Index: trunk/include/FlairFilter/Ahrs.h
===================================================================
--- trunk/include/FlairFilter/Ahrs.h	(revision 32)
+++ trunk/include/FlairFilter/Ahrs.h	(revision 50)
@@ -19,8 +19,4 @@
 namespace flair {
   namespace core {
-    class Euler;
-    class Vector3D;
-    class ImuData;
-    class Quaternion;
     class AhrsData;
   }
@@ -174,5 +170,7 @@
   /*!
   * \brief Get ahrs datas
-  *
+  * 
+  * Can be used by dervied class to fill core::AhrsData
+  * 
   * \param ahrsData ahrs datas
   */
Index: trunk/include/FlairFilter/AhrsComplementaryFilter.h
===================================================================
--- trunk/include/FlairFilter/AhrsComplementaryFilter.h	(revision 32)
+++ trunk/include/FlairFilter/AhrsComplementaryFilter.h	(revision 50)
@@ -66,5 +66,5 @@
             bool isInit;
             core::Quaternion QHat;
-            core::Vector3D BHat;
+            core::Vector3Df BHat;
             gui::DoubleSpinBox *ka[3];
             gui::DoubleSpinBox *kb[3];
Index: trunk/include/FlairFilter/ButterworthLowPass.h
===================================================================
--- trunk/include/FlairFilter/ButterworthLowPass.h	(revision 32)
+++ trunk/include/FlairFilter/ButterworthLowPass.h	(revision 50)
@@ -48,8 +48,10 @@
   * \param name name
   * \param order order of the filter
+  * \param nbRow number of rows of input/output
+  * \param nbCol number of cols of input/output
   */
   ButterworthLowPass(const IODevice *parent,
                      const gui::LayoutPosition *position, std::string name,
-                     int order);
+                     uint32_t order,uint32_t nbRow=1,uint32_t nbCol=1);
 
   /*!
@@ -65,7 +67,9 @@
   * \param name name
   * \param order order of the filter
+  * \param nbRow number of rows of input/output
+  * \param nbCol number of cols of input/output
   */
   ButterworthLowPass(const gui::LayoutPosition *position, std::string name,
-                     int order);
+                     uint32_t order,uint32_t nbRow,uint32_t nbCol);
 
   /*!
Index: trunk/include/FlairFilter/EulerDerivative.h
===================================================================
--- trunk/include/FlairFilter/EulerDerivative.h	(revision 32)
+++ trunk/include/FlairFilter/EulerDerivative.h	(revision 50)
@@ -45,5 +45,5 @@
   * IODevice::ProcessUpdate is called. \n
   * The optional init_value parameters allow to specify
-  * the size of the input datas and its inital values.
+  * the size of the input datas and output inital values.
   * If unspecified, a 1*1 size is used, and values are
   * initialized with 0.
@@ -52,5 +52,5 @@
   * \param position position to display settings
   * \param name name
-  * \param init_value initial value
+  * \param init_value initial value, it is safe to destroy it after calling this constructor
   */
   EulerDerivative(const core::IODevice *parent,
Index: trunk/include/FlairFilter/Gx3_25_ahrs.h
===================================================================
--- trunk/include/FlairFilter/Gx3_25_ahrs.h	(revision 32)
+++ trunk/include/FlairFilter/Gx3_25_ahrs.h	(revision 50)
@@ -30,7 +30,6 @@
   * \brief Constructor
   *
-  * Construct an Ahrs for 3dmgx3-25
+  * Construct an Ahrs for 3dmgx3-25. It will be child of the FrameworkManager.
   *
-  * \param parent parent
   * \param name name
   * \param serialport Imu SerialPort
@@ -38,5 +37,5 @@
   * \param priority priority of the Gx3_25_imu Thread
   */
-  Gx3_25_ahrs(const core::FrameworkManager *parent, std::string name,
+  Gx3_25_ahrs(std::string name,
               core::SerialPort *serialport,
               sensor::Gx3_25_imu::Command_t command, uint8_t priority);
@@ -47,10 +46,4 @@
   */
   ~Gx3_25_ahrs();
-
-  /*!
-  * \brief Start Gx3_25_imu Thread
-  *
-  */
-  void Start(void);
 
 private:
Index: trunk/include/FlairFilter/LowPassFilter.h
===================================================================
--- trunk/include/FlairFilter/LowPassFilter.h	(revision 32)
+++ trunk/include/FlairFilter/LowPassFilter.h	(revision 50)
@@ -52,5 +52,5 @@
   * \param position position to display settings
   * \param name name
-  * \param init_value initial value
+  * \param init_value initial value, it is safe to destroy it after calling this constructor
   */
   LowPassFilter(const core::IODevice *parent,
Index: trunk/include/FlairFilter/SimuAhrs.h
===================================================================
--- trunk/include/FlairFilter/SimuAhrs.h	(revision 32)
+++ trunk/include/FlairFilter/SimuAhrs.h	(revision 50)
@@ -30,13 +30,13 @@
   * \brief Constructor
   *
-  * Construct a simulation Ahrs.
+  * Construct a simulation Ahrs. It will be child of the FrameworkManager.
   *
-  * \param parent parent
   * \param name name
-  * \param dev_id number id of the simulated Ahrs
+  * \param modelId Model id
+  * \param deviceId Ahrs id of the Model
   * \param priority priority of the SimuImu Thread
   */
-  SimuAhrs(const core::FrameworkManager *parent, std::string name,
-           uint32_t dev_id, uint8_t priority);
+  SimuAhrs(std::string name,
+           uint32_t modelId,uint32_t deviceId, uint8_t priority);
 
   /*!
@@ -45,10 +45,4 @@
   */
   ~SimuAhrs();
-
-  /*!
- * \brief Start SimuImu Thread
- *
- */
-  void Start(void);
 
 private:
Index: trunk/include/FlairFilter/TrajectoryGenerator1D.h
===================================================================
--- trunk/include/FlairFilter/TrajectoryGenerator1D.h	(revision 32)
+++ trunk/include/FlairFilter/TrajectoryGenerator1D.h	(revision 50)
@@ -72,8 +72,10 @@
   * \brief Start trajectory
   *
-  * \param start_pos start position
-  * \param end_pos end position
+  * \param startPosition start position
+  * \param endPosition end position
+  * \param startVelocity start velocity, should be actual velocity. This value will be saturated 
+  * max velocity defined in GCS.
   */
-  void StartTraj(float start_pos, float end_pos);
+  void StartTraj(float startPosition, float endPosition,float startVelocity=0);
 
   /*!
Index: trunk/include/FlairFilter/TrajectoryGenerator2DCircle.h
===================================================================
--- trunk/include/FlairFilter/TrajectoryGenerator2DCircle.h	(revision 32)
+++ trunk/include/FlairFilter/TrajectoryGenerator2DCircle.h	(revision 50)
@@ -15,9 +15,9 @@
 
 #include <IODevice.h>
+#include <Vector2D.h>
 
 namespace flair {
 namespace core {
 class cvmatrix;
-class Vector2D;
 }
 namespace gui {
@@ -72,5 +72,5 @@
   * \param nb_lap number of laps, -1 for infinite
   */
-  void StartTraj(const core::Vector2D &start_pos, float nb_lap = -1);
+  void StartTraj(const core::Vector2Df &start_pos, float nb_lap = -1);
 
   /*!
@@ -93,5 +93,5 @@
   * \param value center position
   */
-  void SetCenter(const core::Vector2D &value);
+  void SetCenter(const core::Vector2Df &value);
 
   /*!
@@ -100,5 +100,5 @@
   * \param value center speed
   */
-  void SetCenterSpeed(const core::Vector2D &value);
+  void SetCenterSpeed(const core::Vector2Df &value);
 
   /*!
@@ -117,5 +117,5 @@
   * \param point returned position
   */
-  void GetPosition(core::Vector2D &point) const;
+  void GetPosition(core::Vector2Df &point) const;
 
   /*!
@@ -124,5 +124,5 @@
   * \param point returned speed
   */
-  void GetSpeed(core::Vector2D &point) const;
+  void GetSpeed(core::Vector2Df &point) const;
 
   /*!
Index: trunk/include/FlairFilter/UavMultiplex.h
===================================================================
--- trunk/include/FlairFilter/UavMultiplex.h	(revision 32)
+++ trunk/include/FlairFilter/UavMultiplex.h	(revision 50)
@@ -19,5 +19,4 @@
 namespace flair {
 namespace core {
-class FrameworkManager;
 class io_data;
 }
@@ -41,10 +40,9 @@
   * \brief Constructor
   *
-  * Construct a uav multiplexing
-  *
-  * \param parent parent
+  * Construct a uav multiplexing. It will be child of the FrameworkManager.
+  *
   * \param name name
   */
-  UavMultiplex(const core::FrameworkManager *parent, std::string name);
+  UavMultiplex(std::string name);
 
   /*!
Index: trunk/include/FlairFilter/X4X8Multiplex.h
===================================================================
--- trunk/include/FlairFilter/X4X8Multiplex.h	(revision 32)
+++ trunk/include/FlairFilter/X4X8Multiplex.h	(revision 50)
@@ -59,12 +59,10 @@
   * \brief Constructor
   *
-  * Construct a X4 and X8 multiplexing
+  * Construct a X4 and X8 multiplexing. It will be child of the FrameworkManager.
   *
-  * \param parent parent
   * \param name name
   * \param type type
   */
-  X4X8Multiplex(const core::FrameworkManager *parent, std::string name,
-                UavType_t type);
+  X4X8Multiplex(std::string name, UavType_t type);
 
   /*!
