Index: trunk/doc/Flair/_control_law_8h_source.html
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--- trunk/doc/Flair/_control_law_8h_source.html	(revision 62)
+++ trunk/doc/Flair/_control_law_8h_source.html	(revision 68)
@@ -123,5 +123,5 @@
 <div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;}</div>
 <div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">namespace </span>core {</div>
-<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">class </span>cvmatrix;</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">class </span>Matrix;</div>
 <div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;}</div>
 <div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;}</div>
@@ -144,7 +144,7 @@
 <div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;</div>
 <div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="keyword">protected</span>:</div>
-<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> *<a class="code" href="classflair_1_1filter_1_1_control_law.html#a9877d488ad17a52affd8c68beca426d1">input</a>;</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <a class="code" href="classflair_1_1core_1_1_matrix.html">core::Matrix</a> *<a class="code" href="classflair_1_1filter_1_1_control_law.html#ab88bfe866cc8f9794bda115d57139ab8">input</a>;</div>
 <div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div>
-<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classflair_1_1filter_1_1_control_law.html#aad8a67d158a1eda16ed53615e2511f97">  111</a></span>&#160;  <a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> *<a class="code" href="classflair_1_1filter_1_1_control_law.html#aad8a67d158a1eda16ed53615e2511f97">output</a>;</div>
+<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classflair_1_1filter_1_1_control_law.html#ad0ec9102c1f3d5cea5e337ba02754f4b">  111</a></span>&#160;  <a class="code" href="classflair_1_1core_1_1_matrix.html">core::Matrix</a> *<a class="code" href="classflair_1_1filter_1_1_control_law.html#ad0ec9102c1f3d5cea5e337ba02754f4b">output</a>;</div>
 <div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div>
 <div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="keyword">private</span>:</div>
@@ -160,14 +160,14 @@
 <div class="ttc" id="classflair_1_1core_1_1_i_o_device_html"><div class="ttname"><a href="classflair_1_1core_1_1_i_o_device.html">flair::core::IODevice</a></div><div class="ttdoc">Abstract class for input/ouput system. </div><div class="ttdef"><b>Definition:</b> IODevice.h:45</div></div>
 <div class="ttc" id="namespaceflair_html"><div class="ttname"><a href="namespaceflair.html">flair</a></div><div class="ttdoc">namespace of the flair Framework </div><div class="ttdef"><b>Definition:</b> Ahrs.h:19</div></div>
-<div class="ttc" id="classflair_1_1core_1_1cvmatrix_html"><div class="ttname"><a href="classflair_1_1core_1_1cvmatrix.html">flair::core::cvmatrix</a></div><div class="ttdoc">Class defining a matrix of kind CvMat. </div><div class="ttdef"><b>Definition:</b> cvmatrix.h:33</div></div>
 <div class="ttc" id="classflair_1_1filter_1_1_control_law_html_a62210ace4d3338cbc528ed712e72ac27"><div class="ttname"><a href="classflair_1_1filter_1_1_control_law.html#a62210ace4d3338cbc528ed712e72ac27">flair::filter::ControlLaw::~ControlLaw</a></div><div class="ttdeci">~ControlLaw()</div><div class="ttdoc">Destructor. </div></div>
 <div class="ttc" id="namespaceflair_1_1core_html_acc0fa041e08ecf73b2d1d723c339a736"><div class="ttname"><a href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">flair::core::Time</a></div><div class="ttdeci">unsigned long long Time</div><div class="ttdoc">Time definition, in ns. </div><div class="ttdef"><b>Definition:</b> Object.h:49</div></div>
-<div class="ttc" id="classflair_1_1filter_1_1_control_law_html_a9877d488ad17a52affd8c68beca426d1"><div class="ttname"><a href="classflair_1_1filter_1_1_control_law.html#a9877d488ad17a52affd8c68beca426d1">flair::filter::ControlLaw::input</a></div><div class="ttdeci">core::cvmatrix * input</div><div class="ttdoc">input matrix </div><div class="ttdef"><b>Definition:</b> ControlLaw.h:93</div></div>
-<div class="ttc" id="classflair_1_1filter_1_1_control_law_html_aad8a67d158a1eda16ed53615e2511f97"><div class="ttname"><a href="classflair_1_1filter_1_1_control_law.html#aad8a67d158a1eda16ed53615e2511f97">flair::filter::ControlLaw::output</a></div><div class="ttdeci">core::cvmatrix * output</div><div class="ttdoc">output matrix </div><div class="ttdef"><b>Definition:</b> ControlLaw.h:111</div></div>
 <div class="ttc" id="_i_o_device_8h_html"><div class="ttname"><a href="_i_o_device_8h.html">IODevice.h</a></div><div class="ttdoc">Abstract class for input/ouput system. </div></div>
 <div class="ttc" id="classflair_1_1filter_1_1_control_law_html_abd6d4ee32a9e01a2d1b0513a0aadafcb"><div class="ttname"><a href="classflair_1_1filter_1_1_control_law.html#abd6d4ee32a9e01a2d1b0513a0aadafcb">flair::filter::ControlLaw::ControlLaw</a></div><div class="ttdeci">ControlLaw(const core::Object *parent, std::string name, uint32_t nb_out=1)</div><div class="ttdoc">Constructor. </div></div>
+<div class="ttc" id="classflair_1_1filter_1_1_control_law_html_ab88bfe866cc8f9794bda115d57139ab8"><div class="ttname"><a href="classflair_1_1filter_1_1_control_law.html#ab88bfe866cc8f9794bda115d57139ab8">flair::filter::ControlLaw::input</a></div><div class="ttdeci">core::Matrix * input</div><div class="ttdoc">input matrix </div><div class="ttdef"><b>Definition:</b> ControlLaw.h:93</div></div>
+<div class="ttc" id="classflair_1_1filter_1_1_control_law_html_ad0ec9102c1f3d5cea5e337ba02754f4b"><div class="ttname"><a href="classflair_1_1filter_1_1_control_law.html#ad0ec9102c1f3d5cea5e337ba02754f4b">flair::filter::ControlLaw::output</a></div><div class="ttdeci">core::Matrix * output</div><div class="ttdoc">output matrix </div><div class="ttdef"><b>Definition:</b> ControlLaw.h:111</div></div>
 <div class="ttc" id="classflair_1_1filter_1_1_control_law_html_ace241d108bd0213135dbd6a5a561d0cf"><div class="ttname"><a href="classflair_1_1filter_1_1_control_law.html#ace241d108bd0213135dbd6a5a561d0cf">flair::filter::ControlLaw::Output</a></div><div class="ttdeci">float Output(uint32_t index=0) const </div><div class="ttdoc">Output value. </div></div>
 <div class="ttc" id="classflair_1_1filter_1_1_control_law_html_a3c42c9c7ae276e10d2ebad3a6701210d"><div class="ttname"><a href="classflair_1_1filter_1_1_control_law.html#a3c42c9c7ae276e10d2ebad3a6701210d">flair::filter::ControlLaw::UseDefaultPlot</a></div><div class="ttdeci">virtual void UseDefaultPlot(const gui::LayoutPosition *position)</div><div class="ttdoc">Use default plot. </div></div>
 <div class="ttc" id="classflair_1_1gui_1_1_layout_position_html"><div class="ttname"><a href="classflair_1_1gui_1_1_layout_position.html">flair::gui::LayoutPosition</a></div><div class="ttdoc">Class to define a position in a layout on the ground station. </div><div class="ttdef"><b>Definition:</b> LayoutPosition.h:28</div></div>
+<div class="ttc" id="classflair_1_1core_1_1_matrix_html"><div class="ttname"><a href="classflair_1_1core_1_1_matrix.html">flair::core::Matrix</a></div><div class="ttdoc">Class defining a matrix. </div><div class="ttdef"><b>Definition:</b> Matrix.h:31</div></div>
 <div class="ttc" id="classflair_1_1filter_1_1_control_law_html_a0892ecd37930c5d92a41449ab6fa1f10"><div class="ttname"><a href="classflair_1_1filter_1_1_control_law.html#a0892ecd37930c5d92a41449ab6fa1f10">flair::filter::ControlLaw::Reset</a></div><div class="ttdeci">virtual void Reset()</div><div class="ttdoc">Reset the internal state of the control law. </div><div class="ttdef"><b>Definition:</b> ControlLaw.h:93</div></div>
 </div><!-- fragment --></div><!-- contents -->
@@ -177,5 +177,5 @@
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