></tr>
 <tr class="memdesc:a8ca34bd57b22e84a2763da2b992d0bb0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Space the normal map is defined in.  <a href="namespacegz_1_1common.html#a8ca34bd57b22e84a2763da2b992d0bb0">More...</a><br /></td></tr>
 <tr class="separator:a8ca34bd57b22e84a2763da2b992d0bb0"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a18ae24a143a8cca4587c3b3928d6079f"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacegz_1_1common.html#a18ae24a143a8cca4587c3b3928d6079f">PbrType</a> : int { <a class="el" href="namespacegz_1_1common.html#a18ae24a143a8cca4587c3b3928d6079fab50339a10e1de285ac99d4c3990b8693">NONE</a> = 0, 
-<a class="el" href="namespacegz_1_1common.html#a18ae24a143a8cca4587c3b3928d6079fa74108a89672c573afee1fae6de8e4e0b">METAL</a> = 1, 
-<a class="el" href="namespacegz_1_1common.html#a18ae24a143a8cca4587c3b3928d6079fa0df54c320628149300093da5e2ff693d">SPECULAR</a> = 2
+<tr class="memitem:a18ae24a143a8cca4587c3b3928d6079f"><td class="memItemLeft" align="right" valign="top">enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacegz_1_1common.html#a18ae24a143a8cca4587c3b3928d6079f">PbrType</a> : int { <a class="el" href="namespacegz_1_1common.html#a18ae24a143a8cca4587c3b3928d6079fab50339a10e1de285ac99d4c3990b8693">NONE</a> = 0
+, <a class="el" href="namespacegz_1_1common.html#a18ae24a143a8cca4587c3b3928d6079fa74108a89672c573afee1fae6de8e4e0b">METAL</a> = 1
+, <a class="el" href="namespacegz_1_1common.html#a18ae24a143a8cca4587c3b3928d6079fa0df54c320628149300093da5e2ff693d">SPECULAR</a> = 2
  }</td></tr>
 <tr class="memdesc:a18ae24a143a8cca4587c3b3928d6079f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Type of PBR workflow.  <a href="namespacegz_1_1common.html#a18ae24a143a8cca4587c3b3928d6079f">More...</a><br /></td></tr>
 <tr class="separator:a18ae24a143a8cca4587c3b3928d6079f"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -632,9 +632,9 @@ <h2>API Reference</h2>
 <tr class="memitem:a7d192ee4007472b4aaee63ed085a8d40"><td class="memItemLeft" align="right" valign="top"><a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacegz_1_1common.html#a7d192ee4007472b4aaee63ed085a8d40">rtrimmed</a> (<a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> _s)</td></tr>
 <tr class="memdesc:a7d192ee4007472b4aaee63ed085a8d40"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copying right trim.  <a href="namespacegz_1_1common.html#a7d192ee4007472b4aaee63ed085a8d40">More...</a><br /></td></tr>
 <tr class="separator:a7d192ee4007472b4aaee63ed085a8d40"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:abd90ef95867725a3df2a5a0e14270f5e"><td class="memItemLeft" align="right" valign="top">const <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacegz_1_1common.html#abd90ef95867725a3df2a5a0e14270f5e">separator</a> (<a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> const &amp;_s)</td></tr>
-<tr class="memdesc:abd90ef95867725a3df2a5a0e14270f5e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Append the preferred path separator character for this platform onto the passed-in string.  <a href="namespacegz_1_1common.html#abd90ef95867725a3df2a5a0e14270f5e">More...</a><br /></td></tr>
-<tr class="separator:abd90ef95867725a3df2a5a0e14270f5e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7fb0a775ff1f51183af74db652b06faa"><td class="memItemLeft" align="right" valign="top"><a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacegz_1_1common.html#a7fb0a775ff1f51183af74db652b06faa">separator</a> (<a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> const &amp;_s)</td></tr>
+<tr class="memdesc:a7fb0a775ff1f51183af74db652b06faa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Append the preferred path separator character for this platform onto the passed-in string.  <a href="namespacegz_1_1common.html#a7fb0a775ff1f51183af74db652b06faa">More...</a><br /></td></tr>
+<tr class="separator:a7fb0a775ff1f51183af74db652b06faa"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a458dacda9f1f3741afa203f03998ce13"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacegz_1_1common.html#a458dacda9f1f3741afa203f03998ce13">setenv</a> (const <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_name, const <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_value)</td></tr>
 <tr class="memdesc:a458dacda9f1f3741afa203f03998ce13"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the environment variable '_name'.  <a href="namespacegz_1_1common.html#a458dacda9f1f3741afa203f03998ce13">More...</a><br /></td></tr>
 <tr class="separator:a458dacda9f1f3741afa203f03998ce13"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -643,7 +643,7 @@ <h2>API Reference</h2>
 <tr class="memdesc:add0aa170c7b616cc15d6666f501c950a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the SHA1 hash of an array of bytes.  <a href="namespacegz_1_1common.html#add0aa170c7b616cc15d6666f501c950a">More...</a><br /></td></tr>
 <tr class="separator:add0aa170c7b616cc15d6666f501c950a"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a646592d47a81a1fb0a2bf300ac0b69fc"><td class="memItemLeft" align="right" valign="top"><a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacegz_1_1common.html#a646592d47a81a1fb0a2bf300ac0b69fc">sha1</a> (void const *_buffer, <a class="elRef" href="http://en.cppreference.com/w/cpp/types/size_t.html">std::size_t</a> _byteCount)</td></tr>
-<tr class="memdesc:a646592d47a81a1fb0a2bf300ac0b69fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the SHA1 hash of an array of bytes. Use <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> <a class="el" href="namespacegz_1_1common.html#add0aa170c7b616cc15d6666f501c950a" title="Compute the SHA1 hash of an array of bytes.">sha1(const T &amp;_buffer)</a> instead of this function.  <a href="namespacegz_1_1common.html#a646592d47a81a1fb0a2bf300ac0b69fc">More...</a><br /></td></tr>
+<tr class="memdesc:a646592d47a81a1fb0a2bf300ac0b69fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the SHA1 hash of an array of bytes. Use <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> <a class="el" href="namespacegz_1_1common.html#add0aa170c7b616cc15d6666f501c950a" title="Compute the SHA1 hash of an array of bytes.">sha1(const T &amp;_buffer)</a> instead of this function.  <a href="namespacegz_1_1common.html#a646592d47a81a1fb0a2bf300ac0b69fc">More...</a><br /></td></tr>
 <tr class="separator:a646592d47a81a1fb0a2bf300ac0b69fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:adf956d5a856fcb82dc4fca9d589a30da"><td class="memItemLeft" align="right" valign="top"><a class="elRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector</a>&lt; <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacegz_1_1common.html#adf956d5a856fcb82dc4fca9d589a30da">Split</a> (const <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_orig, char _delim)</td></tr>
 <tr class="memdesc:adf956d5a856fcb82dc4fca9d589a30da"><td class="mdescLeft">&#160;</td><td class="mdescRight">split at a one character delimiter to get a vector of something  <a href="namespacegz_1_1common.html#adf956d5a856fcb82dc4fca9d589a30da">More...</a><br /></td></tr>
@@ -2796,7 +2796,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a7867fc89e4b9095ad460b643
   </dd>
 </dl>
 <dl class="section return"><dt>Returns</dt><dd>The new string that has had _key replaced with _replacement. </dd></dl>
-<dl class="section see"><dt>See also</dt><dd>void <a class="el" href="namespacegz_1_1common.html#aa610e5621cfad5e16e545abaf4cbc7ea" title="Replace all occurances of _key with _replacement.">common::replaceAll</a>(<a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> &amp;_result, const <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> &amp;_orig, const <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> &amp;_key, const <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> &amp;_replacement) </dd></dl>
+<dl class="section see"><dt>See also</dt><dd>void <a class="el" href="namespacegz_1_1common.html#aa610e5621cfad5e16e545abaf4cbc7ea" title="Replace all occurances of _key with _replacement.">common::replaceAll</a>(<a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_result, const <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_orig, const <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_key, const <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_replacement) </dd></dl>
 
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@@ -2848,7 +2848,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aa610e5621cfad5e16e545aba
   </table>
   </dd>
 </dl>
-<dl class="section see"><dt>See also</dt><dd><a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> <a class="el" href="namespacegz_1_1common.html#aa610e5621cfad5e16e545abaf4cbc7ea" title="Replace all occurances of _key with _replacement.">replaceAll</a>(const <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> &amp;_orig, const <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> &amp;_key, const <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> &amp;_replacement) </dd></dl>
+<dl class="section see"><dt>See also</dt><dd><a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> <a class="el" href="namespacegz_1_1common.html#aa610e5621cfad5e16e545abaf4cbc7ea" title="Replace all occurances of _key with _replacement.">replaceAll</a>(const <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_orig, const <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_key, const <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_replacement) </dd></dl>
 
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 </div>
 </div>
-<a id="abd90ef95867725a3df2a5a0e14270f5e"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#abd90ef95867725a3df2a5a0e14270f5e">&#9670;&nbsp;</a></span>separator()</h2>
+<a id="a7fb0a775ff1f51183af74db652b06faa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7fb0a775ff1f51183af74db652b06faa">&#9670;&nbsp;</a></span>separator()</h2>
 
 <div class="memitem">
 <div class="memproto">
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-          <td class="memname">const <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> gz::common::separator </td>
+          <td class="memname"><a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> const gz::common::separator </td>
           <td>(</td>
           <td class="paramtype"><a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> const &amp;&#160;</td>
           <td class="paramname"><em>_s</em></td><td>)</td>
@@ -2990,7 +2990,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#add0aa170c7b616cc15d6666f
 <p>Compute the SHA1 hash of an array of bytes. </p>
 <dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">_buffer</td><td>Input sequence. The permitted data types for this function are <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> and any STL container. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">_buffer</td><td>Input sequence. The permitted data types for this function are <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> and any STL container. </td></tr>
   </table>
   </dd>
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-<p>Compute the SHA1 hash of an array of bytes. Use <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> <a class="el" href="namespacegz_1_1common.html#add0aa170c7b616cc15d6666f501c950a" title="Compute the SHA1 hash of an array of bytes.">sha1(const T &amp;_buffer)</a> instead of this function. </p>
+<p>Compute the SHA1 hash of an array of bytes. Use <a class="elRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> <a class="el" href="namespacegz_1_1common.html#add0aa170c7b616cc15d6666f501c950a" title="Compute the SHA1 hash of an array of bytes.">sha1(const T &amp;_buffer)</a> instead of this function. </p>
 <dl class="params"><dt>Parameters</dt><dd>
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+    </main>
+  </div>
+</body>
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-      </div>
-    </main>
-  </div>
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+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span><span onclick="javascript:toggleLevel(4);">4</span>]</div><table class="directory">
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+<tr id="row_1_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_1_" class="arrow" onclick="toggleFolder('1_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacegz.html" target="_self">gz</a></td><td class="desc">Forward declarations for the common classes </td></tr>
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+<tr id="row_1_0_1_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1AssimpLoader.html" target="_self">AssimpLoader</a></td><td class="desc">Class used to load mesh files using the assimp lodaer </td></tr>
+<tr id="row_1_0_2_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1AudioDecoder.html" target="_self">AudioDecoder</a></td><td class="desc">An audio decoder based on FFMPEG </td></tr>
+<tr id="row_1_0_3_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1Base64.html" target="_self">Base64</a></td><td class="desc"></td></tr>
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+<tr id="row_1_0_5_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1BVHLoader.html" target="_self">BVHLoader</a></td><td class="desc">Handles loading BVH animation files </td></tr>
+<tr id="row_1_0_6_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1ColladaExporter.html" target="_self">ColladaExporter</a></td><td class="desc">Class used to export Collada mesh files </td></tr>
+<tr id="row_1_0_7_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgz_1_1common_1_1ColladaLight.html" target="_self">ColladaLight</a></td><td class="desc">This struct contains light data specifically for collada export Defaults set based on collada 1.4 specifications </td></tr>
+<tr id="row_1_0_8_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1ColladaLoader.html" target="_self">ColladaLoader</a></td><td class="desc">Class used to load Collada mesh files </td></tr>
+<tr id="row_1_0_9_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1Connection.html" target="_self">Connection</a></td><td class="desc">A class that encapsulates a connection </td></tr>
+<tr id="row_1_0_10_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1Console.html" target="_self">Console</a></td><td class="desc">Container for loggers, and global logging options (such as verbose vs. quiet output) </td></tr>
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+<tr id="row_1_0_12_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1CSVIStreamIterator.html" target="_self">CSVIStreamIterator</a></td><td class="desc">A single-pass row iterator on an input stream of CSV data </td></tr>
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+<tr id="row_1_0_15_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1Dem.html" target="_self">Dem</a></td><td class="desc"></td></tr>
+<tr id="row_1_0_16_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1DirIter.html" target="_self">DirIter</a></td><td class="desc">A class for iterating over all items in a directory </td></tr>
+<tr id="row_1_0_17_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1Event.html" target="_self">Event</a></td><td class="desc">Base class for all events </td></tr>
+<tr id="row_1_0_18_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1EventT.html" target="_self">EventT</a></td><td class="desc">A class for event processing </td></tr>
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+<tr id="row_1_0_19_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1FileLogger_1_1Buffer.html" target="_self">Buffer</a></td><td class="desc">String buffer for the file logger </td></tr>
+<tr id="row_1_0_20_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1FlagSet.html" target="_self">FlagSet</a></td><td class="desc">Set of flags defined by a C++11 enum class </td></tr>
+<tr id="row_1_0_21_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1GTSMeshUtils.html" target="_self">GTSMeshUtils</a></td><td class="desc">Creates GTS utilities for meshes </td></tr>
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+<tr id="row_1_0_23_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1HWEncoder.html" target="_self">HWEncoder</a></td><td class="desc">Representation of a GPU video encoder and its configuration </td></tr>
+<tr id="row_1_0_24_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1Image.html" target="_self">Image</a></td><td class="desc">Encapsulates an image </td></tr>
+<tr id="row_1_0_25_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1common_1_1ImageHeightmap.html" target="_self">ImageHeightmap</a></td><td class="desc">Encapsulates an image that will be interpreted as a heightmap </td></tr>
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index ed064243d..3e100df26 100644
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-<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keyword">public</span>: S <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGrid.html#acbf19e05ae1fc5308b2425bdc63fdab2" title="Creates a session. Call this before querying the interface.">CreateSession</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1TimeVaryingVolumetricGrid.html#acbf19e05ae1fc5308b2425bdc63fdab2">   39</a></span>&#160;  <span class="keyword">public</span>: S <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGrid.html#acbf19e05ae1fc5308b2425bdc63fdab2" title="Creates a session. Call this before querying the interface.">CreateSession</a>() <span class="keyword">const</span>;</div>
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+<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1TimeVaryingVolumetricGrid.html#ab7dd3bfefa657c23d851589d50962783">   44</a></span>&#160;  <span class="keyword">public</span>: S <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGrid.html#ab7dd3bfefa657c23d851589d50962783" title="Creates a session at a given time. Call this before querying the interface.">CreateSession</a>(<span class="keyword">const</span> T &amp;_time) <span class="keyword">const</span>;</div>
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+<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1TimeVaryingVolumetricGrid.html#a3e0c1f8982764931dfd1398ff56ddc5f">   47</a></span>&#160;  <span class="keyword">public</span>: <span class="keywordtype">bool</span> <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGrid.html#a3e0c1f8982764931dfd1398ff56ddc5f" title="Returns true if a session is valid. False if invalid,.">IsValid</a>(<span class="keyword">const</span> S &amp;_session) <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
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+<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1TimeVaryingVolumetricGrid.html#a97075b24ab83fb3d7c71f000eb1eef4a">   54</a></span>&#160;  <span class="keyword">public</span>: std::optional&lt;S&gt; <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGrid.html#a97075b24ab83fb3d7c71f000eb1eef4a" title="Steps the session to a fixed time step.">StepTo</a>(<span class="keyword">const</span> S &amp;_session, <span class="keyword">const</span> T &amp;_time) <span class="keyword">const</span>;</div>
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+<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1TimeVaryingVolumetricGrid.html#aa4fe4b5d58ce943c554a1cc40ab0bb8f">   59</a></span>&#160;  <span class="keyword">public</span>: std::optional&lt;V&gt; <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGrid.html#aa4fe4b5d58ce943c554a1cc40ab0bb8f" title="Looks up a value at a given point in time.">LookUp</a>(<span class="keyword">const</span> S &amp;_session, <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3&lt;P&gt;</a> &amp;_pos)</div>
 <div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">const</span>;</div>
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-<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keyword">public</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/utility/pair.html">std::pair&lt;Vector3&lt;V&gt;</a>, <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3&lt;V&gt;</a>&gt; <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGrid.html#ab2f47cf22320a707a879254face1cccd" title="Get the spatial bounds of this grid field at given time.">Bounds</a>(<span class="keyword">const</span> S &amp;_session) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1TimeVaryingVolumetricGrid.html#ab2f47cf22320a707a879254face1cccd">   64</a></span>&#160;  <span class="keyword">public</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/utility/pair.html">std::pair&lt;Vector3&lt;V&gt;</a>, <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3&lt;V&gt;</a>&gt; <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGrid.html#ab2f47cf22320a707a879254face1cccd" title="Get the spatial bounds of this grid field at given time.">Bounds</a>(<span class="keyword">const</span> S &amp;_session) <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;};</div>
 <div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
 <div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> V, <span class="keyword">typename</span> P&gt;</div>
@@ -245,8 +245,8 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;};</div>
 <div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
 <div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> V = T, <span class="keyword">typename</span> P = T&gt;</div>
-<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="keyword">using</span> <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGrid_3_01T_00_01V_00_01InMemorySession_3_01T_00_01P_01_4_00_01P_01_4.html" title="Specialization of TimeVaryingVolumetricGrid which loads the whole of the dataset into memory....">InMemoryTimeVaryingVolumetricGrid</a> =</div>
-<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a193536b85ff1e40292b5f94cbd22d80e">  140</a></span>&#160;  <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGrid.html" title="A grid with interpolation where time can be varied. This class has no implementation to allow for dif...">TimeVaryingVolumetricGrid&lt;T, V, InMemorySession&lt;T, P&gt;</a>, P&gt;;</div>
+<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a193536b85ff1e40292b5f94cbd22d80e">  139</a></span>&#160;<span class="keyword">using</span> <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGrid_3_01T_00_01V_00_01InMemorySession_3_01T_00_01P_01_4_00_01P_01_4.html" title="Specialization of TimeVaryingVolumetricGrid which loads the whole of the dataset into memory....">InMemoryTimeVaryingVolumetricGrid</a> =</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGrid.html" title="A grid with interpolation where time can be varied. This class has no implementation to allow for dif...">TimeVaryingVolumetricGrid&lt;T, V, InMemorySession&lt;T, P&gt;</a>, P&gt;;</div>
 <div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
 <div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> V, <span class="keyword">typename</span> P = <span class="keywordtype">double</span>&gt;</div>
 <div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1InMemoryTimeVaryingVolumetricGridFactory.html">  144</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgz_1_1math_1_1InMemoryTimeVaryingVolumetricGridFactory.html" title="Factory class for constructing an InMemoryTimeVaryingVolumetricGrid.">InMemoryTimeVaryingVolumetricGridFactory</a></div>
@@ -262,8 +262,8 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGrid_3_01T_00_01V_00_01InMemorySession_3_01T_00_01P_01_4_00_01P_01_4.html" title="Specialization of TimeVaryingVolumetricGrid which loads the whole of the dataset into memory....">InMemoryTimeVaryingVolumetricGrid&lt;T, V, P&gt;</a> grid;</div>
 <div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;[time, pts] : _points)</div>
 <div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    {</div>
-<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html" title="STL class.">std::vector&lt;Vector3d&gt;</a> cloud;</div>
-<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html" title="STL class.">std::vector&lt;std::size_t&gt;</a> indices;</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;Vector3d&gt;</a> cloud;</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;std::size_t&gt;</a> indices;</div>
 <div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;[pt, val] : pts)</div>
 <div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      {</div>
 <div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        grid.values.<a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector/push_back.html">push_back</a>(val);</div>
@@ -276,10 +276,10 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keywordflow">return</span> grid;</div>
 <div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  }</div>
 <div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
-<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="keyword">private</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html" title="STL class.">std::map&lt;T, std::vector&lt;std::pair&lt;Vector3d, V&gt;</a>&gt;&gt; _points;</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="keyword">private</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html">std::map&lt;T, std::vector&lt;std::pair&lt;Vector3d, V&gt;</a>&gt;&gt; _points;</div>
 <div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;};</div>
 <div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
-<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<span class="preprocessor">#endif  // GZ_MATH_TIME_VARYING_VOLUMETRIC_GRID_HH_</span></div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_TIME_VARYING_VOLUMETRIC_GRID_HH_</span></div>
 </div><!-- fragment --></div><!-- contents -->
       </div>
     </main>
diff --git a/api/math/7/classgz_1_1math_1_1BiQuad.html b/api/math/7/classgz_1_1math_1_1BiQuad.html
index 9f3fdb080..8bcc9510a 100644
--- a/api/math/7/classgz_1_1math_1_1BiQuad.html
+++ b/api/math/7/classgz_1_1math_1_1BiQuad.html
@@ -715,3 +715,69 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab047d20aae61dfea7045970f
     </main>
   </div>
 </body>
+s="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1BiQuad.html#a09367ba545658a6b27c342825e5aab5b">BiQuad&lt; T &gt;::Process()</a>, and <a class="el" href="classgz_1_1math_1_1BiQuad.html#aa446819ccc4425ab796e2542259af115">BiQuad&lt; T &gt;::Set()</a>.</p>
+
+</div>
+</div>
+<a id="afaf03ab4fbc9c2ba5b88be7d158734a4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afaf03ab4fbc9c2ba5b88be7d158734a4">&#9670;&nbsp;</a></span>y1</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">T y1 {}</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1BiQuad.html#a09367ba545658a6b27c342825e5aab5b">BiQuad&lt; T &gt;::Process()</a>, and <a class="el" href="classgz_1_1math_1_1BiQuad.html#aa446819ccc4425ab796e2542259af115">BiQuad&lt; T &gt;::Set()</a>.</p>
+
+</div>
+</div>
+<a id="ab047d20aae61dfea7045970f520c0dac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab047d20aae61dfea7045970f520c0dac">&#9670;&nbsp;</a></span>y2</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">T y2 {}</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1BiQuad.html#a09367ba545658a6b27c342825e5aab5b">BiQuad&lt; T &gt;::Process()</a>, and <a class="el" href="classgz_1_1math_1_1BiQuad.html#aa446819ccc4425ab796e2542259af115">BiQuad&lt; T &gt;::Set()</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li><a class="el" href="gz_2math_2Filter_8hh_source.html">gz/math/Filter.hh</a></li>
+</ul>
+</div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/classgz_1_1math_1_1BiQuadVector3-members.html b/api/math/7/classgz_1_1math_1_1BiQuadVector3-members.html
index cf5b27c67..96fc7d6a7 100644
--- a/api/math/7/classgz_1_1math_1_1BiQuadVector3-members.html
+++ b/api/math/7/classgz_1_1math_1_1BiQuadVector3-members.html
@@ -172,3 +172,9 @@ <h2>API Reference</h2>
     </main>
   </div>
 </body>
+1d7f77a7c50bae1262f9c3bf9">~Filter</a>()</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Filter.html">Filter&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/classgz_1_1math_1_1BiQuadVector3.html b/api/math/7/classgz_1_1math_1_1BiQuadVector3.html
index a1057542d..45e13fde5 100644
--- a/api/math/7/classgz_1_1math_1_1BiQuadVector3.html
+++ b/api/math/7/classgz_1_1math_1_1BiQuadVector3.html
@@ -304,3 +304,21 @@ <h2 class="memtitle"><span class="permalink"><a href="#a8d183ad4351da4494a3916e9
     </main>
   </div>
 </body>
+toff frequency. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">_fs</td><td>Sample rate. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p class="reference">References <a class="el" href="classgz_1_1math_1_1BiQuad.html#aa446819ccc4425ab796e2542259af115">BiQuad&lt; math::Vector3d &gt;::Set()</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li><a class="el" href="gz_2math_2Filter_8hh_source.html">gz/math/Filter.hh</a></li>
+</ul>
+</div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/classgz_1_1math_1_1DiffDriveOdometry.html b/api/math/7/classgz_1_1math_1_1DiffDriveOdometry.html
index 12e5c6bef..ed28f776a 100644
--- a/api/math/7/classgz_1_1math_1_1DiffDriveOdometry.html
+++ b/api/math/7/classgz_1_1math_1_1DiffDriveOdometry.html
@@ -519,3 +519,4 @@ <h2 class="memtitle"><span class="permalink"><a href="#afb9c4a8ae65a55bdfc8253ba
     </main>
   </div>
 </body>
+
diff --git a/api/math/7/classgz_1_1math_1_1Filter.html b/api/math/7/classgz_1_1math_1_1Filter.html
index e3e2ef3ab..464c61b0d 100644
--- a/api/math/7/classgz_1_1math_1_1Filter.html
+++ b/api/math/7/classgz_1_1math_1_1Filter.html
@@ -354,3 +354,15 @@ <h2 class="memtitle"><span class="permalink"><a href="#a8c46b09412b05975f6eee5cc
     </main>
   </div>
 </body>
+278084f8e5ef4e2f4f31">Filter&lt; T &gt;::Set()</a>, <a class="el" href="classgz_1_1math_1_1BiQuad.html#aa446819ccc4425ab796e2542259af115">BiQuad&lt; T &gt;::Set()</a>, and <a class="el" href="classgz_1_1math_1_1Filter.html#a4ed52331011471e9cd8537f5681ff00b">Filter&lt; T &gt;::Value()</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li><a class="el" href="gz_2math_2Filter_8hh_source.html">gz/math/Filter.hh</a></li>
+</ul>
+</div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/classgz_1_1math_1_1GaussMarkovProcess.html b/api/math/7/classgz_1_1math_1_1GaussMarkovProcess.html
index 137344a85..3d77f7481 100644
--- a/api/math/7/classgz_1_1math_1_1GaussMarkovProcess.html
+++ b/api/math/7/classgz_1_1math_1_1GaussMarkovProcess.html
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-          <td class="memname"><a class="el" href="classgz_1_1math_1_1GaussMarkovProcess.html">GaussMarkovProcess</a> </td>
+          <td class="memname"<a class="el" href="classgz_1_1math_1_1GaussMarkovProcess.html">GaussMarkovProcess</a> </td>
           <td>(</td>
           <td class="paramname"></td><td>)</td>
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@@ -534,3 +534,4 @@ <h2 class="memtitle"><span class="permalink"><a href="#a8554e97d98d05016f16300ce
     </main>
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+
diff --git a/api/math/7/classgz_1_1math_1_1Inertial.html b/api/math/7/classgz_1_1math_1_1Inertial.html
index fa383d16d..783b6dedc 100644
--- a/api/math/7/classgz_1_1math_1_1Inertial.html
+++ b/api/math/7/classgz_1_1math_1_1Inertial.html
@@ -214,7 +214,7 @@ <h2>API Reference</h2>
 <tr class="memitem:a96ad282d4900ea3069a9f3a94d77c704"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgz_1_1math_1_1Inertial.html#a96ad282d4900ea3069a9f3a94d77c704">SetMassMatrix</a> (const <a class="el" href="classgz_1_1math_1_1MassMatrix3.html">MassMatrix3</a>&lt; T &gt; &amp;_m, const T _tolerance=<a class="el" href="gz_2math_2Helpers_8hh.html#a30f309b27fc7253e0785fc7b774878e3">GZ_MASSMATRIX3_DEFAULT_TOLERANCE</a>&lt; T &gt;)</td></tr>
 <tr class="memdesc:a96ad282d4900ea3069a9f3a94d77c704"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the mass and inertia matrix.  <a href="classgz_1_1math_1_1Inertial.html#a96ad282d4900ea3069a9f3a94d77c704">More...</a><br /></td></tr>
 <tr class="separator:a96ad282d4900ea3069a9f3a94d77c704"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a19ae8b63c925f91ee2bb9a40a0a54a53"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgz_1_1math_1_1Inertial.html#a19ae8b63c925f91ee2bb9a40a0a54a53">SetMassMatrixRotation</a> (const <a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a>&lt; T &gt; &amp;_q, const T _tol=1e-6)</td></tr>
+<tr class="memitem:a19ae8b63c925f91ee2bb9a40a0a54a53"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgz_1_1math_1_1Inertial.html#a19ae8b63c925f91ee2bb9a40a0a54a53">SetMassMatriRotation</a> (const <a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a>&lt; T &gt; &amp;_q, const T _tol=1e-6)</td></tr>
 <tr class="memdesc:a19ae8b63c925f91ee2bb9a40a0a54a53"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the MassMatrix rotation (eigenvectors of inertia matrix) without affecting the MOI in the base coordinate frame. Note that symmetries in inertia matrix may prevent the output of <a class="el" href="classgz_1_1math_1_1MassMatrix3.html#a2f5873ac88cab23f7391e6c34eb79730" title="Compute rotational offset of principal axes.">MassMatrix3::PrincipalAxesOffset</a> to match this function's input _q, but it is guaranteed that the MOI in the base frame will not change. A negative value of _tol (such as -1e-6) can be passed to ensure that diagonal values are always sorted.  <a href="classgz_1_1math_1_1Inertial.html#a19ae8b63c925f91ee2bb9a40a0a54a53">More...</a><br /></td></tr>
 <tr class="separator:a19ae8b63c925f91ee2bb9a40a0a54a53"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:aca1960b85ce5094b7941fdb264b7e0cf"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgz_1_1math_1_1Inertial.html#aca1960b85ce5094b7941fdb264b7e0cf">SetPose</a> (const <a class="el" href="classgz_1_1math_1_1Pose3.html">Pose3</a>&lt; T &gt; &amp;_pose)</td></tr>
@@ -987,7 +987,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a19ae8b63c925f91ee2bb9a40
 </dl>
 <dl class="section return"><dt>Returns</dt><dd>True if the <a class="el" href="classgz_1_1math_1_1MassMatrix3.html" title="A class for inertial information about a rigid body consisting of the scalar mass and a 3x3 symmetric...">MassMatrix3</a> is valid. </dd></dl>
 
-<p class="reference">References <a class="el" href="classgz_1_1math_1_1Quaternion.html#a724dd60575e5faeb80563af1710c0c0e">Quaternion::Inverse()</a>, and <a class="el" href="classgz_1_1math_1_1Inertial.html#a73db791431924cfcde8b887dde8d1c1e">Inertial&lt; T &gt;::MassMatrix()</a>.</p>
+<p class="reference">References <a class="el" href="classgz_1_1math_1_1Quaternion.html#a724dd60575e5faeb80563af1710c0c0e">Quaternion&lt; T &gt;::Inverse()</a>, and <a class="el" href="classgz_1_1math_1_1Inertial.html#a73db791431924cfcde8b887dde8d1c1e">Inertial&lt; T &gt;::MassMatrix()</a>.</p>
 
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     </main>
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->
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diff --git a/api/math/7/classgz_1_1math_1_1Matrix6.html b/api/math/7/classgz_1_1math_1_1Matrix6.html
index 9fa133172..9047e262f 100644
--- a/api/math/7/classgz_1_1math_1_1Matrix6.html
+++ b/api/math/7/classgz_1_1math_1_1Matrix6.html
@@ -717,13 +717,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aeea1cfba7fc2dd358445d53c
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">const size_t&#160;</td>
-          <td class="paramname"><em>_col</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">const </td>
         </tr>
       </table>
   </td>
@@ -828,8 +822,6 @@ <h2 class="memtitle"><span class="permalink"><a href="#a92ad9ec96a7821ae9db268b1
 </dl>
 <dl class="section return"><dt>Returns</dt><dd>This matrix * _m2 </dd></dl>
 
-<p class="reference">References <a class="el" href="classgz_1_1math_1_1Matrix6.html#a8eae03d8d353365411e4783c77190274">Matrix6&lt; T &gt;::MatrixSize</a>.</p>
-
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@@ -1005,8 +997,6 @@ <h2 class="memtitle"><span class="permalink"><a href="#a0f13645aff4c76489e4fd9e8
 </dl>
 <dl class="section return"><dt>Returns</dt><dd>true if the 2 matrices are equal (using the tolerance 1e-6), false otherwise </dd></dl>
 
-<p class="reference">References <a class="el" href="classgz_1_1math_1_1Matrix6.html#a1e1b4f8a55c2db60f934f786f32ee983">Matrix6&lt; T &gt;::Equal()</a>.</p>
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   </dd>
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-<p class="reference">References <a class="el" href="classgz_1_1math_1_1Matrix6.html#aebfff8a8b94605369c3965390f697022a6f6b2705d50f7af47405ee7becaabbdb">Matrix6&lt; T &gt;::BOTTOM_LEFT</a>, <a class="el" href="classgz_1_1math_1_1Matrix6.html#aebfff8a8b94605369c3965390f697022a5bc569072880e473b667c10005c7aefd">Matrix6&lt; T &gt;::BOTTOM_RIGHT</a>, and <a class="el" href="classgz_1_1math_1_1Matrix6.html#aebfff8a8b94605369c3965390f697022aab97669fecf009df518a0d2016b86364">Matrix6&lt; T &gt;::TOP_RIGHT</a>.</p>
-
 <p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Inertial.html#a45f01df1dec6817c78c738eeff703f59">Inertial&lt; T &gt;::BodyMatrix()</a>.</p>
 
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 <p>Set a value in a specific row and col param[in] _row Row of the matrix param[in] _col Col of the matrix param[in] _v Value to assign. </p>
 <dl class="section return"><dt>Returns</dt><dd>Tru if the value was setted, False otherwise </dd></dl>
 
-<p class="reference">References <a class="el" href="classgz_1_1math_1_1Matrix6.html#a8eae03d8d353365411e4783c77190274">Matrix6&lt; T &gt;::MatrixSize</a>.</p>
-
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@@ -1421,8 +1407,6 @@ <h2 class="memtitle"><span class="permalink"><a href="#a39c00c0c321aa0e0f0544dfe
 </dl>
 <dl class="section return"><dt>Returns</dt><dd>A new matrix containing the values of the submatrix. </dd></dl>
 
-<p class="reference">References <a class="el" href="classgz_1_1math_1_1Matrix6.html#aebfff8a8b94605369c3965390f697022a6f6b2705d50f7af47405ee7becaabbdb">Matrix6&lt; T &gt;::BOTTOM_LEFT</a>, <a class="el" href="classgz_1_1math_1_1Matrix6.html#aebfff8a8b94605369c3965390f697022a5bc569072880e473b667c10005c7aefd">Matrix6&lt; T &gt;::BOTTOM_RIGHT</a>, and <a class="el" href="classgz_1_1math_1_1Matrix6.html#aebfff8a8b94605369c3965390f697022aab97669fecf009df518a0d2016b86364">Matrix6&lt; T &gt;::TOP_RIGHT</a>.</p>
-
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 <a id="a109318636af36bc89e9853f19e4369e2"></a>
@@ -1531,6 +1515,61 @@ <h2 class="memtitle"><span class="permalink"><a href="#a8eae03d8d353365411e4783c
 
 <p>Size of matrix is fixed to 6x6. </p>
 
+<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Matrix6.html#a61719e53f99e6c6600eb663d601c955c">Matrix6&lt; T &gt;::Matrix6()</a>.</p>
+
+</div>
+</div>
+<a id="ad9d3df549da5a8de858e3345734f21c4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad9d3df549da5a8de858e3345734f21c4">&#9670;&nbsp;</a></span>Zero</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const <a class="el" href="classgz_1_1math_1_1Matrix6.html">Matrix6</a>&lt; T &gt; &amp; Zero = detail::gMatrix6Zero&lt;T&gt;</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Zero matrix. </p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li><a class="el" href="gz_2math_2Matrix6_8hh_source.html">gz/math/Matrix6.hh</a></li>
+</ul>
+</div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
+lass="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr <a class="elRef" href="http://en.cppreference.com/w/cpp/types/size_t.html">std::size_t</a> MatrixSize {6}</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Size of matrix is fixed to 6x6. </p>
+
 <p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Matrix6.html#a61719e53f99e6c6600eb663d601c955c">Matrix6&lt; T &gt;::Matrix6()</a>, <a class="el" href="classgz_1_1math_1_1Matrix6.html#a92ad9ec96a7821ae9db268b16de91912">Matrix6&lt; T &gt;::operator*()</a>, and <a class="el" href="classgz_1_1math_1_1Matrix6.html#a23621f328e30f9c47ff97e77ef18024f">Matrix6&lt; T &gt;::SetValue()</a>.</p>
 
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diff --git a/api/math/7/classgz_1_1math_1_1MovingWindowFilter.html b/api/math/7/classgz_1_1math_1_1MovingWindowFilter.html
index 591d3b256..1a9f89ab4 100644
--- a/api/math/7/classgz_1_1math_1_1MovingWindowFilter.html
+++ b/api/math/7/classgz_1_1math_1_1MovingWindowFilter.html
@@ -444,10 +444,11 @@ <h2 class="memtitle"><span class="permalink"><a href="#a2640634776caff393b9e7452
 </div>
 </div>
 <hr/>The documentation for this class was generated from the following file:<ul>
-<li><a class="el" href="gz_2math_2MovingWindowFilter_8hh_source.html">gz/math/MovingWindowFilter.hh</a></li>
+<li><a class="el" href="gz_2math_2MovingWindowFilter_8hh_source.html">gz/math/MovingWindowFilter.hh</a</li>
 </ul>
 </div><!-- contents -->
       </div>
     </main>
   </div>
 </body>
+
diff --git a/api/math/7/classgz_1_1math_1_1OnePole.html b/api/math/7/classgz_1_1math_1_1OnePole.html
index b92001a72..f17f454f7 100644
--- a/api/math/7/classgz_1_1math_1_1OnePole.html
+++ b/api/math/7/classgz_1_1math_1_1OnePole.html
@@ -416,3 +416,29 @@ <h2 class="memtitle"><span class="permalink"><a href="#a84e4813f421c80250583ae23
     </main>
   </div>
 </body>
+mname">
+        <tr>
+          <td class="memname">double b1 = 0</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Gain of the feedback. </p>
+
+<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1OnePole.html#aff21517656547c5be945be488be6b9c0">OnePole&lt; T &gt;::Fc()</a>, and <a class="el" href="classgz_1_1math_1_1OnePole.html#aa28f1f59b398d4b7349846cba261c92e">OnePole&lt; T &gt;::Process()</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li><a class="el" href="gz_2math_2Filter_8hh_source.html">gz/math/Filter.hh</a></li>
+</ul>
+</div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/classgz_1_1math_1_1Pose3-members.html b/api/math/7/classgz_1_1math_1_1Pose3-members.html
index 0e9d10cd7..69b76f76f 100644
--- a/api/math/7/classgz_1_1math_1_1Pose3-members.html
+++ b/api/math/7/classgz_1_1math_1_1Pose3-members.html
@@ -191,7 +191,7 @@ <h2>API Reference</h2>
   <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Pose3.html#ab33c2197bd1dd98cc104ba166a6af422">X</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Pose3.html">Pose3&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
   <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Pose3.html#a8fb40fc7b1777235ed5188839ad2dcc2">Y</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Pose3.html">Pose3&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Pose3.html#a3c83258cb558031aed020fbb414c5dee">Yaw</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Pose3.html">Pose3&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Pose3.html#aca8b8755bbe6e37079978eecd2be1e03">Z</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Pose3.html">Pose3&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Pose3.html#aca8b875bbe6e37079978eecd2be1e03">Z</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Pose3.html">Pose3&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Pose3.html#a43ba1fd640409a9fea457125f728d7bb">Zero</a></td><td class="entry"><a class="el" href="classgz_1_1math_1_1Pose3.html">Pose3&lt; T &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
   <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Pose3.html#afd9622d4d761dc80ed8169f486d250b9">~Pose3</a>()=default</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Pose3.html">Pose3&lt; T &gt;</a></td><td class="entry"></td></tr>
 </table></div><!-- contents -->
@@ -199,3 +199,4 @@ <h2>API Reference</h2>
     </main>
   </div>
 </body>
+
diff --git a/api/math/7/classgz_1_1math_1_1Quaternion-members.html b/api/math/7/classgz_1_1math_1_1Quaternion-members.html
index dc188a191..b00f571f9 100644
--- a/api/math/7/classgz_1_1math_1_1Quaternion-members.html
+++ b/api/math/7/classgz_1_1math_1_1Quaternion-members.html
@@ -199,40 +199,34 @@ <h2>API Reference</h2>
   <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#afe0d5ea374e6fa4d77664561e1bfa965">SetFrom2Axes</a>(const Vector3&lt; T &gt; &amp;_v1, const Vector3&lt; T &gt; &amp;_v2)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
   <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a0fed7085a4ca5fb0a2a24fd6b1c5d60a">SetFromAxisAngle</a>(T _ax, T _ay, T _az, T _aa)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a7a4f356a7bebd706dc39225814671f03">SetFromAxisAngle</a>(const Vector3&lt; T &gt; &amp;_axis, T _a)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a18c06748094f822c716a864af1ed7583">SetFromEuler</a>(const Vector3&lt; T &gt; &amp;_vec)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a1ad9bd946d762ce60994979cec1bfd4e">SetFromEuler</a>(T _roll, T _pitch, T _yaw)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#abd52b929232a5ac42d18db866328524b">SetFromMatrix</a>(const Matrix3&lt; T &gt; &amp;_mat)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#adf6b14007c4f57e27c3c846389133ebd">SetW</a>(T _v)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a81300f54409e338420d7ffdb726c3483">SetX</a>(T _v)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a658a937ffc65119db4c1b695ecae6038">SetY</a>(T _v)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a5a7789ab9579f9e825f03a24c9294bc1">SetZ</a>(T _v)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a61f8ed8ce0e2090ff95cbcb034c2f117">Slerp</a>(T _fT, const Quaternion&lt; T &gt; &amp;_rkP, const Quaternion&lt; T &gt; &amp;_rkQ, bool _shortestPath=false)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#adcbae17620acd98f7cafa9fd263e894e">Squad</a>(T _fT, const Quaternion&lt; T &gt; &amp;_rkP, const Quaternion&lt; T &gt; &amp;_rkA, const Quaternion&lt; T &gt; &amp;_rkB, const Quaternion&lt; T &gt; &amp;_rkQ, bool _shortestPath=false)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</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="classgz_1_1math_1_1Quaternion.html#ad3790d5c8fc2b76c7658c9529fc4d35e">ToAxis</a>(Vector3&lt; T &gt; &amp;_axis, T &amp;_angle) const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#ada2d68910c85b5a3cab09d6979f27c85">W</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#ab415beed9dd2ac6a904acb12fb3aceb5">W</a>()</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a7105b79779c153ce8b98718a4862837d">W</a>(T _v)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#ae6b656e82256821b0ef79462ca0079b8">X</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a70375d75f6b7431908e664f8ac4eec56">X</a>()</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#ae133ce74400cc797dbada670d02c7f67">X</a>(T _v)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a8e83598f00002392f503ce99c113e642">XAxis</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#aecdad7e976b3ed74a1828eac4d958db6">Y</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#aa7dc59e8deaae3ffa99fad2cee8afd5e">Y</a>()</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a205fcce9f6c3a262df1f5035f7e975b0">Y</a>(T _v)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a7d80cfe87e46d0c34c92f594dd0cb2aa">Yaw</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#aad8ecd7f8f252daac4ae726e40c51e37">YAxis</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a253c4659f98e0cffd70ae20bbada9c48">Z</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a4827294d98fb83dc978d36d0b5d41251">Z</a>()</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a3a73c32a88a6e3166a6fda905b0d9a16">Z</a>(T _v)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a9717e2a1ab5b10d398ca823b78d74733">ZAxis</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a402445b8f58d8bb04f171f024877c7cc">Zero</a></td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a16d43b7c1bcb2a753d69afe0082a2ed0">~Quaternion</a>()=default</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td><td class="entry"></td></tr>
-</table></div><!-- contents -->
-      </div>
-    </main>
-  </div>
-</body>
-gz_1_1math_1_1Quaternion.html#a9717e2a1ab5b10d398ca823b78d74733">ZAxis</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td clb1c5d60a">SetFromAxisAngle</a>(T _ax, T _ay, T _az, T _aa)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a7a4f356a7bebd706dc39225814671f03">SetFromAxisAngle</a>(const Vector3&lt; T &gt; &amp;_axis, T _a)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a18c06748094f822c716a864af1ed7583">SetFromEuler</a>(const Vector3&lt; T &gt; &amp;_vec)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a1ad9bd946d762ce60994979cec1bfd4e">SetFromEuler</a>(T _roll, T _pitch, T _yaw)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#abd52b929232a5ac42d18db866328524b">SetFromMatrix</a>(const Matrix3&lt; T &gt; &amp;_mat)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#adf6b14007c4f57e27c3c846389133ebd">SetW</a>(T _v)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a81300f54409e338420d7ffdb726c3483">SetX</a>(T _v)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a658a937ffc65119db4c1b695ecae6038">SetY</a>(T _v)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a5a7789ab9579f9e825f03a24c9294bc1">SetZ</a>(T _v)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a61f8ed8ce0e2090ff95cbcb034c2f117">Slerp</a>(T _fT, const Quaternion&lt; T &gt; &amp;_rkP, const Quaternion&lt; T &gt; &amp;_rkQ, bool _shortestPath=false)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#adcbae17620acd98f7cafa9fd263e894e">Squad</a>(T _fT, const Quaternion&lt; T &gt; &amp;_rkP, const Quaternion&lt; T &gt; &amp;_rkA, const Quaternion&lt; T &gt; &amp;_rkB, const Quaternion&lt; T &gt; &amp;_rkQ, bool _shortestPath=false)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &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="classgz_1_1math_1_1Quaternion.html#ad3790d5c8fc2b76c7658c9529fc4d35e">ToAxis</a>(Vector3&lt; T &gt; &amp;_axis, T &amp;_angle) const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#ada2d68910c85b5a3cab09d6979f27c85">W</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#ab415beed9dd2ac6a904acb12fb3aceb5">W</a>()</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a7105b79779c153ce8b98718a4862837d">W</a>(T _v)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#ae6b656e82256821b0ef79462ca0079b8">X</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a70375d75f6b7431908e664f8ac4eec56">X</a>()</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#ae133ce74400cc797dbada670d02c7f67">X</a>(T _v)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a8e83598f00002392f503ce99c113e642">XAxis</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#aecdad7e976b3ed74a1828eac4d958db6">Y</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#aa7dc59e8deaae3ffa99fad2cee8afd5e">Y</a>()</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a205fcce9f6c3a262df1f5035f7e975b0">Y</a>(T _v)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a7d80cfe87e46d0c34c92f594dd0cb2aa">Yaw</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#aad8ecd7f8f252daac4ae726e40c51e37">YAxis</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a253c4659f98e0cffd70ae20bbada9c48">Z</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a4827294d98fb83dc978d36d0b5d41251">Z</a>()</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a3a73c32a88a6e3166a6fda905b0d9a16">Z</a>(T _v)</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a9717e2a1ab5b10d398ca823b78d74733">ZAxis</a>() const</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
   <tr><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a402445b8f58d8bb04f171f024877c7cc">Zero</a></td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html#a16d43b7c1bcb2a753d69afe0082a2ed0">~Quaternion</a>()=default</td><td class="entry"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td><td class="entry"></td></tr>
 </table></div><!-- contents -->
diff --git a/api/math/7/classgz_1_1math_1_1Region3.html b/api/math/7/classgz_1_1math_1_1Region3.html
index cbd8f73f2..2be5b65df 100644
--- a/api/math/7/classgz_1_1math_1_1Region3.html
+++ b/api/math/7/classgz_1_1math_1_1Region3.html
@@ -245,7 +245,7 @@ <h2><a class="anchor" id="autotoc_md64"></a>
 <div class="line"> </div>
 <div class="line">  <span class="comment">// Closed and open regions may intersect.</span></div>
 <div class="line">  <a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html">std::cout</a> &lt;&lt; <span class="stringliteral">&quot;Regions &quot;</span> &lt;&lt; closedRegion &lt;&lt; <span class="stringliteral">&quot; and &quot;</span> &lt;&lt; openRegion</div>
-<div class="line">            &lt;&lt; <span class="stringliteral">&quot; intersect: &quot;</span> &lt;&lt; closedRegion.<a class="code" href="classgz_1_1math_1_1Region3.html#a21fb4bcae514da938c7665014a8ea6e8" title="Check if the region intersects _other region.">Intersects</a>(openRegion)</div>
+<div class="line">            &lt;&lt; <span class="stringliteral">&quot; intersect: &quot;</span> &lt;&lt; closedRegion.<a class="code" href="classgz_1_1math_1_1Region3.html#21fb4bcae514da938c7665014a8ea6e8" title="Check if the region intersects _other region.">Intersects</a>(openRegion)</div>
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-<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Region3.html#a4308eefce61c7a5f017da5c5cd47be34">Region3&lt; ScalarT &gt;::operator!=()</a>, and <a class="el" href="classgz_1_1math_1_1Region3.html#a0794bf84ebfc37283d650f95b388d366">Region3&lt; ScalarT &gt;::operator==()</a>.</p>
+<p class="reference">References <a class="el" href="classgz_1_1math_1_1Vector3.html#ae6b656e82256821b0ef79462ca0079b8">Vector3&lt; T &gt;::X()</a>, <a class="el" href="classgz_1_1math_1_1Vector3.html#aecdad7e976b3ed74a1828eac4d958db6">Vector3&lt; T &gt;::Y()</a>, and <a class="el" href="classgz_1_1math_1_1Vector3.html#a253c4659f98e0cffd70ae20bbada9c48">Vector3&lt; T &gt;::Z()</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Region3.html#a4308eefce61c7a5f017da5c5cd47be34">Region3&lt; T &gt;::operator!=()</a>, and <a class="el" href="classgz_1_1math_1_1Region3.html#a0794bf84ebfc37283d650f95b388d366">Region3&lt; T &gt;::operator==()</a>.</p>
 
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 </dl>
 <dl class="section return"><dt>Returns</dt><dd>true if regions are unequal, false otherwise </dd></dl>
 
+<p class="reference">References <a class="el" href="classgz_1_1math_1_1Region3.html#a8852ab6f112280c6b519548f5c65903a">Region3&lt; T &gt;::Contains()</a>.</p>
+
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 </dl>
 <dl class="section return"><dt>Returns</dt><dd>true if regions are equal, false otherwise </dd></dl>
 
+<p class="reference">References <a class="el" href="classgz_1_1math_1_1Region3.html#a8852ab6f112280c6b519548f5c65903a">Region3&lt; T &gt;::Contains()</a>.</p>
+
 </div>
 </div>
 <h2 class="groupheader">Member Data Documentation</h2>
@@ -815,27 +821,3 @@ <h2 class="memtitle"><span class="permalink"><a href="#ac61a6d1e9fa2857d31481a10
     </main>
   </div>
 </body>
-e">
-        <tr>
-          <td class="memname">const <a class="el" href="classgz_1_1math_1_1Region3.html">Region3</a>&lt; T &gt; &amp; Unbounded = detail::gUnboundedRegion3&lt;T&gt;</td>
-        </tr>
-      </table>
-  </td>
-  <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">static</span></span>  </td>
-  </tr>
-</table>
-</div><div class="memdoc">
-
-<p>An unbounded region (-∞, ∞) ✕ (-∞, ∞) ✕ (-∞, ∞) </p>
-
-</div>
-</div>
-<hr/>The documentation for this class was generated from the following file:<ul>
-<li><a class="el" href="gz_2math_2Region3_8hh_source.html">gz/math/Region3.hh</a></li>
-</ul>
-</div><!-- contents -->
-      </div>
-    </main>
-  </div>
-</body>
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-          <td class="paramname"><em>_watch</em></td><td>)</td>
+          <td class="paramname"><em>_watch</e></td><td>)</td>
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diff --git a/api/math/7/classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField_3_01T_00_01V_00_01InMemorySession_3_01T_00_01V_01_4_01_4.html b/api/math/7/classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField_3_01T_00_01V_00_01InMemorySession_3_01T_00_01V_01_4_01_4.html
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+++ b/api/math/7/classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField_3_01T_00_01V_00_01InMemorySession_3_01T_00_01V_01_4_01_4.html
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-<h2 class="memtitle"><span class="permalink"><a href="#a989dd57b620ef845e81276097782b4b3">&#9670;&nbsp;</a></span>IsValid()</h2>
+<h2 class="memtitle"><span class="permalink"><a href="#a989dd57b620ef845e81276097782b4b3">&#9670;&nbsp;</a></spanIsValid()</h2>
 
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-<h2 class="memtitle"><span class="permalink"><a href="#abf887ed78b744f226099205075e157a0">&#9670;&nbsp;</a></span>Correct()</h2>
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+
diff --git a/api/math/7/classgz_1_1math_1_1VolumetricGridLookupField.html b/api/math/7/classgz_1_1math_1_1VolumetricGridLookupField.html
index d0a65e0c4..9a7f9af47 100644
--- a/api/math/7/classgz_1_1math_1_1VolumetricGridLookupField.html
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     </main>
   </div>
 </body>
+lt; T &gt;::Y()</a>, and <a class="el" href="classgz_1_1math_1_1Vector3.html#a253c4659f98e0cffd70ae20bbada9c48">Vector3&lt; T &gt;::Z()</a>.</p>
+
+<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1VolumetricGridLookupField.html#ac12e89e0dbb2f014f5431f18bb596cf0">VolumetricGridLookupField&lt; T, I &gt;::EstimateValueUsingTrilinear()</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li><a class="el" href="gz_2math_2VolumetricGridLookupField_8hh_source.html">gz/math/VolumetricGridLookupField.hh</a></li>
+</ul>
+</div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
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index 634f4817c..e7fb6d7d8 100644
--- a/api/math/7/deprecated.html
+++ b/api/math/7/deprecated.html
@@ -183,3 +183,11 @@ <h2>API Reference</h2>
     </main>
   </div>
 </body>
+S84 instead. </dd>
+</dl>
+</div></div><!-- contents -->
+</div><!-- PageDoc -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/doxygen.css b/api/math/7/doxygen.css
index 9fae76d72..980d4b611 100644
--- a/api/math/7/doxygen.css
+++ b/api/math/7/doxygen.css
@@ -1769,3 +1769,31 @@ u {
 	text-decoration: underline;
 }
 
+odeLTR {
+  text-align: left;
+  direction: ltr;
+}
+
+table.DocNodeRTL {
+   width: auto;
+   margin-right: 0;
+   margin-left: auto;
+}
+
+table.DocNodeLTR {
+   width: auto;
+   margin-right: auto;
+   margin-left: 0;
+}
+
+tt, code, kbd, samp
+{
+  display: inline-block;
+  direction:ltr; 
+}
+/* @end */
+
+u {
+	text-decoration: underline;
+}
+
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index ea0a7b39a..1675173c8 100644
--- a/api/math/7/dynsections.js
+++ b/api/math/7/dynsections.js
@@ -118,3 +118,14 @@ function toggleInherit(id)
   }
 }
 /* @license-end */
+');
+  var 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');
+  }
+}
+/* @license-end */
diff --git a/api/math/7/functions.html b/api/math/7/functions.html
index 4e882e0ef..8d805fef0 100644
--- a/api/math/7/functions.html
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@@ -247,3 +247,6 @@ <h3><a id="index_a"></a>- a -</h3><ul>
     </main>
   </div>
 </body>
+in>
+  </div>
+</body>
diff --git a/api/math/7/functions_c.html b/api/math/7/functions_c.html
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@@ -274,3 +274,5 @@ <h3><a id="index_c"></a>- c -</h3><ul>
     </main>
   </div>
 </body>
+>
+</body>
diff --git a/api/math/7/functions_d.html b/api/math/7/functions_d.html
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--- a/api/math/7/functions_d.html
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@@ -219,3 +219,5 @@ <h3><a id="index_d"></a>- d -</h3><ul>
     </main>
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+>
+</body>
diff --git a/api/math/7/functions_e.html b/api/math/7/functions_e.html
index 68527c7f4..bac584d3d 100644
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@@ -225,3 +225,8 @@ <h3><a id="index_e"></a>- e -</h3><ul>
     </main>
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+
+      </div>
+    </main>
+  </div>
+</body>
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@@ -203,3 +203,5 @@ <h3><a id="index_f"></a>- f -</h3><ul>
     </main>
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+>
+</body>
diff --git a/api/math/7/functions_func.html b/api/math/7/functions_func.html
index 39aa9b55b..8d0befa27 100644
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@@ -231,3 +231,6 @@ <h3><a id="index_a"></a>- a -</h3><ul>
     </main>
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 </body>
+in>
+  </div>
+</body>
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@@ -262,3 +262,5 @@ <h3><a id="index_c"></a>- c -</h3><ul>
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+>
+</body>
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@@ -211,3 +211,5 @@ <h3><a id="index_d"></a>- d -</h3><ul>
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index b15163a3e..66bd9b735 100644
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@@ -219,3 +219,8 @@ <h3><a id="index_e"></a>- e -</h3><ul>
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+      </div>
+    </main>
+  </div>
+</body>
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@@ -179,3 +179,5 @@ <h3><a id="index_f"></a>- f -</h3><ul>
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+      </div>
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+</li>
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+      </div>
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+4dda72f413e82c1e5a2b47a4e2">SphericalCoordinates</a>
+</li>
+</ul>
+</div><!-- contents -->
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+    </main>
+  </div>
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+>
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index 288aff9e5..6fdee84c1 100644
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@@ -313,3 +313,8 @@ <h3><a id="index_i"></a>- i -</h3><ul>
     </main>
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+ontents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/functions_l.html b/api/math/7/functions_l.html
index e5a4bdd4a..1bec59653 100644
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@@ -221,3 +221,5 @@ <h3><a id="index_l"></a>- l -</h3><ul>
     </main>
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+>
+</body>
diff --git a/api/math/7/functions_m.html b/api/math/7/functions_m.html
index 681babc28..20361ec5f 100644
--- a/api/math/7/functions_m.html
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@@ -271,3 +271,5 @@ <h3><a id="index_m"></a>- m -</h3><ul>
     </main>
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+>
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diff --git a/api/math/7/functions_n.html b/api/math/7/functions_n.html
index d21aff3f7..3fa223308 100644
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@@ -194,3 +194,6 @@ <h3><a id="index_n"></a>- n -</h3><ul>
     </main>
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+in>
+  </div>
+</body>
diff --git a/api/math/7/functions_o.html b/api/math/7/functions_o.html
index b6d4b7a49..0474a0bc7 100644
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@@ -431,3 +431,11 @@ <h3><a id="index_o"></a>- o -</h3><ul>
     </main>
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+7f67bd">Graph&lt; V, E, EdgeType &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/functions_p.html b/api/math/7/functions_p.html
index ec2b5b64a..ed2cee476 100644
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@@ -236,3 +236,5 @@ <h3><a id="index_p"></a>- p -</h3><ul>
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+>
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@@ -147,3 +147,5 @@ <h3><a id="index_q"></a>- q -</h3><ul>
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+>
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diff --git a/api/math/7/functions_r.html b/api/math/7/functions_r.html
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@@ -247,3 +247,8 @@ <h3><a id="index_r"></a>- r -</h3><ul>
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+
+      </div>
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+  </div>
+</body>
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index 09d12562d..24687d18c 100644
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+</body>
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index a6c41f24a..8443548d1 100644
--- a/api/math/7/functions_s.html
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+f13ae4e2b7985a3868a1b5169f">SphericalCoordinates</a>
+</li>
+</ul>
+</div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/functions_t.html b/api/math/7/functions_t.html
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@@ -211,3 +211,5 @@ <h3><a id="index_t"></a>- t -</h3><ul>
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+>
+</body>
diff --git a/api/math/7/functions_vars.html b/api/math/7/functions_vars.html
index 99733f0ec..e0e9e4c1f 100644
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@@ -384,3 +384,6 @@ <h3><a id="index_z"></a>- z -</h3><ul>
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+in>
+  </div>
+</body>
diff --git a/api/math/7/functions_w.html b/api/math/7/functions_w.html
index f6263d1c5..90cd4cb82 100644
--- a/api/math/7/functions_w.html
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@@ -174,3 +174,5 @@ <h3><a id="index_w"></a>- w -</h3><ul>
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+>
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@@ -167,3 +167,6 @@ <h3><a id="index_x"></a>- x -</h3><ul>
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+in>
+  </div>
+</body>
diff --git a/api/math/7/functions_y.html b/api/math/7/functions_y.html
index 8ff7788ac..9a715b9c6 100644
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@@ -180,3 +180,7 @@ <h3><a id="index_y"></a>- y -</h3><ul>
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+v>
+    </main>
+  </div>
+</body>
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@@ -169,3 +169,7 @@ <h3><a id="index_z"></a>- z -</h3><ul>
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+v>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/functions_~.html b/api/math/7/functions_~.html
index 6777b088a..60138c904 100644
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@@ -198,3 +198,5 @@ <h3><a id="index__7E"></a>- ~ -</h3><ul>
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+>
+</body>
diff --git a/api/math/7/gz_2math_2AdditivelySeparableScalarField3_8hh_source.html b/api/math/7/gz_2math_2AdditivelySeparableScalarField3_8hh_source.html
index 424d821b1..f11a108ee 100644
--- a/api/math/7/gz_2math_2AdditivelySeparableScalarField3_8hh_source.html
+++ b/api/math/7/gz_2math_2AdditivelySeparableScalarField3_8hh_source.html
@@ -280,3 +280,9 @@ <h2>API Reference</h2>
     </main>
   </div>
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+v>
+</div><!-- fragment --></div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/gz_2math_2Angle_8hh_source.html b/api/math/7/gz_2math_2Angle_8hh_source.html
index 6449044d5..7f2605ca4 100644
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@@ -275,3 +275,30 @@ <h2>API Reference</h2>
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+erence.com/w/cpp/io/basic_ostream.html">std::ostream</a> &amp;<a class="code" href="classgz_1_1math_1_1Angle.html#abe5759ee10ae1204e1e3cdca4f77dda9" title="Stream insertion operator. Outputs in radians.">operator&lt;&lt;</a>(<a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html">std::ostream</a> &amp;_out,</div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;                                            <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Angle.html" title="The Angle class is used to simplify and clarify the use of radians and degrees measurements....">gz::math::Angle</a> &amp;_a)</div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    {</div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      _out &lt;&lt; _a.<a class="code" href="classgz_1_1math_1_1Angle.html#a1baee8c1ede140d2f743b8d17cd29a0b" title="Set the value from an angle in radians.">Radian</a>();</div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="keywordflow">return</span> _out;</div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    }</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
+<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Angle.html#a9ef72b8ed8fd2c760176c1bbc9c12079">  229</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">friend</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_istream.html">std::istream</a> &amp;<a class="code" href="classgz_1_1math_1_1Angle.html#a9ef72b8ed8fd2c760176c1bbc9c12079" title="Stream extraction operator. Assumes input is in radians.">operator&gt;&gt;</a>(<a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_istream.html">std::istream</a> &amp;_in,</div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;                                            <a class="code" href="classgz_1_1math_1_1Angle.html" title="The Angle class is used to simplify and clarify the use of radians and degrees measurements....">gz::math::Angle</a> &amp;_a)</div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    {</div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      <span class="comment">// Skip white spaces</span></div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      _in.<a class="codeRef" href="http://en.cppreference.com/w/cpp/io/ios_base/setf.html">setf</a>(std::ios_base::skipws);</div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      _in &gt;&gt; _a.value;</div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="keywordflow">return</span> _in;</div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    }</div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <span class="keyword">private</span>: <span class="keywordtype">double</span> value{0};</div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  };</div>
+<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_ANGLE_HH_</span></div>
+</div><!-- fragment --></div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/gz_2math_2AxisAlignedBox_8hh_source.html b/api/math/7/gz_2math_2AxisAlignedBox_8hh_source.html
index f363d49e8..f7c69a257 100644
--- a/api/math/7/gz_2math_2AxisAlignedBox_8hh_source.html
+++ b/api/math/7/gz_2math_2AxisAlignedBox_8hh_source.html
@@ -261,3 +261,32 @@ <h2>API Reference</h2>
     </main>
   </div>
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+le="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> &amp;_origin, <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> &amp;_dir,</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;                <span class="keyword">const</span> <span class="keywordtype">double</span> _min, <span class="keyword">const</span> <span class="keywordtype">double</span> _max) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
+<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1AxisAlignedBox.html#a24c260e4aebbb6178f18aa7f7a2b5720">  192</a></span>&#160;    <span class="keyword">public</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/utility/tuple.html">std::tuple&lt;bool, double&gt;</a> <a class="code" href="classgz_1_1math_1_1AxisAlignedBox.html#a24c260e4aebbb6178f18aa7f7a2b5720" title="Check if a ray (origin, direction) intersects the box.">IntersectDist</a>(</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> &amp;_origin, <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> &amp;_dir,</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;                <span class="keyword">const</span> <span class="keywordtype">double</span> _min, <span class="keyword">const</span> <span class="keywordtype">double</span> _max) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
+<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1AxisAlignedBox.html#a886583095e71b02a8a9faa2aad8b3e8f">  213</a></span>&#160;    <span class="keyword">public</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/utility/tuple.html">std::tuple&lt;bool, double, Vector3d&gt;</a> <a class="code" href="classgz_1_1math_1_1AxisAlignedBox.html#a886583095e71b02a8a9faa2aad8b3e8f" title="Check if a ray (origin, direction) intersects the box.">Intersect</a>(</div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;                <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> &amp;_origin, <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> &amp;_dir,</div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;                <span class="keyword">const</span> <span class="keywordtype">double</span> _min, <span class="keyword">const</span> <span class="keywordtype">double</span> _max) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
+<div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1AxisAlignedBox.html#ab41b4313a20ccff4b19b042ea2966c67">  225</a></span>&#160;    <span class="keyword">public</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/utility/tuple.html">std::tuple&lt;bool, double, Vector3d&gt;</a> <a class="code" href="classgz_1_1math_1_1AxisAlignedBox.html#ab41b4313a20ccff4b19b042ea2966c67" title="Check if a line intersects the box.">Intersect</a>(</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;                <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Line3.html" title="A three dimensional line segment. The line is defined by a start and end point.">Line3d</a> &amp;_line) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
+<div class="line"><a name="l00230"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1AxisAlignedBox.html#a678f606b1ff10c8959240d2985e022ad">  230</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1AxisAlignedBox.html#a678f606b1ff10c8959240d2985e022ad" title="Get the volume of the box in m^3.">Volume</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <span class="keyword">private</span>: <span class="keywordtype">bool</span> ClipLine(<span class="keyword">const</span> <span class="keywordtype">int</span> _d, <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Line3.html" title="A three dimensional line segment. The line is defined by a start and end point.">Line3d</a> &amp;_line,</div>
+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;                 <span class="keywordtype">double</span> &amp;_low, <span class="keywordtype">double</span> &amp;_high) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    GZ_UTILS_IMPL_PTR(dataPtr)</div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  };</div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
+<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
+<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_AXISALIGNEDBOX_HH_</span></div>
+</div><!-- fragment --></div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/gz_2math_2Box_8hh_source.html b/api/math/7/gz_2math_2Box_8hh_source.html
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@@ -254,3 +254,27 @@ <h2>API Reference</h2>
     </main>
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+his function is only meaningful if the box&#39;s size and material hav...">MassMatrix</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
+<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Box.html#a7aa5d9575e672f67eb4dc588c0af4203">  204</a></span>&#160;    <span class="keyword">public</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/set.html">IntersectionPoints&lt;Precision&gt;</a> <a class="code" href="classgz_1_1math_1_1Box.html#a7aa5d9575e672f67eb4dc588c0af4203" title="Get intersection between a plane and the box&#39;s edges. Edges contained on the plane are ignored.">Intersections</a>(</div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Plane.html" title="A plane and related functions.">Plane&lt;Precision&gt;</a> &amp;_plane) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keyword">private</span>: <a class="code" href="classgz_1_1math_1_1Vector3.html">Vector3&lt;Precision&gt;</a> size = <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3&lt;Precision&gt;::Zero</a>;</div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keyword">private</span>: <a class="code" href="classgz_1_1math_1_1Material.html" title="Contains information about a single material.">gz::math::Material</a> material;</div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  };</div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
+<div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#afed002a1597021c62d7b1328787865f0">  216</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classgz_1_1math_1_1Box.html" title="A representation of a box. All units are in meters.">Box&lt;int&gt;</a> <a class="code" href="namespacegz_1_1math.html#afed002a1597021c62d7b1328787865f0" title="Box with integer precision.">Boxi</a>;</div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
+<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#add37e4a554767c8901397f2cb0cf9b34">  220</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classgz_1_1math_1_1Box.html" title="A representation of a box. All units are in meters.">Box&lt;double&gt;</a> <a class="code" href="namespacegz_1_1math.html#add37e4a554767c8901397f2cb0cf9b34" title="Box with double precision.">Boxd</a>;</div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
+<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a25eeb601d860c46ec27edfe94eddff36">  224</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classgz_1_1math_1_1Box.html" title="A representation of a box. All units are in meters.">Box&lt;float&gt;</a> <a class="code" href="namespacegz_1_1math.html#a25eeb601d860c46ec27edfe94eddff36" title="Box with float precision.">Boxf</a>;</div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;<span class="preprocessor">#include &quot;gz/math/detail/Box.hh&quot;</span></div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_BOX_HH_</span></div>
+</div><!-- fragment --></div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/gz_2math_2Capsule_8hh_source.html b/api/math/7/gz_2math_2Capsule_8hh_source.html
index 681bd7a2b..27c14cdb4 100644
--- a/api/math/7/gz_2math_2Capsule_8hh_source.html
+++ b/api/math/7/gz_2math_2Capsule_8hh_source.html
@@ -227,3 +227,24 @@ <h2>API Reference</h2>
     </main>
   </div>
 </body>
+&#160;    <span class="keyword">private</span>: Precision radius = 0.0;</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keyword">private</span>: Precision length = 0.0;</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keyword">private</span>: <a class="code" href="classgz_1_1math_1_1Material.html" title="Contains information about a single material.">Material</a> material;</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  };</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
+<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a8d534afec0e5b80784534ceba33ac254">  135</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classgz_1_1math_1_1Capsule.html" title="A representation of a capsule or sphere-capped cylinder.">Capsule&lt;int&gt;</a> <a class="code" href="namespacegz_1_1math.html#a8d534afec0e5b80784534ceba33ac254" title="Capsule with integer precision.">Capsulei</a>;</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
+<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#aa4da693bfb8338a5bdcba54cf580cbb8">  139</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classgz_1_1math_1_1Capsule.html" title="A representation of a capsule or sphere-capped cylinder.">Capsule&lt;double&gt;</a> <a class="code" href="namespacegz_1_1math.html#aa4da693bfb8338a5bdcba54cf580cbb8" title="Capsule with double precision.">Capsuled</a>;</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
+<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a662d649bb84bf38a66236cd298c7d950">  143</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classgz_1_1math_1_1Capsule.html" title="A representation of a capsule or sphere-capped cylinder.">Capsule&lt;float&gt;</a> <a class="code" href="namespacegz_1_1math.html#a662d649bb84bf38a66236cd298c7d950" title="Capsule with float precision.">Capsulef</a>;</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="preprocessor">#include &quot;gz/math/detail/Capsule.hh&quot;</span></div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_CAPSULE_HH_</span></div>
+</div><!-- fragment --></div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/gz_2math_2Cylinder_8hh_source.html b/api/math/7/gz_2math_2Cylinder_8hh_source.html
index 545a65e89..142fa0a4d 100644
--- a/api/math/7/gz_2math_2Cylinder_8hh_source.html
+++ b/api/math/7/gz_2math_2Cylinder_8hh_source.html
@@ -242,3 +242,29 @@ <h2>API Reference</h2>
     </main>
   </div>
 </body>
+dc77db3616641a">  155</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">bool</span> <a class="code" href="classgz_1_1math_1_1Cylinder.html#a4a6fbe08af3c4be27fdc77db3616641a" title="Set the density of this cylinder based on a mass value. Density is computed using Precision DensityFr...">SetDensityFromMass</a>(<span class="keyword">const</span> Precision _mass);</div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keyword">private</span>: Precision radius = 0.0;</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keyword">private</span>: Precision length = 0.0;</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keyword">private</span>: <a class="code" href="classgz_1_1math_1_1Material.html" title="Contains information about a single material.">Material</a> material;</div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keyword">private</span>: <a class="code" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt;Precision&gt;</a> rotOffset =</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;             <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;Precision&gt;::Identity</a>;</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  };</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
+<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a024fff605f8536561dc6a260a41bb670">  173</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classgz_1_1math_1_1Cylinder.html" title="A representation of a cylinder.">Cylinder&lt;int&gt;</a> <a class="code" href="namespacegz_1_1math.html#a024fff605f8536561dc6a260a41bb670" title="Cylinder with integer precision.">Cylinderi</a>;</div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
+<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a69cb6001533b694752b2101e6b2d64c8">  177</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classgz_1_1math_1_1Cylinder.html" title="A representation of a cylinder.">Cylinder&lt;double&gt;</a> <a class="code" href="namespacegz_1_1math.html#a69cb6001533b694752b2101e6b2d64c8" title="Cylinder with double precision.">Cylinderd</a>;</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
+<div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#aaf3557d99cb002a63f11147c97efa797">  181</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classgz_1_1math_1_1Cylinder.html" title="A representation of a cylinder.">Cylinder&lt;float&gt;</a> <a class="code" href="namespacegz_1_1math.html#aaf3557d99cb002a63f11147c97efa797" title="Cylinder with float precision.">Cylinderf</a>;</div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="preprocessor">#include &quot;gz/math/detail/Cylinder.hh&quot;</span></div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_CYLINDER_HH_</span></div>
+</div><!-- fragment --></div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/gz_2math_2DiffDriveOdometry_8hh_source.html b/api/math/7/gz_2math_2DiffDriveOdometry_8hh_source.html
index 2bfacd089..aef31008d 100644
--- a/api/math/7/gz_2math_2DiffDriveOdometry_8hh_source.html
+++ b/api/math/7/gz_2math_2DiffDriveOdometry_8hh_source.html
@@ -212,3 +212,21 @@ <h2>API Reference</h2>
     </main>
   </div>
 </body>
+e of radians and degrees measurements....">Angle</a> &amp;<a class="code" href="classgz_1_1math_1_1DiffDriveOdometry.html#ad3598e9332c40a10964b36a15ec446a1" title="Get the angular velocity.">AngularVelocity</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
+<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1DiffDriveOdometry.html#a20dc5d382dcb3b50c3aa38e7962a8970">  123</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1DiffDriveOdometry.html#a20dc5d382dcb3b50c3aa38e7962a8970" title="Set the wheel parameters including the radius and separation.">SetWheelParams</a>(<span class="keywordtype">double</span> _wheelSeparation,</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                    <span class="keywordtype">double</span> _leftWheelRadius,</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                    <span class="keywordtype">double</span> _rightWheelRadius);</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
+<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1DiffDriveOdometry.html#a4c51d14d5072ca7ea44d50824318f93c">  129</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1DiffDriveOdometry.html#a4c51d14d5072ca7ea44d50824318f93c" title="Set the velocity rolling window size.">SetVelocityRollingWindowSize</a>(<span class="keywordtype">size_t</span> _size);</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    GZ_UTILS_IMPL_PTR(dataPtr)</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  };</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_DIFFDRIVEODOMETRY_HH_</span></div>
+</div><!-- fragment --></div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/gz_2math_2Ellipsoid_8hh_source.html b/api/math/7/gz_2math_2Ellipsoid_8hh_source.html
index 4ad92d6cd..387f3f838 100644
--- a/api/math/7/gz_2math_2Ellipsoid_8hh_source.html
+++ b/api/math/7/gz_2math_2Ellipsoid_8hh_source.html
@@ -218,3 +218,22 @@ <h2>API Reference</h2>
     </main>
   </div>
 </body>
+
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keyword">private</span>: <a class="code" href="classgz_1_1math_1_1Material.html" title="Contains information about a single material.">Material</a> material;</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  };</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
+<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#ad53939a8a22f3dd170fd45958482bcfa">  118</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classgz_1_1math_1_1Ellipsoid.html" title="A representation of a general ellipsoid.">Ellipsoid&lt;int&gt;</a> <a class="code" href="namespacegz_1_1math.html#ad53939a8a22f3dd170fd45958482bcfa" title="Ellipsoid with integer precision.">Ellipsoidi</a>;</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
+<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#ac171afddfbf2a84ea1c879af8d1fd1a8">  122</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classgz_1_1math_1_1Ellipsoid.html" title="A representation of a general ellipsoid.">Ellipsoid&lt;double&gt;</a> <a class="code" href="namespacegz_1_1math.html#ac171afddfbf2a84ea1c879af8d1fd1a8" title="Ellipsoid with double precision.">Ellipsoidd</a>;</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
+<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a3ae8ab62c8e616dd887344305b89a280">  126</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classgz_1_1math_1_1Ellipsoid.html" title="A representation of a general ellipsoid.">Ellipsoid&lt;float&gt;</a> <a class="code" href="namespacegz_1_1math.html#a3ae8ab62c8e616dd887344305b89a280" title="Ellipsoid with float precision.">Ellipsoidf</a>;</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="preprocessor">#include &quot;gz/math/detail/Ellipsoid.hh&quot;</span></div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_ELLIPSOID_HH_</span></div>
+</div><!-- fragment --></div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/gz_2math_2Filter_8hh_source.html b/api/math/7/gz_2math_2Filter_8hh_source.html
index d12853e98..a0bcb65e2 100644
--- a/api/math/7/gz_2math_2Filter_8hh_source.html
+++ b/api/math/7/gz_2math_2Filter_8hh_source.html
@@ -334,3 +334,11 @@ <h2>API Reference</h2>
     </main>
   </div>
 </body>
+n>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
+<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
+<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_FILTER_HH_</span></div>
+</div><!-- fragment --></div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/gz_2math_2Frustum_8hh_source.html b/api/math/7/gz_2math_2Frustum_8hh_source.html
index adaa955ae..695ec382d 100644
--- a/api/math/7/gz_2math_2Frustum_8hh_source.html
+++ b/api/math/7/gz_2math_2Frustum_8hh_source.html
@@ -237,3 +237,23 @@ <h2>API Reference</h2>
     </main>
   </div>
 </body>
+yword">public</span>: <span class="keywordtype">bool</span> <a class="code" href="classgz_1_1math_1_1Frustum.html#aeb2f195a6aaa6e61df061d89a6f151e7" title="Check if a box lies inside the pyramid frustum.">Contains</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1AxisAlignedBox.html" title="Mathematical representation of a box that is aligned along an X,Y,Z axis.">AxisAlignedBox</a> &amp;_b) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
+<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Frustum.html#aa550334f3d37f63e2cfa8bffff565f01">  148</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">bool</span> <a class="code" href="classgz_1_1math_1_1Frustum.html#aa550334f3d37f63e2cfa8bffff565f01" title="Check if a point lies inside the pyramid frustum.">Contains</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> &amp;_p) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
+<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Frustum.html#a6498414759b57ab7d80e0d751285132b">  153</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3d</a> <a class="code" href="classgz_1_1math_1_1Frustum.html#a6498414759b57ab7d80e0d751285132b" title="Get the pose of the frustum.">Pose</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
+<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Frustum.html#a7c3d674b3481eab4d3628b210a5db273">  158</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1Frustum.html#a7c3d674b3481eab4d3628b210a5db273" title="Set the pose of the frustum.">SetPose</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3d</a> &amp;_pose);</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keyword">private</span>: <span class="keywordtype">void</span> ComputePlanes();</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    GZ_UTILS_IMPL_PTR(dataPtr)</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  };</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  }  <span class="comment">// GZ_MATH_VERSION_NAMESPACE</span></div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_FRUSTUM_HH_</span></div>
+</div><!-- fragment --></div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/gz_2math_2GaussMarkovProcess_8hh_source.html b/api/math/7/gz_2math_2GaussMarkovProcess_8hh_source.html
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+++ b/api/math/7/gz_2math_2GaussMarkovProcess_8hh_source.html
@@ -210,3 +210,22 @@ <h2>API Reference</h2>
     </main>
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+v class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
+<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1GaussMarkovProcess.html#a1ab0e92688aad39d42465d6022f6a327">   91</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1GaussMarkovProcess.html#a1ab0e92688aad39d42465d6022f6a327" title="Get the sigma ( ) value.">Sigma</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
+<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1GaussMarkovProcess.html#a372de693ad40b3f42839c8ec6ac845f4">   95</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1GaussMarkovProcess.html#a372de693ad40b3f42839c8ec6ac845f4" title="Reset the process. This will set the current process value to the start value.">Reset</a>();</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
+<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1GaussMarkovProcess.html#a2cd2ebd57b12698b5ebe8cab3711b5ac">  125</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1GaussMarkovProcess.html#a2cd2ebd57b12698b5ebe8cab3711b5ac" title="Update the process and get the new value.">Update</a>(<span class="keyword">const</span> clock::duration &amp;_dt);</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
+<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1GaussMarkovProcess.html#a11e79c79a8f7254e6760f9fa9f2be99b">  127</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1GaussMarkovProcess.html#a11e79c79a8f7254e6760f9fa9f2be99b">Update</a>(<span class="keywordtype">double</span> _dt);</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    GZ_UTILS_IMPL_PTR(dataPtr)</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  };</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_GAUSSMARKOVPROCESS_HH_</span></div>
+</div><!-- fragment --></div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/gz_2math_2Helpers_8hh_source.html b/api/math/7/gz_2math_2Helpers_8hh_source.html
index 64f1c0442..651c0a68c 100644
--- a/api/math/7/gz_2math_2Helpers_8hh_source.html
+++ b/api/math/7/gz_2math_2Helpers_8hh_source.html
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+<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a2cd7bce674b799c33d73dbcc5ce7780">  194</a></span>&#160;  static const uint32_t <a class="code" href="namespacegz_1_1math.html#a2cd7bce674b799c33d73dbcc15ce7780" title="32bit unsigned integer maximum value">MAX_UI32</a> = <a class="code" href="namespacestd.html" title="STL namespace.">std</a>::numeric_limits&lt;uint32_t&gt;::<a class="code" href="namespacegz_1_1math.html#a9df31e7b118f95ac3dd38d1adb0127fa" title="Get the maximum value of vector of values.">max</a>();</div>
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 <div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160; </div>
@@ -397,13 +397,13 @@ <h2>API Reference</h2>
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+<div class="line"><a name="l00379"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a9df31e7b118f95ac3dd38d1adb0127fa">  379</a></span>&#160;  <span class="keyword">inline</span> T <a class="code" href="namespacegz_1_1math.html#a9df31e7b118f95ac3dd38d1adb0127fa" title="Get the maximum value of vector of values.">max</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;T&gt;</a> &amp;_values)</div>
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+<div class="line"><a name="l00388"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a534f4fdec977719c6d87bcb71a944112">  388</a></span>&#160;  <span class="keyword">inline</span> T <a class="code" href="namespacegz_1_1math.html#a534f4fdec977719c6d87bcb71a944112" title="Get the minimum value of vector of values.">min</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;T&gt;</a> &amp;_values)</div>
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@@ -456,7 +456,7 @@ <h2>API Reference</h2>
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+<div class="line"><a name="l00475"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a3cdd8fcd712198d74d90ea8e6edb7594">  475</a></span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="namespacegz_1_1math.html#a3cdd8fcd712198d74d90ea8e6edb7594" title="Append a number to a stream. Makes sure &quot;-0&quot; is returned as &quot;0&quot;.">appendToStream</a>(<a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html">std::ostream</a> &amp;_out, T _number)</div>
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@@ -469,7 +469,7 @@ <h2>API Reference</h2>
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+<div class="line"><a name="l00553"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#afcc4ec768a093731c02659ccbce06cdb">  553</a></span>&#160;  <span class="keywordtype">int</span> GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#afcc4ec768a093731c02659ccbce06cdb" title="Parse string into an integer.">parseInt</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_input);</div>
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-<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;  <span class="keywordtype">double</span> GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#ab8fd3e49d14b109a8b627a8a5cf9e7f5" title="parse string into float.">parseFloat</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> &amp;_input);</div>
+<div class="line"><a name="l00559"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#ab8fd3e49d14b109a8b627a8a5cf9e7f5">  559</a></span>&#160;  <span class="keywordtype">double</span> GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#ab8fd3e49d14b109a8b627a8a5cf9e7f5" title="parse string into float.">parseFloat</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_input);</div>
 <div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160; </div>
-<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;  <a class="codeRef" href="http://en.cppreference.com/w/cpp/utility/pair.html">std::pair&lt;int64_t, int64_t&gt;</a> GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#a8bace924313e9cf764135f9be638c7fb" title="Convert a std::chrono::steady_clock::time_point to a seconds and nanoseconds pair.">timePointToSecNsec</a>(</div>
+<div class="line"><a name="l00566"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a8bace924313e9cf764135f9be638c7fb">  566</a></span>&#160;  <a class="codeRef" href="http://en.cppreference.com/w/cpp/utility/pair.html">std::pair&lt;int64_t, int64_t&gt;</a> GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#a8bace924313e9cf764135f9be638c7fb" title="Convert a std::chrono::steady_clock::time_point to a seconds and nanoseconds pair.">timePointToSecNsec</a>(</div>
 <div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;      <span class="keyword">const</span> std::chrono::steady_clock::time_point &amp;_time);</div>
 <div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160; </div>
 <div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;  std::chrono::steady_clock::time_point GZ_MATH_VISIBLE</div>
-<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;    <a class="code" href="namespacegz_1_1math.html#a34e32893d71d300ff901be6370c31fd5" title="Convert seconds and nanoseconds to std::chrono::steady_clock::time_point.">secNsecToTimePoint</a>(</div>
+<div class="line"><a name="l00576"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a34e32893d71d300ff901be6370c31fd5">  576</a></span>&#160;    <a class="code" href="namespacegz_1_1math.html#a34e32893d71d300ff901be6370c31fd5" title="Convert seconds and nanoseconds to std::chrono::steady_clock::time_point.">secNsecToTimePoint</a>(</div>
 <div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;      <span class="keyword">const</span> uint64_t &amp;_sec, <span class="keyword">const</span> uint64_t &amp;_nanosec);</div>
 <div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160; </div>
-<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;  std::chrono::steady_clock::duration GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#a68854c8268e516eabcaafb8e60c36e18" title="Convert seconds and nanoseconds to std::chrono::steady_clock::duration.">secNsecToDuration</a>(</div>
+<div class="line"><a name="l00585"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a68854c8268e516eabcaafb8e60c36e18">  585</a></span>&#160;  std::chrono::steady_clock::duration GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#a68854c8268e516eabcaafb8e60c36e18" title="Convert seconds and nanoseconds to std::chrono::steady_clock::duration.">secNsecToDuration</a>(</div>
 <div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;      <span class="keyword">const</span> uint64_t &amp;_sec, <span class="keyword">const</span> uint64_t &amp;_nanosec);</div>
 <div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160; </div>
-<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;  <a class="codeRef" href="http://en.cppreference.com/w/cpp/utility/pair.html">std::pair&lt;int64_t, int64_t&gt;</a> GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#a2b3cc01e99dcb9a04aa373eabfb34ce6" title="Convert a std::chrono::steady_clock::duration to a seconds and nanoseconds pair.">durationToSecNsec</a>(</div>
+<div class="line"><a name="l00593"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a2b3cc01e99dcb9a04aa373eabfb34ce6">  593</a></span>&#160;  <a class="codeRef" href="http://en.cppreference.com/w/cpp/utility/pair.html">std::pair&lt;int64_t, int64_t&gt;</a> GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#a2b3cc01e99dcb9a04aa373eabfb34ce6" title="Convert a std::chrono::steady_clock::duration to a seconds and nanoseconds pair.">durationToSecNsec</a>(</div>
 <div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;      <span class="keyword">const</span> std::chrono::steady_clock::duration &amp;_dur);</div>
 <div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160; </div>
 <div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;  <span class="comment">// TODO(anyone): Replace this with std::chrono::days.</span></div>
@@ -542,30 +542,30 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;    <span class="keywordflow">return</span> retval;</div>
 <div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;  }</div>
 <div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160; </div>
-<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;  <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#a7bc49d0124434d54460bc36e08f80573" title="Convert a std::chrono::steady_clock::time_point to a string.">timePointToString</a>(</div>
+<div class="line"><a name="l00622"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a7bc49d0124434d54460bc36e08f80573">  622</a></span>&#160;  <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#a7bc49d0124434d54460bc36e08f80573" title="Convert a std::chrono::steady_clock::time_point to a string.">timePointToString</a>(</div>
 <div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;      <span class="keyword">const</span> std::chrono::steady_clock::time_point &amp;_point);</div>
 <div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160; </div>
-<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;  <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#a141ac651d0331d6e5d8e9ec6dc497ba0" title="Convert a std::chrono::steady_clock::duration to a string.">durationToString</a>(</div>
+<div class="line"><a name="l00628"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a141ac651d0331d6e5d8e9ec6dc497ba0">  628</a></span>&#160;  <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#a141ac651d0331d6e5d8e9ec6dc497ba0" title="Convert a std::chrono::steady_clock::duration to a string.">durationToString</a>(</div>
 <div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;      <span class="keyword">const</span> std::chrono::steady_clock::duration &amp;_duration);</div>
 <div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160; </div>
-<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;  <span class="keywordtype">bool</span> GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#af84e0509847039bf734820c1f1f6a652" title="Split a std::chrono::steady_clock::duration to a string.">splitTimeBasedOnTimeRegex</a>(</div>
-<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;      <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> &amp;_timeString,</div>
+<div class="line"><a name="l00639"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#af84e0509847039bf734820c1f1f6a652">  639</a></span>&#160;  <span class="keywordtype">bool</span> GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#af84e0509847039bf734820c1f1f6a652" title="Split a std::chrono::steady_clock::duration to a string.">splitTimeBasedOnTimeRegex</a>(</div>
+<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;      <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_timeString,</div>
 <div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;      uint64_t &amp; numberDays, uint64_t &amp; numberHours,</div>
 <div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;      uint64_t &amp; numberMinutes, uint64_t &amp; numberSeconds,</div>
 <div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;      uint64_t &amp; numberMilliseconds);</div>
 <div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160; </div>
-<div class="line"><a name="l00649"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#adc6bd1106e08b0270017fb670cd60dfb">  649</a></span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacegz_1_1math.html#adc6bd1106e08b0270017fb670cd60dfb" title="Check if the given string represents a time. An example time string is &quot;0 00:00:00....">isTimeString</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> &amp;_timeString)</div>
+<div class="line"><a name="l00649"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#adc6bd1106e08b0270017fb670cd60dfb">  649</a></span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacegz_1_1math.html#adc6bd1106e08b0270017fb670cd60dfb" title="Check if the given string represents a time. An example time string is &quot;0 00:00:00....">isTimeString</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_timeString)</div>
 <div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;  {</div>
 <div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;    <span class="comment">// These will be thrown away, just for making the function call</span></div>
 <div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;    uint64_t d, h, m, s, ms;</div>
 <div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="namespacegz_1_1math.html#af84e0509847039bf734820c1f1f6a652" title="Split a std::chrono::steady_clock::duration to a string.">splitTimeBasedOnTimeRegex</a>(_timeString, d, h, m, s, ms);</div>
 <div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;  }</div>
 <div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160; </div>
-<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;  std::chrono::steady_clock::duration GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#abb359a10db4f43b520bbb839180e1d58" title="Convert a string to a std::chrono::steady_clock::duration.">stringToDuration</a>(</div>
-<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;      <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> &amp;_timeString);</div>
+<div class="line"><a name="l00662"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#abb359a10db4f43b520bbb839180e1d58">  662</a></span>&#160;  std::chrono::steady_clock::duration GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#abb359a10db4f43b520bbb839180e1d58" title="Convert a string to a std::chrono::steady_clock::duration.">stringToDuration</a>(</div>
+<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;      <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_timeString);</div>
 <div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160; </div>
 <div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;  std::chrono::steady_clock::time_point</div>
-<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;  GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#ad004abbb4466232be974d7f8f3861007" title="Convert a string to a std::chrono::steady_clock::time_point.">stringToTimePoint</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> &amp;_timeString);</div>
+<div class="line"><a name="l00672"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#ad004abbb4466232be974d7f8f3861007">  672</a></span>&#160;  GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#ad004abbb4466232be974d7f8f3861007" title="Convert a string to a std::chrono::steady_clock::time_point.">stringToTimePoint</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_timeString);</div>
 <div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160; </div>
 <div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;  <span class="comment">// Degrade precision on Windows, which cannot handle &#39;long double&#39;</span></div>
 <div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;  <span class="comment">// values properly. See the implementation of Unpair.</span></div>
@@ -579,10 +579,7 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00683"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a03a567d33c16012ee3671f757d253bd6">  683</a></span>&#160;  <span class="keyword">using</span> <a class="code" href="namespacegz_1_1math.html#a03a567d33c16012ee3671f757d253bd6">PairOutput</a> = uint64_t;</div>
 <div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;<span class="preprocessor">#endif</span></div>
 <div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160; </div>
-<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;  <a class="code" href="namespacegz_1_1math.html#a03a567d33c16012ee3671f757d253bd6">PairOutput</a> GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#a7ee1f9a41ea08bddee460cb77865ab8d" title="A pairing function that maps two values to a unique third value. This is an implementation of Szudzik...">Pair</a>(</div>
-<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;      <span class="keyword">const</span> <a class="code" href="namespacegz_1_1math.html#ab6be3ef5e4b7edb37a8c06015bcf4544">PairInput</a> _a, <span class="keyword">const</span> <a class="code" href="namespacegz_1_1math.html#ab6be3ef5e4b7edb37a8c06015bcf4544">PairInput</a> _b);</div>
-<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160; </div>
-<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;  <a class="codeRef" href="http://en.cppreference.com/w/cpp/utility/tuple.html">std::tuple&lt;PairInput, PairInput&gt;</a> GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#a26e5ded8e5350d3283f71fb24fe63896" title="The reverse of the Pair function. Accepts a key, produced from the Pair function, and returns a tuple...">Unpair</a>(</div>
+<div class="line"><a name="l00695"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a7ee1f9a41ea08bddee460cb77865ab8d">  695</a></span>&#160;  <a class="code" href="namespacegz_1_1math.html#a03a567d33c16012ee3671f757d253bd6">PairOutput</a> GZ_MATH_VISIBLE <a class="code" href="namespacegz_1_1math.html#a7ee1f9a41ea08bddee460cb77865ab8d" title="A pairing function that maps two values to a unique third value. This is an implementation of Szudzik" title="The reverse of the Pair function. Accepts a key, produced from the Pair function, and returns a tuple...">Unpair</a>(</div>
 <div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;      <span class="keyword">const</span> <a class="code" href="namespacegz_1_1math.html#a03a567d33c16012ee3671f757d253bd6">PairOutput</a> _key);</div>
 <div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
 <div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
diff --git a/api/math/7/gz_2math_2Inertial_8hh_source.html b/api/math/7/gz_2math_2Inertial_8hh_source.html
index a601ef947..578c03855 100644
--- a/api/math/7/gz_2math_2Inertial_8hh_source.html
+++ b/api/math/7/gz_2math_2Inertial_8hh_source.html
@@ -279,6 +279,7 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;                          _q.<a class="code" href="classgz_1_1math_1_1Quaternion.html#a724dd60575e5faeb80563af1710c0c0e" title="Get the inverse of this quaternion.">Inverse</a>();</div>
 <div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> moments = this-&gt;MassMatrix().PrincipalMoments(_tol);</div>
 <div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> diag = <a class="code" href="classgz_1_1math_1_1Matrix3.html" title="A 3x3 matrix class.">Matrix3&lt;T&gt;</a>(</div>
+<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;     50</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> diag = <a class="code" href="classgz_1_1math_1_1Matrix3.html" title="A 3x3 matrix class.">Matrix3&lt;T&gt;</a>(</div>
 <div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;          moments[0], 0, 0,</div>
 <div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;          0, moments[1], 0,</div>
 <div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;          0, 0, moments[2]);</div>
@@ -286,7 +287,7 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      <span class="keywordflow">return</span> this-&gt;massMatrix.SetMoi(R * diag * R.Transposed());</div>
 <div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    }</div>
 <div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
-<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Inertial.html" title="The Inertial object provides a representation for the mass and inertia matrix of a body B....">Inertial</a> &amp;operator=(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Inertial.html" title="The Inertial object provides a representation for the mass and inertia matrix of a body B....">Inertial&lt;T&gt;</a> &amp;_inertial) = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Inertial.html#ad4e7a64892738f27850117670a51adde">  261</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Inertial.html" title="The Inertial object provides a representation for the mass and inertia matrix of a body B....">Inertial</a> &amp;<a class="code" href="classgz_1_1math_1_1Inertial.html#ad4e7a64892738f27850117670a51adde" title="Equal operator.">operator=</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Inertial.html" title="The Inertial object provides a representation for the mass and inertia matrix of a body B....">Inertial&lt;T&gt;</a> &amp;_inertial) = <span class="keywordflow">default</span>;</div>
 <div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
 <div class="line"><a name="l00267"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Inertial.html#a334f1042f4a1f01b72cc9745a74ba0f7">  267</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">bool</span> <a class="code" href="classgz_1_1math_1_1Inertial.html#a334f1042f4a1f01b72cc9745a74ba0f7" title="Equality comparison operator.">operator==</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Inertial.html" title="The Inertial object provides a representation for the mass and inertia matrix of a body B....">Inertial&lt;T&gt;</a> &amp;_inertial)<span class="keyword"> const</span></div>
 <div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;<span class="keyword">    </span>{</div>
@@ -428,14 +429,6 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00432"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a78f2a0d12bdb9e27b9c9f5aac4c18a81">  432</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classgz_1_1math_1_1Inertial.html" title="The Inertial object provides a representation for the mass and inertia matrix of a body B....">Inertial&lt;float&gt;</a> <a class="code" href="namespacegz_1_1math.html#a78f2a0d12bdb9e27b9c9f5aac4c18a81">Inertialf</a>;</div>
 <div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
 <div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
-<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;<span class="preprocessor">#endif  // GZ_MATH_INERTIAL_HH_</span></div>
-</div><!-- fragment --></div><!-- contents -->
-      </div>
-    </main>
-  </div>
-</body>
-33"></a><span class="lineno">  433</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
-<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
 <div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_INERTIAL_HH_</span></div>
 </div><!-- fragment --></div><!-- contents -->
       </div>
diff --git a/api/math/7/gz_2math_2Interval_8hh_source.html b/api/math/7/gz_2math_2Interval_8hh_source.html
index 0bb4010c7..c867812ac 100644
--- a/api/math/7/gz_2math_2Interval_8hh_source.html
+++ b/api/math/7/gz_2math_2Interval_8hh_source.html
@@ -375,3 +375,8 @@ <h2>API Reference</h2>
     </main>
   </div>
 </body>
+
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/gz_2math_2Kmeans_8hh_source.html b/api/math/7/gz_2math_2Kmeans_8hh_source.html
index e5421822c..156d3d268 100644
--- a/api/math/7/gz_2math_2Kmeans_8hh_source.html
+++ b/api/math/7/gz_2math_2Kmeans_8hh_source.html
@@ -200,3 +200,14 @@ <h2>API Reference</h2>
     </main>
   </div>
 </body>
+class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    GZ_UTILS_IMPL_PTR(dataPtr)</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  };</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_KMEANS_HH_</span></div>
+</div><!-- fragment --></div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/gz_2math_2MassMatrix3_8hh_source.html b/api/math/7/gz_2math_2MassMatrix3_8hh_source.html
index 125899864..0d9f40467 100644
--- a/api/math/7/gz_2math_2MassMatrix3_8hh_source.html
+++ b/api/math/7/gz_2math_2MassMatrix3_8hh_source.html
@@ -329,6 +329,7 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1MassMatrix3.html#a436addfcbbddd2969edab347c21b997e">  264</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">bool</span> <a class="code" href="classgz_1_1math_1_1MassMatrix3.html#a436addfcbbddd2969edab347c21b997e" title="Equality comparison operator.">operator==</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1MassMatrix3.html" title="A class for inertial information about a rigid body consisting of the scalar mass and a 3x3 symmetric...">MassMatrix3&lt;T&gt;</a> &amp;_m)<span class="keyword"> const</span></div>
 <div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;<span class="keyword">    </span>{</div>
 <div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      <span class="keywordflow">return</span> equal&lt;T&gt;(this-&gt;mass, _m.<a class="code" href="classgz_1_1math_1_1MassMatrix3.html#a734cafaaadd4059ab51680b416ad8937" title="Get the mass.">Mass</a>()) &amp;&amp;</div>
+<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;             (this-&gt;Ixxyyzz == _m.<a class="code" href=(this-&gt;mass, _m.<a class="code" href="classgz_1_1math_1_1MassMatrix3.html#a734cafaaadd4059ab51680b416ad8937" title="Get the mass.">Mass</a>()) &amp;&amp;</div>
 <div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;             (this-&gt;Ixxyyzz == _m.<a class="code" href="classgz_1_1math_1_1MassMatrix3.html#a618a1b2389b4a64b3273de02d9e2a7bf" title="Get the diagonal moments of inertia (Ixx, Iyy, Izz).">DiagonalMoments</a>()) &amp;&amp;</div>
 <div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;             (this-&gt;Ixyxzyz == _m.<a class="code" href="classgz_1_1math_1_1MassMatrix3.html#ad07cf971a564ddf46aa5177a534df587" title="Get the off-diagonal moments of inertia (Ixy, Ixz, Iyz).">OffDiagonalMoments</a>());</div>
 <div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    }</div>
@@ -475,7 +476,7 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3&lt;T&gt;</a>(moment0, moment1, moment2);</div>
 <div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;    }</div>
 <div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160; </div>
-<div class="line"><a name="l00535"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1MassMatrix3.html#a2f5873ac88cab23f7391e6c34eb79730">  535</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt;T&gt;</a> <a class="code" href="classgz_1_1math_1_1MassMatrix3.html#a2f5873ac88cab23f7391e6c34eb79730" title="Compute rotational offset of principal axes.">PrincipalAxesOffset</a>(<span class="keyword">const</span> T _tol = 1e-6)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00535"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1MassMatrix3.html#a2f5873ac88cab23f7391e6c34eb79730">  535</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> <a class="code" href="classgz_1_1math_1_1MassMatrix3.html#a2f5873ac88cab23f7391e6c34eb79730" title="Compute rotational offset of principal axes.">PrincipalAxesOffset</a>(<span class="keyword">const</span> T _tol = 1e-6)<span class="keyword"> const</span></div>
 <div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;<span class="keyword">    </span>{</div>
 <div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;      <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3&lt;T&gt;</a> moments = this-&gt;PrincipalMoments(_tol);</div>
 <div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;      <span class="comment">// Compute tolerance relative to maximum value of inertia diagonal</span></div>
@@ -602,7 +603,7 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;        }</div>
 <div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160; </div>
 <div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;        <span class="comment">// I determined these arguments using trial and error</span></div>
-<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;        <a class="code" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt;T&gt;</a> result = <a class="code" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt;T&gt;</a>(-phi1, -phi2, -phi3).<a class="code" href="classgz_1_1math_1_1Quaternion.html#a724dd60575e5faeb80563af1710c0c0e" title="Get the inverse of this quaternion.">Inverse</a>();</div>
+<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;        <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> result = <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a>(-phi1, -phi2, -phi3).<a class="code" href="classgz_1_1math_1_1Quaternion.html#a724dd60575e5faeb80563af1710c0c0e" title="Get the inverse of this quaternion.">Inverse</a>();</div>
 <div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160; </div>
 <div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;        <span class="comment">// Previous equations assume repeated moments are at the beginning</span></div>
 <div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;        <span class="comment">// of the moments vector (moments[0] == moments[1]).</span></div>
@@ -615,7 +616,7 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;        <span class="comment">//                   [-1  0  0]</span></div>
 <div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;        <span class="comment">// That is equivalent to a 90 degree pitch</span></div>
 <div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;        <span class="keywordflow">if</span> (unequalMoment == 0)</div>
-<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;          result *= <a class="code" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt;T&gt;</a>(0, <a class="code" href="gz_2math_2Helpers_8hh.html#aa2bdfee89d3492a2a8cb8772cf5aebc3">GZ_PI_2</a>, 0);</div>
+<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;          result *= <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a>(0, <a class="code" href="gz_2math_2Helpers_8hh.html#aa2bdfee89d3492a2a8cb8772cf5aebc3">GZ_PI_2</a>, 0);</div>
 <div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160; </div>
 <div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;        <span class="keywordflow">return</span> result;</div>
 <div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;      }</div>
@@ -648,11 +649,7 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;      T phi3 = acos(clamp&lt;T&gt;(ClampedSqrt(w), -1, 1));</div>
 <div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160; </div>
 <div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;      <span class="comment">// compute g1, g2 for phi2,phi3 &gt;= 0</span></div>
-<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;      <span class="comment">// equations 5.7, 5.8</span></div>
-<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;      <a class="code" href="classgz_1_1math_1_1Vector2.html" title="Two dimensional (x, y) vector.">Vector2&lt;T&gt;</a> g1(</div>
-<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;        0.5* (moments[0]-moments[1])*ClampedSqrt(v)*sin(2*phi3),</div>
-<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;        0.5*((moments[0]-moments[1])*w + moments[1]-moments[2])*sin(2*phi2));</div>
-<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;      <a class="code" href="classgz_1_1math_1_1Vector2.html" title="Two dimensional (x, y) vector.">Vector2&lt;T&gt;</a> g2(</div>
+<div 12"></a><span class="lineno">  712</span>&#160;      <a class="code" href="classgz_1_1math_1_1Vector2.html" title="Two dimensional (x, y) vector.">Vector2&lt;T&gt;</a> g2(</div>
 <div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;        (moments[0]-moments[1])*(1 + (v-2)*w) + (moments[1]-moments[2])*v,</div>
 <div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;        (moments[0]-moments[1])*sin(phi2)*sin(2*phi3));</div>
 <div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160; </div>
diff --git a/api/math/7/gz_2math_2MaterialType_8hh.html b/api/math/7/gz_2math_2MaterialType_8hh.html
index f522401eb..918b26b82 100644
--- a/api/math/7/gz_2math_2MaterialType_8hh.html
+++ b/api/math/7/gz_2math_2MaterialType_8hh.html
@@ -188,3 +188,4 @@ <h2>API Reference</h2>
     </main>
   </div>
 </body>
+ody>
diff --git a/api/math/7/gz_2math_2Material_8hh_source.html b/api/math/7/gz_2math_2Material_8hh_source.html
index d01b39082..b12a06d56 100644
--- a/api/math/7/gz_2math_2Material_8hh_source.html
+++ b/api/math/7/gz_2math_2Material_8hh_source.html
@@ -217,3 +217,21 @@ <h2>API Reference</h2>
     </main>
   </div>
 </body>
+>public</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> <a class="code" href="classgz_1_1math_1_1Material.html#a41087c5f2f732f7a2f336b45b952f199" title="Get the name of the material. This will match the enum type names used in MaterialType,...">Name</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
+<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Material.html#a1233a88584929349157ec04ca3d389e3">  124</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1Material.html#a1233a88584929349157ec04ca3d389e3" title="Set the name of the material.">SetName</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_name);</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
+<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Material.html#a6629bcd3b06c396540c2d5b7e4852164">  128</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1Material.html#a6629bcd3b06c396540c2d5b7e4852164" title="Get the density value of the material in kg/m^3.">Density</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
+<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Material.html#a22f9b61c9086d72bdf945efb24fbf485">  132</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1Material.html#a22f9b61c9086d72bdf945efb24fbf485" title="Set the density value of the material in kg/m^3.">SetDensity</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> _density);</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    GZ_UTILS_IMPL_PTR(dataPtr)</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  };</div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_MATERIAL_HH_</span></div>
+</div><!-- fragment --></div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/gz_2math_2MecanumDriveOdometry_8hh_source.html b/api/math/7/gz_2math_2MecanumDriveOdometry_8hh_source.html
index cd73b9529..5d066d162 100644
--- a/api/math/7/gz_2math_2MecanumDriveOdometry_8hh_source.html
+++ b/api/math/7/gz_2math_2MecanumDriveOdometry_8hh_source.html
@@ -237,3 +237,29 @@ <h2>API Reference</h2>
     </main>
   </div>
 </body>
+ne"><a name="l00125"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1MecanumDriveOdometry.html#a74202bb58762905d583b919bd28dc37d">  125</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1MecanumDriveOdometry.html#a74202bb58762905d583b919bd28dc37d" title="Get the wheel base.">WheelBase</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
+<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1MecanumDriveOdometry.html#ac981da31250c6bf62c61bea1c6fae566">  129</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1MecanumDriveOdometry.html#ac981da31250c6bf62c61bea1c6fae566" title="Get the left wheel radius.">LeftWheelRadius</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
+<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1MecanumDriveOdometry.html#a45e7714c68df4d766bb8c02eadef107d">  133</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1MecanumDriveOdometry.html#a45e7714c68df4d766bb8c02eadef107d" title="Get the rightwheel radius.">RightWheelRadius</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="preprocessor">#ifdef _WIN32</span></div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="comment">// Disable warning C4251 which is triggered by</span></div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="comment">// std::unique_ptr</span></div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="preprocessor">#pragma warning(push)</span></div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="preprocessor">#pragma warning(disable: 4251)</span></div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keyword">private</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/memory/unique_ptr.html">std::unique_ptr&lt;MecanumDriveOdometryPrivate&gt;</a> dataPtr;</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="preprocessor">#ifdef _WIN32</span></div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="preprocessor">#pragma warning(pop)</span></div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  };</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_MECANUMDRIVEODOMETRY_HH_</span></div>
+</div><!-- fragment --></div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/gz_2math_2MovingWindowFilter_8hh_source.html b/api/math/7/gz_2math_2MovingWindowFilter_8hh_source.html
index 83e755fac..7eb2a95f7 100644
--- a/api/math/7/gz_2math_2MovingWindowFilter_8hh_source.html
+++ b/api/math/7/gz_2math_2MovingWindowFilter_8hh_source.html
@@ -219,3 +219,13 @@ <h2>API Reference</h2>
     </main>
   </div>
 </body>
+ter in the Gazebo Comm...">MovingWindowFilter&lt;Vector3f&gt;</a>;</div>
+<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a3e2fa1c0f64b725c858af7686212a00c">   89</a></span>&#160;  <span class="keyword">using</span> <a class="code" href="classgz_1_1math_1_1MovingWindowFilter.html" title="Base class for MovingWindowFilter. This replaces the version of MovingWindowFilter in the Gazebo Comm...">MovingWindowFilterVector3d</a> = <a class="code" href="classgz_1_1math_1_1MovingWindowFilter.html" title="Base class for MovingWindowFilter. This replaces the version of MovingWindowFilter in the Gazebo Comm...">MovingWindowFilter&lt;Vector3d&gt;</a>;</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_MOVINGWINDOWFILTER_HH_</span></div>
+</div><!-- fragment --></div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/gz_2math_2OrientedBox_8hh_source.html b/api/math/7/gz_2math_2OrientedBox_8hh_source.html
index a8d06071d..03b4359a9 100644
--- a/api/math/7/gz_2math_2OrientedBox_8hh_source.html
+++ b/api/math/7/gz_2math_2OrientedBox_8hh_source.html
@@ -240,12 +240,12 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      this-&gt;size = _size.<a class="code" href="classgz_1_1math_1_1Vector3.html#acb7337253c6a7a7f7cdd63fba169cdb3" title="Get the absolute value of the vector.">Abs</a>();</div>
 <div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    }</div>
 <div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
-<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1OrientedBox.html#a4a72b5cd4ceefc2536e4731ffdac71b8">  135</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1OrientedBox.html#a4a72b5cd4ceefc2536e4731ffdac71b8" title="Set the box pose.">Pose</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3&lt;T&gt;</a> &amp;_pose)</div>
+<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1OrientedBox.html#a4a72b5cd4ceefc2536e4731ffdac71b8">  135</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1OrientedBox.html#a4a72b5cd4ceefc2536e4731ffdac71b8" title="Set the box pose.">Pose</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represen<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3&lt;T&gt;</a> &amp;_pose)</div>
 <div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    {</div>
 <div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      this-&gt;pose = _pose;</div>
 <div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    }</div>
 <div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
-<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1OrientedBox.html" title="Mathematical representation of a box which can be arbitrarily positioned and rotated.">OrientedBox</a> &amp;operator=(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1OrientedBox.html" title="Mathematical representation of a box which can be arbitrarily positioned and rotated.">OrientedBox&lt;T&gt;</a> &amp;_b) = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1OrientedBox.html#abb5f01552bb5c6525d15c0923a2a2874">  143</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1OrientedBox.html" title="Mathematical representation of a box which can be arbitrarily positioned and rotated.">OrientedBox</a> &amp;<a class="code" href="classgz_1_1math_1_1OrientedBox.html#abb5f01552bb5c6525d15c0923a2a2874" title="Assignment operator. Set this box to the parameter.">operator=</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1OrientedBox.html" title="Mathematical representation of a box which can be arbitrarily positioned and rotated.">OrientedBox&lt;T&gt;</a> &amp;_b) = <span class="keywordflow">default</span>;</div>
 <div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
 <div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1OrientedBox.html#a1d18950edf6d820860b0fc448d9aec20">  148</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">bool</span> <a class="code" href="classgz_1_1math_1_1OrientedBox.html#a1d18950edf6d820860b0fc448d9aec20" title="Equality test operator.">operator==</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1OrientedBox.html" title="Mathematical representation of a box which can be arbitrarily positioned and rotated.">OrientedBox&lt;T&gt;</a> &amp;_b)<span class="keyword"> const</span></div>
 <div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="keyword">    </span>{</div>
@@ -259,11 +259,11 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;             this-&gt;material != _b.material;</div>
 <div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    }</div>
 <div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
-<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1OrientedBox.html#ac30ad680bda09a0feee03343243e6978">  167</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">friend</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html" title="STL class.">std::ostream</a> &amp;<a class="code" href="classgz_1_1math_1_1OrientedBox.html#ac30ad680bda09a0feee03343243e6978" title="Output operator.">operator&lt;&lt;</a>(<a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html" title="STL class.">std::ostream</a> &amp;_out,</div>
+<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1OrientedBox.html#ac30ad680bda09a0feee03343243e6978">  167</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">friend</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html">std::ostream</a> &amp;<a class="code" href="classgz_1_1math_1_1OrientedBox.html#ac30ad680bda09a0feee03343243e6978" title="Output operator.">operator&lt;&lt;</a>(<a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html">std::ostream</a> &amp;_out,</div>
 <div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;                                            <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1OrientedBox.html" title="Mathematical representation of a box which can be arbitrarily positioned and rotated.">OrientedBox&lt;T&gt;</a> &amp;_b)</div>
 <div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    {</div>
 <div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      _out &lt;&lt; <span class="stringliteral">&quot;Size[&quot;</span> &lt;&lt; _b.<a class="code" href="classgz_1_1math_1_1OrientedBox.html#aefe6806085f25b72df09e2a7b79f613b" title="Get the size of the box.">Size</a>() &lt;&lt; <span class="stringliteral">&quot;] Pose[&quot;</span> &lt;&lt; _b.<a class="code" href="classgz_1_1math_1_1OrientedBox.html#a6f9c21507edfe5a71c5fc9a182248080" title="Get the box pose, which is the pose of its center.">Pose</a>() &lt;&lt; <span class="stringliteral">&quot;] &quot;</span></div>
-<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        &lt;&lt; <span class="stringliteral">&quot;Material[&quot;</span> &lt;&lt; _b.<a class="code" href="classgz_1_1math_1_1OrientedBox.html#ae9295e3155890661d22658dc640b8bdd" title="Get the material associated with this box.">Material</a>().Name() &lt;&lt; <span class="stringliteral">&quot;]&quot;</span>;</div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        &lt;&lt; <span class="stringliteral">&quot;Material[&quot;</span> &lt;&lt; _b.<a class="code" href="classgz_1_1math_1_1OrientedBox.html#ae9295e3155890661d22658dc640b8bdd" title="Get the material associated with this box.">Material</a>().<a class="code" href="classgz_1_1math_1_1Material.html#a41087c5f2f732f7a2f336b45b952f199" title="Get the name of the material. This will match the enum type names used in MaterialType,...">Name</a>() &lt;&lt; <span class="stringliteral">&quot;]&quot;</span>;</div>
 <div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keywordflow">return</span> _out;</div>
 <div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    }</div>
 <div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
@@ -325,14 +325,6 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a6a1864f46addca74efd4069379b68069">  268</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classgz_1_1math_1_1OrientedBox.html" title="Mathematical representation of a box which can be arbitrarily positioned and rotated.">OrientedBox&lt;float&gt;</a> <a class="code" href="namespacegz_1_1math.html#a6a1864f46addca74efd4069379b68069">OrientedBoxf</a>;</div>
 <div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
 <div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
-<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;<span class="preprocessor">#endif  // GZ_MATH_ORIENTEDBOX_HH_</span></div>
-</div><!-- fragment --></div><!-- contents -->
-      </div>
-    </main>
-  </div>
-</body>
-s="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
-<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
 <div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_ORIENTEDBOX_HH_</span></div>
 </div><!-- fragment --></div><!-- contents -->
       </div>
diff --git a/api/math/7/gz_2math_2PID_8hh_source.html b/api/math/7/gz_2math_2PID_8hh_source.html
index 8efc79fe4..595ea1625 100644
--- a/api/math/7/gz_2math_2PID_8hh_source.html
+++ b/api/math/7/gz_2math_2PID_8hh_source.html
@@ -250,3 +250,30 @@ <h2>API Reference</h2>
     </main>
   </div>
 </body>
+f="classgz_1_1math_1_1PID.html#aaed2f588b6ae733b592c3001b7d90576">  154</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1PID.html#aaed2f588b6ae733b592c3001b7d90576" title="Get the offset value for the command.">CmdOffset</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
+<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1PID.html#a7c4b7299470011a1c11b04cda4edb1a5">  167</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1PID.html#a7c4b7299470011a1c11b04cda4edb1a5" title="Update the Pid loop with nonuniform time step size.">Update</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> _error,</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;                          <span class="keywordtype">double</span> _errorRate,</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;                          <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/chrono/duration.html">std::chrono::duration&lt;double&gt;</a> &amp;_dt);</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
+<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1PID.html#a8c474c745fd95ec4303cdbb1678d5fb6">  178</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1PID.html#a8c474c745fd95ec4303cdbb1678d5fb6" title="Update the Pid loop with nonuniform time step size.">Update</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> _error,</div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;                          <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/chrono/duration.html">std::chrono::duration&lt;double&gt;</a> &amp;_dt);</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
+<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1PID.html#a70e065342179fd8ce10acd6142ae0cf0">  183</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1PID.html#a70e065342179fd8ce10acd6142ae0cf0" title="Set current target command for this PID controller.">SetCmd</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> _cmd);</div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
+<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1PID.html#a0c11350f73f593b79318328e89f6769b">  187</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1PID.html#a0c11350f73f593b79318328e89f6769b" title="Return current command for this PID controller.">Cmd</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
+<div class="line"><a name="l00193"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1PID.html#a430ed7ec54811a0bece4d2c4a12df44c">  193</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1PID.html#a430ed7ec54811a0bece4d2c4a12df44c" title="Return PID error terms for the controller.">Errors</a>(<span class="keywordtype">double</span> &amp;_pe, <span class="keywordtype">double</span> &amp;_ie, <span class="keywordtype">double</span> &amp;_de) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
+<div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1PID.html#a372de693ad40b3f42839c8ec6ac845f4">  196</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1PID.html#a372de693ad40b3f42839c8ec6ac845f4" title="Reset the errors and command.">Reset</a>();</div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    GZ_UTILS_IMPL_PTR(dataPtr)</div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  };</div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACEH</span></div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_PID_HH_</span></div>
+</div><!-- fragment --></div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/gz_2math_2PiecewiseScalarField3_8hh_source.html b/api/math/7/gz_2math_2PiecewiseScalarField3_8hh_source.html
index 08e4e75e0..9e2dddb79 100644
--- a/api/math/7/gz_2math_2PiecewiseScalarField3_8hh_source.html
+++ b/api/math/7/gz_2math_2PiecewiseScalarField3_8hh_source.html
@@ -304,3 +304,4 @@ <h2>API Reference</h2>
     </main>
   </div>
 </body>
+dy>
diff --git a/api/math/7/gz_2math_2Plane_8hh_source.html b/api/math/7/gz_2math_2Plane_8hh_source.html
index 6baa0714c..1b74de1da 100644
--- a/api/math/7/gz_2math_2Plane_8hh_source.html
+++ b/api/math/7/gz_2math_2Plane_8hh_source.html
@@ -356,3 +356,11 @@ <h2>API Reference</h2>
     </main>
   </div>
 </body>
+"line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
+<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
+<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_PLANE_HH_</span></div>
+</div><!-- fragment --></div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
diff --git a/api/math/7/gz_2math_2Pose3_8hh.html b/api/math/7/gz_2math_2Pose3_8hh.html
index 513d6bb03..00bb0b57c 100644
--- a/api/math/7/gz_2math_2Pose3_8hh.html
+++ b/api/math/7/gz_2math_2Pose3_8hh.html
@@ -132,7 +132,7 @@ <h2>API Reference</h2>
     </div>
     <main class="mdl-layout__content mdl-color--white">
     <div id="top">
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+<!-- Generated by Doxygen 1.9.1 -->
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   <ul>
 <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_5f70b597a8f3cb7e191c654fdc4ac806.html">gz-math</a></li><li class="navelem"><a class="el" href="dir_078c05cd486cbf4f25c108ac6a855843.html">include</a></li><li class="navelem"><a class="el" href="dir_cb23e0bbad0208f30fc2b464607664c0.html">gz</a></li><li class="navelem"><a class="el" href="dir_0f196ca5b9fd4ac373b7623d3ec837c2.html">math</a></li>  </ul>
@@ -180,3 +180,4 @@ <h2>API Reference</h2>
     </main>
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diff --git a/api/math/7/gz_2math_2Pose3_8hh_source.html b/api/math/7/gz_2math_2Pose3_8hh_source.html
index c95b8dc43..a7ee08518 100644
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+++ b/api/math/7/gz_2math_2Pose3_8hh_source.html
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@@ -176,9 +176,9 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  {</div>
 <div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Pose3.html#a43ba1fd640409a9fea457125f728d7bb">   75</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3&lt;T&gt;</a> &amp;<a class="code" href="classgz_1_1math_1_1Pose3.html#a43ba1fd640409a9fea457125f728d7bb" title="A Pose3 initialized to zero. This is equivalent to math::Pose3&lt;T&gt;(0, 0, 0, 0, 0, 0).">Zero</a>;</div>
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+<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Pose3.html#aed91387b54c220d75daafd2d48047dd3">   79</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Pose3.html#aed91387b54c220d75daafd2d48047dd3" title="Default constructor. This initializes the position component to zero and the quaternion to identity.">Pose3</a>() = <span class="keywordflow">default</span>;</div>
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+<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Pose3.html#adf6179720f0bfc137ea8e267138a0dd0">   84</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Pose3.html#adf6179720f0bfc137ea8e267138a0dd0" title="Create a Pose3 based on a position and rotation.">Pose3</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3&lt;T&gt;</a> &amp;_pos, <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> &amp;_rot)</div>
 <div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    : p(_pos), q(_rot)</div>
 <div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    {</div>
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@@ -193,11 +193,11 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    {</div>
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-<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3&lt;T&gt;</a> &amp;_pose) = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Pose3.html#ae5b189f85590945314db05845936f334">  119</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Pose3.html#ae5b189f85590945314db05845936f334" title="Copy constructor.">Pose3</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3&lt;T&gt;</a> &amp;_pose) = <span class="keywordflow">default</span>;</div>
 <div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
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+<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Pose3.html#afd9622d4d761dc80ed8169f486d250b9">  122</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Pose3.html#afd9622d4d761dc80ed8169f486d250b9" title="Destructor.">~Pose3</a>() = <span class="keywordflow">default</span>;</div>
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+<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Pose3.html#ad36fb4bd467572b0230f959f997cea4d">  127</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1Pose3.html#ad36fb4bd467572b0230f959f997cea4d" title="Set the pose from a Vector3&lt;T&gt; and a Quaternion&lt;T&gt;">Set</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3&lt;T&gt;</a> &amp;_pos, <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> &amp;_rot)</div>
 <div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    {</div>
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 <div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      this-&gt;q = _rot;</div>
@@ -228,7 +228,7 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
 <div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Pose3.html#ae9e598cc9fda620f445ca66eb8124e73">  172</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3&lt;T&gt;</a> <a class="code" href="classgz_1_1math_1_1Pose3.html#ae9e598cc9fda620f445ca66eb8124e73" title="Get the inverse of this pose.">Inverse</a>()<span class="keyword"> const</span></div>
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-<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <a class="code" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt;T&gt;</a> inv = this-&gt;q.<a class="code" href="classgz_1_1math_1_1Quaternion.html#a724dd60575e5faeb80563af1710c0c0e" title="Get the inverse of this quaternion.">Inverse</a>();</div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> inv = this-&gt;q.<a class="code" href="classgz_1_1math_1_1Quaternion.html#a724dd60575e5faeb80563af1710c0c0e" title="Get the inverse of this quaternion.">Inverse</a>();</div>
 <div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3&lt;T&gt;</a>(inv * (this-&gt;p*-1), inv);</div>
 <div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    }</div>
 <div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
@@ -292,11 +292,11 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
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 <div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
-<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3&lt;T&gt;</a> &amp;operator=(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3&lt;T&gt;</a> &amp;_pose) = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Pose3.html#aa2f42447e5ed57eef7e09f5899fcf440">  280</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3&lt;T&gt;</a> &amp;<a class="code" href="classgz_1_1math_1_1Pose3.html#aa2f42447e5ed57eef7e09f5899fcf440" title="Assignment operator.">operator=</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3&lt;T&gt;</a> &amp;_pose) = <span class="keywordflow">default</span>;</div>
 <div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
 <div class="line"><a name="l00285"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Pose3.html#aacfddf9ba77a892073e1886ddb71a644">  285</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3&lt;T&gt;</a> <a class="code" href="classgz_1_1math_1_1Pose3.html#aacfddf9ba77a892073e1886ddb71a644" title="Add one point to a vector: result = this + pos.">CoordPositionAdd</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3&lt;T&gt;</a> &amp;_pos)<span class="keyword"> const</span></div>
 <div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;<span class="keyword">    </span>{</div>
-<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      <a class="code" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt;T&gt;</a> tmp(0.0, _pos.<a class="code" href="classgz_1_1math_1_1Vector3.html#ae6b656e82256821b0ef79462ca0079b8" title="Get the x value.">X</a>(), _pos.<a class="code" href="classgz_1_1math_1_1Vector3.html#aecdad7e976b3ed74a1828eac4d958db6" title="Get the y value.">Y</a>(), _pos.<a class="code" href="classgz_1_1math_1_1Vector3.html#a253c4659f98e0cffd70ae20bbada9c48" title="Get the z value.">Z</a>());</div>
+<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> tmp(0.0, _pos.<a class="code" href="classgz_1_1math_1_1Vector3.html#ae6b656e82256821b0ef79462ca0079b8" title="Get the x value.">X</a>(), _pos.<a class="code" href="classgz_1_1math_1_1Vector3.html#aecdad7e976b3ed74a1828eac4d958db6" title="Get the y value.">Y</a>(), _pos.<a class="code" href="classgz_1_1math_1_1Vector3.html#a253c4659f98e0cffd70ae20bbada9c48" title="Get the z value.">Z</a>());</div>
 <div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
 <div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      <span class="comment">// result = pose.q + pose.q * this-&gt;p * pose.q!</span></div>
 <div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      tmp = this-&gt;q * (tmp * this-&gt;q.<a class="code" href="classgz_1_1math_1_1Quaternion.html#a724dd60575e5faeb80563af1710c0c0e" title="Get the inverse of this quaternion.">Inverse</a>());</div>
@@ -308,11 +308,11 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160; </div>
 <div class="line"><a name="l00300"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Pose3.html#a2a29560e28a216c014bb61efa8fa3b56">  300</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3&lt;T&gt;</a> <a class="code" href="classgz_1_1math_1_1Pose3.html#a2a29560e28a216c014bb61efa8fa3b56" title="Add one pose to another: result = this + pose.">CoordPositionAdd</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3&lt;T&gt;</a> &amp;_pose)<span class="keyword"> const</span></div>
 <div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;<span class="keyword">    </span>{</div>
-<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <a class="code" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt;T&gt;</a> tmp(<span class="keyword">static_cast&lt;</span>T<span class="keyword">&gt;</span>(0),</div>
+<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> tmp(<span class="keyword">static_cast&lt;</span>T<span class="keyword">&gt;</span>(0),</div>
 <div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;          this-&gt;p.X(), this-&gt;p.Y(), this-&gt;p.Z());</div>
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-<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      tmp = _pose.q * (tmp * _pose.q.<a class="code" href="classgz_1_1math_1_1Quaternion.html#a724dd60575e5faeb80563af1710c0c0e" title="Get the inverse of this quaternion.">Inverse</a>());</div>
+<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      tmp = _pose.q * (tmp * _pose.q.Inverse());</div>
 <div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
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 <div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;                        _pose.p.Y() + tmp.<a class="code" href="classgz_1_1math_1_1Quaternion.html#aecdad7e976b3ed74a1828eac4d958db6" title="Get the y component.">Y</a>(),</div>
@@ -321,24 +321,24 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
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 <div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;<span class="keyword">    </span>{</div>
-<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      <a class="code" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt;T&gt;</a> tmp(0,</div>
+<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> tmp(0,</div>
 <div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;          this-&gt;p.X() - _pose.p.X(),</div>
 <div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;          this-&gt;p.Y() - _pose.p.Y(),</div>
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-<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      tmp = _pose.q.<a class="code" href="classgz_1_1math_1_1Quaternion.html#a724dd60575e5faeb80563af1710c0c0e" title="Get the inverse of this quaternion.">Inverse</a>() * (tmp * _pose.q);</div>
+<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      tmp = _pose.q.Inverse() * (tmp * _pose.q);</div>
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 <div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    }</div>
 <div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
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+<div class="line"><a name="l00330"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Pose3.html#a729a6ab684fb74aa2c7c14c94916ce3e">  330</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> <a class="code" href="classgz_1_1math_1_1Pose3.html#a729a6ab684fb74aa2c7c14c94916ce3e" title="Add one rotation to another: result = this-&gt;q + rot.">CoordRotationAdd</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> &amp;_rot)<span class="keyword"> const</span></div>
 <div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;<span class="keyword">    </span>{</div>
-<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt;T&gt;</a>(_rot * this-&gt;q);</div>
+<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a>(_rot * this-&gt;q);</div>
 <div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    }</div>
 <div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
-<div class="line"><a name="l00338"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Pose3.html#aab9197bc6ee2aec55fae22f6d248be64">  338</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">inline</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt;T&gt;</a> <a class="code" href="classgz_1_1math_1_1Pose3.html#aab9197bc6ee2aec55fae22f6d248be64" title="Subtract one rotation from another: result = this-&gt;q - rot.">CoordRotationSub</a>(</div>
-<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;                <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt;T&gt;</a> &amp;_rot)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00338"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Pose3.html#aab9197bc6ee2aec55fae22f6d248be64">  338</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">inline</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> <a class="code" href="classgz_1_1math_1_1Pose3.html#aab9197bc6ee2aec55fae22f6d248be64" title="Subtract one rotation from another: result = this-&gt;q - rot.">CoordRotationSub</a>(</div>
+<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;                <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> &amp;_rot)<span class="keyword"> const</span></div>
 <div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;<span class="keyword">    </span>{</div>
-<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      <a class="code" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt;T&gt;</a> result(_rot.<a class="code" href="classgz_1_1math_1_1Quaternion.html#a724dd60575e5faeb80563af1710c0c0e" title="Get the inverse of this quaternion.">Inverse</a>() * this-&gt;q);</div>
+<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> result(_rot.<a class="code" href="classgz_1_1math_1_1Quaternion.html#a724dd60575e5faeb80563af1710c0c0e" title="Get the inverse of this quaternion.">Inverse</a>() * this-&gt;q);</div>
 <div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;      result.<a class="code" href="classgz_1_1math_1_1Quaternion.html#af279e0f0ff720ee54d6733674dfda50a" title="Normalize the quaternion.">Normalize</a>();</div>
 <div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      <span class="keywordflow">return</span> result;</div>
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@@ -346,12 +346,12 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    <span class="comment">// \return The inverse pose.</span></div>
 <div class="line"><a name="l00350"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Pose3.html#a38e014375059c8c0d813b7b921a6c08e">  350</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3&lt;T&gt;</a> <a class="code" href="classgz_1_1math_1_1Pose3.html#a38e014375059c8c0d813b7b921a6c08e" title="Find the inverse of a pose; i.e., if b = this + a, given b and this, find a.">CoordPoseSolve</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3&lt;T&gt;</a> &amp;_b)<span class="keyword"> const</span></div>
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-<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      <a class="code" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt;T&gt;</a> qt;</div>
+<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> qt;</div>
 <div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3&lt;T&gt;</a> a;</div>
 <div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
-<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;      a.q = this-&gt;q.<a class="code" href="classgz_1_1math_1_1Quaternion.html#a724dd60575e5faeb80563af1710c0c0e" title="Get the inverse of this quaternion.">Inverse</a>() * _b.q;</div>
-<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;      qt = a.q * <a class="code" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt;T&gt;</a>(0, this-&gt;p.X(), this-&gt;p.Y(), this-&gt;p.Z());</div>
-<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      qt = qt * a.q.<a class="code" href="classgz_1_1math_1_1Quaternion.html#a724dd60575e5faeb80563af1710c0c0e" title="Get the inverse of this quaternion.">Inverse</a>();</div>
+<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;      a.q = this-&gt;q.Inverse() * _b.q;</div>
+<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;      qt = a.q * <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a>(0, this-&gt;p.X(), this-&gt;p.Y(), this-&gt;p.Z());</div>
+<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      qt = qt * a.q.Inverse();</div>
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 <div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
 <div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;      <span class="keywordflow">return</span> a;</div>
@@ -364,7 +364,7 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      this-&gt;q = <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;::Identity</a>;</div>
 <div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    }</div>
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-<div class="line"><a name="l00375"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Pose3.html#a4e86c3f0d795570c6aec5de6d0e3b7a8">  375</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3&lt;T&gt;</a> <a class="code" href="classgz_1_1math_1_1Pose3.html#a4e86c3f0d795570c6aec5de6d0e3b7a8" title="Rotate the vector part of a pose about the origin.">RotatePositionAboutOrigin</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt;T&gt;</a> &amp;_q)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00375"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Pose3.html#a4e86c3f0d795570c6aec5de6d0e3b7a8">  375</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3&lt;T&gt;</a> <a class="code" href="classgz_1_1math_1_1Pose3.html#a4e86c3f0d795570c6aec5de6d0e3b7a8" title="Rotate the vector part of a pose about the origin.">RotatePositionAboutOrigin</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> &amp;_q)<span class="keyword"> const</span></div>
 <div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;<span class="keyword">    </span>{</div>
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@@ -425,12 +425,12 @@ <h2>API Reference</h2>
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@@ -450,20 +450,20 @@ <h2>API Reference</h2>
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+<div class="line"><a name="l00513"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Pose3.html#adfa50cf18ed5b553a0f0d245b1d1b7e3">  513</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">friend</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_istream.html">std::istream</a> &amp;<a class="code" href="classgz_1_1math_1_1Pose3.html#adfa50cf18ed5b553a0f0d245b1d1b7e3" title="Stream extraction operator.">operator&gt;&gt;</a>(</div>
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 <div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160; </div>
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 <div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
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-      </div>
-    </main>
-  </div>
-</body>
-/a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a507d73d4a494a03691fb87691dd07215">  552</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3&lt;double&gt;</a> <a class="code" href="namespacegz_1_1math.html#a507d73d4a494a03691fb87691dd07215" title="typedef Pose3&lt;double&gt; as Pose3d.">Pose3d</a>;</div>
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-<div class="line"><a name="l00555"></a><span class="lineno"><a class="line" href="namespacegz_1_1math.html#a2c56b19af5770aece4d7db8867f734cc">  555</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3&lt;float&gt;</a> <a class="code" href="namespacegz_1_1math.html#a2c56b19af5770aece4d7db8867f734cc" title="typedef Pose3&lt;float&gt; as Pose3f.">Pose3f</a>;</div>
-<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
-<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
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 Classes</h2></td></tr>
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-<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">A 3x3 matrix class.  <a href="classgz_1_1math_1_1Matrix3.html#details">More...</a><br /></td></tr>
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-<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt; T &gt;</a></td></tr>
 <tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">A quaternion class that represents 3D rotations and orientations. Four scalar values, [w,x,y,z], are used represent orientations and rotations.  <a href="classgz_1_1math_1_1Quaternion.html#details">More...</a><br /></td></tr>
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+ionf</a></td></tr>
+<tr class="memdesc:af65cf6f803890e57488d7de750bef682"><td class="mdescLeft">&#160;</td><td class="mdescRight">typedef Quaternion&lt;float&gt; as Quaternionf  <a href="namespacegz_1_1math.html#af65cf6f803890e57488d7de750bef682">More...</a><br /></td></tr>
+<tr class="separator:af65cf6f803890e57488d7de750bef682"><td class="memSeparator" colspan="2">&#160;</td></tr>
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diff --git a/api/math/7/gz_2math_2Quaternion_8hh_source.html b/api/math/7/gz_2math_2Quaternion_8hh_source.html
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 <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_5f70b597a8f3cb7e191c654fdc4ac806.html">gz-math</a></li><li class="navelem"><a class="el" href="dir_078c05cd486cbf4f25c108ac6a855843.html">include</a></li><li class="navelem"><a class="el" href="dir_cb23e0bbad0208f30fc2b464607664c0.html">gz</a></li><li class="navelem"><a class="el" href="dir_0f196ca5b9fd4ac373b7623d3ec837c2.html">math</a></li>  </ul>
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+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> q(this-&gt;qw, this-&gt;qx, this-&gt;qy, this-&gt;qz);</div>
 <div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
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 <div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      s = q.qw * q.qw + q.qx * q.qx + q.qy * q.qy + q.qz * q.qz;</div>
@@ -256,9 +256,9 @@ <h2>API Reference</h2>
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+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> result;</div>
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@@ -282,13 +282,13 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      <span class="keywordflow">return</span> result;</div>
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+<div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Quaternion.html#a4499891bd03946c0db84444368df2027">  237</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> <a class="code" href="classgz_1_1math_1_1Quaternion.html#a4499891bd03946c0db84444368df2027" title="Return the exponent.">Exp</a>()<span class="keyword"> const</span></div>
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+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> result;</div>
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+<div class="line"><a name="l00760"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Quaternion.html#a48f5af71c431f07cf37d72afbc4559ad">  760</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> <a class="code" href="classgz_1_1math_1_1Quaternion.html#a48f5af71c431f07cf37d72afbc4559ad" title="Subtraction set operator.">operator-=</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> &amp;_qt)</div>
 <div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;    {</div>
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 <div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;    }</div>
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+<div class="line"><a name="l00769"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Quaternion.html#a0832db25a877166b0ddb29d558f39959">  769</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">inline</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> <a class="code" href="classgz_1_1math_1_1Quaternion.html#a0832db25a877166b0ddb29d558f39959" title="Multiplication operator.">operator*</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> &amp;_q)<span class="keyword"> const</span></div>
 <div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;<span class="keyword">            </span>{</div>
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+<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;              <span class="keywordflow">return</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a>(</div>
 <div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;                this-&gt;qw*_q.qw-this-&gt;qx*_q.qx-this-&gt;qy*_q.qy-this-&gt;qz*_q.qz,</div>
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+<div class="line"><a name="l00781"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Quaternion.html#ad149b362235328803d3ffe462dfbcb44">  781</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> <a class="code" href="classgz_1_1math_1_1Quaternion.html#ad149b362235328803d3ffe462dfbcb44" title="Multiplication operator by a scalar.">operator*</a>(<span class="keyword">const</span> T &amp;_f)<span class="keyword"> const</span></div>
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+<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a>(this-&gt;qw*_f, this-&gt;qx*_f,</div>
 <div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;                           this-&gt;qy*_f, this-&gt;qz*_f);</div>
 <div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;    }</div>
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 <div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;    }</div>
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@@ -752,7 +748,7 @@ <h2>API Reference</h2>
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 <div class="line"><a name="l01004"></a><span class="lineno"> 1004</span>&#160; </div>
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@@ -900,34 +896,34 @@ <h2>API Reference</h2>
 <div class="line"><a name="l01034"></a><span class="lineno"> 1034</span>&#160;        <span class="comment">// are an infinite number of possibilities interpolation.</span></div>
 <div class="line"><a name="l01035"></a><span class="lineno"> 1035</span>&#160;        <span class="comment">// but we haven&#39;t have method to fix this case, so just use</span></div>
 <div class="line"><a name="l01036"></a><span class="lineno"> 1036</span>&#160;        <span class="comment">// linear interpolation here.</span></div>
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+<div class="line"><a name="l01037"></a><span class="lineno"> 1037</span>&#160;        <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion&lt;T&gt;</a> t = _rkP * (1.0f - _fT) + rkT * _fT;</div>
 <div class="line"><a name="l01038"></a><span class="lineno"> 1038</span>&#160;        <span class="comment">// taking the complement requires renormalisation</span></div>
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 <div class="line"><a name="l01053"></a><span class="lineno"> 1053</span>&#160;                                    <span class="keyword">const</span> T _deltaT)<span class="keyword"> const</span></div>
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 <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_5f70b597a8f3cb7e191c654fdc4ac806.html">gz-math</a></li><li class="navelem"><a class="el" href="dir_078c05cd486cbf4f25c108ac6a855843.html">include</a></li><li class="navelem"><a class="el" href="dir_cb23e0bbad0208f30fc2b464607664c0.html">gz</a></li><li class="navelem"><a class="el" href="dir_0f196ca5b9fd4ac373b7623d3ec837c2.html">math</a></li>  </ul>
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 <div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    {</div>
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+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_REGION3_HH_</span></div>
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diff --git a/api/math/7/gz_2math_2RollingMean_8hh.html b/api/math/7/gz_2math_2RollingMean_8hh.html
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@@ -170,3 +170,4 @@ <h2>API Reference</h2>
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diff --git a/api/math/7/gz_2math_2RollingMean_8hh_source.html b/api/math/7/gz_2math_2RollingMean_8hh_source.html
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@@ -172,25 +172,25 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <span class="keyword">inline</span> <span class="keyword">namespace </span>GZ_MATH_VERSION_NAMESPACE {</div>
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+<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1RollingMean.html#a96d578802e6f863d5f515f768bfbbd26">   37</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">explicit</span> <a class="code" href="classgz_1_1math_1_1RollingMean.html#a96d578802e6f863d5f515f768bfbbd26" title="Constructor.">RollingMean</a>(<span class="keywordtype">size_t</span> _windowSize = 10);</div>
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+<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1RollingMean.html#ab201fbc06e6c2aaaa75cf1be856b4e02">   43</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1RollingMean.html#ab201fbc06e6c2aaaa75cf1be856b4e02" title="Get the mean value.">Mean</a>() <span class="keyword">const</span>;</div>
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-<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">size_t</span> Count() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1RollingMean.html#ab30fd361b8bee994ff8ed9fbb6fae845">   47</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">size_t</span> <a class="code" href="classgz_1_1math_1_1RollingMean.html#ab30fd361b8bee994ff8ed9fbb6fae845" title="Get the number of data points.">Count</a>() <span class="keyword">const</span>;</div>
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+<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1RollingMean.html#a856e7516fd569a7f74e566c641c0641a">   51</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1RollingMean.html#a856e7516fd569a7f74e566c641c0641a" title="Insert a new value.">Push</a>(<span class="keywordtype">double</span> _value);</div>
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-<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> Clear();</div>
+<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1RollingMean.html#aa71d36872f416feaa853788a7a7a7ef8">   54</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1RollingMean.html#aa71d36872f416feaa853788a7a7a7ef8" title="Remove all the pushed values.">Clear</a>();</div>
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-<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> SetWindowSize(<span class="keywordtype">size_t</span> _windowSize);</div>
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-<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">size_t</span> WindowSize() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1RollingMean.html#a797bd3ac0ad048280d15f8c8d635034f">   63</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">size_t</span> <a class="code" href="classgz_1_1math_1_1RollingMean.html#a797bd3ac0ad048280d15f8c8d635034f" title="Get the window size.">WindowSize</a>() <span class="keyword">const</span>;</div>
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-<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="preprocessor">#endif  // GZ_MATH_ROLLINGMEAN_HH_</span></div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_ROLLINGMEAN_HH_</span></div>
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@@ -172,34 +172,34 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <span class="keyword">inline</span> <span class="keyword">namespace </span>GZ_MATH_VERSION_NAMESPACE {</div>
 <div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1RotationSpline.html">   30</a></span>&#160;  <span class="keyword">class </span>GZ_MATH_VISIBLE  <a class="code" href="classgz_1_1math_1_1RotationSpline.html" title="Spline for rotations.">RotationSpline</a></div>
 <div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  {</div>
-<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1RotationSpline.html" title="Spline for rotations.">RotationSpline</a>();</div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1RotationSpline.html#afbc5675ec11ade1db4918717af96308a">   33</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1RotationSpline.html#afbc5675ec11ade1db4918717af96308a" title="Constructor. Sets the autoCalc to true.">RotationSpline</a>();</div>
 <div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
-<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> AddPoint(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaterniond</a> &amp;_p);</div>
+<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1RotationSpline.html#a8e28de533fda04091f4b227fe4fd534d">   37</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1RotationSpline.html#a8e28de533fda04091f4b227fe4fd534d" title="Adds a control point to the end of the spline.">AddPoint</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaterniond</a> &amp;_p);</div>
 <div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
-<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keyword">public</span>: <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaterniond</a> &amp;Point(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _index) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1RotationSpline.html#ac3fe8c63a565413cfa19ec2ec4ea9dc0">   46</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaterniond</a> &amp;<a class="code" href="classgz_1_1math_1_1RotationSpline.html#ac3fe8c63a565413cfa19ec2ec4ea9dc0" title="Gets the detail of one of the control points of the spline.">Point</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _index) <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
-<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> PointCount() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1RotationSpline.html#ac0fd227ae1b722ab697d5062bc5be7bc">   50</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classgz_1_1math_1_1RotationSpline.html#ac0fd227ae1b722ab697d5062bc5be7bc" title="Gets the number of control points in the spline.">PointCount</a>() <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
-<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> Clear();</div>
+<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1RotationSpline.html#aa71d36872f416feaa853788a7a7a7ef8">   53</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1RotationSpline.html#aa71d36872f416feaa853788a7a7a7ef8" title="Clears all the points in the spline.">Clear</a>();</div>
 <div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
-<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">bool</span> UpdatePoint(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _index,</div>
+<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1RotationSpline.html#aa21f2147ca189600c5b598d8f8b22d05">   61</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">bool</span> <a class="code" href="classgz_1_1math_1_1RotationSpline.html#aa21f2147ca189600c5b598d8f8b22d05" title="Updates a single point in the spline.">UpdatePoint</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _index,</div>
 <div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;                             <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaterniond</a> &amp;_value);</div>
 <div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
-<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaterniond</a> Interpolate(<span class="keywordtype">double</span> _t,</div>
+<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1RotationSpline.html#a3eb7608bc9f005b1877db78c1373178d">   74</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaterniond</a> <a class="code" href="classgz_1_1math_1_1RotationSpline.html#a3eb7608bc9f005b1877db78c1373178d" title="Returns an interpolated point based on a parametric value over the whole series.">Interpolate</a>(<span class="keywordtype">double</span> _t,</div>
 <div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;                                    <span class="keyword">const</span> <span class="keywordtype">bool</span> _useShortestPath = <span class="keyword">true</span>);</div>
 <div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
-<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaterniond</a> Interpolate(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _fromIndex,</div>
+<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1RotationSpline.html#ac5898f97caefebee7757a1cd9b593a14">   86</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaterniond</a> <a class="code" href="classgz_1_1math_1_1RotationSpline.html#ac5898f97caefebee7757a1cd9b593a14" title="Interpolates a single segment of the spline given a parametric value.">Interpolate</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _fromIndex,</div>
 <div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                <span class="keyword">const</span> <span class="keywordtype">double</span> _t, <span class="keyword">const</span> <span class="keywordtype">bool</span> _useShortestPath = <span class="keyword">true</span>);</div>
 <div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
-<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> AutoCalculate(<span class="keywordtype">bool</span> _autoCalc);</div>
+<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1RotationSpline.html#a81bec643082c36a63e2198ca0dcc82dd">  103</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1RotationSpline.html#a81bec643082c36a63e2198ca0dcc82dd" title="Tells the spline whether it should automatically calculate tangents on demand as points are added.">AutoCalculate</a>(<span class="keywordtype">bool</span> _autoCalc);</div>
 <div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
-<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> RecalcTangents();</div>
+<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1RotationSpline.html#a8ee2f3f356aa8055d20304f549132c91">  109</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1RotationSpline.html#a8ee2f3f356aa8055d20304f549132c91" title="Recalculates the tangents associated with this spline.">RecalcTangents</a>();</div>
 <div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
 <div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    GZ_UTILS_IMPL_PTR(dataPtr)</div>
 <div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  };</div>
 <div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
 <div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
-<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="preprocessor">#endif  // GZ_MATH_ROTATIONSPLINE_HH_</span></div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_ROTATIONSPLINE_HH_</span></div>
 </div><!-- fragment --></div><!-- contents -->
       </div>
     </main>
diff --git a/api/math/7/gz_2math_2SemanticVersion_8hh.html b/api/math/7/gz_2math_2SemanticVersion_8hh.html
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--- a/api/math/7/gz_2math_2SemanticVersion_8hh.html
+++ b/api/math/7/gz_2math_2SemanticVersion_8hh.html
@@ -132,7 +132,7 @@ <h2>API Reference</h2>
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+++ b/api/math/7/gz_2math_2SemanticVersion_8hh_source.html
@@ -132,7 +132,7 @@ <h2>API Reference</h2>
     </div>
     <main class="mdl-layout__content mdl-color--white">
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 <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_5f70b597a8f3cb7e191c654fdc4ac806.html">gz-math</a></li><li class="navelem"><a class="el" href="dir_078c05cd486cbf4f25c108ac6a855843.html">include</a></li><li class="navelem"><a class="el" href="dir_cb23e0bbad0208f30fc2b464607664c0.html">gz</a></li><li class="navelem"><a class="el" href="dir_0f196ca5b9fd4ac373b7623d3ec837c2.html">math</a></li>  </ul>
@@ -175,43 +175,43 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="keyword">inline</span> <span class="keyword">namespace </span>GZ_MATH_VERSION_NAMESPACE {</div>
 <div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1SemanticVersion.html">   36</a></span>&#160;  <span class="keyword">class </span>GZ_MATH_VISIBLE <a class="code" href="classgz_1_1math_1_1SemanticVersion.html" title="Version comparison class based on Semantic Versioning 2.0.0 http://semver.org/ Compares versions and ...">SemanticVersion</a></div>
 <div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  {</div>
-<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1SemanticVersion.html" title="Version comparison class based on Semantic Versioning 2.0.0 http://semver.org/ Compares versions and ...">SemanticVersion</a>();</div>
+<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1SemanticVersion.html#a8c038297c24869106ba04e9aef6c7c7d">   40</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1SemanticVersion.html#a8c038297c24869106ba04e9aef6c7c7d" title="Default constructor. Use the Parse function to populate an instance with version information.">SemanticVersion</a>();</div>
 <div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
-<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keyword">public</span>: <span class="keyword">explicit</span> <a class="code" href="classgz_1_1math_1_1SemanticVersion.html" title="Version comparison class based on Semantic Versioning 2.0.0 http://semver.org/ Compares versions and ...">SemanticVersion</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> &amp;_v);</div>
+<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1SemanticVersion.html#a4f0326d83263180275a37666537a3f74">   44</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">explicit</span> <a class="code" href="classgz_1_1math_1_1SemanticVersion.html#a4f0326d83263180275a37666537a3f74" title="Constructor.">SemanticVersion</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_v);</div>
 <div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
-<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keyword">public</span>: <span class="keyword">explicit</span> <a class="code" href="classgz_1_1math_1_1SemanticVersion.html" title="Version comparison class based on Semantic Versioning 2.0.0 http://semver.org/ Compares versions and ...">SemanticVersion</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _major,</div>
+<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1SemanticVersion.html#a1296bd96e4fb8577f5f61cc66c30b2c2">   52</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">explicit</span> <a class="code" href="classgz_1_1math_1_1SemanticVersion.html#a1296bd96e4fb8577f5f61cc66c30b2c2" title="Constructor.">SemanticVersion</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _major,</div>
 <div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;                                     <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _minor = 0,</div>
 <div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;                                     <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _patch = 0,</div>
-<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;                                     <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> &amp;_prerelease = <span class="stringliteral">&quot;&quot;</span>,</div>
-<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;                                     <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> &amp;_build = <span class="stringliteral">&quot;&quot;</span>);</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;                                     <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_prerelease = <span class="stringliteral">&quot;&quot;</span>,</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;                                     <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_build = <span class="stringliteral">&quot;&quot;</span>);</div>
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-<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">bool</span> Parse(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> &amp;_versionStr);</div>
+<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1SemanticVersion.html#adf11fd88ae0c2311b3c0b679c45d4d13">   62</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">bool</span> <a class="code" href="classgz_1_1math_1_1SemanticVersion.html#adf11fd88ae0c2311b3c0b679c45d4d13" title="Parse a version string and set the major, minor, patch numbers, and prerelease and build strings.">Parse</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_versionStr);</div>
 <div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
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+<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1SemanticVersion.html#a9e17ffd627f9f24ac4ef54143dc33124">   66</a></span>&#160;    <span class="keyword">public</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> <a class="code" href="classgz_1_1math_1_1SemanticVersion.html#a9e17ffd627f9f24ac4ef54143dc33124" title="Returns the version as a string.">Version</a>() <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
-<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> Major() <span class="keyword">const</span>;</div>
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@@ -222,7 +222,7 @@ <h2>API Reference</h2>
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-<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="preprocessor">#endif  // GZ_MATH_SEMANTICVERSION_HH_</span></div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_SEMANTICVERSION_HH_</span></div>
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-<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">void</span> InsertData(<span class="keyword">const</span> <span class="keywordtype">double</span> _data) <span class="keyword">override</span>;</div>
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+<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1SpeedLimiter.html#a54849309ce9a480b94437912a681375a">   69</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1SpeedLimiter.html#a54849309ce9a480b94437912a681375a" title="Set maximum acceleration limit in m/s^2, usually &gt;= 0.">SetMaxAcceleration</a>(<span class="keywordtype">double</span> _lim);</div>
 <div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
-<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> MaxAcceleration() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1SpeedLimiter.html#a596e58a7606c3791a2afac80722f31b6">   73</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1SpeedLimiter.html#a596e58a7606c3791a2afac80722f31b6" title="Get maximum acceleration limit, defaults to positive infinity.">MaxAcceleration</a>() <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
-<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> SetMinJerk(<span class="keywordtype">double</span> _lim);</div>
+<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1SpeedLimiter.html#a526fdca040875f7e37f7f29c13d1a675">   77</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1SpeedLimiter.html#a526fdca040875f7e37f7f29c13d1a675" title="Set minimum jerk limit in m/s^3, usually &lt;= 0.">SetMinJerk</a>(<span class="keywordtype">double</span> _lim);</div>
 <div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
-<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> MinJerk() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1SpeedLimiter.html#aec7e8f6c2f9f634f90825d54a1725de2">   81</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1SpeedLimiter.html#aec7e8f6c2f9f634f90825d54a1725de2" title="Get minimum jerk limit, defaults to negative infinity.">MinJerk</a>() <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
-<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> SetMaxJerk(<span class="keywordtype">double</span> _lim);</div>
+<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1SpeedLimiter.html#a5a8ab9c433f0f85c3130681af3c1ceb0">   85</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1SpeedLimiter.html#a5a8ab9c433f0f85c3130681af3c1ceb0" title="Set maximum jerk limit in m/s^3, usually &gt;= 0.">SetMaxJerk</a>(<span class="keywordtype">double</span> _lim);</div>
 <div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
-<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> MaxJerk() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1SpeedLimiter.html#a726e636cb90f7c9822befcd3e74a168d">   89</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1SpeedLimiter.html#a726e636cb90f7c9822befcd3e74a168d" title="Get maximum jerk limit, defaults to positive infinity.">MaxJerk</a>() <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
-<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> Limit(<span class="keywordtype">double</span> &amp;_vel,</div>
+<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1SpeedLimiter.html#a73eab28cbac72481a8007a4d3b7a874f">   97</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1SpeedLimiter.html#a73eab28cbac72481a8007a4d3b7a874f" title="Limit velocity, acceleration and jerk.">Limit</a>(<span class="keywordtype">double</span> &amp;_vel,</div>
 <div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                         <span class="keywordtype">double</span> _prevVel,</div>
 <div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                         <span class="keywordtype">double</span> _prevPrevVel,</div>
 <div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                         std::chrono::steady_clock::duration _dt) <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
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+<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1SpeedLimiter.html#ae4bcfe07db28e239ae6c6d73c9e63714">  105</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1SpeedLimiter.html#ae4bcfe07db28e239ae6c6d73c9e63714" title="Limit the velocity.">LimitVelocity</a>(<span class="keywordtype">double</span> &amp;_vel) <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
-<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> LimitAcceleration(</div>
+<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1SpeedLimiter.html#ac978ea42f87743fecc3080b9da916f26">  113</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1SpeedLimiter.html#ac978ea42f87743fecc3080b9da916f26" title="Limit the acceleration using a first-order backward difference method.">LimitAcceleration</a>(</div>
 <div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keywordtype">double</span> &amp;_vel,</div>
 <div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="keywordtype">double</span> _prevVel,</div>
 <div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        std::chrono::steady_clock::duration _dt) <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
-<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> LimitJerk(</div>
+<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1SpeedLimiter.html#afed665a339c7c87197ef045e2d1ee44f">  125</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1SpeedLimiter.html#afed665a339c7c87197ef045e2d1ee44f" title="Limit the jerk using a second-order backward difference method.">LimitJerk</a>(</div>
 <div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="keywordtype">double</span> &amp;_vel,</div>
 <div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keywordtype">double</span> _prevVel,</div>
 <div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keywordtype">double</span> _prevPrevVel,</div>
@@ -229,14 +229,14 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="preprocessor">#pragma warning(push)</span></div>
 <div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="preprocessor">#pragma warning(disable: 4251)</span></div>
 <div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="preprocessor">#endif</span></div>
-<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="keyword">private</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/memory/unique_ptr.html">std::unique_ptr&lt;SpeedLimiterPrivate&gt;</a> dataPtr;</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keyword">private</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/memory/unique_ptr.html">std::unique_ptr&lt;SpeedLimiterPrivate&gt;</a> dataPtr;</div>
 <div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="preprocessor">#ifdef _WIN32</span></div>
 <div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="preprocessor">#pragma warning(pop)</span></div>
 <div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="preprocessor">#endif</span></div>
 <div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  };</div>
 <div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
 <div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
-<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="preprocessor">#endif  // GZ_MATH_SYSTEMS_SPEEDLIMITER_HH_</span></div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_SYSTEMS_SPEEDLIMITER_HH_</span></div>
 </div><!-- fragment --></div><!-- contents -->
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diff --git a/api/math/7/gz_2math_2Sphere_8hh.html b/api/math/7/gz_2math_2Sphere_8hh.html
index ab3fe0a81..539e5203f 100644
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     </div>
     <main class="mdl-layout__content mdl-color--white">
     <div id="top">
-<!-- Generated by Doxygen 1.8.17 -->
+<!-- Generated by Doxygen 1.9.1 -->
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 <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_5f70b597a8f3cb7e191c654fdc4ac806.html">gz-math</a></li><li class="navelem"><a class="el" href="dir_078c05cd486cbf4f25c108ac6a855843.html">include</a></li><li class="navelem"><a class="el" href="dir_cb23e0bbad0208f30fc2b464607664c0.html">gz</a></li><li class="navelem"><a class="el" href="dir_0f196ca5b9fd4ac373b7623d3ec837c2.html">math</a></li>  </ul>
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index fc181e64c..7f74bae52 100644
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     <main class="mdl-layout__content mdl-color--white">
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-<!-- Generated by Doxygen 1.8.17 -->
+<!-- Generated by Doxygen 1.9.1 -->
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   <ul>
 <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_5f70b597a8f3cb7e191c654fdc4ac806.html">gz-math</a></li><li class="navelem"><a class="el" href="dir_078c05cd486cbf4f25c108ac6a855843.html">include</a></li><li class="navelem"><a class="el" href="dir_cb23e0bbad0208f30fc2b464607664c0.html">gz</a></li><li class="navelem"><a class="el" href="dir_0f196ca5b9fd4ac373b7623d3ec837c2.html">math</a></li>  </ul>
@@ -179,59 +179,36 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment"></span>  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Precision&gt;</div>
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 <div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  {</div>
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+<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Sphere.html#a2b5dcb03148f22f8456c840c2afc6a1b">   44</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Sphere.html#a2b5dcb03148f22f8456c840c2afc6a1b" title="Default constructor. The default radius is zero.">Sphere</a>() = <span class="keywordflow">default</span>;</div>
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 <div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
-<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Sphere.html" title="A representation of a sphere.">Sphere</a>(<span class="keyword">const</span> Precision _radius, <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Material.html" title="Contains information about a single material.">Material</a> &amp;_mat);</div>
+<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Sphere.html#a2a29812ddcd432a301e2bd09a0bdffb0">   53</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Sphere.html#a2a29812ddcd432a301e2bd09a0bdffb0" title="Construct a sphere with a radius, material.">Sphere</a>(<span class="keyword">const</span> Precision _radius, <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Material.html" title="Contains information about a single material.">Material</a> &amp;_mat);</div>
 <div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
-<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">public</span>: Precision Radius() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Sphere.html#a5a511ac064cc162ad933f0b999428172">   57</a></span>&#160;    <span class="keyword">public</span>: Precision <a class="code" href="classgz_1_1math_1_1Sphere.html#a5a511ac064cc162ad933f0b999428172" title="Get the radius in meters.">Radius</a>() <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
-<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> SetRadius(<span class="keyword">const</span> Precision _radius);</div>
+<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Sphere.html#a6018f43a1d24f8173ac57b542fca652d">   61</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1Sphere.html#a6018f43a1d24f8173ac57b542fca652d" title="Set the radius in meters.">SetRadius</a>(<span class="keyword">const</span> Precision _radius);</div>
 <div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
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+<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Sphere.html#ae9295e3155890661d22658dc640b8bdd">   65</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Material.html" title="Contains information about a single material.">gz::math::Material</a> &amp;<a class="code" href="classgz_1_1math_1_1Sphere.html#ae9295e3155890661d22658dc640b8bdd" title="Get the material associated with this sphere.">Material</a>() <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
-<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> SetMaterial(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Material.html" title="Contains information about a single material.">gz::math::Material</a> &amp;_mat);</div>
+<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Sphere.html#a224f81bf45aa10e947c74deb024b3be4">   69</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1Sphere.html#a224f81bf45aa10e947c74deb024b3be4" title="Set the material associated with this sphere.">SetMaterial</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Material.html" title="Contains information about a single material.">gz::math::Material</a> &amp;_mat);</div>
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-<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">bool</span> MassMatrix(<a class="code" href="classgz_1_1math_1_1MassMatrix3.html" title="A class for inertial information about a rigid body consisting of the scalar mass and a 3x3 symmetric...">MassMatrix3d</a> &amp;_massMat) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Sphere.html#a4dfb3d6f1c446141cd08c9d899690e56">   77</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">bool</span> <a class="code" href="classgz_1_1math_1_1Sphere.html#a4dfb3d6f1c446141cd08c9d899690e56" title="Get the mass matrix for this sphere. This function is only meaningful if the sphere&#39;s radius and mate...">MassMatrix</a>(<a class="code" href="classgz_1_1math_1_1MassMatrix3.html" title="A class for inertial information about a rigid body consisting of the scalar mass and a 3x3 symmetric...">MassMatrix3d</a> &amp;_massMat) <span class="keyword">const</span>;</div>
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+<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Sphere.html#ae80b4a2c70e9806ea54a3112242451fe">   92</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">bool</span> <a class="code" href="classgz_1_1math_1_1Sphere.html#ae80b4a2c70e9806ea54a3112242451fe" title="Check if this sphere is not equal to the provided sphere. Radius and material properties will be chec...">operator!=</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Sphere.html" title="A representation of a sphere.">Sphere</a> &amp;_sphere) <span class="keyword">const</span>;</div>
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-<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keyword">public</span>: Precision Volume() <span class="keyword">const</span>;</div>
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-<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
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-<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
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-<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
-<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
-<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;<span class="preprocessor">#include &quot;gz/math/detail/Sphere.hh&quot;</span></div>
-<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="preprocessor">#endif  // GZ_MATH_SPHERE_HH_</span></div>
-</div><!-- fragment --></div><!-- contents -->
-      </div>
-    </main>
-  </div>
-</body>
-s density given a mass value. The sphere is assumed to be solid with uniform densi...">DensityFromMass</a>(<span class="keyword">const</span> Precision _mass) <span class="keyword">const</span>;</div>
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@@ -183,8 +183,8 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
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+<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1SphericalCoordinates.html#a240fefdeab55a3cf9b23e7e2f47606ec">   80</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">explicit</span> <a class="code" href="classgz_1_1math_1_1SphericalCoordinates.html#a240fefdeab55a3cf9b23e7e2f47606ec" title="Constructor with surface type input.">SphericalCoordinates</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1SphericalCoordinates.html#a24dfdcf13ae4e2b7985a3868a1b5169f" title="Unique identifiers for planetary surface models.">SurfaceType</a> _type);</div>
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-<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;          <span class="keyword">const</span> SurfaceType _type,</div>
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+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;          <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1SphericalCoordinates.html#a24dfdcf13ae4e2b7985a3868a1b5169f" title="Unique identifiers for planetary surface models.">SurfaceType</a> _type,</div>
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 <div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
-<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    public: <a class="code" href="namespacegz.html">gz</a>::math::<a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> LocalFromSphericalPosition(</div>
-<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;                const <a class="code" href="namespacegz.html">gz</a>::math::<a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> &amp;_latLonEle) const;</div>
-<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
-<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    public: <a class="code" href="namespacegz.html">gz</a>::math::<a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> LocalFromGlobalVelocity(</div>
-<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;                const <a class="code" href="namespacegz.html">gz</a>::math::<a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> &amp;_xyz) const;</div>
-<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
-<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    public: <span class="keywordtype">void</span> UpdateTransformationMatrix();</div>
-<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
-<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    public: <a class="code" href="namespacegz.html">gz</a>::math::<a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a></div>
-<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;            PositionTransform(const <a class="code" href="namespacegz.html">gz</a>::math::<a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> &amp;_pos,</div>
-<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;                const CoordinateType &amp;_in, const CoordinateType &amp;_out) const;</div>
-<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
-<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    public: <a class="code" href="namespacegz.html">gz</a>::math::<a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> VelocityTransform(</div>
-<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;                const <a class="code" href="namespacegz.html">gz</a>::math::<a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> &amp;_vel,</div>
-<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;                const CoordinateType &amp;_in, const CoordinateType &amp;_out) const;</div>
-<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
-<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    public: <span class="keywordtype">bool</span> operator==(const <a class="code" href="classgz_1_1math_1_1SphericalCoordinates.html" title="Convert spherical coordinates for planetary surfaces.">SphericalCoordinates</a> &amp;_sc) const;</div>
-<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
-<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    public: <span class="keywordtype">bool</span> operator!=(const <a class="code" href="classgz_1_1math_1_1SphericalCoordinates.html" title="Convert spherical coordinates for planetary surfaces.">SphericalCoordinates</a> &amp;_sc) const;</div>
-<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
-<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    GZ_UTILS_IMPL_PTR(dataPtr)</div>
-<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  };</div>
-<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
-<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
-<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;<span class="preprocessor">#endif  // GZ_MATH_SPHERICALCOORDINATES_HH_</span></div>
-</div><!-- fragment --></div><!-- contents -->
-      </div>
-    </main>
-  </div>
-</body>
-Position(</div>
+<div class="line"><a name="l00267"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1SphericalCoordinates.html#ac9ecd924711241e4c5b316a4791de3e0">  267</a></span>&#160;    public: <a class="code" href="namespacegz.html">gz</a>::math::<a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> LocalFromSphericalPosition(</div>
 <div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;                const <a class="code" href="namespacegz.html">gz</a>::math::<a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> &amp;_latLonEle) const;</div>
 <div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
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index 4136a919c..480a345a9 100644
--- a/api/math/7/gz_2math_2Spline_8hh.html
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@@ -132,7 +132,7 @@ <h2>API Reference</h2>
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     <main class="mdl-layout__content mdl-color--white">
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-<!-- Generated by Doxygen 1.8.17 -->
+<!-- Generated by Doxygen 1.9.1 -->
 <div id="nav-path" class="navpath">
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@@ -132,7 +132,7 @@ <h2>API Reference</h2>
     </div>
     <main class="mdl-layout__content mdl-color--white">
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-<!-- Generated by Doxygen 1.8.17 -->
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@@ -179,40 +179,40 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
 <div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Spline.html">   37</a></span>&#160;  <span class="keyword">class </span>GZ_MATH_VISIBLE <a class="code" href="classgz_1_1math_1_1Spline.html" title="Splines.">Spline</a></div>
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-<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> Tension(<span class="keywordtype">double</span> _t);</div>
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-<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> ArcLength() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Spline.html#a4adca4736168e442abbadf0840c04712">   54</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1Spline.html#a4adca4736168e442abbadf0840c04712" title="Gets spline arc length.">ArcLength</a>() <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
-<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> ArcLength(<span class="keyword">const</span> <span class="keywordtype">double</span> _t) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Spline.html#af6a091f2bcfb008b3a6fc4bfabc5b08d">   60</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1Spline.html#af6a091f2bcfb008b3a6fc4bfabc5b08d" title="Sets spline arc length up to a given parameter value _t.">ArcLength</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> _t) <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
-<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> ArcLength(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _index,</div>
+<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Spline.html#a7a1e096912699bc5b2e53dce4c837ada">   67</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1Spline.html#a7a1e096912699bc5b2e53dce4c837ada" title="Sets a spline segment arc length.">ArcLength</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _index,</div>
 <div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;                             <span class="keyword">const</span> <span class="keywordtype">double</span> _t) <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
-<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> AddPoint(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> &amp;_p);</div>
+<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Spline.html#a0f342247dc1480aeb2b91d49aa5c179e">   73</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1Spline.html#a0f342247dc1480aeb2b91d49aa5c179e" title="Adds a single control point to the end of the spline.">AddPoint</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> &amp;_p);</div>
 <div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
-<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> AddPoint(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> &amp;_p, <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> &amp;_t);</div>
+<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Spline.html#a6d8e527ca0e5bd3bf441d73111ee9b25">   79</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1Spline.html#a6d8e527ca0e5bd3bf441d73111ee9b25" title="Adds a single control point to the end of the spline with fixed tangent.">AddPoint</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> &amp;_p, <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> &amp;_t);</div>
 <div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
 <div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keyword">private</span>: <span class="keywordtype">void</span> AddPoint(<span class="keyword">const</span> ControlPoint &amp;_cp, <span class="keyword">const</span> <span class="keywordtype">bool</span> _fixed);</div>
 <div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
-<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> Point(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _index) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Spline.html#ac54d5fefc4d8208232f09f7e76a55c2a">   93</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> <a class="code" href="classgz_1_1math_1_1Spline.html#ac54d5fefc4d8208232f09f7e76a55c2a" title="Gets the value for one of the control points of the spline.">Point</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _index) <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
-<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> Tangent(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _index) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Spline.html#a7bf4adf7daa2c959047e4a59318c6c16">  100</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> <a class="code" href="classgz_1_1math_1_1Spline.html#a7bf4adf7daa2c959047e4a59318c6c16" title="Gets the tangent value for one of the control points of the spline.">Tangent</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _index) <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
-<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> MthDerivative(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _index,</div>
+<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Spline.html#a471ead16280c4244018aee4bf87ce5ab">  108</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> <a class="code" href="classgz_1_1math_1_1Spline.html#a471ead16280c4244018aee4bf87ce5ab" title="Gets the mth derivative for one of the control points of the spline.">MthDerivative</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _index,</div>
 <div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;                                   <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _mth) <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
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-<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> Clear();</div>
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+<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Spline.html#ad9c96902bfb640cf3d0093d299390883">  123</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">bool</span> <a class="code" href="classgz_1_1math_1_1Spline.html#ad9c96902bfb640cf3d0093d299390883" title="Updates a single control point value in the spline, keeping its tangent.">UpdatePoint</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _index,</div>
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 <div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;                              <span class="keyword">const</span> ControlPoint &amp;_cp,</div>
 <div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;                              <span class="keyword">const</span> <span class="keywordtype">bool</span> _fixed);</div>
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-<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> Interpolate(<span class="keyword">const</span> <span class="keywordtype">double</span> _t) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Spline.html#aca7a9adef0d965ace2cd87d31e05945c">  155</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> <a class="code" href="classgz_1_1math_1_1Spline.html#aca7a9adef0d965ace2cd87d31e05945c" title="Interpolates a point on the spline at parameter value _t.">Interpolate</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> _t) <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
-<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> Interpolate(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _fromIndex,</div>
+<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Spline.html#abad4884625af7bf7b8a10ddfd0ef6402">  167</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> <a class="code" href="classgz_1_1math_1_1Spline.html#abad4884625af7bf7b8a10ddfd0ef6402" title="Interpolates a point on a segment of the spline at parameter value _t.">Interpolate</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _fromIndex,</div>
 <div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;                                 <span class="keyword">const</span> <span class="keywordtype">double</span> _t) <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
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+<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Spline.html#a5e5b8166cfc14164a7f34e7bce434465">  178</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> <a class="code" href="classgz_1_1math_1_1Spline.html#a5e5b8166cfc14164a7f34e7bce434465" title="Interpolates a tangent on the spline at parameter value _t.">InterpolateTangent</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> _t) <span class="keyword">const</span>;</div>
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-<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> InterpolateTangent(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _fromIndex,</div>
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-<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;                                              <span class="keyword">const</span> <span class="keywordtype">double</span> _1) <span class="keyword">const</span>;</div>
-<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
-<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3d</a> InterpolateMthDerivative(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _fromIndex,</div>
-<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;                                              <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _mth,</div>
-<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;                                              <span class="keyword">const</span> <span class="keywordtype">double</span> _s) <span class="keyword">const</span>;</div>
-<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
-<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> AutoCalculate(<span class="keywordtype">bool</span> _autoCalc);</div>
-<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
-<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> RecalcTangents();</div>
-<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
-<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <span class="keyword">private</span>: <span class="keywordtype">void</span> Rebuild();</div>
-<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
-<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    <span class="keyword">private</span>: <span class="keywordtype">bool</span> MapToSegment(<span class="keyword">const</span> <span class="keywordtype">double</span> _t,</div>
-<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;                               <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> &amp;_index,</div>
-<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;                               <span class="keywordtype">double</span> &amp;_fraction) <span class="keyword">const</span>;</div>
-<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
-<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    GZ_UTILS_IMPL_PTR(dataPtr)</div>
-<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  };</div>
-<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
-<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
-<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;<span class="preprocessor">#endif  // GZ_MATH_SPLINE_HH_</span></div>
-</div><!-- fragment --></div><!-- contents -->
-      </div>
-    </main>
-  </div>
-</body>
-ywordtype">unsigned</span> <span class="keywordtype">int</span> _fromIndex,</div>
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 <div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
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index dcbf46132..c8bdad598 100644
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 <div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="keyword">inline</span> <span class="keyword">namespace </span>GZ_MATH_VERSION_NAMESPACE {</div>
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-<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keyword">public</span>: clock::time_point StopTime() <span class="keyword">const</span>;</div>
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+<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Stopwatch.html#a440d1edf4be5efd8153638f95ce11cc0">   95</a></span>&#160;    <span class="keyword">public</span>: clock::duration <a class="code" href="classgz_1_1math_1_1Stopwatch.html#a440d1edf4be5efd8153638f95ce11cc0" title="Get the amount of time that the stop watch has been running. This is the total amount of run time,...">ElapsedRunTime</a>() <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
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+<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Stopwatch.html#abf7f2eb0b11d5988a54a54851738f557">  102</a></span>&#160;    <span class="keyword">public</span>: clock::duration <a class="code" href="classgz_1_1math_1_1Stopwatch.html#abf7f2eb0b11d5988a54a54851738f557" title="Get the amount of time that the stop watch has been stopped. This is the total amount of stop time,...">ElapsedStopTime</a>() <span class="keyword">const</span>;</div>
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-<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">bool</span> operator==(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Stopwatch.html" title="The Stopwatch keeps track of time spent in the run state, accessed through ElapsedRunTime(),...">Stopwatch</a> &amp;_watch) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Stopwatch.html#ae851bb7aeb7f241fb0242990dcc2b5dd">  107</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">bool</span> <a class="code" href="classgz_1_1math_1_1Stopwatch.html#ae851bb7aeb7f241fb0242990dcc2b5dd" title="Equality operator.">operator==</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Stopwatch.html" title="The Stopwatch keeps track of time spent in the run state, accessed through ElapsedRunTime(),...">Stopwatch</a> &amp;_watch) <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
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+<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Stopwatch.html#a36a274ed816266d4799efd8ecf383af7">  112</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">bool</span> <a class="code" href="classgz_1_1math_1_1Stopwatch.html#a36a274ed816266d4799efd8ecf383af7" title="Inequality operator.">operator!=</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Stopwatch.html" title="The Stopwatch keeps track of time spent in the run state, accessed through ElapsedRunTime(),...">Stopwatch</a> &amp;_watch) <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
 <div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    GZ_UTILS_IMPL_PTR(dataPtr)</div>
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 <div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
 <div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
-<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="preprocessor">#endif  // GZ_MATH_STOPWATCH_HH_</span></div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_STOPWATCH_HH_</span></div>
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     </main>
diff --git a/api/math/7/gz_2math_2Temperature_8hh.html b/api/math/7/gz_2math_2Temperature_8hh.html
index 99cdbef71..962f12b1d 100644
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+++ b/api/math/7/gz_2math_2Temperature_8hh.html
@@ -132,7 +132,7 @@ <h2>API Reference</h2>
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+++ b/api/math/7/gz_2math_2Temperature_8hh_source.html
@@ -132,7 +132,7 @@ <h2>API Reference</h2>
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@@ -176,149 +176,100 @@ <h2>API Reference</h2>
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+<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Temperature.html#aaccae841732389a407e40ae10eb4a97c">   77</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Temperature.html#aaccae841732389a407e40ae10eb4a97c" title="Default constructor.">Temperature</a>();</div>
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+<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Temperature.html#a86e1c6a8186983ef0e9481e55b2ac356">   83</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Temperature.html#a86e1c6a8186983ef0e9481e55b2ac356" title="Kelvin value constructor. This is a conversion constructor, and assumes the passed in value is in Kel...">Temperature</a>(<span class="keywordtype">double</span> _temp);</div>
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-<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keyword">public</span>: <span class="keyword">static</span> <span class="keywordtype">double</span> KelvinToCelsius(<span class="keywordtype">double</span> _temp);</div>
+<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Temperature.html#ad8a5c225f045023780603766be0c357a">   88</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1Temperature.html#ad8a5c225f045023780603766be0c357a" title="Convert Kelvin to Celsius.">KelvinToCelsius</a>(<span class="keywordtype">double</span> _temp);</div>
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+<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Temperature.html#a23038aaa5e3ee847e5fb8fe346add69d">   93</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1Temperature.html#a23038aaa5e3ee847e5fb8fe346add69d" title="Convert Kelvin to Fahrenheit.">KelvinToFahrenheit</a>(<span class="keywordtype">double</span> _temp);</div>
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+<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Temperature.html#a1ee15d7f9e43561b086161f679940f79">   98</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1Temperature.html#a1ee15d7f9e43561b086161f679940f79" title="Convert Celsius to Fahrenheit.">CelsiusToFahrenheit</a>(<span class="keywordtype">double</span> _temp);</div>
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+<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Temperature.html#ac334819a39ff7c216fd7efb56c284ce1">  103</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1Temperature.html#ac334819a39ff7c216fd7efb56c284ce1" title="Convert Celsius to Kelvin.">CelsiusToKelvin</a>(<span class="keywordtype">double</span> _temp);</div>
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+<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Temperature.html#a6a7be30e3f6ec05c073f6757fc9650e3">  129</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1Temperature.html#a6a7be30e3f6ec05c073f6757fc9650e3" title="Get the temperature in Kelvin.">Kelvin</a>() <span class="keyword">const</span>;</div>
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+<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Temperature.html#a434e8265d50d323e49e06f1b272fb780">  137</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> <a class="code" href="classgz_1_1math_1_1Temperature.html#a434e8265d50d323e49e06f1b272fb780" title="Get the temperature in Fahrenheit.">Fahrenheit</a>() <span class="keyword">const</span>;</div>
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 <div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
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 <div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    {</div>
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 <div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    }</div>
 <div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
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 <div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    {</div>
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 <div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    }</div>
 <div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
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 <div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
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 <div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
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 <div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    }</div>
 <div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
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-</div><!-- fragment --></div><!-- contents -->
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 <div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;                      <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3&lt;T&gt;</a> &amp;_pt2,</div>
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 <div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
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+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/set.html">std::set&lt;math::Vector2&lt;T&gt;</a> &gt; points;</div>
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 <div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
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-2&lt;float&gt;</a> <a class="code" href="namespacegz_1_1math.html#a9f3739462b0605dcb64299fa289b6afe">Vector2f</a>;</div>
-<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
-<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
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+<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Vector3Stats.html#ac5a1fec47974bd2b9afb752629ee9afd">   75</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1SignalStats.html" title="Collection of statistics for a scalar signal.">SignalStats</a> &amp;<a class="code" href="classgz_1_1math_1_1Vector3Stats.html#ac5a1fec47974bd2b9afb752629ee9afd" title="Get statistics for z component of signal.">Z</a>() <span class="keyword">const</span>;</div>
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+<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;                <a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_istream.html">std::istream</a> &amp;_in, <a class="code" href="classgz_1_1math_1_1Vector4.html" title="T Generic x, y, z, w vector.">gz::math::Vector4&lt;T&gt;</a> &amp;_pt)</div>
 <div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;    {</div>
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 <div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
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-</div><!-- fragment --></div><!-- contents -->
-      </div>
-    </main>
-  </div>
-</body>
-at&gt;</a> <a class="code" href="namespacegz_1_1math.html#a2e950d4be17eed0a7d6f24353b04c8f5">Vector4f</a>;</div>
-<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
-<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
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       </div>
diff --git a/api/math/7/gz_2math_2VolumetricGridLookupField_8hh.html b/api/math/7/gz_2math_2VolumetricGridLookupField_8hh.html
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@@ -185,11 +185,11 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
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-<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      <span class="keyword">private</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html" title="STL class.">std::vector</a>&lt;</div>
-<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html" title="STL class.">std::vector&lt;std::vector&lt;std::optional&lt;I&gt;</a>&gt;&gt;&gt; index_table;</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      <span class="keyword">private</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector</a>&lt;</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;std::vector&lt;std::optional&lt;I&gt;</a>&gt;&gt;&gt; index_table;</div>
 <div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
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-<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html" title="STL class.">std::vector</a>&lt;<a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3&lt;T&gt;</a>&gt; &amp;_cloud)</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector</a>&lt;<a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3&lt;T&gt;</a>&gt; &amp;_cloud)</div>
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 <div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        <span class="comment">// NOTE: This part of the code assumes an exact grid of points.</span></div>
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@@ -230,14 +230,14 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        }</div>
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+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keyword">public</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;InterpolationPoint3D&lt;T&gt;</a>&gt;</div>
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 <div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;          <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3&lt;T&gt;</a> &amp;_pt,</div>
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 <div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">double</span> _yTol = 1e-6,</div>
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 <div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="keyword">      </span>{</div>
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+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;InterpolationPoint3D&lt;T&gt;</a>&gt; interpolators;</div>
 <div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
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@@ -268,8 +268,8 @@ <h2>API Reference</h2>
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-<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html" title="STL class.">std::vector</a>&lt;<a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3&lt;T&gt;</a>&gt; &amp;_cloud,</div>
-<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html" title="STL class.">std::vector&lt;I&gt;</a> &amp;_indices)</div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector</a>&lt;<a class="code" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3&lt;T&gt;</a>&gt; &amp;_cloud,</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;I&gt;</a> &amp;_indices)</div>
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 <div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <span class="comment">// NOTE: This part of the code assumes an exact grid of points.</span></div>
@@ -327,7 +327,7 @@ <h2>API Reference</h2>
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+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector</a>&lt;InterpolationPoint3D&lt;T&gt;&gt; _interpolators,</div>
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 <div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="keyword">const</span> V &amp;_default = V(0))<span class="keyword"> const</span></div>
@@ -383,7 +383,13 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    };</div>
 <div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
 <div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
-<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;<span class="preprocessor">#endif  // GZ_MATH_VOLUMETRIC_GRID_LOOKUP_FIELD_HH_</span></div>
+<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_VOLUMETRIC_GRID_LOOKUP_FIELD_HH_</span></div>
+</div><!-- fragment --></div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
+GRID_LOOKUP_FIELD_HH_</span></div>
 </div><!-- fragment --></div><!-- contents -->
       </div>
     </main>
diff --git a/api/math/7/gz_2math_2eigen3_2Conversions_8hh.html b/api/math/7/gz_2math_2eigen3_2Conversions_8hh.html
index 04c8597d8..1902875bf 100644
--- a/api/math/7/gz_2math_2eigen3_2Conversions_8hh.html
+++ b/api/math/7/gz_2math_2eigen3_2Conversions_8hh.html
@@ -132,7 +132,7 @@ <h2>API Reference</h2>
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index 96aac2f49..f9d686dbc 100644
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+++ b/api/math/7/gz_2math_2eigen3_2Conversions_8hh_source.html
@@ -132,7 +132,7 @@ <h2>API Reference</h2>
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+<!-- Generated by Doxygen 1.9.1 -->
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 <div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;}  <span class="comment">// namespace gz::math::eigen3</span></div>
-<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="preprocessor">#endif  // GZ_MATH_EIGEN3_CONVERSIONS_HH_</span></div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_EIGEN3_CONVERSIONS_HH_</span></div>
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     </main>
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-   </main>
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diff --git a/api/math/7/gz_2math_2eigen3_2Util_8hh.html b/api/math/7/gz_2math_2eigen3_2Util_8hh.html
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@@ -132,7 +132,7 @@ <h2>API Reference</h2>
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     <div id="top">
-<!-- Generated by Doxygen 1.8.17 -->
+<!-- Generated by Doxygen 1.9.1 -->
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   <ul>
 <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_5f70b597a8f3cb7e191c654fdc4ac806.html">gz-math</a></li><li class="navelem"><a class="el" href="dir_339bb2830817ae46da24555d4ba50b62.html">eigen3</a></li><li class="navelem"><a class="el" href="dir_908fdea1ee7a7368490305cd5563256c.html">include</a></li><li class="navelem"><a class="el" href="dir_a42f8b492453e27b20b3ad785ea86a79.html">gz</a></li><li class="navelem"><a class="el" href="dir_ccba511afe83d00083a011cbf7ebde18.html">math</a></li><li class="navelem"><a class="el" href="dir_4d90baf93feedd48ce63d1f9b4a0a0f0.html">eigen3</a></li>  </ul>
@@ -179,7 +179,7 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="keyword">namespace </span>gz::math::eigen3</div>
 <div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;{</div>
 <div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="namespaceeigen3.html#af265147b98338c51d44176299899cdb4">   40</a></span>&#160;  <span class="keyword">inline</span> <a class="code" href="namespacegz_1_1math.html#a86e6f4c9798f85f6b09c74b4b60d2376" title="typedef Matrix3&lt;double&gt; as Matrix3d.">Eigen::Matrix3d</a> <a class="code" href="namespaceeigen3.html#af265147b98338c51d44176299899cdb4" title="Get covariance matrix from a set of 3d vertices https://github.com/isl-org/Open3D/blob/76c2baf9debd46...">covarianceMatrix</a>(</div>
-<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html" title="STL class.">std::vector&lt;math::Vector3d&gt;</a> &amp;_vertices)</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;math::Vector3d&gt;</a> &amp;_vertices)</div>
 <div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  {</div>
 <div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="keywordflow">if</span> (_vertices.<a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector/empty.html">empty</a>())</div>
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@@ -202,7 +202,7 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
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 <div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
-<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    cumulants /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(_vertices.size());</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    cumulants /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(_vertices.<a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector/size.html">size</a>());</div>
 <div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
 <div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    covariance(0, 0) = cumulants(3) - cumulants(0) * cumulants(0);</div>
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@@ -217,7 +217,7 @@ <h2>API Reference</h2>
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-<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html" title="STL class.">std::vector&lt;math::Vector3d&gt;</a> &amp;_vertices)</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;math::Vector3d&gt;</a> &amp;_vertices)</div>
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@@ -228,7 +228,7 @@ <h2>API Reference</h2>
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-<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <a class="code" href="namespacegz_1_1math.html#a603f5a8a733d7b83ebc3e9250cb14b71" title="Get mean value in a vector of values.">mean</a> /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(_vertices.size());</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <a class="code" href="namespacegz_1_1math.html#a603f5a8a733d7b83ebc3e9250cb14b71" title="Get mean value in a vector of values.">mean</a> /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(_vertices.<a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector/size.html">size</a>());</div>
 <div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
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 <div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <a class="code" href="namespacegz_1_1math.html#a86e6f4c9798f85f6b09c74b4b60d2376" title="typedef Matrix3&lt;double&gt; as Matrix3d.">Eigen::Matrix3d</a> covariance = <a class="code" href="namespaceeigen3.html#af265147b98338c51d44176299899cdb4" title="Get covariance matrix from a set of 3d vertices https://github.com/isl-org/Open3D/blob/76c2baf9debd46...">covarianceMatrix</a>(_vertices);</div>
@@ -287,7 +287,7 @@ <h2>API Reference</h2>
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-<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="preprocessor">#endif  // GZ_MATH_EIGEN3_UTIL_HH_</span></div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_EIGEN3_UTIL_HH_</span></div>
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       </div>
     </main>
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@@ -132,7 +132,7 @@ <h2>API Reference</h2>
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 <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_5f70b597a8f3cb7e191c654fdc4ac806.html">gz-math</a></li><li class="navelem"><a class="el" href="dir_078c05cd486cbf4f25c108ac6a855843.html">include</a></li><li class="navelem"><a class="el" href="dir_cb23e0bbad0208f30fc2b464607664c0.html">gz</a></li><li class="navelem"><a class="el" href="dir_0f196ca5b9fd4ac373b7623d3ec837c2.html">math</a></li><li class="navelem"><a class="el" href="dir_d5e3c1a045dd69938bfb9ba4235f599e.html">graph</a></li>  </ul>
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 <div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        data(_data),</div>
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+<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structgz_1_1math_1_1graph_1_1EdgeInitializer.html#a8cb774caafe1153c589c734183468af5">   59</a></span>&#160;    <span class="keyword">public</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/utility/pair.html">VertexId_P</a> <a class="code" href="structgz_1_1math_1_1graph_1_1EdgeInitializer.html#a8cb774caafe1153c589c734183468af5" title="IDs of the vertices.">vertices</a>;</div>
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+<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1graph_1_1Edge.html#a2d64f55b3424741a8448cb0e07001ffb">  150</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">virtual</span> <a class="code" href="namespacegz_1_1math_1_1graph.html#a1f7010c44b0824e6e2d08c537522e1a0" title="The unique Id of each vertex.">VertexId</a> <a class="code" href="classgz_1_1math_1_1graph_1_1Edge.html#a2d64f55b3424741a8448cb0e07001ffb" title="Get the destination end that is reachable from a source end of an edge.">From</a>(<span class="keyword">const</span> <a class="code" href="namespacegz_1_1math_1_1graph.html#a1f7010c44b0824e6e2d08c537522e1a0" title="The unique Id of each vertex.">VertexId</a> &amp;_from) <span class="keyword">const</span> = 0;</div>
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 <div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
 <div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> EdgeType&gt;</div>
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 <div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
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 <div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
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+<div class="line"><a name="l00323"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1graph_1_1DirectedEdge.html#a0ea24839f24ba2f2cbe52752c0b50bbc">  323</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">friend</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html">std::ostream</a> &amp;<a class="code" href="classgz_1_1math_1_1graph_1_1DirectedEdge.html#a0ea24839f24ba2f2cbe52752c0b50bbc" title="Stream insertion operator. The output uses DOT graph description language.">operator&lt;&lt;</a>(<a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html">std::ostream</a> &amp;_out,</div>
 <div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;                                            <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1graph_1_1DirectedEdge.html" title="A directed edge represents a connection between two vertices. The connection is unidirectional,...">DirectedEdge&lt;E&gt;</a> &amp;_e)</div>
 <div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    {</div>
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 <div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;}  <span class="comment">// namespace graph</span></div>
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 <div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
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-<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;}  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
-<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
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 <div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="namespacegz_1_1math_1_1graph.html#a8d46ec0a314990fb639a6789d9535cb7">   41</a></span>&#160;  <span class="keyword">using</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/utility/pair.html">CostInfo</a> = <a class="codeRef" href="http://en.cppreference.com/w/cpp/utility/pair.html">std::pair&lt;double, VertexId&gt;</a>;</div>
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 <div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> V, <span class="keyword">typename</span> E, <span class="keyword">typename</span> EdgeType&gt;</div>
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+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="namespacegz_1_1math_1_1graph.html#a9b92ff00d2f2580a16823994b08a4022">   50</a></span>&#160;  <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;VertexId&gt;</a> <a class="code" href="namespacegz_1_1math_1_1graph.html#a9b92ff00d2f2580a16823994b08a4022" title="Breadth first sort (BFS). Starting from the vertex == _from, it traverses the graph exploring the nei...">BreadthFirstSort</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html" title="A generic graph class. Both vertices and edges can store user information. A vertex could be created ...">Graph&lt;V, E, EdgeType&gt;</a> &amp;_graph,</div>
 <div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                                         <span class="keyword">const</span> <a class="code" href="namespacegz_1_1math_1_1graph.html#a1f7010c44b0824e6e2d08c537522e1a0" title="The unique Id of each vertex.">VertexId</a> &amp;_from)</div>
 <div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  {</div>
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@@ -198,8 +198,8 @@ <h2>API Reference</h2>
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 <div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      visitorGraph.<a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html#a41bf01a9bf40ee27f08405b404187235" title="Add a new edge to the graph.">AddEdge</a>(e.second.get().Vertices(), E());</div>
 <div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
-<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html" title="STL class.">std::vector&lt;VertexId&gt;</a> visited;</div>
-<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/list.html" title="STL class.">std::list&lt;VertexId&gt;</a> pending = {_from};</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;VertexId&gt;</a> visited;</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/list.html">std::list&lt;VertexId&gt;</a> pending = {_from};</div>
 <div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
 <div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordflow">while</span> (!pending.<a class="codeRef" href="http://en.cppreference.com/w/cpp/container/list/empty.html">empty</a>())</div>
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@@ -229,7 +229,7 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  }</div>
 <div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
 <div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> V, <span class="keyword">typename</span> E, <span class="keyword">typename</span> EdgeType&gt;</div>
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+<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="namespacegz_1_1math_1_1graph.html#a86a9e4cb88f8e7174917cac770fdda3d">  102</a></span>&#160;  <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;VertexId&gt;</a> <a class="code" href="namespacegz_1_1math_1_1graph.html#a86a9e4cb88f8e7174917cac770fdda3d" title="Depth first sort (DFS). Starting from the vertex == _from, it visits the graph as far as possible alo...">DepthFirstSort</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html" title="A generic graph class. Both vertices and edges can store user information. A vertex could be created ...">Graph&lt;V, E, EdgeType&gt;</a> &amp;_graph,</div>
 <div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                                       <span class="keyword">const</span> <a class="code" href="namespacegz_1_1math_1_1graph.html#a1f7010c44b0824e6e2d08c537522e1a0" title="The unique Id of each vertex.">VertexId</a> &amp;_from)</div>
 <div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  {</div>
 <div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="comment">// Create an auxiliary graph, where the data is just a boolean value that</span></div>
@@ -244,8 +244,8 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> <span class="keyword">const</span> &amp;e : _graph.<a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html#a80c98ee28ae312d26adb03cd9b12363f" title="The collection of all edges in the graph.">Edges</a>())</div>
 <div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      visitorGraph.<a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html#a41bf01a9bf40ee27f08405b404187235" title="Add a new edge to the graph.">AddEdge</a>(e.second.get().Vertices(), E());</div>
 <div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
-<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html" title="STL class.">std::vector&lt;VertexId&gt;</a> visited;</div>
-<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/stack.html" title="STL class.">std::stack&lt;VertexId&gt;</a> pending({_from});</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;VertexId&gt;</a> visited;</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/stack.html">std::stack&lt;VertexId&gt;</a> pending({_from});</div>
 <div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
 <div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordflow">while</span> (!pending.empty())</div>
 <div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    {</div>
@@ -275,7 +275,7 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  }</div>
 <div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
 <div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> V, <span class="keyword">typename</span> E, <span class="keyword">typename</span> EdgeType&gt;</div>
-<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="namespacegz_1_1math_1_1graph.html#aad10f204b8ee7e8cb0d24b4fa0fa52cb">  211</a></span>&#160;  <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html" title="STL class.">std::map&lt;VertexId, CostInfo&gt;</a> <a class="code" href="namespacegz_1_1math_1_1graph.html#aad10f204b8ee7e8cb0d24b4fa0fa52cb" title="Dijkstra algorithm. Find the shortest path between the vertices in a graph. If only a graph and a sou...">Dijkstra</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html" title="A generic graph class. Both vertices and edges can store user information. A vertex could be created ...">Graph&lt;V, E, EdgeType&gt;</a> &amp;_graph,</div>
+<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="namespacegz_1_1math_1_1graph.html#aad10f204b8ee7e8cb0d24b4fa0fa52cb">  211</a></span>&#160;  <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html">std::map&lt;VertexId, CostInfo&gt;</a> <a class="code" href="namespacegz_1_1math_1_1graph.html#aad10f204b8ee7e8cb0d24b4fa0fa52cb" title="Dijkstra algorithm. Find the shortest path between the vertices in a graph. If only a graph and a sou...">Dijkstra</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html" title="A generic graph class. Both vertices and edges can store user information. A vertex could be created ...">Graph&lt;V, E, EdgeType&gt;</a> &amp;_graph,</div>
 <div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;                                        <span class="keyword">const</span> <a class="code" href="namespacegz_1_1math_1_1graph.html#a1f7010c44b0824e6e2d08c537522e1a0" title="The unique Id of each vertex.">VertexId</a> &amp;_from,</div>
 <div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;                                        <span class="keyword">const</span> <a class="code" href="namespacegz_1_1math_1_1graph.html#a1f7010c44b0824e6e2d08c537522e1a0" title="The unique Id of each vertex.">VertexId</a> &amp;_to = <a class="code" href="namespacegz_1_1math_1_1graph.html#a6072871e8b2171f5fc136c763ace483a" title="Represents an invalid Id.">kNullId</a>)</div>
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@@ -297,12 +297,12 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    }</div>
 <div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
 <div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <span class="comment">// Store vertices that are being preprocessed.</span></div>
-<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/priority_queue.html" title="STL class.">std::priority_queue</a>&lt;<a class="code" href="namespacegz_1_1math_1_1graph.html#a8d46ec0a314990fb639a6789d9535cb7" title="Used in Dijkstra. For a given source vertex, this pair represents the cost (first element) to reach a...">CostInfo</a>,</div>
-<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html" title="STL class.">std::vector&lt;CostInfo&gt;</a>, <a class="codeRef" href="http://en.cppreference.com/w/cpp/utility/functional/greater.html">std::greater&lt;CostInfo&gt;</a>&gt; pq;</div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/priority_queue.html">std::priority_queue</a>&lt;<a class="code" href="namespacegz_1_1math_1_1graph.html#a8d46ec0a314990fb639a6789d9535cb7" title="Used in Dijkstra. For a given source vertex, this pair represents the cost (first element) to reach a...">CostInfo</a>,</div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;CostInfo&gt;</a>, <a class="codeRef" href="http://en.cppreference.com/w/cpp/utility/functional/greater.html">std::greater&lt;CostInfo&gt;</a>&gt; pq;</div>
 <div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
 <div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    <span class="comment">// Create a map for distances and next neightbor and initialize all</span></div>
 <div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    <span class="comment">// distances as infinite.</span></div>
-<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html" title="STL class.">std::map&lt;VertexId, CostInfo&gt;</a> dist;</div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html">std::map&lt;VertexId, CostInfo&gt;</a> dist;</div>
 <div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> <span class="keyword">const</span> &amp;v : allVertices)</div>
 <div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    {</div>
 <div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <span class="keyword">auto</span> <span class="keywordtype">id</span> = v.first;</div>
@@ -344,10 +344,10 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  }</div>
 <div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; </div>
 <div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> V, <span class="keyword">typename</span> E&gt;</div>
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+<div class="line"><a name="l00288"></a><span class="lineno"><a class="line" href="namespacegz_1_1math_1_1graph.html#a61a448fd0197b5e39056c6178a613619">  288</a></span>&#160;  <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;UndirectedGraph&lt;V, E&gt;</a>&gt; <a class="code" href="namespacegz_1_1math_1_1graph.html#a61a448fd0197b5e39056c6178a613619" title="Calculate the connected components of an undirected graph. A connected component of an undirected gra...">ConnectedComponents</a>(</div>
 <div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html" title="A generic graph class. Both vertices and edges can store user information. A vertex could be created ...">UndirectedGraph&lt;V, E&gt;</a> &amp;_graph)</div>
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+<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html">std::map&lt;VertexId, unsigned int&gt;</a> visited;</div>
 <div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> componentCount = 0;</div>
 <div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
 <div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> <span class="keyword">const</span> &amp;v : _graph.<a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html#a9e1d28212e2e3170856ef2c86f29c4a6" title="The collection of all vertices in the graph.">Vertices</a>())</div>
@@ -361,7 +361,7 @@ <h2>API Reference</h2>
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 <div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
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+<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;UndirectedGraph&lt;V, E&gt;</a>&gt; res(componentCount);</div>
 <div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
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 <div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> V, <span class="keyword">typename</span> E&gt;</div>
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-<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html" title="STL class.">std::vector&lt;EdgeInitializer&lt;E&gt;</a>&gt; edges;</div>
+<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;Vertex&lt;V&gt;</a>&gt; vertices;</div>
+<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;EdgeInitializer&lt;E&gt;</a>&gt; edges;</div>
 <div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
 <div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    <span class="comment">// Add all vertices.</span></div>
 <div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> <span class="keyword">const</span> &amp;vPair : _graph.<a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html#a9e1d28212e2e3170856ef2c86f29c4a6" title="The collection of all vertices in the graph.">Vertices</a>())</div>
@@ -408,6 +408,13 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;}  <span class="comment">// namespace graph</span></div>
 <div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;}  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
 <div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
+<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;<span class="preprocessor">#endif   </span><span class="comment">// GZ_MATH_GRAPH_GRAPHALGORITHMS_HH_</span></div>
+</div><!-- fragment --></div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
+iv>
 <div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;<span class="preprocessor">#endif   // GZ_MATH_GRAPH_GRAPHALGORITHMS_HH_</span></div>
 </div><!-- fragment --></div><!-- contents -->
       </div>
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+<!-- Generated by Doxygen 1.9.1 -->
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     <main class="mdl-layout__content mdl-color--white">
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-<!-- Generated by Doxygen 1.8.17 -->
+<!-- Generated by Doxygen 1.9.1 -->
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 <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_5f70b597a8f3cb7e191c654fdc4ac806.html">gz-math</a></li><li class="navelem"><a class="el" href="dir_078c05cd486cbf4f25c108ac6a855843.html">include</a></li><li class="navelem"><a class="el" href="dir_cb23e0bbad0208f30fc2b464607664c0.html">gz</a></li><li class="navelem"><a class="el" href="dir_0f196ca5b9fd4ac373b7623d3ec837c2.html">math</a></li><li class="navelem"><a class="el" href="dir_d5e3c1a045dd69938bfb9ba4235f599e.html">graph</a></li>  </ul>
@@ -184,10 +184,10 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="comment"></span>  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> V, <span class="keyword">typename</span> E, <span class="keyword">typename</span> EdgeType&gt;</div>
 <div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1graph_1_1Graph.html">  100</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html" title="A generic graph class. Both vertices and edges can store user information. A vertex could be created ...">Graph</a></div>
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-<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html" title="A generic graph class. Both vertices and edges can store user information. A vertex could be created ...">Graph</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1graph_1_1Graph.html#a0c40af42cad207665228815f0359bbd3">  103</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html#a0c40af42cad207665228815f0359bbd3" title="Default constructor.">Graph</a>() = <span class="keywordflow">default</span>;</div>
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-<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;                  <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html" title="STL class.">std::vector</a>&lt;<a class="code" href="structgz_1_1math_1_1graph_1_1EdgeInitializer.html" title="Used in the Graph constructors for uniform initialization.">EdgeInitializer&lt;E&gt;</a>&gt; &amp;_edges)</div>
+<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1graph_1_1Graph.html#af324bc33f5bb44a19a1e1d2ca2af7ed2">  108</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html#af324bc33f5bb44a19a1e1d2ca2af7ed2" title="Constructor.">Graph</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector</a>&lt;<a class="code" href="classgz_1_1math_1_1graph_1_1Vertex.html" title="A vertex of a graph. It stores user information, an optional name, and keeps an internal unique Id....">Vertex&lt;V&gt;</a>&gt; &amp;_vertices,</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;                  <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector</a>&lt;<a class="code" href="structgz_1_1math_1_1graph_1_1EdgeInitializer.html" title="Used in the Graph constructors for uniform initialization.">EdgeInitializer&lt;E&gt;</a>&gt; &amp;_edges)</div>
 <div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    {</div>
 <div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <span class="comment">// Add all vertices.</span></div>
 <div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">auto</span> <span class="keyword">const</span> &amp;v : _vertices)</div>
@@ -207,7 +207,7 @@ <h2>API Reference</h2>
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 <div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    }</div>
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-<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1graph_1_1Graph.html#a0d827829d28146a07586160b8addaccf">  135</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1graph_1_1Vertex.html" title="A vertex of a graph. It stores user information, an optional name, and keeps an internal unique Id....">Vertex&lt;V&gt;</a> &amp;<a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html#a0d827829d28146a07586160b8addaccf" title="Add a new vertex to the graph.">AddVertex</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> &amp;_name,</div>
+<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1graph_1_1Graph.html#a0d827829d28146a07586160b8addaccf">  135</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1graph_1_1Vertex.html" title="A vertex of a graph. It stores user information, an optional name, and keeps an internal unique Id....">Vertex&lt;V&gt;</a> &amp;<a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html#a0d827829d28146a07586160b8addaccf" title="Add a new vertex to the graph.">AddVertex</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_name,</div>
 <div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                                 <span class="keyword">const</span> V &amp;_data,</div>
 <div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;                                 <span class="keyword">const</span> <a class="code" href="namespacegz_1_1math_1_1graph.html#a1f7010c44b0824e6e2d08c537522e1a0" title="The unique Id of each vertex.">VertexId</a> &amp;_id = <a class="code" href="namespacegz_1_1math_1_1graph.html#a6072871e8b2171f5fc136c763ace483a" title="Represents an invalid Id.">kNullId</a>)</div>
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@@ -248,18 +248,18 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <span class="keywordflow">return</span> ret.first-&gt;second;</div>
 <div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    }</div>
 <div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
-<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1graph_1_1Graph.html#a9e1d28212e2e3170856ef2c86f29c4a6">  179</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html" title="STL class.">VertexRef_M&lt;V&gt;</a> <a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html#a9e1d28212e2e3170856ef2c86f29c4a6" title="The collection of all vertices in the graph.">Vertices</a>()<span class="keyword"> const</span></div>
+<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1graph_1_1Graph.html#a9e1d28212e2e3170856ef2c86f29c4a6">  179</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html">VertexRef_M&lt;V&gt;</a> <a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html#a9e1d28212e2e3170856ef2c86f29c4a6" title="The collection of all vertices in the graph.">Vertices</a>()<span class="keyword"> const</span></div>
 <div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<span class="keyword">    </span>{</div>
-<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html" title="STL class.">VertexRef_M&lt;V&gt;</a> res;</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html">VertexRef_M&lt;V&gt;</a> res;</div>
 <div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">auto</span> <span class="keyword">const</span> &amp;v : this-&gt;vertices)</div>
 <div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        res.<a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map/emplace.html">emplace</a>(<a class="codeRef" href="http://en.cppreference.com/w/cpp/utility/pair/make_pair.html">std::make_pair</a>(v.first, <a class="codeRef" href="http://en.cppreference.com/w/cpp/utility/functional/ref.html">std::cref</a>(v.second)));</div>
 <div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
 <div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      <span class="keywordflow">return</span> res;</div>
 <div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    }</div>
 <div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
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+<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1graph_1_1Graph.html#a5ae1438d54d40ebc4df80206988bbfd7">  191</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html">VertexRef_M&lt;V&gt;</a> <a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html#a5ae1438d54d40ebc4df80206988bbfd7" title="The collection of all vertices in the graph with name == _name.">Vertices</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_name)<span class="keyword"> const</span></div>
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+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html">VertexRef_M&lt;V&gt;</a> res;</div>
 <div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">auto</span> <span class="keyword">const</span> &amp;vertex : this-&gt;vertices)</div>
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@@ -315,9 +315,9 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      <span class="keywordflow">return</span> ret.first-&gt;second;</div>
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 <div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
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+<div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1graph_1_1Graph.html#a80c98ee28ae312d26adb03cd9b12363f">  264</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html">EdgeRef_M&lt;EdgeType&gt;</a> <a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html#a80c98ee28ae312d26adb03cd9b12363f" title="The collection of all edges in the graph.">Edges</a>()<span class="keyword"> const</span></div>
 <div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;<span class="keyword">    </span>{</div>
-<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html" title="STL class.">EdgeRef_M&lt;EdgeType&gt;</a> res;</div>
+<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html">EdgeRef_M&lt;EdgeType&gt;</a> res;</div>
 <div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">auto</span> <span class="keyword">const</span> &amp;edge : this-&gt;edges)</div>
 <div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      {</div>
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@@ -326,9 +326,9 @@ <h2>API Reference</h2>
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@@ -398,10 +398,10 @@ <h2>API Reference</h2>
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@@ -461,7 +461,7 @@ <h2>API Reference</h2>
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+<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;      <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> name = vIt-&gt;second.Name();</div>
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+<div class="line"><a name="l00551"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1graph_1_1Graph.html#ababc7a882b46052d6e93f235f4cd6f19">  551</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">size_t</span> <a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html#ababc7a882b46052d6e93f235f4cd6f19" title="Remove all vertices with name == _name.">RemoveVertices</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_name)</div>
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+<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;      <span class="keyword">const</span> <span class="keyword">typename</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html">std::map&lt;VertexId, EdgeId_S&gt;::const_iterator</a> &amp;adjIt =</div>
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+<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;      <span class="keywordflow">for</span> (<a class="codeRef" href="http://en.cppreference.com/w/cpp/container/set.html">std::set&lt;EdgeId&gt;::const_iterator</a> edgIt = adjIt-&gt;second.<a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map/begin.html">begin</a>();</div>
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+<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;        <span class="keyword">const</span> <span class="keyword">typename</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html">std::map&lt;EdgeId, EdgeType&gt;::const_iterator</a> edgeIter =</div>
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-<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;    <span class="keyword">friend</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html" title="STL class.">std::ostream</a> &amp;<a class="code" href="namespacegz_1_1math_1_1graph.html#af245affa652023bbcc23dc79270a16e6" title="Partial template specification for directed edges.">operator&lt;&lt;</a>(<a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html" title="STL class.">std::ostream</a> &amp;_out,</div>
+<div class="line"><a name="l00701"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1graph_1_1Graph.html#a922a7624433ca0e5b91d7ae0cd7c54f5">  701</a></span>&#160;    <span class="keyword">friend</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html">std::ostream</a> &amp;<a class="code" href="classgz_1_1math_1_1graph_1_1Graph.html#a922a7624433ca0e5b91d7ae0cd7c54f5" title="Stream insertion operator. The output uses DOT graph description language.">operator&lt;&lt;</a>(<a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html">std::ostream</a> &amp;_out,</div>
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+<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;    <span class="keyword">private</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html">std::map&lt;VertexId, Vertex&lt;V&gt;</a>&gt; vertices;</div>
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+<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;    <span class="keyword">private</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html">std::map&lt;VertexId, EdgeId_S&gt;</a> adjList;</div>
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+<div class="line"><a name="l00756"></a><span class="lineno"><a class="line" href="namespacegz_1_1math_1_1graph.html#a40ff61b8c394667edba82af1910b2d01">  756</a></span>&#160;  <a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html">std::ostream</a> &amp;<a class="code" href="namespacegz_1_1math_1_1graph.html#af245affa652023bbcc23dc79270a16e6" title="Partial template specification for directed edges.">operator&lt;&lt;</a>(<a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html">std::ostream</a> &amp;_out,</div>
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+<div class="line"><a name="l00783"></a><span class="lineno"><a class="line" href="namespacegz_1_1math_1_1graph.html#af245affa652023bbcc23dc79270a16e6">  783</a></span>&#160;  <a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html">std::ostream</a> &amp;<a class="code" href="namespacegz_1_1math_1_1graph.html#af245affa652023bbcc23dc79270a16e6" title="Partial template specification for directed edges.">operator&lt;&lt;</a>(<a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html">std::ostream</a> &amp;_out,</div>
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@@ -705,6 +705,14 @@ <h2>API Reference</h2>
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 <div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;}  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
 <div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;}  <span class="comment">// namespace gz::math::graph</span></div>
+<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_GRAPH_GRAPH_HH_</span></div>
+</div><!-- fragment --></div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
+an class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
+<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;}  <span class="comment">// namespace gz::math::graph</span></div>
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 <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_5f70b597a8f3cb7e191c654fdc4ac806.html">gz-math</a></li><li class="navelem"><a class="el" href="dir_078c05cd486cbf4f25c108ac6a855843.html">include</a></li><li class="navelem"><a class="el" href="dir_cb23e0bbad0208f30fc2b464607664c0.html">gz</a></li><li class="navelem"><a class="el" href="dir_0f196ca5b9fd4ac373b7623d3ec837c2.html">math</a></li><li class="navelem"><a class="el" href="dir_d5e3c1a045dd69938bfb9ba4235f599e.html">graph</a></li>  </ul>
@@ -191,7 +191,7 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1graph_1_1Vertex.html#ab5fda8089ee97f2c0ed948a20909e001">   55</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">static</span> <a class="code" href="classgz_1_1math_1_1graph_1_1Vertex.html" title="A vertex of a graph. It stores user information, an optional name, and keeps an internal unique Id....">Vertex&lt;V&gt;</a> <a class="code" href="classgz_1_1math_1_1graph_1_1Vertex.html#ab5fda8089ee97f2c0ed948a20909e001" title="An invalid vertex.">NullVertex</a>;</div>
 <div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
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+<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1graph_1_1Vertex.html#a55ded568d5182e6a914772013755237d">   62</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1graph_1_1Vertex.html#a55ded568d5182e6a914772013755237d" title="Constructor.">Vertex</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_name,</div>
 <div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;                   <span class="keyword">const</span> V &amp;_data = V(),</div>
 <div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;                   <span class="keyword">const</span> <a class="code" href="namespacegz_1_1math_1_1graph.html#a1f7010c44b0824e6e2d08c537522e1a0" title="The unique Id of each vertex.">VertexId</a> _id = <a class="code" href="namespacegz_1_1math_1_1graph.html#a6072871e8b2171f5fc136c763ace483a" title="Represents an invalid Id.">kNullId</a>)</div>
 <div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      : name(_name),</div>
@@ -215,12 +215,12 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keywordflow">return</span> this-&gt;id;</div>
 <div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    }</div>
 <div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
-<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1graph_1_1Vertex.html#a191cd9b1ba3e3c01a558a1f6c02a4429">   94</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> &amp;<a class="code" href="classgz_1_1math_1_1graph_1_1Vertex.html#a191cd9b1ba3e3c01a558a1f6c02a4429" title="Get the vertex name.">Name</a>()<span class="keyword"> const</span></div>
+<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1graph_1_1Vertex.html#a191cd9b1ba3e3c01a558a1f6c02a4429">   94</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;<a class="code" href="classgz_1_1math_1_1graph_1_1Vertex.html#a191cd9b1ba3e3c01a558a1f6c02a4429" title="Get the vertex name.">Name</a>()<span class="keyword"> const</span></div>
 <div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="keyword">    </span>{</div>
 <div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keywordflow">return</span> this-&gt;name;</div>
 <div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    }</div>
 <div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
-<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1graph_1_1Vertex.html#a1233a88584929349157ec04ca3d389e3">  101</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1graph_1_1Vertex.html#a1233a88584929349157ec04ca3d389e3" title="Set the vertex name.">SetName</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> &amp;_name)</div>
+<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1graph_1_1Vertex.html#a1233a88584929349157ec04ca3d389e3">  101</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1graph_1_1Vertex.html#a1233a88584929349157ec04ca3d389e3" title="Set the vertex name.">SetName</a>(<span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> &amp;_name)</div>
 <div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    {</div>
 <div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      this-&gt;name = _name;</div>
 <div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    }</div>
@@ -230,7 +230,7 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keywordflow">return</span> this-&gt;<span class="keywordtype">id</span> != <a class="code" href="namespacegz_1_1math_1_1graph.html#a6072871e8b2171f5fc136c763ace483a" title="Represents an invalid Id.">kNullId</a>;</div>
 <div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    }</div>
 <div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
-<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1graph_1_1Vertex.html#ab7c8c1a650eba82e59d83254c230fd7e">  118</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">friend</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html" title="STL class.">std::ostream</a> &amp;<a class="code" href="classgz_1_1math_1_1graph_1_1Vertex.html#ab7c8c1a650eba82e59d83254c230fd7e" title="Stream insertion operator. The output uses DOT graph description language.">operator&lt;&lt;</a>(<a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html" title="STL class.">std::ostream</a> &amp;_out,</div>
+<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1graph_1_1Vertex.html#ab7c8c1a650eba82e59d83254c230fd7e">  118</a></span>&#160;    <span class="keyword">public</span>: <span class="keyword">friend</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html">std::ostream</a> &amp;<a class="code" href="classgz_1_1math_1_1graph_1_1Vertex.html#ab7c8c1a650eba82e59d83254c230fd7e" title="Stream insertion operator. The output uses DOT graph description language.">operator&lt;&lt;</a>(<a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html">std::ostream</a> &amp;_out,</div>
 <div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;                                            <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1graph_1_1Vertex.html" title="A vertex of a graph. It stores user information, an optional name, and keeps an internal unique Id....">Vertex&lt;V&gt;</a> &amp;_v)</div>
 <div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    {</div>
 <div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      _out &lt;&lt; <span class="stringliteral">&quot;  &quot;</span> &lt;&lt; _v.<a class="code" href="classgz_1_1math_1_1graph_1_1Vertex.html#aa499ff4aa3cc5447d55b1942e14815af" title="Get the vertex Id.">Id</a>() &lt;&lt; <span class="stringliteral">&quot; [label=\&quot;&quot;</span> &lt;&lt; _v.<a class="code" href="classgz_1_1math_1_1graph_1_1Vertex.html#a191cd9b1ba3e3c01a558a1f6c02a4429" title="Get the vertex name.">Name</a>()</div>
@@ -238,7 +238,7 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keywordflow">return</span> _out;</div>
 <div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    }</div>
 <div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
-<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keyword">private</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html" title="STL class.">std::string</a> name = <span class="stringliteral">&quot;&quot;</span>;</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keyword">private</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/string/basic_string.html">std::string</a> name = <span class="stringliteral">&quot;&quot;</span>;</div>
 <div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
 <div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keyword">private</span>: V data;</div>
 <div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
@@ -249,12 +249,12 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  Vertex&lt;V&gt; Vertex&lt;V&gt;::NullVertex(<span class="stringliteral">&quot;__null__&quot;</span>, V(), <a class="code" href="namespacegz_1_1math_1_1graph.html#a6072871e8b2171f5fc136c763ace483a" title="Represents an invalid Id.">kNullId</a>);</div>
 <div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
 <div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> V&gt;</div>
-<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="keyword">using</span> <a class="code" href="namespacegz_1_1math_1_1graph.html#a227b0188a2c9499b5cd9360568a2fc53">VertexRef_M</a> =</div>
-<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="namespacegz_1_1math_1_1graph.html#a227b0188a2c9499b5cd9360568a2fc53">  145</a></span>&#160;    <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html" title="STL class.">std::map&lt;VertexId, std::reference_wrapper&lt;const Vertex&lt;V&gt;</a>&gt;&gt;;</div>
+<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="namespacegz_1_1math_1_1graph.html#a227b0188a2c9499b5cd9360568a2fc53">  144</a></span>&#160;  <span class="keyword">using</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html">VertexRef_M</a> =</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html">std::map&lt;VertexId, std::reference_wrapper&lt;const Vertex&lt;V&gt;</a>&gt;&gt;;</div>
 <div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;}  <span class="comment">// namespace graph</span></div>
 <div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;}  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
 <div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
-<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="preprocessor">#endif  // GZ_MATH_GRAPH_VERTEX_HH_</span></div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_GRAPH_VERTEX_HH_</span></div>
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diff --git a/api/math/7/hierarchy.html b/api/math/7/hierarchy.html
index 6f99c3f8d..9a71b6315 100644
--- a/api/math/7/hierarchy.html
+++ b/api/math/7/hierarchy.html
@@ -132,7 +132,7 @@ <h2>API Reference</h2>
     </div>
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+<!-- Generated by Doxygen 1.9.1 -->
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@@ -156,77 +156,83 @@ <h2>API Reference</h2>
 <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="structgz_1_1math_1_1graph_1_1EdgeInitializer.html" target="_self">EdgeInitializer&lt; E &gt;</a></td><td class="desc">Used in the <a class="el" href="classgz_1_1math_1_1graph_1_1Graph.html" title="A generic graph class. Both vertices and edges can store user information. A vertex could be created ...">Graph</a> constructors for uniform initialization </td></tr>
 <tr id="row_11_"><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="classgz_1_1math_1_1Ellipsoid.html" target="_self">Ellipsoid&lt; Precision &gt;</a></td><td class="desc">A representation of a general ellipsoid </td></tr>
 <tr id="row_12_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_12_" class="arrow" onclick="toggleFolder('12_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1math_1_1Filter.html" target="_self">Filter&lt; T &gt;</a></td><td class="desc"><a class="el" href="classgz_1_1math_1_1Filter.html" title="Filter base class.">Filter</a> base class </td></tr>
-<tr id="row_12_0_"><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="classgz_1_1math_1_1BiQuad.html" target="_self">BiQuad&lt; T &gt;</a></td><td class="desc">Bi-quad filter base class </td></tr>
-<tr id="row_12_1_" class="even"><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="classgz_1_1math_1_1OnePole.html" target="_self">OnePole&lt; T &gt;</a></td><td class="desc">A one-pole DSP filter </td></tr>
-<tr id="row_13_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_13_" class="arrow" onclick="toggleFolder('13_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1math_1_1Filter.html" target="_self">Filter&lt; math::Quaterniond &gt;</a></td><td class="desc"></td></tr>
-<tr id="row_13_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_13_0_" class="arrow" onclick="toggleFolder('13_0_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1math_1_1OnePole.html" target="_self">OnePole&lt; math::Quaterniond &gt;</a></td><td class="desc"></td></tr>
-<tr id="row_13_0_0_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1math_1_1OnePoleQuaternion.html" target="_self">OnePoleQuaternion</a></td><td class="desc">One-pole quaternion filter </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="toggleFolder('14_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1math_1_1Filter.html" target="_self">Filter&lt; math::Vector3d &gt;</a></td><td class="desc"></td></tr>
-<tr id="row_14_0_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_14_0_" class="arrow" onclick="toggleFolder('14_0_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1math_1_1BiQuad.html" target="_self">BiQuad&lt; math::Vector3d &gt;</a></td><td class="desc"></td></tr>
-<tr id="row_14_0_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1math_1_1BiQuadVector3.html" target="_self">BiQuadVector3</a></td><td class="desc"><a class="el" href="classgz_1_1math_1_1BiQuad.html" title="Bi-quad filter base class.">BiQuad</a> vector3 filter </td></tr>
-<tr id="row_14_1_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_14_1_" class="arrow" onclick="toggleFolder('14_1_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1math_1_1OnePole.html" target="_self">OnePole&lt; math::Vector3d &gt;</a></td><td class="desc"></td></tr>
-<tr id="row_14_1_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1math_1_1OnePoleVector3.html" target="_self">OnePoleVector3</a></td><td class="desc">One-pole vector3 filter </td></tr>
-<tr id="row_15_"><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="classgz_1_1math_1_1Frustum.html" target="_self">Frustum</a></td><td class="desc">Mathematical representation of a frustum and related functions. This is also known as a view frustum </td></tr>
-<tr id="row_16_" 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="classgz_1_1math_1_1GaussMarkovProcess.html" target="_self">GaussMarkovProcess</a></td><td class="desc">Implementation of a stationary gauss-markov process, also known as a Ornstein Ulenbeck process </td></tr>
-<tr id="row_17_"><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="classgz_1_1math_1_1graph_1_1Graph.html" target="_self">Graph&lt; V, E, EdgeType &gt;</a></td><td class="desc">A generic graph class. Both vertices and edges can store user information. A vertex could be created passing a custom Id if needed, otherwise it will be choosen internally. The vertices also have a name that could be reused among other vertices if needed. This class supports the use of different edge types (e.g. directed or undirected edges) </td></tr>
-<tr id="row_18_" 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="classgz_1_1math_1_1Inertial.html" target="_self">Inertial&lt; T &gt;</a></td><td class="desc">The <a class="el" href="classgz_1_1math_1_1Inertial.html" title="The Inertial object provides a representation for the mass and inertia matrix of a body B....">Inertial</a> object provides a representation for the mass and inertia matrix of a body B. The components of the inertia matrix are expressed in what we call the "inertial" frame Bi of the body, i.e. the frame in which these inertia components are measured. The inertial frame Bi must be located at the center of mass of the body, but not necessarily aligned with the body’s frame. In addition, this class allows users to specify a frame F for these inertial properties by specifying the pose X_FBi of the inertial frame Bi in the inertial object frame F </td></tr>
-<tr id="row_19_"><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="classgz_1_1math_1_1InMemorySession.html" target="_self">InMemorySession&lt; T, V &gt;</a></td><td class="desc">An in-memory session. Loads the whole dataset in memory and performs queries </td></tr>
-<tr id="row_20_" 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="classgz_1_1math_1_1InMemoryTimeVaryingVolumetricGridFactory.html" target="_self">InMemoryTimeVaryingVolumetricGridFactory&lt; T, V, P &gt;</a></td><td class="desc">Factory class for constructing an InMemoryTimeVaryingVolumetricGrid </td></tr>
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-<tr id="row_47_"><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="classgz_1_1math_1_1RotationSpline.html" target="_self">RotationSpline</a></td><td class="desc"><a class="el" href="classgz_1_1math_1_1Spline.html" title="Splines.">Spline</a> for rotations </td></tr>
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-<tr id="row_55_"><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="classgz_1_1math_1_1Stopwatch.html" target="_self">Stopwatch</a></td><td class="desc">The <a class="el" href="classgz_1_1math_1_1Stopwatch.html" title="The Stopwatch keeps track of time spent in the run state, accessed through ElapsedRunTime(),...">Stopwatch</a> keeps track of time spent in the run state, accessed through <a class="el" href="classgz_1_1math_1_1Stopwatch.html#a440d1edf4be5efd8153638f95ce11cc0" title="Get the amount of time that the stop watch has been running. This is the total amount of run time,...">ElapsedRunTime()</a>, and time spent in the stop state, accessed through <a class="el" href="classgz_1_1math_1_1Stopwatch.html#abf7f2eb0b11d5988a54a54851738f557" title="Get the amount of time that the stop watch has been stopped. This is the total amount of stop time,...">ElapsedStopTime()</a>. Elapsed run time starts accumulating after the first call to <a class="el" href="classgz_1_1math_1_1Stopwatch.html#a90034de0fd2b3a74042d4664d0e8e7d5" title="Start the stopwatch.">Start()</a>. Elapsed stop time starts accumulation after <a class="el" href="classgz_1_1math_1_1Stopwatch.html#a90034de0fd2b3a74042d4664d0e8e7d5" title="Start the stopwatch.">Start()</a> has been called followed by <a class="el" href="classgz_1_1math_1_1Stopwatch.html#a7d498b13dc60fe7d0ba25025182d53fd" title="Stop the stopwatch.">Stop()</a>. The stopwatch can be reset with the <a class="el" href="classgz_1_1math_1_1Stopwatch.html#a372de693ad40b3f42839c8ec6ac845f4" title="Reset the stopwatch. This resets the start time, stop time, elapsed duration and elapsed stop duratio...">Reset()</a> function </td></tr>
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-<tr id="row_63_"><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="classgz_1_1math_1_1Triangle3.html" target="_self">Triangle3&lt; T &gt;</a></td><td class="desc">A 3-dimensional triangle and related functions </td></tr>
-<tr id="row_64_" 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="classgz_1_1math_1_1Vector2.html" target="_self">Vector2&lt; T &gt;</a></td><td class="desc">Two dimensional (x, y) vector </td></tr>
-<tr id="row_65_"><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="classgz_1_1math_1_1Vector3.html" target="_self">Vector3&lt; T &gt;</a></td><td class="desc">The <a class="el" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3</a> class represents the generic vector containing 3 elements. Since it's commonly used to keep coordinate system related information, its elements are labeled by x, y, z </td></tr>
-<tr id="row_66_" 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="classgz_1_1math_1_1Vector3.html" target="_self">Vector3&lt; Precision &gt;</a></td><td class="desc"></td></tr>
-<tr id="row_67_"><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="classgz_1_1math_1_1Vector3Stats.html" target="_self">Vector3Stats</a></td><td class="desc">Collection of statistics for a <a class="el" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3</a> signal </td></tr>
-<tr id="row_68_" 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="classgz_1_1math_1_1Vector4.html" target="_self">Vector4&lt; T &gt;</a></td><td class="desc">T Generic x, y, z, w vector </td></tr>
-<tr id="row_69_"><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="classgz_1_1math_1_1graph_1_1Vertex.html" target="_self">Vertex&lt; V &gt;</a></td><td class="desc">A vertex of a graph. It stores user information, an optional name, and keeps an internal unique Id. This class does not enforce to choose a unique name </td></tr>
+<tr id="row_12_0_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_12_0_" class="arrow" onclick="toggleFolder('12_0_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1math_1_1BiQuad.html" target="_self">BiQuad&lt; math::Vector3d &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_12_0_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1math_1_1BiQuadVector3.html" target="_self">BiQuadVector3</a></td><td class="desc"><a class="el" href="classgz_1_1math_1_1BiQuad.html" title="Bi-quad filter base class.">BiQuad</a> vector3 filter </td></tr>
+<tr id="row_12_1_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_12_1_" class="arrow" onclick="toggleFolder('12_1_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1math_1_1OnePole.html" target="_self">OnePole&lt; math::Vector3d &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_12_1_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1math_1_1OnePoleVector3.html" target="_self">OnePoleVector3</a></td><td class="desc">One-pole vector3 filter </td></tr>
+<tr id="row_12_2_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_12_2_" class="arrow" onclick="toggleFolder('12_2_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1math_1_1OnePole.html" target="_self">OnePole&lt; math::Quaterniond &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_12_2_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1math_1_1OnePoleQuaternion.html" target="_self">OnePoleQuaternion</a></td><td class="desc">One-pole quaternion filter </td></tr>
+<tr id="row_12_3_"><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="classgz_1_1math_1_1BiQuad.html" target="_self">BiQuad&lt; T &gt;</a></td><td class="desc">Bi-quad filter base class </td></tr>
+<tr id="row_12_4_" class="even"><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="classgz_1_1math_1_1OnePole.html" target="_self">OnePole&lt; T &gt;</a></td><td class="desc">A one-pole DSP filter </td></tr>
+<tr id="row_13_"><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="classgz_1_1math_1_1Frustum.html" target="_self">Frustum</a></td><td class="desc">Mathematical representation of a frustum and related functions. This is also known as a view frustum </td></tr>
+<tr id="row_14_" 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="classgz_1_1math_1_1GaussMarkovProcess.html" target="_self">GaussMarkovProcess</a></td><td class="desc">Implementation of a stationary gauss-markov process, also known as a Ornstein Ulenbeck process </td></tr>
+<tr id="row_15_"><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="classgz_1_1math_1_1graph_1_1Graph.html" target="_self">Graph&lt; V, E, EdgeType &gt;</a></td><td class="desc">A generic graph class. Both vertices and edges can store user information. A vertex could be created passing a custom Id if needed, otherwise it will be choosen internally. The vertices also have a name that could be reused among other vertices if needed. This class supports the use of different edge types (e.g. directed or undirected edges) </td></tr>
+<tr id="row_16_" 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="classgz_1_1math_1_1Inertial.html" target="_self">Inertial&lt; T &gt;</a></td><td class="desc">The <a class="el" href="classgz_1_1math_1_1Inertial.html" title="The Inertial object provides a representation for the mass and inertia matrix of a body B....">Inertial</a> object provides a representation for the mass and inertia matrix of a body B. The components of the inertia matrix are expressed in what we call the "inertial" frame Bi of the body, i.e. the frame in which these inertia components are measured. The inertial frame Bi must be located at the center of mass of the body, but not necessarily aligned with the body’s frame. In addition, this class allows users to specify a frame F for these inertial properties by specifying the pose X_FBi of the inertial frame Bi in the inertial object frame F </td></tr>
+<tr id="row_17_"><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="classgz_1_1math_1_1InMemorySession.html" target="_self">InMemorySession&lt; T, V &gt;</a></td><td class="desc">An in-memory session. Loads the whole dataset in memory and performs queries </td></tr>
+<tr id="row_18_" 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="classgz_1_1math_1_1InMemoryTimeVaryingVolumetricGridFactory.html" target="_self">InMemoryTimeVaryingVolumetricGridFactory&lt; T, V, P &gt;</a></td><td class="desc">Factory class for constructing an InMemoryTimeVaryingVolumetricGrid </td></tr>
+<tr id="row_19_"><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="classgz_1_1math_1_1Interval.html" target="_self">Interval&lt; T &gt;</a></td><td class="desc">The <a class="el" href="classgz_1_1math_1_1Interval.html" title="The Interval class represents a range of real numbers. Intervals may be open (a, b),...">Interval</a> class represents a range of real numbers. Intervals may be open (a, b), left-closed [a, b), right-closed (a, b], or fully closed [a, b] </td></tr>
+<tr id="row_20_" 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="classgz_1_1math_1_1Kmeans.html" target="_self">Kmeans</a></td><td class="desc">K-Means clustering algorithm. Given a set of observations, k-means partitions the observations into k sets so as to minimize the within-cluster sum of squares. Description based on <a href="http://en.wikipedia.org/wiki/K-means_clustering">http://en.wikipedia.org/wiki/K-means_clustering</a> </td></tr>
+<tr id="row_21_"><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="classgz_1_1math_1_1Line2.html" target="_self">Line2&lt; T &gt;</a></td><td class="desc">A two dimensional line segment. The line is defined by a start and end point </td></tr>
+<tr id="row_22_" 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="classgz_1_1math_1_1Line3.html" target="_self">Line3&lt; T &gt;</a></td><td class="desc">A three dimensional line segment. The line is defined by a start and end point </td></tr>
+<tr id="row_23_"><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="classgz_1_1math_1_1MassMatrix3.html" target="_self">MassMatrix3&lt; T &gt;</a></td><td class="desc">A class for inertial information about a rigid body consisting of the scalar mass and a 3x3 symmetric moment of inertia matrix stored as two <a class="el" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3</a>'s </td></tr>
+<tr id="row_24_" 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="classgz_1_1math_1_1Material.html" target="_self">Material</a></td><td class="desc">Contains information about a single material </td></tr>
+<tr id="row_25_"><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="classgz_1_1math_1_1Matrix3.html" target="_self">Matrix3&lt; T &gt;</a></td><td class="desc">A 3x3 matrix class </td></tr>
+<tr id="row_26_" 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="classgz_1_1math_1_1Matrix4.html" target="_self">Matrix4&lt; T &gt;</a></td><td class="desc">A 4x4 matrix class </td></tr>
+<tr id="row_27_"><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="classgz_1_1math_1_1Matrix6.html" target="_self">Matrix6&lt; T &gt;</a></td><td class="desc">A 6x6 matrix class </td></tr>
+<tr id="row_28_" 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="classgz_1_1math_1_1MecanumDriveOdometry.html" target="_self">MecanumDriveOdometry</a></td><td class="desc">Computes odometry values based on a set of kinematic properties and wheel speeds for a Mecanum-drive vehicle </td></tr>
+<tr id="row_29_"><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="classgz_1_1math_1_1MovingWindowFilter.html" target="_self">MovingWindowFilter&lt; T &gt;</a></td><td class="desc">Base class for <a class="el" href="classgz_1_1math_1_1MovingWindowFilter.html" title="Base class for MovingWindowFilter. This replaces the version of MovingWindowFilter in the Gazebo Comm...">MovingWindowFilter</a>. This replaces the version of <a class="el" href="classgz_1_1math_1_1MovingWindowFilter.html" title="Base class for MovingWindowFilter. This replaces the version of MovingWindowFilter in the Gazebo Comm...">MovingWindowFilter</a> in the Gazebo Common library </td></tr>
+<tr id="row_30_" 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="classgz_1_1math_1_1OrientedBox.html" target="_self">OrientedBox&lt; T &gt;</a></td><td class="desc">Mathematical representation of a box which can be arbitrarily positioned and rotated </td></tr>
+<tr id="row_31_"><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="classgz_1_1math_1_1PID.html" target="_self">PID</a></td><td class="desc">Generic <a class="el" href="classgz_1_1math_1_1PID.html" title="Generic PID controller class. Generic proportional-integral-derivative controller class that keeps tr...">PID</a> controller class. Generic proportional-integral-derivative controller class that keeps track of PID-error states and control inputs given the state of a system and a user specified target state. It includes a user-adjustable command offset term (feed-forward) </td></tr>
+<tr id="row_32_" 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="structgz_1_1math_1_1PiecewiseScalarField3_1_1Piece.html" target="_self">PiecewiseScalarField3&lt; ScalarField3T, ScalarT &gt;::Piece</a></td><td class="desc">A scalar field P in R^3 and the region R in which it is defined </td></tr>
+<tr id="row_33_"><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="classgz_1_1math_1_1PiecewiseScalarField3.html" target="_self">PiecewiseScalarField3&lt; ScalarField3T, ScalarT &gt;</a></td><td class="desc">The <a class="el" href="classgz_1_1math_1_1PiecewiseScalarField3.html" title="The PiecewiseScalarField3 class constructs a scalar field F in R^3 as a union of scalar fields Pn,...">PiecewiseScalarField3</a> class constructs a scalar field F in R^3 as a union of scalar fields Pn, defined over regions Rn i.e. piecewise </td></tr>
+<tr id="row_34_" 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="classgz_1_1math_1_1Plane.html" target="_self">Plane&lt; T &gt;</a></td><td class="desc">A plane and related functions </td></tr>
+<tr id="row_35_"><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="classgz_1_1math_1_1Polynomial3.html" target="_self">Polynomial3&lt; T &gt;</a></td><td class="desc">The <a class="el" href="classgz_1_1math_1_1Polynomial3.html" title="The Polynomial3 class represents a cubic polynomial with real coefficients p(x) = c0 x^3 + c1 x^2 + c...">Polynomial3</a> class represents a cubic polynomial with real coefficients p(x) = c0 x^3 + c1 x^2 + c2 x + c3 </td></tr>
+<tr id="row_36_" 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="classgz_1_1math_1_1Pose3.html" target="_self">Pose3&lt; T &gt;</a></td><td class="desc">The <a class="el" href="classgz_1_1math_1_1Pose3.html" title="The Pose3 class represents a 3D position and rotation. The position component is a Vector3,...">Pose3</a> class represents a 3D position and rotation. The position component is a <a class="el" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3</a>, and the rotation is a <a class="el" href="classgz_1_1math_1_1Quaternion.html" title="A quaternion class that represents 3D rotations and orientations. Four scalar values,...">Quaternion</a> </td></tr>
+<tr id="row_37_"><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="classgz_1_1math_1_1Quaternion.html" target="_self">Quaternion&lt; T &gt;</a></td><td class="desc">A quaternion class that represents 3D rotations and orientations. Four scalar values, [w,x,y,z], are used represent orientations and rotations </td></tr>
+<tr id="row_38_" 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="classgz_1_1math_1_1Quaternion.html" target="_self">Quaternion&lt; Precision &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_39_"><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="classgz_1_1math_1_1Rand.html" target="_self">Rand</a></td><td class="desc">Random number generator class </td></tr>
+<tr id="row_40_" 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="classgz_1_1math_1_1Region3.html" target="_self">Region3&lt; T &gt;</a></td><td class="desc">The <a class="el" href="classgz_1_1math_1_1Region3.html" title="The Region3 class represents the cartesian product of intervals Ix ✕ Iy ✕ Iz, one per axis,...">Region3</a> class represents the cartesian product of intervals Ix ✕ Iy ✕ Iz, one per axis, yielding an axis-aligned region of R^3 space. It can be thought of as an intersection of halfspaces. Regions may be open or closed in their boundaries, if any </td></tr>
+<tr id="row_41_"><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="classgz_1_1math_1_1Region3.html" target="_self">Region3&lt; ScalarT &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_42_" 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="classgz_1_1math_1_1RollingMean.html" target="_self">RollingMean</a></td><td class="desc">A class that computes the mean over a series of data points. The window size determines the maximum number of data points. The oldest value is popped off when the window size is reached and a new value is pushed in </td></tr>
+<tr id="row_43_"><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="classgz_1_1math_1_1RotationSpline.html" target="_self">RotationSpline</a></td><td class="desc"><a class="el" href="classgz_1_1math_1_1Spline.html" title="Splines.">Spline</a> for rotations </td></tr>
+<tr id="row_44_" 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="classgz_1_1math_1_1SemanticVersion.html" target="_self">SemanticVersion</a></td><td class="desc">Version comparison class based on Semantic Versioning 2.0.0 <a href="http://semver.org/">http://semver.org/</a> Compares versions and converts versions from string </td></tr>
+<tr id="row_45_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_45_" class="arrow" onclick="toggleFolder('45_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgz_1_1math_1_1SignalStatistic.html" target="_self">SignalStatistic</a></td><td class="desc">Statistical properties of a discrete time scalar signal </td></tr>
+<tr id="row_45_0_" class="even"><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="classgz_1_1math_1_1SignalMaxAbsoluteValue.html" target="_self">SignalMaxAbsoluteValue</a></td><td class="desc">Computing the maximum of the absolute value of a discretely sampled signal. Also known as the maximum norm, infinity norm, or supremum norm </td></tr>
+<tr id="row_45_1_"><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="classgz_1_1math_1_1SignalMaximum.html" target="_self">SignalMaximum</a></td><td class="desc">Computing the maximum value of a discretely sampled signal </td></tr>
+<tr id="row_45_2_" class="even"><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="classgz_1_1math_1_1SignalMean.html" target="_self">SignalMean</a></td><td class="desc">Computing the mean value of a discretely sampled signal </td></tr>
+<tr id="row_45_3_"><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="classgz_1_1math_1_1SignalMinimum.html" target="_self">SignalMinimum</a></td><td class="desc">Computing the minimum value of a discretely sampled signal </td></tr>
+<tr id="row_45_4_" class="even"><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="classgz_1_1math_1_1SignalRootMeanSquare.html" target="_self">SignalRootMeanSquare</a></td><td class="desc">Computing the square root of the mean squared value of a discretely sampled signal </td></tr>
+<tr id="row_45_5_"><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="classgz_1_1math_1_1SignalVariance.html" target="_self">SignalVariance</a></td><td class="desc">Computing the incremental variance of a discretely sampled signal </td></tr>
+<tr id="row_46_" 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="classgz_1_1math_1_1SignalStats.html" target="_self">SignalStats</a></td><td class="desc">Collection of statistics for a scalar signal </td></tr>
+<tr id="row_47_"><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="classgz_1_1math_1_1SpeedLimiter.html" target="_self">SpeedLimiter</a></td><td class="desc">Class to limit velocity, acceleration and jerk </td></tr>
+<tr id="row_48_" 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="classgz_1_1math_1_1Sphere.html" target="_self">Sphere&lt; Precision &gt;</a></td><td class="desc">A representation of a sphere </td></tr>
+<tr id="row_49_"><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="classgz_1_1math_1_1SphericalCoordinates.html" target="_self">SphericalCoordinates</a></td><td class="desc">Convert spherical coordinates for planetary surfaces </td></tr>
+<tr id="row_50_" 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="classgz_1_1math_1_1Spline.html" target="_self">Spline</a></td><td class="desc">Splines </td></tr>
+<tr id="row_51_"><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="classgz_1_1math_1_1Stopwatch.html" target="_self">Stopwatch</a></td><td class="desc">The <a class="el" href="classgz_1_1math_1_1Stopwatch.html" title="The Stopwatch keeps track of time spent in the run state, accessed through ElapsedRunTime(),...">Stopwatch</a> keeps track of time spent in the run state, accessed through <a class="el" href="classgz_1_1math_1_1Stopwatch.html#a440d1edf4be5efd8153638f95ce11cc0" title="Get the amount of time that the stop watch has been running. This is the total amount of run time,...">ElapsedRunTime()</a>, and time spent in the stop state, accessed through <a class="el" href="classgz_1_1math_1_1Stopwatch.html#abf7f2eb0b11d5988a54a54851738f557" title="Get the amount of time that the stop watch has been stopped. This is the total amount of stop time,...">ElapsedStopTime()</a>. Elapsed run time starts accumulating after the first call to <a class="el" href="classgz_1_1math_1_1Stopwatch.html#a90034de0fd2b3a74042d4664d0e8e7d5" title="Start the stopwatch.">Start()</a>. Elapsed stop time starts accumulation after <a class="el" href="classgz_1_1math_1_1Stopwatch.html#a90034de0fd2b3a74042d4664d0e8e7d5" title="Start the stopwatch.">Start()</a> has been called followed by <a class="el" href="classgz_1_1math_1_1Stopwatch.html#a7d498b13dc60fe7d0ba25025182d53fd" title="Stop the stopwatch.">Stop()</a>. The stopwatch can be reset with the <a class="el" href="classgz_1_1math_1_1Stopwatch.html#a372de693ad40b3f42839c8ec6ac845f4" title="Reset the stopwatch. This resets the start time, stop time, elapsed duration and elapsed stop duratio...">Reset()</a> function </td></tr>
+<tr id="row_52_" 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="classgz_1_1math_1_1Temperature.html" target="_self">Temperature</a></td><td class="desc">A class that stores temperature information, and allows conversion between different units </td></tr>
+<tr id="row_53_"><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="classgz_1_1math_1_1TimeVaryingVolumetricGrid.html" target="_self">TimeVaryingVolumetricGrid&lt; T, V, S, P &gt;</a></td><td class="desc">A grid with interpolation where time can be varied. This class has no implementation to allow for different strategies </td></tr>
+<tr id="row_54_" 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="classgz_1_1math_1_1TimeVaryingVolumetricGrid_3_01T_00_01V_00_01InMemorySession_3_01T_00_01P_01_4_00_01P_01_4.html" target="_self">TimeVaryingVolumetricGrid&lt; T, V, InMemorySession&lt; T, P &gt;, P &gt;</a></td><td class="desc">Specialization of <a class="el" href="classgz_1_1math_1_1TimeVaryingVolumetricGrid.html" title="A grid with interpolation where time can be varied. This class has no implementation to allow for dif...">TimeVaryingVolumetricGrid</a> which loads the whole of the dataset into memory. To construct this class use <code><a class="el" href="classgz_1_1math_1_1InMemoryTimeVaryingVolumetricGridFactory.html" title="Factory class for constructing an InMemoryTimeVaryingVolumetricGrid.">InMemoryTimeVaryingVolumetricGridFactory</a></code> </td></tr>
+<tr id="row_55_"><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="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html" target="_self">TimeVaryingVolumetricGridLookupField&lt; T, V, S &gt;</a></td><td class="desc">Lookup table for a time-varying volumetric dataset. This is an unimplemented template as the actual methods depend on the underlying structure. The key idea is that one uses a session <code>S</code> to hold a session token. This is so that we don't keep doing O(logn) lookups and instead step along the axis </td></tr>
+<tr id="row_56_" 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="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html" target="_self">TimeVaryingVolumetricGridLookupField&lt; T, V, gz::math::InMemorySession&lt; T, P &gt; &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_57_"><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="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField_3_01T_00_01V_00_01InMemorySession_3_01T_00_01V_01_4_01_4.html" target="_self">TimeVaryingVolumetricGridLookupField&lt; T, V, InMemorySession&lt; T, V &gt; &gt;</a></td><td class="desc">Specialized version of <code><a class="el" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html" title="Lookup table for a time-varying volumetric dataset. This is an unimplemented template as the actual m...">TimeVaryingVolumetricGridLookupField</a></code> for in-memory lookup. It loads the whole dataset into memory </td></tr>
+<tr id="row_58_" 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="classgz_1_1math_1_1Triangle.html" target="_self">Triangle&lt; T &gt;</a></td><td class="desc"><a class="el" href="classgz_1_1math_1_1Triangle.html" title="Triangle class and related functions.">Triangle</a> class and related functions </td></tr>
+<tr id="row_59_"><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="classgz_1_1math_1_1Triangle3.html" target="_self">Triangle3&lt; T &gt;</a></td><td class="desc">A 3-dimensional triangle and related functions </td></tr>
+<tr id="row_60_" 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="classgz_1_1math_1_1Vector2.html" target="_self">Vector2&lt; T &gt;</a></td><td class="desc">Two dimensional (x, y) vector </td></tr>
+<tr id="row_61_"><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="classgz_1_1math_1_1Vector3.html" target="_self">Vector3&lt; T &gt;</a></td><td class="desc">The <a class="el" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3</a> class represents the generic vector containing 3 elements. Since it's commonly used to keep coordinate system related information, its elements are labeled by x, y, z </td></tr>
+<tr id="row_62_" 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="classgz_1_1math_1_1Vector3.html" target="_self">Vector3&lt; Precision &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_63_"><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="classgz_1_1math_1_1Vector3Stats.html" target="_self">Vector3Stats</a></td><td class="desc">Collection of statistics for a <a class="el" href="classgz_1_1math_1_1Vector3.html" title="The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...">Vector3</a> signal </td></tr>
+<tr id="row_64_" 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="classgz_1_1math_1_1Vector4.html" target="_self">Vector4&lt; T &gt;</a></td><td class="desc">T Generic x, y, z, w vector </td></tr>
+<tr id="row_65_"><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="classgz_1_1math_1_1graph_1_1Vertex.html" target="_self">Vertex&lt; V &gt;</a></td><td class="desc">A vertex of a graph. It stores user information, an optional name, and keeps an internal unique Id. This class does not enforce to choose a unique name </td></tr>
+<tr id="row_66_" 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="classgz_1_1math_1_1VolumetricGridLookupField.html" target="_self">VolumetricGridLookupField&lt; T, I &gt;</a></td><td class="desc">Lookup table for a volumetric dataset. This class is used to lookup indices for a large dataset that's organized in a grid. This class is not meant to be used with non-grid like data sets. The grid may be sparse or non uniform and missing data points </td></tr>
+<tr id="row_67_"><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="classgz_1_1math_1_1VolumetricGridLookupField.html" target="_self">VolumetricGridLookupField&lt; V &gt;</a></td><td class="desc"></td></tr>
+</table>
+</div><!-- directory -->
+</div><!-- contents -->
+      </div>
+    </main>
+  </div>
+</body>
+n class="icon">C</span></span><a class="el" href="classgz_1_1math_1_1graph_1_1Vertex.html" target="_self">Vertex&lt; V &gt;</a></td><td class="desc">A vertex of a graph. It stores user information, an optional name, and keeps an internal unique Id. This class does not enforce to choose a unique name </td></tr>
 <tr id="row_70_" 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="classgz_1_1math_1_1VolumetricGridLookupField.html" target="_self">VolumetricGridLookupField&lt; T, I &gt;</a></td><td class="desc">Lookup table for a volumetric dataset. This class is used to lookup indices for a large dataset that's organized in a grid. This class is not meant to be used with non-grid like data sets. The grid may be sparse or non uniform and missing data points </td></tr>
 <tr id="row_71_"><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="classgz_1_1math_1_1VolumetricGridLookupField.html" target="_self">VolumetricGridLookupField&lt; V &gt;</a></td><td class="desc"></td></tr>
 </table>
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-<div class="textblock"><p>Gazebo Math is a component in Gazebo, a set of libraries designed to rapidly develop robot and simulation applications. This library defines a general set of math classes and functions with an eye toward simulation and robotics.</p>
+<div class="textblock"><p><a class="anchor" id="md_api"></a> Gazebo Math is a component in Gazebo, a set of libraries designed to rapidly develop robot and simulation applications. This library defines a general set of math classes and functions with an eye toward simulation and robotics.</p>
 <h1><a class="anchor" id="autotoc_md1"></a>
 Features</h1>
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diff --git a/api/math/7/install.html b/api/math/7/install.html
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 <li>Install dependencies <div class="fragment"><div class="line">sudo apt -y install \</div>
 <div class="line">  $(sort -u $(find . -iname &#39;packages-&#39;`lsb_release -cs`&#39;.apt&#39; -o -iname &#39;packages.apt&#39; | tr &#39;\n&#39; &#39; &#39;))</div>
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-<li><p class="startli">Clone the repository </p><div class="fragment"><div class="line">git clone https://github.com/gazebosim/gz-math -b gz-math&lt;#&gt;</div>
-</div><!-- fragment --><p class="startli">Be sure to replace <code>&lt;#&gt;</code> with a number value, such as 1 or 2, depending on which version you need. From version 7 you should use <code>gz-math&lt;#&gt;</code> but for lower versions you should use <code>ign-math&lt;#&gt;</code>.</p>
-</li>
+<li>Clone the repository <div class="fragment"><div class="line">git clone https://github.com/gazebosim/gz-math -b gz-math&lt;#&gt;</div>
+</div><!-- fragment --> Be sure to replace <code>&lt;#&gt;</code> with a number value, such as 1 or 2, depending on which version you need. From version 7 you should use <code>gz-math&lt;#&gt;</code> but for lower versions you should use <code>ign-math&lt;#&gt;</code>.</li>
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 <div class="line">mkdir build</div>
 <div class="line">cd build</div>
@@ -224,12 +223,10 @@ <h3><a class="anchor" id="autotoc_md33"></a>
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 macOS</h3>
 <ol type="1">
-<li><p class="startli">Clone the repository </p><div class="fragment"><div class="line">git clone https://github.com/gazebosim/gz-math -b gz-math&lt;#&gt;</div>
-</div><!-- fragment --><p class="startli">Be sure to replace <code>&lt;#&gt;</code> with a number value, such as 1 or 2, depending on which version you need. From version 7 you should use <code>gz-math&lt;#&gt;</code> but for lower versions you should use <code>ign-math&lt;#&gt;</code>.</p>
-</li>
-<li><p class="startli">Install dependencies </p><div class="fragment"><div class="line">brew install --only-dependencies gz-math&lt;#&gt;</div>
-</div><!-- fragment --><p class="startli">Be sure to replace <code>&lt;#&gt;</code> with a number value, such as 1 or 2, depending on which version you need. From version 7 you should use <code>gz-math&lt;#&gt;</code> but for lower versions you should use <code>ign-math&lt;#&gt;</code>.</p>
-</li>
+<li>Clone the repository <div class="fragment"><div class="line">git clone https://github.com/gazebosim/gz-math -b gz-math&lt;#&gt;</div>
+</div><!-- fragment --> Be sure to replace <code>&lt;#&gt;</code> with a number value, such as 1 or 2, depending on which version you need. From version 7 you should use <code>gz-math&lt;#&gt;</code> but for lower versions you should use <code>ign-math&lt;#&gt;</code>.</li>
+<li>Install dependencies <div class="fragment"><div class="line">brew install --only-dependencies gz-math&lt;#&gt;</div>
+</div><!-- fragment --> Be sure to replace <code>&lt;#&gt;</code> with a number value, such as 1 or 2, depending on which version you need. From version 7 you should use <code>gz-math&lt;#&gt;</code> but for lower versions you should use <code>ign-math&lt;#&gt;</code>.</li>
 <li>Configure and build <div class="fragment"><div class="line">cd gz-math</div>
 <div class="line">mkdir build</div>
 <div class="line">cd build</div>
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 </div><!-- fragment --></li>
 <li><p class="startli">Install dependencies</p>
 <p class="startli">You can view available versions and their dependencies: </p><div class="fragment"><div class="line">conda search libgz-math* --channel conda-forge --info</div>
-</div><!-- fragment --><p class="startli">From version 7 you should use <code>gz-math&lt;#&gt;</code> but for lower versions you should use <code>ign-math&lt;#&gt;</code>. See the <a href="https://github.com/conda-forge/libignition-math4-feedstock">Conda release repository</a> for more information.</p>
+</div><!-- fragment --><p> From version 7 you should use <code>gz-math&lt;#&gt;</code> but for lower versions you should use <code>ign-math&lt;#&gt;</code>. See the <a href="https://github.com/conda-forge/libignition-math4-feedstock">Conda release repository</a> for more information.</p>
 <p class="startli">Install dependencies, replacing <code>&lt;#&gt;</code> with the desired version: </p><div class="fragment"><div class="line">conda install libgz-cmake&lt;#&gt; --channel conda-forge</div>
 </div><!-- fragment --></li>
-<li><p class="startli">Navigate to where you would like to build the library, and clone the repository. </p><div class="fragment"><div class="line"># Optionally, append `-b gz-math#` (replace # with a number) to check out a specific version</div>
+<li>Navigate to where you would like to build the library, and clone the repository. <div class="fragment"><div class="line"># Optionally, append `-b gz-math#` (replace # with a number) to check out a specific version</div>
 <div class="line">git clone https://github.com/gazebosim/gz-math.git</div>
-</div><!-- fragment --><p class="startli">From version 7 you should use <code>gz-math&lt;#&gt;</code> but for lower versions you should use <code>ign-math&lt;#&gt;</code>.</p>
-</li>
+</div><!-- fragment --> From version 7 you should use <code>gz-math&lt;#&gt;</code> but for lower versions you should use <code>ign-math&lt;#&gt;</code>.</li>
 <li>Configure and build <div class="fragment"><div class="line">cd gz-math</div>
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 <dl class="section return"><dt>Returns</dt><dd>Covariance matrix </dd></dl>
 
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+<p class="reference">References <a class="el" href="namespaceeigen3.html#a47ac97eb7951df4d13719c79336262f0">convert()</a>, <a class="elRef" href="http://en.cppreference.com/w/cpp/container/vector/empty.html">vector&lt; T &gt;::empty()</a>, and <a class="elRef" href="http://en.cppreference.com/w/cpp/container/vector/size.html">vector&lt; T &gt;::size()</a>.</p>
 
 <p class="reference">Referenced by <a class="el" href="namespaceeigen3.html#a24c0b95ddb7f0c73a077293ae7564d84">verticesToOrientedBox()</a>.</p>
 
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-1">gz::math::mean()</a>, and <a class="elRef" href="http://en.cppreference.com/w/cpp/container/vector/size.html">vector&lt; T &gt;::size()</a>.</p>
+<p class="reference">References <a class="el" href="namespaceeigen3.html#a47ac97eb7951df4d13719c79336262f0">convert()</a>, <a class="el" href="namespaceeigen3.html#af265147b98338c51d44176299899cdb4">covarianceMatrix()</a>, <a class="elRef" href="http://en.cppreference.com/w/cpp/container/vector/empty.html">vector&lt; T &gt;::empty()</a>, <a class="el" href="namespacegz_1_1math.html#a70365b357369538043fbc7e038a59fa2">gz::math::INF_I32</a>, <a class="el" href="namespacegz_1_1math.html#a603f5a8a733d7b83ebc3e9250cb14b71">gz::math::mean()</a>, and <a class="elRef" href="http://en.cppreference.com/w/cpp/container/vector/size.html">vector&lt; T &gt;::size()</a>.</p>
 
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 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="enum-members"></a>
 Enumerations</h2></td></tr>
-<tr class="memitem:ace55764233310da429c994a8c334b32a"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32a">MaterialType</a> { <br />
-&#160;&#160;<a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aa03cf2eb9621cbaaafabe697afdfb6375">STYROFOAM</a> = 0, 
-<a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aa2db03366902cf464d05d82980948d322">PINE</a>, 
-<a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aa8029fbd172f8364c78bd96ba415014d5">WOOD</a>, 
-<a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aacd890ff50d3ade7ee866656ad0bf25cf">OAK</a>, 
-<br />
-&#160;&#160;<a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aabf9228207c66fe40a4752a15edcdce96">PLASTIC</a>, 
-<a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aaef4e7445ec9bbbfc8d25d92a16042f88">CONCRETE</a>, 
-<a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aa509a7e8b32bf0fe1a8b6ea7a333a1321">ALUMINUM</a>, 
-<a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aa5b5c07ad92b411b256984041247eadfb">STEEL_ALLOY</a>, 
-<br />
-&#160;&#160;<a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aafff61c6a41815953e3528247ee2f9440">STEEL_STAINLESS</a>, 
-<a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aa72cfeced8656bc799e87bdc6b1aa7ddf">IRON</a>, 
-<a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aaf8c23b538d2b40948387f9b4c4881586">BRASS</a>, 
-<a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aae82f11ed94b39e8aa648d2099336865d">COPPER</a>, 
-<br />
-&#160;&#160;<a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aa378c7da1b501ec2b405db1c6fe886ffc">TUNGSTEN</a>, 
-<a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aa65482c66c74b4da9e95b03089cb59770">UNKNOWN_MATERIAL</a>
+<tr class="memitem:ace55764233310da429c994a8c334b32a"><td class="memItemLeft" align="right" valign="top">enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32a">MaterialType</a> { <br />
+&#160;&#160;<a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aa03cf2eb9621cbaaafabe697afdfb6375">STYROFOAM</a> = 0
+, <a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aa2db03366902cf464d05d82980948d322">PINE</a>
+, <a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aa8029fbd172f8364c78bd96ba415014d5">WOOD</a>
+, <a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aacd890ff50d3ade7ee866656ad0bf25cf">OAK</a>
+, <br />
+&#160;&#160;<a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aabf9228207c66fe40a4752a15edcdce96">PLASTIC</a>
+, <a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aaef4e7445ec9bbbfc8d25d92a16042f88">CONCRETE</a>
+, <a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aa509a7e8b32bf0fe1a8b6ea7a333a1321">ALUMINUM</a>
+, <a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aa5b5c07ad92b411b256984041247eadfb">STEEL_ALLOY</a>
+, <br />
+&#160;&#160;<a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aafff61c6a41815953e3528247ee2f9440">STEEL_STAINLESS</a>
+, <a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aa72cfeced8656bc799e87bdc6b1aa7ddf">IRON</a>
+, <a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aaf8c23b538d2b40948387f9b4c4881586">BRASS</a>
+, <a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aae82f11ed94b39e8aa648d2099336865d">COPPER</a>
+, <br />
+&#160;&#160;<a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aa378c7da1b501ec2b405db1c6fe886ffc">TUNGSTEN</a>
+, <a class="el" href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32aa65482c66c74b4da9e95b03089cb59770">UNKNOWN_MATERIAL</a>
 <br />
  }</td></tr>
 <tr class="memdesc:ace55764233310da429c994a8c334b32a"><td class="mdescLeft">&#160;</td><td class="mdescRight">This enum lists the supported material types. A value can be used to create a Material instance. Source: <a href="https://en.wikipedia.org/wiki/Density">https://en.wikipedia.org/wiki/Density</a>.  <a href="namespacegz_1_1math.html#ace55764233310da429c994a8c334b32a">More...</a><br /></td></tr>
@@ -2424,7 +2424,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab971b7643c4db5e8a305dee6
 
 <p class="reference">References <a class="elRef" href="http://en.cppreference.com/w/cpp/algorithm/max.html">std::max()</a>, and <a class="elRef" href="http://en.cppreference.com/w/cpp/algorithm/min.html">std::min()</a>.</p>
 
-<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Line3.html#ac49aeb71f034d6aac4acc3fd2f5e17df">Line3&lt; T &gt;::Distance()</a>, <a class="el" href="classgz_1_1math_1_1Matrix6.html#abc6f29cdc2f5bf2ea1d2ecd6cd409ffa">Matrix6&lt; T &gt;::operator()()</a>, <a class="el" href="classgz_1_1math_1_1Matrix3.html#ac8c32334869fa9f07569ecde188eced6">Matrix3&lt; T &gt;::operator()()</a>, <a class="el" href="classgz_1_1math_1_1Matrix4.html#abc6f29cdc2f5bf2ea1d2ecd6cd409ffa">Matrix4&lt; T &gt;::operator()()</a>, <a class="el" href="classgz_1_1math_1_1Triangle.html#abc6178ae3ce416120422f41296994153">Triangle&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Triangle3.html#aab94286568274b338966a71dfdf6d7d3">Triangle3&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Line2.html#a5bdfbae965d2a2dd9003dbccd9463001">Line2&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Line3.html#a42a45081f9b627191e1b57d46bac8ead">Line3&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Vector2.html#a806d08211ff4cfbd5eefde4e72575bbe">Vector2&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Vector4.html#a806d08211ff4cfbd5eefde4e72575bbe">Vector4&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Vector3.html#a806d08211ff4cfbd5eefde4e72575bbe">Vector3&lt; Precision &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Triangle.html#a5eb7190678b5a3c87637b77967e3dea6">Triangle&lt; T &gt;::Set()</a>, <a class="el" href="classgz_1_1math_1_1Triangle3.html#a8f4baa7bb77880bf5877e8ca3a3a74a8">Triangle3&lt; T &gt;::Set()</a>, <a class="el" href="classgz_1_1math_1_1Matrix3.html#ad9c9768ffc11733060794b0638f309c4">Matrix3&lt; T &gt;::Set()</a>, and <a class="el" href="classgz_1_1math_1_1Matrix3.html#aa4bcf01282df4db3cca4774d6f31f470">Matrix3&lt; T &gt;::SetCol()</a>.</p>
+<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Line3.html#ac49aeb71f034d6aac4acc3fd2f5e17df">Line3&lt; T &gt;::Distance()</a>, <a class="el" href="classgz_1_1math_1_1Matrix4.html#abc6f29cdc2f5bf2ea1d2ecd6cd409ffa">Matrix4&lt; T &gt;::operator()()</a>, <a class="el" href="classgz_1_1math_1_1Matrix6.html#abc6f29cdc2f5bf2ea1d2ecd6cd409ffa">Matrix6&lt; T &gt;::operator()()</a>, <a class="el" href="classgz_1_1math_1_1Matrix3.html#ac8c32334869fa9f07569ecde188eced6">Matrix3&lt; T &gt;::operator()()</a>, <a class="el" href="classgz_1_1math_1_1Line3.html#a42a45081f9b627191e1b57d46bac8ead">Line3&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Triangle.html#abc6178ae3ce416120422f41296994153">Triangle&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Triangle3.html#aab94286568274b338966a71dfdf6d7d3">Triangle3&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Vector2.html#a806d08211ff4cfbd5eefde4e72575bbe">Vector2&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Vector3.html#a806d08211ff4cfbd5eefde4e72575bbe">Vector3&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Vector4.html#a806d08211ff4cfbd5eefde4e72575bbe">Vector4&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Line2.html#a5bdfbae965d2a2dd9003dbccd9463001">Line2&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Triangle.html#a5eb7190678b5a3c87637b77967e3dea6">Triangle&lt; T &gt;::Set()</a>, <a class="el" href="classgz_1_1math_1_1Triangle3.html#a8f4baa7bb77880bf5877e8ca3a3a74a8">Triangle3&lt; T &gt;::Set()</a>, <a class="el" href="classgz_1_1math_1_1Matrix3.html#ad9c9768ffc11733060794b0638f309c4">Matrix3&lt; T &gt;::Set()</a>, and <a class="el" href="classgz_1_1math_1_1Matrix3.html#aa4bcf01282df4db3cca4774d6f31f470">Matrix3&lt; T &gt;::SetCol()</a>.</p>
 
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@@ -2535,7 +2535,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a0d579ce4e0e806e81e22381f
 
 <p class="reference">References <a class="el" href="gz_2math_2Helpers_8hh.html#ad2c19cb1076f20016f20dab309e75578">GZ_FP_VOLATILE</a>.</p>
 
-<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Line2.html#a4ead9afd57f07f574163afe1d8d43e5e">Line2&lt; T &gt;::Collinear()</a>, <a class="el" href="classgz_1_1math_1_1Quaternion.html#abf887ed78b744f226099205075e157a0">Quaternion&lt; Precision &gt;::Correct()</a>, <a class="el" href="classgz_1_1math_1_1Quaternion.html#ac0492cbe803056db03a4bb232a658830">Quaternion&lt; Precision &gt;::Equal()</a>, <a class="el" href="classgz_1_1math_1_1Line2.html#a10423d706bbb73b8b6b326894048aa81">Line2&lt; T &gt;::Intersect()</a>, <a class="el" href="classgz_1_1math_1_1Triangle3.html#a75341ba7dfa8ffa29e7bdbe166b6cbbd">Triangle3&lt; T &gt;::Intersects()</a>, <a class="el" href="classgz_1_1math_1_1Matrix4.html#a0a83f7960aa020c56d20f435dba4d3cd">Matrix4&lt; T &gt;::IsAffine()</a>, <a class="el" href="classgz_1_1math_1_1Line2.html#af2539c9c0d803ef9b4e4ab6f9117fa1c">Line2&lt; T &gt;::Parallel()</a>, and <a class="el" href="classgz_1_1math_1_1Line2.html#a800444739dc8f21d4c3a45c613040bfb">Line2&lt; T &gt;::Slope()</a>.</p>
+<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Line2.html#a4ead9afd57f07f574163afe1d8d43e5e">Line2&lt; T &gt;::Collinear()</a>, <a class="el" href="classgz_1_1math_1_1Quaternion.html#abf887ed78b744f226099205075e157a0">Quaternion&lt; T &gt;::Correct()</a>, <a class="el" href="classgz_1_1math_1_1Quaternion.html#ac0492cbe803056db03a4bb232a658830">Quaternion&lt; T &gt;::Equal()</a>, <a class="el" href="classgz_1_1math_1_1Line2.html#a10423d706bbb73b8b6b326894048aa81">Line2&lt; T &gt;::Intersect()</a>, <a class="el" href="classgz_1_1math_1_1Triangle3.html#a75341ba7dfa8ffa29e7bdbe166b6cbbd">Triangle3&lt; T &gt;::Intersects()</a>, <a class="el" href="classgz_1_1math_1_1Matrix4.html#a0a83f7960aa020c56d20f435dba4d3cd">Matrix4&lt; T &gt;::IsAffine()</a>, <a class="el" href="classgz_1_1math_1_1Line2.html#af2539c9c0d803ef9b4e4ab6f9117fa1c">Line2&lt; T &gt;::Parallel()</a>, and <a class="el" href="classgz_1_1math_1_1Line2.html#a800444739dc8f21d4c3a45c613040bfb">Line2&lt; T &gt;::Slope()</a>.</p>
 
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@@ -3038,7 +3038,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a9df31e7b118f95ac3dd38d1a
 
 <p class="reference">References <a class="elRef" href="http://en.cppreference.com/w/cpp/iterator/begin.html">std::begin()</a>, <a class="elRef" href="http://en.cppreference.com/w/cpp/iterator/end.html">std::end()</a>, and <a class="elRef" href="http://en.cppreference.com/w/cpp/algorithm/max_element.html">std::max_element()</a>.</p>
 
-<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Vector3.html#ad0ddd110b95d9f85bfaa17e3236c4add">Vector3&lt; Precision &gt;::MaxAbs()</a>.</p>
+<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Vector3.html#ad0ddd110b95d9f85bfaa17e3236c4add">Vector3&lt; T &gt;::MaxAbs()</a>.</p>
 
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@@ -3116,7 +3116,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a534f4fdec977719c6d87bcb7
 
 <p class="reference">References <a class="elRef" href="http://en.cppreference.com/w/cpp/iterator/begin.html">std::begin()</a>, <a class="elRef" href="http://en.cppreference.com/w/cpp/iterator/end.html">std::end()</a>, and <a class="elRef" href="http://en.cppreference.com/w/cpp/algorithm/min_element.html">std::min_element()</a>.</p>
 
-<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Vector3.html#afdccf55efe7ca5c45f6cb8516624d787">Vector3&lt; Precision &gt;::MinAbs()</a>.</p>
+<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Vector3.html#afdccf55efe7ca5c45f6cb8516624d787">Vector3&lt; T &gt;::MinAbs()</a>.</p>
 
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@@ -3259,7 +3259,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ac51a5d6d6c23d619f1bcc2cd
 
 <p class="reference">References <a class="elRef" href="http://en.cppreference.com/w/cpp/numeric/math/pow.html">std::pow()</a>, and <a class="elRef" href="http://en.cppreference.com/w/cpp/numeric/math/round.html">std::round()</a>.</p>
 
-<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Vector3.html#aeae08385b749c5d457a69c879617423c">Vector3&lt; Precision &gt;::Round()</a>, and <a class="el" href="classgz_1_1math_1_1Quaternion.html#aeae08385b749c5d457a69c879617423c">Quaternion&lt; Precision &gt;::Round()</a>.</p>
+<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Quaternion.html#aeae08385b749c5d457a69c879617423c">Quaternion&lt; T &gt;::Round()</a>, and <a class="el" href="classgz_1_1math_1_1Vector3.html#aeae08385b749c5d457a69c879617423c">Vector3&lt; T &gt;::Round()</a>.</p>
 
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@@ -3963,7 +3963,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a826a4547053da25c76e51fbf
 
 <p>size_t type with a value of 1 </p>
 
-<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Line2.html#a5bdfbae965d2a2dd9003dbccd9463001">Line2&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Line3.html#a42a45081f9b627191e1b57d46bac8ead">Line3&lt; T &gt;::operator[]()</a>, and <a class="el" href="classgz_1_1math_1_1Vector2.html#a806d08211ff4cfbd5eefde4e72575bbe">Vector2&lt; T &gt;::operator[]()</a>.</p>
+<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Line3.html#a42a45081f9b627191e1b57d46bac8ead">Line3&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Vector2.html#a806d08211ff4cfbd5eefde4e72575bbe">Vector2&lt; T &gt;::operator[]()</a>, and <a class="el" href="classgz_1_1math_1_1Line2.html#a5bdfbae965d2a2dd9003dbccd9463001">Line2&lt; T &gt;::operator[]()</a>.</p>
 
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@@ -4063,7 +4063,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a868597f0eb34228d0357b8ff
 
 <p>size_t type with a value of 2 </p>
 
-<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Matrix3.html#ac8c32334869fa9f07569ecde188eced6">Matrix3&lt; T &gt;::operator()()</a>, <a class="el" href="classgz_1_1math_1_1Triangle.html#abc6178ae3ce416120422f41296994153">Triangle&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Triangle3.html#aab94286568274b338966a71dfdf6d7d3">Triangle3&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Vector3.html#a806d08211ff4cfbd5eefde4e72575bbe">Vector3&lt; Precision &gt;::operator[]()</a>, and <a class="el" href="classgz_1_1math_1_1Matrix3.html#ad9c9768ffc11733060794b0638f309c4">Matrix3&lt; T &gt;::Set()</a>.</p>
+<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Matrix3.html#ac8c32334869fa9f07569ecde188eced6">Matrix3&lt; T &gt;::operator()()</a>, <a class="el" href="classgz_1_1math_1_1Triangle.html#abc6178ae3ce416120422f41296994153">Triangle&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Triangle3.html#aab94286568274b338966a71dfdf6d7d3">Triangle3&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Vector3.html#a806d08211ff4cfbd5eefde4e72575bbe">Vector3&lt; T &gt;::operator[]()</a>, and <a class="el" href="classgz_1_1math_1_1Matrix3.html#ad9c9768ffc11733060794b0638f309c4">Matrix3&lt; T &gt;::Set()</a>.</p>
 
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@@ -4089,7 +4089,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aeb89769a0418f099e75e086b
 
 <p>size_t type with a value of 0 </p>
 
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+<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Matrix4.html#abc6f29cdc2f5bf2ea1d2ecd6cd409ffa">Matrix4&lt; T &gt;::operator()()</a>, <a class="el" href="classgz_1_1math_1_1Matrix6.html#abc6f29cdc2f5bf2ea1d2ecd6cd409ffa">Matrix6&lt; T &gt;::operator()()</a>, <a class="el" href="classgz_1_1math_1_1Matrix3.html#ac8c32334869fa9f07569ecde188eced6">Matrix3&lt; T &gt;::operator()()</a>, <a class="el" href="classgz_1_1math_1_1Line3.html#a42a45081f9b627191e1b57d46bac8ead">Line3&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Triangle.html#abc6178ae3ce416120422f41296994153">Triangle&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Triangle3.html#aab94286568274b338966a71dfdf6d7d3">Triangle3&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Vector2.html#a806d08211ff4cfbd5eefde4e72575bbe">Vector2&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Vector3.html#a806d08211ff4cfbd5eefde4e72575bbe">Vector3&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Vector4.html#a806d08211ff4cfbd5eefde4e72575bbe">Vector4&lt; T &gt;::operator[]()</a>, <a class="el" href="classgz_1_1math_1_1Line2.html#a5bdfbae965d2a2dd9003dbccd9463001">Line2&lt; T &gt;::operator[]()</a>, and <a class="el" href="classgz_1_1math_1_1Matrix3.html#ad9c9768ffc11733060794b0638f309c4">Matrix3&lt; T &gt;::Set()</a>.</p>
 
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 <p>Double min value. This value will be similar to 2.22507e-308. </p>
 
-<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Quaternion.html#acf8f12607d6f55cecd66d8c1f8e07649">Quaternion&lt; Precision &gt;::Integrate()</a>.</p>
+<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Quaternion.html#acf8f12607d6f55cecd66d8c1f8e07649">Quaternion&lt; T &gt;::Integrate()</a>.</p>
 
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+>
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diff --git a/api/math/7/namespacegz_1_1math_1_1graph.html b/api/math/7/namespacegz_1_1math_1_1graph.html
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@@ -132,7 +132,7 @@ <h2>API Reference</h2>
     </div>
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-<!-- Generated by Doxygen 1.8.17 -->
+<!-- Generated by Doxygen 1.9.1 -->
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@@ -526,7 +526,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aad10f204b8ee7e8cb0d24b4f
 <p>E.g.: Given the following undirected graph, g, with five vertices: </p><pre class="fragment">         (6)                |
       0-------1             |
       |      /|\            |
-      |     / | \(5)        |
+      |     / | \&zwj;(5)        |
       | (2)/  |  \          |
       |   /   |   2         |
    (1)|  / (2)|  /          |
@@ -534,7 +534,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aad10f204b8ee7e8cb0d24b4f
       |/      |/            |
       3-------4             |
          (1)                |
-</pre><p>This is the resut of Dijkstra(g, 0):</p>
+</pre><p> This is the resut of Dijkstra(g, 0):</p>
 <div class="fragment"><div class="line">================================</div>
 <div class="line">| Dst | Cost | Previous vertex |</div>
 <div class="line">================================</div>
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 <p>Represents an invalid Id. </p>
 
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+<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1graph_1_1Graph.html#a41bf01a9bf40ee27f08405b404187235">Graph&lt; V, E, EdgeType &gt;::AddEdge()</a>, <a class="el" href="classgz_1_1math_1_1graph_1_1Graph.html#a0d827829d28146a07586160b8addaccf">Graph&lt; V, E, EdgeType &gt;::AddVertex()</a>, <a class="el" href="classgz_1_1math_1_1graph_1_1Graph.html#a1b2df28d5a426724e36fde045a2398bf">Graph&lt; V, E, EdgeType &gt;::AdjacentsFrom()</a>, <a class="el" href="namespacegz_1_1math_1_1graph.html#aad10f204b8ee7e8cb0d24b4fa0fa52cb">Dijkstra()</a>, <a class="el" href="classgz_1_1math_1_1graph_1_1UndirectedEdge.html#a3b388f0e588feccafc684fa8b0cbaf7c">UndirectedEdge&lt; E &gt;::From()</a>, <a class="el" href="classgz_1_1math_1_1graph_1_1DirectedEdge.html#a3b388f0e588feccafc684fa8b0cbaf7c">DirectedEdge&lt; E &gt;::From()</a>, <a class="el" href="classgz_1_1math_1_1graph_1_1Graph.html#a75226801052d910550bb03bce6df8ab6">Graph&lt; V, E, EdgeType &gt;::IncidentsFrom()</a>, <a class="el" href="classgz_1_1math_1_1graph_1_1Graph.html#abd602eb002d37ae71e0b00d8ece51bc5">Graph&lt; V, E, EdgeType &gt;::IncidentsTo()</a>, <a class="el" href="classgz_1_1math_1_1graph_1_1Graph.html#ae5d8b54b2405f303d7b6f91879da183f">Graph&lt; V, E, EdgeType &gt;::LinkEdge()</a>, <a class="el" href="classgz_1_1math_1_1graph_1_1Graph.html#acded76285173462d9292a6e716854b26">Graph&lt; V, E, EdgeType &gt;::RemoveEdge()</a>, <a class="el" href="classgz_1_1math_1_1graph_1_1DirectedEdge.html#a5bac1eb2b06d8a254d21e46600c3eb3d">DirectedEdge&lt; E &gt;::To()</a>, <a class="el" href="classgz_1_1math_1_1graph_1_1Edge.html#a470438bf41ff0f2cc2fc41682c8f839e">Edge&lt; E &gt;::Valid()</a>, <a class="el" href="classgz_1_1math_1_1graph_1_1Vertex.html#a470438bf41ff0f2cc2fc41682c8f839e">Vertex&lt; V &gt;::Valid()</a>, and <a class="el" href="classgz_1_1math_1_1graph_1_1Edge.html#af13a627a30200b078b9b71a34ffe53ae">Edge&lt; E &gt;::Vertices()</a>.</p>
 
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-: <a class="el" href="namespaceeigen3.html#a1f2c5d74015781979fcd5ce5e1fe3eb6">eigen3</a>
+: <a class="el" href="namespaceeigen3.html#a6eed16a8c797399a1c0eb30e5d109f46">eigen3</a>
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-<!-- Generated by Doxygen 1.8.17 -->
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