From e7ba2f9ad3ebd16a0238dd41255e7980a61db10d Mon Sep 17 00:00:00 2001
From: chapulina <chapulina@users.noreply.github.com>
Date: Sun, 10 Nov 2024 06:21:23 +0000
Subject: [PATCH] deploy: 2ccb71f0b3052c26eb1453350b93a363f4230670

---
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index 2c265de6f..6c120f200 100644
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+<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Cone.html#a79d8fa3411e1dd8bce42710bbdcd95e8">   82</a></span>&#160;    <span class="keyword">public</span>: Precision <a class="code" href="classgz_1_1math_1_1Cone.html#a79d8fa3411e1dd8bce42710bbdcd95e8" title="Get the length in meters.">Length</a>() <span class="keyword">const</span>;</div>
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+<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Cone.html#a9c86e1d1445be938540b042c2d89f5cf">   93</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt;Precision&gt;</a> <a class="code" href="classgz_1_1math_1_1Cone.html#a9c86e1d1445be938540b042c2d89f5cf" title="Get the rotational offset. By default, a cone&#39;s length is aligned with the Z axis....">RotationalOffset</a>() <span class="keyword">const</span>;</div>
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-<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> SetRotationalOffset(</div>
+<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Cone.html#a0266d181140f43c112114fe48c4f6c22">  100</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1Cone.html#a0266d181140f43c112114fe48c4f6c22" title="Set the rotation offset.">SetRotationalOffset</a>(</div>
 <div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt;Precision&gt;</a> &amp;_rotOffset);</div>
 <div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
-<div class="line"><a name="l00105"></a><span class="lineno">  105</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.">Material</a> &amp;Mat() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Cone.html#a2198c62810bc87299bbe759c6c89d84e">  105</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.">Material</a> &amp;<a class="code" href="classgz_1_1math_1_1Cone.html#a2198c62810bc87299bbe759c6c89d84e" title="Get the material associated with this cone.">Mat</a>() <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="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> SetMat(<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="l00109"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Cone.html#ad3d85ff577511d1496cd9a4a202965e9">  109</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1Cone.html#ad3d85ff577511d1496cd9a4a202965e9" title="Set the material associated with this cone.">SetMat</a>(<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="l00110"></a><span class="lineno">  110</span>&#160; </div>
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+<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Cone.html#a4dfb3d6f1c446141cd08c9d899690e56">  119</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">bool</span> <a class="code" href="classgz_1_1math_1_1Cone.html#a4dfb3d6f1c446141cd08c9d899690e56" title="Get the mass matrix for this cone. This function is only meaningful if the cone&#39;s radius,...">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="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keyword">public</span>: std::optional&lt; MassMatrix3&lt;Precision&gt; &gt; MassMatrix() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Cone.html#ae73356bded46b4b02cebfd6f2ece5a1b">  127</a></span>&#160;    <span class="keyword">public</span>: std::optional&lt; MassMatrix3&lt;Precision&gt; &gt; <a class="code" href="classgz_1_1math_1_1Cone.html#ae73356bded46b4b02cebfd6f2ece5a1b" title="Get the mass matrix for this cone. This function is only meaningful if the cone&#39;s radius,...">MassMatrix</a>() <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
-<div class="line"><a name="l00131"></a><span class="lineno">  131</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_1Cone.html" title="A representation of a cone.">Cone</a> &amp;_cone) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Cone.html#a6466dda696ff8771c6e7a97b0d546a59">  131</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">bool</span> <a class="code" href="classgz_1_1math_1_1Cone.html#a6466dda696ff8771c6e7a97b0d546a59" title="Check if this cone is equal to the provided cone. Radius, length, and material properties will be che...">operator==</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Cone.html" title="A representation of a cone.">Cone</a> &amp;_cone) <span class="keyword">const</span>;</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">  135</span>&#160;    <span class="keyword">public</span>: Precision Volume() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Cone.html#ac245d54b17073999b7762639756f97d2">  135</a></span>&#160;    <span class="keyword">public</span>: Precision <a class="code" href="classgz_1_1math_1_1Cone.html#ac245d54b17073999b7762639756f97d2" title="Get the volume of the cone in m^3.">Volume</a>() <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
-<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keyword">public</span>: Precision DensityFromMass(<span class="keyword">const</span> Precision _mass) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Cone.html#a560a2db51aebac4ed15060f4bc62e650">  145</a></span>&#160;    <span class="keyword">public</span>: Precision <a class="code" href="classgz_1_1math_1_1Cone.html#a560a2db51aebac4ed15060f4bc62e650" title="Compute the cone&#39;s density given a mass value. The cone is assumed to be solid with uniform density....">DensityFromMass</a>(<span class="keyword">const</span> Precision _mass) <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
-<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">bool</span> SetDensityFromMass(<span class="keyword">const</span> Precision _mass);</div>
+<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Cone.html#a4a6fbe08af3c4be27fdc77db3616641a">  159</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">bool</span> <a class="code" href="classgz_1_1math_1_1Cone.html#a4a6fbe08af3c4be27fdc77db3616641a" title="Set the density of this cone based on a mass value. Density is computed using Precision DensityFromMa...">SetDensityFromMass</a>(<span class="keyword">const</span> Precision _mass);</div>
 <div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
 <div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keyword">private</span>: Precision radius = 0.0;</div>
 <div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
@@ -238,7 +238,7 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
 <div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
 <div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="preprocessor">#include &quot;gz/math/detail/Cone.hh&quot;</span></div>
-<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;<span class="preprocessor">#endif  // GZ_MATH_CONE_HH_</span></div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_CONE_HH_</span></div>
 </div><!-- fragment --></div><!-- contents -->
       </div>
     </main>
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 <div class="line"><a name="l00035"></a><span class="lineno">   35</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> S&gt;</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="l00039"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html#a2f79fd79dd2cada64cf57cea199e1fad">   39</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html#a2f79fd79dd2cada64cf57cea199e1fad" title="Constructor.">TimeVaryingVolumetricGridLookupField</a>();</div>
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-<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html#a37de0dd5a1a7e7c2e123ac07833c4804" title="Adds a volumetric grid field.">AddVolumetricGridField</a>(</div>
+<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html#a37de0dd5a1a7e7c2e123ac07833c4804">   42</a></span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">void</span> <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html#a37de0dd5a1a7e7c2e123ac07833c4804" title="Adds a volumetric grid field.">AddVolumetricGridField</a>(</div>
 <div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      <span class="keyword">const</span> T&amp; time, <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1VolumetricGridLookupField.html">VolumetricGridLookupField&lt;V&gt;</a> &amp;_field);</div>
 <div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
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+<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html#acbf19e05ae1fc5308b2425bdc63fdab2">   46</a></span>&#160;    <span class="keyword">public</span>: S <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html#acbf19e05ae1fc5308b2425bdc63fdab2" title="Creates a session for querying.">CreateSession</a>() <span class="keyword">const</span>;</div>
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+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html#ab7dd3bfefa657c23d851589d50962783">   50</a></span>&#160;    <span class="keyword">public</span>: S <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html#ab7dd3bfefa657c23d851589d50962783" title="Creates a session startingg at time T.">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="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">public</span>: std::optional&lt;S&gt; <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html#ad7b08ab9a1e48cebcc3cf87182de1d0f" title="Update session to new time. Returns new session pointer if more is available. Otherwise returns nullo...">StepTo</a>(<span class="keyword">const</span> S &amp;_session, <span class="keyword">const</span> T &amp;_time);</div>
+<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html#ad7b08ab9a1e48cebcc3cf87182de1d0f">   57</a></span>&#160;    <span class="keyword">public</span>: std::optional&lt;S&gt; <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html#ad7b08ab9a1e48cebcc3cf87182de1d0f" title="Update session to new time. Returns new session pointer if more is available. Otherwise returns nullo...">StepTo</a>(<span class="keyword">const</span> S &amp;_session, <span class="keyword">const</span> T &amp;_time);</div>
 <div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
-<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/container/vector.html" title="STL class.">std::vector&lt;InterpolationPoint4D&lt;T, V&gt;</a>&gt;</div>
-<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html#aa0d731ff10d19ddf64daf2f65aaa48d9" title="Looks up interpolators at a given time step. Use the session to set the time step.">LookUp</a>(<span class="keyword">const</span> S &amp;_session,</div>
+<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/container/vector.html">std::vector&lt;InterpolationPoint4D&lt;T, V&gt;</a>&gt;</div>
+<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html#aa0d731ff10d19ddf64daf2f65aaa48d9">   65</a></span>&#160;    <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html#aa0d731ff10d19ddf64daf2f65aaa48d9" title="Looks up interpolators at a given time step. Use the session to set the time step.">LookUp</a>(<span class="keyword">const</span> S &amp;_session,</div>
 <div class="line"><a name="l00066"></a><span class="lineno">   66</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;V&gt;</a> &amp;_point,</div>
 <div class="line"><a name="l00067"></a><span class="lineno">   67</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;V&gt;</a> &amp;_tol) <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
 <div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keyword">public</span>: <span class="keyword">template</span>&lt;<span class="keyword">typename</span> X&gt;</div>
-<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    std::optional&lt;X&gt; <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html#a121806e7ebcf10f2b4fc3ef2e3e1c203" title="Uses quadrilinear interpolation to estimate value of current point. Returns nullopt if query is out o...">EstimateQuadrilinear</a>(</div>
+<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html#a121806e7ebcf10f2b4fc3ef2e3e1c203">   81</a></span>&#160;    std::optional&lt;X&gt; <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html#a121806e7ebcf10f2b4fc3ef2e3e1c203" title="Uses quadrilinear interpolation to estimate value of current point. Returns nullopt if query is out o...">EstimateQuadrilinear</a>(</div>
 <div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keyword">const</span> S &amp;_session,</div>
-<div class="line"><a name="l00083"></a><span class="lineno">   83</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;InterpolationPoint4D&lt;T, V&gt;&gt; &amp;_points,</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" title="STL class.">std::vector&lt;X&gt;</a> &amp;_values1,</div>
-<div class="line"><a name="l00085"></a><span class="lineno">   85</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;X&gt;</a> &amp;_values2,</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector</a>&lt;InterpolationPoint4D&lt;T, V&gt;&gt; &amp;_points,</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;X&gt;</a> &amp;_values1,</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;X&gt;</a> &amp;_values2,</div>
 <div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">const</span> X _default = X(0)</div>
 <div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    ) <span class="keyword">const</span>;</div>
 <div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
-<div class="line"><a name="l00091"></a><span class="lineno">   91</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_1TimeVaryingVolumetricGridLookupField.html#a7eb57dfd555f7a9da3b40ee25c7f694a" title="Get the bounds of this grid field.">Bounds</a>(<span class="keyword">const</span> S &amp;_session);</div>
+<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html#a7eb57dfd555f7a9da3b40ee25c7f694a">   91</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_1TimeVaryingVolumetricGridLookupField.html#a7eb57dfd555f7a9da3b40ee25c7f694a" title="Get the bounds of this grid field.">Bounds</a>(<span class="keyword">const</span> S &amp;_session);</div>
 <div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  };</div>
 <div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
 <div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> V&gt;</div>
 <div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1InMemorySession.html">   97</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classgz_1_1math_1_1InMemorySession.html" title="An in-memory session. Loads the whole dataset in memory and performs queries.">InMemorySession</a></div>
 <div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  {</div>
 <div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keyword">private</span>:</div>
-<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keyword">typename</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html" title="STL class.">std::map&lt;T, VolumetricGridLookupField&lt;V&gt;</a>&gt;::const_iterator iter;</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keyword">typename</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html">std::map&lt;T, VolumetricGridLookupField&lt;V&gt;</a>&gt;::const_iterator iter;</div>
 <div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
 <div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1InMemorySession.html#a6f88871e9000141586c249d6bb326e51">  106</a></span>&#160;    <span class="keyword">public</span>: T <a class="code" href="classgz_1_1math_1_1InMemorySession.html#a6f88871e9000141586c249d6bb326e51" title="Time of last query.">time</a>;</div>
 <div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
-<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1InMemorySession.html#a0dbc39b44cfdd8c8e8f401d2a1919e8b">  108</a></span>&#160;    <span class="keyword">friend</span> <span class="keyword">class</span></div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keyword">friend</span> <span class="keyword">class</span></div>
 <div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <a class="code" 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&lt;T, V, InMemorySession&lt;T, V&gt;</a>&gt;;</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; </div>
@@ -269,12 +269,12 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <span class="keywordflow">return</span> newSess;</div>
 <div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    }</div>
 <div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
-<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keyword">public</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html" title="STL class.">std::vector&lt;InterpolationPoint4D&lt;T, V&gt;</a>&gt;</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keyword">public</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;InterpolationPoint4D&lt;T, V&gt;</a>&gt;</div>
 <div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField_3_01T_00_01V_00_01InMemorySession_3_01T_00_01V_01_4_01_4.html#aadeff7cf34dc8a739f8302fbad32e9fe">  176</a></span>&#160;      <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField_3_01T_00_01V_00_01InMemorySession_3_01T_00_01V_01_4_01_4.html#aadeff7cf34dc8a739f8302fbad32e9fe" title="Documentation inherited.">LookUp</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1InMemorySession.html" title="An in-memory session. Loads the whole dataset in memory and performs queries.">InMemorySession&lt;T, V&gt;</a> &amp;_session,</div>
 <div class="line"><a name="l00177"></a><span class="lineno">  177</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;V&gt;</a> &amp;_point,</div>
 <div class="line"><a name="l00178"></a><span class="lineno">  178</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;V&gt;</a> &amp;_tol = <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>{1e-6, 1e-6, 1e-6}) <span class="keyword">const</span> {</div>
 <div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
-<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html" title="STL class.">std::vector&lt;InterpolationPoint4D&lt;T, V&gt;</a>&gt; res;</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;InterpolationPoint4D&lt;T, V&gt;</a>&gt; res;</div>
 <div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
 <div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keywordflow">if</span> (_session.iter == this-&gt;gridFields.end())</div>
 <div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      {</div>
@@ -304,9 +304,9 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="keyword">public</span>: <span class="keyword">template</span>&lt;<span class="keyword">typename</span> X&gt;</div>
 <div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField_3_01T_00_01V_00_01InMemorySession_3_01T_00_01V_01_4_01_4.html#a888760e527d2840ec9d1edea915ccbef">  220</a></span>&#160;    std::optional&lt;X&gt; <a class="code" href="classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField_3_01T_00_01V_00_01InMemorySession_3_01T_00_01V_01_4_01_4.html#a888760e527d2840ec9d1edea915ccbef" title="Uses quadrilinear interpolation to estimate value of current point. Returns nullopt if query is out o...">EstimateQuadrilinear</a>(</div>
 <div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1InMemorySession.html" title="An in-memory session. Loads the whole dataset in memory and performs queries.">InMemorySession&lt;T, V&gt;</a> &amp;_session,</div>
-<div class="line"><a name="l00222"></a><span class="lineno">  222</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;InterpolationPoint4D&lt;T, V&gt;&gt; &amp;_interpolators,</div>
-<div class="line"><a name="l00223"></a><span class="lineno">  223</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;X&gt;</a> &amp;_values1,</div>
-<div class="line"><a name="l00224"></a><span class="lineno">  224</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;X&gt;</a> &amp;_values2,</div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector</a>&lt;InterpolationPoint4D&lt;T, V&gt;&gt; &amp;_interpolators,</div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;X&gt;</a> &amp;_values1,</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="keyword">const</span> <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;X&gt;</a> &amp;_values2,</div>
 <div class="line"><a name="l00225"></a><span class="lineno">  225</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;X&gt;</a> &amp;_position,</div>
 <div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      <span class="keyword">const</span> X _default = X(0)</div>
 <div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    )<span class="keyword"> const</span></div>
@@ -367,7 +367,7 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        InterpolationPoint1D&lt;T&gt;</div>
 <div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;          pt1{_session.iter-&gt;first, 0}, pt2{next-&gt;first, 1};</div>
 <div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        <span class="comment">// If either has value interpolate using default value.</span></div>
-<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html" title="STL class.">std::vector&lt;X&gt;</a> times{</div>
+<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/vector.html">std::vector&lt;X&gt;</a> times{</div>
 <div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;          res1.value_or(_default), res2.value_or(_default)};</div>
 <div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        <span class="keywordflow">return</span> LinearInterpolate(pt1, pt2, times, time);</div>
 <div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      }</div>
@@ -388,16 +388,7 @@ <h2>API Reference</h2>
 <div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      <span class="keywordflow">return</span> _session.iter-&gt;second.Bounds();</div>
 <div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    }</div>
 <div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
-<div class="line"><a name="l00311"></a><span class="lineno">  311</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, VolumetricGridLookupField&lt;V&gt;</a>&gt; gridFields;</div>
-<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  };</div>
-<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
-<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;<span class="preprocessor">#endif  // GZ_MATH_TIME_VARYING_VOLUMETRIC_GRID_LOOKUP_FIELD_HH_</span></div>
-</div><!-- fragment --></div><!-- contents -->
-      </div>
-    </main>
-  </div>
-</body>
-<a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html">std::map&lt;T, VolumetricGridLookupField&lt;V&gt;</a>&gt; gridFields;</div>
+<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    <span class="keyword">private</span>: <a class="codeRef" href="http://en.cppreference.com/w/cpp/container/map.html">std::map&lt;T, VolumetricGridLookupField&lt;V&gt;</a>&gt; gridFields;</div>
 <div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  };</div>
 <div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
 <div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// GZ_MATH_TIME_VARYING_VOLUMETRIC_GRID_LOOKUP_FIELD_HH_</span></div>
diff --git a/api/math/7/TimeVaryingVolumetricGrid_8hh.html b/api/math/7/TimeVaryingVolumetricGrid_8hh.html
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--- a/api/math/7/TimeVaryingVolumetricGrid_8hh.html
+++ b/api/math/7/TimeVaryingVolumetricGrid_8hh.html
@@ -132,7 +132,7 @@ <h2>API Reference</h2>
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diff --git a/api/math/7/classgz_1_1math_1_1Kmeans-members.html b/api/math/7/classgz_1_1math_1_1Kmeans-members.html
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diff --git a/api/math/7/classgz_1_1math_1_1Line3-members.html b/api/math/7/classgz_1_1math_1_1Line3-members.html
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diff --git a/api/math/7/classgz_1_1math_1_1MassMatrix3-members.html b/api/math/7/classgz_1_1math_1_1MassMatrix3-members.html
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diff --git a/api/math/7/classgz_1_1math_1_1MassMatrix3.html b/api/math/7/classgz_1_1math_1_1MassMatrix3.html
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 <tr class="memdesc:acd0acd3d60c3d7bf4e23a8de267289f3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Verify that principal moments are positive and satisfy the triangle inequality.  <a href="classgz_1_1math_1_1MassMatrix3.html#acd0acd3d60c3d7bf4e23a8de267289f3">More...</a><br /></td></tr>
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-<a name="details" id="details"></a><<h2 class="groupheader">Detailed Description</h2>
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 <div class="textblock"><h3>template&lt;typename T&gt;<br />
 class gz::math::MassMatrix3&lt; T &gt;</h3>
 
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 <p class="reference">References <a class="el" href="classgz_1_1math_1_1MassMatrix3.html#aec31afecb4364debd042e940bb892745">MassMatrix3&lt; T &gt;::IsNearPositive()</a>, <a class="el" href="classgz_1_1math_1_1MassMatrix3.html#ade8f30327a251a55befa8a7495a9b323">MassMatrix3&lt; T &gt;::PrincipalMoments()</a>, and <a class="el" href="classgz_1_1math_1_1MassMatrix3.html#acd0acd3d60c3d7bf4e23a8de267289f3">MassMatrix3&lt; T &gt;::ValidMoments()</a>.</p>
 
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-"classgz_1_1math_1_1Filter.html#a8c46b09412b05975f6eee5cc9c1bf3ef">Filter&lt; math::Quaterniond &gt;::y0</a>.</p>
-
-</div>
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-<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>
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-.html#a5a6b5af0e0b4278084f8e5ef4e2f4f31">Filter&lt; math::Vector3d &gt;::Set()</a>.</p>
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-<hr/>The documentation for this class was generated from the following file:<ul>
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-<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Quaternion.html#afbee6563f9fa2e87()</h2>
+<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Quaternion.html#afbee6563f9fa2e87dee781802af27923">Quaternion&lt; T &gt;::EulerToQuaternion()</a>.</p>
+
+</div>
+</div>
+<a id="afbee6563f9fa2e87dee781802af27923"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afbee6563f9fa2e87dee781802af27923">&#9670;&nbsp;</a></span>EulerToQuaternion() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static <a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion</a>&lt;T&gt; EulerToQuaternion </td>
+          <td>(</td>
+          <td class="paramtype">T&#160;</td>
+          <td class="paramname"><em>_x</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">T&#160;</td>
+          <td class="paramname"><em>_y</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">T&#160;</td>
+          <td class="paramname"><em>_z</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Convert Euler angles, in radians, to a quaternion. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">_x</td><td>rotation along x in radians </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">_y</td><td>rotation along y in radians </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">_z</td><td>rotation along z in radians </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The resulting quaternion. </dd></dl>
+
+<p class="reference">References <a class="el" href="classgz_1_1math_1_1Quaternion.html#aab7a155912aa0d198913dfb5bfb87a86">Quaternion&lt; T &gt;::EulerToQuaternion()</a>.</p>
+
+</div>
+</div>
+<a id="a4499891bd03946c0db84444368df2027"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4499891bd03946c0db84444368df2027">&#9670;&nbsp;</a></span>Exp()</h2>
 
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@@ -1294,6 +1354,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab8d157cebd35fcc2a4420c1c
 </dl>
 <p>Implementation inspired by <a href="http://stackoverflow.com/a/11741520/1076564">http://stackoverflow.com/a/11741520/1076564</a> </p><dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000013">Deprecated:</a></b></dt><dd>Use <a class="el" href="classgz_1_1math_1_1Quaternion.html#afe0d5ea374e6fa4d77664561e1bfa965" title="Set this quaternion to represent rotation from vector _v1 to vector _v2, so that _v2....">SetFrom2Axes(const Vector3&lt;T&gt; &amp;, const Vector3&lt;T&gt; &amp;)</a> </dd></dl>
 
+<p class="reference">References <a class="el" href="classgz_1_1math_1_1Quaternion.html#afe0d5ea374e6fa4d77664561e1bfa965">Quaternion&lt; T &gt;::SetFrom2Axes()</a>.</p>
+
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 <a id="acf8f12607d6f55cecd66d8c1f8e07649"></a>
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 </dl>
 <dl class="section return"><dt>Returns</dt><dd><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> at integrated configuration. </dd></dl>
 
+<p class="reference">References <a class="el" href="namespacegz_1_1math.html#a6f606e5c09c874aa9f00cd417ec045c0">gz::math::MIN_D</a>, <a class="el" href="classgz_1_1math_1_1Vector3.html#a9623de8878774ae8aad0dda9346fb05f">Vector3&lt; T &gt;::SquaredLength()</a>, <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>
+
 </div>
 </div>
 <a id="a724dd60575e5faeb80563af1710c0c0e"></a>
@@ -1368,7 +1432,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a724dd60575e5faeb80563af1
 <p>Get the inverse of this quaternion. </p>
 <dl class="section return"><dt>Returns</dt><dd>Inverse quaternion </dd></dl>
 
-<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Pose3.html#a38e014375059c8c0d813b7b921a6c08e">Pose3&lt; T &gt;::CoordPoseSolve()</a>, <a class="el" href="classgz_1_1math_1_1Pose3.html#aacfddf9ba77a892073e1886ddb71a644">Pose3&lt; T &gt;::CoordPositionAdd()</a>, <a class="el" href="classgz_1_1math_1_1Pose3.html#adac734c8eee3deb333ce158dc2c35317">Pose3&lt; T &gt;::CoordPositionSub()</a>, <a class="el" href="classgz_1_1math_1_1Pose3.html#aab9197bc6ee2aec55fae22f6d248be64">Pose3&lt; T &gt;::CoordRotationSub()</a>, <a class="el" href="classgz_1_1math_1_1Pose3.html#ae9e598cc9fda620f445ca66eb8124e73">Pose3&lt; T &gt;::Inverse()</a>, <a class="el" href="classgz_1_1math_1_1MassMatrix3.html#a2f5873ac88cab23f7391e6c34eb79730">MassMatrix3&lt; T &gt;::PrincipalAxesOffset()</a>, <a class="el" href="classgz_1_1math_1_1Quaternion.html#a934f2aef375a2be3a55d05b8e1a74b15">Quaternion&lt; Precision &gt;::RotateVector()</a>, <a class="el" href="classgz_1_1math_1_1Quaternion.html#a7f769fe7315f027e976bc350e2bb0a1c">Quaternion&lt; Precision &gt;::RotateVectorReverse()</a>, and <a class="el" href="classgz_1_1math_1_1Inertial.html#a19ae8b63c925f91ee2bb9a40a0a54a53">Inertial&lt; T &gt;::SetMassMatrixRotation()</a>.</p>
+<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Pose3.html#aab9197bc6ee2aec55fae22f6d248be64">Pose3&lt; T &gt;::CoordRotationSub()</a>, <a class="el" href="classgz_1_1math_1_1MassMatrix3.html#a2f5873ac88cab23f7391e6c34eb79730">MassMatrix3&lt; T &gt;::PrincipalAxesOffset()</a>, <a class="el" href="classgz_1_1math_1_1Quaternion.html#a934f2aef375a2be3a55d05b8e1a74b15">Quaternion&lt; T &gt;::RotateVector()</a>, <a class="el" href="classgz_1_1math_1_1Quaternion.html#a7f769fe7315f027e976bc350e2bb0a1c">Quaternion&lt; T &gt;::RotateVectorReverse()</a>, and <a class="el" href="classgz_1_1math_1_1Inertial.html#a19ae8b63c925f91ee2bb9a40a0a54a53">Inertial&lt; T &gt;::SetMassMatrixRotation()</a>.</p>
 
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@@ -1397,6 +1461,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#acd68476b8afc6a2dcfb8663e
 
 <p>Invert the quaternion. The quaternion is first normalized, then inverted. </p>
 
+<p class="reference">References <a class="el" href="classgz_1_1math_1_1Quaternion.html#af279e0f0ff720ee54d6733674dfda50a">Quaternion&lt; T &gt;::Normalize()</a>.</p>
+
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@@ -1425,7 +1491,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a33b7dcc502aae627fbc56bcf
 <p>See if a quaternion is finite (e.g., not nan). </p>
 <dl class="section return"><dt>Returns</dt><dd>True if quaternion is finite. </dd></dl>
 
-<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Pose3.html#a33b7dcc502aae627fbc56bcfecf33af1">Pose3&lt; T &gt;::IsFinite()</a>.</p>
+<p class="reference">References <a class="elRef" href="http://en.cppreference.com/w/cpp/numeric/math/isfinite.html">std::isfinite()</a>.</p>
 
 </div>
 </div>
@@ -1491,6 +1557,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#aa89e880bca461133d61a1b74
 </dl>
 <p>Implementation inspired by <a href="http://www.euclideanspace.com/maths/geometry/rotations/">http://www.euclideanspace.com/maths/geometry/rotations/</a> conversions/matrixToQuaternion/ </p><dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000012">Deprecated:</a></b></dt><dd>Use <a class="el" href="classgz_1_1math_1_1Quaternion.html#abd52b929232a5ac42d18db866328524b" title="Set from a rotation matrix.">SetFromMatrix(const Matrix3&lt;T&gt;&amp;)</a> </dd></dl>
 
+<p class="reference">References <a class="el" href="classgz_1_1math_1_1Quaternion.html#abd52b929232a5ac42d18db866328524b">Quaternion&lt; T &gt;::SetFromMatrix()</a>.</p>
+
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 <a id="af279e0f0ff720ee54d6733674dfda50a"></a>
@@ -1518,7 +1586,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#af279e0f0ff720ee54d673367
 
 <p>Normalize the quaternion. </p>
 
-<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Pose3.html#aab9197bc6ee2aec55fae22f6d248be64">Pose3&lt; T &gt;::CoordRotationSub()</a>, <a class="el" href="classgz_1_1math_1_1Quaternion.html#acd68476b8afc6a2dcfb8663ead8b39cd">Quaternion&lt; Precision &gt;::Invert()</a>, <a class="el" href="classgz_1_1math_1_1Matrix3.html#ac775f94a4db16dffb474b6e25dc1dbc2">Matrix3&lt; T &gt;::Matrix3()</a>, <a class="el" href="classgz_1_1math_1_1Matrix4.html#ad094ee75de33a26c80b80ee7dec0c14b">Matrix4&lt; T &gt;::Matrix4()</a>, <a class="el" href="classgz_1_1math_1_1Quaternion.html#a8ba7bacba5ea64ce1d50df76a32f6222">Quaternion&lt; Precision &gt;::Normalized()</a>, <a class="el" href="classgz_1_1math_1_1Quaternion.html#afe0d5ea374e6fa4d77664561e1bfa965">Quaternion&lt; Precision &gt;::SetFrom2Axes()</a>, <a class="el" href="classgz_1_1math_1_1Quaternion.html#a0fed7085a4ca5fb0a2a24fd6b1c5d60a">Quaternion&lt; Precision &gt;::SetFromAxisAngle()</a>, <a class="el" href="classgz_1_1math_1_1Quaternion.html#a1ad9bd946d762ce60994979cec1bfd4e">Quaternion&lt; Precision &gt;::SetFromEuler()</a>, and <a class="el" href="classgz_1_1math_1_1Quaternion.html#a61f8ed8ce0e2090ff95cbcb034c2f117">Quaternion&lt; Precision &gt;::Slerp()</a>.</p>
+<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Matrix3.html#ac775f94a4db16dffb474b6e25dc1dbc2">Matrix3&lt; T &gt;::Matrix3()</a>, <a class="el" href="classgz_1_1math_1_1Matrix4.html#ad094ee75de33a26c80b80ee7dec0c14b">Matrix4&lt; T &gt;::Matrix4()</a>, <a class="el" href="classgz_1_1math_1_1Pose3.html#aab9197bc6ee2aec55fae22f6d248be64">Pose3&lt; T &gt;::CoordRotationSub()</a>, <a class="el" href="classgz_1_1math_1_1Quaternion.html#acd68476b8afc6a2dcfb8663ead8b39cd">Quaternion&lt; T &gt;::Invert()</a>, <a class="el" href="classgz_1_1math_1_1Quaternion.html#a8ba7bacba5ea64ce1d50df76a32f6222">Quaternion&lt; T &gt;::Normalized()</a>, <a class="el" href="classgz_1_1math_1_1Quaternion.html#afe0d5ea374e6fa4d77664561e1bfa965">Quaternion&lt; T &gt;::SetFrom2Axes()</a>, <a class="el" href="classgz_1_1math_1_1Quaternion.html#a0fed7085a4ca5fb0a2a24fd6b1c5d60a">Quaternion&lt; T &gt;::SetFromAxisAngle()</a>, <a class="el" href="classgz_1_1math_1_1Quaternion.html#a1ad9bd946d762ce60994979cec1bfd4e">Quaternion&lt; T &gt;::SetFromEuler()</a>, and <a class="el" href="classgz_1_1math_1_1Quaternion.html#a61f8ed8ce0e2090ff95cbcb034c2f117">Quaternion&lt; T &gt;::Slerp()</a>.</p>
 
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@@ -1548,6 +1616,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a8ba7bacba5ea64ce1d50df76
 <p>Gets a normalized version of this quaternion. </p>
 <dl class="section return"><dt>Returns</dt><dd>a normalized quaternion </dd></dl>
 
+<p class="reference">References <a class="el" href="classgz_1_1math_1_1Quaternion.html#af279e0f0ff720ee54d6733674dfda50a">Quaternion&lt; T &gt;::Normalize()</a>.</p>
+
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 </dl>
 <dl class="section return"><dt>Returns</dt><dd>The result of the vector multiplication. </dd></dl>
 
+<p class="reference">References <a class="el" href="classgz_1_1math_1_1Vector3.html#a304424f098727d9eacc755637addfd05">Vector3&lt; T &gt;::Cross()</a>.</p>
+
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@@ -1717,7 +1789,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a3acea6b2d5446619ff531380
 <p>Multiplication set operator. </p>
 <dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">_qt</td><td><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt;T&gt;</a> for multiplication. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">_qt</td><td>Quaternion&lt;T&gt; for multiplication. </td></tr>
   </table>
   </dd>
 </dl>
@@ -1920,7 +1992,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a5ea8f35b2271cb5e4f355adb
 <p>Assignment operator. </p>
 <dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">_qt</td><td><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt;T&gt;</a> to copy </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">_qt</td><td>Quaternion&lt;T&gt; to copy </td></tr>
   </table>
   </dd>
 </dl>
@@ -1954,12 +2026,14 @@ <h2 class="memtitle"><span class="permalink"><a href="#a47ceca1d97b03b28d670ee07
 <p>Equality comparison operator. A tolerance of 0.001 is used with the equal function for each component of the quaternions. </p>
 <dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">_qt</td><td><a class="el" href="classgz_1_1math_1_1Quaternion.html">Quaternion&lt;T&gt;</a> for comparison. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">_qt</td><td>Quaternion&lt;T&gt; for comparison. </td></tr>
   </table>
   </dd>
 </dl>
 <dl class="section return"><dt>Returns</dt><dd>True if each component of both quaternions is within the tolerance of 0.001 of its counterpart. </dd></dl>
 
+<p class="reference">References <a class="el" href="classgz_1_1math_1_1Quaternion.html#ac0492cbe803056db03a4bb232a658830">Quaternion&lt; T &gt;::Equal()</a>.</p>
+
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@@ -1988,7 +2062,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#acb4d8341c02d721c109e9e7b
 <p>Get the Euler pitch angle in radians. </p>
 <dl class="section return"><dt>Returns</dt><dd>The pitch component. </dd></dl>
 
-<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Pose3.html#a7f8b6967f53a4ade41805f23d0d9f594">Pose3&lt; T &gt;::Pitch()</a>.</p>
+<p class="reference">References <a class="el" href="classgz_1_1math_1_1Quaternion.html#ab501591b34d4299c4eaad2cdb9a93303">Quaternion&lt; T &gt;::Euler()</a>.</p>
 
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@@ -2018,7 +2092,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aa6d129633232523dfcb4ce5f
 <p>Get the Euler roll angle in radians. </p>
 <dl class="section return"><dt>Returns</dt><dd>The roll component. </dd></dl>
 
-<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Pose3.html#af3dd6656e5f9bdb59ac93834429e1de1">Pose3&lt; T &gt;::Roll()</a>.</p>
+<p class="reference">References <a class="el" href="classgz_1_1math_1_1Quaternion.html#ab501591b34d4299c4eaad2cdb9a93303">Quaternion&lt; T &gt;::Euler()</a>.</p>
 
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 </dl>
 <dl class="section return"><dt>Returns</dt><dd>The rotated vector. </dd></dl>
 
+<p class="reference">References <a class="el" href="classgz_1_1math_1_1Quaternion.html#a724dd60575e5faeb80563af1710c0c0e">Quaternion&lt; T &gt;::Inverse()</a>, <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>
+
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 </dl>
 <dl class="section return"><dt>Returns</dt><dd>The reversed vector. </dd></dl>
 
+<p class="reference">References <a class="el" href="classgz_1_1math_1_1Quaternion.html#a724dd60575e5faeb80563af1710c0c0e">Quaternion&lt; T &gt;::Inverse()</a>, <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>
+
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   </dd>
 </dl>
 
-<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Pose3.html#aeae08385b749c5d457a69c879617423c">Pose3&lt; T &gt;::Round()</a>.</p>
+<p class="reference">References <a class="el" href="namespacegz_1_1math.html#ac51a5d6d6c23d619f1bcc2cdd7e90e30">gz::math::precision()</a>.</p>
 
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@@ -2160,133 +2238,6 @@ <h2 class="memtitle"><span class="permalink"><a href="#a1f5a13290c9c0e1c8d4eb13e
   </dd>
 </dl>
 
-</div>
-</div>
-<a id="af8117893d2ab47b320b831dffaf8a9f8"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#af8117893d2ab47b320b831dffaf8a9f8">&#9670;&nbsp;</a></span>Set()</h2>
-
-<div class="memitem">
-<div class="memproto">
-<table class="mlabels">
-  <tr>
-  <td class="mlabels-left">
-      <table class="memname">
-        <tr>
-          <td class="memname">void Set </td>
-          <td>(</td>
-          <td class="paramtype">T&#160;</td>
-          <td class="paramname"><em>_w</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">T&#160;</td>
-          <td class="paramname"><em>_x</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">T&#160;</td>
-          <td class="paramname"><em>_y</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">T&#160;</td>
-          <td class="paramname"><em>_z</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-  </td>
-  <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
-  </tr>
-</table>
-</div><div class="memdoc">
-
-<p>Set this quaternion from 4 floating numbers. </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">_w</td><td>w </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">_x</td><td>x </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">_y</td><td>y </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">_z</td><td>z </td></tr>
-  </table>
-  </dd>
-</dl>
-
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-<h2 class="memtitle"><span class="permalink"><a href="#afe0d5ea374e6fa4d77664561e1bfa965">&#9670;&nbsp;</a></span>SetFrom2Axes()</h2>
-
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-  <tr>
-  <td class="mlabels-left">
-      <table class="memname">
-        <tr>
-          <td class="memname">void SetFrom2Axes </td>
-          <td>(</td>
-          <td class="paramtype">const <a class="el" href="classgz_1_1math_1_1Vector3.html">Vector3</a>&lt; T &gt; &amp;&#160;</td>
-          <td class="paramname"><em>_v1</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const <a class="el" href="classgz_1_1math_1_1Vector3.html">Vector3</a>&lt; T &gt; &amp;&#160;</td>
-          <td class="paramname"><em>_v2</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-  </td>
-  <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
-  </tr>
-</table>
-</div><div class="memdoc">
-
-<p>Set this quaternion to represent rotation from vector _v1 to vector _v2, so that _v2.Normalize() == this * _v1.Normalize() holds. </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">_v1</td><td>The first vector. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">_v2</td><td>The second vector.</td></tr>
-  </table>
-  </dd>
-</dl>
-<p>Implementation inspired by <a href="http://stackoverflow.com/a/11741520/1076564">http://stackoverflow.com/a/11741520/1076564</a> </p>
-
-<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Quaternion.html#ab8d157 </td>
-          <td>(</td>
-          <td class="paramtype">T&#160;</td>
-          <td class="paramname"><em>_scale</em></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
-  </td>
-  <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
-  </tr>
-</table>
-</div><div class="memdoc">
-
-<p>Scale this quaternion. </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">_scale</td><td>Amount to scale this quaternion </td></tr>
-  </table>
-  </dd>
-</dl>
-
 <p class="reference">References <a class="el" href="classgz_1_1math_1_1Quaternion.html#a5778c9f41aacf4984ffedf9e32fdb0f9">Quaternion&lt; T &gt;::AxisAngle()</a>, <a class="el" href="classgz_1_1math_1_1Quaternion.html#a0fed7085a4ca5fb0a2a24fd6b1c5d60a">Quaternion&lt; T &gt;::SetFromAxisAngle()</a>, <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>
 
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     </main>
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 <dl class="section remark"><dt>Remarks</dt><dd>The spline calculates tangents at each point automatically based on the input points. Normally it does this every time a point changes. However, if you have a lot of points to add in one go, you probably don't want to incur this overhead and would prefer to defer the calculation until you are finished setting all the points. You can do this by calling this method with a parameter of 'false'. Just remember to manually call the recalcTangents method when you are done. </dd></dl>
 <dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">_autoCalc</td><td>If true, tangents are calculated for you whenever a point changes. If false, you must call reclacTangents to recalcuulate them when it best suits. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">_autoCalc</td><td>If true, tangents are calculated for you whenever a point changes. If false, you must call reclacTangents to recalculate them when it best suits. </td></tr>
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diff --git a/api/math/7/classgz_1_1math_1_1SphericalCoordinates.html b/api/math/7/classgz_1_1math_1_1SphericalCoordinates.html
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 <tr class="memdesc:a37ef7abc843a85d18c73b84e1b0576f7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the distance between two points expressed in geographic latitude and longitude. It assumes that both points are at sea level. Example: _latA = 38.0016667 and _lonA = -123.0016667) represents the point with latitude 38d 0'6.00"N and longitude 123d 0'6.00"W. This method assumes that the surface model is EARTH_WGS84.  <a href="classgz_1_1math_1_1SphericalCoordinates.html#a37ef7abc843a85d18c73b84e1b0576f7">More...</a><br /></td></tr>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed DDescription</h2>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <div class="textblock"><p>Convert spherical coordinates for planetary surfaces. </p>
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 <a id="af532ebccf30da4696c48ec61f6b4d663"></a>
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-<p>Equality operator, resul = this == _sc. </p>
+<p>Equality operator, result = this == _sc. </p>
 <dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramdir">[in]</td><td class="paramname">_sc</td><td>Spherical coordinates to check for equality </td></tr>
diff --git a/api/math/7/classgz_1_1math_1_1Spline-members.html b/api/math/7/classgz_1_1math_1_1Spline-members.html
index f10d0c69c..e60acbc9a 100644
--- a/api/math/7/classgz_1_1math_1_1Spline-members.html
+++ b/api/math/7/classgz_1_1math_1_1Spline-members.html
@@ -174,4 +174,3 @@ <h2>API Reference</h2>
     </main>
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diff --git a/api/math/7/classgz_1_1math_1_1Stopwatch-members.html b/api/math/7/classgz_1_1math_1_1Stopwatch-members.html
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--- a/api/math/7/classgz_1_1math_1_1Stopwatch-members.html
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     </main>
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diff --git a/api/math/7/classgz_1_1math_1_1Stopwatch.html b/api/math/7/classgz_1_1math_1_1Stopwatch.html
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@@ -450,4 +450,3 @@ <h2 class="memtitle"><span class="permalink"><a href="#aa637a9767bda7961230e511e
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diff --git a/api/math/7/classgz_1_1math_1_1Temperature-members.html b/api/math/7/classgz_1_1math_1_1Temperature-members.html
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--- a/api/math/7/classgz_1_1math_1_1Temperature-members.html
+++ b/api/math/7/classgz_1_1math_1_1Temperature-members.html
@@ -201,4 +201,3 @@ <h2>API Reference</h2>
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diff --git a/api/math/7/classgz_1_1math_1_1TimeVaryingVolumetricGrid-members.html b/api/math/7/classgz_1_1math_1_1TimeVaryingVolumetricGrid-members.html
index e167b18c6..36719a416 100644
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diff --git a/api/math/7/classgz_1_1math_1_1TimeVaryingVolumetricGrid.html b/api/math/7/classgz_1_1math_1_1TimeVaryingVolumetricGrid.html
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diff --git a/api/math/7/classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField-members.html b/api/math/7/classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField-members.html
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     </main>
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diff --git a/api/math/7/classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html b/api/math/7/classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField.html
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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-members.html b/api/math/7/classgz_1_1math_1_1TimeVaryingVolumetricGridLookupField_3_01T_00_01V_00_01InMemorySession_3_01T_00_01V_01_4_01_4-members.html
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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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diff --git a/api/math/7/classgz_1_1math_1_1TimeVaryingVolumetricGrid_3_01T_00_01V_00_01InMemorySession_3_01T_00_01P_01_4_00_01P_01_4-members.html b/api/math/7/classgz_1_1math_1_1TimeVaryingVolumetricGrid_3_01T_00_01V_00_01InMemorySession_3_01T_00_01P_01_4_00_01P_01_4-members.html
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--- a/api/math/7/classgz_1_1math_1_1TimeVaryingVolumetricGrid_3_01T_00_01V_00_01InMemorySession_3_01T_00_01P_01_4_00_01P_01_4-members.html
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     </main>
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diff --git a/api/math/7/classgz_1_1math_1_1TimeVaryingVolumetricGrid_3_01T_00_01V_00_01InMemorySession_3_01T_00_01P_01_4_00_01P_01_4.html b/api/math/7/classgz_1_1math_1_1TimeVaryingVolumetricGrid_3_01T_00_01V_00_01InMemorySession_3_01T_00_01P_01_4_00_01P_01_4.html
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+++ b/api/math/7/classgz_1_1math_1_1TimeVaryingVolumetricGrid_3_01T_00_01V_00_01InMemorySession_3_01T_00_01P_01_4_00_01P_01_4.html
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     </main>
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diff --git a/api/math/7/classgz_1_1math_1_1Triangle-members.html b/api/math/7/classgz_1_1math_1_1Triangle-members.html
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@@ -163,4 +163,3 @@ <h2>API Reference</h2>
     </main>
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diff --git a/api/math/7/classgz_1_1math_1_1Triangle.html b/api/math/7/classgz_1_1math_1_1Triangle.html
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 </table>
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-<p>Set oone vertex of the triangle. </p>
+<p>Set one vertex of the triangle. </p>
 <dl class="params"><dt>Parameters</dt><dd>
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     <tr><td class="paramdir">[in]</td><td class="paramname">_index</td><td>Index of the point to set, where 0 == first vertex, 1 == second vertex, and 2 == third vertex. The index is clamped to the range [0, 2]. </td></tr>
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     </main>
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@@ -164,4 +164,3 @@ <h2>API Reference</h2>
     </main>
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diff --git a/api/math/7/classgz_1_1math_1_1Vector2-members.html b/api/math/7/classgz_1_1math_1_1Vector2-members.html
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+++ b/api/math/7/classgz_1_1math_1_1Vector2-members.html
@@ -212,4 +212,3 @@ <h2>API Reference</h2>
     </main>
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-
diff --git a/api/math/7/classgz_1_1math_1_1Vector2.html b/api/math/7/classgz_1_1math_1_1Vector2.html
index 97cd8cc36..9ba531480 100644
--- a/api/math/7/classgz_1_1math_1_1Vector2.html
+++ b/api/math/7/classgz_1_1math_1_1Vector2.html
@@ -240,7 +240,7 @@ <h2>API Reference</h2>
 <tr class="memdesc:ae29fd8a3bbb8dd6eb40d23fc8ebaaf2a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Negation operator.  <a href="classgz_1_1math_1_1Vector2.html#ae29fd8a3bbb8dd6eb40d23fc8ebaaf2a">More...</a><br /></td></tr>
 <tr class="separator:ae29fd8a3bbb8dd6eb40d23fc8ebaaf2a"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a157fdf0db510d9fcd216f50dfce76805"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classgz_1_1math_1_1Vector2.html">Vector2</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgz_1_1math_1_1Vector2.html#a157fdf0db510d9fcd216f50dfce76805">operator-</a> (const T _s) const</td></tr>
-<tr class="memdesc:a157fdf0db510d9fcd216f50dfce76805"><td class="mdescLeft">&#160;</td><td class="mdescRight">Subtraction operators.  <a href="classgz_1_1math_1_1Vector2.html#a1157fdf0db510d9fcd216f50dfce76805">More...</a><br /></td></tr>
+<tr class="memdesc:a157fdf0db510d9fcd216f50dfce76805"><td class="mdescLeft">&#160;</td><td class="mdescRight">Subtraction operators.  <a href="classgz_1_1math_1_1Vector2.html#a157fdf0db510d9fcd216f50dfce76805">More...</a><br /></td></tr>
 <tr class="separator:a157fdf0db510d9fcd216f50dfce76805"><td class="memSeparator" colspan="2">&#160;</td></tr>
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 </div>
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-<h2 class="memtitle"><span class="permalink"><a href="#abf887ed78b744f226099205075e157a0"&#9670;&nbsp;</a></span>Correct()</h2>
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 <div class="memitem">
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diff --git a/api/math/7/classgz_1_1math_1_1Vector3-members.html b/api/math/7/classgz_1_1math_1_1Vector3-members.html
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     </main>
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diff --git a/api/math/7/classgz_1_1math_1_1Vector3.html b/api/math/7/classgz_1_1math_1_1Vector3.html
index 3f133c278..7a0f9697d 100644
--- a/api/math/7/classgz_1_1math_1_1Vector3.html
+++ b/api/math/7/classgz_1_1math_1_1Vector3.html
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 <tr class="memitem:a7aeeda901a62be5f07d0a4c5b6ac18df"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classgz_1_1math_1_1Vector3.html">Vector3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgz_1_1math_1_1Vector3.html#a7aeeda901a62be5f07d0a4c5b6ac18df">operator/</a> (T _v) const</td></tr>
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 <tr class="separator:a7aeeda901a62be5f07d0a4c5b6ac18df"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a42eadd6fbfe6d7617c7483f79bf7a37a"><td class="memItemLeft" align="right" valign="top">cconst <a class="el" href="classgz_1_1math_1_1Vector3.html">Vector3</a>&lt; T &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgz_1_1math_1_1Vector3.html#a42eadd6fbfe6d7617c7483f79bf7a37a">operator/=</a> (const <a class="el" href="classgz_1_1math_1_1Vector3.html">Vector3</a>&lt; T &gt; &amp;_pt)</td></tr>
+<tr class="memitem:a42eadd6fbfe6d7617c7483f79bf7a37a"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classgz_1_1math_1_1Vector3.html">Vector3</a>&lt; T &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgz_1_1math_1_1Vector3.html#a42eadd6fbfe6d7617c7483f79bf7a37a">operator/=</a> (const <a class="el" href="classgz_1_1math_1_1Vector3.html">Vector3</a>&lt; T &gt; &amp;_pt)</td></tr>
 <tr class="memdesc:a42eadd6fbfe6d7617c7483f79bf7a37a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Division assignment operator.  <a href="classgz_1_1math_1_1Vector3.html#a42eadd6fbfe6d7617c7483f79bf7a37a">More...</a><br /></td></tr>
 <tr class="separator:a42eadd6fbfe6d7617c7483f79bf7a37a"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a39d5b7c87d97799786a3c3e77996cf8d"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classgz_1_1math_1_1Vector3.html">Vector3</a>&lt; T &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgz_1_1math_1_1Vector3.html#a39d5b7c87d97799786a3c3e77996cf8d">operator/=</a> (T _v)</td></tr>
@@ -407,7 +407,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a5cdda4b6f03fbffbabdf2b70
 
 <p>Constructor. </p>
 
-<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Vector3.html#acb7337253c6a7a7f7cdd63fba169cdb3">Vector3&lt; Precision &gt;::Abs()</a>, <a class="el" href="classgz_1_1math_1_1Vector3.html#a304424f098727d9eacc755637addfd05">Vector3&lt; Precision &gt;::Cross()</a>, <a class="el" href="classgz_1_1math_1_1Vector3.html#ae9c00800c1d6658291725751d6a02df3">Vector3&lt; Precision &gt;::Distance()</a>, <a class="el" href="classgz_1_1math_1_1Vector3.html#a99d682a0117cabc7de648084eaf31a3d">Vector3&lt; Precision &gt;::operator*()</a>, <a class="el" href="classgz_1_1math_1_1Vector3.html#a052daf3b52a4c37ee66460efac2fb0aa">Vector3&lt; Precision &gt;::operator+()</a>, <a class="el" href="classgz_1_1math_1_1Vector3.html#ab16a1dd9ff144c3cbff03ffb81daa24e">Vector3&lt; Precision &gt;::operator-()</a>, <a class="el" href="classgz_1_1math_1_1Vector3.html#abb5714f8d9fceabebf8ea794a7f4e1cc">Vector3&lt; Precision &gt;::operator/()</a>, and <a class="el" href="classgz_1_1math_1_1Vector3.html#a6d053de0e6be29a9b838ac5e7d1f5b54">Vector3&lt; Precision &gt;::Perpendicular()</a>.</p>
+<p class="reference">Referenced by <a class="el" href="classgz_1_1math_1_1Vector3.html#acb7337253c6a7a7f7cdd63fba169cdb3">Vector3&lt; T &gt;::Abs()</a>, <a class="el" href="classgz_1_1math_1_1Vector3.html#a304424f098727d9eacc755637addfd05">Vector3&lt; T &gt;::Cross()</a>, <a class="el" href="classgz_1_1math_1_1Vector3.html#ae9c00800c1d6658291725751d6a02df3">Vector3&lt; T &gt;::Distance()</a>, <a class="el" href="classgz_1_1math_1_1Vector3.html#a99d682a0117cabc7de648084eaf31a3d">Vector3&lt; T &gt;::operator*()</a>, <a class="el" href="classgz_1_1math_1_1Vector3.html#a052daf3b52a4c37ee66460efac2fb0aa">Vector3&lt; T &gt;::operator+()</a>, <a class="el" href="classgz_1_1math_1_1Vector3.html#ab16a1dd9ff144c3cbff03ffb81daa24e">Vector3&lt; T &gt;::operator-()</a>, <a class="el" href="classgz_1_1math_1_1Vector3.html#abb5714f8d9fceabebf8ea794a7f4e1cc">Vector3&lt; T &gt;::operator/()</a>, and <a class="el" href="classgz_1_1math_1_1Vector3.html#a6d053de0e6be29a9b838ac5e7d1f5b54">Vector3&lt; T &gt;::Perpendicular()</a>.</p>
 
 </div>
 </div>
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 <span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
   </tr>
 </table>
-</div><div class="mem><dd>
+</div><div class="memdoc">
+
+<p>Constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramdir">[in]</td><td class="paramname">_x</td><td>value along x </td></tr>
     <tr><td class="paramdir">[in]</td><td class="paramname">_y</td><td>value along y </td></tr>
diff --git a/api/math/7/classgz_1_1math_1_1Vector3Stats-members.html b/api/math/7/classgz_1_1math_1_1Vector3Stats-members.html
index 11dcef9ea..f91d7e1a3 100644
--- a/api/math/7/classgz_1_1math_1_1Vector3Stats-members.html
+++ b/api/math/7/classgz_1_1math_1_1Vector3Stats-members.html
@@ -164,4 +164,3 @@ <h2>API Reference</h2>
     </main>
   </div>
 </body>
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 <hr/>The documentation for this class was generated from the following file:<ul>
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-<dl class="section return"><dt>Returns</dt><dd>A mutable reference to the vertex ith Id = _id or NullVertex if not found. </dd></dl>
+<dl class="section return"><dt>Returns</dt><dd>A mutable reference to the vertex with Id = _id or NullVertex if not found. </dd></dl>
 
 </div>
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 <p>Whether the vertex is considered valid or not (id==kNullId). </p>
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 <p class="reference">References <a class="el" href="namespacegz_1_1math_1_1graph.html#a6072871e8b2171f5fc136c763ace483a">gz::math::graph::kNullId</a>.</p>
 
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diff --git a/api/math/7/example__triangle_8md.html b/api/math/7/example__triangle_8md.html
index dfbd25ad5..4c27adab9 100644
--- a/api/math/7/example__triangle_8md.html
+++ b/api/math/7/example__triangle_8md.html
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diff --git a/api/math/7/example__vector2_8md.html b/api/math/7/example__vector2_8md.html
index 4bdb6590c..0c335c850 100644
--- a/api/math/7/example__vector2_8md.html
+++ b/api/math/7/example__vector2_8md.html
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diff --git a/api/math/7/example_angle.html b/api/math/7/example_angle.html
index a1223714f..a136eff78 100644
--- a/api/math/7/example_angle.html
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diff --git a/api/math/7/example_triangle.html b/api/math/7/example_triangle.html
index 8a493f2c9..432312bfb 100644
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diff --git a/api/math/7/example_vector2.html b/api/math/7/example_vector2.html
index 6de3f4248..87a798958 100644
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diff --git a/api/math/7/files.html b/api/math/7/files.html
index 20fd18d6c..d76141dbd 100644
--- a/api/math/7/files.html
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diff --git a/api/math/7/functions_b.html b/api/math/7/functions_b.html
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diff --git a/api/math/7/functions_enum.html b/api/math/7/functions_enum.html
index 8b6b92b99..8e12bb6e5 100644
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diff --git a/api/math/7/functions_eval.html b/api/math/7/functions_eval.html
index 83fea2dc9..a302216e7 100644
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diff --git a/api/math/7/functions_func_b.html b/api/math/7/functions_func_b.html
index 854f81b14..0871eb2e8 100644
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diff --git a/api/math/7/functions_func_g.html b/api/math/7/functions_func_g.html
index cee0d04ab..cd5dacb27 100644
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diff --git a/api/math/7/functions_func_h.html b/api/math/7/functions_func_h.html
index 6e6c2a777..5acca74dd 100644
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diff --git a/api/math/7/functions_func_k.html b/api/math/7/functions_func_k.html
index 05dcbd981..b2e8a81f5 100644
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diff --git a/api/math/7/functions_func_o.html b/api/math/7/functions_func_o.html
index 0212740d7..b71526f3e 100644
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 , <a class="el" href="classgz_1_1math_1_1Vector2.html#a17f4e81790394ca446a19402514ecf09">Vector2&lt; T &gt;</a>
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-, <a class="el" href="classgz_1_1math_1_1Vector2.html#a6ef59a43ff2857b1e068f11e0f2dbd06">Vector2&lt; T &gt;</a>
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+: <a class="el" href="classgz_1_1math_1_1OrientedBox.html#aeac7633fb61c4ef7e5200f9f073975ce">OrientedBox&lt; T &gt;</a>
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diff --git a/api/math/7/functions_func_u.html b/api/math/7/functions_func_u.html
index 159b8f24b..64f5a351c 100644
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diff --git a/api/math/7/functions_func_v.html b/api/math/7/functions_func_v.html
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diff --git a/api/math/7/functions_type.html b/api/math/7/functions_type.html
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diff --git a/api/math/7/functions_u.html b/api/math/7/functions_u.html
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diff --git a/api/math/7/functions_v.html b/api/math/7/functions_v.html
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diff --git a/api/math/7/globals.html b/api/math/7/globals.html
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diff --git a/api/math/7/gz_2math_2AdditivelySeparableScalarField3_8hh.html b/api/math/7/gz_2math_2AdditivelySeparableScalarField3_8hh.html
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diff --git a/api/math/7/gz_2math_2Angle_8hh.html b/api/math/7/gz_2math_2Angle_8hh.html
index 3bde6537d..c7a25e2ef 100644
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diff --git a/api/math/7/gz_2math_2Box_8hh.html b/api/math/7/gz_2math_2Box_8hh.html
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diff --git a/api/math/7/gz_2math_2Capsule_8hh.html b/api/math/7/gz_2math_2Capsule_8hh.html
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diff --git a/api/math/7/gz_2math_2Color_8hh.html b/api/math/7/gz_2math_2Color_8hh.html
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--- a/api/math/7/gz_2math_2Color_8hh.html
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diff --git a/api/math/7/gz_2math_2Cylinder_8hh.html b/api/math/7/gz_2math_2Cylinder_8hh.html
index 1b034e389..1d24e3220 100644
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diff --git a/api/math/7/gz_2math_2DiffDriveOdometry_8hh.html b/api/math/7/gz_2math_2DiffDriveOdometry_8hh.html
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diff --git a/api/math/7/gz_2math_2Ellipsoid_8hh.html b/api/math/7/gz_2math_2Ellipsoid_8hh.html
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@@ -184,4 +184,3 @@ <h2>API Reference</h2>
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diff --git a/api/math/7/gz_2math_2Filter_8hh.html b/api/math/7/gz_2math_2Filter_8hh.html
index aa46c8638..db9e84518 100644
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diff --git a/api/math/7/gz_2math_2Frustum_8hh.html b/api/math/7/gz_2math_2Frustum_8hh.html
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diff --git a/api/math/7/gz_2math_2Frustum_8hh_source.html b/api/math/7/gz_2math_2Frustum_8hh_source.html
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-<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    GZ_UTILS_IMPL_PTR(dataPtr)</div>
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-<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  }  <span class="comment">// GZ_MATH_VERSION_NAMESPACE</span></div>
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+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
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+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
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+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
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 <tr class="memdesc:a4305703136e4fbb613d892bdc920a684"><td class="mdescLeft">&#160;</td><td class="mdescRight">16bit unsigned integer maximum value  <a href="namespacegz_1_1math.html#a4305703136e4fbb613d892bdc920a684">More...</a><br /></td></tr>
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index 986caf485..464f8b0d7 100644
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-&gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacegz_1_1math.html#a968bc4736fac5af106094c63c24ac6ca">Matrix3i</a></td></tr>
-<tr class="memdesc:a968bc4736fac5af106094c63c24ac6ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">typedef Matrix3&lt;int&gt; as Matrix3i.  <a href="namespacegz_1_1math.html#a968bc4736fac5af106094c63c24ac6ca">More...</a><br /></td></tr>
-<tr class="separator:a968bc4736fac5af106094c63c24ac6ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
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diff --git a/api/math/7/gz_2math_2Matrix3_8hh_source.html b/api/math/7/gz_2math_2Matrix3_8hh_source.html
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@@ -539,8 +545,8 @@ <h2>API Reference</h2>
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-<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;                <a class="codeRef" href="http://en.cppreference.com/w/cpp/io/basic_ostream.html" title="STL class.">std::ostream</a> &amp;_out, <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Matrix3.html" title="A 3x3 matrix class.">gz::math::Matrix3&lt;T&gt;</a> &amp;_m)</div>
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+<div class="line"><a name="l00772"></a><span class="lineno">  772</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_1Matrix4.html" title="A 4x4 matrix class.">gz::math::Matrix4&lt;T&gt;</a> &amp;_m)</div>
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+<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;          front.X(), left.X(), up.X(), _eye.<a class="code" href="classgz_1_1math_1_1Vector3.html#ae6b656e82256821b0ef79462ca0079b8" title="Get the x value.">X</a>(),</div>
+<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160;          front.Y(), left.Y(), up.Y(), _eye.<a class="code" href="classgz_1_1math_1_1Vector3.html#aecdad7e976b3ed74a1828eac4d958db6" title="Get the y value.">Y</a>(),</div>
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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/io/basic_ostream.html">std::ostream</a> &amp;_out, <span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Matrix6.html" title="A 6x6 matrix class.">gz::math::Matrix6&lt;T&gt;</a> &amp;_m)</div>
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 <div class="line"><a name="l00532"></a><span class="lineno">  532</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>
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 <div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
 <div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
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-</div><!-- fragment --></div><!-- contents -->
-      </div>
-    </main>
-  </div>
-</body>
-t">// namespace gz::math</span></div>
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diff --git a/api/math/7/gz_2math_2MecanumDriveOdometry_8hh.html b/api/math/7/gz_2math_2MecanumDriveOdometry_8hh.html
index 0ece05da8..05a2b7a11 100644
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@@ -172,4 +172,3 @@ <h2>API Reference</h2>
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index 70a4a5786..abf82a5b1 100644
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@@ -189,4 +189,3 @@ <h2>API Reference</h2>
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--- a/api/math/7/gz_2math_2OrientedBox_8hh.html
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diff --git a/api/math/7/gz_2math_2PID_8hh.html b/api/math/7/gz_2math_2PID_8hh.html
index f4b67c8b8..6d8755140 100644
--- a/api/math/7/gz_2math_2PID_8hh.html
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diff --git a/api/math/7/gz_2math_2PiecewiseScalarField3_8hh.html b/api/math/7/gz_2math_2PiecewiseScalarField3_8hh.html
index 81fde7364..2bd07cb26 100644
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     </main>
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diff --git a/api/math/7/gz_2math_2Plane_8hh.html b/api/math/7/gz_2math_2Plane_8hh.html
index 0e73aafcf..29db3a4a7 100644
--- a/api/math/7/gz_2math_2Plane_8hh.html
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@@ -184,4 +184,3 @@ <h2>API Reference</h2>
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diff --git a/api/math/7/gz_2math_2Plane_8hh_source.html b/api/math/7/gz_2math_2Plane_8hh_source.html
index 201873d82..efd12656b 100644
--- a/api/math/7/gz_2math_2Plane_8hh_source.html
+++ b/api/math/7/gz_2math_2Plane_8hh_source.html
@@ -305,7 +305,9 @@ <h2>API Reference</h2>
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-<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        T nom = _origin.<a class="code" href="classgz_4"></a><span class="lineno">  224</span>&#160;        <span class="keywordflow">return</span> t;</div>
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+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        T t = -(nom/denom);</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        <span class="keywordflow">return</span> t;</div>
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+<div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="classgz_1_1math_1_1Plane.html#a6f44525520aa2834f1b33b4f9c4bbb5a">  261</a></span>&#160;    <span class="keyword">public</span>: <a class="code" href="classgz_1_1math_1_1Plane.html" title="A plane and related functions.">Plane&lt;T&gt;</a> &amp;<a class="code" href="classgz_1_1math_1_1Plane.html#a6f44525520aa2834f1b33b4f9c4bbb5a" title="Equal operator.">operator=</a>(<span class="keyword">const</span> <a class="code" href="classgz_1_1math_1_1Plane.html" title="A plane and related functions.">Plane&lt;T&gt;</a> &amp;_p) = <span class="keywordflow">default</span>;</div>
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 <div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
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 <div class="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  // GZ_MATH_PLANE_HH_</span></div>
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-      </div>
-    </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>
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diff --git a/api/math/7/gz_2math_2Polynomial3_8hh.html b/api/math/7/gz_2math_2Polynomial3_8hh.html
index aad9de73e..16aee973e 100644
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diff --git a/api/math/7/gz_2math_2Polynomial3_8hh_source.html b/api/math/7/gz_2math_2Polynomial3_8hh_source.html
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@@ -180,4 +180,3 @@ <h2>API Reference</h2>
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-
diff --git a/api/math/7/gz_2math_2Quaternion_8hh.html b/api/math/7/gz_2math_2Quaternion_8hh.html
index 824ca6a60..0865a70ab 100644
--- a/api/math/7/gz_2math_2Quaternion_8hh.html
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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>
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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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@@ -295,7 +295,18 @@ <h2>API Reference</h2>
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-<61"></a><span class="lineno">  261</span>&#160;    }</div>
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+<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="keywordflow">else</span></div>
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+<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
+<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      <span class="keywordflow">return</span> result;</div>
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@@ -172,31 +172,17 @@ <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">   37</span>&#160;    <span class="keyword">public</span>: <span class="keyword">explicit</span> <a class="code" href="classgz_1_1math_1_1RollingMean.html" title="A class that computes the mean over a series of data points. The window size determines the maximum n...">RollingMean</a>(<span class="keywordtype">size_t</span> _windowSize = 10);</div>
+<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">   43</span>&#160;    <span class="keyword">public</span>: <span class="keywordtype">double</span> Mean() <span class="keyword">const</span>;</div>
+<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"><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>
-<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
-<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="l00064"></a><span class="lineno">   64</span>&#160; </div>
-<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    GZ_UTILS_IMPL_PTR(dataPtr)</div>
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-<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  }  <span class="comment">// namespace GZ_MATH_VERSION_NAMESPACE</span></div>
-<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;}  <span class="comment">// namespace gz::math</span></div>
-<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="preprocessor">#endif  // GZ_MATH_ROLLINGMEAN_HH_</span></div>
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-othing happens if the _windowSize is zero.">SetWindowSize</a>(<span class="keywordtype">size_t</span> _windowSize);</div>
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-<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;<span class="preprocessor">#endif   // GZ_MATH_GRAPH_GRAPHALGORITHMS_HH_</span></div>
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-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>
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-iv class="fragment"><div class="line">ctest -R Ruby_TEST.rb</div>
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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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@@ -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>
@@ -675,7 +675,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a6072871e8b2171f5fc136c76
 
 <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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@@ -253,12 +253,12 @@ <h3><a class="anchor" id="autotoc_md43"></a>
 <p>It is recommended to specify the ambient temperature and world's temperature gradient, since this dictates how objects with no specified temperature appear. Here's an example that sets the ambient temperature to 300 kelvin, and the temperature gradient to 0.1 Kelvin/meter:</p>
 <div class="fragment"><div class="line">&lt;<span class="keywordtype">atmosphere</span> <span class="keyword">type</span>=<span class="stringliteral">&quot;adiabatic&quot;</span>&gt;</div>
 <div class="line">  &lt;<span class="keywordtype">temperature</span>&gt;300&lt;/<span class="keywordtype">temperature</span>&gt;</div>
-<div class="line">  <span class="comment">&#x2410;„0½</span></div>
-<div class="line"><span class="comment">ðˆ0½QV</span></div>
-<div class="line"><span class="comment">ðˆ0½QV</span></div>
-<div class="line"><span class="comment">à{Ïì</span></div>
-<div class="line"><span class="comment">ðˆ0½QV</span></div>
-<div class="line"><span class="comment">&#x2416;“ͽQV</span></div>
+<div class="line">  <span class="comment">&#x2405;údëV</span></div>
+<div class="line"><span class="comment">åödëV</span></div>
+<div class="line"><span class="comment">åödëV</span></div>
+<div class="line"><span class="comment">à<ñ7p</span></div>
+<div class="line"><span class="comment">åödëV</span></div>
+<div class="line"><span class="comment">&#x240B;ÁgëV</span></div>
 <div class="line"><span class="comment">  --&gt;</span></div>
 <div class="line">  &lt;<span class="keywordtype">temperature_gradient</span>&gt;0.1&lt;/<span class="keywordtype">temperature_gradient</span>&gt;</div>
 <div class="line">&lt;/<span class="keywordtype">atmosphere</span>&gt;</div>
diff --git a/api/sim/8/meshtofuel.html b/api/sim/8/meshtofuel.html
index 0b7d86e82..e1d7c2c44 100644
--- a/api/sim/8/meshtofuel.html
+++ b/api/sim/8/meshtofuel.html
@@ -224,8 +224,8 @@ <h2><a class="anchor" id="autotoc_md185"></a>
 <p>Copy <a href="https://github.com/gazebosim/gz-sim/raw/main/examples/worlds/import_mesh.sdf">this example world code</a> into a text editor and save it as <code>import_mesh.sdf</code>. This is a simple world SDF file, which you can learn more about on the <a href="http://sdformat.org/">SDF website</a>.</p>
 <p>Scroll all the way to the bottom of the file until you see the <code>include</code> tag section following the <code>&lt;!-- mesh --&gt;</code> comment line.</p>
 <div class="fragment"><div class="line">&lt;?<span class="keyword">xml</span> <span class="keyword">version</span>=<span class="stringliteral">&quot;1.0&quot;</span> ?&gt;</div>
-<div class="line"><span class="comment">I#û</span></div>
-<div class="line"><span class="comment">+#û¥U</span></div>
+<div class="line"><span class="comment">ØY’</span></div>
+<div class="line"><span class="comment">º{Y’&#x2417;V</span></div>
 <div class="line"><span class="comment">--&gt;</span></div>
 <div class="line">&lt;<span class="keywordtype">sdf</span> <span class="keyword">version</span>=<span class="stringliteral">&quot;1.6&quot;</span>&gt;</div>
 <div class="line">  &lt;<span class="keywordtype">world</span> <span class="keyword">name</span>=<span class="stringliteral">&quot;fuel&quot;</span>&gt;</div>