diff --git a/.gitignore b/.gitignore
index 8aea7b811e..341f3a3e51 100644
--- a/.gitignore
+++ b/.gitignore
@@ -28,3 +28,9 @@ proguard/
 #Android Studio files
 *.iml
 .idea/
+
+# Eclipse files
+.metadata
+
+# Mac OSX files
+.DS_Store
diff --git a/.travis.yml b/.travis.yml
index 89d8c7e4ef..971ebba42e 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -8,8 +8,8 @@ android:
 
 before_script:
     - echo yes | android update sdk -u -a -t tools
-    - echo yes | android update sdk -u -a -t build-tools-20.0.0,build-tools-19.1.0
-    - echo yes | android update sdk -u -a -t android-20,android-19
+    - echo yes | android update sdk -u -a -t build-tools-21.0.1,build-tools-20.0.0,build-tools-19.1.0
+    - echo yes | android update sdk -u -a -t android-21,android-20,android-19
     - echo yes | android update sdk -u -a -t extra-google-m2repository
     - echo yes | android update sdk -u -a -t extra-android-m2repository
     - echo yes | android update sdk -u -a -t extra-android-support,extra-google-google_play_services
diff --git a/Android/.classpath b/Android/.classpath
index a36b91f54c..695fcafa91 100644
--- a/Android/.classpath
+++ b/Android/.classpath
@@ -1,7 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-	<classpathentry exported="true" kind="src" path="/Core"/>
-	<classpathentry exported="true" kind="src" path="/Mavlink"/>
 	<classpathentry kind="con" path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/>
 	<classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.LIBRARIES"/>
 	<classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.DEPENDENCIES"/>
diff --git a/Android/AndroidManifest.xml b/Android/AndroidManifest.xml
index 4ca6dab8b2..2afa8591d0 100644
--- a/Android/AndroidManifest.xml
+++ b/Android/AndroidManifest.xml
@@ -2,12 +2,12 @@
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:tools="http://schemas.android.com/tools"
           package="org.droidplanner"
-          android:versionCode="104"
+          android:versionCode="105"
           android:versionName="please run version.sh to get the version name">
 
     <uses-sdk
         android:minSdkVersion="14"
-        android:targetSdkVersion="19" />
+        android:targetSdkVersion="21" />
 
     <supports-screens
         android:requiresSmallestWidthDp="320"/>
@@ -134,6 +134,12 @@
                 android:value=".android.activities.SettingsActivity"/>
         </activity>
 
+        <activity
+                    android:name=".android.activities.LocatorActivity"
+                    android:label="@string/locator"
+                    android:launchMode="singleTop"
+                    android:theme="@style/CustomActionBarTheme.Transparent"          />
+
         <receiver android:name=".android.communication.service.NetworkConnectivityReceiver"
             android:enabled="false">
             <intent-filter>
diff --git a/Android/assets/CameraInfo/GoPro Hero 4 Black.xml b/Android/assets/CameraInfo/GoPro Hero 4 Black.xml
new file mode 100644
index 0000000000..ea9caadc97
--- /dev/null
+++ b/Android/assets/CameraInfo/GoPro Hero 4 Black.xml	
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8"?>
+<cameraInfo>
+    <Name>GoPro Hero 4 Black</Name>
+    <SensorWidth>6.17</SensorWidth>
+    <SensorHeight>4.55</SensorHeight>
+    <SensorResolution>12.0</SensorResolution>
+    <FocalLength>14</FocalLength>
+</cameraInfo>
diff --git a/Android/build.gradle b/Android/build.gradle
index 509999f80d..d0b0fbb146 100644
--- a/Android/build.gradle
+++ b/Android/build.gradle
@@ -5,7 +5,6 @@ repositories {
 }
 
 dependencies {
-    compile 'com.android.support:support-v4:20.0.0'
     compile files('libs/droneapi-java.jar')
     compile 'com.google.android.gms:play-services:5.0.89'
     compile 'com.sothree.slidinguppanel:library:2.0.2'
@@ -17,25 +16,29 @@ dependencies {
         transitive=true
     }
 
+    compile 'com.android.support:support-v4:20.0.0'
+
+    compile project(':Core')
+    compile project(':Mavlink')
+    compile project(':Libraries:HorizontalVariableListView:HorizontalVariableListView')
+
     compile files('libs/usbseriallibrary.jar')
     compile files('libs/j2xx.jar')
     compile files('libs/protobuf-java-2.5.0.jar')
     compile files('libs/jeromq-0.3.4.jar')
 
-    compile project(':Core')
-    compile project(':Mavlink')
-    compile project(':Libraries:HorizontalVariableListView:HorizontalVariableListView')
     compile project(':Libraries:PebbleKit')
     compile project(':Libraries:usb-serial-for-android:UsbSerialLibrary')
 }
 
 android {
-    compileSdkVersion 19
-    buildToolsVersion '19.1.0'
+    compileSdkVersion 21
+    buildToolsVersion "21.0.1"
 
     defaultConfig {
+        applicationId 'org.droidplanner'
         minSdkVersion 14
-        targetSdkVersion 19
+        targetSdkVersion 21
         versionName getGitVersion()
     }
 
diff --git a/Android/libs/droneapi-java.jar b/Android/libs/droneapi-java.jar
index 7530a969d4..48510ddd15 100644
Binary files a/Android/libs/droneapi-java.jar and b/Android/libs/droneapi-java.jar differ
diff --git a/Android/project.properties b/Android/project.properties
index ef465002b6..c808d006df 100644
--- a/Android/project.properties
+++ b/Android/project.properties
@@ -11,12 +11,13 @@
 #proguard.config=${sdk.dir}/tools/proguard/proguard-android.txt:proguard-project.txt
 
 # Project target.
-target=android-19
+target=android-21
 android.library.reference.1=../Libraries/usb-serial-for-android/UsbSerialLibrary
 android.library.reference.2=../Libraries/HorizontalVariableListView/HorizontalVariableListView
-android.library.reference.3=../Mavlink
-android.library.reference.4=../Core
-android.library.reference.5=../Libraries/google-play-services_lib
-android.library.reference.6=../Libraries/PebbleKit
-android.library.reference.7=../Libraries/mapbox-android-sdk/0.4.0
-android.library.reference.8=../Libraries/AndroidSlidingUpPanel-2.0.2/library
+android.library.reference.3=../Libraries/google-play-services_lib
+android.library.reference.4=../Libraries/PebbleKit
+android.library.reference.5=../Libraries/mapbox-android-sdk/0.4.0
+android.library.reference.6=../Libraries/AndroidSlidingUpPanel-2.0.2/library
+android.library.reference.7=../Libraries/EllipsoidFit/EllipsoidFit
+android.library.reference.8=../Mavlink
+android.library.reference.9=../Core
diff --git a/Android/res/drawable-hdpi/.DS_Store b/Android/res/drawable-hdpi/.DS_Store
deleted file mode 100644
index 5008ddfcf5..0000000000
Binary files a/Android/res/drawable-hdpi/.DS_Store and /dev/null differ
diff --git a/Android/res/drawable-hdpi/ic_action_expand.png b/Android/res/drawable-hdpi/ic_action_expand.png
new file mode 100644
index 0000000000..0d1f8e181f
Binary files /dev/null and b/Android/res/drawable-hdpi/ic_action_expand.png differ
diff --git a/Android/res/drawable-hdpi/ic_action_expand_blue.png b/Android/res/drawable-hdpi/ic_action_expand_blue.png
new file mode 100644
index 0000000000..b882d9a77d
Binary files /dev/null and b/Android/res/drawable-hdpi/ic_action_expand_blue.png differ
diff --git a/Android/res/drawable-mdpi/.DS_Store b/Android/res/drawable-mdpi/.DS_Store
deleted file mode 100644
index 5008ddfcf5..0000000000
Binary files a/Android/res/drawable-mdpi/.DS_Store and /dev/null differ
diff --git a/Android/res/drawable-mdpi/ic_action_expand.png b/Android/res/drawable-mdpi/ic_action_expand.png
new file mode 100644
index 0000000000..c6a8ebfb5b
Binary files /dev/null and b/Android/res/drawable-mdpi/ic_action_expand.png differ
diff --git a/Android/res/drawable-mdpi/ic_action_expand_blue.png b/Android/res/drawable-mdpi/ic_action_expand_blue.png
new file mode 100644
index 0000000000..540ebff3d2
Binary files /dev/null and b/Android/res/drawable-mdpi/ic_action_expand_blue.png differ
diff --git a/Android/res/drawable-mdpi/ic_locator_time.png b/Android/res/drawable-mdpi/ic_locator_time.png
new file mode 100644
index 0000000000..d452aad78d
Binary files /dev/null and b/Android/res/drawable-mdpi/ic_locator_time.png differ
diff --git a/Android/res/drawable-xhdpi/.DS_Store b/Android/res/drawable-xhdpi/.DS_Store
deleted file mode 100644
index f2aa7cdc15..0000000000
Binary files a/Android/res/drawable-xhdpi/.DS_Store and /dev/null differ
diff --git a/Android/res/drawable-xhdpi/ic_action_expand.png b/Android/res/drawable-xhdpi/ic_action_expand.png
new file mode 100644
index 0000000000..a0fc43c526
Binary files /dev/null and b/Android/res/drawable-xhdpi/ic_action_expand.png differ
diff --git a/Android/res/drawable-xhdpi/ic_action_expand_blue.png b/Android/res/drawable-xhdpi/ic_action_expand_blue.png
new file mode 100644
index 0000000000..1a35cb7b20
Binary files /dev/null and b/Android/res/drawable-xhdpi/ic_action_expand_blue.png differ
diff --git a/Android/res/drawable-xxhdpi/ic_action_expand.png b/Android/res/drawable-xxhdpi/ic_action_expand.png
new file mode 100644
index 0000000000..53a2181108
Binary files /dev/null and b/Android/res/drawable-xxhdpi/ic_action_expand.png differ
diff --git a/Android/res/drawable-xxhdpi/ic_action_expand_blue.png b/Android/res/drawable-xxhdpi/ic_action_expand_blue.png
new file mode 100644
index 0000000000..83f28a0f5e
Binary files /dev/null and b/Android/res/drawable-xxhdpi/ic_action_expand_blue.png differ
diff --git a/Android/res/drawable/button_green.xml b/Android/res/drawable/button_green_drawable.xml
similarity index 80%
rename from Android/res/drawable/button_green.xml
rename to Android/res/drawable/button_green_drawable.xml
index f040ed0bda..9c6d2e5e12 100644
--- a/Android/res/drawable/button_green.xml
+++ b/Android/res/drawable/button_green_drawable.xml
@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <selector xmlns:android="http://schemas.android.com/apk/res/android">
     <item android:drawable="@drawable/button_green_pressed"		android:state_pressed="true" />
+    <item android:drawable="@drawable/button_grey" android:state_enabled="false" />
     <item android:drawable="@drawable/button_green"				android:state_focused="true" />
     <item android:drawable="@drawable/button_green" />
 </selector>
\ No newline at end of file
diff --git a/Android/res/drawable/button_grey.xml b/Android/res/drawable/button_grey.xml
new file mode 100644
index 0000000000..a47abc2c32
--- /dev/null
+++ b/Android/res/drawable/button_grey.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="rectangle">
+
+    <corners android:radius="2dp" />
+
+    <solid android:color="@android:color/darker_gray" />
+
+</shape>
\ No newline at end of file
diff --git a/Android/res/drawable/follow_me_sample.png b/Android/res/drawable/follow_me_sample.png
deleted file mode 100644
index 5b141a0916..0000000000
Binary files a/Android/res/drawable/follow_me_sample.png and /dev/null differ
diff --git a/Android/res/drawable/ic_expand.xml b/Android/res/drawable/ic_expand.xml
new file mode 100644
index 0000000000..89279e1690
--- /dev/null
+++ b/Android/res/drawable/ic_expand.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:state_pressed="true" android:drawable="@drawable/ic_action_expand_blue" />
+    <item android:drawable="@drawable/ic_action_expand" />
+</selector>
\ No newline at end of file
diff --git a/Android/res/drawable/ic_locator_button.xml b/Android/res/drawable/ic_locator_button.xml
new file mode 100644
index 0000000000..d83ee09a5b
--- /dev/null
+++ b/Android/res/drawable/ic_locator_button.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android" >
+    <item android:state_activated="true" android:drawable="@drawable/button_mission_selected" />
+    <item android:state_checked="true" android:drawable="@drawable/button_mission_selected" />
+    <item android:drawable="@drawable/button_edit" />
+</selector>
\ No newline at end of file
diff --git a/Android/res/layout-land/fragment_setup_imu_main.xml b/Android/res/layout-land/fragment_setup_imu_main.xml
new file mode 100644
index 0000000000..7f114634bc
--- /dev/null
+++ b/Android/res/layout-land/fragment_setup_imu_main.xml
@@ -0,0 +1,114 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:orientation="horizontal">
+
+    <RelativeLayout
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        android:layout_weight="1"
+        android:background="#151515">
+
+        <TextView
+            android:id="@+id/textViewIMUStep"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:padding="10dp"
+            android:layout_alignParentTop="true"
+            android:background="@color/ground_speed_label"
+            android:gravity="center"
+            android:text="@string/setup_imu_step"
+            android:textColor="@android:color/white"
+            android:textSize="18sp"
+            android:textStyle="bold"/>
+
+        <TextView
+            android:id="@+id/textViewIMUTimeOut"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:gravity="center"
+            android:text="Time to next orientation: 30s"
+            android:padding="10dp"
+            android:textColor="@android:color/white"
+            android:textSize="20sp"
+            android:textStyle="bold"
+            android:layout_below="@+id/progressBarTimeOut"
+            android:layout_marginBottom="10dp"
+            />
+
+        <ProgressBar
+            android:id="@+id/progressBarTimeOut"
+            style="?android:attr/progressBarStyleHorizontal"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:layout_centerInParent="true"
+            android:layout_marginBottom="29dp"
+            android:layout_marginLeft="100dp"
+            android:layout_marginRight="100dp"
+            android:indeterminate="false"
+            android:max="300"
+            android:minHeight="50dp"
+            android:minWidth="300dp"
+            android:progress="150"
+            android:progressDrawable="@drawable/pstate_good"/>
+
+
+        <TextView
+            android:id="@+id/TextViewIMUOffset"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:layout_above="@+id/TextViewIMUScaling"
+            android:gravity="center"
+            android:text="Offset : 00 00 00"
+            android:visibility="invisible"
+            android:textColor="#fff"
+            android:textSize="20sp"
+            android:textStyle="bold"
+            android:layout_marginBottom="10dp"/>
+
+        <TextView
+            android:id="@+id/TextViewIMUScaling"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:visibility="invisible"
+            android:layout_alignLeft="@+id/TextViewIMUOffset"
+            android:layout_alignParentBottom="true"
+            android:gravity="center"
+            android:text="Scaling : 00 00 00"
+            android:textColor="#fff"
+            android:textSize="20sp"
+            android:textStyle="bold"
+            android:layout_marginBottom="20dp"/>
+
+    </RelativeLayout>
+
+    <RelativeLayout
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        android:layout_weight="2">
+
+        <TextView
+            android:id="@+id/textViewDesc"
+            style="@style/ModeDetailText"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:background="@drawable/mode_desc_rectangle"
+            android:padding="10dp"
+            android:layout_marginBottom="20dp"
+            android:text="@string/setup_imu_start"
+            android:layout_alignParentTop="true"/>
+
+        <Button
+            android:id="@+id/buttonStep"
+            android:layout_height="wrap_content"
+            android:layout_margin="10dp"
+            android:gravity="center"
+            android:background="@drawable/button_green_drawable"
+            android:layout_centerInParent="true"
+            style="@style/modeControl"
+            android:text="@string/button_setup_calibrate"/>
+
+    </RelativeLayout>
+</LinearLayout>
\ No newline at end of file
diff --git a/Android/res/layout-land/fragment_setup_mag_main.xml b/Android/res/layout-land/fragment_setup_mag_main.xml
new file mode 100644
index 0000000000..a2acbd98b7
--- /dev/null
+++ b/Android/res/layout-land/fragment_setup_mag_main.xml
@@ -0,0 +1,105 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:orientation="horizontal">
+
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        android:orientation="horizontal"
+        android:background="#151515"
+        android:layout_weight="1">
+
+        <org.droidplanner.android.widgets.scatterplot.ScatterPlot
+            android:id="@+id/scatterPlot1"
+            android:layout_width="fill_parent"
+            android:layout_height="fill_parent"
+            android:layout_weight="1"/>
+
+        <org.droidplanner.android.widgets.scatterplot.ScatterPlot
+            android:id="@+id/scatterPlot2"
+            android:layout_width="fill_parent"
+            android:layout_height="fill_parent"
+            android:layout_weight="1"/>
+
+
+    </LinearLayout>
+
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        android:orientation="vertical"
+        android:layout_weight="1.75">
+
+        <TextView
+            android:id="@+id/textViewDesc"
+            style="@style/ModeDetailText"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:background="@drawable/mode_desc_rectangle"
+            android:padding="10dp"
+            android:layout_marginBottom="20dp"
+            android:text="@string/setup_imu_start"
+            />
+
+        <Button
+            android:id="@+id/buttonStep"
+            android:layout_height="wrap_content"
+            android:layout_margin="10dp"
+            android:layout_gravity="center"
+            android:background="@drawable/button_green_drawable"
+            style="@style/modeControl"
+            android:text="@string/button_setup_calibrate"/>
+
+        <RelativeLayout
+            android:id="@+id/in_progress_calibration_container"
+            android:orientation="vertical"
+            android:layout_width="match_parent"
+            android:layout_height="match_parent"
+            android:visibility="gone"
+            android:layout_gravity="center"
+            android:gravity="center">
+
+            <ProgressBar
+                android:id="@+id/calibration_progress_bar"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                style="@android:style/Widget.Holo.ProgressBar.Horizontal"
+                android:layout_toLeftOf="@+id/calibration_progress"
+                android:layout_toStartOf="@+id/calibration_progress"
+                android:layout_above="@+id/buttonCancel"
+                android:layout_marginBottom="15dp"
+                android:layout_alignParentLeft="true"
+                android:layout_alignParentStart="true"
+                android:padding="20dp"/>
+
+            <TextView
+                android:id="@+id/calibration_progress"
+                android:layout_width="wrap_content"
+                android:minWidth="50dp"
+                android:layout_height="wrap_content"
+                android:gravity="center"
+                android:padding="10dp"
+                android:layout_alignParentRight="true"
+                android:layout_alignParentEnd="true"
+                android:layout_alignTop="@+id/calibration_progress_bar"
+                android:layout_alignBottom="@+id/calibration_progress_bar"
+                />
+
+            <Button
+                android:id="@+id/buttonCancel"
+                android:layout_height="wrap_content"
+                android:layout_margin="10dp"
+                android:background="@drawable/button_green_drawable"
+                style="@style/modeControl"
+                android:layout_alignParentBottom="true"
+                android:layout_centerHorizontal="true"
+                android:layout_marginBottom="20dp"
+                android:text="@string/button_setup_cancel"/>
+
+        </RelativeLayout>
+
+    </LinearLayout>
+</LinearLayout>
\ No newline at end of file
diff --git a/Android/res/layout-land/fragment_setup_panel_send.xml b/Android/res/layout-land/fragment_setup_panel_send.xml
index 348a237fca..cd0b504b51 100644
--- a/Android/res/layout-land/fragment_setup_panel_send.xml
+++ b/Android/res/layout-land/fragment_setup_panel_send.xml
@@ -34,7 +34,7 @@
             android:id="@+id/buttonSend"
             style="@style/modeControl"
             android:layout_height="wrap_content"
-            android:background="@drawable/button_green"
+            android:background="@drawable/button_green_drawable"
             android:text="@string/button_setup_send"/>
     </LinearLayout>
 
diff --git a/Android/res/layout-port/fragment_tuning.xml b/Android/res/layout-port/fragment_tuning.xml
index 61cc081866..54b826d7d4 100644
--- a/Android/res/layout-port/fragment_tuning.xml
+++ b/Android/res/layout-port/fragment_tuning.xml
@@ -198,7 +198,7 @@
             style="@style/modeControl"
             android:layout_width="@dimen/setup_action_button_width"
             android:layout_height="wrap_content"
-            android:background="@drawable/button_green"
+            android:background="@drawable/button_green_drawable"
             android:text="@string/button_setup_send"/>
     </LinearLayout>
 
diff --git a/Android/res/layout-sw540dp/fragment_setup_panel_next.xml b/Android/res/layout-sw540dp/fragment_setup_panel_next.xml
index 9f5bf62465..11cfa43aa6 100644
--- a/Android/res/layout-sw540dp/fragment_setup_panel_next.xml
+++ b/Android/res/layout-sw540dp/fragment_setup_panel_next.xml
@@ -45,7 +45,7 @@
             style="@style/modeControl"
             android:layout_width="@dimen/setup_action_button_width"
             android:layout_height="wrap_content"
-            android:background="@drawable/button_green"
+            android:background="@drawable/button_green_drawable"
             android:text="@string/button_setup_next" />
     </LinearLayout>
 
diff --git a/Android/res/layout-sw540dp/fragment_setup_panel_send.xml b/Android/res/layout-sw540dp/fragment_setup_panel_send.xml
index 73f3322262..d5ce017da9 100644
--- a/Android/res/layout-sw540dp/fragment_setup_panel_send.xml
+++ b/Android/res/layout-sw540dp/fragment_setup_panel_send.xml
@@ -45,7 +45,7 @@
             style="@style/modeControl"
             android:layout_width="@dimen/setup_action_button_width"
             android:layout_height="wrap_content"
-            android:background="@drawable/button_green"
+            android:background="@drawable/button_green_drawable"
             android:text="@string/button_setup_send"/>
     </LinearLayout>
 
diff --git a/Android/res/layout-sw540dp/fragment_setup_panel_start.xml b/Android/res/layout-sw540dp/fragment_setup_panel_start.xml
index bd37bb14d8..534be92a9c 100644
--- a/Android/res/layout-sw540dp/fragment_setup_panel_start.xml
+++ b/Android/res/layout-sw540dp/fragment_setup_panel_start.xml
@@ -33,7 +33,7 @@
         android:layout_margin="10dp"
         android:layout_gravity="center"
         android:layout_height="wrap_content"
-        android:background="@drawable/button_green"
+        android:background="@drawable/button_green_drawable"
         android:text="@string/button_setup_calibrate"/>
 
 </LinearLayout>
\ No newline at end of file
diff --git a/Android/res/layout-sw540dp/fragment_setup_panel_summary.xml b/Android/res/layout-sw540dp/fragment_setup_panel_summary.xml
index f5a1972c0e..e1156810b6 100644
--- a/Android/res/layout-sw540dp/fragment_setup_panel_summary.xml
+++ b/Android/res/layout-sw540dp/fragment_setup_panel_summary.xml
@@ -63,7 +63,7 @@
                     style="@style/modeControl"
                     android:layout_width="@dimen/setup_action_button_width"
                     android:layout_height="wrap_content"
-                    android:background="@drawable/button_green"
+                    android:background="@drawable/button_green_drawable"
                     android:text="@string/button_setup_send"/>
             </LinearLayout>
 
diff --git a/Android/res/layout/activity_drawer_navigation_ui.xml b/Android/res/layout/activity_drawer_navigation_ui.xml
index de410af2da..54c1df2658 100644
--- a/Android/res/layout/activity_drawer_navigation_ui.xml
+++ b/Android/res/layout/activity_drawer_navigation_ui.xml
@@ -31,7 +31,7 @@
                     android:layout_width="match_parent"
                     android:layout_height="wrap_content"
                     android:drawableLeft="@drawable/ic_action_plane"
-                    android:drawableStart="@drawable/ic_action_location"
+                    android:drawableStart="@drawable/ic_action_plane"
                     android:text="@string/flight_data"
                     />
 
@@ -44,6 +44,15 @@
                     android:drawableStart="@drawable/ic_action_location"
                     android:text="@string/editor"/>
 
+                <TextView
+                    android:id="@+id/navigation_locator"
+                    style="@style/navigationDrawerEntry"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    android:drawableLeft="@drawable/ic_action_circles"
+                    android:drawableStart="@drawable/ic_action_circles"
+                    android:text="@string/locator"/>
+
                 <View
                     android:layout_width="match_parent"
                     android:layout_height="1dp"
@@ -86,34 +95,13 @@
                     android:text="@string/screen_checklist"
                     />
 
-                <TextView
-                    android:id="@+id/navigation_tuning"
-                    style="@style/navigationDrawerEntry"
-                    android:layout_width="match_parent"
-                    android:layout_height="wrap_content"
-                    android:drawableLeft="@android:drawable/ic_menu_preferences"
-                    android:drawableStart="@android:drawable/ic_menu_preferences"
-                    android:visibility="gone"
-                    android:text="@string/screen_tuning"/>
-
-                <TextView
-                    android:id="@+id/navigation_radio"
-                    style="@style/navigationDrawerEntry"
-                    android:layout_width="match_parent"
-                    android:layout_height="wrap_content"
-                    android:drawableLeft="@drawable/ic_action_radio"
-                    android:drawableStart="@drawable/ic_action_radio"
-                    android:visibility="gone"
-                    android:text="@string/screen_rc"/>
-
                 <TextView
                     style="@style/navigationDrawerEntry"
                     android:layout_width="match_parent"
                     android:layout_height="wrap_content"
                     android:id="@+id/navigation_calibration"
-                    android:drawableLeft="@drawable/ic_action_circles"
-                    android:drawableStart="@drawable/ic_action_circles"
-                    android:visibility="gone"
+                    android:drawableLeft="@drawable/ic_action_gear"
+                    android:drawableStart="@drawable/ic_action_gear"
                     android:text="@string/screen_cal"
                     />
 
diff --git a/Android/res/layout/activity_locator.xml b/Android/res/layout/activity_locator.xml
new file mode 100644
index 0000000000..d547446cce
--- /dev/null
+++ b/Android/res/layout/activity_locator.xml
@@ -0,0 +1,85 @@
+<?xml version="1.0" encoding="utf-8"?>
+<RelativeLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:gravity="center"
+    >
+
+    <fragment
+        android:id="@id/mapFragment"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        android:layout_centerInParent="false"
+        class="org.droidplanner.android.fragments.LocatorMapFragment"/>
+
+    <org.droidplanner.android.widgets.FitsSystemWindowsRelativeLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_alignParentTop="true"
+        android:fitsSystemWindows="true"
+        >
+
+        <LinearLayout
+            android:id="@+id/statusView"
+            android:orientation="vertical"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_alignParentTop="true"
+            android:visibility="invisible"
+            style="@style/editorMissionOverviewText">
+
+            <TextView
+                android:id="@+id/latView"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                style="@style/editorMissionOverviewText"/>
+
+            <TextView
+                android:id="@+id/lonView"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                style="@style/editorMissionOverviewText"/>
+
+            <TextView
+                android:id="@+id/distanceView"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                style="@style/editorMissionOverviewText"/>
+
+            <TextView
+                android:id="@+id/azimuthView"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                style="@style/editorMissionOverviewText"/>
+        </LinearLayout>
+
+        <include
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            layout="@layout/button_my_location"
+            android:layout_margin="8dp"
+            android:layout_alignParentRight="true"
+            android:layout_alignParentEnd="true"
+            />
+    </org.droidplanner.android.widgets.FitsSystemWindowsRelativeLayout>
+
+    <org.droidplanner.android.widgets.FitsSystemWindowsFrameLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_alignParentBottom="true"
+        android:fitsSystemWindows="true"
+        android:id="@+id/lowerWidgetContainer"
+        >
+
+        <fragment
+            android:id="@+id/locatorListFragment"
+            android:name="org.droidplanner.android.fragments.LocatorListFragment"
+            android:layout_width="match_parent"
+            android:layout_height="@dimen/editor_mission_fragment_height"
+            tools:layout="@layout/fragment_locator_list"
+            />
+    </org.droidplanner.android.widgets.FitsSystemWindowsFrameLayout>
+
+</RelativeLayout>
\ No newline at end of file
diff --git a/Android/res/layout/button_my_location.xml b/Android/res/layout/button_my_location.xml
index b3839c34fc..047c8c0ad7 100644
--- a/Android/res/layout/button_my_location.xml
+++ b/Android/res/layout/button_my_location.xml
@@ -1,5 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
-<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+<LinearLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
     android:layout_height="wrap_content"
     android:layout_width="wrap_content"
     android:orientation="vertical"
@@ -8,25 +10,28 @@
 
     <ImageButton
         android:id="@+id/my_location_button"
-        android:layout_width="40dp"
-        android:layout_height="40dp"
+        style="@style/mapButton"
         android:src="@drawable/ic_location"
-        android:background="@drawable/btn_explore"
-        android:layout_marginBottom="4dp"/>
+        />
 
     <ImageButton
         android:id="@+id/drone_location_button"
-        android:layout_width="40dp"
-        android:layout_height="40dp"
-        android:layout_marginBottom="4dp"
+        style="@style/mapButton"
         android:src="@drawable/ic_navigate"
         android:scaleType="centerInside"
-        android:background="@drawable/btn_explore"/>
+        />
 
     <ImageButton
         android:id="@+id/map_orientation_button"
-        android:layout_width="40dp"
-        android:layout_height="40dp"
+        style="@style/mapButton"
         android:src="@drawable/ic_compass"
-        android:background="@drawable/btn_explore"/>
+        />
+
+    <ImageButton
+        android:id="@+id/zoom_to_fit_button"
+        style="@style/mapButton"
+        android:src="@drawable/ic_expand"
+        android:visibility="gone"
+        tools:visibility="visible"
+        android:contentDescription="@string/zoom_fit"/>
 </LinearLayout>
\ No newline at end of file
diff --git a/Android/res/layout/card_wheel_horizontal_view.xml b/Android/res/layout/card_wheel_horizontal_view.xml
index 8361d1dd5e..c0cc6fac49 100644
--- a/Android/res/layout/card_wheel_horizontal_view.xml
+++ b/Android/res/layout/card_wheel_horizontal_view.xml
@@ -3,6 +3,7 @@
 <FrameLayout
     xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:tools="http://schemas.android.com/tools"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
     android:layout_width="match_parent"
     android:layout_height="wrap_content">
 
@@ -10,9 +11,18 @@
         android:id="@+id/horizontalSpinnerWheel"
         android:layout_width="match_parent"
         android:layout_height="wrap_content"
+        android:layout_gravity="center"
         tools:layout_width="100dp"
         tools:layout_height="match_parent"
-        style="@style/missionItemNumberPicker"/>
+        app:visibleItems="3"
+        app:isAllVisible="false"
+        app:isCyclic="false"
+        app:itemsDimmedAlpha="150"
+        app:selectionDivider="@android:color/holo_blue_dark"
+        app:selectionDividerWidth="2dp"
+        app:selectionDividerActiveAlpha="100"
+        app:selectionDividerDimmedAlpha="255"
+        />
 
     <EditText
         android:id="@+id/numberInputText"
diff --git a/Android/res/layout/common_flight_layout.xml b/Android/res/layout/common_flight_layout.xml
index 5acfceddca..f7dea13597 100644
--- a/Android/res/layout/common_flight_layout.xml
+++ b/Android/res/layout/common_flight_layout.xml
@@ -11,12 +11,4 @@ Contains the common ui elements for the flight activity layout.
         android:layout_width="match_parent"
         android:layout_height="match_parent" />
 
-    <FrameLayout
-        android:id="@+id/containerRC"
-        android:layout_width="match_parent"
-        android:layout_height="match_parent"
-        android:layout_gravity="bottom"
-        android:measureAllChildren="true" >
-    </FrameLayout>
-
 </merge>
\ No newline at end of file
diff --git a/Android/res/layout/dialog_edit_input_content.xml b/Android/res/layout/dialog_edit_input_content.xml
new file mode 100644
index 0000000000..37c26305cc
--- /dev/null
+++ b/Android/res/layout/dialog_edit_input_content.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<EditText
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    android:id="@+id/dialog_edit_text_content"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content"
+    android:padding="15dp"
+    />
\ No newline at end of file
diff --git a/Android/res/layout/dialog_yes_no_content.xml b/Android/res/layout/dialog_yes_no_content.xml
new file mode 100644
index 0000000000..5447314564
--- /dev/null
+++ b/Android/res/layout/dialog_yes_no_content.xml
@@ -0,0 +1,42 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<LinearLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:id="@+id/contentPanel"
+    android:orientation="vertical"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content">
+
+    <ScrollView
+        android:id="@+id/scrollView"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:paddingTop="2dip"
+        android:paddingBottom="12dip"
+        android:paddingStart="14dip"
+        android:paddingLeft="14dp"
+        android:paddingRight="10dp"
+        android:paddingEnd="10dip"
+        android:overScrollMode="ifContentScrolls">
+
+        <TextView
+            android:id="@+id/yes_no_message"
+            style="?android:attr/textAppearanceMedium"
+            tools:text="This is a test"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:padding="5dip"/>
+    </ScrollView>
+
+    <CheckBox
+        android:id="@+id/yes_no_dont_show_checkbox"
+        android:visibility="gone"
+        tools:visibility="visible"
+        android:layout_marginLeft="15dp"
+        android:layout_marginRight="15dp"
+        android:layout_marginBottom="12dp"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:text="@string/label_yes_no_dialog_dont_show"/>
+</LinearLayout>
diff --git a/Android/res/layout/fragment_mission_control.xml b/Android/res/layout/fragment_copter_mission_control.xml
similarity index 92%
rename from Android/res/layout/fragment_mission_control.xml
rename to Android/res/layout/fragment_copter_mission_control.xml
index 2ae4956f1e..9d25d660a1 100644
--- a/Android/res/layout/fragment_mission_control.xml
+++ b/Android/res/layout/fragment_copter_mission_control.xml
@@ -86,16 +86,6 @@
         android:background="@drawable/flight_action_buttons_container_bg"
         android:orientation="horizontal">
 
-        <Button
-            android:id="@+id/mc_joystickBtn"
-            style="@style/flightControlButton.Row"
-            android:layout_width="75dp"
-            android:layout_height="match_parent"
-            android:drawableTop="@drawable/ic_control"
-            android:visibility="gone"
-            android:layout_weight="1"
-            android:text="@string/mission_control_control"/>
-
         <Button
             android:id="@+id/mc_homeBtn"
             style="@style/flightControlButton.Row"
diff --git a/Android/res/layout/fragment_editor_detail_circle.xml b/Android/res/layout/fragment_editor_detail_circle.xml
index 6e309c1be3..9eca5effca 100644
--- a/Android/res/layout/fragment_editor_detail_circle.xml
+++ b/Android/res/layout/fragment_editor_detail_circle.xml
@@ -91,7 +91,7 @@
         android:layout_height="wrap_content"
         android:layout_below="@id/title_rect">
 
-        <LinearLayout
+       <LinearLayout
             android:layout_width="match_parent"
             android:layout_height="wrap_content"
             android:orientation="vertical"
@@ -122,37 +122,8 @@
                 android:id="@+id/loiterTurnPicker"
                 android:layout_width="match_parent"
                 android:layout_height="wrap_content"
-                android:text="@string/Orbits"
+                android:text="@string/circle_turns"
                 style="@style/missionItemDetailCard"/>
-
-            <CheckBox
-                android:id="@+id/checkBoxAdvanced"
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:layout_marginLeft="8dp"
-                android:fontFamily="sans-serif-light"
-                android:textSize="20sp"
-                android:padding="5dp"
-                android:text="@string/label_advaned" />
-
-            <org.droidplanner.android.widgets.spinnerWheel.CardWheelHorizontalView
-                android:id="@+id/numberStepsPicker"
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:text="@string/label_steps_count"
-                android:visibility="gone"
-                tools:visibility="visible"
-                style="@style/missionItemDetailCard"/>
-
-            <org.droidplanner.android.widgets.spinnerWheel.CardWheelHorizontalView
-                android:id="@+id/altitudeStepPicker"
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:text="@string/label_altitude_step"
-                android:visibility="gone"
-                tools:visibility="visible"
-                style="@style/missionItemDetailCard"/>
-
         </LinearLayout>
     </ScrollView>
 
diff --git a/Android/res/layout/fragment_editor_detail_cylindrical_mapping.xml b/Android/res/layout/fragment_editor_detail_cylindrical_mapping.xml
new file mode 100644
index 0000000000..6a6ee9c97f
--- /dev/null
+++ b/Android/res/layout/fragment_editor_detail_cylindrical_mapping.xml
@@ -0,0 +1,143 @@
+<?xml version="1.0" encoding="utf-8"?>
+<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
+    style="@style/missionItemDetailLayout" >
+
+    <org.droidplanner.android.widgets.spinners.SpinnerSelfSelect
+        android:id="@+id/spinnerWaypointType"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_alignParentTop="true"
+        android:layout_margin="5dp"
+        android:entries="@array/ExampleWaypointType" />
+
+    <RelativeLayout
+        android:id="@+id/title_rect"
+        android:layout_width="match_parent"
+        android:layout_height="64dp"
+        android:layout_alignParentTop="true"
+        android:background="@drawable/wp_title_rectangle" >
+
+        <TextView
+            android:id="@+id/WaypointIndex"
+            style="@style/largeMissionDetailText"
+            android:layout_width="64dp"
+            android:layout_height="wrap_content"
+            android:layout_centerVertical="true"
+            tools:text="22" />
+
+        <View
+            android:id="@+id/title_div"
+            android:layout_width="1dp"
+            android:layout_height="54dp"
+            android:layout_alignParentTop="true"
+            android:layout_marginTop="5dp"
+            android:layout_toRightOf="@id/WaypointIndex"
+            android:background="@drawable/wp_title_div" />
+
+        <RelativeLayout
+            android:id="@+id/title_content"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:layout_centerVertical="true"
+            android:layout_toRightOf="@id/title_div"
+            android:orientation="vertical" >
+
+            <TextView
+                android:id="@+id/WaypointType"
+                style="@style/missionHeaderTitle"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="12dp"
+                android:text="@string/waypointType_BuildingMapper"
+                android:textAllCaps="true" />
+
+            <TextView
+                android:id="@+id/DistanceLabel"
+                style="@style/missionHeaderlabel"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_alignLeft="@id/WaypointType"
+                android:layout_below="@id/WaypointType"
+                android:text="@string/distance_to_home" />
+
+            <TextView
+                android:id="@+id/DistanceValue"
+                style="@style/missionHeaderValue"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_alignBaseline="@id/DistanceLabel"
+                android:layout_marginLeft="12dp"
+                android:layout_toRightOf="@id/DistanceLabel"
+                tools:text="20m" />
+        </RelativeLayout>
+    </RelativeLayout>
+
+    <ImageView
+        android:id="@+id/menuHint"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_alignBottom="@id/title_rect"
+        android:layout_alignParentRight="true"
+        android:layout_margin="10dp"
+        android:src="@drawable/ic_menu_hint"
+        tools:ignore="ContentDescription" />
+
+    <ScrollView
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_below="@id/title_rect" >
+
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:orientation="vertical" >
+
+            <TextView
+                style="@style/ModeDetailText"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:background="@drawable/mode_desc_rectangle"
+                android:text="Map a building" />
+
+            <org.droidplanner.android.widgets.spinnerWheel.CardWheelHorizontalView
+                android:id="@+id/radiusPicker"
+                style="@style/missionItemDetailCard"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:text="@string/circle_radius" />
+
+            <org.droidplanner.android.widgets.spinnerWheel.CardWheelHorizontalView
+                android:id="@+id/startAltitudePicker"
+                style="@style/missionItemDetailCard"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:text="Start altitude" />
+
+            <org.droidplanner.android.widgets.spinnerWheel.CardWheelHorizontalView
+                android:id="@+id/heightStepPicker"
+                style="@style/missionItemDetailCard"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:text="Step height" />
+
+            <org.droidplanner.android.widgets.spinnerWheel.CardWheelHorizontalView
+                android:id="@+id/stepsPicker"
+                style="@style/missionItemDetailCard"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:text="Number of steps" />
+
+            <CheckBox
+                android:id="@+id/checkBoxSurveyCrossHatch"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="8dp"
+                android:fontFamily="sans-serif-light"
+                android:padding="5dp"
+                android:text="Cross Hatch"
+                android:textSize="20sp" />
+        </LinearLayout>
+    </ScrollView>
+
+</RelativeLayout>
\ No newline at end of file
diff --git a/Android/res/layout/fragment_flight_actions_bar.xml b/Android/res/layout/fragment_flight_actions_bar.xml
new file mode 100644
index 0000000000..d502e47d6d
--- /dev/null
+++ b/Android/res/layout/fragment_flight_actions_bar.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<FrameLayout xmlns:android="http://schemas.android.com/apk/res/android"
+             android:id="@+id/flight_actions_bar"
+             android:layout_width="match_parent"
+             android:layout_height="wrap_content" />
\ No newline at end of file
diff --git a/Android/res/layout/fragment_generic_mission_control.xml b/Android/res/layout/fragment_generic_mission_control.xml
new file mode 100644
index 0000000000..2bca6787e5
--- /dev/null
+++ b/Android/res/layout/fragment_generic_mission_control.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    android:id="@+id/mc_disconnected_buttons"
+    android:layout_width="wrap_content"
+    android:layout_height="wrap_content"
+    android:orientation="horizontal"
+    android:gravity="center"
+    android:background="@drawable/flight_action_buttons_container_bg"
+    android:layout_gravity="center_horizontal"
+    >
+
+    <Button
+        android:id="@+id/mc_connectBtn"
+        style="@style/flightControlButton.Row"
+        android:drawableTop="@drawable/ic_connect"
+        android:text="@string/menu_connect"/>
+
+</LinearLayout>
\ No newline at end of file
diff --git a/Android/res/layout/fragment_locator_list.xml b/Android/res/layout/fragment_locator_list.xml
new file mode 100644
index 0000000000..d63c7ce07e
--- /dev/null
+++ b/Android/res/layout/fragment_locator_list.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="utf-8"?>
+<RelativeLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content"
+    android:background="@color/editor_bar">
+
+    <it.sephiroth.android.library.widget.HListView
+        android:id="@+id/locator_item_list"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_centerInParent="true"
+        android:layout_alignWithParentIfMissing="true"
+        android:scrollbars="horizontal"
+        android:fadeScrollbars="true"
+        style="@style/myHListView"
+        />
+
+</RelativeLayout>
\ No newline at end of file
diff --git a/Android/res/layout/fragment_locator_list_item.xml b/Android/res/layout/fragment_locator_list_item.xml
new file mode 100644
index 0000000000..853fe0dacd
--- /dev/null
+++ b/Android/res/layout/fragment_locator_list_item.xml
@@ -0,0 +1,48 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<!--
+Used to Style the horizontal list of mission items.
+-->
+
+<RelativeLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:id="@+id/dragHandler"
+    android:layout_width="wrap_content"
+    android:minWidth="70dp"
+    android:minHeight="60dp"
+    android:layout_height="wrap_content"
+    android:background="@drawable/ic_locator_button"
+    android:padding="5dp"
+    >
+
+    <TextView
+        android:id="@+id/titleView"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_alignParentTop="true"
+        android:layout_centerHorizontal="true"
+        android:layout_marginBottom="5dp"
+        tools:text="44"
+        android:textColor="#FFFFFF"
+        android:textSize="@dimen/editor_list_item_text_size"
+        android:textStyle="bold"
+
+        />
+
+    <TextView
+        android:id="@+id/timeView"
+        android:layout_alignParentLeft="true"
+        android:layout_alignParentStart="true"
+        android:layout_below="@+id/titleView"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        tools:text="10m59.1s"
+        android:textColor="#FFFFFF"
+        android:textStyle="bold"
+        android:drawableStart="@drawable/ic_locator_time"
+        android:drawableLeft="@drawable/ic_locator_time"
+        android:drawablePadding="5dp"
+        />
+
+</RelativeLayout>
\ No newline at end of file
diff --git a/Android/res/layout/fragment_mode_acro.xml b/Android/res/layout/fragment_mode_acro.xml
index 1745c44946..8e189bcfc9 100644
--- a/Android/res/layout/fragment_mode_acro.xml
+++ b/Android/res/layout/fragment_mode_acro.xml
@@ -1,39 +1,10 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout
+<TextView
     xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:custom="http://schemas.android.com/apk/res/org.droidplanner"
-    xmlns:tools="http://schemas.android.com/tools"
+    android:id="@+id/ModeDetail"
+    style="@style/ModeDetailText"
+    android:background="@drawable/mode_desc_rectangle"
     android:layout_width="match_parent"
-    android:layout_height="match_parent"
-	tools:ignore="HardcodedText"
-    style="@style/flyoutPanelLayout"
-    >
+    android:layout_height="wrap_content"
+    android:text="@string/mode_acro"/>
 
-	<!--  Description -->
-	<View
-		android:id="@+id/desc_rect"
-		android:layout_width="match_parent"
-		android:layout_height="96dp"
-		android:layout_alignParentTop="true"
-		android:background="@drawable/mode_desc_rectangle"/>
-
-	<TextView
-		android:id="@+id/ModeDetail"
-		style="@style/ModeDetailText"
-		android:layout_alignTop="@id/desc_rect"
-		android:layout_alignLeft="@id/desc_rect"
-		android:layout_width="wrap_content"
-		android:layout_height="wrap_content"
-		android:text="@string/mode_acro" />
-
-	<!--  Controls -->
-	<LinearLayout
-		android:layout_width="match_parent"
-		android:layout_height="wrap_content"
-        android:padding="16dp"
-		android:layout_below="@id/desc_rect"
-		android:orientation="vertical" >
-
-	</LinearLayout>
-
-</RelativeLayout>
\ No newline at end of file
diff --git a/Android/res/layout/fragment_mode_althold.xml b/Android/res/layout/fragment_mode_althold.xml
index b95937d439..84c761ce61 100644
--- a/Android/res/layout/fragment_mode_althold.xml
+++ b/Android/res/layout/fragment_mode_althold.xml
@@ -1,67 +1,10 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout
+
+<TextView
     xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:custom="http://schemas.android.com/apk/res/org.droidplanner"
-    xmlns:tools="http://schemas.android.com/tools"
+    android:id="@+id/ModeDetail"
+    style="@style/ModeDetailText"
+    android:background="@drawable/mode_desc_rectangle"
     android:layout_width="match_parent"
-    android:layout_height="match_parent"
-	tools:ignore="HardcodedText"
-    style="@style/flyoutPanelLayout"
-    >
-
-	<!--  Description -->
-	<View
-		android:id="@+id/desc_rect"
-		android:layout_width="match_parent"
-		android:layout_height="96dp"
-		android:layout_alignParentTop="true"
-		android:background="@drawable/mode_desc_rectangle"/>
-
-	<TextView
-		android:id="@+id/ModeDetail"
-		style="@style/ModeDetailText"
-		android:layout_alignTop="@id/desc_rect"
-		android:layout_alignLeft="@id/desc_rect"
-		android:layout_width="wrap_content"
-		android:layout_height="wrap_content"
-		android:text="@string/mode_althold" />
-
-	<!--  Controls -->
-	<LinearLayout
-		android:layout_width="match_parent"
-		android:layout_height="wrap_content"
-        android:padding="16dp"
-		android:layout_below="@id/desc_rect"
-		android:orientation="vertical" >
-
-		<!--  Mission control -->
-		<TextView
-			android:id="@+id/DistanceLabel"
-			style="@style/modeLabel"
-			android:layout_width="wrap_content"
-			android:layout_height="wrap_content"
-			android:text="Mission recording"
-        	android:visibility="gone"
-			/>
-		<Button
-			android:id="@+id/SaveWaypoint"
-			style="@style/modeControl"
-			android:layout_width="match_parent"
-			android:layout_height="wrap_content"
-			android:text="Save waypoint"
-	        android:background="@drawable/button_mode_options"
-        	android:visibility="gone"
-			/>
-		<Button
-			android:id="@+id/ClearMission"
-			style="@style/modeControl"
-			android:layout_width="match_parent"
-			android:layout_height="wrap_content"
-			android:text="Clear mission"
-	        android:background="@drawable/button_mode_options"
-        	android:visibility="gone"
-			/>
-
-	</LinearLayout>
-
-</RelativeLayout>
\ No newline at end of file
+    android:layout_height="wrap_content"
+    android:text="@string/mode_althold"/>
diff --git a/Android/res/layout/fragment_mode_auto.xml b/Android/res/layout/fragment_mode_auto.xml
index 839862c791..2335ab896c 100644
--- a/Android/res/layout/fragment_mode_auto.xml
+++ b/Android/res/layout/fragment_mode_auto.xml
@@ -1,50 +1,10 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout
+<TextView
     xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:custom="http://schemas.android.com/apk/res/org.droidplanner"
-    xmlns:tools="http://schemas.android.com/tools"
+    android:id="@+id/ModeDetail"
+    style="@style/ModeDetailText"
+    android:background="@drawable/mode_desc_rectangle"
     android:layout_width="match_parent"
-    android:layout_height="match_parent"
-	tools:ignore="HardcodedText"
-    style="@style/flyoutPanelLayout"
-    >
+    android:layout_height="wrap_content"
+    android:text="@string/mode_auto"/>
 
-	<!--  Description -->
-	<View
-		android:id="@+id/desc_rect"
-		android:layout_width="match_parent"
-		android:layout_height="96dp"
-		android:layout_alignParentTop="true"
-		android:background="@drawable/mode_desc_rectangle"/>
-
-	<TextView
-		android:id="@+id/ModeDetail"
-		style="@style/ModeDetailText"
-		android:layout_alignTop="@id/desc_rect"
-		android:layout_alignLeft="@id/desc_rect"
-		android:layout_width="wrap_content"
-		android:layout_height="wrap_content"
-		android:text="@string/mode_auto" />
-
-	<!--  Controls -->
-	<LinearLayout
-		android:layout_width="match_parent"
-		android:layout_height="wrap_content"
-        android:padding="16dp"
-		android:layout_below="@id/desc_rect"
-		android:orientation="vertical" >
-
-		<!--  Pause button -->
-		<Button
-			android:id="@+id/PauseButton"
-			style="@style/modeControl"
-			android:visibility="gone"
-			android:layout_width="match_parent"
-			android:layout_height="wrap_content"
-			android:text="@string/Pause"
-	        android:background="@drawable/button_mode_options"
-			/>
-
-	</LinearLayout>
-
-</RelativeLayout>
\ No newline at end of file
diff --git a/Android/res/layout/fragment_mode_circle.xml b/Android/res/layout/fragment_mode_circle.xml
index f712c636e1..3705ba04ca 100644
--- a/Android/res/layout/fragment_mode_circle.xml
+++ b/Android/res/layout/fragment_mode_circle.xml
@@ -1,164 +1,10 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout
+<TextView
     xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:tools="http://schemas.android.com/tools"
+    android:id="@+id/ModeDetail"
+    style="@style/ModeDetailText"
+    android:layout_alignParentTop="true"
+    android:background="@drawable/mode_desc_rectangle"
     android:layout_width="match_parent"
-    android:layout_height="match_parent"
-	tools:ignore="HardcodedText"
-    style="@style/flyoutPanelLayout"
-    >
-
-	<!--  Description -->
-	<View
-		android:id="@+id/desc_rect"
-		android:layout_width="match_parent"
-		android:layout_height="96dp"
-		android:layout_alignParentTop="true"
-		android:background="@drawable/mode_desc_rectangle"/>
-
-	<TextView
-		android:id="@+id/ModeDetail"
-		style="@style/ModeDetailText"
-		android:layout_alignTop="@id/desc_rect"
-		android:layout_alignLeft="@id/desc_rect"
-		android:layout_width="wrap_content"
-		android:layout_height="wrap_content"
-		android:text="@string/mode_circle" />
-
-	<!--  Controls -->
-	<LinearLayout
-		android:layout_width="match_parent"
-		android:layout_height="wrap_content"
-        android:padding="16dp"
-		android:layout_below="@id/desc_rect"
-		android:orientation="vertical"
-		android:visibility="invisible" >
-
-		<!--  Pause button -->
-		<Button
-			android:id="@+id/Pause_02"
-			style="@style/modeControl"
-			android:layout_width="match_parent"
-			android:layout_height="wrap_content"
-	        android:visibility="gone"
-			android:text="@string/Pause"
-	        android:background="@drawable/button_mode_options"
-			/>
-
-		<!--  Radius buttons -->
-		<TextView
-			android:id="@+id/RadiusLabel"
-			style="@style/modeLabel"
-			android:layout_width="wrap_content"
-			android:layout_height="wrap_content"
-			android:text="Radius 10m" />
-
-		<LinearLayout
-			android:layout_width="match_parent"
-			android:layout_height="wrap_content"
-			android:orientation="horizontal" >
-
-			<RelativeLayout
-				android:layout_width="wrap_content"
-				android:layout_height="wrap_content" >
-
-				<Button
-				android:id="@+id/button_grow_radius"
-				style="@style/modeControl"
-				android:layout_width="64dp"
-				android:layout_height="64dp"
-				android:background="@drawable/button_mode_options"
-				/>
-
-				<ImageView
-				android:layout_width="wrap_content"
-				android:layout_height="wrap_content"
-				android:layout_centerInParent="true"
-				android:src="@drawable/ic_plus"
-				/>
-
-			</RelativeLayout>
-
-			<RelativeLayout
-				android:layout_width="wrap_content"
-				android:layout_height="wrap_content"
-				android:gravity="right"
-				>
-
-				<Button
-				android:id="@+id/button_shrink_radius"
-				style="@style/modeControl"
-				android:layout_width="64dp"
-				android:layout_height="64dp"
-				android:background="@drawable/button_mode_options"
-				/>
-
-				<ImageView
-				android:layout_width="wrap_content"
-				android:layout_height="wrap_content"
-				android:layout_centerInParent="true"
-				android:src="@drawable/ic_minus"
-				/>
-			</RelativeLayout>
-		</LinearLayout>
-
-		<!--  Radius buttons -->
-		<TextView
-			android:id="@+id/DistanceLabel"
-			style="@style/modeLabel"
-			android:layout_width="wrap_content"
-			android:layout_height="wrap_content"
-			android:text="Direction" />
-
-		<LinearLayout
-			android:layout_width="match_parent"
-			android:layout_height="wrap_content"
-			android:orientation="horizontal" >
-
-			<RelativeLayout
-				android:layout_width="wrap_content"
-				android:layout_height="wrap_content" >
-
-				<Button
-				android:id="@+id/rotation_CCW"
-				style="@style/modeControl"
-				android:layout_width="64dp"
-				android:layout_height="64dp"
-				android:background="@drawable/button_mode_options"
-				/>
-
-				<ImageView
-				android:layout_width="wrap_content"
-				android:layout_height="wrap_content"
-				android:layout_centerInParent="true"
-				android:src="@drawable/ic_rotate_ccw"
-				/>
-
-			</RelativeLayout>
-
-			<RelativeLayout
-				android:layout_width="wrap_content"
-				android:layout_height="wrap_content"
-				android:gravity="right"
-				>
-
-				<Button
-				android:id="@+id/rotation_CW"
-				style="@style/modeControl"
-				android:layout_width="64dp"
-				android:layout_height="64dp"
-				android:background="@drawable/button_mode_options"
-				/>
-
-				<ImageView
-				android:layout_width="wrap_content"
-				android:layout_height="wrap_content"
-				android:layout_centerInParent="true"
-				android:src="@drawable/ic_rotate_cw"
-				/>
-			</RelativeLayout>
-		</LinearLayout>
-
-	</LinearLayout>
-
-</RelativeLayout>
\ No newline at end of file
+    android:layout_height="wrap_content"
+    android:text="@string/mode_circle"/>
diff --git a/Android/res/layout/fragment_mode_disconnect.xml b/Android/res/layout/fragment_mode_disconnect.xml
index f1033a224a..6667a41195 100644
--- a/Android/res/layout/fragment_mode_disconnect.xml
+++ b/Android/res/layout/fragment_mode_disconnect.xml
@@ -1,37 +1,9 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:custom="http://schemas.android.com/apk/res/org.droidplanner"
-    xmlns:tools="http://schemas.android.com/tools"
-    style="@style/flyoutPanelLayout"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent"
-    tools:ignore="HardcodedText" >
-
-    <!-- Description -->
-
-    <View
-        android:id="@+id/desc_rect"
-        android:layout_width="match_parent"
-        android:layout_height="84dp"
-        android:layout_alignParentTop="true"
-        android:background="@drawable/mode_desc_rectangle" />
-
-    <TextView
-        android:id="@+id/ModeDetail"
-        style="@style/ModeDetailText"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:layout_alignLeft="@id/desc_rect"
-        android:layout_alignTop="@id/desc_rect" />
 
-    <!-- Controls -->
-
-    <LinearLayout
-        android:layout_width="match_parent"
-        android:layout_height="wrap_content"
-        android:layout_below="@id/desc_rect"
-        android:orientation="vertical"
-        android:padding="16dp" >
-    </LinearLayout>
-
-</RelativeLayout>
\ No newline at end of file
+<TextView
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    android:id="@+id/ModeDetail"
+    style="@style/ModeDetailText"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content"
+    android:background="@drawable/mode_desc_rectangle"/>
diff --git a/Android/res/layout/fragment_mode_drift.xml b/Android/res/layout/fragment_mode_drift.xml
index f109b6fe3a..a5796b1e52 100644
--- a/Android/res/layout/fragment_mode_drift.xml
+++ b/Android/res/layout/fragment_mode_drift.xml
@@ -1,39 +1,10 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout
+
+<TextView
+    android:id="@+id/ModeDetail"
+    style="@style/ModeDetailText"
     xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:custom="http://schemas.android.com/apk/res/org.droidplanner"
-    xmlns:tools="http://schemas.android.com/tools"
+    android:background="@drawable/mode_desc_rectangle"
     android:layout_width="match_parent"
-    android:layout_height="match_parent"
-	tools:ignore="HardcodedText"
-    style="@style/flyoutPanelLayout"
-    >
-
-	<!--  Description -->
-	<View
-		android:id="@+id/desc_rect"
-		android:layout_width="match_parent"
-		android:layout_height="96dp"
-		android:layout_alignParentTop="true"
-		android:background="@drawable/mode_desc_rectangle"/>
-
-	<TextView
-		android:id="@+id/ModeDetail"
-		style="@style/ModeDetailText"
-		android:layout_alignTop="@id/desc_rect"
-		android:layout_alignLeft="@id/desc_rect"
-		android:layout_width="wrap_content"
-		android:layout_height="wrap_content"
-		android:text="@string/mode_drift" />
-
-	<!--  Controls -->
-	<LinearLayout
-		android:layout_width="match_parent"
-		android:layout_height="wrap_content"
-        android:padding="16dp"
-		android:layout_below="@id/desc_rect"
-		android:orientation="vertical" >
-
-	</LinearLayout>
-
-</RelativeLayout>
\ No newline at end of file
+    android:layout_height="wrap_content"
+    android:text="@string/mode_drift"/>
diff --git a/Android/res/layout/fragment_mode_land.xml b/Android/res/layout/fragment_mode_land.xml
index bc7b4d6347..908ff2a34a 100644
--- a/Android/res/layout/fragment_mode_land.xml
+++ b/Android/res/layout/fragment_mode_land.xml
@@ -1,50 +1,10 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout
+
+<TextView
+    android:id="@+id/ModeDetail"
+    style="@style/ModeDetailText"
     xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:custom="http://schemas.android.com/apk/res/org.droidplanner"
-    xmlns:tools="http://schemas.android.com/tools"
+    android:background="@drawable/mode_desc_rectangle"
     android:layout_width="match_parent"
-    android:layout_height="match_parent"
-	tools:ignore="HardcodedText"
-    style="@style/flyoutPanelLayout"
-    >
-
-	<!--  Description -->
-	<View
-		android:id="@+id/desc_rect"
-		android:layout_width="match_parent"
-		android:layout_height="96dp"
-		android:layout_alignParentTop="true"
-		android:background="@drawable/mode_desc_rectangle"/>
-
-	<TextView
-		android:id="@+id/ModeDetail"
-		style="@style/ModeDetailText"
-		android:layout_alignTop="@id/desc_rect"
-		android:layout_alignLeft="@id/desc_rect"
-		android:layout_width="wrap_content"
-		android:layout_height="wrap_content"
-		android:text="@string/mode_land" />
-
-	<!--  Controls -->
-	<LinearLayout
-		android:layout_width="match_parent"
-		android:layout_height="wrap_content"
-        android:padding="16dp"
-		android:layout_below="@id/desc_rect"
-		android:orientation="vertical" >
-
-		<!--  Pause button -->
-		<Button
-			android:id="@+id/Pause_02"
-			style="@style/modeControl"
-			android:layout_width="match_parent"
-			android:layout_height="wrap_content"
-			android:visibility="gone"
-			android:text="@string/Pause"
-	        android:background="@drawable/button_mode_options"
-			/>
-
-	</LinearLayout>
-
-</RelativeLayout>
\ No newline at end of file
+    android:layout_height="wrap_content"
+    android:text="@string/mode_land"/>
diff --git a/Android/res/layout/fragment_mode_loiter.xml b/Android/res/layout/fragment_mode_loiter.xml
index d9d972dbd3..10db87726c 100644
--- a/Android/res/layout/fragment_mode_loiter.xml
+++ b/Android/res/layout/fragment_mode_loiter.xml
@@ -1,40 +1,9 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout
+<TextView
     xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:custom="http://schemas.android.com/apk/res/org.droidplanner"
-    xmlns:tools="http://schemas.android.com/tools"
+    android:id="@+id/ModeDetail"
+    style="@style/ModeDetailText"
+    android:background="@drawable/mode_desc_rectangle"
     android:layout_width="match_parent"
-    android:layout_height="match_parent"
-	tools:ignore="HardcodedText"
-    style="@style/flyoutPanelLayout"
-    >
-
-	<!--  Description -->
-	<View
-		android:id="@+id/desc_rect"
-		android:layout_width="match_parent"
-		android:layout_height="96dp"
-		android:layout_alignParentTop="true"
-		android:background="@drawable/mode_desc_rectangle"/>
-
-	<TextView
-		android:id="@+id/ModeDetail"
-		style="@style/ModeDetailText"
-		android:layout_alignTop="@id/desc_rect"
-		android:layout_alignLeft="@id/desc_rect"
-		android:layout_width="wrap_content"
-		android:layout_height="wrap_content"
-		android:text="@string/mode_loiter" />
-
-	<!--  Controls -->
-	<LinearLayout
-		android:layout_width="match_parent"
-		android:layout_height="wrap_content"
-        android:padding="16dp"
-		android:layout_below="@id/desc_rect"
-		android:orientation="vertical" >
-
-
-	</LinearLayout>
-
-</RelativeLayout>
\ No newline at end of file
+    android:layout_height="wrap_content"
+    android:text="@string/mode_loiter"/>
\ No newline at end of file
diff --git a/Android/res/layout/fragment_mode_ofloiter.xml b/Android/res/layout/fragment_mode_ofloiter.xml
deleted file mode 100644
index 5d253fe351..0000000000
--- a/Android/res/layout/fragment_mode_ofloiter.xml
+++ /dev/null
@@ -1,40 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout
-    xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:custom="http://schemas.android.com/apk/res/org.droidplanner"
-    xmlns:tools="http://schemas.android.com/tools"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent"
-	tools:ignore="HardcodedText"
-    style="@style/flyoutPanelLayout"
-    >
-
-	<!--  Description -->
-	<View
-		android:id="@+id/desc_rect"
-		android:layout_width="match_parent"
-		android:layout_height="96dp"
-		android:layout_alignParentTop="true"
-		android:background="@drawable/mode_desc_rectangle"/>
-
-	<TextView
-		android:id="@+id/ModeDetail"
-		style="@style/ModeDetailText"
-		android:layout_alignTop="@id/desc_rect"
-		android:layout_alignLeft="@id/desc_rect"
-		android:layout_width="wrap_content"
-		android:layout_height="wrap_content"
-		android:text="@string/mode_ofloiter" />
-
-	<!--  Controls -->
-	<LinearLayout
-		android:layout_width="match_parent"
-		android:layout_height="wrap_content"
-        android:padding="16dp"
-		android:layout_below="@id/desc_rect"
-		android:orientation="vertical" >
-
-
-	</LinearLayout>
-
-</RelativeLayout>
\ No newline at end of file
diff --git a/Android/res/layout/fragment_mode_poshold.xml b/Android/res/layout/fragment_mode_poshold.xml
index 30bfc07851..1dad5f466b 100644
--- a/Android/res/layout/fragment_mode_poshold.xml
+++ b/Android/res/layout/fragment_mode_poshold.xml
@@ -1,28 +1,10 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout
+
+<TextView
+    android:id="@+id/ModeDetail"
+    style="@style/ModeDetailText"
     xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:tools="http://schemas.android.com/tools"
+    android:background="@drawable/mode_desc_rectangle"
     android:layout_width="match_parent"
-    android:layout_height="match_parent"
-	tools:ignore="HardcodedText"
-    style="@style/flyoutPanelLayout"
-    >
-
-	<!--  Description -->
-	<View
-		android:id="@+id/desc_rect"
-		android:layout_width="match_parent"
-		android:layout_height="84dp"
-		android:layout_alignParentTop="true"
-		android:background="@drawable/mode_desc_rectangle"/>
-
-	<TextView
-		android:id="@+id/ModeDetail"
-		style="@style/ModeDetailText"
-		android:layout_alignTop="@id/desc_rect"
-		android:layout_alignLeft="@id/desc_rect"
-		android:layout_width="wrap_content"
-		android:layout_height="wrap_content"
-		android:text="@string/mode_poshold" />
-
-</RelativeLayout>
\ No newline at end of file
+    android:layout_height="wrap_content"
+    android:text="@string/mode_poshold"/>
diff --git a/Android/res/layout/fragment_mode_position.xml b/Android/res/layout/fragment_mode_position.xml
deleted file mode 100644
index 31c6d716a6..0000000000
--- a/Android/res/layout/fragment_mode_position.xml
+++ /dev/null
@@ -1,40 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout
-    xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:custom="http://schemas.android.com/apk/res/org.droidplanner"
-    xmlns:tools="http://schemas.android.com/tools"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent"
-	tools:ignore="HardcodedText"
-    style="@style/flyoutPanelLayout"
-    >
-
-	<!--  Description -->
-	<View
-		android:id="@+id/desc_rect"
-		android:layout_width="match_parent"
-		android:layout_height="96dp"
-		android:layout_alignParentTop="true"
-		android:background="@drawable/mode_desc_rectangle"/>
-
-	<TextView
-		android:id="@+id/ModeDetail"
-		style="@style/ModeDetailText"
-		android:layout_alignTop="@id/desc_rect"
-		android:layout_alignLeft="@id/desc_rect"
-		android:layout_width="wrap_content"
-		android:layout_height="wrap_content"
-		android:text="@string/mode_position" />
-
-	<!--  Controls -->
-	<LinearLayout
-		android:layout_width="match_parent"
-		android:layout_height="wrap_content"
-        android:padding="16dp"
-		android:layout_below="@id/desc_rect"
-		android:orientation="vertical" >
-
-
-	</LinearLayout>
-
-</RelativeLayout>
\ No newline at end of file
diff --git a/Android/res/layout/fragment_mode_rtl.xml b/Android/res/layout/fragment_mode_rtl.xml
index 817db2c4c8..43235fece9 100644
--- a/Android/res/layout/fragment_mode_rtl.xml
+++ b/Android/res/layout/fragment_mode_rtl.xml
@@ -1,51 +1,9 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout
+<TextView
     xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:custom="http://schemas.android.com/apk/res/org.droidplanner"
-    xmlns:tools="http://schemas.android.com/tools"
+    android:id="@+id/ModeDetail"
+    style="@style/ModeDetailText"
+    android:background="@drawable/mode_desc_rectangle"
     android:layout_width="match_parent"
-    android:layout_height="match_parent"
-	tools:ignore="HardcodedText"
-    style="@style/flyoutPanelLayout"
-    >
-
-	<!--  Description -->
-	<View
-		android:id="@+id/desc_rect"
-		android:layout_width="match_parent"
-		android:layout_height="96dp"
-		android:layout_alignParentTop="true"
-		android:background="@drawable/mode_desc_rectangle"/>
-
-	<TextView
-		android:id="@+id/ModeDetail"
-		style="@style/ModeDetailText"
-		android:layout_alignTop="@id/desc_rect"
-		android:layout_alignLeft="@id/desc_rect"
-		android:layout_width="wrap_content"
-		android:layout_height="wrap_content"
-		android:text="@string/mode_rtl" />
-
-	<!--  Controls -->
-	<LinearLayout
-		android:layout_width="match_parent"
-		android:layout_height="wrap_content"
-        android:padding="16dp"
-		android:visibility="gone"
-		android:layout_below="@id/desc_rect"
-		android:orientation="vertical" >
-
-		<!--  Pause button -->
-		<Button
-			android:id="@+id/Pause_02"
-			style="@style/modeControl"
-			android:layout_width="match_parent"
-			android:layout_height="wrap_content"
-			android:text="@string/Pause"
-	        android:background="@drawable/button_mode_options"
-        	android:visibility="gone"
-			/>
-
-	</LinearLayout>
-
-</RelativeLayout>
\ No newline at end of file
+    android:layout_height="wrap_content"
+    android:text="@string/mode_rtl"/>
\ No newline at end of file
diff --git a/Android/res/layout/fragment_mode_sport.xml b/Android/res/layout/fragment_mode_sport.xml
index 9959939004..cf02630767 100644
--- a/Android/res/layout/fragment_mode_sport.xml
+++ b/Android/res/layout/fragment_mode_sport.xml
@@ -1,39 +1,10 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout
+
+<TextView
+    android:id="@+id/ModeDetail"
+    style="@style/ModeDetailText"
     xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:custom="http://schemas.android.com/apk/res/org.droidplanner"
-    xmlns:tools="http://schemas.android.com/tools"
+    android:background="@drawable/mode_desc_rectangle"
     android:layout_width="match_parent"
-    android:layout_height="match_parent"
-	tools:ignore="HardcodedText"
-    style="@style/flyoutPanelLayout"
-    >
-
-	<!--  Description -->
-	<View
-		android:id="@+id/desc_rect"
-		android:layout_width="match_parent"
-		android:layout_height="96dp"
-		android:layout_alignParentTop="true"
-		android:background="@drawable/mode_desc_rectangle"/>
-
-	<TextView
-		android:id="@+id/ModeDetail"
-		style="@style/ModeDetailText"
-		android:layout_alignTop="@id/desc_rect"
-		android:layout_alignLeft="@id/desc_rect"
-		android:layout_width="wrap_content"
-		android:layout_height="wrap_content"
-		android:text="@string/mode_sport" />
-
-	<!--  Controls -->
-	<LinearLayout
-		android:layout_width="match_parent"
-		android:layout_height="wrap_content"
-        android:padding="16dp"
-		android:layout_below="@id/desc_rect"
-		android:orientation="vertical" >
-
-	</LinearLayout>
-
-</RelativeLayout>
\ No newline at end of file
+    android:layout_height="wrap_content"
+    android:text="@string/mode_sport"/>
diff --git a/Android/res/layout/fragment_mode_stabilize.xml b/Android/res/layout/fragment_mode_stabilize.xml
index e1f776029c..16a75307e9 100644
--- a/Android/res/layout/fragment_mode_stabilize.xml
+++ b/Android/res/layout/fragment_mode_stabilize.xml
@@ -1,64 +1,9 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout
+<TextView
     xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:tools="http://schemas.android.com/tools"
+    android:id="@+id/ModeDetail"
+    style="@style/ModeDetailText"
+    android:background="@drawable/mode_desc_rectangle"
     android:layout_width="match_parent"
-    android:layout_height="match_parent"
-	tools:ignore="HardcodedText"
-    style="@style/flyoutPanelLayout"
-    >
-
-	<!--  Description -->
-	<View
-		android:id="@+id/desc_rect"
-		android:layout_width="match_parent"
-		android:layout_height="84dp"
-		android:layout_alignParentTop="true"
-		android:background="@drawable/mode_desc_rectangle"/>
-
-	<TextView
-		android:id="@+id/ModeDetail"
-		style="@style/ModeDetailText"
-		android:layout_alignTop="@id/desc_rect"
-		android:layout_alignLeft="@id/desc_rect"
-		android:layout_width="wrap_content"
-		android:layout_height="wrap_content"
-		android:text="@string/mode_stabilize" />
-
-	<!--  Controls -->
-	<LinearLayout
-		android:layout_width="match_parent"
-		android:layout_height="wrap_content"
-        android:padding="16dp"
-		android:layout_below="@id/desc_rect"
-		android:orientation="vertical" >
-
-		<!--  Mission control -->
-		<!--
-		<TextView
-			android:id="@+id/DistanceLabel"
-			style="@style/modeLabel"
-			android:layout_width="wrap_content"
-			android:layout_height="wrap_content"
-			android:text="Mission recording" />
-		<Button
-			android:id="@+id/SaveWaypoint"
-			style="@style/modeControl"
-			android:layout_width="match_parent"
-			android:layout_height="wrap_content"
-			android:text="Save waypoint"
-	        android:background="@drawable/button_mode_options"
-			/>
-		<Button
-			android:id="@+id/ClearMission"
-			style="@style/modeControl"
-			android:layout_width="match_parent"
-			android:layout_height="wrap_content"
-			android:text="Clear mission"
-	        android:background="@drawable/button_mode_options"
-			/>
-			-->
-
-	</LinearLayout>
-
-</RelativeLayout>
\ No newline at end of file
+    android:layout_height="wrap_content"
+    android:text="@string/mode_stabilize"/>
diff --git a/Android/res/layout/fragment_plane_mission_control.xml b/Android/res/layout/fragment_plane_mission_control.xml
new file mode 100644
index 0000000000..977f118928
--- /dev/null
+++ b/Android/res/layout/fragment_plane_mission_control.xml
@@ -0,0 +1,76 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<FrameLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content">
+
+    <LinearLayout
+        android:id="@+id/mc_disconnected_buttons"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:orientation="horizontal"
+        android:visibility="visible"
+        android:background="@drawable/flight_action_buttons_container_bg"
+        android:layout_gravity="center_horizontal"
+        >
+
+        <Button
+            android:id="@+id/mc_connectBtn"
+            style="@style/flightControlButton.Row"
+            android:drawableTop="@drawable/ic_connect"
+            android:text="@string/menu_connect"/>
+
+    </LinearLayout>
+
+    <LinearLayout
+        android:id="@+id/mc_connected_buttons"
+        android:layout_width="@dimen/flight_actions_container_width"
+        android:layout_height="wrap_content"
+        android:layout_gravity="center_horizontal"
+        android:visibility="gone"
+        android:background="@drawable/flight_action_buttons_container_bg"
+        android:orientation="horizontal">
+
+        <Button
+            android:id="@+id/mc_homeBtn"
+            style="@style/flightControlButton.Row"
+            android:layout_width="75dp"
+            android:layout_height="match_parent"
+            android:drawableTop="@drawable/ic_home"
+            android:layout_weight="1"
+            android:text="@string/mission_control_home"/>
+
+        <Button
+            android:id="@+id/mc_pause"
+            style="@style/flightControlButton.Row"
+            android:layout_width="75dp"
+            android:layout_height="match_parent"
+            android:drawableTop="@drawable/ic_pause"
+            android:text="@string/mission_control_pause"
+            android:layout_weight="1"
+            />
+
+        <Button
+            android:id="@+id/mc_autoBtn"
+            style="@style/flightControlButton.Row"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_weight="1"
+            android:drawableTop="@drawable/ic_auto"
+            android:text="@string/mission_control_auto"
+            />
+
+        <Button
+            android:id="@+id/mc_follow"
+            style="@style/flightControlButton.Row"
+            android:layout_width="75dp"
+            android:layout_height="match_parent"
+            android:drawableTop="@drawable/ic_follow"
+            android:text="@string/mission_control_follow"
+            android:layout_weight="1"
+            />
+
+    </LinearLayout>
+
+</FrameLayout>
\ No newline at end of file
diff --git a/Android/res/layout/fragment_sensor_setup.xml b/Android/res/layout/fragment_sensor_setup.xml
new file mode 100644
index 0000000000..1dfd91f928
--- /dev/null
+++ b/Android/res/layout/fragment_sensor_setup.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:orientation="vertical">
+
+    <org.droidplanner.android.widgets.viewPager.TabPageIndicator
+        android:id="@+id/configuration_tab_strip"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"/>
+
+    <android.support.v4.view.ViewPager
+        android:layout_width="match_parent"
+        android:layout_height="0dp"
+        android:layout_weight="1"
+        android:id="@+id/configuration_pager"/>
+</LinearLayout>
\ No newline at end of file
diff --git a/Android/res/layout/fragment_setup_imu_calibrate.xml b/Android/res/layout/fragment_setup_imu_calibrate.xml
deleted file mode 100644
index 965d6fa487..0000000000
--- a/Android/res/layout/fragment_setup_imu_calibrate.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<LinearLayout
-    xmlns:android="http://schemas.android.com/apk/res/android"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent"
-    android:orientation="vertical">
-
-    <TextView
-        android:id="@+id/textViewDesc"
-        style="@style/ModeDetailText"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:background="@drawable/mode_desc_rectangle"
-        android:padding="10dp"
-        android:text="@string/setup_imu_start"/>
-
-    <Button
-        android:id="@+id/buttonNext"
-        style="@style/modeControl"
-        android:layout_height="wrap_content"
-        android:layout_margin="10dp"
-        android:layout_gravity="center"
-        android:background="@drawable/button_green"
-        android:text="@string/button_setup_calibrate"/>
-
-</LinearLayout>
\ No newline at end of file
diff --git a/Android/res/layout/fragment_setup_imu_main.xml b/Android/res/layout/fragment_setup_imu_main.xml
index 694c36e586..b7de2b4951 100644
--- a/Android/res/layout/fragment_setup_imu_main.xml
+++ b/Android/res/layout/fragment_setup_imu_main.xml
@@ -1,74 +1,113 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
-                android:layout_width="match_parent"
-                android:layout_height="match_parent"
-                android:background="#151515">
+<LinearLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:orientation="vertical">
 
-    <TextView
-        android:id="@+id/textViewIMUStep"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:padding="10dp"
-        android:layout_centerInParent="true"
-        android:background="@color/ground_speed_label"
-        android:gravity="center"
-        android:text="@string/setup_imu_step"
-        android:textColor="#ffff"
-        android:textSize="20sp"
-        android:textStyle="bold"/>
-
-    <TextView
-        android:id="@+id/textViewIMUTimeOut"
+    <RelativeLayout
         android:layout_width="match_parent"
-        android:layout_height="wrap_content"
-        android:gravity="center"
-        android:text="Time to next orientation: 30s"
-        android:textColor="#fff"
-        android:textSize="20sp"
-        android:textStyle="bold"
-        android:layout_above="@+id/progressBarTimeOut"/>
+        android:layout_height="match_parent"
+        android:layout_weight="1"
+        android:background="#151515">
 
-    <ProgressBar
-        android:id="@+id/progressBarTimeOut"
-        style="?android:attr/progressBarStyleHorizontal"
-        android:layout_width="match_parent"
-        android:layout_height="wrap_content"
-        android:layout_centerInParent="true"
-        android:layout_marginBottom="29dp"
-        android:layout_marginLeft="100dp"
-        android:layout_marginRight="100dp"
-        android:layout_above="@+id/textViewIMUStep"
-        android:indeterminate="false"
-        android:max="300"
-        android:minHeight="50dp"
-        android:minWidth="300dp"
-        android:progress="150"
-        android:progressDrawable="@drawable/pstate_good"/>
+        <TextView
+            android:id="@+id/textViewIMUStep"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:padding="10dp"
+            android:layout_alignParentTop="true"
+            android:background="@color/ground_speed_label"
+            android:gravity="center"
+            android:text="@string/setup_imu_step"
+            android:textColor="@android:color/white"
+            android:textSize="18sp"
+            android:textStyle="bold"/>
 
+        <TextView
+            android:id="@+id/textViewIMUTimeOut"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:gravity="center"
+            android:text="Time to next orientation: 30s"
+            android:padding="10dp"
+            android:textColor="@android:color/white"
+            android:textSize="20sp"
+            android:textStyle="bold"
+            android:layout_below="@+id/progressBarTimeOut"
+            android:layout_marginBottom="10dp"
+            />
+
+        <ProgressBar
+            android:id="@+id/progressBarTimeOut"
+            style="?android:attr/progressBarStyleHorizontal"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:layout_centerInParent="true"
+            android:layout_marginBottom="29dp"
+            android:layout_marginLeft="100dp"
+            android:layout_marginRight="100dp"
+            android:indeterminate="false"
+            android:max="300"
+            android:minHeight="50dp"
+            android:minWidth="300dp"
+            android:progress="150"
+            android:progressDrawable="@drawable/pstate_good"/>
+
+
+        <TextView
+            android:id="@+id/TextViewIMUOffset"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:layout_above="@+id/TextViewIMUScaling"
+            android:gravity="center"
+            android:text="Offset : 00 00 00"
+            android:visibility="invisible"
+            android:textColor="#fff"
+            android:textSize="20sp"
+            android:textStyle="bold"
+            android:layout_marginBottom="10dp"/>
+
+        <TextView
+            android:id="@+id/TextViewIMUScaling"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:visibility="invisible"
+            android:layout_alignLeft="@+id/TextViewIMUOffset"
+            android:layout_alignParentBottom="true"
+            android:gravity="center"
+            android:text="Scaling : 00 00 00"
+            android:textColor="#fff"
+            android:textSize="20sp"
+            android:textStyle="bold"
+            android:layout_marginBottom="20dp"/>
+
+    </RelativeLayout>
 
     <TextView
-        android:id="@+id/TextViewIMUOffset"
+        android:id="@+id/textViewDesc"
+        style="@style/ModeDetailText"
         android:layout_width="match_parent"
         android:layout_height="wrap_content"
-        android:layout_below="@+id/textViewIMUStep"
-        android:layout_marginTop="32dp"
-        android:layout_centerInParent="true"
-        android:gravity="center"
-        android:text="Offset : 00 00 00"
-        android:textColor="#fff"
-        android:textSize="20sp"
-        android:textStyle="bold"/>
+        android:background="@drawable/mode_desc_rectangle"
+        android:padding="10dp"
+        android:layout_marginBottom="20dp"
+        android:text="@string/setup_imu_start"
+        />
 
-    <TextView
-        android:id="@+id/TextViewIMUScaling"
+    <RelativeLayout
         android:layout_width="match_parent"
-        android:layout_height="wrap_content"
-        android:layout_below="@+id/TextViewIMUOffset"
-        android:layout_alignLeft="@+id/TextViewIMUOffset"
+        android:layout_height="match_parent"
         android:gravity="center"
-        android:text="Scaling : 00 00 00"
-        android:textColor="#fff"
-        android:textSize="20sp"
-        android:textStyle="bold"/>
+        android:layout_weight="2">
+
+        <Button
+            android:id="@+id/buttonStep"
+            android:layout_height="wrap_content"
+            android:layout_margin="10dp"
+            android:background="@drawable/button_green_drawable"
+            style="@style/modeControl"
+            android:text="@string/button_setup_calibrate"/>
 
-</RelativeLayout>
\ No newline at end of file
+    </RelativeLayout>
+</LinearLayout>
\ No newline at end of file
diff --git a/Android/res/layout/fragment_setup_mag_main.xml b/Android/res/layout/fragment_setup_mag_main.xml
index 8d8fc47c81..892f76a36d 100644
--- a/Android/res/layout/fragment_setup_mag_main.xml
+++ b/Android/res/layout/fragment_setup_mag_main.xml
@@ -1,19 +1,105 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
+<LinearLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
-    android:background="#151515" >
+    android:orientation="vertical">
+
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        android:orientation="horizontal"
+        android:background="#151515"
+        android:layout_weight="1">
+
+        <org.droidplanner.android.widgets.scatterplot.ScatterPlot
+            android:id="@+id/scatterPlot1"
+            android:layout_width="fill_parent"
+            android:layout_height="fill_parent"
+            android:layout_weight="1"/>
+
+        <org.droidplanner.android.widgets.scatterplot.ScatterPlot
+            android:id="@+id/scatterPlot2"
+            android:layout_width="fill_parent"
+            android:layout_height="fill_parent"
+            android:layout_weight="1"/>
+
+
+    </LinearLayout>
 
     <TextView
-        android:id="@+id/textView1"
-        android:layout_width="wrap_content"
+        android:id="@+id/textViewDesc"
+        style="@style/ModeDetailText"
+        android:layout_width="match_parent"
         android:layout_height="wrap_content"
-        android:layout_alignParentLeft="true"
-        android:layout_alignParentTop="true"
-        android:layout_marginLeft="25dp"
-        android:layout_marginTop="29dp"
-        android:text="MAG Main Screen"
-        android:textAppearance="?android:attr/textAppearanceLarge"
-        android:textColor="#ffff" />
-
-</RelativeLayout>
+        android:background="@drawable/mode_desc_rectangle"
+        android:padding="10dp"
+        android:layout_marginBottom="20dp"
+        android:text="@string/setup_imu_start"
+        />
+
+    <FrameLayout
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        android:gravity="center"
+        android:layout_weight="1.5">
+
+        <Button
+            android:id="@+id/buttonStep"
+            android:layout_height="wrap_content"
+            android:layout_margin="10dp"
+            android:background="@drawable/button_green_drawable"
+            style="@style/modeControl"
+            android:layout_gravity="center"
+            android:text="@string/button_setup_calibrate"/>
+
+        <RelativeLayout
+            android:id="@+id/in_progress_calibration_container"
+            android:orientation="vertical"
+            android:layout_width="match_parent"
+            android:layout_height="match_parent"
+            android:visibility="gone"
+            android:layout_gravity="center"
+            android:gravity="center">
+
+            <ProgressBar
+                android:id="@+id/calibration_progress_bar"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                style="@android:style/Widget.Holo.ProgressBar.Horizontal"
+                android:layout_toLeftOf="@+id/calibration_progress"
+                android:layout_toStartOf="@+id/calibration_progress"
+                android:layout_above="@+id/buttonCancel"
+                android:layout_marginBottom="15dp"
+                android:layout_alignParentLeft="true"
+                android:layout_alignParentStart="true"
+                android:padding="20dp"/>
+
+            <TextView
+                android:id="@+id/calibration_progress"
+                android:layout_width="wrap_content"
+                android:minWidth="50dp"
+                android:layout_height="wrap_content"
+                android:gravity="center"
+                android:padding="10dp"
+                android:layout_alignParentRight="true"
+                android:layout_alignParentEnd="true"
+                android:layout_alignTop="@+id/calibration_progress_bar"
+                android:layout_alignBottom="@+id/calibration_progress_bar"
+                />
+
+            <Button
+                android:id="@+id/buttonCancel"
+                android:layout_height="wrap_content"
+                android:layout_margin="10dp"
+                android:background="@drawable/button_green_drawable"
+                style="@style/modeControl"
+                android:layout_alignParentBottom="true"
+                android:layout_centerHorizontal="true"
+                android:layout_marginBottom="20dp"
+                android:text="@string/button_setup_cancel"/>
+
+        </RelativeLayout>
+
+    </FrameLayout>
+</LinearLayout>
\ No newline at end of file
diff --git a/Android/res/layout/fragment_setup_modes.xml b/Android/res/layout/fragment_setup_modes.xml
index 497cf189e3..51fd95b811 100644
--- a/Android/res/layout/fragment_setup_modes.xml
+++ b/Android/res/layout/fragment_setup_modes.xml
@@ -117,7 +117,7 @@
 			style="@style/modeControl"
 			android:layout_width="120dp"
 			android:layout_height="wrap_content"
-			android:background="@drawable/button_green"
+			android:background="@drawable/button_green_drawable"
 			android:text="Send" />
 	</LinearLayout>
 
diff --git a/Android/res/layout/fragment_setup_panel_next.xml b/Android/res/layout/fragment_setup_panel_next.xml
index c63de75b4b..7160ef156f 100644
--- a/Android/res/layout/fragment_setup_panel_next.xml
+++ b/Android/res/layout/fragment_setup_panel_next.xml
@@ -36,7 +36,7 @@
             style="@style/modeControl"
             android:layout_width="@dimen/setup_action_button_width"
             android:layout_height="wrap_content"
-            android:background="@drawable/button_green"
+            android:background="@drawable/button_green_drawable"
             android:text="@string/button_setup_next" />
     </LinearLayout>
 
diff --git a/Android/res/layout/fragment_setup_panel_send.xml b/Android/res/layout/fragment_setup_panel_send.xml
index 90c4e10920..9c3ba17d46 100644
--- a/Android/res/layout/fragment_setup_panel_send.xml
+++ b/Android/res/layout/fragment_setup_panel_send.xml
@@ -34,7 +34,7 @@
             android:id="@+id/buttonSend"
             style="@style/modeControl"
             android:layout_height="wrap_content"
-            android:background="@drawable/button_green"
+            android:background="@drawable/button_green_drawable"
             android:text="@string/button_setup_send"/>
     </LinearLayout>
 
diff --git a/Android/res/layout/fragment_setup_panel_start.xml b/Android/res/layout/fragment_setup_panel_start.xml
index 826e6e0389..b7e99e8360 100644
--- a/Android/res/layout/fragment_setup_panel_start.xml
+++ b/Android/res/layout/fragment_setup_panel_start.xml
@@ -23,7 +23,7 @@
         android:layout_margin="10dp"
         android:layout_gravity="center"
         android:layout_height="wrap_content"
-        android:background="@drawable/button_green"
+        android:background="@drawable/button_green_drawable"
         android:text="@string/button_setup_calibrate"/>
 
 </LinearLayout>
\ No newline at end of file
diff --git a/Android/res/layout/fragment_setup_panel_summary.xml b/Android/res/layout/fragment_setup_panel_summary.xml
index 23a485ac58..485c30ce9b 100644
--- a/Android/res/layout/fragment_setup_panel_summary.xml
+++ b/Android/res/layout/fragment_setup_panel_summary.xml
@@ -54,7 +54,7 @@
                     style="@style/modeControl"
                     android:layout_width="@dimen/setup_action_button_width"
                     android:layout_height="wrap_content"
-                    android:background="@drawable/button_green"
+                    android:background="@drawable/button_green_drawable"
                     android:text="@string/button_setup_send"/>
             </LinearLayout>
 
diff --git a/Android/res/layout/fragment_tuning.xml b/Android/res/layout/fragment_tuning.xml
index 056dce9860..40d5822433 100644
--- a/Android/res/layout/fragment_tuning.xml
+++ b/Android/res/layout/fragment_tuning.xml
@@ -192,7 +192,7 @@
                 style="@style/modeControl"
                 android:layout_width="@dimen/setup_action_button_width"
                 android:layout_height="wrap_content"
-                android:background="@drawable/button_green"
+                android:background="@drawable/button_green_drawable"
                 android:text="@string/button_setup_send"/>
         </LinearLayout>
 
diff --git a/Android/res/menu/menu_locator.xml b/Android/res/menu/menu_locator.xml
new file mode 100644
index 0000000000..b6793455cc
--- /dev/null
+++ b/Android/res/menu/menu_locator.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8"?>
+<menu xmlns:android="http://schemas.android.com/apk/res/android" >
+    <item
+        android:id="@+id/menu_open_tlog_file"
+        android:showAsAction="ifRoom"
+        android:icon="@drawable/ic_action_folder_open"
+        android:title="@string/open_tlog_file"/>
+</menu>
\ No newline at end of file
diff --git a/Android/res/menu/menu_mission.xml b/Android/res/menu/menu_mission.xml
index 7dfadaf9e9..01f3c253a3 100644
--- a/Android/res/menu/menu_mission.xml
+++ b/Android/res/menu/menu_mission.xml
@@ -1,15 +1,13 @@
 <?xml version="1.0" encoding="utf-8"?>
 <menu xmlns:android="http://schemas.android.com/apk/res/android" >
-    <item
-        android:id="@+id/menu_zoom_fit_mission"
-        android:showAsAction="never"
-        android:title="@string/zoom_fit"/>
     <item
         android:id="@+id/menu_open_mission"
+        android:icon="@drawable/ic_action_folder_open"
         android:showAsAction="never"
         android:title="@string/open_mission_file"/>
     <item
         android:id="@+id/menu_save_mission"
+        android:icon="@drawable/ic_action_save"
         android:showAsAction="never"
         android:title="@string/save_mission_file"/>
 </menu>
\ No newline at end of file
diff --git a/Android/res/values-de/strings.xml b/Android/res/values-de/strings.xml
index fa7a1ea310..0ddb9d9699 100644
--- a/Android/res/values-de/strings.xml
+++ b/Android/res/values-de/strings.xml
@@ -206,7 +206,7 @@
     <string name="waypoint_coordsrc">Quelldaten:</string>
     <string name="waypoint_jumpto">Springe zu Wegpunkt:</string>
     <string name="waypoint_repeat">Wegpunkt wiederholen</string>
-    <string name="Orbits">Umlaufbahnen</string>
+    <string name="circle_turns">Umlaufbahnen</string>
 
     <!-- Selection of map style -->
     <string name="menu_map_type">Kartentyp</string>
@@ -426,8 +426,6 @@
     <string name="drawer_close">Navigationsleiste ausblenden</string>
     <string name="drawer_open">Navigationsleiste anzeigen</string>
     <string name="flight_data">Flugdaten</string>
-    <string name="ga_mode_details_close_panel">Panel geschlossen um</string>
-    <string name="ga_mode_details_open_panel">Panel geöffnet um</string>
     <string name="guided_mode_warning">OK drücken, um Guided Modus zu starten. Um Position zu ändern, Karte drücken und halten.</string>
     <string name="mode_poshold">PosHold erlaubt das Halten der Position (GPS) mit Reaktion auf Eingaben des Piloten.</string>
     <string name="pref_live_upload">Live Upload aktivieren (Alpha-Test)</string>
diff --git a/Android/res/values-it/strings.xml b/Android/res/values-it/strings.xml
index 865bc74500..60f2a5c75a 100644
--- a/Android/res/values-it/strings.xml
+++ b/Android/res/values-it/strings.xml
@@ -189,7 +189,7 @@
     <string name="waypoint_coordsrc">Fonte dati:</string>
     <string name="waypoint_jumpto">Vai a Waypoint:</string>
     <string name="waypoint_repeat">Ripetere Waypoint</string>
-    <string name="Orbits">Orbite</string>
+    <string name="circle_turns">Orbite</string>
     <string name="dlg_clear_mission_title">Elimina missione</string>
     <string name="dlg_clear_mission_confirm">Eliminare tutti i waypoints dalla mappa?</string>
 
diff --git a/Android/res/values-v16/themes.xml b/Android/res/values-v16/themes.xml
new file mode 100644
index 0000000000..436092470b
--- /dev/null
+++ b/Android/res/values-v16/themes.xml
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <!--
+    There's a backward compatible version equivalent in 'values/themes.xml'.
+    That needs to be updated if this one is updated.
+    -->
+    <style name="CustomActionBarTheme.Transparent">
+        <item name="android:windowActionBarOverlay">true</item>
+        <item name="android:actionBarStyle">@style/CustomActionBarTheme.ActionBar.Transparent</item>
+    </style>
+</resources>
\ No newline at end of file
diff --git a/Android/res/values-zh-rCN/strings.xml b/Android/res/values-zh-rCN/strings.xml
index f41aa948c6..baf22ca209 100644
--- a/Android/res/values-zh-rCN/strings.xml
+++ b/Android/res/values-zh-rCN/strings.xml
@@ -206,7 +206,7 @@
     <string name="waypoint_coordsrc">源数据</string>
     <string name="waypoint_jumpto">跳至航点：</string>
     <string name="waypoint_repeat">重复航点</string>
-    <string name="Orbits">轨道</string>
+    <string name="circle_turns">轨道</string>
 
     <string name="dlg_clear_mission_title">清除任务</string>
     <string name="dlg_clear_mission_confirm">从地图上清除所有航点？</string>
diff --git a/Android/res/values-zh-rTW/strings.xml b/Android/res/values-zh-rTW/strings.xml
index b429b31c51..335fa4c897 100644
--- a/Android/res/values-zh-rTW/strings.xml
+++ b/Android/res/values-zh-rTW/strings.xml
@@ -222,7 +222,7 @@
     <string name="waypoint_coordsrc">來源數據:</string>
     <string name="waypoint_jumpto">跳至航點:</string>
     <string name="waypoint_repeat">重覆航點</string>
-    <string name="Orbits">軌跡</string>
+    <string name="circle_turns">軌跡</string>
 
     <string name="dlg_clear_mission_title">清除任務</string>
     <string name="dlg_clear_mission_confirm">是否從清除地圖上的所有航點？</string>
@@ -360,8 +360,6 @@
     <string name="expandable_listview_icon_desc">可擴充的清單列表圖示</string>
 
     <!-- Google Analytics -->
-    <string name="ga_mode_details_open_panel">儀表板打開時間</string>
-    <string name="ga_mode_details_close_panel">儀表板關閉時間</string>
 
     <!-- Text To Speech -->
     <string name="pref_title_tts">語音輸出</string>
diff --git a/Android/res/values/arrays.xml b/Android/res/values/arrays.xml
index 1113ae6bd8..d34112fd58 100644
--- a/Android/res/values/arrays.xml
+++ b/Android/res/values/arrays.xml
@@ -223,4 +223,10 @@
         <item>No cameras Available</item>
     </string-array>
 
+    <string-array name="preference_dialog_entry">
+        <item>@string/pref_dialog_entry_always</item>
+        <item>@string/pref_dialog_entry_never</item>
+        <item>@string/pref_dialog_entry_ask</item>
+    </string-array>
+
 </resources>
\ No newline at end of file
diff --git a/Android/res/values/preferences_keys.xml b/Android/res/values/preferences_keys.xml
index 1a280a98a7..b5a2efa056 100644
--- a/Android/res/values/preferences_keys.xml
+++ b/Android/res/values/preferences_keys.xml
@@ -40,6 +40,11 @@ This file is used to store the preferences keys so that it's accessible and modi
     <string name="pref_dshare_enabled_key">dshare_enabled</string>
     <string name="pref_live_upload_enabled_key">pref_live_upload_enabled</string>
 
+    <string name="pref_dialogs_key">pref_dialogs</string>
+    <string name="pref_warn_on_arm_key">pref_warn_on_arm</string>
+    <string name="pref_auto_insert_mission_takeoff_rtl_land_key">pref_auto_insert_mission_takeoff_rtl_land</string>
+    <string name="pref_warn_on_takeoff_in_auto_key">pref_warn_on_takeoff_in_auto</string>
+
     <string name="pref_enable_tts_key">pref_enable_tts</string>
     <string name="pref_tts_periodic_key">tts_periodic</string>
     <string name="pref_tts_periodic_period_key">tts_periodic_status_period</string>
diff --git a/Android/res/values/strings.xml b/Android/res/values/strings.xml
index 877ac9cab8..ad308a0c6c 100644
--- a/Android/res/values/strings.xml
+++ b/Android/res/values/strings.xml
@@ -131,6 +131,7 @@
     <string name="select_file_to_open">Select file to open:</string>
     <string name="no_files">No files</string>
     <string name="error_when_opening_file">Error when opening file</string>
+    <string name="status_file_opened">File opened</string>
     <string name="save">Save</string>
     <string name="open">Open</string>
     <string name="write">Write</string>
@@ -183,6 +184,7 @@
     <string name="waypointType_Loiter">Loiter</string>
     <string name="waypointType_ROI">Region of Interest</string>
     <string name="waypointType_Survey">Survey Polygon</string>
+    <string name="waypointType_BuildingMapper">Landmark Mapper</string>
 
     <!-- Waypoint info -->
     <string name="waypointInfo_Land">Land vehicle at the current location. You must manually exit Auto mode to disarm motors.</string>
@@ -230,7 +232,7 @@
     <string name="waypoint_coordsrc">Source data:</string>
     <string name="waypoint_jumpto">Jump to waypoint:</string>
     <string name="waypoint_repeat">Repeat waypoint</string>
-    <string name="Orbits">Orbits</string>
+    <string name="circle_turns">Number of turns</string>
 
     <string name="dlg_clear_mission_title">Clear Mission</string>
     <string name="dlg_clear_mission_confirm">Clear all waypoints from the map?</string>
@@ -369,8 +371,6 @@
     <string name="expandable_listview_icon_desc">Expandable ListView icon</string>
 
     <!-- Google Analytics -->
-    <string name="ga_mode_details_open_panel">Panel Open Time</string>
-    <string name="ga_mode_details_close_panel">Panel Close Time</string>
 
     <!-- Text To Speech -->
     <string name="pref_title_tts">Speech Output</string>
@@ -487,5 +487,27 @@
     <string name="menu_action_delete">Delete</string>
     <string name="menu_action_reverse">Reverse</string>
     <string name="menu_action_multi_edit">Multi-Edit</string>
+    <string name="label_yes_no_dialog_dont_show">Don\'t show again.</string>
+    <string name="file_saved_success">File saved</string>
+    <string name="file_saved_error">Error saving file</string>
+    <string name="label_enter_filename">Enter Filename</string>
+
+    <!-- Drone locator strings -->
+    <string name="locator">Locator</string>
+    <string name="open_tlog_file">Open Log File</string>
+    <string name="status_waiting_for_gps">Waiting for GPS...</string>
+
+    <!-- Preference dialogs -->
+    <string name="pref_misc_title">Miscellaneous</string>
+    <string name="pref_dialogs_title">Preference Dialogs</string>
+    <string name="pref_warn_on_arm_title">Arming button warning</string>
+    <string name="pref_auto_insert_mission_takeoff_rtl_land_title">Auto insert \'TakeOff\' and
+        \'RTL\'/\'Land\' to mission</string>
+    <string name="pref_dialog_entry_always">Always</string>
+    <string name="pref_dialog_entry_never">Never</string>
+    <string name="pref_dialog_entry_ask">Ask</string>
+    <string name="pref_dialog_selection_reset_desc"><![CDATA[Reset selection through: Settings -> User Interface -> Preference Dialogs]]></string>
+    <string name="dialog_confirm_take_off_in_auto_title">Take off in Auto?</string>
+    <string name="dialog_confirm_take_off_in_auto_msg">Warning! The drone will now take off and start the mission.</string>
 
 </resources>
diff --git a/Android/res/values/styles.xml b/Android/res/values/styles.xml
index a13223d003..345e38f18e 100644
--- a/Android/res/values/styles.xml
+++ b/Android/res/values/styles.xml
@@ -47,9 +47,6 @@
         <item name="android:gravity">right</item>
         </style>
 
-
-
-
     <style name="largeMissionDetailText">
         <item name="android:textColor">#ffffff</item>
         <item name="android:textSize">40sp</item>
@@ -401,18 +398,6 @@
     </style>
 
     <!-- Number picker widget styles -->
-    <style name="missionItemNumberPicker">
-        <item name="visibleItems">3</item>
-        <item name="isAllVisible">false</item>
-        <item name="isCyclic">false</item>
-        <item name="itemsDimmedAlpha">150</item>
-        <item name="selectionDivider">@android:color/holo_blue_dark</item>
-        <item name="selectionDividerWidth">2dp</item>
-        <item name="selectionDividerActiveAlpha">100</item>
-        <item name="selectionDividerDimmedAlpha">255</item>
-        <item name="android:layout_gravity">center</item>
-    </style>
-
     <style name="missionItemDetailCard">
         <item name="android:background">@drawable/bg_cell_white</item>
         <item name="android:layout_marginLeft">@dimen/margin_left_right_card_wheel_horizontal_view</item>
@@ -467,5 +452,12 @@
         <item name="android:gravity">center_horizontal</item>
     </style>
 
+    <style name="mapButton">
+        <item name="android:layout_width">40dp</item>
+        <item name="android:layout_height">40dp</item>
+        <item name="android:background">@drawable/btn_explore</item>
+        <item name="android:layout_marginBottom">4dp</item>
+    </style>
+
 </resources>
 
diff --git a/Android/res/values/themes.xml b/Android/res/values/themes.xml
index 62ff6fbdc9..17d078a535 100644
--- a/Android/res/values/themes.xml
+++ b/Android/res/values/themes.xml
@@ -18,12 +18,10 @@
    one is updated
    -->
     <style name="CustomActionBarTheme.Transparent">
-        <item name="android:windowActionBarOverlay">true</item>
         <item name="android:actionBarStyle">@style/CustomActionBarTheme.ActionBar.Transparent</item>
     </style>
 
     <style name="CustomActionBarTheme.ActionBar" parent="@android:style/Widget.Holo.Light.ActionBar">
-        <!--<item name="android:background">@drawable/action_texture</item>-->
         <item name="android:titleTextStyle">@style/CustomActionBarTheme.ActionBar.TitleTextStyle</item>
         <item name="android:subtitleTextStyle">@style/CustomActionBarTheme.ActionBar.Text</item>
         <item name="android:background">@android:color/white</item>
diff --git a/Android/res/xml/google_analytics_tracker.xml b/Android/res/xml/google_analytics_tracker.xml
index f43c5722d9..b0eb1aeb34 100644
--- a/Android/res/xml/google_analytics_tracker.xml
+++ b/Android/res/xml/google_analytics_tracker.xml
@@ -38,4 +38,8 @@
     <screenName name="org.droidplanner.android.activities.SettingsActivity">
         Settings Screen
     </screenName>
+
+    <screenName name="org.droidplanner.android.activities.helpers.MapPreferencesActivity">
+        Map Preferences Screen
+    </screenName>
 </resources>
\ No newline at end of file
diff --git a/Android/res/xml/preferences.xml b/Android/res/xml/preferences.xml
index f93671fe3b..2e7973d48a 100644
--- a/Android/res/xml/preferences.xml
+++ b/Android/res/xml/preferences.xml
@@ -53,51 +53,54 @@
                 <CheckBoxPreference
                     android:defaultValue="true"
                     android:key="@string/pref_permanent_notification_key"
-                    android:title="@string/pref_permanent_notification_title"
-                    android:summary="@string/pref_permanent_notification_summary"/>
+                    android:summary="@string/pref_permanent_notification_summary"
+                    android:title="@string/pref_permanent_notification_title" />
             </PreferenceCategory>
-            <PreferenceCategory android:title="@string/pref_title_tts">
+            <PreferenceCategory android:title="@string/pref_title_tts" >
                 <CheckBoxPreference
                     android:defaultValue="true"
                     android:key="@string/pref_enable_tts_key"
                     android:summary="@string/pref_enable_tts_summary"
                     android:title="@string/pref_enable_tts" />
+
                 <PreferenceScreen android:title="@string/pref_title_tts_periodic_status" >
-                    <PreferenceCategory android:title="@string/pref_title_tts_periodic_status"
-                                        android:summary="@string/pref_tts_periodic_summary"
-                                        android:key="@string/pref_tts_periodic_key">
+                    <PreferenceCategory
+                        android:key="@string/pref_tts_periodic_key"
+                        android:summary="@string/pref_tts_periodic_summary"
+                        android:title="@string/pref_title_tts_periodic_status" >
                         <ListPreference
-                            android:title="@string/pref_tts_periodic_period"
+                            android:defaultValue="0"
                             android:entries="@array/tts_periodic_period"
                             android:entryValues="@array/tts_periodic_period_values"
                             android:key="@string/pref_tts_periodic_period_key"
                             android:summary="@string/pref_tts_periodic_period_summary"
-                            android:defaultValue="0"/>
+                            android:title="@string/pref_tts_periodic_period" />
+
                         <CheckBoxPreference
-                            android:title="@string/pref_tts_periodic_bat_volt"
+                            android:defaultValue="true"
                             android:key="@string/pref_tts_periodic_bat_volt_key"
                             android:summary="@string/pref_tts_periodic_bat_volt_summary"
-                            android:defaultValue="true"/>
+                            android:title="@string/pref_tts_periodic_bat_volt" />
                         <CheckBoxPreference
-                            android:title="@string/pref_tts_periodic_alt"
+                            android:defaultValue="true"
                             android:key="@string/pref_tts_periodic_alt_key"
                             android:summary="@string/pref_tts_periodic_alt_summary"
-                            android:defaultValue="true"/>
+                            android:title="@string/pref_tts_periodic_alt" />
                         <CheckBoxPreference
-                            android:title="@string/pref_tts_periodic_airspeed"
+                            android:defaultValue="true"
                             android:key="@string/pref_tts_periodic_airspeed_key"
                             android:summary="@string/pref_tts_periodic_airspeed_summary"
-                            android:defaultValue="true"/>
+                            android:title="@string/pref_tts_periodic_airspeed" />
                         <CheckBoxPreference
-                            android:title="@string/pref_tts_periodic_rssi"
+                            android:defaultValue="true"
                             android:key="@string/pref_tts_periodic_rssi_key"
                             android:summary="@string/pref_tts_periodic_rssi_summary"
-                            android:defaultValue="true"/>
-
+                            android:title="@string/pref_tts_periodic_rssi" />
                     </PreferenceCategory>
                 </PreferenceScreen>
-                <PreferenceScreen android:title="@string/pref_title_tts_warnings">
-                    <PreferenceCategory android:title="@string/pref_title_tts_warnings">
+                <PreferenceScreen android:title="@string/pref_title_tts_warnings" >
+                    <PreferenceCategory android:title="@string/pref_title_tts_warnings" >
+
                         <!--
                         <CheckBoxPreference
                             android:title="@string/pref_tts_warning_solar_activity"
@@ -109,35 +112,63 @@
                             android:key="@string/pref_tts_warning_wind_speed_key"
                             android:summary="@string/pref_tts_warning_wind_speed_summary"
                             android:defaultValue="true"/>
-                            -->
+                        -->
                         <CheckBoxPreference
-                            android:title="@string/pref_tts_warning_400ft_ceiling_exceeded"
+                            android:defaultValue="true"
                             android:key="@string/pref_tts_warning_400ft_ceiling_exceeded_key"
                             android:summary="@string/pref_tts_warning_400ft_ceiling_exceeded_summary"
-                            android:defaultValue="true"/>
+                            android:title="@string/pref_tts_warning_400ft_ceiling_exceeded" />
                         <CheckBoxPreference
-                            android:title="@string/pref_tts_warning_low_signal_strength"
+                            android:defaultValue="true"
                             android:key="@string/pref_tts_warning_low_signal_key"
                             android:summary="@string/pref_tts_warning_low_signal_strength_summary"
-                            android:defaultValue="true"/>
+                            android:title="@string/pref_tts_warning_low_signal_strength" />
                         <CheckBoxPreference
-                            android:title="@string/pref_tts_warning_lost_signal"
+                            android:defaultValue="true"
                             android:key="@string/pref_tts_warning_lost_signal_key"
                             android:summary="@string/pref_tts_warning_lost_signal_summary"
-                            android:defaultValue="true"/>
+                            android:title="@string/pref_tts_warning_lost_signal" />
                         <CheckBoxPreference
-                            android:title="@string/pref_tts_warning_autopilot_warnings"
+                            android:defaultValue="true"
                             android:key="@string/pref_tts_warning_autopilot_warnings_key"
                             android:summary="@string/pref_tts_warning_autopilot_warnings_summary"
-                            android:defaultValue="true"/>
+                            android:title="@string/pref_tts_warning_autopilot_warnings" />
                     </PreferenceCategory>
-
                 </PreferenceScreen>
+
                 <CheckBoxPreference
                     android:defaultValue="false"
                     android:key="@string/pref_request_max_volume_key"
                     android:title="@string/pref_request_max_volume" />
+            </PreferenceCategory>
+
+            <PreferenceCategory android:title="@string/pref_misc_title">
+                <PreferenceScreen
+                    android:title="@string/pref_dialogs_title"
+                    android:key="@string/pref_dialogs_key">
+
+                    <ListPreference
+                        android:key="@string/pref_warn_on_arm_key"
+                        android:title="@string/pref_warn_on_arm_title"
+                        android:entries="@array/preference_dialog_entry"
+                        android:entryValues="@array/preference_dialog_entry"
+                        android:defaultValue="@string/pref_dialog_entry_ask"/>
+
+                    <ListPreference
+                        android:key="@string/pref_auto_insert_mission_takeoff_rtl_land_key"
+                        android:title="@string/pref_auto_insert_mission_takeoff_rtl_land_title"
+                        android:entries="@array/preference_dialog_entry"
+                        android:defaultValue="@string/pref_dialog_entry_ask"
+                        android:entryValues="@array/preference_dialog_entry"/>
+
+                    <ListPreference
+                        android:key="@string/pref_warn_on_takeoff_in_auto_key"
+                        android:title="@string/dialog_confirm_take_off_in_auto_title"
+                        android:entries="@array/preference_dialog_entry"
+                        android:defaultValue="@string/pref_dialog_entry_ask"
+                        android:entryValues="@array/preference_dialog_entry"/>
 
+                </PreferenceScreen>
             </PreferenceCategory>
         </PreferenceScreen>
 
@@ -167,12 +198,14 @@
                 android:title="@string/droneshare_enabled" />
 
             <!-- FIXME: Live upload is disabled because it often causes the app to crash on disconnect -->
-            <!--<CheckBoxPreference
+            <!--
+                <CheckBoxPreference
                 android:defaultValue="false"
                 android:key="@string/pref_live_upload_enabled_key"
                 android:summary="@string/pref_live_upload_summary"
-                android:title="@string/pref_live_upload" />-->
-            
+                android:title="@string/pref_live_upload" />
+            -->
+
         </PreferenceScreen>
 
         <!-- Advanced preferences section. -->
@@ -186,75 +219,6 @@
                 android:key="@string/pref_vehicle_type_key"
                 android:summary="@string/pref_vehicle_type_summary"
                 android:title="@string/pref_vehicle_type" />
-
-            <PreferenceScreen
-                android:key="pref_rc"
-                android:title="@string/pref_rc" >
-                <PreferenceCategory
-                    android:key="pref_rc_general"
-                    android:title="@string/pref_rc_general" >
-                    <ListPreference
-                        android:defaultValue="MODE2"
-                        android:entries="@array/RCModes"
-                        android:entryValues="@array/RCModeValues"
-                        android:key="@string/pref_rc_mode_key"
-                        android:summary="@string/pref_rc_mode_summary"
-                        android:title="@string/pref_rc_mode" />
-                    <ListPreference
-                        android:defaultValue="Loiter"
-                        android:entries="@array/RCQuickModes"
-                        android:entryValues="@array/RCQuickModes"
-                        android:key="@string/pref_rc_quickmode_left_key"
-                        android:title="@string/pref_rc_quickmode_left" />
-                    <ListPreference
-                        android:defaultValue="Stabilize"
-                        android:entries="@array/RCQuickModes"
-                        android:entryValues="@array/RCQuickModes"
-                        android:key="@string/pref_rc_quickmode_right_key"
-                        android:title="@string/pref_rc_quickmode_right" />
-                </PreferenceCategory>
-                <PreferenceCategory
-                    android:key="pref_rc_throttle"
-                    android:title="@string/pref_rc_throttle" >
-                    <CheckBoxPreference
-                        android:defaultValue="false"
-                        android:key="pref_rc_throttle_reverse"
-                        android:summary="@string/pref_rc_throttle_reverse_summary"
-                        android:title="@string/pref_rc_reverse" />
-                    <CheckBoxPreference
-                        android:defaultValue="false"
-                        android:key="pref_rc_throttle_returntocenter"
-                        android:summary="@string/pref_rc_throttle_returntocenter_summary"
-                        android:title="@string/pref_rc_throttle_returntocenter" />
-                </PreferenceCategory>
-                <PreferenceCategory
-                    android:key="pref_rc_rudder"
-                    android:title="@string/pref_rc_rudder" >
-                    <CheckBoxPreference
-                        android:defaultValue="false"
-                        android:key="pref_rc_rudder_reverse"
-                        android:summary="@string/pref_rc_rudder_reverse_summary"
-                        android:title="@string/pref_rc_reverse" />
-                </PreferenceCategory>
-                <PreferenceCategory
-                    android:key="pref_rc_aileron"
-                    android:title="@string/pref_rc_aileron" >
-                    <CheckBoxPreference
-                        android:defaultValue="false"
-                        android:key="pref_rc_aileron_reverse"
-                        android:summary="@string/pref_rc_aileron_reverse_summary"
-                        android:title="@string/pref_rc_reverse" />
-                </PreferenceCategory>
-                <PreferenceCategory
-                    android:key="pref_rc_elevator"
-                    android:title="@string/pref_rc_elevator" >
-                    <CheckBoxPreference
-                        android:defaultValue="false"
-                        android:key="pref_rc_elevator_reverse"
-                        android:summary="@string/pref_rc_elevator_reverse_summary"
-                        android:title="@string/pref_rc_reverse" />
-                </PreferenceCategory>
-            </PreferenceScreen>
             <PreferenceScreen
                 android:key="pref_connection"
                 android:title="@string/pref_connection" >
@@ -296,14 +260,14 @@
                 </PreferenceCategory>
                 <PreferenceCategory
                     android:key="pref_bluetooth"
-                    android:title="@string/pref_bluetooth">
+                    android:title="@string/pref_bluetooth" >
                     <org.droidplanner.android.dialogs.ClearBTDialogPreference
                         android:defaultValue=""
+                        android:dialogMessage="@string/pref_forget_bluetooth_device_address_confirm"
                         android:gravity="center"
                         android:key="pref_bluetooth_device_address"
-                        android:title="@string/pref_forget_bluetooth_device_address"
-                        android:dialogMessage="@string/pref_forget_bluetooth_device_address_confirm"
-                        android:positiveButtonText="@string/pref_bluetooth_forget"/>
+                        android:positiveButtonText="@string/pref_bluetooth_forget"
+                        android:title="@string/pref_forget_bluetooth_device_address" />
                 </PreferenceCategory>
             </PreferenceScreen>
             <PreferenceScreen
@@ -376,15 +340,14 @@
                     android:key="@string/pref_max_flight_path_size_key"
                     android:summary="@string/pref_max_flight_path_size_summary"
                     android:title="@string/pref_max_flight_path_size" />
+
                 <CheckBoxPreference
-                	android:defaultValue="false"
-    	            android:key="@string/pref_ui_gps_hdop_key"
-	                android:summary="@string/pref_ui_gps_hdop_summary"
-        	        android:title="@string/pref_ui_gps_hdop_title"/>
+                    android:defaultValue="false"
+                    android:key="@string/pref_ui_gps_hdop_key"
+                    android:summary="@string/pref_ui_gps_hdop_summary"
+                    android:title="@string/pref_ui_gps_hdop_title" />
             </PreferenceCategory>
-            
-            <PreferenceCategory
-                android:title="@string/pref_pebble" >
+            <PreferenceCategory android:title="@string/pref_pebble" >
                 <Preference
                     android:key="@string/pref_pebble_install_key"
                     android:title="@string/pref_pebble_install_watchapp" />
@@ -432,6 +395,67 @@
             android:selectable="false"
             android:shouldDisableView="false"
             android:title="@string/storage_folder" />
+
+        <PreferenceScreen
+            android:summary="Libraries (and it&apos;s licenses) used in this project"
+            android:title="Licenses" >
+            <Preference
+                android:enabled="false"
+                android:key="@string/pref_storage_key"
+                android:persistent="false"
+                android:selectable="false"
+                android:shouldDisableView="false"
+                android:summary="Apache v2"
+                android:title="AndroidSlidingUpPanel" />
+            <Preference
+                android:enabled="false"
+                android:key="@string/pref_storage_key"
+                android:persistent="false"
+                android:selectable="false"
+                android:shouldDisableView="false"
+                android:summary="GPLv2"
+                android:title="jmapviewer" />
+            <Preference
+                android:enabled="false"
+                android:key="@string/pref_storage_key"
+                android:persistent="false"
+                android:selectable="false"
+                android:shouldDisableView="false"
+                android:summary="Apache v2"
+                android:title="Mapbox Android SDK" />
+            <Preference
+                android:enabled="false"
+                android:key="@string/pref_storage_key"
+                android:persistent="false"
+                android:selectable="false"
+                android:shouldDisableView="false"
+                android:summary="LGPLv3"
+                android:title="usb-serial-for-android" />
+            <Preference
+                android:enabled="false"
+                android:key="@string/pref_storage_key"
+                android:persistent="false"
+                android:selectable="false"
+                android:shouldDisableView="false"
+                android:summary="Apache v2"
+                android:title="HorizontalVariableListView" />
+            <Preference
+                android:enabled="false"
+                android:key="@string/pref_storage_key"
+                android:persistent="false"
+                android:selectable="false"
+                android:shouldDisableView="false"
+                android:summary=""
+                android:title="Google Play Services" />
+            <Preference
+                android:enabled="false"
+                android:key="@string/pref_storage_key"
+                android:persistent="false"
+                android:selectable="false"
+                android:shouldDisableView="false"
+                android:summary=""
+                android:title="PebbleKit" />
+        </PreferenceScreen>
     </PreferenceCategory>
 
-</PreferenceScreen>
+</PreferenceScreen>
\ No newline at end of file
diff --git a/Android/src/org/droidplanner/android/DroidPlannerApp.java b/Android/src/org/droidplanner/android/DroidPlannerApp.java
index 160c7cfd82..97522f37a3 100644
--- a/Android/src/org/droidplanner/android/DroidPlannerApp.java
+++ b/Android/src/org/droidplanner/android/DroidPlannerApp.java
@@ -26,8 +26,8 @@ public class DroidPlannerApp extends ErrorReportApp implements MAVLinkStreams.Ma
 		DroneInterfaces.OnDroneListener {
 
 	private Drone drone;
-	public Follow followMe;
-	public MissionProxy missionProxy;
+	private Follow followMe;
+	private MissionProxy missionProxy;
 	private MavLinkMsgHandler mavLinkMsgHandler;
 	private DroidPlannerPrefs prefs;
 	/**
@@ -121,4 +121,12 @@ public DroidPlannerPrefs getPreferences() {
 	public Drone getDrone() {
 		return drone;
 	}
+
+    public Follow getFollowMe() {
+        return followMe;
+    }
+
+    public MissionProxy getMissionProxy() {
+        return missionProxy;
+    }
 }
diff --git a/Android/src/org/droidplanner/android/activities/ConfigurationActivity.java b/Android/src/org/droidplanner/android/activities/ConfigurationActivity.java
index dc66fd8072..085e49b56a 100644
--- a/Android/src/org/droidplanner/android/activities/ConfigurationActivity.java
+++ b/Android/src/org/droidplanner/android/activities/ConfigurationActivity.java
@@ -3,9 +3,7 @@
 import org.droidplanner.R;
 import org.droidplanner.android.fragments.ChecklistFragment;
 import org.droidplanner.android.fragments.ParamsFragment;
-import org.droidplanner.android.fragments.SetupRadioFragment;
-import org.droidplanner.android.fragments.SetupSensorFragment;
-import org.droidplanner.android.fragments.TuningFragment;
+import org.droidplanner.android.fragments.SensorSetupFragment;
 
 import android.content.Intent;
 import android.os.Bundle;
@@ -75,16 +73,8 @@ private Fragment getCurrentFragment(){
     private Fragment getFragmentForId(int fragmentId){
         final Fragment fragment;
         switch(fragmentId){
-            case R.id.navigation_tuning:
-                fragment = new TuningFragment();
-                break;
-
-            case R.id.navigation_radio:
-                fragment = new SetupRadioFragment();
-                break;
-
             case R.id.navigation_calibration:
-                fragment = new SetupSensorFragment();
+                fragment = new SensorSetupFragment();
                 break;
 
             case R.id.navigation_checklist:
@@ -101,13 +91,7 @@ private Fragment getFragmentForId(int fragmentId){
     }
 
     private int getIdForFragment(Fragment fragment){
-        if(fragment instanceof TuningFragment){
-            return R.id.navigation_tuning;
-        }
-        else if(fragment instanceof SetupRadioFragment){
-            return R.id.navigation_radio;
-        }
-        else if(fragment instanceof SetupSensorFragment){
+        if(fragment instanceof SensorSetupFragment){
             return R.id.navigation_calibration;
         }
         else if(fragment instanceof ChecklistFragment){
diff --git a/Android/src/org/droidplanner/android/activities/DrawerNavigationUI.java b/Android/src/org/droidplanner/android/activities/DrawerNavigationUI.java
index 076e65e845..a1548e9e6c 100644
--- a/Android/src/org/droidplanner/android/activities/DrawerNavigationUI.java
+++ b/Android/src/org/droidplanner/android/activities/DrawerNavigationUI.java
@@ -5,7 +5,6 @@
 import org.droidplanner.android.activities.interfaces.HelpProvider;
 import org.droidplanner.android.fragments.helpers.HelpDialogFragment;
 
-import android.app.ActionBar;
 import android.content.Context;
 import android.content.Intent;
 import android.content.res.Configuration;
@@ -131,10 +130,6 @@ public void onResume(){
         updateNavigationDrawer();
     }
 
-	public DrawerLayout getDrawerLayout() {
-		return mDrawerLayout;
-	}
-
     /**
      * Initializes the navigation drawer.
      */
@@ -159,17 +154,12 @@ private void updateNavigationDrawer(){
         setupNavigationEntry(navDrawerEntryId, mNavViewsHolder.mEditor, new Intent(context,
                 EditorActivity.class));
 
+        setupNavigationEntry(navDrawerEntryId, mNavViewsHolder.mLocator, new Intent(context,
+                LocatorActivity.class));
+
         setupNavigationEntry(navDrawerEntryId, mNavViewsHolder.mSettings, new Intent(context,
                 SettingsActivity.class));
 
-        setupNavigationEntry(navDrawerEntryId, mNavViewsHolder.mTuning, new Intent(context,
-                ConfigurationActivity.class).putExtra(ConfigurationActivity.EXTRA_CONFIG_SCREEN_ID,
-                R.id.navigation_tuning));
-
-        setupNavigationEntry(navDrawerEntryId, mNavViewsHolder.mRadio, new Intent(context,
-                ConfigurationActivity.class).putExtra(ConfigurationActivity
-                .EXTRA_CONFIG_SCREEN_ID, R.id.navigation_radio));
-
         setupNavigationEntry(navDrawerEntryId, mNavViewsHolder.mCalibration, new Intent(context,
                 ConfigurationActivity.class).putExtra(ConfigurationActivity
                 .EXTRA_CONFIG_SCREEN_ID, R.id.navigation_calibration));
@@ -224,25 +214,21 @@ public void onClick(View v) {
     private static class NavDrawerViewHolder {
         final TextView mFlightData;
         final TextView mEditor;
+        final TextView mLocator;
 
         final TextView mSettings;
 
         final TextView mParams;
         final TextView mChecklist;
-        final TextView mTuning;
-        final TextView mRadio;
         final TextView mCalibration;
 
         private NavDrawerViewHolder(View containerView){
             mFlightData = (TextView) containerView.findViewById(R.id.navigation_flight_data);
             mEditor = (TextView) containerView.findViewById(R.id.navigation_editor);
-
+            mLocator = (TextView) containerView.findViewById(R.id.navigation_locator);
             mSettings = (TextView) containerView.findViewById(R.id.navigation_settings);
-
             mParams = (TextView) containerView.findViewById(R.id.navigation_params);
             mChecklist = (TextView) containerView.findViewById(R.id.navigation_checklist);
-            mTuning = (TextView) containerView.findViewById(R.id.navigation_tuning);
-            mRadio = (TextView) containerView.findViewById(R.id.navigation_radio);
             mCalibration = (TextView) containerView.findViewById(R.id.navigation_calibration);
         }
     }
diff --git a/Android/src/org/droidplanner/android/activities/EditorActivity.java b/Android/src/org/droidplanner/android/activities/EditorActivity.java
index 8d65c51702..c5783351c4 100644
--- a/Android/src/org/droidplanner/android/activities/EditorActivity.java
+++ b/Android/src/org/droidplanner/android/activities/EditorActivity.java
@@ -5,6 +5,7 @@
 import org.droidplanner.R;
 import org.droidplanner.android.DroidPlannerApp;
 import org.droidplanner.android.activities.interfaces.OnEditorInteraction;
+import org.droidplanner.android.dialogs.EditInputDialog;
 import org.droidplanner.android.dialogs.YesNoDialog;
 import org.droidplanner.android.dialogs.openfile.OpenFileDialog;
 import org.droidplanner.android.dialogs.openfile.OpenMissionDialog;
@@ -19,6 +20,8 @@
 import org.droidplanner.android.proxy.mission.MissionSelection;
 import org.droidplanner.android.proxy.mission.item.MissionItemProxy;
 import org.droidplanner.android.proxy.mission.item.fragments.MissionDetailFragment;
+import org.droidplanner.android.utils.analytics.GAUtils;
+import org.droidplanner.android.utils.file.FileStream;
 import org.droidplanner.android.utils.file.IO.MissionReader;
 import org.droidplanner.android.utils.file.IO.MissionWriter;
 import org.droidplanner.android.utils.prefs.AutoPanMode;
@@ -30,6 +33,7 @@
 import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.util.Pair;
 
+import android.content.Context;
 import android.os.Bundle;
 import android.support.v4.app.FragmentManager;
 import android.view.ActionMode;
@@ -37,19 +41,24 @@
 import android.view.Menu;
 import android.view.MenuItem;
 import android.view.View;
+import android.view.View.OnClickListener;
+import android.view.View.OnLongClickListener;
 import android.widget.AbsListView;
 import android.widget.ImageButton;
 import android.widget.RadioButton;
 import android.widget.TextView;
 import android.widget.Toast;
 
+import com.MAVLink.Messages.ardupilotmega.msg_mission_item;
+import com.google.android.gms.analytics.HitBuilders;
+
 /**
  * This implements the map editor activity. The map editor activity allows the
  * user to create and/or modify autonomous missions for the drone.
  */
 public class EditorActivity extends DrawerNavigationUI implements OnPathFinishedListener,
 		OnEditorToolSelected, MissionDetailFragment.OnMissionDetailListener, OnEditorInteraction,
-		Callback, MissionSelection.OnSelectionUpdateListener {
+		Callback, MissionSelection.OnSelectionUpdateListener, OnClickListener, OnLongClickListener {
 
 	/**
 	 * Used to retrieve the item detail window when the activity is destroyed,
@@ -80,7 +89,6 @@ public class EditorActivity extends DrawerNavigationUI implements OnPathFinished
 
 	private TextView infoView;
 
-    //TODO: change the multi edit icon based on its state.
     private boolean mMultiEditEnabled;
 
 	/**
@@ -91,6 +99,8 @@ public class EditorActivity extends DrawerNavigationUI implements OnPathFinished
 	private View mContainerItemDetail;
 
 	private ActionMode contextualActionBar;
+	private RadioButton normalToggle;
+	private RadioButton splineToggle;
 
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
@@ -110,64 +120,24 @@ public void onCreate(Bundle savedInstanceState) {
 
 		mSplineToggleContainer = findViewById(R.id.editorSplineToggleContainer);
 		mSplineToggleContainer.setVisibility(View.VISIBLE);
-		
+
 		infoView = (TextView) findViewById(R.id.editorInfoWindow);
 
         final ImageButton resetMapBearing = (ImageButton) findViewById(R.id.map_orientation_button);
-        resetMapBearing.setOnClickListener(new View.OnClickListener() {
-            @Override
-            public void onClick(View v) {
-                if(planningMapFragment != null) {
-                    planningMapFragment.updateMapBearing(0);
-                }
-            }
-        });
-
-		ImageButton mGoToMyLocation = (ImageButton) findViewById(R.id.my_location_button);
-		mGoToMyLocation.setOnClickListener(new View.OnClickListener() {
-			@Override
-			public void onClick(View v) {
-				planningMapFragment.goToMyLocation();
-			}
-		});
-		mGoToMyLocation.setOnLongClickListener(new View.OnLongClickListener() {
-			@Override
-			public boolean onLongClick(View v) {
-				planningMapFragment.setAutoPanMode(AutoPanMode.USER);
-				return true;
-			}
-		});
-
-		ImageButton mGoToDroneLocation = (ImageButton) findViewById(R.id.drone_location_button);
-		mGoToDroneLocation.setOnClickListener(new View.OnClickListener() {
-			@Override
-			public void onClick(View v) {
-				planningMapFragment.goToDroneLocation();
-			}
-		});
-		mGoToDroneLocation.setOnLongClickListener(new View.OnLongClickListener() {
-			@Override
-			public boolean onLongClick(View v) {
-				planningMapFragment.setAutoPanMode(AutoPanMode.DRONE);
-				return true;
-			}
-		});
-
-		final RadioButton normalToggle = (RadioButton) findViewById(R.id.normalWpToggle);
-		normalToggle.setOnClickListener(new View.OnClickListener() {
-			@Override
-			public void onClick(View v) {
-				mIsSplineEnabled = !normalToggle.isChecked();
-			}
-		});
-
-		final RadioButton splineToggle = (RadioButton) findViewById(R.id.splineWpToggle);
-		splineToggle.setOnClickListener(new View.OnClickListener() {
-			@Override
-			public void onClick(View v) {
-				mIsSplineEnabled = splineToggle.isChecked();
-			}
-		});
+        resetMapBearing.setOnClickListener(this);
+        final ImageButton zoomToFit = (ImageButton) findViewById(R.id.zoom_to_fit_button);
+        zoomToFit.setVisibility(View.VISIBLE);
+        zoomToFit.setOnClickListener(this);
+		final ImageButton mGoToMyLocation = (ImageButton) findViewById(R.id.my_location_button);
+		mGoToMyLocation.setOnClickListener(this);
+		mGoToMyLocation.setOnLongClickListener(this);
+		final ImageButton mGoToDroneLocation = (ImageButton) findViewById(R.id.drone_location_button);
+		mGoToDroneLocation.setOnClickListener(this);
+		mGoToDroneLocation.setOnLongClickListener(this);
+		normalToggle = (RadioButton) findViewById(R.id.normalWpToggle);
+		normalToggle.setOnClickListener(this);
+		splineToggle = (RadioButton) findViewById(R.id.splineWpToggle);
+		splineToggle.setOnClickListener(this);
 
         if(savedInstanceState != null){
             mIsSplineEnabled = savedInstanceState.getBoolean(EXTRA_IS_SPLINE_ENABLED);
@@ -183,13 +153,59 @@ public void onClick(View v) {
 		 */
 		mContainerItemDetail = findViewById(R.id.containerItemDetail);
 
-		missionProxy = ((DroidPlannerApp) getApplication()).missionProxy;
+        final DroidPlannerApp dpApp = ((DroidPlannerApp) getApplication());
+		missionProxy = dpApp.getMissionProxy();
 		gestureMapFragment.setOnPathFinishedListener(this);
 	}
 
+	@Override
+	public void onClick(View v) {
+		switch (v.getId()) {
+		case R.id.map_orientation_button:
+			if(planningMapFragment != null) {
+				planningMapFragment.updateMapBearing(0);
+			}
+			break;
+		case R.id.zoom_to_fit_button:
+			if(planningMapFragment != null){
+                planningMapFragment.zoomToFit();
+            }
+			break;
+		case R.id.splineWpToggle:
+			mIsSplineEnabled = splineToggle.isChecked();
+			break;
+		case R.id.normalWpToggle:
+			mIsSplineEnabled = !normalToggle.isChecked();
+			break;
+		case R.id.drone_location_button:
+			planningMapFragment.goToDroneLocation();
+			break;
+		case R.id.my_location_button:
+			planningMapFragment.goToMyLocation();
+			break;
+		default:
+			break;
+		}
+	}
+
+	@Override
+	public boolean onLongClick(View view) {
+		switch (view.getId()) {
+		case R.id.drone_location_button:
+			planningMapFragment.setAutoPanMode(AutoPanMode.DRONE);
+			return true;
+		case R.id.my_location_button:
+			planningMapFragment.setAutoPanMode(AutoPanMode.USER);
+			return true;
+		default:
+			return false;
+		}
+	}
+
 	@Override
 	public void onResume() {
 		super.onResume();
+		editorToolsFragment.setToolAndUpdateView(getTool());
 		setupTool(getTool());
 	}
 
@@ -227,10 +243,6 @@ public boolean onCreateOptionsMenu(Menu menu) {
 	@Override
 	public boolean onMenuItemSelected(int featureId, MenuItem item) {
 		switch (item.getItemId()) {
-		case R.id.menu_zoom_fit_mission:
-			planningMapFragment.zoomToFit();
-			return true;
-
 		case R.id.menu_open_mission:
 			openMissionFile();
 			return true;
@@ -256,12 +268,32 @@ public void waypointFileLoaded(MissionReader reader) {
 	}
 
 	private void saveMissionFile() {
-
-		if (MissionWriter.write(drone.getMission().getMsgMissionItems())) {
-			Toast.makeText(this, "File saved", Toast.LENGTH_SHORT).show();
-		} else {
-			Toast.makeText(this, "Error saving file", Toast.LENGTH_SHORT).show();
-		}
+        final Context context = getApplicationContext();
+        final EditInputDialog dialog = EditInputDialog.newInstance(context, getString(R.string.label_enter_filename),
+                FileStream.getWaypointFilename("waypoints"), new EditInputDialog.Listener() {
+                    @Override
+                    public void onOk(CharSequence input) {
+                        final List<msg_mission_item> missionItems = drone.getMission()
+                                .getMsgMissionItems();
+                        if (MissionWriter.write( missionItems, input.toString())) {
+                            Toast.makeText(context, R.string.file_saved_success, Toast.LENGTH_SHORT).show();
+
+                            final HitBuilders.EventBuilder eventBuilder = new HitBuilders.EventBuilder()
+                                    .setCategory(GAUtils.Category.MISSION_PLANNING)
+                                    .setAction("Mission saved to file")
+                                    .setLabel("Mission items count")
+                                    .setValue(missionItems.size());
+                            GAUtils.sendEvent(eventBuilder);
+                        } else {
+                            Toast.makeText(context, R.string.file_saved_error, Toast.LENGTH_SHORT).show();
+                        }
+                    }
+
+                    @Override
+                    public void onCancel() {}
+                });
+
+        dialog.show(getSupportFragmentManager(), "Mission filename");
 	}
 
 	@Override
@@ -278,17 +310,24 @@ public void onDroneEvent(DroneEventsType event, Drone drone) {
 		case MISSION_UPDATE:
 			Length missionLength = missionProxy.getMissionLength();
 			Speed speedParameter = drone.getSpeed().getSpeedParameter();
-			String infoString = "Distance "+ missionLength;
+			String infoString = "Distance " + missionLength;
 			if (speedParameter != null) {
-				int time = (int) (missionLength.valueInMeters() / speedParameter.valueInMetersPerSecond());
-				infoString = infoString	+ String.format(", Flight time: %02d:%02d", time/60,time%60);
+				int time = (int) (missionLength.valueInMeters() / speedParameter
+						.valueInMetersPerSecond());
+				infoString = infoString
+						+ String.format(", Flight time: %02d:%02d", time / 60, time % 60);
 			}
 			infoView.setText(infoString);
-			
-			
+
 			// Remove detail window if item is removed
 			if (missionProxy.selection.getSelected().isEmpty() && itemDetailFragment != null) {
-					removeItemDetail();
+				removeItemDetail();
+			}
+			break;
+
+		case MISSION_RECEIVED:
+			if (planningMapFragment != null) {
+				planningMapFragment.zoomToFit();
 			}
 			break;
 
@@ -299,6 +338,8 @@ public void onDroneEvent(DroneEventsType event, Drone drone) {
 
 	@Override
 	public void onMapClick(Coord2D point) {
+        enableMultiEdit(false);
+
 		// If an mission item is selected, unselect it.
 		missionProxy.selection.clearSelection();
 
@@ -332,6 +373,7 @@ public void editorToolChanged(EditorTools tools) {
 	}
 
 	private void setupTool(EditorTools tool) {
+		planningMapFragment.skipMarkerClickEvents(false);
 		switch (tool) {
 		case DRAW:
 			enableSplineToggle(true);
@@ -348,6 +390,7 @@ private void setupTool(EditorTools tool) {
 			// Enable the spline selection toggle
 			enableSplineToggle(true);
 			gestureMapFragment.disableGestureDetection();
+			planningMapFragment.skipMarkerClickEvents(true);
 			break;
 
 		case TRASH:
@@ -478,6 +521,7 @@ public boolean onActionItemClicked(ActionMode mode, MenuItem item) {
 		case R.id.menu_action_delete:
 			missionProxy.removeSelection(missionProxy.selection);
 			mode.finish();
+            planningMapFragment.zoomToFit();
 			return true;
 
 		case R.id.menu_action_reverse:
@@ -545,6 +589,7 @@ public boolean onPrepareActionMode(ActionMode mode, Menu menu) {
 
 	@Override
 	public boolean onItemLongClick(MissionItemProxy item) {
+        enableMultiEdit(false);
 		if (contextualActionBar != null) {
 			if (missionProxy.selection.selectionContains(item)) {
 				missionProxy.selection.clearSelection();
@@ -561,7 +606,7 @@ public boolean onItemLongClick(MissionItemProxy item) {
 	}
 
 	@Override
-	public void onItemClick(MissionItemProxy item) {
+	public void onItemClick(MissionItemProxy item, boolean zoomToFit) {
         enableMultiEdit(false);
 		switch (getTool()) {
 		default:
@@ -579,16 +624,28 @@ public void onItemClick(MissionItemProxy item) {
 					missionProxy.selection.setSelectionTo(item);
 				}
 			}
+
 			break;
 
 		case TRASH:
 			missionProxy.removeItem(item);
 			missionProxy.selection.clearSelection();
+
 			if (missionProxy.getItems().size() <= 0) {
 				editorToolsFragment.setTool(EditorTools.NONE);
 			}
 			break;
 		}
+
+        if(zoomToFit) {
+            List<MissionItemProxy> selected = missionProxy.selection.getSelected();
+            if (selected.isEmpty()) {
+                planningMapFragment.zoomToFit();
+            }
+            else{
+                planningMapFragment.zoomToFit(MissionProxy.getVisibleCoords(selected));
+            }
+        }
 	}
 
 	@Override
@@ -611,7 +668,7 @@ public void onSelectionUpdate(List<MissionItemProxy> selected) {
 			if (contextualActionBar != null && !mMultiEditEnabled)
 				removeItemDetail();
 			else {
-				showItemDetail(selected.get(0).getDetailFragment());
+				showItemDetail(selectMissionDetailType(selected));
 			}
 		}
 
@@ -619,24 +676,27 @@ public void onSelectionUpdate(List<MissionItemProxy> selected) {
 	}
 
 	private void doClearMissionConfirmation() {
-		YesNoDialog ynd = YesNoDialog.newInstance(getString(R.string.dlg_clear_mission_title),
-				getString(R.string.dlg_clear_mission_confirm), new YesNoDialog.Listener() {
-					@Override
-					public void onYes() {
-						missionProxy.clear();
-						missionProxy.addTakeoff();
-					}
-
-					@Override
-					public void onNo() {
-					}
-				});
-
-		ynd.show(getSupportFragmentManager(), "clearMission");
+		YesNoDialog ynd = YesNoDialog.newInstance(getApplicationContext(), getString(R.string
+                        .dlg_clear_mission_title),
+                getString(R.string.dlg_clear_mission_confirm), new YesNoDialog.Listener() {
+                    @Override
+                    public void onYes() {
+                        missionProxy.clear();
+                        missionProxy.addTakeoff();
+                    }
+
+                    @Override
+                    public void onNo() {}
+                });
+
+        if(ynd != null) {
+            ynd.show(getSupportFragmentManager(), "clearMission");
+        }
 	}
 
     @Override
     public CharSequence[][] getHelpItems() {
         return new CharSequence[][] { {}, {} };
     }
+
 }
diff --git a/Android/src/org/droidplanner/android/activities/FlightActivity.java b/Android/src/org/droidplanner/android/activities/FlightActivity.java
index d45a4eef7b..0393973f99 100644
--- a/Android/src/org/droidplanner/android/activities/FlightActivity.java
+++ b/Android/src/org/droidplanner/android/activities/FlightActivity.java
@@ -1,17 +1,16 @@
 package org.droidplanner.android.activities;
 
+import java.util.concurrent.atomic.AtomicBoolean;
+
 import org.droidplanner.R;
 import org.droidplanner.android.dialogs.DroneshareDialog;
 import org.droidplanner.android.fragments.FlightActionsFragment;
 import org.droidplanner.android.fragments.FlightMapFragment;
-import org.droidplanner.android.fragments.RCFragment;
 import org.droidplanner.android.fragments.TelemetryFragment;
 import org.droidplanner.android.fragments.mode.FlightModePanel;
-import org.droidplanner.android.utils.analytics.GAUtils;
 import org.droidplanner.android.utils.prefs.AutoPanMode;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
-import org.droidplanner.core.drone.variables.State;
 import org.droidplanner.core.model.Drone;
 
 import android.app.Dialog;
@@ -26,16 +25,12 @@
 import android.widget.SlidingDrawer;
 import android.widget.TextView;
 
-import com.google.android.gms.analytics.HitBuilders;
 import com.google.android.gms.common.ConnectionResult;
 import com.google.android.gms.common.GooglePlayServicesUtil;
 import com.sothree.slidinguppanel.SlidingUpPanelLayout;
 
-import java.util.concurrent.atomic.AtomicBoolean;
-
 @SuppressWarnings("deprecation")
-public class FlightActivity extends DrawerNavigationUI implements
-		FlightActionsFragment.OnMissionControlInteraction, OnDroneListener {
+public class FlightActivity extends DrawerNavigationUI implements OnDroneListener {
 
     private static final String TAG = FlightActivity.class.getSimpleName();
 	private static final int GOOGLE_PLAY_SERVICES_REQUEST_CODE = 101;
@@ -68,13 +63,13 @@ public void onPanelHidden(View view) {}
     };
 
 	private FragmentManager fragmentManager;
-	private RCFragment rcFragment;
 	private TextView warningView;
 
 	private FlightMapFragment mapFragment;
 
     private SlidingUpPanelLayout mSlidingPanel;
     private View mFlightActionsView;
+    private FlightActionsFragment flightActions;
 
 	private View mLocationButtonsContainer;
 	private ImageButton mGoToMyLocation;
@@ -101,12 +96,6 @@ public void onDrawerClosed() {
                     final int slidingDrawerWidth = slidingDrawer.getContent().getWidth();
                     final boolean isSlidingDrawerOpened = slidingDrawer.isOpened();
                     updateLocationButtonsMargin(isSlidingDrawerOpened, slidingDrawerWidth);
-
-                    // Stop tracking how long this was opened for.
-                    GAUtils.sendTiming(new HitBuilders.TimingBuilder()
-                            .setCategory(GAUtils.Category.FLIGHT_DATA_DETAILS_PANEL)
-                            .setVariable(getString(R.string.ga_mode_details_close_panel))
-                            .setValue(System.currentTimeMillis()));
                 }
             });
 
@@ -116,12 +105,6 @@ public void onDrawerOpened() {
                     final int slidingDrawerWidth = slidingDrawer.getContent().getWidth();
                     final boolean isSlidingDrawerOpened = slidingDrawer.isOpened();
                     updateLocationButtonsMargin(isSlidingDrawerOpened, slidingDrawerWidth);
-
-                    // Track how long this is opened for.
-                    GAUtils.sendTiming(new HitBuilders.TimingBuilder()
-                            .setCategory(GAUtils.Category.FLIGHT_DATA_DETAILS_PANEL)
-                            .setVariable(getString(R.string.ga_mode_details_open_panel))
-                            .setValue(System.currentTimeMillis()));
                 }
             });
         }
@@ -184,7 +167,8 @@ public boolean onLongClick(View v) {
 			}
 		});
 
-		Fragment flightActions = fragmentManager.findFragmentById(R.id.flightActionsFragment);
+		flightActions = (FlightActionsFragment) fragmentManager.findFragmentById(R.id
+                .flightActionsFragment);
 		if (flightActions == null) {
 			flightActions = new FlightActionsFragment();
 			fragmentManager.beginTransaction().add(R.id.flightActionsFragment, flightActions).commit();
@@ -323,21 +307,6 @@ private void updateLocationButtonsMargin(boolean isOpened, int drawerWidth) {
         mLocationButtonsContainer.requestLayout();
 	}
 
-	@Override
-	public void onJoystickSelected() {
-		toggleRCFragment();
-	}
-
-	private void toggleRCFragment() {
-		if (rcFragment == null) {
-			rcFragment = new RCFragment();
-			fragmentManager.beginTransaction().add(R.id.containerRC, rcFragment).commit();
-		} else {
-			fragmentManager.beginTransaction().remove(rcFragment).commit();
-			rcFragment = null;
-		}
-	}
-
 	@Override
 	public void onDroneEvent(DroneEventsType event, Drone drone) {
 		super.onDroneEvent(event, drone);
@@ -363,9 +332,8 @@ private void enableSlidingUpPanel(Drone drone){
             return;
         }
 
-        final State droneState = drone.getState();
-        final boolean isEnabled = drone.getMavClient().isConnected() && droneState.isArmed()
-                && droneState.isFlying();
+        final boolean isEnabled = flightActions != null && flightActions.isSlidingUpPanelEnabled
+                (drone);
 
         if (isEnabled) {
             mSlidingPanel.setSlidingEnabled(true);
diff --git a/Android/src/org/droidplanner/android/activities/LocatorActivity.java b/Android/src/org/droidplanner/android/activities/LocatorActivity.java
new file mode 100644
index 0000000000..4b9ca4839e
--- /dev/null
+++ b/Android/src/org/droidplanner/android/activities/LocatorActivity.java
@@ -0,0 +1,332 @@
+package org.droidplanner.android.activities;
+
+import android.location.Location;
+import android.location.LocationListener;
+import android.os.Bundle;
+import android.support.v4.app.FragmentManager;
+import android.view.Menu;
+import android.view.MenuItem;
+import android.view.View;
+import android.widget.ImageButton;
+import android.widget.LinearLayout;
+import android.widget.TextView;
+
+import com.MAVLink.Messages.ardupilotmega.msg_global_position_int;
+
+import org.droidplanner.R;
+import org.droidplanner.android.dialogs.openfile.OpenFileDialog;
+import org.droidplanner.android.dialogs.openfile.OpenTLogDialog;
+import org.droidplanner.android.fragments.LocatorListFragment;
+import org.droidplanner.android.fragments.LocatorMapFragment;
+import org.droidplanner.android.utils.file.IO.TLogReader;
+import org.droidplanner.android.utils.prefs.AutoPanMode;
+import org.droidplanner.core.helpers.coordinates.Coord2D;
+import org.droidplanner.core.helpers.geoTools.GeoTools;
+
+import java.util.LinkedList;
+import java.util.List;
+
+/**
+ * This implements the map locator activity. The map locator activity allows the user to find
+ * a lost drone using last known GPS positions from the tlogs.
+ */
+public class LocatorActivity extends DrawerNavigationUI implements LocatorListFragment
+        .OnLocatorListListener, LocationListener {
+
+    private static final String STATE_LAST_SELECTED_POSITION = "STATE_LAST_SELECTED_POSITION";
+
+    private final static List<msg_global_position_int> lastPositions = new
+            LinkedList<msg_global_position_int>();
+
+    /*
+    View widgets.
+     */
+    private FragmentManager fragmentManager;
+
+    private LocatorMapFragment locatorMapFragment;
+    private LocatorListFragment locatorListFragment;
+    private LinearLayout statusView;
+    private TextView latView, lonView, distanceView, azimuthView;
+
+    private msg_global_position_int selectedMsg;
+    private Coord2D lastGCSPosition;
+    private float lastGCSBearingTo = Float.MAX_VALUE;
+    private double lastGCSAzimuth = Double.MAX_VALUE;
+
+
+    public List<msg_global_position_int> getLastPositions() {
+        return lastPositions;
+    }
+
+    @Override
+    public void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.activity_locator);
+
+        fragmentManager = getSupportFragmentManager();
+
+        locatorMapFragment = ((LocatorMapFragment) fragmentManager
+                .findFragmentById(R.id.mapFragment));
+        locatorListFragment = (LocatorListFragment) fragmentManager
+                .findFragmentById(R.id.locatorListFragment);
+
+        statusView = (LinearLayout) findViewById(R.id.statusView);
+        latView = (TextView) findViewById(R.id.latView);
+        lonView = (TextView) findViewById(R.id.lonView);
+        distanceView = (TextView) findViewById(R.id.distanceView);
+        azimuthView = (TextView) findViewById(R.id.azimuthView);
+
+        final ImageButton resetMapBearing = (ImageButton) findViewById(R.id.map_orientation_button);
+        resetMapBearing.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                if(locatorMapFragment != null) {
+                    locatorMapFragment.updateMapBearing(0);
+                }
+            }
+        });
+
+        final ImageButton zoomToFit = (ImageButton) findViewById(R.id.zoom_to_fit_button);
+        zoomToFit.setVisibility(View.VISIBLE);
+        zoomToFit.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                if(locatorMapFragment != null){
+                    locatorMapFragment.zoomToFit();
+                }
+            }
+        });
+
+        ImageButton mGoToMyLocation = (ImageButton) findViewById(R.id.my_location_button);
+        mGoToMyLocation.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                locatorMapFragment.goToMyLocation();
+            }
+        });
+        mGoToMyLocation.setOnLongClickListener(new View.OnLongClickListener() {
+            @Override
+            public boolean onLongClick(View v) {
+                locatorMapFragment.setAutoPanMode(AutoPanMode.USER);
+                return true;
+            }
+        });
+
+        ImageButton mGoToDroneLocation = (ImageButton) findViewById(R.id.drone_location_button);
+        mGoToDroneLocation.setVisibility(View.GONE);
+
+        // clear prev state if this is a fresh start
+        if(savedInstanceState == null) {
+            // fresh start
+            lastPositions.clear();
+        }
+    }
+
+    @Override
+    public void onResume(){
+        super.onResume();
+        locatorMapFragment.setLocationReceiver(this);
+    }
+
+    @Override
+    public void onPause(){
+        super.onPause();
+        locatorMapFragment.setLocationReceiver(null);
+    }
+
+    @Override
+    protected void onSaveInstanceState(Bundle outState) {
+        super.onSaveInstanceState(outState);
+
+        final int lastSelectedPosition = lastPositions.indexOf(selectedMsg);
+        outState.putInt(STATE_LAST_SELECTED_POSITION, lastSelectedPosition);
+    }
+
+    @Override
+    protected void onRestoreInstanceState(Bundle savedInstanceState) {
+        super.onRestoreInstanceState(savedInstanceState);
+
+        final int lastSelectedPosition = savedInstanceState.getInt(STATE_LAST_SELECTED_POSITION, -1);
+        if(lastSelectedPosition != -1 && lastSelectedPosition < lastPositions.size())
+            setSelectedMsg(lastPositions.get(lastSelectedPosition));
+    }
+
+    @Override
+    protected int getNavigationDrawerEntryId() {
+        return R.id.navigation_locator;
+    }
+
+    @Override
+    public boolean onCreateOptionsMenu(Menu menu) {
+        super.onCreateOptionsMenu(menu);
+
+        getMenuInflater().inflate(R.menu.menu_locator, menu);
+        return true;
+    }
+
+    @Override
+    public boolean onMenuItemSelected(int featureId, MenuItem item) {
+        switch (item.getItemId()) {
+            case R.id.menu_open_tlog_file:
+                openLogFile();
+                return true;
+
+            default:
+                return super.onMenuItemSelected(featureId, item);
+        }
+    }
+
+    private void openLogFile() {
+        OpenFileDialog tlogDialog = new OpenTLogDialog() {
+            @Override
+            public void tlogFileLoaded(TLogReader reader) {
+                loadLastPositions(reader.getLogEvents());
+                locatorMapFragment.zoomToFit();
+            }
+        };
+        tlogDialog.openDialog(this);
+    }
+
+    /*
+    Copy all messages with non-zero coords -> lastPositions and reverse the list (most recent first)
+     */
+    private void loadLastPositions(List<TLogReader.Event> logEvents) {
+        lastPositions.clear();
+
+        for (TLogReader.Event event : logEvents) {
+            final msg_global_position_int message = (msg_global_position_int) event.getMavLinkMessage();
+            if(message.lat != 0 || message.lon != 0)
+                lastPositions.add(0, message);
+        }
+
+        setSelectedMsg(null);
+        locatorListFragment.notifyDataSetChanged();
+
+        updateInfo();
+    }
+
+    @Override
+    public void onWindowFocusChanged(boolean hasFocus) {
+        super.onWindowFocusChanged(hasFocus);
+        updateMapPadding();
+    }
+
+    private void updateMapPadding() {
+        int bottomPadding = 0;
+
+        if(lastPositions.size() > 0) {
+            bottomPadding = locatorListFragment.getView().getHeight();
+        }
+
+        locatorMapFragment.setMapPadding(0, 0, 0, bottomPadding);
+    }
+
+    @Override
+    public void onBackPressed() {
+        super.onBackPressed();
+        locatorMapFragment.saveCameraPosition();
+    }
+
+    @Override
+    public void onItemClick(msg_global_position_int msg) {
+        setSelectedMsg(msg);
+
+        locatorMapFragment.zoomToFit();
+        updateInfo();
+    }
+
+    public void setSelectedMsg(msg_global_position_int msg) {
+        selectedMsg = msg;
+
+        final Coord2D msgCoord;
+        if(msg != null)
+            msgCoord = coordFromMsgGlobalPositionInt(selectedMsg);
+        else
+            msgCoord = new Coord2D(0, 0);
+        locatorMapFragment.updateLastPosition(msgCoord);
+    }
+
+    private void updateInfo() {
+        if(selectedMsg != null) {
+            statusView.setVisibility(View.VISIBLE);
+
+            // coords
+            final Coord2D msgCoord = coordFromMsgGlobalPositionInt(selectedMsg);
+
+            // distance
+            if(lastGCSPosition == null || lastGCSPosition.isEmpty()) {
+                // unknown
+                distanceView.setText(R.string.status_waiting_for_gps, TextView.BufferType.NORMAL);
+                azimuthView.setText("");
+            } else {
+                String distance = String.format("Distance: %.01fm", GeoTools.getDistance(lastGCSPosition, msgCoord).valueInMeters());
+                if(lastGCSBearingTo != Float.MAX_VALUE) {
+                    final String bearing = String.format(" @ %.0f°", lastGCSBearingTo);
+                    distance += bearing;
+                }
+                distanceView.setText(distance);
+
+                if(lastGCSAzimuth != Double.MAX_VALUE) {
+                    final String azimuth = String.format("Heading: %.0f°", lastGCSAzimuth);
+                    azimuthView.setText(azimuth);
+                }
+            }
+
+            latView.setText(String.format("Latitude: %f°", msgCoord.getLat()));
+            lonView.setText(String.format("Longitude: %f°", msgCoord.getLng()));
+        } else {
+            statusView.setVisibility(View.INVISIBLE);
+            latView.setText("");
+            lonView.setText("");
+            distanceView.setText("");
+            azimuthView.setText("");
+        }
+    }
+
+    private static Coord2D coordFromMsgGlobalPositionInt(msg_global_position_int msg) {
+        double lat = msg.lat;
+        lat /= 1E7;
+
+        double lon = msg.lon;
+        lon /= 1E7;
+
+        return new Coord2D(lat, lon);
+    }
+
+    @Override
+    public void onLocationChanged(Location location) {
+        lastGCSPosition = new Coord2D(location.getLatitude(), location.getLongitude());
+        lastGCSAzimuth = location.getBearing();
+
+        if(selectedMsg != null) {
+            final Coord2D msgCoord = coordFromMsgGlobalPositionInt(selectedMsg);
+
+            final Location target = new Location(location);
+            target.setLatitude(msgCoord.getLat());
+            target.setLongitude(msgCoord.getLng());
+
+            lastGCSBearingTo = Math.round(location.bearingTo(target));
+            lastGCSBearingTo = (lastGCSBearingTo + 360) % 360;
+        } else {
+            lastGCSBearingTo = Float.MAX_VALUE;
+        }
+
+        updateInfo();
+    }
+
+    @Override
+    public void onStatusChanged(String provider, int status, Bundle extras) {   }
+
+    @Override
+    public void onProviderEnabled(String provider) {
+    }
+
+    @Override
+    public void onProviderDisabled(String provider) {
+    }
+
+    @Override
+    public CharSequence[][] getHelpItems() {
+        return new CharSequence[0][];
+    }
+}
\ No newline at end of file
diff --git a/Android/src/org/droidplanner/android/activities/helpers/SuperUI.java b/Android/src/org/droidplanner/android/activities/helpers/SuperUI.java
index 8dd7979928..b89f186638 100644
--- a/Android/src/org/droidplanner/android/activities/helpers/SuperUI.java
+++ b/Android/src/org/droidplanner/android/activities/helpers/SuperUI.java
@@ -2,8 +2,11 @@
 
 import org.droidplanner.R;
 import org.droidplanner.android.DroidPlannerApp;
+import org.droidplanner.android.dialogs.YesNoDialog;
+import org.droidplanner.android.dialogs.YesNoWithPrefsDialog;
 import org.droidplanner.android.fragments.helpers.BTDeviceListFragment;
 import org.droidplanner.android.maps.providers.google_map.GoogleMapFragment;
+import org.droidplanner.android.proxy.mission.MissionProxy;
 import org.droidplanner.android.utils.Utils;
 import org.droidplanner.android.utils.prefs.DroidPlannerPrefs;
 import org.droidplanner.android.widgets.actionProviders.InfoBarActionProvider;
@@ -31,7 +34,7 @@ public abstract class SuperUI extends FragmentActivity implements OnDroneListene
 	public final static String ACTION_TOGGLE_DRONE_CONNECTION = SuperUI.class.getName()
 			+ ".ACTION_TOGGLE_DRONE_CONNECTION";
 
-	private ScreenOrientation screenOrientation = new ScreenOrientation(this);
+    private ScreenOrientation screenOrientation = new ScreenOrientation(this);
 	private InfoBarActionProvider infoBar;
 	private GCSHeartbeat gcsHeartbeat;
 	public DroidPlannerApp app;
@@ -49,6 +52,7 @@ public void onCreate(Bundle savedInstanceState) {
 		ActionBar actionBar = getActionBar();
 		if (actionBar != null) {
 			actionBar.setDisplayHomeAsUpEnabled(true);
+            actionBar.setHomeButtonEnabled(true);
 		}
 
 		app = (DroidPlannerApp) getApplication();
@@ -199,7 +203,31 @@ protected boolean enableMissionMenus(){
 	public boolean onOptionsItemSelected(MenuItem item) {
 		switch (item.getItemId()) {
 		case R.id.menu_send_mission:
-			drone.getMission().sendMissionToAPM();
+            final MissionProxy missionProxy = app.getMissionProxy();
+			if (drone.getMission().hasTakeoffAndLandOrRTL()) {
+                missionProxy.sendMissionToAPM();
+			} else {
+                YesNoWithPrefsDialog dialog = YesNoWithPrefsDialog.newInstance(getApplicationContext(),
+                        "Mission Upload", "Do you want to append a Takeoff and RTL to your " +
+                                "mission?", "Ok", "Skip", new YesNoDialog.Listener() {
+
+                            @Override
+                            public void onYes() {
+                                missionProxy.addTakeOffAndRTL();
+                                missionProxy.sendMissionToAPM();
+                            }
+
+                            @Override
+                            public void onNo() {
+                                missionProxy.sendMissionToAPM();
+                            }
+                        },
+                        getString(R.string.pref_auto_insert_mission_takeoff_rtl_land_key));
+
+                if(dialog != null) {
+                    dialog.show(getSupportFragmentManager(), "Mission Upload check.");
+                }
+			}
 			return true;
 
 		case R.id.menu_load_mission:
diff --git a/Android/src/org/droidplanner/android/activities/interfaces/OnEditorInteraction.java b/Android/src/org/droidplanner/android/activities/interfaces/OnEditorInteraction.java
index e581a8fe9f..87d0c035b4 100644
--- a/Android/src/org/droidplanner/android/activities/interfaces/OnEditorInteraction.java
+++ b/Android/src/org/droidplanner/android/activities/interfaces/OnEditorInteraction.java
@@ -6,7 +6,7 @@
 public interface OnEditorInteraction {
 	public boolean onItemLongClick(MissionItemProxy item);
 
-	public void onItemClick(MissionItemProxy item);
+	public void onItemClick(MissionItemProxy item, boolean zoomToFit);
 
 	public void onMapClick(Coord2D coord);
 
diff --git a/Android/src/org/droidplanner/android/communication/connection/AndroidMavLinkConnection.java b/Android/src/org/droidplanner/android/communication/connection/AndroidMavLinkConnection.java
index 5e53646726..6c38c3c0e0 100644
--- a/Android/src/org/droidplanner/android/communication/connection/AndroidMavLinkConnection.java
+++ b/Android/src/org/droidplanner/android/communication/connection/AndroidMavLinkConnection.java
@@ -58,8 +58,7 @@ protected final void openConnection() throws IOException {
 
 		// Start a new ga analytics session. The new session will be tagged
 		// with the mavlink connection mechanism, as well as whether the user
-		// has an active
-		// droneshare account.
+		// has an active droneshare account.
 		GAUtils.startNewSession(mContext);
 
 		String login = prefs.getDroneshareLogin();
diff --git a/Android/src/org/droidplanner/android/dialogs/DroneshareDialog.java b/Android/src/org/droidplanner/android/dialogs/DroneshareDialog.java
index dd2c2fa56f..c5e424e597 100644
--- a/Android/src/org/droidplanner/android/dialogs/DroneshareDialog.java
+++ b/Android/src/org/droidplanner/android/dialogs/DroneshareDialog.java
@@ -1,6 +1,7 @@
 package org.droidplanner.android.dialogs;
 
 import org.droidplanner.R;
+import org.droidplanner.android.utils.analytics.GAUtils;
 import org.droidplanner.android.utils.prefs.DroidPlannerPrefs;
 
 import android.app.AlertDialog;
@@ -13,9 +14,14 @@
 import android.view.View;
 import android.widget.EditText;
 import android.widget.RadioButton;
+import android.widget.Toast;
+
+import com.google.android.gms.analytics.HitBuilders;
 
 public class DroneshareDialog extends DialogFragment {
-	// FIXME - move to oncreate
+
+    private static final String DRONESHARE_PROMPT_ACTION = "droneshare_prompt";
+
 	private DroidPlannerPrefs prefs;
 
 	@Override
@@ -61,31 +67,63 @@ public Dialog onCreateDialog(Bundle savedInstanceState) {
 				.setPositiveButton("Ok", new DialogInterface.OnClickListener() {
 					@Override
 					public void onClick(DialogInterface dialog, int id) {
-						if (noDroneshare.isChecked())
-							prefs.setDroneshareEnabled(false);
+                        final HitBuilders.SocialBuilder socialBuilder = new HitBuilders
+                                .SocialBuilder()
+                                .setNetwork(GAUtils.Category.DRONESHARE)
+                                .setAction(DRONESHARE_PROMPT_ACTION);
+						if (noDroneshare.isChecked()) {
+                            prefs.setDroneshareEnabled(false);
+                            socialBuilder.setTarget("disabled");
+                        }
 						else {
 							prefs.setDroneshareEnabled(true);
 							prefs.setDroneshareLogin(username.getText().toString());
 							prefs.setDronesharePassword(password.getText().toString());
 							prefs.setDroneshareEmail(email.getText().toString());
+
+                            if(createNew.isChecked()){
+                                socialBuilder.setTarget("sign up");
+                            }
+                            else if(loginExisting.isChecked()){
+                                socialBuilder.setTarget("login");
+                            }
 						}
+
+                        GAUtils.sendEvent(socialBuilder);
 					}
 				});
 
 		return builder.create();
 	}
 
+    @Override
+    public void onDismiss(DialogInterface dialog){
+        super.onDismiss(dialog);
+
+        final HitBuilders.EventBuilder eventBuilder = new HitBuilders.EventBuilder()
+                .setCategory(GAUtils.Category.DRONESHARE)
+                .setAction(DRONESHARE_PROMPT_ACTION)
+                .setLabel("droneshare prompt dismissed");
+
+        GAUtils.sendEvent(eventBuilder);
+    }
+
 	static public void perhapsShow(FragmentActivity parent) {
 		DroidPlannerPrefs prefs = new DroidPlannerPrefs(parent);
 
-		int numRuns = 10; // Don't pester the user until they have played with
-							// the app some...
+		int numRuns = 10; // Don't pester the user until they have played with the app some...
 		if (prefs.getNumberOfRuns() > numRuns
 				&& prefs.getDroneshareEnabled()
 				&& (prefs.getDroneshareLogin().isEmpty() || prefs.getDronesharePassword().isEmpty())) {
-			// Create an instance of the dialog fragment and show it
+	//		Create an instance of the dialog fragment and show it
 			DialogFragment dialog = new DroneshareDialog();
 			dialog.show(parent.getSupportFragmentManager(), "DroneshareDialog");
-		}
+
+            final HitBuilders.EventBuilder eventBuilder = new HitBuilders.EventBuilder()
+                    .setCategory(GAUtils.Category.DRONESHARE)
+                    .setAction(DRONESHARE_PROMPT_ACTION)
+                    .setLabel("droneshare prompt shown");
+            GAUtils.sendEvent(eventBuilder);
+        }
 	}
 }
diff --git a/Android/src/org/droidplanner/android/dialogs/EditInputDialog.java b/Android/src/org/droidplanner/android/dialogs/EditInputDialog.java
new file mode 100644
index 0000000000..cbcee5dd6e
--- /dev/null
+++ b/Android/src/org/droidplanner/android/dialogs/EditInputDialog.java
@@ -0,0 +1,85 @@
+package org.droidplanner.android.dialogs;
+
+import android.app.AlertDialog;
+import android.content.Context;
+import android.content.DialogInterface;
+import android.os.Bundle;
+import android.view.View;
+import android.widget.EditText;
+
+import org.droidplanner.R;
+
+/**
+ * Created by fhuya on 10/14/14.
+ */
+public class EditInputDialog extends YesNoDialog {
+
+    protected static final String EXTRA_HINT = "hint";
+
+    public interface Listener {
+        void onOk(final CharSequence input);
+
+        void onCancel();
+    }
+
+    public static EditInputDialog newInstance(Context context, String title,
+                                              String hint, Listener listener){
+        EditInputDialog dialog = new EditInputDialog();
+
+        Bundle bundle = new Bundle();
+        bundle.putString(EXTRA_TITLE, title);
+
+        if(hint == null){
+            hint = "";
+        }
+        bundle.putString(EXTRA_HINT, hint);
+
+        dialog.setArguments(bundle);
+        dialog.mListener = listener;
+
+        return dialog;
+    }
+
+    protected Listener mListener;
+    private EditText mEditText;
+
+    @Override
+    protected AlertDialog.Builder buildDialog(Bundle savedInstanceState){
+        final Bundle arguments = getArguments();
+
+        final AlertDialog.Builder builder = new AlertDialog.Builder(getActivity())
+                .setTitle(arguments.getString(EXTRA_TITLE))
+                .setView(generateContentView(savedInstanceState))
+                .setPositiveButton(android.R.string.ok, new DialogInterface.OnClickListener() {
+                    @Override
+                    public void onClick(DialogInterface dialog, int which) {
+                        CharSequence input = mEditText.getText();
+                        if(input == null) input = mEditText.getHint();
+
+                        mListener.onOk(input);
+                    }
+                })
+                .setNegativeButton(android.R.string.cancel, new DialogInterface.OnClickListener() {
+                    @Override
+                    public void onClick(DialogInterface dialog, int which) {
+                        mListener.onCancel();
+                    }
+                });
+
+        return builder;
+    }
+
+    @Override
+    protected View generateContentView(Bundle savedInstanceState){
+        final View contentView = getActivity().getLayoutInflater().inflate(R.layout
+                .dialog_edit_input_content, null);
+
+        if(contentView == null)
+            return contentView;
+
+        mEditText = (EditText) contentView.findViewById(R.id.dialog_edit_text_content);
+        mEditText.setHint(getArguments().getString(EXTRA_HINT));
+
+        return contentView;
+    }
+}
diff --git a/Android/src/org/droidplanner/android/dialogs/YesNoDialog.java b/Android/src/org/droidplanner/android/dialogs/YesNoDialog.java
index e59e6c8c1f..404e6fcdcd 100644
--- a/Android/src/org/droidplanner/android/dialogs/YesNoDialog.java
+++ b/Android/src/org/droidplanner/android/dialogs/YesNoDialog.java
@@ -2,50 +2,83 @@
 
 import android.app.AlertDialog;
 import android.app.Dialog;
+import android.content.Context;
 import android.content.DialogInterface;
 import android.os.Bundle;
 import android.support.v4.app.DialogFragment;
+import android.view.View;
+import android.widget.TextView;
 
 import org.droidplanner.R;
 
 public class YesNoDialog extends DialogFragment {
 
+    protected final static String EXTRA_TITLE = "title";
+    protected final static String EXTRA_MESSAGE = "message";
+    protected final static String EXTRA_POSITIVE_LABEL = "positive_label";
+    protected final static String EXTRA_NEGATIVE_LABEL = "negative_label";
+
 	public interface Listener {
 		void onYes();
 
 		void onNo();
 	}
 
-	public static YesNoDialog newInstance(String title, String msg, Listener listener) {
+	public static YesNoDialog newInstance(Context context, String title, String msg,
+                                          Listener listener) {
 		YesNoDialog f = new YesNoDialog();
 		Bundle b = new Bundle();
-		b.putString("title", title);
-		b.putString("message", msg);
+		b.putString(EXTRA_TITLE, title);
+		b.putString(EXTRA_MESSAGE, msg);
+        b.putString(EXTRA_POSITIVE_LABEL, context.getString(android.R.string.yes));
+        b.putString(EXTRA_NEGATIVE_LABEL, context.getString(android.R.string.no));
+
 		f.setArguments(b);
 		f.mListener = listener;
 		return f;
 	}
 
-	private Listener mListener;
+	protected Listener mListener;
 
 	@Override
 	public Dialog onCreateDialog(Bundle savedInstanceState) {
-		AlertDialog.Builder b = new AlertDialog.Builder(getActivity())
-				.setIcon(R.drawable.arma)
-				.setTitle(getArguments().getString("title"))
-				.setMessage(getArguments().getString("message"))
-				.setPositiveButton(android.R.string.yes, new DialogInterface.OnClickListener() {
-					@Override
-					public void onClick(DialogInterface dialog, int which) {
-						mListener.onYes();
-					}
-				}).setNegativeButton(android.R.string.no, new DialogInterface.OnClickListener() {
-					@Override
-					public void onClick(DialogInterface dialog, int which) {
-						mListener.onNo();
-					}
-				});
-
-		return b.create();
+        return buildDialog(savedInstanceState).create();
 	}
+
+    protected AlertDialog.Builder buildDialog(Bundle savedInstanceState){
+        final Bundle arguments = getArguments();
+
+        AlertDialog.Builder b = new AlertDialog.Builder(getActivity())
+                .setIcon(R.drawable.arma)
+                .setTitle(arguments.getString(EXTRA_TITLE))
+                .setView(generateContentView(savedInstanceState))
+                .setPositiveButton(arguments.getString(EXTRA_POSITIVE_LABEL), new DialogInterface.OnClickListener() {
+                    @Override
+                    public void onClick(DialogInterface dialog, int which) {
+                        mListener.onYes();
+                    }
+                })
+                .setNegativeButton(arguments.getString(EXTRA_NEGATIVE_LABEL), new DialogInterface.OnClickListener() {
+                    @Override
+                    public void onClick(DialogInterface dialog, int which) {
+                        mListener.onNo();
+                    }
+                });
+
+        return b;
+    }
+
+    protected View generateContentView(Bundle savedInstanceState){
+        final View contentView = getActivity().getLayoutInflater().inflate(R.layout
+                .dialog_yes_no_content, null);
+
+        if(contentView == null){
+            return contentView;
+        }
+
+        final TextView messageView = (TextView) contentView.findViewById(R.id.yes_no_message);
+        messageView.setText(getArguments().getString(EXTRA_MESSAGE));
+
+        return contentView;
+    }
 }
diff --git a/Android/src/org/droidplanner/android/dialogs/YesNoWithPrefsDialog.java b/Android/src/org/droidplanner/android/dialogs/YesNoWithPrefsDialog.java
new file mode 100644
index 0000000000..c4d88fabff
--- /dev/null
+++ b/Android/src/org/droidplanner/android/dialogs/YesNoWithPrefsDialog.java
@@ -0,0 +1,152 @@
+package org.droidplanner.android.dialogs;
+
+import android.app.AlertDialog;
+import android.content.Context;
+import android.content.DialogInterface;
+import android.content.SharedPreferences;
+import android.os.Bundle;
+import android.preference.Preference;
+import android.view.View;
+import android.widget.CheckBox;
+import android.widget.Toast;
+
+import org.droidplanner.R;
+import org.droidplanner.android.utils.prefs.DroidPlannerPrefs;
+
+/**
+ * Provides a yes/no (ok/cancel) dialog with the option to permanently disable
+ * the dialog with a checkbox.
+ */
+public class YesNoWithPrefsDialog extends YesNoDialog {
+
+    private final static int PREFERENCE_ASK_ID = R.string.pref_dialog_entry_ask;
+    private final static int PREFERENCE_ALWAYS_ID = R.string.pref_dialog_entry_always;
+    private final static int PREFERENCE_NEVER_ID = R.string.pref_dialog_entry_never;
+
+    private final static int DEFAULT_PREFERENCE_ID = PREFERENCE_ASK_ID;
+
+	protected final static String EXTRA_PREF_KEY = "extra_dialog_pref_key";
+
+
+    public static YesNoWithPrefsDialog newInstance(Context context, String title,
+			String msg, Listener listener, String prefKey) {
+        return newInstance(context, title, msg, context.getString(android.R.string.yes),
+                context.getString(android.R.string.no), listener, prefKey);
+	}
+
+    public static YesNoWithPrefsDialog newInstance(Context context, String title, String msg,
+                                                   String positiveLabel, String negativeLabel,
+                                                   Listener listener, String prefKey){
+        if (prefKey != null && !prefKey.isEmpty()) {
+            final DroidPlannerPrefs prefs = new DroidPlannerPrefs(context);
+            final String preference = prefs.prefs.getString(prefKey,
+                    context.getString(DEFAULT_PREFERENCE_ID));
+
+            if(!preference.equals(context.getString(PREFERENCE_ASK_ID))) {
+                if(listener != null){
+                    if (preference.equals(context.getString(PREFERENCE_ALWAYS_ID))) {
+                        listener.onYes();
+                    }
+                    else if(preference.equals(context.getString(PREFERENCE_NEVER_ID))){
+                        listener.onNo();
+                    }
+                }
+
+                return null;
+            }
+        }
+
+        YesNoWithPrefsDialog dialog = new YesNoWithPrefsDialog();
+
+        Bundle b = new Bundle();
+        b.putString(EXTRA_TITLE, title);
+        b.putString(EXTRA_MESSAGE, msg);
+        b.putString(EXTRA_POSITIVE_LABEL, positiveLabel);
+        b.putString(EXTRA_NEGATIVE_LABEL, negativeLabel);
+        b.putString(EXTRA_PREF_KEY, prefKey);
+
+        dialog.setArguments(b);
+
+        dialog.mListener = listener;
+
+        return dialog;
+    }
+
+	protected DroidPlannerPrefs mPrefs;
+    protected CheckBox mCheckbox;
+
+	@Override
+	public void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);
+		mPrefs = new DroidPlannerPrefs(getActivity());
+	}
+
+	@Override
+	protected AlertDialog.Builder buildDialog(Bundle savedInstanceState) {
+		final AlertDialog.Builder builder = super.buildDialog(savedInstanceState);
+
+        final Bundle arguments = getArguments();
+		final String prefKey = arguments.getString(EXTRA_PREF_KEY);
+		if (prefKey == null || prefKey.isEmpty()) {
+			return builder;
+		}
+
+		builder.setPositiveButton(arguments.getString(EXTRA_POSITIVE_LABEL), new DialogInterface.OnClickListener() {
+			@Override
+			public void onClick(DialogInterface dialog, int which) {
+                savePreferences(prefKey, true);
+				mListener.onYes();
+			}
+		}).setNegativeButton(arguments.getString(EXTRA_NEGATIVE_LABEL), new DialogInterface.OnClickListener() {
+			@Override
+			public void onClick(DialogInterface dialog, int which) {
+                savePreferences(prefKey, false);
+				mListener.onNo();
+			}
+		});
+
+		return builder;
+	}
+
+    private void savePreferences(final String prefKey, final boolean isPositiveResponse){
+        if(mCheckbox != null) {
+            final SharedPreferences.Editor editor = mPrefs.prefs.edit();
+            if(mCheckbox.isChecked()){
+                Toast.makeText(getActivity(), R.string.pref_dialog_selection_reset_desc, Toast.LENGTH_LONG).show();
+                        editor.putString(prefKey,
+                                getString(isPositiveResponse ? PREFERENCE_ALWAYS_ID : PREFERENCE_NEVER_ID));
+            }
+            else{
+                editor.putString(prefKey, getString(PREFERENCE_ASK_ID));
+            }
+
+            editor.apply();
+        }
+    }
+
+	@Override
+	protected View generateContentView(Bundle savedInstanceState) {
+		final View contentView = super.generateContentView(savedInstanceState);
+		if (contentView == null) {
+			return null;
+		}
+
+		final String prefKey = getArguments().getString(EXTRA_PREF_KEY);
+		if (prefKey == null || prefKey.isEmpty()) {
+			return contentView;
+		}
+
+		mCheckbox = (CheckBox) contentView.findViewById(R.id.yes_no_dont_show_checkbox);
+		mCheckbox.setVisibility(View.VISIBLE);
+		mCheckbox.setChecked(isDontShowEnabled(prefKey));
+
+		return contentView;
+	}
+
+    private boolean isDontShowEnabled(String prefKey){
+        final String askSelection = getString(R.string.pref_dialog_entry_ask);
+        final String preference = mPrefs.prefs.getString(prefKey, askSelection);
+
+        return !preference.equals(askSelection);
+    }
+}
diff --git a/Android/src/org/droidplanner/android/dialogs/openfile/OpenFileDialog.java b/Android/src/org/droidplanner/android/dialogs/openfile/OpenFileDialog.java
index 67dfc914ba..6d8c4a6458 100644
--- a/Android/src/org/droidplanner/android/dialogs/openfile/OpenFileDialog.java
+++ b/Android/src/org/droidplanner/android/dialogs/openfile/OpenFileDialog.java
@@ -3,11 +3,15 @@
 import org.droidplanner.R;
 
 import android.app.AlertDialog;
+import android.app.ProgressDialog;
 import android.content.Context;
 import android.content.DialogInterface;
 import android.content.DialogInterface.OnClickListener;
+import android.os.AsyncTask;
 import android.widget.Toast;
 
+import java.lang.ref.WeakReference;
+
 public abstract class OpenFileDialog implements OnClickListener {
 
 	public interface FileReader {
@@ -43,15 +47,59 @@ public void openDialog(Context context) {
 
 	@Override
 	public void onClick(DialogInterface dialog, int which) {
-		boolean isFileOpen = reader.openFile(reader.getPath() + itemList[which]);
+        final String filename = reader.getPath() + itemList[which];
+        new OpenFileAsyncTask(this).execute(filename);
+	}
 
-		if (isFileOpen) {
-			Toast.makeText(context, itemList[which], Toast.LENGTH_LONG).show();
-		} else {
-			Toast.makeText(context, R.string.error_when_opening_file, Toast.LENGTH_SHORT).show();
-		}
+    private static class OpenFileAsyncTask extends AsyncTask<String, Void, Boolean> {
 
-		onDataLoaded(reader);
-	}
+        private final WeakReference<OpenFileDialog> containerRef;
+        private final ProgressDialog progressDialog;
+
+        public OpenFileAsyncTask(OpenFileDialog dialog){
+            containerRef = new WeakReference<OpenFileDialog>(dialog);
+            progressDialog = new ProgressDialog(dialog.context);
+            progressDialog.setIndeterminate(true);
+            progressDialog.setProgressStyle(ProgressDialog.STYLE_HORIZONTAL);
+        }
+
+        @Override
+        protected void onPreExecute(){
+            progressDialog.show();
+        }
+
+        @Override
+        protected Boolean doInBackground(String... params) {
+            final OpenFileDialog ref = containerRef.get();
+            if(ref == null) return Boolean.FALSE;
+
+            final String filename = params[0];
+
+            boolean isFileOpen = ref.reader.openFile(filename);
+            return isFileOpen;
+        }
+
+        @Override
+        protected void onCancelled(){
+            progressDialog.dismiss();
+        }
+
+        @Override
+        protected void onPostExecute(Boolean result){
+            final OpenFileDialog ref = containerRef.get();
+            if(ref != null){
+                if (result) {
+                    Toast.makeText(ref.context, R.string.status_file_opened, Toast.LENGTH_LONG).show();
+                } else {
+                    Toast.makeText(ref.context, R.string.error_when_opening_file,
+                            Toast.LENGTH_SHORT).show();
+                }
+
+                ref.onDataLoaded(ref.reader);
+            }
+
+            progressDialog.dismiss();
+        }
+    }
 
 }
\ No newline at end of file
diff --git a/Android/src/org/droidplanner/android/dialogs/openfile/OpenTLogDialog.java b/Android/src/org/droidplanner/android/dialogs/openfile/OpenTLogDialog.java
new file mode 100644
index 0000000000..673a10c41d
--- /dev/null
+++ b/Android/src/org/droidplanner/android/dialogs/openfile/OpenTLogDialog.java
@@ -0,0 +1,19 @@
+package org.droidplanner.android.dialogs.openfile;
+
+import com.MAVLink.Messages.ardupilotmega.msg_global_position_int;
+
+import org.droidplanner.android.utils.file.IO.TLogReader;
+
+public abstract class OpenTLogDialog extends OpenFileDialog {
+    public abstract void tlogFileLoaded(TLogReader reader);
+
+    @Override
+    protected FileReader createReader() {
+        return new TLogReader(msg_global_position_int.MAVLINK_MSG_ID_GLOBAL_POSITION_INT);
+    }
+
+    @Override
+    protected void onDataLoaded(FileReader reader) {
+        tlogFileLoaded((TLogReader) reader);
+    }
+}
\ No newline at end of file
diff --git a/Android/src/org/droidplanner/android/fragments/CopterFlightActionsFragment.java b/Android/src/org/droidplanner/android/fragments/CopterFlightActionsFragment.java
new file mode 100644
index 0000000000..7b85d6548f
--- /dev/null
+++ b/Android/src/org/droidplanner/android/fragments/CopterFlightActionsFragment.java
@@ -0,0 +1,389 @@
+package org.droidplanner.android.fragments;
+
+import android.graphics.Color;
+import android.os.Bundle;
+import android.support.v4.app.Fragment;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.Button;
+import android.widget.Toast;
+
+import com.MAVLink.Messages.ApmModes;
+import com.google.android.gms.analytics.HitBuilders;
+
+import org.droidplanner.R;
+import org.droidplanner.android.DroidPlannerApp;
+import org.droidplanner.android.activities.helpers.SuperUI;
+import org.droidplanner.android.dialogs.YesNoDialog;
+import org.droidplanner.android.dialogs.YesNoWithPrefsDialog;
+import org.droidplanner.android.utils.analytics.GAUtils;
+import org.droidplanner.core.MAVLink.MavLinkArm;
+import org.droidplanner.core.drone.DroneInterfaces;
+import org.droidplanner.core.drone.variables.State;
+import org.droidplanner.core.gcs.follow.Follow;
+import org.droidplanner.core.helpers.units.Altitude;
+import org.droidplanner.core.model.Drone;
+
+/**
+ * Provide functionality for flight action button specific to copters.
+ */
+public class CopterFlightActionsFragment extends Fragment implements View.OnClickListener,
+        DroneInterfaces.OnDroneListener, FlightActionsFragment.SlidingUpHeader {
+
+    private static final String ACTION_FLIGHT_ACTION_BUTTON = "Copter flight action button";
+    private static final double TAKEOFF_ALTITUDE = 10.0;
+
+    private Drone drone;
+
+    private Follow followMe;
+
+    private View mDisconnectedButtons;
+    private View mDisarmedButtons;
+    private View mArmedButtons;
+    private View mInFlightButtons;
+
+    private Button followBtn;
+    private Button homeBtn;
+    private Button landBtn;
+    private Button pauseBtn;
+    private Button autoBtn;
+
+    @Override
+    public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
+        View view = inflater.inflate(R.layout.fragment_copter_mission_control, container, false);
+
+        DroidPlannerApp droidPlannerApp = (DroidPlannerApp) getActivity().getApplication();
+        drone = droidPlannerApp.getDrone();
+        followMe = droidPlannerApp.getFollowMe();
+        return view;
+    }
+
+    @Override
+    public void onViewCreated(View view, Bundle savedInstanceState) {
+        super.onViewCreated(view, savedInstanceState);
+
+        mDisconnectedButtons = view.findViewById(R.id.mc_disconnected_buttons);
+        mDisarmedButtons = view.findViewById(R.id.mc_disarmed_buttons);
+        mArmedButtons = view.findViewById(R.id.mc_armed_buttons);
+        mInFlightButtons = view.findViewById(R.id.mc_in_flight_buttons);
+
+        final Button connectBtn = (Button) view.findViewById(R.id.mc_connectBtn);
+        connectBtn.setOnClickListener(this);
+
+        homeBtn = (Button) view.findViewById(R.id.mc_homeBtn);
+        homeBtn.setOnClickListener(this);
+
+        final Button armBtn = (Button) view.findViewById(R.id.mc_armBtn);
+        armBtn.setOnClickListener(this);
+
+        final Button disarmBtn = (Button) view.findViewById(R.id.mc_disarmBtn);
+        disarmBtn.setOnClickListener(this);
+
+        landBtn = (Button) view.findViewById(R.id.mc_land);
+        landBtn.setOnClickListener(this);
+
+        final Button takeoffBtn = (Button) view.findViewById(R.id.mc_takeoff);
+        takeoffBtn.setOnClickListener(this);
+
+        pauseBtn = (Button) view.findViewById(R.id.mc_pause);
+        pauseBtn.setOnClickListener(this);
+
+        autoBtn = (Button) view.findViewById(R.id.mc_autoBtn);
+        autoBtn.setOnClickListener(this);
+
+        final Button takeoffInAuto = (Button) view.findViewById(R.id.mc_TakeoffInAutoBtn);
+        takeoffInAuto.setOnClickListener(this);
+
+        followBtn = (Button) view.findViewById(R.id.mc_follow);
+        followBtn.setOnClickListener(this);
+
+        final Button dronieBtn = (Button) view.findViewById(R.id.mc_dronieBtn);
+        dronieBtn.setOnClickListener(this);
+    }
+
+    @Override
+    public void onStart(){
+        super.onStart();
+        setupButtonsByFlightState();
+        updateFlightModeButtons();
+        updateFollowButton();
+        drone.addDroneListener(this);
+    }
+
+    @Override
+    public void onStop(){
+        super.onStop();
+        drone.removeDroneListener(this);
+    }
+
+    @Override
+    public void onClick(View v) {
+        HitBuilders.EventBuilder eventBuilder = new HitBuilders.EventBuilder()
+                .setCategory(GAUtils.Category.FLIGHT);
+
+        switch (v.getId()) {
+            case R.id.mc_connectBtn:
+                ((SuperUI) getActivity()).toggleDroneConnection();
+                break;
+
+            case R.id.mc_armBtn:
+                getArmingConfirmation();
+                eventBuilder.setAction(ACTION_FLIGHT_ACTION_BUTTON).setLabel("Arm");
+                break;
+
+            case R.id.mc_disarmBtn:
+                MavLinkArm.sendArmMessage(drone, false);
+                eventBuilder.setAction(ACTION_FLIGHT_ACTION_BUTTON).setLabel("Disarm");
+                break;
+
+            case R.id.mc_land:
+                drone.getState().changeFlightMode(ApmModes.ROTOR_LAND);
+                eventBuilder.setAction(ACTION_FLIGHT_ACTION_BUTTON).setLabel(ApmModes.ROTOR_LAND.getName());
+                break;
+
+            case R.id.mc_takeoff:
+                drone.getState().doTakeoff(new Altitude(TAKEOFF_ALTITUDE));
+                eventBuilder.setAction(ACTION_FLIGHT_ACTION_BUTTON).setLabel("Takeoff");
+                break;
+
+            case R.id.mc_homeBtn:
+                drone.getState().changeFlightMode(ApmModes.ROTOR_RTL);
+                eventBuilder.setAction(ACTION_FLIGHT_ACTION_BUTTON).setLabel(ApmModes.ROTOR_RTL.getName());
+                break;
+
+            case R.id.mc_pause:
+                if (followMe.isEnabled()) {
+                    followMe.toggleFollowMeState();
+                }
+
+                drone.getGuidedPoint().pauseAtCurrentLocation();
+                eventBuilder.setAction(ACTION_FLIGHT_ACTION_BUTTON).setLabel("Pause");
+                break;
+
+            case R.id.mc_autoBtn:
+                drone.getState().changeFlightMode(ApmModes.ROTOR_AUTO);
+                eventBuilder.setAction(ACTION_FLIGHT_ACTION_BUTTON).setLabel(ApmModes.ROTOR_AUTO.getName());
+                break;
+
+            case R.id.mc_TakeoffInAutoBtn:
+                getTakeOffInAutoConfirmation();
+                eventBuilder.setAction(ACTION_FLIGHT_ACTION_BUTTON).setLabel(ApmModes.ROTOR_AUTO.getName());
+                break;
+
+            case R.id.mc_follow:
+                followMe.toggleFollowMeState();
+                String eventLabel = null;
+
+                switch (followMe.getState()) {
+                    case FOLLOW_START:
+                        eventLabel = "FollowMe enabled";
+                        break;
+
+                    case FOLLOW_RUNNING:
+                        eventLabel = "FollowMe running";
+                        break;
+
+                    case FOLLOW_END:
+                        eventLabel = "FollowMe disabled";
+                        break;
+
+                    case FOLLOW_INVALID_STATE:
+                        eventLabel = "FollowMe error: invalid state";
+                        break;
+
+                    case FOLLOW_DRONE_DISCONNECTED:
+                        eventLabel = "FollowMe error: drone not connected";
+                        break;
+
+                    case FOLLOW_DRONE_NOT_ARMED:
+                        eventLabel = "FollowMe error: drone not armed";
+                        break;
+                }
+
+                if (eventLabel != null) {
+                    eventBuilder.setAction(ACTION_FLIGHT_ACTION_BUTTON).setLabel(eventLabel);
+                    Toast.makeText(getActivity(), eventLabel, Toast.LENGTH_SHORT).show();
+                }
+                break;
+
+            case R.id.mc_dronieBtn:
+                drone.getMission().makeAndUploadDronie();
+                eventBuilder.setAction(ACTION_FLIGHT_ACTION_BUTTON).setLabel("Dronie uploaded");
+                break;
+
+            default:
+                eventBuilder = null;
+                break;
+        }
+
+        if (eventBuilder != null) {
+            GAUtils.sendEvent(eventBuilder);
+        }
+
+    }
+
+    private void getTakeOffInAutoConfirmation() {
+        YesNoWithPrefsDialog ynd = YesNoWithPrefsDialog.newInstance(getActivity()
+                .getApplicationContext(), getString(R.string.dialog_confirm_take_off_in_auto_title),
+                getString(R.string.dialog_confirm_take_off_in_auto_msg), new YesNoDialog.Listener() {
+            @Override
+            public void onYes() {
+                drone.getState().doTakeoff(new Altitude(TAKEOFF_ALTITUDE));
+                drone.getState().changeFlightMode(ApmModes.ROTOR_AUTO);
+            }
+
+            @Override
+            public void onNo() {
+            }
+        }, getString(R.string.pref_warn_on_takeoff_in_auto_key));
+
+        if(ynd != null){
+            ynd.show(getChildFragmentManager(), "Confirm take off in auto");
+        }
+    }
+
+    private void getArmingConfirmation() {
+        YesNoWithPrefsDialog ynd = YesNoWithPrefsDialog.newInstance(getActivity().getApplicationContext(),
+                getString(R.string.dialog_confirm_arming_title),
+                getString(R.string.dialog_confirm_arming_msg), new YesNoDialog.Listener() {
+                    @Override
+                    public void onYes() {
+                        MavLinkArm.sendArmMessage(drone, true);
+                    }
+
+                    @Override
+                    public void onNo() {}
+                }, getString(R.string.pref_warn_on_arm_key));
+
+        if(ynd != null) {
+            ynd.show(getChildFragmentManager(), "Confirm arming");
+        }
+    }
+
+    @Override
+    public void onDroneEvent(DroneInterfaces.DroneEventsType event, Drone drone) {
+        switch (event) {
+            case ARMING:
+            case CONNECTED:
+            case DISCONNECTED:
+            case STATE:
+                setupButtonsByFlightState();
+                break;
+
+            case MODE:
+                updateFlightModeButtons();
+                break;
+
+            case FOLLOW_START:
+            case FOLLOW_STOP:
+            case FOLLOW_UPDATE:
+                updateFlightModeButtons();
+                updateFollowButton();
+                break;
+
+            default:
+                break;
+        }
+    }
+
+    private void updateFlightModeButtons() {
+        resetFlightModeButtons();
+
+        final ApmModes flightMode = drone.getState().getMode();
+        switch (flightMode) {
+            case ROTOR_AUTO:
+                autoBtn.setActivated(true);
+                break;
+
+            case ROTOR_GUIDED:
+                if (drone.getGuidedPoint().isIdle() && !followMe.isEnabled()) {
+                    pauseBtn.setActivated(true);
+                }
+                break;
+
+            case ROTOR_RTL:
+                homeBtn.setActivated(true);
+                break;
+
+            case ROTOR_LAND:
+                landBtn.setActivated(true);
+                break;
+            default:
+                break;
+        }
+    }
+
+    private void resetFlightModeButtons() {
+        homeBtn.setActivated(false);
+        landBtn.setActivated(false);
+        pauseBtn.setActivated(false);
+        autoBtn.setActivated(false);
+    }
+
+    private void updateFollowButton() {
+        switch (followMe.getState()) {
+            case FOLLOW_START:
+                followBtn.setBackgroundColor(Color.RED);
+                break;
+            case FOLLOW_RUNNING:
+                followBtn.setActivated(true);
+                followBtn.setBackgroundResource(R.drawable.flight_action_row_bg_selector);
+                break;
+            default:
+                followBtn.setActivated(false);
+                followBtn.setBackgroundResource(R.drawable.flight_action_row_bg_selector);
+                break;
+        }
+    }
+
+    private void resetButtonsContainerVisibility() {
+        mDisconnectedButtons.setVisibility(View.GONE);
+        mDisarmedButtons.setVisibility(View.GONE);
+        mArmedButtons.setVisibility(View.GONE);
+        mInFlightButtons.setVisibility(View.GONE);
+    }
+
+    private void setupButtonsByFlightState() {
+        if (drone.getMavClient().isConnected()) {
+            if (drone.getState().isArmed()) {
+                if (drone.getState().isFlying()) {
+                    setupButtonsForFlying();
+                } else {
+                    setupButtonsForArmed();
+                }
+            } else {
+                setupButtonsForDisarmed();
+            }
+        } else {
+            setupButtonsForDisconnected();
+        }
+    }
+
+    private void setupButtonsForDisconnected() {
+        resetButtonsContainerVisibility();
+        mDisconnectedButtons.setVisibility(View.VISIBLE);
+    }
+
+    private void setupButtonsForDisarmed() {
+        resetButtonsContainerVisibility();
+        mDisarmedButtons.setVisibility(View.VISIBLE);
+    }
+
+    private void setupButtonsForArmed() {
+        resetButtonsContainerVisibility();
+        mArmedButtons.setVisibility(View.VISIBLE);
+    }
+
+    private void setupButtonsForFlying() {
+        resetButtonsContainerVisibility();
+        mInFlightButtons.setVisibility(View.VISIBLE);
+    }
+
+    @Override
+    public boolean isSlidingUpPanelEnabled(Drone drone) {
+        final State droneState = drone.getState();
+        return drone.getMavClient().isConnected() && droneState.isArmed()
+                && droneState.isFlying();
+    }
+}
diff --git a/Android/src/org/droidplanner/android/fragments/DroneMap.java b/Android/src/org/droidplanner/android/fragments/DroneMap.java
index ef0f4d091d..534b94ce33 100644
--- a/Android/src/org/droidplanner/android/fragments/DroneMap.java
+++ b/Android/src/org/droidplanner/android/fragments/DroneMap.java
@@ -42,6 +42,7 @@ public void run() {
 
 			final boolean isThereMissionMarkers = !missionMarkerInfos.isEmpty();
 			final boolean isHomeValid = home.isValid();
+            final boolean isGuidedVisible = guided.isVisible();
 
 			// Get the list of markers currently on the map.
 			final Set<MarkerInfo> markersOnTheMap = mMapFragment.getMarkerInfoList();
@@ -51,6 +52,10 @@ public void run() {
 					markersOnTheMap.remove(home);
 				}
 
+                if(isGuidedVisible){
+                    markersOnTheMap.remove(guided);
+                }
+
 				if (isThereMissionMarkers) {
 					markersOnTheMap.removeAll(missionMarkerInfos);
 				}
@@ -62,6 +67,10 @@ public void run() {
 				mMapFragment.updateMarker(home);
 			}
 
+            if(isGuidedVisible){
+                mMapFragment.updateMarker(guided);
+            }
+
 			if (isThereMissionMarkers) {
 				mMapFragment.updateMarkers(missionMarkerInfos, isMissionDraggable());
 			}
@@ -92,7 +101,7 @@ public View onCreateView(LayoutInflater inflater, ViewGroup viewGroup, Bundle bu
 		final Activity activity = getActivity();
 		final DroidPlannerApp app = ((DroidPlannerApp) activity.getApplication());
 		drone = app.getDrone();
-		missionProxy = app.missionProxy;
+		missionProxy = app.getMissionProxy();
 
 		home = new GraphicHome(drone);
 		graphicDrone = new GraphicDrone(drone);
@@ -254,4 +263,11 @@ public void updateMapBearing(float bearing){
         mMapFragment.updateCameraBearing(bearing);
     }
 
+    /**
+     * Ignore marker clicks on the map and instead report the event as a mapClick
+     * @param skip if it should skip further events
+     */
+    public void skipMarkerClickEvents(boolean skip){
+    	mMapFragment.skipMarkerClickEvents(skip);
+    }
 }
diff --git a/Android/src/org/droidplanner/android/fragments/EditorListFragment.java b/Android/src/org/droidplanner/android/fragments/EditorListFragment.java
index cb382ee0b7..3af824d07c 100644
--- a/Android/src/org/droidplanner/android/fragments/EditorListFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/EditorListFragment.java
@@ -46,7 +46,7 @@ public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle sa
 
 		DroidPlannerApp app = ((DroidPlannerApp) getActivity().getApplication());
 		drone = app.getDrone();
-		missionProxy = app.missionProxy;
+		missionProxy = app.getMissionProxy();
 		adapter = new MissionItemProxyView(getActivity(), missionProxy.getItems());
 
 		list = (HListView) view.findViewById(R.id.mission_item_list);
@@ -110,7 +110,7 @@ public void updateViewVisibility() {
 	@Override
 	public void onItemClick(AdapterView<?> adapter, View view, int position, long id) {
 		MissionItemProxy missionItem = (MissionItemProxy) adapter.getItemAtPosition(position);
-		editorListener.onItemClick(missionItem);
+		editorListener.onItemClick(missionItem, true);
 	}
 
 	@Override
diff --git a/Android/src/org/droidplanner/android/fragments/EditorMapFragment.java b/Android/src/org/droidplanner/android/fragments/EditorMapFragment.java
index e3eeb63ac2..8be6a5ebda 100644
--- a/Android/src/org/droidplanner/android/fragments/EditorMapFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/EditorMapFragment.java
@@ -23,8 +23,6 @@
 public class EditorMapFragment extends DroneMap implements DPMap.OnMapLongClickListener,
 		DPMap.OnMarkerDragListener, DPMap.OnMapClickListener, DPMap.OnMarkerClickListener {
 
-	// public MapPath polygonPath;
-	// public CameraGroundOverlays cameraOverlays;
 	private OnEditorInteraction editorListener;
 
 	@Override
@@ -36,16 +34,11 @@ public View onCreateView(LayoutInflater inflater, ViewGroup viewGroup, Bundle bu
 		mMapFragment.setOnMapClickListener(this);
 		mMapFragment.setOnMapLongClickListener(this);
 
-		// TODO: figure out if it's still needed
-		// polygonPath = new MapPath(mMap, Color.BLACK, getResources());
-		// cameraOverlays = new CameraGroundOverlays(mMap);
-
 		return view;
 	}
 
 	@Override
 	public void onMapLongClick(Coord2D point) {
-		// mListener.onAddPoint(point);
 	}
 
 	@Override
@@ -66,13 +59,6 @@ private void checkForWaypointMarkerMoving(MarkerInfo markerInfo) {
 			SpatialCoordItem waypoint = (SpatialCoordItem) markerInfo;
 			waypoint.setPosition(position);
 
-			/*
-			 * // update info window if(dragging)
-			 * waypoint.updateDistanceFromPrevPoint(); else
-			 * waypoint.setPrevPoint(mission.getWaypoints());
-			 * updateInfoWindow(waypoint, marker);
-			 */
-
 			// update flight path
 			mMapFragment.updateMissionPath(missionProxy);
 		}
@@ -81,7 +67,6 @@ private void checkForWaypointMarkerMoving(MarkerInfo markerInfo) {
 	@Override
 	public void onMarkerDragEnd(MarkerInfo markerInfo) {
 		checkForWaypointMarker(markerInfo);
-		checkForPolygonMarker();
 	}
 
 	private void checkForWaypointMarker(MarkerInfo markerInfo) {
@@ -92,13 +77,11 @@ private void checkForWaypointMarker(MarkerInfo markerInfo) {
 		}
 	}
 
-	private void checkForPolygonMarker() {
-		/*
-		 * if (PolygonPoint.class.isInstance(info)) {
-		 * Listener.onMovePolygonPoint((PolygonPoint)
-		 * info,marker.getPosition()); }
-		 */
-	}
+    @Override
+    public void onStart(){
+        super.onStart();
+        zoomToFit();
+    }
 
 	@Override
 	public void onMapClick(Coord2D point) {
@@ -124,7 +107,7 @@ public boolean setAutoPanMode(AutoPanMode target) {
 	@Override
 	public boolean onMarkerClick(MarkerInfo info) {
 		if (info instanceof MissionItemMarkerInfo) {
-			editorListener.onItemClick(((MissionItemMarkerInfo) info).getMarkerOrigin());
+			editorListener.onItemClick(((MissionItemMarkerInfo) info).getMarkerOrigin(), false);
 			return true;
 		} else {
 			return false;
@@ -145,7 +128,13 @@ public void zoomToFit() {
 		if (homeCoord != null && !homeCoord.isEmpty())
 			visibleCoords.add(homeCoord);
 
-		mMapFragment.zoomToFit(visibleCoords);
+        zoomToFit(visibleCoords);
 	}
 
+    public void zoomToFit(List<Coord2D> itemsToFit){
+        if(!itemsToFit.isEmpty()){
+            mMapFragment.zoomToFit(itemsToFit);
+        }
+    }
+
 }
diff --git a/Android/src/org/droidplanner/android/fragments/EditorToolsFragment.java b/Android/src/org/droidplanner/android/fragments/EditorToolsFragment.java
index ae1840f1b0..4f39daad98 100644
--- a/Android/src/org/droidplanner/android/fragments/EditorToolsFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/EditorToolsFragment.java
@@ -93,7 +93,7 @@ public void onAttach(Activity activity) {
 					+ OnEditorToolSelected.class.getName());
 		}
 
-		mMissionProxy = ((DroidPlannerApp) activity.getApplication()).missionProxy;
+		mMissionProxy = ((DroidPlannerApp) activity.getApplication()).getMissionProxy();
 
 		listener = (OnEditorToolSelected) activity;
 	}
@@ -189,7 +189,7 @@ private void setTool(EditorTools tool, boolean notifyListeners) {
 	 * @param tool
 	 *            selected tool.
 	 */
-	private void setToolAndUpdateView(EditorTools tool) {
+	public void setToolAndUpdateView(EditorTools tool) {
 		setTool(tool, false);
 		mEditorRadioGroup.check(getViewForTool(tool));
 	}
diff --git a/Android/src/org/droidplanner/android/fragments/FlightActionsFragment.java b/Android/src/org/droidplanner/android/fragments/FlightActionsFragment.java
index 73424438af..b256cf64a5 100644
--- a/Android/src/org/droidplanner/android/fragments/FlightActionsFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/FlightActionsFragment.java
@@ -4,10 +4,13 @@
 import org.droidplanner.android.DroidPlannerApp;
 import org.droidplanner.android.activities.helpers.SuperUI;
 import org.droidplanner.android.dialogs.YesNoDialog;
+import org.droidplanner.android.dialogs.YesNoWithPrefsDialog;
 import org.droidplanner.android.utils.analytics.GAUtils;
 import org.droidplanner.core.MAVLink.MavLinkArm;
+import org.droidplanner.core.drone.DroneInterfaces;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
+import org.droidplanner.core.drone.variables.Type;
 import org.droidplanner.core.gcs.follow.Follow;
 import org.droidplanner.core.helpers.units.Altitude;
 import org.droidplanner.core.model.Drone;
@@ -16,6 +19,7 @@
 import android.graphics.Color;
 import android.os.Bundle;
 import android.support.v4.app.Fragment;
+import android.support.v4.app.FragmentManager;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.View.OnClickListener;
@@ -26,338 +30,66 @@
 import com.MAVLink.Messages.ApmModes;
 import com.google.android.gms.analytics.HitBuilders;
 
-public class FlightActionsFragment extends Fragment implements OnClickListener, OnDroneListener {
-
-	private static final double TAKEOFF_ALTITUDE = 10.0;
-
-	public interface OnMissionControlInteraction {
-		public void onJoystickSelected();
-	}
-
-	private Drone drone;
-	private OnMissionControlInteraction listener;
-
-	private Follow followMe;
-
-	private View mDisconnectedButtons;
-	private View mDisarmedButtons;
-	private View mArmedButtons;
-	private View mInFlightButtons;
-
-	private Button followBtn;
-	private Button homeBtn;
-	private Button landBtn;
-	private Button pauseBtn;
-	private Button autoBtn;
-
-	@Override
-	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-		View view = inflater.inflate(R.layout.fragment_mission_control, container, false);
-
-		DroidPlannerApp droidPlannerApp = (DroidPlannerApp) getActivity().getApplication();
-		drone = droidPlannerApp.getDrone();
-		followMe = droidPlannerApp.followMe;
-		return view;
-	}
-
-	@Override
-	public void onViewCreated(View view, Bundle savedInstanceState) {
-		super.onViewCreated(view, savedInstanceState);
-
-		mDisconnectedButtons = view.findViewById(R.id.mc_disconnected_buttons);
-		mDisarmedButtons = view.findViewById(R.id.mc_disarmed_buttons);
-		mArmedButtons = view.findViewById(R.id.mc_armed_buttons);
-		mInFlightButtons = view.findViewById(R.id.mc_in_flight_buttons);
-
-		final Button joystickBtn = (Button) view.findViewById(R.id.mc_joystickBtn);
-		joystickBtn.setOnClickListener(this);
-
-		final Button connectBtn = (Button) view.findViewById(R.id.mc_connectBtn);
-		connectBtn.setOnClickListener(this);
-
-		homeBtn = (Button) view.findViewById(R.id.mc_homeBtn);
-		homeBtn.setOnClickListener(this);
-
-		final Button armBtn = (Button) view.findViewById(R.id.mc_armBtn);
-		armBtn.setOnClickListener(this);
-
-		final Button disarmBtn = (Button) view.findViewById(R.id.mc_disarmBtn);
-		disarmBtn.setOnClickListener(this);
-
-		landBtn = (Button) view.findViewById(R.id.mc_land);
-		landBtn.setOnClickListener(this);
-
-		final Button takeoffBtn = (Button) view.findViewById(R.id.mc_takeoff);
-		takeoffBtn.setOnClickListener(this);
-
-		pauseBtn = (Button) view.findViewById(R.id.mc_pause);
-		pauseBtn.setOnClickListener(this);
-
-		autoBtn = (Button) view.findViewById(R.id.mc_autoBtn);
-		autoBtn.setOnClickListener(this);
-		
-		final Button takeoffInAuto = (Button) view.findViewById(R.id.mc_TakeoffInAutoBtn);
-		takeoffInAuto.setOnClickListener(this);
-
-		followBtn = (Button) view.findViewById(R.id.mc_follow);
-		followBtn.setOnClickListener(this);
-
-		final Button dronieBtn = (Button) view.findViewById(R.id.mc_dronieBtn);
-		dronieBtn.setOnClickListener(this);
-
-		drone.addDroneListener(this);
-		setupButtonsByFlightState();
-	}
-
-	@Override
-	public void onAttach(Activity activity) {
-		super.onAttach(activity);
-		listener = (OnMissionControlInteraction) activity;
-	}
-
-	@Override
-	public void onClick(View v) {
-		HitBuilders.EventBuilder eventBuilder = new HitBuilders.EventBuilder()
-				.setCategory(GAUtils.Category.FLIGHT_DATA_ACTION_BUTTON);
-
-		switch (v.getId()) {
-		case R.id.mc_connectBtn:
-			((SuperUI) getActivity()).toggleDroneConnection();
-			break;
-
-		case R.id.mc_joystickBtn:
-			listener.onJoystickSelected();
-			eventBuilder.setAction("Joystick selected").setLabel(
-					getString(R.string.mission_control_control));
-			break;
-
-		case R.id.mc_armBtn:
-			getArmingConfirmation();
-			eventBuilder.setAction("Changed flight mode").setLabel("Arm");
-			break;
-
-		case R.id.mc_disarmBtn:
-			MavLinkArm.sendArmMessage(drone, false);
-			eventBuilder.setAction("Changed flight mode").setLabel("Disarm");
-			break;
-
-		case R.id.mc_land:
-			drone.getState().changeFlightMode(ApmModes.ROTOR_LAND);
-			eventBuilder.setAction("Changed flight mode").setLabel(ApmModes.ROTOR_LAND.getName());
-			break;
-
-		case R.id.mc_takeoff:
-			drone.getState().doTakeoff(new Altitude(TAKEOFF_ALTITUDE));
-			eventBuilder.setAction("Changed flight mode").setLabel("Takeoff");
-			break;
-
-		case R.id.mc_homeBtn:
-			drone.getState().changeFlightMode(ApmModes.ROTOR_RTL);
-			eventBuilder.setAction("Changed flight mode").setLabel(ApmModes.ROTOR_RTL.getName());
-			break;
-
-		case R.id.mc_pause:
-			if (followMe.isEnabled()) {
-				followMe.toggleFollowMeState();
-			}
-			drone.getGuidedPoint().pauseAtCurrentLocation();
-			eventBuilder.setAction("Changed flight mode").setLabel("Pause");
-			break;
-
-		case R.id.mc_autoBtn:
-			drone.getState().changeFlightMode(ApmModes.ROTOR_AUTO);
-			eventBuilder.setAction("Changed flight mode").setLabel(ApmModes.ROTOR_AUTO.getName());
-			break;
-			
-		case R.id.mc_TakeoffInAutoBtn:
-			drone.getState().doTakeoff(new Altitude(TAKEOFF_ALTITUDE));
-			drone.getState().changeFlightMode(ApmModes.ROTOR_AUTO);
-			eventBuilder.setAction("Changed flight mode").setLabel(ApmModes.ROTOR_AUTO.getName());
-			break;
-
-		case R.id.mc_follow:
-			followMe.toggleFollowMeState();
-			String eventLabel = null;
-			switch (followMe.getState()) {
-			case FOLLOW_START:
-				eventLabel = "FollowMe enabled";
-				break;
-				
-			case FOLLOW_RUNNING:
-				eventLabel = "FollowMe running";
-				break;
-
-			case FOLLOW_END:
-				eventLabel = "FollowMe disabled";
-				break;
-
-			case FOLLOW_INVALID_STATE:
-				eventLabel = "FollowMe error: invalid state";
-				break;
-
-			case FOLLOW_DRONE_DISCONNECTED:
-				eventLabel = "FollowMe error: drone not connected";
-				break;
-
-			case FOLLOW_DRONE_NOT_ARMED:
-				eventLabel = "FollowMe error: drone not armed";
-				break;
-			}
-
-			if (eventLabel != null) {
-				eventBuilder.setAction("FollowMe selected").setLabel(eventLabel);
-				Toast.makeText(getActivity(), eventLabel, Toast.LENGTH_SHORT).show();
-			}
-			break;
-
-		case R.id.mc_dronieBtn:
-			drone.getMission().makeAndUploadDronie();
-			eventBuilder.setAction("Dronie").setLabel("Dronie");
-			break;
-		default:
-			eventBuilder = null;
-			break;
-		}
-
-		if (eventBuilder != null) {
-			GAUtils.sendEvent(eventBuilder);
-		}
-
-	}
-
-	private void getArmingConfirmation() {
-		YesNoDialog ynd = YesNoDialog.newInstance(getString(R.string.dialog_confirm_arming_title),
-				getString(R.string.dialog_confirm_arming_msg), new YesNoDialog.Listener() {
-					@Override
-					public void onYes() {
-						MavLinkArm.sendArmMessage(drone, true);
-					}
-
-					@Override
-					public void onNo() {
-					}
-				});
-
-		ynd.show(getChildFragmentManager(), "Confirm arming");
-	}
-
-	@Override
-	public void onDroneEvent(DroneEventsType event, Drone drone) {
-		switch (event) {
-		case ARMING:
-		case CONNECTED:
-		case DISCONNECTED:
-		case STATE:
-			setupButtonsByFlightState();
-			break;
-
-		case MODE:
-			updateFlightModeButtons();
-			break;
-
-		case FOLLOW_START:
-		case FOLLOW_STOP:
-		case FOLLOW_UPDATE:
-			updateFlightModeButtons();
-			updateFollowButton();
-			break;
-
-		default:
-			break;
-		}
-	}
-
-	private void updateFlightModeButtons() {
-		resetFlightModeButtons();
-
-		final ApmModes flightMode = drone.getState().getMode();
-		switch (flightMode) {
-		case ROTOR_AUTO:
-			autoBtn.setActivated(true);
-			break;
-
-		case ROTOR_GUIDED:
-			if (drone.getGuidedPoint().isIdle() && !followMe.isEnabled()) {
-				pauseBtn.setActivated(true);
-			}
-			break;
-
-		case ROTOR_RTL:
-			homeBtn.setActivated(true);
-			break;
-
-		case ROTOR_LAND:
-			landBtn.setActivated(true);
-			break;
-		default:
-			break;
-		}
-	}
-
-	private void resetFlightModeButtons() {
-		homeBtn.setActivated(false);
-		landBtn.setActivated(false);
-		pauseBtn.setActivated(false);
-		autoBtn.setActivated(false);
-	}
-
-	private void updateFollowButton() {
-		switch (followMe.getState()) {
-		case FOLLOW_START:
-			followBtn.setBackgroundColor(Color.RED);
-			break;
-		case FOLLOW_RUNNING:
-			followBtn.setActivated(true);
-			followBtn.setBackgroundResource(R.drawable.flight_action_row_bg_selector);
-			break;
-		default:
-			followBtn.setActivated(false);
-			followBtn.setBackgroundResource(R.drawable.flight_action_row_bg_selector);
-			break;
-		}
-	}
-
-	private void resetButtonsContainerVisibility() {
-		mDisconnectedButtons.setVisibility(View.GONE);
-		mDisarmedButtons.setVisibility(View.GONE);
-		mArmedButtons.setVisibility(View.GONE);
-		mInFlightButtons.setVisibility(View.GONE);
-	}
-
-	private void setupButtonsByFlightState() {
-		if (drone.getMavClient().isConnected()) {
-			if (drone.getState().isArmed()) {
-				if (drone.getState().isFlying()) {
-					setupButtonsForFlying();
-				} else {
-					setupButtonsForArmed();
-				}
-			} else {
-				setupButtonsForDisarmed();
-			}
-		} else {
-			setupButtonsForDisconnected();
-		}
-	}
-
-	private void setupButtonsForDisconnected() {
-		resetButtonsContainerVisibility();
-		mDisconnectedButtons.setVisibility(View.VISIBLE);
-	}
-
-	private void setupButtonsForDisarmed() {
-		resetButtonsContainerVisibility();
-		mDisarmedButtons.setVisibility(View.VISIBLE);
-	}
-
-	private void setupButtonsForArmed() {
-		resetButtonsContainerVisibility();
-		mArmedButtons.setVisibility(View.VISIBLE);
-	}
-
-	private void setupButtonsForFlying() {
-		resetButtonsContainerVisibility();
-		mInFlightButtons.setVisibility(View.VISIBLE);
-	}
-
+public class FlightActionsFragment extends Fragment implements OnDroneListener {
+
+    interface SlidingUpHeader{
+        boolean isSlidingUpPanelEnabled(Drone drone);
+    }
+
+    private SlidingUpHeader header;
+
+    @Override
+    public View onCreateView(LayoutInflater inflater, ViewGroup container,
+                             Bundle savedInstanceState){
+        return inflater.inflate(R.layout.fragment_flight_actions_bar, container, false);
+    }
+
+    @Override
+    public void onStart(){
+        super.onStart();
+
+        Drone drone = ((DroidPlannerApp)getActivity().getApplication()).getDrone();
+        selectActionsBar(drone.getType());
+        drone.addDroneListener(this);
+    }
+
+    @Override
+    public void onStop(){
+        super.onStop();
+
+        Drone drone = ((DroidPlannerApp)getActivity().getApplication()).getDrone();
+        drone.removeDroneListener(this);
+    }
+
+    @Override
+    public void onDroneEvent(DroneEventsType event, Drone drone) {
+        switch(event){
+            case TYPE:
+                final int droneType = drone.getType();
+                selectActionsBar(droneType);
+                break;
+        }
+    }
+
+    private void selectActionsBar(int droneType) {
+        final FragmentManager fm = getChildFragmentManager();
+
+        Fragment actionsBarFragment;
+        if(Type.isCopter(droneType)){
+            actionsBarFragment = new CopterFlightActionsFragment();
+        }
+        else if(Type.isPlane(droneType)){
+            actionsBarFragment = new PlaneFlightActionsFragment();
+        }
+        else{
+            actionsBarFragment = new GenericActionsFragment();
+        }
+
+        fm.beginTransaction().replace(R.id.flight_actions_bar, actionsBarFragment).commit();
+        header = (SlidingUpHeader) actionsBarFragment;
+    }
+
+    public boolean isSlidingUpPanelEnabled(Drone drone){
+        return header != null && header.isSlidingUpPanelEnabled(drone);
+    }
 }
diff --git a/Android/src/org/droidplanner/android/fragments/FlightMapFragment.java b/Android/src/org/droidplanner/android/fragments/FlightMapFragment.java
index e2b36d9954..319d70369e 100644
--- a/Android/src/org/droidplanner/android/fragments/FlightMapFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/FlightMapFragment.java
@@ -35,6 +35,12 @@ public class FlightMapFragment extends DroneMap implements DPMap.OnMapLongClickL
 	private static final String PREF_DRONE_LOCATION_FIRST_PRESS = "pref_drone_location_first_press";
 	private static final int DEFAULT_DRONE_LOCATION_FIRST_PRESS = 0;
 
+    /**
+     * The map should zoom on the user location the first time it's acquired. This flag helps
+     * enable the behavior.
+     */
+    private static boolean didZoomOnUserLocation = false;
+
 	private DroidPlannerPrefs mAppPrefs;
 
 	private boolean guidedModeOnLongPress;
@@ -56,6 +62,11 @@ public void onResume() {
 		super.onResume();
 		mMapFragment.selectAutoPanMode(mAppPrefs.getAutoPanMode());
 		guidedModeOnLongPress = mAppPrefs.isGuidedModeOnLongPressEnabled();
+
+        if(!didZoomOnUserLocation){
+            super.goToMyLocation();
+            didZoomOnUserLocation = true;
+        }
 	}
 
 	@Override
diff --git a/Android/src/org/droidplanner/android/fragments/GenericActionsFragment.java b/Android/src/org/droidplanner/android/fragments/GenericActionsFragment.java
new file mode 100644
index 0000000000..4e85495da9
--- /dev/null
+++ b/Android/src/org/droidplanner/android/fragments/GenericActionsFragment.java
@@ -0,0 +1,49 @@
+package org.droidplanner.android.fragments;
+
+import android.os.Bundle;
+import android.support.v4.app.Fragment;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.Button;
+
+import org.droidplanner.R;
+import org.droidplanner.android.activities.helpers.SuperUI;
+import org.droidplanner.core.model.Drone;
+
+/**
+ * Provides action buttons functionality for generic drone type.
+ */
+public class GenericActionsFragment extends Fragment implements View.OnClickListener,
+        FlightActionsFragment.SlidingUpHeader {
+
+    private Button connectBtn;
+
+    @Override
+    public View onCreateView(LayoutInflater inflater, ViewGroup container,
+                             Bundle savedInstanceState){
+        return inflater.inflate(R.layout.fragment_generic_mission_control, container, false);
+    }
+
+    @Override
+    public void onViewCreated(View view, Bundle savedInstanceState){
+        super.onViewCreated(view, savedInstanceState);
+
+        connectBtn = (Button) view.findViewById(R.id.mc_connectBtn);
+        connectBtn.setOnClickListener(this);
+    }
+
+    @Override
+    public void onClick(View v) {
+        switch(v.getId()){
+            case R.id.mc_connectBtn:
+                ((SuperUI) getActivity()).toggleDroneConnection();
+                break;
+        }
+    }
+
+    @Override
+    public boolean isSlidingUpPanelEnabled(Drone drone) {
+        return false;
+    }
+}
diff --git a/Android/src/org/droidplanner/android/fragments/LocatorListFragment.java b/Android/src/org/droidplanner/android/fragments/LocatorListFragment.java
new file mode 100644
index 0000000000..f33199364d
--- /dev/null
+++ b/Android/src/org/droidplanner/android/fragments/LocatorListFragment.java
@@ -0,0 +1,80 @@
+package org.droidplanner.android.fragments;
+
+import android.app.Activity;
+import android.os.Bundle;
+import android.support.v4.app.Fragment;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.ListView;
+
+import com.MAVLink.Messages.ardupilotmega.msg_global_position_int;
+
+import org.droidplanner.R;
+import org.droidplanner.android.activities.LocatorActivity;
+import org.droidplanner.android.widgets.adapterViews.LocatorItemAdapter;
+
+import it.sephiroth.android.library.widget.AdapterView;
+import it.sephiroth.android.library.widget.AdapterView.OnItemClickListener;
+import it.sephiroth.android.library.widget.HListView;
+
+public class LocatorListFragment extends Fragment implements OnItemClickListener {
+
+	private HListView list;
+	private LocatorItemAdapter adapter;
+	private OnLocatorListListener listener;
+
+	public interface OnLocatorListListener {
+		void onItemClick(msg_global_position_int message);
+	}
+
+	@Override
+	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
+		View view = inflater.inflate(R.layout.fragment_locator_list, container, false);
+
+		final LocatorActivity activity = (LocatorActivity) getActivity();
+		adapter = new LocatorItemAdapter(activity, activity.getLastPositions());
+
+		list = (HListView) view.findViewById(R.id.locator_item_list);
+		list.setOnItemClickListener(this);
+		list.setChoiceMode(ListView.CHOICE_MODE_SINGLE);
+		list.setAdapter(adapter);
+
+		return view;
+	}
+
+	@Override
+	public void onAttach(Activity activity) {
+		super.onAttach(activity);
+		listener = (OnLocatorListListener) activity;
+	}
+
+    @Override
+    public void onStart(){
+        super.onStart();
+        updateViewVisibility();
+    }
+
+	@Override
+	public void onItemClick(AdapterView<?> adapter, View view, int position, long id) {
+		final msg_global_position_int message = (msg_global_position_int) adapter
+				.getItemAtPosition(position);
+		listener.onItemClick(message);
+	}
+
+	public void notifyDataSetChanged() {
+		list.clearChoices();
+		adapter.notifyDataSetChanged();
+        updateViewVisibility();
+	}
+
+    public void updateViewVisibility() {
+        View view = getView();
+        if (adapter != null && view != null) {
+            if (adapter.getCount() > 0)
+                view.setVisibility(View.VISIBLE);
+            else
+                view.setVisibility(View.INVISIBLE);
+        }
+    }
+}
\ No newline at end of file
diff --git a/Android/src/org/droidplanner/android/fragments/LocatorMapFragment.java b/Android/src/org/droidplanner/android/fragments/LocatorMapFragment.java
new file mode 100644
index 0000000000..2d9957f8a0
--- /dev/null
+++ b/Android/src/org/droidplanner/android/fragments/LocatorMapFragment.java
@@ -0,0 +1,51 @@
+package org.droidplanner.android.fragments;
+
+import android.location.LocationListener;
+import android.widget.Toast;
+
+import org.droidplanner.android.graphic.map.GraphicLocator;
+import org.droidplanner.android.utils.prefs.AutoPanMode;
+import org.droidplanner.core.gcs.location.Location;
+import org.droidplanner.core.helpers.coordinates.Coord2D;
+
+import java.util.Collections;
+
+public class LocatorMapFragment extends DroneMap {
+
+    private final GraphicLocator graphicLocator = new GraphicLocator();
+
+    @Override
+    protected boolean isMissionDraggable() {
+        return false;
+    }
+
+    @Override
+    public boolean setAutoPanMode(AutoPanMode target) {
+        if(target == AutoPanMode.DISABLED)
+            return true;
+
+        Toast.makeText(getActivity(), "Auto pan is not supported on this map.",
+                Toast.LENGTH_LONG).show();
+        return false;
+    }
+
+    public void updateLastPosition(Coord2D lastPosition) {
+        graphicLocator.setLastPosition(lastPosition);
+        mMapFragment.updateMarker(graphicLocator);
+    }
+
+    public void zoomToFit() {
+        // add lastPosition
+        final Coord2D lastPosition = graphicLocator.getPosition();
+        if(lastPosition != null && !lastPosition.isEmpty()) {
+            mMapFragment.zoomToFitMyLocation(Collections.singletonList(lastPosition));
+        }
+        else{
+            mMapFragment.goToMyLocation();
+        }
+    }
+
+    public void setLocationReceiver(LocationListener receiver){
+        mMapFragment.setLocationListener(receiver);
+    }
+}
\ No newline at end of file
diff --git a/Android/src/org/droidplanner/android/fragments/ParamsFragment.java b/Android/src/org/droidplanner/android/fragments/ParamsFragment.java
index 592fb22fb0..eda4625003 100644
--- a/Android/src/org/droidplanner/android/fragments/ParamsFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/ParamsFragment.java
@@ -7,9 +7,12 @@
 
 import org.droidplanner.R;
 import org.droidplanner.android.DroidPlannerApp;
+import org.droidplanner.android.dialogs.EditInputDialog;
 import org.droidplanner.android.dialogs.openfile.OpenFileDialog;
 import org.droidplanner.android.dialogs.openfile.OpenParameterDialog;
 import org.droidplanner.android.dialogs.parameters.DialogParameterInfo;
+import org.droidplanner.android.utils.file.FileManager;
+import org.droidplanner.android.utils.file.FileStream;
 import org.droidplanner.android.utils.file.IO.ParameterWriter;
 import org.droidplanner.android.utils.prefs.DroidPlannerPrefs;
 import org.droidplanner.android.widgets.adapterViews.ParamsAdapter;
@@ -352,16 +355,30 @@ public void parameterFileLoaded(List<Parameter> parameters) {
 	}
 
 	private void saveParametersToFile() {
-		final List<Parameter> parameters = new ArrayList<Parameter>();
-		for (int i = 0; i < adapter.getCount(); i++)
-			parameters.add(adapter.getItem(i).getParameter());
-
-		if (parameters.size() > 0) {
-			ParameterWriter parameterWriter = new ParameterWriter(parameters);
-			if (parameterWriter.saveParametersToFile()) {
-				Toast.makeText(getActivity(), R.string.parameters_saved, Toast.LENGTH_SHORT).show();
-			}
-		}
+        final Context context = getActivity().getApplicationContext();
+        final EditInputDialog dialog = EditInputDialog.newInstance(context,
+                getString(R.string.label_enter_filename), FileStream.getParameterFilename("Parameters-"),
+                new EditInputDialog.Listener() {
+                    @Override
+                    public void onOk(CharSequence input) {
+                        final List<Parameter> parameters = new ArrayList<Parameter>();
+                        for (int i = 0; i < adapter.getCount(); i++) {
+                            parameters.add(adapter.getItem(i).getParameter());
+                        }
+
+                        if (parameters.size() > 0) {
+                            ParameterWriter parameterWriter = new ParameterWriter(parameters);
+                            if (parameterWriter.saveParametersToFile(input.toString())) {
+                                Toast.makeText(getActivity(), R.string.parameters_saved, Toast.LENGTH_SHORT).show();
+                            }
+                        }
+                    }
+
+                    @Override
+                    public void onCancel() {}
+                });
+
+        dialog.show(getChildFragmentManager(), "Parameters filename");
 	}
 
 	@Override
diff --git a/Android/src/org/droidplanner/android/fragments/PlaneFlightActionsFragment.java b/Android/src/org/droidplanner/android/fragments/PlaneFlightActionsFragment.java
new file mode 100644
index 0000000000..cdc8bb93de
--- /dev/null
+++ b/Android/src/org/droidplanner/android/fragments/PlaneFlightActionsFragment.java
@@ -0,0 +1,249 @@
+package org.droidplanner.android.fragments;
+
+import android.graphics.Color;
+import android.os.Bundle;
+import android.support.v4.app.Fragment;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.Button;
+import android.widget.Toast;
+
+import com.MAVLink.Messages.ApmModes;
+import com.google.android.gms.analytics.HitBuilders;
+
+import org.droidplanner.R;
+import org.droidplanner.android.DroidPlannerApp;
+import org.droidplanner.android.activities.helpers.SuperUI;
+import org.droidplanner.android.utils.analytics.GAUtils;
+import org.droidplanner.core.drone.DroneInterfaces;
+import org.droidplanner.core.drone.variables.State;
+import org.droidplanner.core.gcs.follow.Follow;
+import org.droidplanner.core.model.Drone;
+
+/**
+ * Provides functionality for flight action buttons specific to planes.
+ */
+public class PlaneFlightActionsFragment extends Fragment implements View.OnClickListener,
+		DroneInterfaces.OnDroneListener, FlightActionsFragment.SlidingUpHeader {
+
+	private static final String ACTION_FLIGHT_ACTION_BUTTON = "Copter flight action button";
+
+	private Drone drone;
+	private Follow followMe;
+
+	private View mDisconnectedButtons;
+	private View mConnectedButtons;
+
+	private Button followBtn;
+	private Button homeBtn;
+	private Button pauseBtn;
+	private Button autoBtn;
+
+	@Override
+	public void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);
+		DroidPlannerApp droidPlannerApp = (DroidPlannerApp) getActivity().getApplication();
+		drone = droidPlannerApp.getDrone();
+		followMe = droidPlannerApp.getFollowMe();
+	}
+
+	@Override
+	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
+		return inflater.inflate(R.layout.fragment_plane_mission_control, container, false);
+	}
+
+	@Override
+	public void onViewCreated(View view, Bundle savedInstanceState) {
+		super.onViewCreated(view, savedInstanceState);
+
+		mDisconnectedButtons = view.findViewById(R.id.mc_disconnected_buttons);
+		mConnectedButtons = view.findViewById(R.id.mc_connected_buttons);
+
+		final Button connectBtn = (Button) view.findViewById(R.id.mc_connectBtn);
+		connectBtn.setOnClickListener(this);
+
+		homeBtn = (Button) view.findViewById(R.id.mc_homeBtn);
+		homeBtn.setOnClickListener(this);
+
+		pauseBtn = (Button) view.findViewById(R.id.mc_pause);
+		pauseBtn.setOnClickListener(this);
+
+		autoBtn = (Button) view.findViewById(R.id.mc_autoBtn);
+		autoBtn.setOnClickListener(this);
+
+		followBtn = (Button) view.findViewById(R.id.mc_follow);
+		followBtn.setOnClickListener(this);
+	}
+
+	@Override
+	public void onStart() {
+		super.onStart();
+		setupButtonsByFlightState();
+		updateFlightModeButtons();
+		updateFollowButton();
+		drone.addDroneListener(this);
+	}
+
+	private void updateFollowButton() {
+		switch (followMe.getState()) {
+		case FOLLOW_START:
+			followBtn.setBackgroundColor(Color.RED);
+			break;
+		case FOLLOW_RUNNING:
+			followBtn.setActivated(true);
+			followBtn.setBackgroundResource(R.drawable.flight_action_row_bg_selector);
+			break;
+		default:
+			followBtn.setActivated(false);
+			followBtn.setBackgroundResource(R.drawable.flight_action_row_bg_selector);
+			break;
+		}
+	}
+
+	private void updateFlightModeButtons() {
+		resetFlightModeButtons();
+
+		final ApmModes flightMode = drone.getState().getMode();
+		switch (flightMode) {
+		case FIXED_WING_AUTO:
+			autoBtn.setActivated(true);
+			break;
+
+		case FIXED_WING_GUIDED:
+			if (drone.getGuidedPoint().isIdle() && !followMe.isEnabled()) {
+				pauseBtn.setActivated(true);
+			}
+			break;
+
+		case FIXED_WING_RTL:
+			homeBtn.setActivated(true);
+			break;
+		}
+	}
+
+	private void resetFlightModeButtons() {
+		homeBtn.setActivated(false);
+		pauseBtn.setActivated(false);
+		autoBtn.setActivated(false);
+	}
+
+	private void setupButtonsByFlightState() {
+		if (drone.getMavClient().isConnected()) {
+			mDisconnectedButtons.setVisibility(View.GONE);
+			mConnectedButtons.setVisibility(View.VISIBLE);
+		} else {
+			mConnectedButtons.setVisibility(View.GONE);
+			mDisconnectedButtons.setVisibility(View.VISIBLE);
+		}
+	}
+
+	@Override
+	public void onStop() {
+		super.onStop();
+		drone.removeDroneListener(this);
+	}
+
+	@Override
+	public void onClick(View v) {
+        HitBuilders.EventBuilder eventBuilder = new HitBuilders.EventBuilder()
+                .setCategory(GAUtils.Category.FLIGHT);
+
+        switch(v.getId()){
+            case R.id.mc_connectBtn:
+                ((SuperUI) getActivity()).toggleDroneConnection();
+                break;
+
+            case R.id.mc_homeBtn:
+                drone.getState().changeFlightMode(ApmModes.FIXED_WING_RTL);
+                eventBuilder.setAction(ACTION_FLIGHT_ACTION_BUTTON).setLabel(ApmModes.FIXED_WING_RTL.getName());
+                break;
+
+            case R.id.mc_pause:
+                if (followMe.isEnabled()) {
+                    followMe.toggleFollowMeState();
+                }
+
+                drone.getGuidedPoint().pauseAtCurrentLocation();
+                eventBuilder.setAction(ACTION_FLIGHT_ACTION_BUTTON).setLabel("Pause");
+                break;
+
+            case R.id.mc_autoBtn:
+                drone.getState().changeFlightMode(ApmModes.FIXED_WING_AUTO);
+                eventBuilder.setAction(ACTION_FLIGHT_ACTION_BUTTON).setLabel(ApmModes.FIXED_WING_AUTO.getName());
+                break;
+
+            case R.id.mc_follow:
+                followMe.toggleFollowMeState();
+                String eventLabel = null;
+
+                switch (followMe.getState()) {
+                    case FOLLOW_START:
+                        eventLabel = "FollowMe enabled";
+                        break;
+
+                    case FOLLOW_RUNNING:
+                        eventLabel = "FollowMe running";
+                        break;
+
+                    case FOLLOW_END:
+                        eventLabel = "FollowMe disabled";
+                        break;
+
+                    case FOLLOW_INVALID_STATE:
+                        eventLabel = "FollowMe error: invalid state";
+                        break;
+
+                    case FOLLOW_DRONE_DISCONNECTED:
+                        eventLabel = "FollowMe error: drone not connected";
+                        break;
+
+                    case FOLLOW_DRONE_NOT_ARMED:
+                        eventLabel = "FollowMe error: drone not armed";
+                        break;
+                }
+
+                if (eventLabel != null) {
+                    eventBuilder.setAction(ACTION_FLIGHT_ACTION_BUTTON).setLabel(eventLabel);
+                    Toast.makeText(getActivity(), eventLabel, Toast.LENGTH_SHORT).show();
+                }
+                break;
+
+            default:
+                eventBuilder = null;
+                break;
+        }
+
+        if (eventBuilder != null) {
+            GAUtils.sendEvent(eventBuilder);
+        }
+	}
+
+	@Override
+	public void onDroneEvent(DroneInterfaces.DroneEventsType event, Drone drone) {
+		switch (event) {
+		case CONNECTED:
+		case DISCONNECTED:
+		case STATE:
+			setupButtonsByFlightState();
+			break;
+
+		case MODE:
+			updateFlightModeButtons();
+			break;
+
+		case FOLLOW_START:
+		case FOLLOW_STOP:
+		case FOLLOW_UPDATE:
+			updateFlightModeButtons();
+			updateFollowButton();
+			break;
+		}
+	}
+
+    @Override
+    public boolean isSlidingUpPanelEnabled(Drone drone) {
+        final State droneState = drone.getState();
+        return drone.getMavClient().isConnected() && droneState.isArmed();
+    }
+}
diff --git a/Android/src/org/droidplanner/android/fragments/RCFragment.java b/Android/src/org/droidplanner/android/fragments/RCFragment.java
deleted file mode 100644
index b87307020e..0000000000
--- a/Android/src/org/droidplanner/android/fragments/RCFragment.java
+++ /dev/null
@@ -1,130 +0,0 @@
-package org.droidplanner.android.fragments;
-
-import org.droidplanner.R;
-import org.droidplanner.android.widgets.joystick.JoystickMovedListener;
-import org.droidplanner.android.widgets.joystick.JoystickView;
-
-import android.content.SharedPreferences;
-import android.os.Bundle;
-import android.preference.PreferenceManager;
-import android.support.v4.app.Fragment;
-import android.view.InputDevice;
-import android.view.LayoutInflater;
-import android.view.MotionEvent;
-import android.view.View;
-import android.view.ViewGroup;
-import android.widget.TextView;
-
-public class RCFragment extends Fragment {
-
-	private JoystickView joystickL, joystickR;
-	private TextView textViewThrottle, textViewRudder, textViewAileron, textViewElevator;
-	private boolean rcIsMode1 = false;
-
-	@Override
-	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-		View view = inflater.inflate(R.layout.fragment_rc, container, false);
-
-		textViewThrottle = (TextView) view.findViewById(R.id.textViewRCThrottle);
-		textViewThrottle.setText("(Thrt: 0%)");
-
-		textViewRudder = (TextView) view.findViewById(R.id.textViewRCRudder);
-		textViewRudder.setText("(Rudd: 0%)");
-
-		textViewElevator = (TextView) view.findViewById(R.id.textViewRCElevator);
-		textViewElevator.setText("(Elev: 0%)");
-
-		textViewAileron = (TextView) view.findViewById(R.id.textViewRCAileron);
-		textViewAileron.setText("(Ail: 0%)");
-
-		joystickL = (JoystickView) view.findViewById(R.id.joystickViewL);
-		joystickR = (JoystickView) view.findViewById(R.id.joystickViewR);
-		joystickL.setOnJostickMovedListener(lJoystick);
-		joystickR.setOnJostickMovedListener(rJoystick);
-		return view;
-	}
-
-	@Override
-	public void onResume() {
-		SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(getActivity()
-				.getApplicationContext());
-		rcIsMode1 = prefs.getString("pref_rc_mode", "MODE2").equalsIgnoreCase("MODE1");
-		if (rcIsMode1) {
-			joystickL.setAxisAutoReturnToCenter(true, true);
-			joystickR.setAxisAutoReturnToCenter(
-					prefs.getBoolean("pref_rc_throttle_returntocenter", false), true);
-			joystickL.setYAxisInverted(prefs.getBoolean("pref_rc_elevator_reverse", false));
-			joystickL.setXAxisInverted(prefs.getBoolean("pref_rc_rudder_reverse", false));
-			joystickR.setYAxisInverted(prefs.getBoolean("pref_rc_throttle_reverse", false));
-			joystickR.setXAxisInverted(prefs.getBoolean("pref_rc_aileron_reverse", false));
-		} else { // else Mode2
-			joystickL.setAxisAutoReturnToCenter(
-					prefs.getBoolean("pref_rc_throttle_returntocenter", false), true);
-			joystickR.setAxisAutoReturnToCenter(true, true);
-			joystickL.setYAxisInverted(prefs.getBoolean("pref_rc_throttle_reverse", false));
-			joystickL.setXAxisInverted(prefs.getBoolean("pref_rc_rudder_reverse", false));
-			joystickR.setYAxisInverted(prefs.getBoolean("pref_rc_elevator_reverse", false));
-			joystickR.setXAxisInverted(prefs.getBoolean("pref_rc_aileron_reverse", false));
-		}
-		super.onResume();
-	}
-
-	@Override
-	public void onStop() {
-		super.onDestroyView();
-	}
-
-	public boolean physicalJoyMoved(MotionEvent ev) {
-		// Tested only for wikipad controller. Probably works with most game
-		// controllers.
-		if ((ev.getSource() & InputDevice.SOURCE_CLASS_JOYSTICK) != 0) {
-			lJoystick.OnMoved(ev.getAxisValue(MotionEvent.AXIS_X),
-					ev.getAxisValue(MotionEvent.AXIS_Y));
-			rJoystick.OnMoved(ev.getAxisValue(MotionEvent.AXIS_Z),
-					ev.getAxisValue(MotionEvent.AXIS_RZ));
-			return true;
-		}
-		return false;
-	}
-
-	JoystickMovedListener lJoystick = new JoystickMovedListener() {
-		@Override
-		public void OnReturnedToCenter() {
-		}
-
-		@Override
-		public void OnReleased() {
-		}
-
-		@Override
-		public void OnMoved(double pan, double tilt) {
-			textViewRudder.setText(String.format("Rudd: %.0f%%", pan * 100));
-			if (rcIsMode1) {
-				textViewElevator.setText(String.format("Elev: %.0f%%", tilt * 100));
-			} else {
-				textViewThrottle.setText(String.format("Thrt: %.0f%%", tilt * 100));
-			}
-		}
-	};
-	JoystickMovedListener rJoystick = new JoystickMovedListener() {
-		@Override
-		public void OnReturnedToCenter() {
-		}
-
-		@Override
-		public void OnReleased() {
-		}
-
-		@Override
-		public void OnMoved(double pan, double tilt) {
-			textViewAileron.setText(String.format("Ail: %.0f%%", pan * 100));
-			if (rcIsMode1) {
-				textViewThrottle.setText(String.format("Thrt: %.0f%%", tilt * 100));
-			} else {
-				textViewElevator.setText(String.format("Elev: %.0f%%", tilt * 100));
-			}
-
-		}
-	};
-
-}
diff --git a/Android/src/org/droidplanner/android/fragments/SensorSetupFragment.java b/Android/src/org/droidplanner/android/fragments/SensorSetupFragment.java
new file mode 100644
index 0000000000..05eed834f8
--- /dev/null
+++ b/Android/src/org/droidplanner/android/fragments/SensorSetupFragment.java
@@ -0,0 +1,80 @@
+package org.droidplanner.android.fragments;
+
+import android.content.Context;
+import android.os.Bundle;
+import android.support.v4.app.Fragment;
+import android.support.v4.app.FragmentManager;
+import android.support.v4.app.FragmentPagerAdapter;
+import android.support.v4.view.ViewPager;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+
+import org.droidplanner.R;
+import org.droidplanner.android.fragments.calibration.imu.FragmentSetupIMU;
+import org.droidplanner.android.fragments.calibration.mag.FragmentSetupMAG;
+import org.droidplanner.android.widgets.viewPager.TabPageIndicator;
+
+/**
+ * Used to calibrate the drone's compass and accelerometer.
+ */
+public class SensorSetupFragment extends Fragment {
+
+    @Override
+    public View onCreateView(LayoutInflater inflater, ViewGroup container,
+                             Bundle savedInstanceState){
+        return inflater.inflate(R.layout.fragment_sensor_setup, container, false);
+    }
+
+    @Override
+    public void onViewCreated(View view, Bundle savedInstanceState){
+        super.onViewCreated(view, savedInstanceState);
+
+        final SensorPagerAdapter pagerAdapter = new SensorPagerAdapter(getActivity()
+                .getApplicationContext(), getChildFragmentManager());
+
+        final ViewPager viewPager = (ViewPager) view.findViewById(R.id.configuration_pager);
+        viewPager.setAdapter(pagerAdapter);
+
+        final TabPageIndicator tabIndicator = (TabPageIndicator) view.findViewById(R.id
+                .configuration_tab_strip);
+        tabIndicator.setViewPager(viewPager);
+    }
+
+    private static class SensorPagerAdapter extends FragmentPagerAdapter {
+
+        private final Context context;
+
+        public SensorPagerAdapter(Context context, FragmentManager fm) {
+            super(fm);
+            this.context = context;
+        }
+
+        @Override
+        public Fragment getItem(int i) {
+            switch(i){
+                case 0:
+                default:
+                	return new FragmentSetupMAG();
+                case 1:
+                	return new FragmentSetupIMU();
+            }
+        }
+
+        @Override
+        public int getCount() {
+            return 2;
+        }
+
+        @Override
+        public CharSequence getPageTitle(int position){
+            switch(position){
+                case 0:
+                default:
+                	return FragmentSetupMAG.getTitle(context);
+                case 1:
+                	return FragmentSetupIMU.getTitle(context);
+            }
+        }
+    }
+}
diff --git a/Android/src/org/droidplanner/android/fragments/SetupRadioFragment.java b/Android/src/org/droidplanner/android/fragments/SetupRadioFragment.java
deleted file mode 100644
index 3f912656f2..0000000000
--- a/Android/src/org/droidplanner/android/fragments/SetupRadioFragment.java
+++ /dev/null
@@ -1,82 +0,0 @@
-package org.droidplanner.android.fragments;
-
-import org.droidplanner.R;
-import org.droidplanner.android.fragments.calibration.SetupMainPanel;
-import org.droidplanner.android.fragments.calibration.ch.FragmentSetupCH;
-import org.droidplanner.android.fragments.calibration.flightmodes.FragmentSetupFM;
-import org.droidplanner.android.fragments.calibration.rc.FragmentSetupRC;
-import org.droidplanner.android.fragments.calibration.sf.FragmentSetupSF;
-import org.droidplanner.android.fragments.helpers.SuperSetupFragment;
-import org.droidplanner.core.MAVLink.MavLinkStreamRates;
-import org.droidplanner.core.model.Drone;
-
-import android.os.Bundle;
-
-/**
- * This fragment is used to calibrate the drone's radio related functionalities.
- */
-public class SetupRadioFragment extends SuperSetupFragment {
-	// Extreme RC update rate in this screen
-	private static final int RC_MSG_RATE = 50;
-
-	private Drone drone;
-
-	@Override
-	public void onActivityCreated(Bundle savedInstanceState) {
-		super.onActivityCreated(savedInstanceState);
-		this.drone = parentActivity.drone;
-	}
-
-	@Override
-	public void onStart() {
-		super.onStart();
-		setupDataStreamingForRcSetup();
-	}
-
-	@Override
-	public void onStop() {
-		super.onStop();
-		drone.getStreamRates().setupStreamRatesFromPref();
-	}
-
-	@Override
-	public void onResume() {
-		super.onResume();
-		setupDataStreamingForRcSetup();
-	}
-
-	@Override
-	public SetupMainPanel initMainPanel() {
-		return new FragmentSetupRC();
-	}
-
-	@Override
-	public int getSpinnerItems() {
-		return R.array.Setup_Radio_Menu;
-	}
-
-	@Override
-	public SetupMainPanel getMainPanel(int index) {
-		SetupMainPanel setupPanel;
-		switch (index) {
-		case 1:
-			setupPanel = new FragmentSetupFM();
-			break;
-		case 2:
-			setupPanel = new FragmentSetupCH();
-			break;
-		case 3:
-			setupPanel = new FragmentSetupSF();
-			break;
-		case 0:
-		default:
-			setupPanel = new FragmentSetupRC();
-		}
-
-		return setupPanel;
-	}
-
-	public void setupDataStreamingForRcSetup() {
-		MavLinkStreamRates.setupStreamRates(drone.getMavClient(), 1, 0, 1, 1, 1, RC_MSG_RATE, 0, 0);
-	}
-}
diff --git a/Android/src/org/droidplanner/android/fragments/SetupSensorFragment.java b/Android/src/org/droidplanner/android/fragments/SetupSensorFragment.java
deleted file mode 100644
index 63005f123b..0000000000
--- a/Android/src/org/droidplanner/android/fragments/SetupSensorFragment.java
+++ /dev/null
@@ -1,37 +0,0 @@
-package org.droidplanner.android.fragments;
-
-import org.droidplanner.R;
-import org.droidplanner.android.fragments.calibration.SetupMainPanel;
-import org.droidplanner.android.fragments.calibration.imu.FragmentSetupIMU;
-import org.droidplanner.android.fragments.calibration.mag.FragmentSetupMAG;
-import org.droidplanner.android.fragments.helpers.SuperSetupFragment;
-
-/**
- * This fragment is used to calibrate the drone's compass, and accelerometer.
- */
-public class SetupSensorFragment extends SuperSetupFragment {
-
-	@Override
-	public SetupMainPanel initMainPanel() {
-		return new FragmentSetupIMU();
-	}
-
-	@Override
-	public int getSpinnerItems() {
-		return R.array.Setup_Sensor_Menu;
-	}
-
-	@Override
-	public SetupMainPanel getMainPanel(int index) {
-		switch (index) {
-		case 0:
-			return new FragmentSetupIMU();
-		case 1:
-			return new FragmentSetupMAG();
-
-		default:
-			return null;
-		}
-	}
-
-}
diff --git a/Android/src/org/droidplanner/android/fragments/TuningFragment.java b/Android/src/org/droidplanner/android/fragments/TuningFragment.java
deleted file mode 100644
index 6169cc5866..0000000000
--- a/Android/src/org/droidplanner/android/fragments/TuningFragment.java
+++ /dev/null
@@ -1,141 +0,0 @@
-package org.droidplanner.android.fragments;
-
-import org.droidplanner.R;
-import org.droidplanner.android.DroidPlannerApp;
-import org.droidplanner.android.widgets.graph.Chart;
-import org.droidplanner.android.widgets.graph.ChartSeries;
-import org.droidplanner.core.MAVLink.MavLinkStreamRates;
-import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
-import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
-import org.droidplanner.core.model.Drone;
-
-import android.graphics.Color;
-import android.os.Bundle;
-import android.support.v4.app.Fragment;
-import android.view.LayoutInflater;
-import android.view.View;
-import android.view.ViewGroup;
-
-/**
- * This fragment is used to tune the roll and pitch of the drone.
- */
-public class TuningFragment extends Fragment implements OnDroneListener {
-
-	private static final int NAV_MSG_RATE = 50;
-	private static final int CHART_BUFFER_SIZE = 20 * NAV_MSG_RATE; // About 20s
-																	// of data
-																	// on the
-																	// buffer
-
-	private Drone drone;
-
-	private Chart topChart;
-	private Chart bottomChart;
-
-	/*
-	 * private Parameter rollP; private Parameter rollD; private Parameter yawP;
-	 * private Parameter thrAcl;
-	 */
-
-	private ChartSeries bottomDataReference;
-
-	private ChartSeries bottomDataValue;
-
-	private ChartSeries topDataReference;
-
-	private ChartSeries topDataValue;
-
-	@Override
-	public void onActivityCreated(Bundle savedInstanceState) {
-		super.onActivityCreated(savedInstanceState);
-		drone = ((DroidPlannerApp) getActivity().getApplication()).getDrone();
-	}
-
-	@Override
-	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-		View view = inflater.inflate(R.layout.fragment_tuning, container, false);
-
-		setupLocalViews(view);
-		setupCharts();
-
-		return view;
-	}
-
-	@Override
-	public void onStart() {
-		super.onStart();
-		drone.addDroneListener(this);
-		setupDataStreamingForTuning();
-	}
-
-	@Override
-	public void onStop() {
-		super.onStop();
-		drone.removeDroneListener(this);
-		drone.getStreamRates().setupStreamRatesFromPref();
-	}
-
-	private void setupDataStreamingForTuning() {
-		// Sets the nav messages at 50Hz and other messages at a low rate 1Hz
-		MavLinkStreamRates
-				.setupStreamRates(drone.getMavClient(), 1, 0, 1, 1, 1, 0, 0, NAV_MSG_RATE);
-	}
-
-	private void setupLocalViews(View view) {
-		topChart = (Chart) view.findViewById(R.id.chartTop);
-		bottomChart = (Chart) view.findViewById(R.id.chartBottom);
-
-		/*
-		 * SeekBarWithText rollPSeekBar = (SeekBarWithText) view
-		 * .findViewById(R.id.SeekBarRollPitchControl); SeekBarWithText
-		 * rollDSeekBar = (SeekBarWithText) view
-		 * .findViewById(R.id.SeekBarRollPitchDampenning); SeekBarWithText
-		 * yawPSeekBar = (SeekBarWithText)
-		 * view.findViewById(R.id.SeekBarYawControl); SeekBarWithText
-		 * thrAclSeekBar = (SeekBarWithText) view
-		 * .findViewById(R.id.SeekBarThrottleAccel);
-		 */
-	}
-
-	private void setupCharts() {
-		topDataReference = new ChartSeries(800);
-		topDataReference.setColor(Color.BLUE);
-		topDataReference.enable();
-		topChart.series.add(topDataReference);
-		topDataValue = new ChartSeries(800);
-		topDataValue.setColor(Color.WHITE);
-		topDataValue.enable();
-		topChart.series.add(topDataValue);
-
-		bottomDataReference = new ChartSeries(CHART_BUFFER_SIZE);
-		bottomDataReference.setColor(Color.BLUE);
-		bottomDataReference.enable();
-		bottomChart.series.add(bottomDataReference);
-		bottomDataValue = new ChartSeries(CHART_BUFFER_SIZE);
-		bottomDataValue.setColor(Color.WHITE);
-		bottomDataValue.enable();
-		bottomChart.series.add(bottomDataValue);
-	}
-
-	@Override
-	public void onDroneEvent(DroneEventsType event, Drone drone) {
-		switch (event) {
-		case ORIENTATION:
-			onNewOrientationData(drone);
-			break;
-
-		default:
-			break;
-		}
-
-	}
-
-	public void onNewOrientationData(Drone drone) {
-		bottomDataValue.newData(drone.getOrientation().getPitch());
-		topDataValue.newData(drone.getOrientation().getRoll());
-		bottomDataReference.newData(drone.getNavigation().getNavPitch());
-		topDataReference.newData(drone.getNavigation().getNavRoll());
-		bottomChart.update();
-		topChart.update();
-	}
-}
diff --git a/Android/src/org/droidplanner/android/fragments/calibration/FragmentSetupNext.java b/Android/src/org/droidplanner/android/fragments/calibration/FragmentSetupNext.java
deleted file mode 100644
index e71ce5ea3e..0000000000
--- a/Android/src/org/droidplanner/android/fragments/calibration/FragmentSetupNext.java
+++ /dev/null
@@ -1,73 +0,0 @@
-package org.droidplanner.android.fragments.calibration;
-
-import org.droidplanner.R;
-import org.droidplanner.android.fragments.SetupRadioFragment;
-
-import android.os.Bundle;
-import android.view.LayoutInflater;
-import android.view.View;
-import android.view.View.OnClickListener;
-import android.view.ViewGroup;
-import android.widget.Button;
-import android.widget.TextView;
-
-public class FragmentSetupNext extends SetupSidePanel {
-
-	private int titleId = 0, descId = 0;
-	private TextView textTitle, textDesc;
-
-	@Override
-	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-
-		final SetupRadioFragment setupFragment = (SetupRadioFragment) getParentFragment();
-
-		final View view = inflater.inflate(R.layout.fragment_setup_panel_next, container, false);
-
-		textTitle = (TextView) view.findViewById(R.id.setupTitle);
-		textDesc = (TextView) view.findViewById(R.id.setupDesc);
-
-		if (titleId != 0 && textTitle != null)
-			textTitle.setText(titleId);
-
-		if (descId != 0)
-			textDesc.setText(descId);
-
-		final Button btnNext = (Button) view.findViewById(R.id.buttonNext);
-		btnNext.setOnClickListener(new OnClickListener() {
-			@Override
-			public void onClick(View v) {
-				if (setupFragment != null) {
-					setupFragment.doCalibrationStep(2);
-				}
-			}
-		});
-
-		final Button btnCancel = (Button) view.findViewById(R.id.buttonCancel);
-		btnCancel.setOnClickListener(new OnClickListener() {
-			@Override
-			public void onClick(View v) {
-				if (setupFragment != null) {
-					setupFragment.doCalibrationStep(0);
-				}
-			}
-		});
-		return view;
-	}
-
-	@Override
-	public void updateDescription(int idDescription) {
-		this.descId = idDescription;
-
-		if (textDesc != null)
-			textDesc.setText(descId);
-
-	}
-
-	@Override
-	public void updateTitle(int idTitle) {
-		this.titleId = idTitle;
-
-		if (textTitle != null)
-			textTitle.setText(titleId);
-	}
-}
diff --git a/Android/src/org/droidplanner/android/fragments/calibration/FragmentSetupProgress.java b/Android/src/org/droidplanner/android/fragments/calibration/FragmentSetupProgress.java
deleted file mode 100644
index 43bd4e79cc..0000000000
--- a/Android/src/org/droidplanner/android/fragments/calibration/FragmentSetupProgress.java
+++ /dev/null
@@ -1,92 +0,0 @@
-package org.droidplanner.android.fragments.calibration;
-
-import org.droidplanner.R;
-import org.droidplanner.android.fragments.helpers.SuperSetupFragment;
-
-import android.os.Bundle;
-import android.view.LayoutInflater;
-import android.view.View;
-import android.view.View.OnClickListener;
-import android.view.ViewGroup;
-import android.widget.Button;
-import android.widget.ProgressBar;
-import android.widget.TextView;
-
-/**
- * This fragment displays the progress for the RC setup process.
- */
-public class FragmentSetupProgress extends SetupSidePanel {
-	private TextView textTitle;
-	private TextView textProgress;
-	private TextView textAction;
-	private TextView textDesc;
-	private ProgressBar pb;
-	private int titleId = 0, descId = 0;
-
-	@Override
-	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-
-		final SuperSetupFragment setupFragment = (SuperSetupFragment) getParentFragment();
-
-		final View view = inflater
-				.inflate(R.layout.fragment_setup_panel_progress, container, false);
-
-		textTitle = (TextView) view.findViewById(R.id.setupTitle);
-		textDesc = (TextView) view.findViewById(R.id.setupDesc);
-		textAction = (TextView) view.findViewById(R.id.setupProgressTitle);
-		textProgress = (TextView) view.findViewById(R.id.setupProgressRatio);
-
-		if (titleId != 0 && textTitle != null)
-			textTitle.setText(titleId);
-		if (descId != 0)
-			textDesc.setText(descId);
-
-		textProgress.setText("0/0");
-
-		pb = (ProgressBar) view.findViewById(R.id.setupProgressBar);
-		pb.setIndeterminate(true);
-
-		final Button btnCancel = (Button) view.findViewById(R.id.buttonCancel);
-		btnCancel.setOnClickListener(new OnClickListener() {
-			@Override
-			public void onClick(View v) {
-				if (setupFragment != null) {
-					setupFragment.doCalibrationStep(0);
-				}
-			}
-		});
-
-		return view;
-	}
-
-	public void updateProgress(int index, int count, String txt) {
-		if (textAction != null) {
-			textAction.setText(txt);
-		}
-
-		if (pb != null) {
-			pb.setIndeterminate(false);
-			pb.setMax(count);
-			pb.setProgress(index);
-		}
-
-		if (textProgress != null) {
-			textProgress.setText(String.valueOf(index) + "/" + String.valueOf(count));
-		}
-	}
-
-	@Override
-	public void updateDescription(int idDescription) {
-		this.descId = idDescription;
-		if (textDesc != null)
-			textDesc.setText(idDescription);
-	}
-
-	@Override
-	public void updateTitle(int idTitle) {
-		this.titleId = idTitle;
-		if (textTitle != null)
-			textTitle.setText(idTitle);
-	}
-
-}
diff --git a/Android/src/org/droidplanner/android/fragments/calibration/FragmentSetupSend.java b/Android/src/org/droidplanner/android/fragments/calibration/FragmentSetupSend.java
deleted file mode 100644
index 97fe7a2744..0000000000
--- a/Android/src/org/droidplanner/android/fragments/calibration/FragmentSetupSend.java
+++ /dev/null
@@ -1,73 +0,0 @@
-package org.droidplanner.android.fragments.calibration;
-
-import org.droidplanner.R;
-import org.droidplanner.android.fragments.SetupRadioFragment;
-
-import android.os.Bundle;
-import android.view.LayoutInflater;
-import android.view.View;
-import android.view.View.OnClickListener;
-import android.view.ViewGroup;
-import android.widget.Button;
-import android.widget.TextView;
-
-public class FragmentSetupSend extends SetupSidePanel {
-
-	private int titleId = 0, descId = 0;
-	private TextView textTitle, textDesc;
-
-	@Override
-	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-
-		final SetupRadioFragment setupFragment = (SetupRadioFragment) getParentFragment();
-
-		final View view = inflater.inflate(R.layout.fragment_setup_panel_send, container, false);
-
-		textTitle = (TextView) view.findViewById(R.id.setupTitle);
-		textDesc = (TextView) view.findViewById(R.id.setupDesc);
-
-		if (titleId != 0 && textTitle != null)
-			textTitle.setText(titleId);
-
-		if (descId != 0)
-			textDesc.setText(descId);
-
-		final Button btnSend = (Button) view.findViewById(R.id.buttonSend);
-		btnSend.setOnClickListener(new OnClickListener() {
-			@Override
-			public void onClick(View v) {
-				if (setupFragment != null) {
-					setupFragment.doCalibrationStep(3);
-				}
-			}
-		});
-
-		final Button btnCancel = (Button) view.findViewById(R.id.buttonCancel);
-		btnCancel.setOnClickListener(new OnClickListener() {
-			@Override
-			public void onClick(View v) {
-				if (setupFragment != null) {
-					setupFragment.doCalibrationStep(0);
-				}
-			}
-		});
-		return view;
-	}
-
-	@Override
-	public void updateDescription(int idDescription) {
-		this.descId = idDescription;
-
-		if (textDesc != null)
-			textDesc.setText(descId);
-
-	}
-
-	@Override
-	public void updateTitle(int idTitle) {
-		this.titleId = idTitle;
-
-		if (textTitle != null)
-			textTitle.setText(titleId);
-	}
-}
diff --git a/Android/src/org/droidplanner/android/fragments/calibration/FragmentSetupStart.java b/Android/src/org/droidplanner/android/fragments/calibration/FragmentSetupStart.java
deleted file mode 100644
index 6f82487b30..0000000000
--- a/Android/src/org/droidplanner/android/fragments/calibration/FragmentSetupStart.java
+++ /dev/null
@@ -1,63 +0,0 @@
-package org.droidplanner.android.fragments.calibration;
-
-import org.droidplanner.R;
-import org.droidplanner.android.fragments.SetupRadioFragment;
-
-import android.os.Bundle;
-import android.view.LayoutInflater;
-import android.view.View;
-import android.view.View.OnClickListener;
-import android.view.ViewGroup;
-import android.widget.Button;
-import android.widget.TextView;
-
-public class FragmentSetupStart extends SetupSidePanel {
-
-	private TextView textTitle;
-	private TextView textDesc;
-	private int titleId;
-	private int descId;
-
-	@Override
-	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-
-		final SetupRadioFragment setupFragment = (SetupRadioFragment) getParentFragment();
-
-		final View view = inflater.inflate(R.layout.fragment_setup_panel_start, container, false);
-
-		textTitle = (TextView) view.findViewById(R.id.setupTitle);
-		textDesc = (TextView) view.findViewById(R.id.setupDesc);
-
-		if (titleId != 0 && textTitle != null)
-			textTitle.setText(titleId);
-		if (descId != 0)
-			textDesc.setText(descId);
-
-		final Button btnStart = (Button) view.findViewById(R.id.buttonStart);
-		btnStart.setOnClickListener(new OnClickListener() {
-			@Override
-			public void onClick(View v) {
-				if (setupFragment != null) {
-					setupFragment.doCalibrationStep(1);
-				}
-			}
-		});
-
-		return view;
-	}
-
-	@Override
-	public void updateDescription(int idDescription) {
-		this.descId = idDescription;
-		if (textDesc != null)
-			textDesc.setText(idDescription);
-	}
-
-	@Override
-	public void updateTitle(int idTitle) {
-		this.titleId = idTitle;
-		if (textTitle != null)
-			textTitle.setText(idTitle);
-	}
-
-}
diff --git a/Android/src/org/droidplanner/android/fragments/calibration/FragmentSetupSummary.java b/Android/src/org/droidplanner/android/fragments/calibration/FragmentSetupSummary.java
deleted file mode 100644
index 7895ea184d..0000000000
--- a/Android/src/org/droidplanner/android/fragments/calibration/FragmentSetupSummary.java
+++ /dev/null
@@ -1,89 +0,0 @@
-package org.droidplanner.android.fragments.calibration;
-
-import org.droidplanner.R;
-import org.droidplanner.android.fragments.SetupRadioFragment;
-
-import android.os.Bundle;
-import android.view.LayoutInflater;
-import android.view.View;
-import android.view.View.OnClickListener;
-import android.view.ViewGroup;
-import android.widget.Button;
-import android.widget.TextView;
-
-public class FragmentSetupSummary extends SetupSidePanel {
-
-	public final static String EXTRA_TEXT_SUMMARY = FragmentSetupSummary.class.getName() + ""
-			+ ".extra.TEXT_SUMMARY";
-	private int descId;
-	private int titleId;
-	private TextView textTitle;
-	private TextView textDesc;
-	private TextView textSummary;
-
-	@Override
-	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-
-		final SetupRadioFragment setupFragment = (SetupRadioFragment) getParentFragment();
-
-		final View view = inflater.inflate(R.layout.fragment_setup_panel_summary, container, false);
-
-		textTitle = (TextView) view.findViewById(R.id.setupTitle);
-		textDesc = (TextView) view.findViewById(R.id.setupDesc);
-		textSummary = (TextView) view.findViewById(R.id.setupSummary);
-
-		if (titleId != 0 && textTitle != null)
-			textTitle.setText(titleId);
-
-		if (descId != 0)
-			textDesc.setText(descId);
-
-		final Bundle args = getArguments();
-		if (args != null) {
-			textSummary.setText(args.getString(EXTRA_TEXT_SUMMARY, ""));
-		}
-
-		final Button btnSend = (Button) view.findViewById(R.id.buttonSend);
-		btnSend.setOnClickListener(new OnClickListener() {
-			@Override
-			public void onClick(View v) {
-				if (setupFragment != null) {
-					setupFragment.doCalibrationStep(3);
-				}
-			}
-		});
-
-		final Button btnCancel = (Button) view.findViewById(R.id.buttonCancel);
-		btnCancel.setOnClickListener(new OnClickListener() {
-			@Override
-			public void onClick(View v) {
-				if (setupFragment != null) {
-					setupFragment.doCalibrationStep(-1);
-				}
-			}
-		});
-		return view;
-	}
-
-	@Override
-	public void updateDescription(int idDescription) {
-		this.descId = idDescription;
-
-		if (textDesc != null)
-			textDesc.setText((descId));
-
-	}
-
-	@Override
-	public void updateTitle(int idTitle) {
-		this.titleId = idTitle;
-
-		if (textTitle != null)
-			textTitle.setText(titleId);
-	}
-
-	public void updateSummary(String summary) {
-		if (textSummary != null)
-			textSummary.setText(summary);
-	}
-}
diff --git a/Android/src/org/droidplanner/android/fragments/calibration/ch/FragmentSetupCH.java b/Android/src/org/droidplanner/android/fragments/calibration/ch/FragmentSetupCH.java
deleted file mode 100644
index 81504229f6..0000000000
--- a/Android/src/org/droidplanner/android/fragments/calibration/ch/FragmentSetupCH.java
+++ /dev/null
@@ -1,138 +0,0 @@
-package org.droidplanner.android.fragments.calibration.ch;
-
-import org.droidplanner.R;
-import org.droidplanner.android.fragments.calibration.FragmentSetupSend;
-import org.droidplanner.android.fragments.calibration.SetupSidePanel;
-import org.droidplanner.android.fragments.helpers.SuperSetupMainPanel;
-import org.droidplanner.android.helpers.calibration.CH_CalParameters;
-import org.droidplanner.android.helpers.calibration.CalParameters;
-import org.droidplanner.android.helpers.calibration.CalParameters.OnCalibrationEvent;
-import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
-
-import android.view.View;
-import android.widget.ArrayAdapter;
-import android.widget.EditText;
-import android.widget.Spinner;
-
-public class FragmentSetupCH extends SuperSetupMainPanel implements OnCalibrationEvent,
-		OnDroneListener {
-
-	private int[] valueCH6;
-	private int[] valueCH;
-	private String[] stringCH6;
-	private String[] stringCH;
-
-	private Spinner spinnerCH6, spinnerCH7, spinnerCH8;
-	private EditText editTuneH, editTuneL;
-
-	@Override
-	protected CalParameters getParameterHandler() {
-		return new CH_CalParameters(drone);
-	}
-
-	@Override
-	public int getPanelLayout() {
-		return R.layout.fragment_setup_ch_main;
-	}
-
-	@Override
-	public SetupSidePanel getSidePanel() {
-		return getDefaultPanel();
-	}
-
-	@Override
-	protected SetupSidePanel getDefaultPanel() {
-		sidePanel = new FragmentSetupSend();
-		sidePanel.updateTitle(R.string.setup_ch_side_title);
-		sidePanel.updateDescription(R.string.setup_ch_side_desc);
-		return sidePanel;
-	}
-
-	@Override
-	protected void updateCalibrationData() {
-		parameters.setParamValueByName("CH7_OPT", valueCH[spinnerCH7.getSelectedItemPosition()]);
-		parameters.setParamValueByName("CH8_OPT", valueCH[spinnerCH8.getSelectedItemPosition()]);
-		parameters.setParamValueByName("TUNE", valueCH6[spinnerCH6.getSelectedItemPosition()]);
-		parameters
-				.setParamValueByName("TUNE_LOW", Integer.parseInt(editTuneL.getText().toString()));
-		parameters.setParamValueByName("TUNE_HIGH",
-				Integer.parseInt(editTuneH.getText().toString()));
-	}
-
-	@Override
-	protected void updatePanelInfo() {
-		if (parameters == null)
-			return;
-
-		editTuneL.setText(String.format("%d", (int) parameters.getParamValueByName("TUNE_LOW")));
-		editTuneH.setText(String.format("%d", (int) parameters.getParamValueByName("TUNE_HIGH")));
-
-		spinnerCH6.setSelection(getSpinnerIndexFromValue(
-				(int) parameters.getParamValueByName("TUNE"), valueCH6));
-		spinnerCH7.setSelection(getSpinnerIndexFromValue(
-				(int) parameters.getParamValueByName("CH7_OPT"), valueCH));
-		spinnerCH8.setSelection(getSpinnerIndexFromValue(
-				(int) parameters.getParamValueByName("CH8_OPT"), valueCH));
-	}
-
-	@Override
-	public void setupLocalViews(View v) {
-		editTuneL = (EditText) v.findViewById(R.id.editTextTuneL);
-		editTuneH = (EditText) v.findViewById(R.id.editTextTuneH);
-
-		spinnerCH6 = (Spinner) v.findViewById(R.id.spinnerCH6);
-		spinnerCH7 = (Spinner) v.findViewById(R.id.spinnerCH7);
-		spinnerCH8 = (Spinner) v.findViewById(R.id.spinnerCH8);
-
-		setupSpinners();
-	}
-
-	private void setupSpinners() {
-		getCH6Options();
-		getCHOptions();
-
-		final ArrayAdapter<String> adapterCH = new ArrayAdapter<String>(parentActivity,
-				R.layout.spinner_setup_item, stringCH);
-		final ArrayAdapter<String> adapterTune = new ArrayAdapter<String>(parentActivity,
-				R.layout.spinner_setup_item, stringCH6);
-
-		adapterCH.setDropDownViewResource(R.layout.spinner_setup_item_dropdown);
-		adapterTune.setDropDownViewResource(R.layout.spinner_setup_item_dropdown);
-
-		spinnerCH6.setAdapter(adapterTune);
-		spinnerCH7.setAdapter(adapterCH);
-		spinnerCH8.setAdapter(adapterCH);
-	}
-
-	private void getCHOptions() {
-		String pairs[] = getResources().getStringArray(R.array.CH_Options);
-		valueCH = null;
-		valueCH = new int[pairs.length];
-		stringCH = null;
-		stringCH = new String[pairs.length];
-
-		int i = 0;
-		for (String item : pairs) {
-			String pair[] = item.split(";");
-			valueCH[i] = Integer.parseInt(pair[0]);
-			stringCH[i] = pair[1];
-			i++;
-		}
-	}
-
-	private void getCH6Options() {
-		String pairs[] = getResources().getStringArray(R.array.CH6_Options);
-		valueCH6 = null;
-		valueCH6 = new int[pairs.length];
-		stringCH6 = null;
-		stringCH6 = new String[pairs.length];
-
-		int i = 0;
-		for (String item : pairs) {
-			String pair[] = item.split(";");
-			valueCH6[i] = Integer.parseInt(pair[0]);
-			stringCH6[i] = pair[1];
-			i++;
-		}
-	}
-}
diff --git a/Android/src/org/droidplanner/android/fragments/calibration/flightmodes/FragmentSetupFM.java b/Android/src/org/droidplanner/android/fragments/calibration/flightmodes/FragmentSetupFM.java
deleted file mode 100644
index 14f65b7891..0000000000
--- a/Android/src/org/droidplanner/android/fragments/calibration/flightmodes/FragmentSetupFM.java
+++ /dev/null
@@ -1,228 +0,0 @@
-package org.droidplanner.android.fragments.calibration.flightmodes;
-
-import org.droidplanner.R;
-import org.droidplanner.android.fragments.calibration.FragmentSetupSend;
-import org.droidplanner.android.fragments.calibration.SetupSidePanel;
-import org.droidplanner.android.fragments.helpers.SuperSetupMainPanel;
-import org.droidplanner.android.helpers.calibration.CalParameters;
-import org.droidplanner.android.helpers.calibration.FM_CalParameters;
-import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
-import org.droidplanner.core.model.Drone;
-
-import android.view.View;
-import android.widget.ArrayAdapter;
-import android.widget.CheckBox;
-import android.widget.LinearLayout;
-import android.widget.Spinner;
-import android.widget.TableRow;
-import android.widget.TextView;
-
-public class FragmentSetupFM extends SuperSetupMainPanel {
-
-	private int[] pwm = { 1230, 1360, 1490, 1620, 1750 };
-	private int[] flightModeIndex = { 1, 2, 4, 8, 16, 32 };
-	private int dataFM[] = new int[8];
-
-	private int[] valueFM;
-	private String[] stringFM;
-	private String[] listPWM;
-	private CheckBox[] chkbxSimple = new CheckBox[6];
-	private CheckBox[] chkbxSuperSimple = new CheckBox[6];
-	private Spinner[] pwmSpinners = new Spinner[6];
-	private TableRow[] layoutPWM = new TableRow[6];
-
-	private TextView textPWMRange, textPWMCurrent;
-
-	@Override
-	protected void onInitialize() {
-		listPWM = getResources().getStringArray(R.array.FligthMode_PWM_Range);
-	}
-
-	@Override
-	protected CalParameters getParameterHandler() {
-		return new FM_CalParameters(drone);
-	}
-
-	@Override
-	public int getPanelLayout() {
-		return R.layout.fragment_setup_fm_main;
-	}
-
-	@Override
-	public SetupSidePanel getSidePanel() {
-		return getDefaultPanel();
-	}
-
-	@Override
-	protected SetupSidePanel getDefaultPanel() {
-		sidePanel = new FragmentSetupSend();
-		sidePanel.updateTitle(R.string.setup_fm_side_title);
-		sidePanel.updateDescription(R.string.setup_fm_side_desc);
-		return sidePanel;
-	}
-
-	@Override
-	protected void updateCalibrationData() {
-		int cnt = 0;
-
-		// Read all spinners value
-		for (Spinner spinner : pwmSpinners) {
-			dataFM[cnt] = valueFM[spinner.getSelectedItemPosition()];
-			cnt++;
-		}
-
-		// read SIMPLE MODE check boxes and create bit value
-		cnt = 0;
-		for (CheckBox chkbx : chkbxSimple) {
-			if (chkbx.isChecked()) {
-				dataFM[6] += flightModeIndex[cnt];
-			}
-			cnt++;
-		}
-
-		// read SUPER SIMPLE MODE check boxes and create bit value
-		cnt = 0;
-		for (CheckBox chkbx : chkbxSuperSimple) {
-			if (chkbx.isChecked()) {
-				dataFM[7] += flightModeIndex[cnt];
-			}
-			cnt++;
-		}
-		((FM_CalParameters) parameters).setFMData(dataFM);
-	}
-
-	@Override
-	protected void updatePanelInfo() {
-		for (int i = 0; i < 6; i++) {
-			int fmData = (int) parameters.getParamValue(i);
-			pwmSpinners[i].setSelection(getSpinnerIndexFromValue(fmData, valueFM), true);
-		}
-
-		for (int i = 0; i < 6; i++) {
-			int fmData;
-			fmData = (int) parameters.getParamValue(6);
-			chkbxSimple[i].setChecked((fmData & flightModeIndex[i]) == flightModeIndex[i]);
-
-			fmData = (int) parameters.getParamValue(7);
-			chkbxSuperSimple[i].setChecked((fmData & flightModeIndex[i]) == flightModeIndex[i]);
-		}
-	}
-
-	@Override
-	public void onDroneEvent(DroneEventsType event, Drone drone) {
-		switch (event) {
-		case RC_IN:
-			updatePWMPanels();
-			break;
-		default:
-			break;
-		}
-		super.onDroneEvent(event, drone);
-	}
-
-	@Override
-	public void setupLocalViews(View v) {
-		textPWMRange = (TextView) v.findViewById(R.id.textViewPWMRange);
-		textPWMCurrent = (TextView) v.findViewById(R.id.textViewPWM);
-
-		pwmSpinners[0] = (Spinner) v.findViewById(R.id.spinnerFM1);
-		pwmSpinners[1] = (Spinner) v.findViewById(R.id.spinnerFM2);
-		pwmSpinners[2] = (Spinner) v.findViewById(R.id.spinnerFM3);
-		pwmSpinners[3] = (Spinner) v.findViewById(R.id.spinnerFM4);
-		pwmSpinners[4] = (Spinner) v.findViewById(R.id.spinnerFM5);
-		pwmSpinners[5] = (Spinner) v.findViewById(R.id.spinnerFM6);
-
-		chkbxSimple[0] = (CheckBox) v.findViewById(R.id.checkBoxFM1);
-		chkbxSimple[1] = (CheckBox) v.findViewById(R.id.checkBoxFM2);
-		chkbxSimple[2] = (CheckBox) v.findViewById(R.id.checkBoxFM3);
-		chkbxSimple[3] = (CheckBox) v.findViewById(R.id.checkBoxFM4);
-		chkbxSimple[4] = (CheckBox) v.findViewById(R.id.checkBoxFM5);
-		chkbxSimple[5] = (CheckBox) v.findViewById(R.id.checkBoxFM6);
-
-		chkbxSuperSimple[0] = (CheckBox) v.findViewById(R.id.checkBoxFMS1);
-		chkbxSuperSimple[1] = (CheckBox) v.findViewById(R.id.checkBoxFMS2);
-		chkbxSuperSimple[2] = (CheckBox) v.findViewById(R.id.checkBoxFMS3);
-		chkbxSuperSimple[3] = (CheckBox) v.findViewById(R.id.checkBoxFMS4);
-		chkbxSuperSimple[4] = (CheckBox) v.findViewById(R.id.checkBoxFMS5);
-		chkbxSuperSimple[5] = (CheckBox) v.findViewById(R.id.checkBoxFMS6);
-
-		layoutPWM[0] = (TableRow) v.findViewById(R.id.layoutFM1);
-		layoutPWM[1] = (TableRow) v.findViewById(R.id.layoutFM2);
-		layoutPWM[2] = (TableRow) v.findViewById(R.id.layoutFM3);
-		layoutPWM[3] = (TableRow) v.findViewById(R.id.layoutFM4);
-		layoutPWM[4] = (TableRow) v.findViewById(R.id.layoutFM5);
-		layoutPWM[5] = (TableRow) v.findViewById(R.id.layoutFM6);
-
-		setupSpinners();
-
-	}
-
-	private void setupSpinners() {
-		getFMOptions();
-
-		final ArrayAdapter<String> adapter = new ArrayAdapter<String>(parentActivity,
-				R.layout.spinner_setup_item, stringFM);
-
-		adapter.setDropDownViewResource(R.layout.spinner_setup_item_dropdown);
-
-		for (Spinner spinner : pwmSpinners) {
-			spinner.setAdapter(adapter);
-		}
-	}
-
-	private void updatePWMPanels() {
-		int pwmIn = drone.getRC().in[4];
-		int pwmId = getPWMRangeIndex(pwmIn);
-
-		textPWMCurrent.setText(String.format("PWM in : %d", pwmIn));
-		textPWMRange.setText("Flight Mode #" + String.valueOf(pwmId + 1) + " (" + listPWM[pwmId]
-				+ ")");
-		updateLayout(pwmId);
-
-	}
-
-	private void updateLayout(int pwmId) {
-		for (LinearLayout layout : layoutPWM) {
-			layout.setBackgroundColor(0);
-		}
-
-		if (pwmId > -1) {
-			layoutPWM[pwmId].setBackgroundColor(getResources().getColor(R.color.air_speed_label));
-		}
-	}
-
-	private int getPWMRangeIndex(int pwmValue) {
-
-		if (pwmValue <= pwm[0])
-			return 0;
-		else if (pwmValue > pwm[0] && pwmValue <= pwm[1])
-			return 1;
-		else if (pwmValue > pwm[1] && pwmValue <= pwm[2])
-			return 2;
-		else if (pwmValue > pwm[2] && pwmValue <= pwm[3])
-			return 3;
-		else if (pwmValue > pwm[3] && pwmValue <= pwm[4])
-			return 4;
-		else if (pwmValue >= pwm[4])
-			return 5;
-
-		return -1;
-	}
-
-	private void getFMOptions() {
-		String pairs[] = getResources().getStringArray(R.array.FligthMode_CopterV3_1);
-		valueFM = null;
-		valueFM = new int[pairs.length];
-		stringFM = null;
-		stringFM = new String[pairs.length];
-
-		int i = 0;
-		for (String item : pairs) {
-			String pair[] = item.split(";");
-			valueFM[i] = Integer.parseInt(pair[0]);
-			stringFM[i] = pair[1];
-			i++;
-		}
-	}
-
-}
diff --git a/Android/src/org/droidplanner/android/fragments/calibration/imu/FragmentSetupIMU.java b/Android/src/org/droidplanner/android/fragments/calibration/imu/FragmentSetupIMU.java
index 06216866db..405a777873 100644
--- a/Android/src/org/droidplanner/android/fragments/calibration/imu/FragmentSetupIMU.java
+++ b/Android/src/org/droidplanner/android/fragments/calibration/imu/FragmentSetupIMU.java
@@ -1,27 +1,35 @@
 package org.droidplanner.android.fragments.calibration.imu;
 
-import org.droidplanner.R;
-import org.droidplanner.android.fragments.SetupSensorFragment;
-import org.droidplanner.android.fragments.calibration.SetupMainPanel;
-import org.droidplanner.android.fragments.calibration.SetupSidePanel;
-import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
-import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
-import org.droidplanner.core.drone.variables.Calibration;
-import org.droidplanner.core.model.Drone;
-
+import android.content.Context;
 import android.graphics.drawable.Drawable;
+import android.os.Bundle;
 import android.os.Handler;
+import android.support.v4.app.Fragment;
 import android.text.TextUtils;
+import android.view.LayoutInflater;
 import android.view.View;
+import android.view.ViewGroup;
+import android.widget.Button;
 import android.widget.ProgressBar;
 import android.widget.TextView;
 
-public class FragmentSetupIMU extends SetupMainPanel implements OnDroneListener {
+import org.droidplanner.R;
+import org.droidplanner.android.DroidPlannerApp;
+import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
+import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
+import org.droidplanner.core.drone.variables.Calibration;
+import org.droidplanner.core.model.Drone;
+
+public class FragmentSetupIMU extends Fragment implements OnDroneListener {
+
+	private final static long TIMEOUT_MAX = 30000l; //ms
+    private final static long UPDATE_TIMEOUT_PERIOD = 100l; //ms
+    private static final String EXTRA_UPDATE_TIMESTAMP = "extra_update_timestamp";
+
+    private String msg;
 
-	private final static int TIMEOUT_MAX = 300;
+    private long updateTimestamp;
 
-	private String msg;
-	private long timeCount;
 	private int calibration_step = 0;
 	private TextView textViewStep;
 	private TextView textViewOffset;
@@ -33,79 +41,210 @@ public class FragmentSetupIMU extends SetupMainPanel implements OnDroneListener
 
 	private final Handler handler = new Handler();
 
+	private DroidPlannerApp app;
+
+    private Button btnStep;
+    private TextView textDesc;
+
+    @Override
+	public void onActivityCreated(Bundle savedInstanceState) {
+		super.onActivityCreated(savedInstanceState);
+		app = (DroidPlannerApp) getActivity().getApplication();
+	}
+
+	@Override
+	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
+		return inflater.inflate(R.layout.fragment_setup_imu_main, container, false);
+	}
+
 	@Override
-	public void setupLocalViews(View view) {
+	public void onViewCreated(View view, Bundle savedInstanceState) {
+		super.onViewCreated(view, savedInstanceState);
+
 		textViewStep = (TextView) view.findViewById(R.id.textViewIMUStep);
 		textViewOffset = (TextView) view.findViewById(R.id.TextViewIMUOffset);
 		textViewScaling = (TextView) view.findViewById(R.id.TextViewIMUScaling);
 		textViewTimeOut = (TextView) view.findViewById(R.id.textViewIMUTimeOut);
 		pbTimeOut = (ProgressBar) view.findViewById(R.id.progressBarTimeOut);
 
+        textDesc = (TextView) view.findViewById(R.id.textViewDesc);
+
+        btnStep = (Button) view.findViewById(R.id.buttonStep);
+        btnStep.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                processCalibrationStep(calibration_step);
+            }
+        });
+
 		pbTimeOut.setVisibility(View.INVISIBLE);
 		textViewTimeOut.setVisibility(View.INVISIBLE);
 		textViewOffset.setVisibility(View.INVISIBLE);
 		textViewScaling.setVisibility(View.INVISIBLE);
-		timeLeftStr = getResources().getString(R.string.setup_imu_timeleft);
+		timeLeftStr = getString(R.string.setup_imu_timeleft);
+
 		drawableGood = getResources().getDrawable(R.drawable.pstate_good);
 		drawableWarning = getResources().getDrawable(R.drawable.pstate_warning);
 		drawablePoor = getResources().getDrawable(R.drawable.pstate_poor);
 
+        if(savedInstanceState != null){
+            updateTimestamp = savedInstanceState.getLong(EXTRA_UPDATE_TIMESTAMP);
+        }
 	}
 
-	@Override
-	public int getPanelLayout() {
-		return R.layout.fragment_setup_imu_main;
-	}
+    @Override
+    public void onSaveInstanceState(Bundle outState){
+        super.onSaveInstanceState(outState);
+        outState.putLong(EXTRA_UPDATE_TIMESTAMP, updateTimestamp);
+    }
 
 	@Override
-	public SetupSidePanel getSidePanel() {
-		return new FragmentSetupIMUCalibrate();
+	public void onStart() {
+		super.onStart();
+		final Drone drone = app.getDrone();
+		if (drone != null && drone.getMavClient().isConnected()) {
+            btnStep.setEnabled(true);
+			if (drone.getCalibrationSetup().isCalibrating()) {
+				processMAVMessage(drone.getCalibrationSetup().getMessage(), false);
+			}
+            else{
+                resetCalibration();
+            }
+		} else {
+            btnStep.setEnabled(false);
+            resetCalibration();
+		}
 	}
 
-	@Override
-	public void doCalibrationStep(int step) {
-		processCalibrationStep(calibration_step);
-	}
+    private void resetCalibration(){
+        calibration_step = 0;
+        updateDescription(calibration_step);
+    }
+
+    @Override
+    public void onPause() {
+        super.onPause();
+        app.getDrone().removeDroneListener(this);
+    }
+
+    @Override
+    public void onResume() {
+        super.onResume();
+        app.getDrone().addDroneListener(this);
+    }
 
 	private void processCalibrationStep(int step) {
 		if (step == 0) {
 			startCalibration();
-			timeCount = 0;
+            updateTimestamp = System.currentTimeMillis();
 		} else if (step > 0 && step < 7) {
 			sendAck(step);
-			if (step == 6) {
-				textViewOffset.setVisibility(View.VISIBLE);
-				textViewScaling.setVisibility(View.VISIBLE);
-			}
 		} else {
 			calibration_step = 0;
-			textViewStep.setText(R.string.setup_imu_step);
 
-			textViewOffset.setVisibility(View.INVISIBLE);
-			textViewScaling.setVisibility(View.INVISIBLE);
+            textViewStep.setText(R.string.setup_imu_step);
 
-			((SetupSensorFragment) getParentFragment()).updateSidePanelTitle(calibration_step);
+            textViewOffset.setVisibility(View.INVISIBLE);
+            textViewScaling.setVisibility(View.INVISIBLE);
+
+            updateDescription(calibration_step);
 		}
 	}
 
+    public void updateDescription(int calibration_step) {
+        int id;
+        switch (calibration_step) {
+            case 0:
+                id = R.string.setup_imu_start;
+                break;
+            case 1:
+                id = R.string.setup_imu_normal;
+                break;
+            case 2:
+                id = R.string.setup_imu_left;
+                break;
+            case 3:
+                id = R.string.setup_imu_right;
+                break;
+            case 4:
+                id = R.string.setup_imu_nosedown;
+                break;
+            case 5:
+                id = R.string.setup_imu_noseup;
+                break;
+            case 6:
+                id = R.string.setup_imu_back;
+                break;
+            case 7:
+                id = R.string.setup_imu_completed;
+                break;
+            default:
+                return;
+        }
+
+        if (textDesc != null) {
+            textDesc.setText(id);
+        }
+
+        if (btnStep != null) {
+            if (calibration_step == 0)
+                btnStep.setText(R.string.button_setup_calibrate);
+            else if (calibration_step == 7)
+                btnStep.setText(R.string.button_setup_done);
+            else
+                btnStep.setText(R.string.button_setup_next);
+        }
+
+        if (calibration_step == 7 || calibration_step == 0) {
+            handler.removeCallbacks(runnable);
+
+            pbTimeOut.setVisibility(View.INVISIBLE);
+            textViewTimeOut.setVisibility(View.INVISIBLE);
+        } else {
+            handler.removeCallbacks(runnable);
+
+            textViewTimeOut.setVisibility(View.VISIBLE);
+            pbTimeOut.setIndeterminate(true);
+            pbTimeOut.setVisibility(View.VISIBLE);
+            handler.postDelayed(runnable, UPDATE_TIMEOUT_PERIOD);
+        }
+    }
+
 	private void sendAck(int step) {
-		if (parentActivity.drone != null) {
-			parentActivity.drone.getCalibrationSetup().sendAckk(step);
+		if (app.getDrone() != null) {
+			app.getDrone().getCalibrationSetup().sendAckk(step);
 		}
 	}
 
 	private void startCalibration() {
-		if (parentActivity.drone != null) {
-			parentActivity.drone.getCalibrationSetup().startCalibration();
+		if (app.getDrone() != null) {
+			app.getDrone().getCalibrationSetup().startCalibration();
 		}
 	}
 
 	@Override
 	public void onDroneEvent(DroneEventsType event, Drone drone) {
-		if (event == DroneEventsType.CALIBRATION_IMU) {
-			processMAVMessage(drone.getCalibrationSetup().getMessage());
-		} else if (event == DroneEventsType.HEARTBEAT_TIMEOUT) {
-			if (parentActivity.drone != null) {
+        switch(event){
+            case CALIBRATION_IMU:
+                processMAVMessage(drone.getCalibrationSetup().getMessage(), true);
+                break;
+
+            case CONNECTED:
+                if(calibration_step == 0) {
+                    //Reset the screen, and enable the calibration button
+                    resetCalibration();
+                    btnStep.setEnabled(true);
+                }
+                break;
+
+            case DISCONNECTED:
+                //Reset the screen, and disable the calibration button
+                btnStep.setEnabled(false);
+                resetCalibration();
+                break;
+
+            case CALIBRATION_TIMEOUT:
+                if (drone != null) {
 				/*
 				 * here we will check if we are in calibration mode but if at
 				 * the same time 'msg' is empty - then it is actually not doing
@@ -113,22 +252,31 @@ public void onDroneEvent(DroneEventsType event, Drone drone) {
 				 * flag and re-trigger the HEARBEAT_TIMEOUT this however should
 				 * not be happening
 				 */
-				if (Calibration.isCalibrating() && TextUtils.isEmpty(msg)) {
-					Calibration.setClibrating(false);
-					parentActivity.drone.notifyDroneEvent(DroneEventsType.HEARTBEAT_TIMEOUT);
-				} else {
-					parentActivity.app.mNotificationHandler.quickNotify(msg);
-				}
-			}
-		}
+                    final Calibration calibration = drone.getCalibrationSetup();
+                    if (calibration.isCalibrating() && TextUtils.isEmpty(msg)) {
+                        calibration.setCalibrating(false);
+                        drone.notifyDroneEvent(DroneEventsType.HEARTBEAT_TIMEOUT);
+                    } else {
+                        app.mNotificationHandler.quickNotify(msg);
+                    }
+                }
+                break;
+        }
 	}
 
-	private void processMAVMessage(String message) {
-		if (message.contains("Place") || message.contains("Calibration"))
-			processOrientation(message);
+	private void processMAVMessage(String message, boolean updateTime) {
+		if (message.contains("Place") || message.contains("Calibration")) {
+            if(updateTime) {
+                updateTimestamp = System.currentTimeMillis();
+            }
+
+            processOrientation(message);
+        }
 		else if (message.contains("Offsets")) {
+            textViewOffset.setVisibility(View.VISIBLE);
 			textViewOffset.setText(message);
 		} else if (message.contains("Scaling")) {
+            textViewScaling.setVisibility(View.VISIBLE);
 			textViewScaling.setText(message);
 		}
 	}
@@ -150,45 +298,33 @@ else if (message.contains("Calibration"))
 			calibration_step = 7;
 
 		msg = message.replace("any key.", "'Next'");
+        app.mNotificationHandler.quickNotify(msg);
 
 		textViewStep.setText(msg);
 
-		((SetupSensorFragment) getParentFragment()).updateSidePanelTitle(calibration_step);
-
-		if (calibration_step == 7) {
-			if (parentActivity != null && parentActivity.app != null) {
-				parentActivity.app.mNotificationHandler.quickNotify(msg);
-			}
-			handler.removeCallbacks(runnable);
-
-			pbTimeOut.setVisibility(View.INVISIBLE);
-			textViewTimeOut.setVisibility(View.INVISIBLE);
-		} else {
-			handler.removeCallbacks(runnable);
-			timeCount = 0;
-			textViewTimeOut.setVisibility(View.VISIBLE);
-			pbTimeOut.setVisibility(View.VISIBLE);
-			handler.postDelayed(runnable, 100);
-		}
+		updateDescription(calibration_step);
 	}
 
 	private Runnable runnable = new Runnable() {
 		@Override
 		public void run() {
+            handler.removeCallbacks(this);
 			updateTimeOutProgress();
-			handler.postDelayed(this, 100);
+			handler.postDelayed(this, UPDATE_TIMEOUT_PERIOD);
 		}
 	};
 
 	protected void updateTimeOutProgress() {
-		long timeLeft = (int) (TIMEOUT_MAX - timeCount);
+        final long timeElapsed = System.currentTimeMillis() - updateTimestamp;
+		long timeLeft = (int) (TIMEOUT_MAX - timeElapsed);
 
 		if (timeLeft >= 0) {
-			timeCount++;
-			int secLeft = (int) (timeLeft / 10) + 1;
+			int secLeft = (int) (timeLeft / 1000) + 1;
 
-			pbTimeOut.setMax(TIMEOUT_MAX);
+            pbTimeOut.setIndeterminate(false);
+			pbTimeOut.setMax((int) TIMEOUT_MAX);
 			pbTimeOut.setProgress((int) timeLeft);
+
 			textViewTimeOut.setText(timeLeftStr + String.valueOf(secLeft) + "s");
 			if (secLeft > 15)
 				pbTimeOut.setProgressDrawable(drawableGood);
@@ -199,25 +335,10 @@ else if (secLeft == 5)
 
 		} else {
 			textViewTimeOut.setText(timeLeftStr + "0s");
-
 		}
-
 	}
 
-	@Override
-	public void onPause() {
-		super.onPause();
-		if (parentActivity != null) {
-			parentActivity.drone.removeDroneListener(this);
-		}
-	}
-
-	@Override
-	public void onResume() {
-		super.onResume();
-
-		if (parentActivity != null) {
-			parentActivity.drone.addDroneListener(this);
-		}
+	public static CharSequence getTitle(Context context) {
+		return context.getText(R.string.setup_imu_title);
 	}
 }
diff --git a/Android/src/org/droidplanner/android/fragments/calibration/imu/FragmentSetupIMUCalibrate.java b/Android/src/org/droidplanner/android/fragments/calibration/imu/FragmentSetupIMUCalibrate.java
deleted file mode 100644
index 22e2e111b4..0000000000
--- a/Android/src/org/droidplanner/android/fragments/calibration/imu/FragmentSetupIMUCalibrate.java
+++ /dev/null
@@ -1,100 +0,0 @@
-package org.droidplanner.android.fragments.calibration.imu;
-
-import org.droidplanner.R;
-import org.droidplanner.android.fragments.SetupSensorFragment;
-import org.droidplanner.android.fragments.calibration.SetupSidePanel;
-
-import android.os.Bundle;
-import android.view.LayoutInflater;
-import android.view.View;
-import android.view.View.OnClickListener;
-import android.view.ViewGroup;
-import android.widget.Button;
-import android.widget.TextView;
-
-public class FragmentSetupIMUCalibrate extends SetupSidePanel {
-	private Button btnStep;
-	private TextView textDesc;
-
-	@Override
-	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-		final View view = inflater.inflate(R.layout.fragment_setup_imu_calibrate, container, false);
-
-		final SetupSensorFragment setupFragment = (SetupSensorFragment) getParentFragment();
-
-		textDesc = (TextView) view.findViewById(R.id.textViewDesc);
-		btnStep = (Button) view.findViewById(R.id.buttonNext);
-		btnStep.setOnClickListener(new OnClickListener() {
-			@Override
-			public void onClick(View v) {
-				if (setupFragment != null) {
-					setupFragment.doCalibrationStep(0);
-				}
-			}
-		});
-
-		return view;
-	}
-
-	@Override
-	public void updateDescription(int calibration_step) {
-		int id;
-		switch (calibration_step) {
-		case 0:
-			id = R.string.setup_imu_start;
-			break;
-		case 1:
-			id = R.string.setup_imu_normal;
-			break;
-		case 2:
-			id = R.string.setup_imu_left;
-			break;
-		case 3:
-			id = R.string.setup_imu_right;
-			break;
-		case 4:
-			id = R.string.setup_imu_nosedown;
-			break;
-		case 5:
-			id = R.string.setup_imu_noseup;
-			break;
-		case 6:
-			id = R.string.setup_imu_back;
-			break;
-		case 7:
-			id = R.string.setup_imu_completed;
-			break;
-		default:
-			return;
-		}
-
-		if (textDesc != null) {
-			textDesc.setText(id);
-		}
-		if (btnStep != null) {
-			if (calibration_step == 0)
-				btnStep.setText(R.string.button_setup_calibrate);
-			else if (calibration_step == 7)
-				btnStep.setText(R.string.button_setup_done);
-			else
-				btnStep.setText(R.string.button_setup_next);
-		}
-	}
-
-	public void setButtonCaption(int id) {
-		if (btnStep != null)
-			btnStep.setText(id);
-	}
-
-	public void setDescription(int id) {
-		if (textDesc != null)
-			textDesc.setText(id);
-	}
-
-	@Override
-	public void updateTitle(int idTitle) {
-		// TODO Auto-generated method stub
-
-	}
-
-}
diff --git a/Android/src/org/droidplanner/android/fragments/calibration/mag/FragmentSetupMAG.java b/Android/src/org/droidplanner/android/fragments/calibration/mag/FragmentSetupMAG.java
index 45e3678867..1c7c56891f 100644
--- a/Android/src/org/droidplanner/android/fragments/calibration/mag/FragmentSetupMAG.java
+++ b/Android/src/org/droidplanner/android/fragments/calibration/mag/FragmentSetupMAG.java
@@ -1,33 +1,349 @@
 package org.droidplanner.android.fragments.calibration.mag;
 
+import java.util.ArrayList;
+import java.util.List;
+
 import org.droidplanner.R;
-import org.droidplanner.android.fragments.calibration.SetupMainPanel;
-import org.droidplanner.android.fragments.calibration.SetupSidePanel;
+import org.droidplanner.android.DroidPlannerApp;
+import org.droidplanner.android.lib.parcelables.ParcelableThreeSpacePoint;
+import org.droidplanner.android.widgets.scatterplot.ScatterPlot;
+import org.droidplanner.core.drone.DroneInterfaces;
+import org.droidplanner.core.drone.variables.helpers.MagnetometerCalibration;
+import org.droidplanner.core.model.Drone;
 
+import android.content.Context;
+import android.os.Bundle;
+import android.os.Handler;
+import android.support.v4.app.Fragment;
+import android.util.Log;
+import android.view.LayoutInflater;
 import android.view.View;
+import android.view.ViewGroup;
+import android.widget.Button;
+import android.widget.ProgressBar;
+import android.widget.TextView;
+import android.widget.Toast;
+import ellipsoidFit.FitPoints;
+import ellipsoidFit.ThreeSpacePoint;
 
-public class FragmentSetupMAG extends SetupMainPanel {
+public class FragmentSetupMAG extends Fragment implements MagnetometerCalibration
+        .OnMagCalibrationListener, DroneInterfaces.OnDroneListener {
 
-	@Override
-	public int getPanelLayout() {
-		return R.layout.fragment_setup_mag_main;
-	}
+    private static final int CALIBRATION_IDLE = 0;
+    private static final int CALIBRATION_IN_PROGRESS = 1;
+    private static final int CALIBRATION_COMPLETED = 2;
 
-	@Override
-	public SetupSidePanel getSidePanel() {
-		// TODO Auto-generated method stub
-		return null;
+    private static final String EXTRA_CALIBRATION_STATUS = "extra_calibration_status";
+    private static final String EXTRA_CALIBRATION_POINTS = "extra_calibration_points";
+
+    private View inProgressCalibrationView;
+    private Button buttonStep;
+    private Button buttonCancel;
+    private TextView calibrationProgress;
+    private ProgressBar calibrationFitness;
+	private ScatterPlot plot1,plot2;
+
+    private int calibrationStatus = CALIBRATION_IDLE;
+
+	private Drone drone;
+	private MagnetometerCalibration calibration;
+
+    private List<? extends ThreeSpacePoint> startPoints;
+
+    @Override
+    public View onCreateView(LayoutInflater inflater, ViewGroup container,
+                              Bundle savedInstanceState){
+        return inflater.inflate(R.layout.fragment_setup_mag_main, container, false);
+    }
+
+    @Override
+    public void onViewCreated(View view, Bundle savedInstanceState){
+        super.onViewCreated(view, savedInstanceState);
+
+        plot1 = (ScatterPlot) view.findViewById(R.id.scatterPlot1);
+        plot1.setTitle("XZ");
+
+        plot2 = (ScatterPlot) view.findViewById(R.id.scatterPlot2);
+        plot2.setTitle("YZ");
+
+        inProgressCalibrationView = view.findViewById(R.id.in_progress_calibration_container);
+
+        calibrationProgress = (TextView) view.findViewById(R.id.calibration_progress);
+
+        buttonStep = (Button) view.findViewById(R.id.buttonStep);
+        buttonStep.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                if(calibrationStatus == CALIBRATION_COMPLETED){
+                    //Clear the screen.
+                    clearScreen();
+                    setCalibrationStatus(CALIBRATION_IDLE);
+                }
+                else {
+                    startCalibration();
+                }
+            }
+        });
+
+        buttonCancel = (Button) view.findViewById(R.id.buttonCancel);
+        buttonCancel.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                cancelCalibration();
+            }
+        });
+
+        calibrationFitness = (ProgressBar) view.findViewById(R.id.calibration_progress_bar);
+
+        drone = ((DroidPlannerApp) getActivity().getApplication()).getDrone();
+
+        calibration = new MagnetometerCalibration(drone, this, new DroneInterfaces.Handler() {
+            private final Handler handler = new Handler();
+
+            @Override
+            public void removeCallbacks(Runnable thread) {
+                this.handler.removeCallbacks(thread);
+            }
+
+            @Override
+            public void post(Runnable thread) {
+                this.handler.post(thread);
+            }
+
+            @Override
+            public void postDelayed(Runnable thread, long timeout) {
+                this.handler.postDelayed(thread, timeout);
+            }
+        });
+
+        if(savedInstanceState != null){
+            final int calibrationStatus = savedInstanceState.getInt(EXTRA_CALIBRATION_STATUS,
+                    CALIBRATION_IDLE);
+            setCalibrationStatus(calibrationStatus);
+
+            if(calibrationStatus == CALIBRATION_IN_PROGRESS){
+                final ArrayList<ParcelableThreeSpacePoint> loadedPoints = savedInstanceState
+                        .getParcelableArrayList(EXTRA_CALIBRATION_POINTS);
+                if(loadedPoints != null && !loadedPoints.isEmpty()){
+                    startPoints = loadedPoints;
+
+                    for(ParcelableThreeSpacePoint point: loadedPoints){
+                        final double x = point.x;
+                        final double y = point.y;
+                        final double z = point.z;
+
+                        plot1.addData((float) x);
+                        plot1.addData((float) z);
+
+                        plot2.addData((float) y);
+                        plot2.addData((float) z);
+                    }
+
+                    plot1.invalidate();
+                    plot2.invalidate();
+                }
+            }
+        }
+    }
+
+    @Override
+    public void onSaveInstanceState(Bundle outState){
+        super.onSaveInstanceState(outState);
+
+        outState.putInt(EXTRA_CALIBRATION_STATUS, calibrationStatus);
+
+        if(calibration != null) {
+            final List<ThreeSpacePoint> fitPoints = calibration.getPoints();
+            final int pointsCount = fitPoints.size();
+            if(pointsCount > 0) {
+                final ArrayList<ParcelableThreeSpacePoint> savedPoints = new
+                        ArrayList<ParcelableThreeSpacePoint>(pointsCount);
+                for(ThreeSpacePoint point : fitPoints){
+                    savedPoints.add(new ParcelableThreeSpacePoint(point));
+                }
+
+                outState.putParcelableArrayList(EXTRA_CALIBRATION_POINTS, savedPoints);
+            }
+        }
+    }
+
+    @Override
+    public void onStart(){
+        super.onStart();
+        if(drone.getMavClient().isConnected()){
+            buttonStep.setEnabled(true);
+        }
+        else{
+            cancelCalibration();
+            buttonStep.setEnabled(false);
+        }
+
+        drone.addDroneListener(this);
+        if(calibrationStatus == CALIBRATION_IN_PROGRESS){
+            startCalibration();
+        }
+    }
+
+    @Override
+    public void onStop(){
+        super.onStop();
+        drone.removeDroneListener(this);
+        pauseCalibration();
+    }
+
+    private void pauseCalibration(){
+        if(calibration != null){
+            calibration.stop();
+        }
+    }
+
+    private void cancelCalibration() {
+        if(calibration != null){
+            calibration.stop();
+            if(calibrationStatus == CALIBRATION_IN_PROGRESS){
+                setCalibrationStatus(CALIBRATION_IDLE);
+            }
+        }
+        clearScreen();
+    }
+
+    private void clearScreen(){
+        plot1.reset();
+        plot2.reset();
+    }
+
+	private void setCalibrationStatus(int status) {
+        if(calibrationStatus == status){
+            return;
+        }
+
+		calibrationStatus = status;
+		switch (calibrationStatus) {
+		case CALIBRATION_IN_PROGRESS:
+			// Hide the 'start' button
+			buttonStep.setVisibility(View.GONE);
+
+			// Show the 'in progress view'
+			inProgressCalibrationView.setVisibility(View.VISIBLE);
+			calibrationFitness.setIndeterminate(true);
+            calibrationProgress.setText("0 / 100");
+			break;
+
+		case CALIBRATION_COMPLETED:
+			calibrationFitness.setIndeterminate(false);
+			calibrationFitness.setMax(100);
+			calibrationFitness.setProgress(100);
+
+			// Hide the 'in progress view'
+			inProgressCalibrationView.setVisibility(View.GONE);
+
+			// Show the 'calibrate/done' button
+			buttonStep.setVisibility(View.VISIBLE);
+			buttonStep.setText(R.string.button_setup_done);
+			break;
+
+		default:
+			// Hide the 'in progress view'
+			inProgressCalibrationView.setVisibility(View.GONE);
+
+			// Show the 'calibrate/done' button
+			buttonStep.setVisibility(View.VISIBLE);
+			buttonStep.setText(R.string.button_setup_calibrate);
+			break;
+		}
 	}
 
-	@Override
-	public void setupLocalViews(View v) {
-		// TODO Auto-generated method stub
+    public void startCalibration() {
+		if(calibration != null){
+			if (drone.getMagnetometer().getOffsets()==null) {
+				Toast.makeText(getActivity()," Please load the parameters before calibrating", Toast.LENGTH_LONG).show();
+			}
+			
+            calibration.start(startPoints);
+            startPoints = null;
 
+            setCalibrationStatus(CALIBRATION_IN_PROGRESS);
+        }
 	}
 
+    @Override
+    public void newEstimation(FitPoints ellipsoidFit, List<ThreeSpacePoint> points){
+        final int pointsCount = points.size();
+        if(pointsCount == 0) {
+            return;
+        }
+
+        if(pointsCount < MagnetometerCalibration.MIN_POINTS_COUNT){
+            calibrationFitness.setIndeterminate(true);
+            calibrationProgress.setText("0 / 100");
+        }
+        else {
+            final int progress = (int) (ellipsoidFit.getFitness() * 100);
+            calibrationFitness.setIndeterminate(false);
+            calibrationFitness.setMax(100);
+            calibrationFitness.setProgress(progress);
+
+            calibrationProgress.setText(progress + " / 100");
+        }
+
+        //Grab the last point
+        final ThreeSpacePoint point = points.get(pointsCount - 1);
+
+        plot1.addData((float)point.x);
+        plot1.addData((float)point.z);
+        if (ellipsoidFit.center.isNaN() || ellipsoidFit.radii.isNaN()) {
+            plot1.updateSphere(null);
+        } else {
+            plot1.updateSphere(new int[] { (int) ellipsoidFit.center.getEntry(0),
+                    (int) ellipsoidFit.center.getEntry(2), (int) ellipsoidFit.radii.getEntry(0),
+                    (int) ellipsoidFit.radii.getEntry(2) });
+        }
+        plot1.invalidate();
+
+        plot2.addData((float) point.y);
+        plot2.addData((float) point.z);
+        if (ellipsoidFit.center.isNaN() || ellipsoidFit.radii.isNaN()) {
+            plot2.updateSphere(null);
+        } else {
+            plot2.updateSphere(new int[] { (int) ellipsoidFit.center.getEntry(1),
+                    (int) ellipsoidFit.center.getEntry(2), (int) ellipsoidFit.radii.getEntry(1),
+                    (int) ellipsoidFit.radii.getEntry(2) });
+        }
+        plot2.invalidate();
+    }
+
 	@Override
-	public void doCalibrationStep(int step) {
-		// TODO Auto-generated method stub
+	public void finished(FitPoints fit) {
+		Log.d("MAG", "Calibration Finished: "+fit.center.toString());
+		Toast.makeText(getActivity(), "Calibration Finished: "+ fit.center.toString(),Toast.LENGTH_LONG).show();
+
+		try {
+			calibration.sendOffsets();
+		} catch (Exception e) {
+			e.printStackTrace();
+		}
+        drone.getStreamRates().setupStreamRatesFromPref();
 
+        setCalibrationStatus(CALIBRATION_COMPLETED);
 	}
+
+    public static CharSequence getTitle(Context context) {
+        return context.getText(R.string.setup_mag_title);
+    }
+
+    @Override
+    public void onDroneEvent(DroneInterfaces.DroneEventsType event, Drone drone) {
+        switch(event){
+            case CONNECTED:
+                buttonStep.setEnabled(true);
+                break;
+
+            case DISCONNECTED:
+                cancelCalibration();
+                buttonStep.setEnabled(false);
+                break;
+		default:
+			break;
+        }
+    }
 }
diff --git a/Android/src/org/droidplanner/android/fragments/calibration/rc/FragmentSetupRC.java b/Android/src/org/droidplanner/android/fragments/calibration/rc/FragmentSetupRC.java
deleted file mode 100644
index 5ca0b80c4d..0000000000
--- a/Android/src/org/droidplanner/android/fragments/calibration/rc/FragmentSetupRC.java
+++ /dev/null
@@ -1,294 +0,0 @@
-package org.droidplanner.android.fragments.calibration.rc;
-
-import org.droidplanner.R;
-import org.droidplanner.android.fragments.SetupRadioFragment;
-import org.droidplanner.android.fragments.calibration.FragmentSetupNext;
-import org.droidplanner.android.fragments.calibration.FragmentSetupProgress;
-import org.droidplanner.android.fragments.calibration.FragmentSetupStart;
-import org.droidplanner.android.fragments.calibration.FragmentSetupSummary;
-import org.droidplanner.android.fragments.calibration.SetupSidePanel;
-import org.droidplanner.android.fragments.helpers.SuperSetupMainPanel;
-import org.droidplanner.android.helpers.calibration.CalParameters;
-import org.droidplanner.android.helpers.calibration.RC_CalParameters;
-import org.droidplanner.android.widgets.FillBar.FillBar;
-import org.droidplanner.android.widgets.RcStick.RcStick;
-import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
-import org.droidplanner.core.model.Drone;
-
-import android.os.Bundle;
-import android.view.View;
-import android.widget.TextView;
-
-public class FragmentSetupRC extends SuperSetupMainPanel {
-
-	/**
-	 * Minimum threshold for the RC value.
-	 */
-	private static final int RC_MIN = 900;
-
-	/**
-	 * Maximum threshold for the RC value.
-	 */
-	private static final int RC_MAX = 2100;
-
-	private static final String[] RCStr = { "CH 1 ", "CH 2 ", "CH 3 ", "CH 4 ", "CH 5", "CH 6",
-			"CH 7", "CH 8" };
-
-	private int calibrationStep = 0;
-
-	private FillBar bar1;
-	private FillBar bar2;
-	private FillBar bar3;
-	private FillBar bar4;
-	private FillBar bar5;
-	private FillBar bar6;
-	private FillBar bar7;
-	private FillBar bar8;
-	private TextView roll_pitch_text;
-	private TextView thr_yaw_text;
-	private TextView ch_5_text;
-	private TextView ch_6_text;
-	private TextView ch_7_text;
-	private TextView ch_8_text;
-
-	private RcStick stickLeft;
-	private RcStick stickRight;
-
-	private int data[] = new int[8];
-	private int cMin[] = new int[8];
-	private int cMid[] = new int[8];
-	private int cMax[] = new int[8];
-
-	@Override
-	protected CalParameters getParameterHandler() {
-		return new RC_CalParameters(drone);
-	}
-
-	@Override
-	public SetupSidePanel getSidePanel() {
-		return getDefaultPanel();
-	}
-
-	@Override
-	protected SetupSidePanel getDefaultPanel() {
-		calibrationStep = 0;
-		// setFillBarShowMinMax(false);
-		sidePanel = new FragmentSetupStart();
-		return sidePanel;
-	}
-
-	@Override
-	public int getPanelLayout() {
-		return R.layout.fragment_setup_rc_main;
-	}
-
-	@Override
-	public void onDroneEvent(DroneEventsType event, Drone drone) {
-		switch (event) {
-		case RC_IN:
-			updatePanelInfo();
-			break;
-		case RC_OUT:
-		default:
-			break;
-		}
-		super.onDroneEvent(event, drone);
-	}
-
-	@Override
-	public void onReadCalibration() {
-		doCalibrationStep(0);// show progress sidepanel
-	}
-
-	@Override
-	public void setupLocalViews(View view) {
-		stickLeft = (RcStick) view.findViewById(R.id.stickLeft);
-		stickRight = (RcStick) view.findViewById(R.id.stickRight);
-
-		bar1 = (FillBar) view.findViewById(R.id.fillBar_roll);
-		bar2 = (FillBar) view.findViewById(R.id.fillBar_pitch);
-		bar3 = (FillBar) view.findViewById(R.id.fillBar_throttle);
-		bar4 = (FillBar) view.findViewById(R.id.fillBar_yaw);
-		bar5 = (FillBar) view.findViewById(R.id.fillBar_ch_5);
-		bar6 = (FillBar) view.findViewById(R.id.fillBar_ch_6);
-		bar7 = (FillBar) view.findViewById(R.id.fillBar_ch_7);
-		bar8 = (FillBar) view.findViewById(R.id.fillBar_ch_8);
-		bar2.invertBar(true);
-
-		roll_pitch_text = (TextView) view.findViewById(R.id.roll_pitch_text);
-		thr_yaw_text = (TextView) view.findViewById(R.id.thr_yaw_text);
-		ch_5_text = (TextView) view.findViewById(R.id.ch_5_text);
-		ch_6_text = (TextView) view.findViewById(R.id.ch_6_text);
-		ch_7_text = (TextView) view.findViewById(R.id.ch_7_text);
-		ch_8_text = (TextView) view.findViewById(R.id.ch_8_text);
-
-		bar1.setup(RC_MAX, RC_MIN);
-		bar2.setup(RC_MAX, RC_MIN);
-		bar3.setup(RC_MAX, RC_MIN);
-		bar4.setup(RC_MAX, RC_MIN);
-		bar5.setup(RC_MAX, RC_MIN);
-		bar6.setup(RC_MAX, RC_MIN);
-		bar7.setup(RC_MAX, RC_MIN);
-		bar8.setup(RC_MAX, RC_MIN);
-	}
-
-	@Override
-	public void doCalibrationStep(int step) {
-		switch (step) {
-		case 1:
-		case 2:
-			sidePanel = getNextPanel();
-			break;
-		case 3: // Upload calibration data
-			updateCalibrationData();
-			break;
-		case 0:
-		default:
-			sidePanel = getInitialPanel();
-		}
-	}
-
-	private SetupSidePanel getCompletedPanel() {
-		calibrationStep = 0;
-		Bundle args = new Bundle();
-		args.putString(FragmentSetupSummary.EXTRA_TEXT_SUMMARY, getCalibrationStr());
-		sidePanel = ((SetupRadioFragment) getParentFragment())
-				.changeSidePanel(new FragmentSetupSummary());
-		if (sidePanel != null) {
-			sidePanel.setArguments(args);
-		}
-		return sidePanel;
-	}
-
-	private SetupSidePanel getNextPanel() {
-		int textId = 0, descId = 0;
-
-		switch (calibrationStep) {
-		case 0:
-			if (!parameters.isParameterDownloaded() && drone.getMavClient().isConnected()) {
-				getProgressPanel(true);
-				parameters.getCalibrationParameters(drone);
-				return sidePanel;
-			}
-			setFillBarShowMinMax(true);
-			textId = R.string.setup_radio_title_minmax;
-			descId = R.string.setup_radio_desc_minmax;
-			break;
-		case 1:
-			textId = R.string.setup_radio_title_middle;
-			descId = R.string.setup_radio_desc_middle;
-			break;
-		case 3:
-			sidePanel = getCompletedPanel();
-			return sidePanel;
-		}
-		calibrationStep++;
-
-		sidePanel = new FragmentSetupNext();
-		sidePanel.updateTitle(textId);
-		sidePanel.updateDescription(descId);
-
-		return ((SetupRadioFragment) getParentFragment()).changeSidePanel(sidePanel);
-	}
-
-	private void getProgressPanel(boolean isSending) {
-		sidePanel = new FragmentSetupProgress();
-		if (isSending) {
-			sidePanel.updateTitle(R.string.progress_title_uploading);
-			sidePanel.updateDescription(R.string.progress_desc_uploading);
-		} else {
-			sidePanel.updateTitle(R.string.progress_title_downloading);
-			sidePanel.updateDescription(R.string.progress_desc_downloading);
-		}
-	}
-
-	@Override
-	protected void updatePanelInfo() {
-		data = drone.getRC().in;
-		bar1.setValue(data[0]);
-		bar2.setValue(data[1]);
-		bar3.setValue(data[2]);
-		bar4.setValue(data[3]);
-		bar5.setValue(data[4]);
-		bar6.setValue(data[5]);
-		bar7.setValue(data[6]);
-		bar8.setValue(data[7]);
-
-		roll_pitch_text.setText("Roll: " + Integer.toString(data[0]) + "\nPitch: "
-				+ Integer.toString(data[1]));
-		thr_yaw_text.setText("Throttle: " + Integer.toString(data[2]) + "\nYaw: "
-				+ Integer.toString(data[3]));
-		ch_5_text.setText("CH 5: " + Integer.toString(data[4]));
-		ch_6_text.setText("CH 6: " + Integer.toString(data[5]));
-		ch_7_text.setText("CH 7: " + Integer.toString(data[6]));
-		ch_8_text.setText("CH 8: " + Integer.toString(data[7]));
-
-		float x, y;
-		x = (data[3] - RC_MIN) / ((float) (RC_MAX - RC_MIN)) * 2 - 1;
-		y = (data[2] - RC_MIN) / ((float) (RC_MAX - RC_MIN)) * 2 - 1;
-		stickLeft.setPosition(x, y);
-
-		x = (data[0] - RC_MIN) / ((float) (RC_MAX - RC_MIN)) * 2 - 1;
-		y = (data[1] - RC_MIN) / ((float) (RC_MAX - RC_MIN)) * 2 - 1;
-		stickRight.setPosition(x, -y);
-	}
-
-	private void setFillBarShowMinMax(boolean b) {
-		bar1.setShowMinMax(b);
-		bar2.setShowMinMax(b);
-		bar3.setShowMinMax(b);
-		bar4.setShowMinMax(b);
-		bar5.setShowMinMax(b);
-		bar6.setShowMinMax(b);
-		bar7.setShowMinMax(b);
-		bar8.setShowMinMax(b);
-	}
-
-	private String getCalibrationStr() {
-		String txt = "RC #\t\tMIN\t\tMID\t\tMAX";
-
-		cMin[0] = bar1.getMinValue();
-		cMin[1] = bar2.getMinValue();
-		cMin[2] = bar3.getMinValue();
-		cMin[3] = bar4.getMinValue();
-		cMin[4] = bar5.getMinValue();
-		cMin[5] = bar6.getMinValue();
-		cMin[6] = bar7.getMinValue();
-		cMin[7] = bar8.getMinValue();
-
-		cMax[0] = bar1.getMaxValue();
-		cMax[1] = bar2.getMaxValue();
-		cMax[2] = bar3.getMaxValue();
-		cMax[3] = bar4.getMaxValue();
-		cMax[4] = bar5.getMaxValue();
-		cMax[5] = bar6.getMaxValue();
-		cMax[6] = bar7.getMaxValue();
-		cMax[7] = bar8.getMaxValue();
-
-		if (data != null)
-			cMid = data;
-
-		for (int i = 0; i < 8; i++) {
-			txt += "\n" + RCStr[i] + "\t";
-			txt += "\t" + String.valueOf(cMin[i]) + "\t";
-			txt += "\t" + String.valueOf(cMid[i]) + "\t";
-			txt += "\t" + String.valueOf(cMax[i]);
-		}
-
-		return txt;
-	}
-
-	@Override
-	public void updateCalibrationData() {
-		for (int i = 0; i < 8; i++) {
-			parameters.setParamValueByName("RC" + String.valueOf(i + 1) + "_MIN", cMin[i]);
-			parameters.setParamValueByName("RC" + String.valueOf(i + 1) + "_MAX", cMax[i]);
-			parameters.setParamValueByName("RC" + String.valueOf(i + 1) + "_TRIM", cMid[i]);
-		}
-
-		setFillBarShowMinMax(false);
-		getProgressPanel(true);
-		parameters.sendCalibrationParameters();
-	}
-
-}
diff --git a/Android/src/org/droidplanner/android/fragments/calibration/sf/FragmentSetupSF.java b/Android/src/org/droidplanner/android/fragments/calibration/sf/FragmentSetupSF.java
deleted file mode 100644
index fdc446a356..0000000000
--- a/Android/src/org/droidplanner/android/fragments/calibration/sf/FragmentSetupSF.java
+++ /dev/null
@@ -1,99 +0,0 @@
-package org.droidplanner.android.fragments.calibration.sf;
-
-import org.droidplanner.R;
-import org.droidplanner.android.fragments.calibration.FragmentSetupSend;
-import org.droidplanner.android.fragments.calibration.SetupSidePanel;
-import org.droidplanner.android.fragments.helpers.SuperSetupMainPanel;
-import org.droidplanner.android.helpers.calibration.CalParameters;
-import org.droidplanner.android.helpers.calibration.SF_CalParameters;
-
-import android.view.View;
-import android.widget.ArrayAdapter;
-import android.widget.Spinner;
-
-public class FragmentSetupSF extends SuperSetupMainPanel {
-	int[] valueSF;
-	private String[] stringSF;
-	Spinner[] spinnerSFs = new Spinner[6];
-
-	@Override
-	public int getPanelLayout() {
-		return R.layout.fragment_setup_sf_main;
-	}
-
-	@Override
-	protected SetupSidePanel getDefaultPanel() {
-		sidePanel = new FragmentSetupSend();
-		sidePanel.updateTitle(R.string.setup_sf_side_title);
-		sidePanel.updateDescription(R.string.setup_sf_side_desc);
-		return sidePanel;
-	}
-
-	@Override
-	public SetupSidePanel getSidePanel() {
-		return getDefaultPanel();
-	}
-
-	@Override
-	protected CalParameters getParameterHandler() {
-		return new SF_CalParameters(drone);
-	}
-
-	@Override
-	protected void updateCalibrationData() {
-		for (int i = 0; i < 6; i++) {
-			parameters.setParamValue(i, valueSF[spinnerSFs[i].getSelectedItemPosition()]);
-		}
-	}
-
-	@Override
-	protected void updatePanelInfo() {
-		if (parameters == null)
-			return;
-
-		for (int i = 0; i < 6; i++) {
-			spinnerSFs[i].setSelection(
-					getSpinnerIndexFromValue((int) parameters.getParamValue(i), valueSF), true);
-		}
-	}
-
-	@Override
-	public void setupLocalViews(View v) {
-		spinnerSFs[0] = (Spinner) v.findViewById(R.id.spinnerSF5);
-		spinnerSFs[1] = (Spinner) v.findViewById(R.id.spinnerSF6);
-		spinnerSFs[2] = (Spinner) v.findViewById(R.id.spinnerSF7);
-		spinnerSFs[3] = (Spinner) v.findViewById(R.id.spinnerSF8);
-		spinnerSFs[4] = (Spinner) v.findViewById(R.id.spinnerSF9);
-		spinnerSFs[5] = (Spinner) v.findViewById(R.id.spinnerSF10);
-
-		setupSpinners();
-	}
-
-	private void setupSpinners() {
-		getSFOptions();
-
-		final ArrayAdapter<String> adapter = new ArrayAdapter<String>(parentActivity,
-				R.layout.spinner_setup_item, stringSF);
-		adapter.setDropDownViewResource(R.layout.spinner_setup_item_dropdown);
-
-		for (Spinner spinner : spinnerSFs)
-			spinner.setAdapter(adapter);
-	}
-
-	private void getSFOptions() {
-		String pairs[] = getResources().getStringArray(R.array.Servo_Functions);
-		valueSF = null;
-		valueSF = new int[pairs.length];
-		stringSF = null;
-		stringSF = new String[pairs.length];
-
-		int i = 0;
-		for (String item : pairs) {
-			String pair[] = item.split(";");
-			valueSF[i] = Integer.parseInt(pair[0]);
-			stringSF[i] = pair[1];
-			i++;
-		}
-	}
-
-}
diff --git a/Android/src/org/droidplanner/android/fragments/helpers/SuperSetupFragment.java b/Android/src/org/droidplanner/android/fragments/helpers/SuperSetupFragment.java
deleted file mode 100644
index 83b8ef2781..0000000000
--- a/Android/src/org/droidplanner/android/fragments/helpers/SuperSetupFragment.java
+++ /dev/null
@@ -1,182 +0,0 @@
-package org.droidplanner.android.fragments.helpers;
-
-import org.droidplanner.R;
-import org.droidplanner.android.DroidPlannerApp;
-import org.droidplanner.android.activities.ConfigurationActivity;
-import org.droidplanner.android.fragments.calibration.SetupMainPanel;
-import org.droidplanner.android.fragments.calibration.SetupSidePanel;
-import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
-import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
-import org.droidplanner.core.model.Drone;
-
-import android.app.Activity;
-import android.os.Bundle;
-import android.support.v4.app.Fragment;
-import android.support.v4.app.FragmentManager;
-import android.support.v4.app.FragmentTransaction;
-import android.view.LayoutInflater;
-import android.view.View;
-import android.view.ViewGroup;
-import android.widget.AdapterView;
-import android.widget.AdapterView.OnItemSelectedListener;
-import android.widget.ArrayAdapter;
-import android.widget.Spinner;
-
-/**
- * This fragment is used to calibrate the drone's compass, and accelerometer.
- */
-public abstract class SuperSetupFragment extends Fragment implements OnDroneListener,
-		OnItemSelectedListener {
-
-	private Drone drone;
-
-	protected ConfigurationActivity parentActivity;
-
-	private FragmentManager fragmentManager;
-	private SetupMainPanel setupPanel;
-	private SetupSidePanel sidePanel;
-
-	public abstract int getSpinnerItems();
-
-	public abstract SetupMainPanel getMainPanel(int index);
-
-	public abstract SetupMainPanel initMainPanel();
-
-	@Override
-	public void onAttach(Activity activity) {
-		super.onAttach(activity);
-		if (!(activity instanceof ConfigurationActivity)) {
-			throw new IllegalStateException("Parent activity must be "
-					+ ConfigurationActivity.class.getName());
-		}
-
-		parentActivity = (ConfigurationActivity) activity;
-	}
-
-	@Override
-	public void onDetach() {
-		super.onDetach();
-		parentActivity = null;
-	}
-
-	@Override
-	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-
-		final View view = inflater.inflate(R.layout.fragment_setup, container, false);
-
-		setupLocalViews(view);
-
-		fragmentManager = getChildFragmentManager();
-		setupPanel = (SetupMainPanel) fragmentManager
-				.findFragmentById(R.id.fragment_setup_mainpanel);
-
-		if (setupPanel == null) {
-			setupPanel = initMainPanel();
-
-			fragmentManager.beginTransaction().add(R.id.fragment_setup_mainpanel, setupPanel)
-					.commit();
-		}
-
-		sidePanel = (SetupSidePanel) fragmentManager
-				.findFragmentById(R.id.fragment_setup_sidepanel);
-		if (sidePanel == null) {
-			sidePanel = setupPanel.getSidePanel();
-			if (sidePanel != null) {
-				fragmentManager.beginTransaction().add(R.id.fragment_setup_sidepanel, sidePanel)
-						.commit();
-			}
-		}
-
-		return view;
-	}
-
-	@Override
-	public void onActivityCreated(Bundle savedInstanceState) {
-		super.onActivityCreated(savedInstanceState);
-		this.drone = ((DroidPlannerApp) getActivity().getApplication()).getDrone();
-	}
-
-	@Override
-	public void onStart() {
-		drone.addDroneListener(this);
-		super.onStart();
-	}
-
-	@Override
-	public void onStop() {
-		drone.removeDroneListener(this);
-		super.onStop();
-	}
-
-	@Override
-	public void onItemSelected(AdapterView<?> arg0, View arg1, int arg2, long arg3) {
-		changeMainPanel(arg2);
-	}
-
-	@Override
-	public void onNothingSelected(AdapterView<?> arg0) {
-		// TODO Auto-generated method stub
-
-	}
-
-	@Override
-	public void onDroneEvent(DroneEventsType event, Drone drone) {
-		// TODO Auto-generated method stub
-
-	}
-
-	private void setupLocalViews(View view) {
-		Spinner spinnerSetup = (Spinner) view.findViewById(R.id.spinnerSetupType);
-		spinnerSetup.setOnItemSelectedListener(this);
-
-		final ArrayAdapter<CharSequence> adapter = ArrayAdapter.createFromResource(parentActivity,
-				getSpinnerItems(), R.layout.spinner_setup);
-
-		spinnerSetup.setAdapter(adapter);
-	}
-
-	public void changeMainPanel(int step) {
-		setupPanel = getMainPanel(step);
-		sidePanel = setupPanel.getSidePanel();
-
-		final FragmentTransaction ft = fragmentManager.beginTransaction();
-		if (setupPanel != null) {
-			ft.replace(R.id.fragment_setup_mainpanel, setupPanel);
-		}
-
-		if (sidePanel != null) {
-			ft.replace(R.id.fragment_setup_sidepanel, sidePanel);
-		}
-
-		ft.commit();
-	}
-
-	public SetupSidePanel changeSidePanel(SetupSidePanel sPanel) {
-		sidePanel = sPanel;
-
-		if (setupPanel != null && sidePanel != null)
-			setupPanel.setSidePanel(sidePanel);
-
-		final FragmentTransaction ft = fragmentManager.beginTransaction();
-		if (sidePanel != null) {
-			ft.replace(R.id.fragment_setup_sidepanel, sidePanel);
-		}
-
-		ft.commit();
-
-		return sidePanel;
-	}
-
-	public void doCalibrationStep(int step) {
-		if (setupPanel != null) {
-			setupPanel.doCalibrationStep(step);
-		}
-	}
-
-	public void updateSidePanelTitle(int calibrationStep) {
-		if (sidePanel != null) {
-			sidePanel.updateDescription(calibrationStep);
-		}
-	}
-
-}
diff --git a/Android/src/org/droidplanner/android/fragments/helpers/SuperSetupMainPanel.java b/Android/src/org/droidplanner/android/fragments/helpers/SuperSetupMainPanel.java
deleted file mode 100644
index aa2429af6e..0000000000
--- a/Android/src/org/droidplanner/android/fragments/helpers/SuperSetupMainPanel.java
+++ /dev/null
@@ -1,162 +0,0 @@
-package org.droidplanner.android.fragments.helpers;
-
-import org.droidplanner.R;
-import org.droidplanner.android.fragments.SetupRadioFragment;
-import org.droidplanner.android.fragments.calibration.FragmentSetupProgress;
-import org.droidplanner.android.fragments.calibration.SetupMainPanel;
-import org.droidplanner.android.fragments.calibration.SetupSidePanel;
-import org.droidplanner.android.helpers.calibration.CalParameters;
-import org.droidplanner.android.helpers.calibration.CalParameters.OnCalibrationEvent;
-import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
-import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
-import org.droidplanner.core.model.Drone;
-
-import android.os.Bundle;
-
-public abstract class SuperSetupMainPanel extends SetupMainPanel implements OnCalibrationEvent,
-		OnDroneListener {
-
-	protected Drone drone;
-	protected CalParameters parameters;
-
-	protected abstract CalParameters getParameterHandler();
-
-	protected abstract SetupSidePanel getDefaultPanel();
-
-	protected abstract void updatePanelInfo();
-
-	protected abstract void updateCalibrationData();
-
-	protected void onInitialize() {
-	}// can be overridden if necessary
-
-	@Override
-	public void onActivityCreated(Bundle savedInstanceState) {
-		super.onActivityCreated(savedInstanceState);
-		this.drone = parentActivity.drone;
-		parameters = getParameterHandler();
-		parameters.setOnCalibrationEventListener(this);
-		onInitialize();
-	}
-
-	@Override
-	public void onStart() {
-		super.onStart();
-		doCalibrationStep(0);
-	}
-
-	@Override
-	public void onResume() {
-		super.onResume();
-		drone.addDroneListener(this);
-	}
-
-	@Override
-	public void onPause() {
-		super.onPause();
-		drone.removeDroneListener(this);
-	}
-
-	@Override
-	public void onDroneEvent(DroneEventsType event, Drone drone) {
-		switch (event) {
-		case PARAMETER:
-			if (parameters != null) {
-				parameters.processReceivedParam();
-			}
-		default:
-			break;
-		}
-	}
-
-	@Override
-	public void onReadCalibration() {
-		doCalibrationStep(0);
-		updatePanelInfo();
-	}
-
-	@Override
-	public void onSentCalibration() {
-		doCalibrationStep(0);
-	}
-
-	@Override
-	public void onCalibrationData(int index, int count, boolean isSending) {
-		if (sidePanel instanceof FragmentSetupProgress && parameters != null) {
-			String title;
-			if (isSending) {
-				title = getResources().getString(R.string.setup_sf_desc_uploading);
-			} else {
-				title = getResources().getString(R.string.setup_sf_desc_downloading);
-			}
-
-			((FragmentSetupProgress) sidePanel).updateProgress(index + 1, count, title);
-		}
-	}
-
-	@Override
-	public void doCalibrationStep(int step) {
-		switch (step) {
-		case 3:
-			uploadCalibrationData();
-			break;
-		case 0:
-		default:
-			sidePanel = getInitialPanel();
-		}
-	}
-
-	protected SetupSidePanel getInitialPanel() {
-
-		if (parameters != null && !parameters.isParameterDownloaded()
-				&& drone.getMavClient().isConnected()) {
-			downloadCalibrationData();
-		} else {
-			sidePanel = getDefaultPanel();
-			((SetupRadioFragment) getParentFragment()).changeSidePanel(sidePanel);
-
-		}
-		return sidePanel;
-	}
-
-	private SetupSidePanel getProgressPanel(boolean isSending) {
-		sidePanel = ((SetupRadioFragment) getParentFragment())
-				.changeSidePanel(new FragmentSetupProgress());
-
-		if (isSending) {
-			sidePanel.updateTitle(R.string.progress_title_uploading);
-			sidePanel.updateDescription(R.string.progress_desc_uploading);
-		} else {
-			sidePanel.updateTitle(R.string.progress_title_downloading);
-			sidePanel.updateDescription(R.string.progress_desc_downloading);
-		}
-
-		return sidePanel;
-	}
-
-	private void uploadCalibrationData() {
-		if (parameters == null || !drone.getMavClient().isConnected())
-			return;
-
-		sidePanel = getProgressPanel(true);
-
-		updateCalibrationData();
-		parameters.sendCalibrationParameters();
-	}
-
-	private void downloadCalibrationData() {
-		if (parameters == null || !drone.getMavClient().isConnected())
-			return;
-		sidePanel = getProgressPanel(false);
-		parameters.getCalibrationParameters(drone);
-	}
-
-	protected int getSpinnerIndexFromValue(int value, int[] valueList) {
-		for (int i = 0; i < valueList.length; i++) {
-			if (valueList[i] == value)
-				return i;
-		}
-		return -1;
-	}
-
-}
\ No newline at end of file
diff --git a/Android/src/org/droidplanner/android/fragments/mode/FlightModePanel.java b/Android/src/org/droidplanner/android/fragments/mode/FlightModePanel.java
index a56ffdb169..6cba9e9b7c 100644
--- a/Android/src/org/droidplanner/android/fragments/mode/FlightModePanel.java
+++ b/Android/src/org/droidplanner/android/fragments/mode/FlightModePanel.java
@@ -100,45 +100,66 @@ private void onModeUpdate(ApmModes mode) {
 		} else {
 			switch (mode) {
 			case ROTOR_RTL:
+			case FIXED_WING_RTL:
+			case ROVER_RTL:
 				infoPanel = new ModeRTLFragment();
 				break;
+
 			case ROTOR_AUTO:
+			case FIXED_WING_AUTO:
+			case ROVER_AUTO:
 				infoPanel = new ModeAutoFragment();
 				break;
+
 			case ROTOR_LAND:
 				infoPanel = new ModeLandFragment();
 				break;
+
 			case ROTOR_LOITER:
+			case FIXED_WING_LOITER:
 				infoPanel = new ModeLoiterFragment();
 				break;
+
 			case ROTOR_STABILIZE:
+			case FIXED_WING_STABILIZE:
 				infoPanel = new ModeStabilizeFragment();
 				break;
+
 			case ROTOR_ACRO:
 				infoPanel = new ModeAcroFragment();
 				break;
+
 			case ROTOR_ALT_HOLD:
 				infoPanel = new ModeAltholdFragment();
 				break;
+
 			case ROTOR_CIRCLE:
+			case FIXED_WING_CIRCLE:
 				infoPanel = new ModeCircleFragment();
 				break;
+
 			case ROTOR_GUIDED:
-				if (((DroidPlannerApp) getActivity().getApplication()).followMe.isEnabled()) {
+			case FIXED_WING_GUIDED:
+			case ROVER_GUIDED:
+				if (((DroidPlannerApp) getActivity().getApplication()).getFollowMe().isEnabled()) {
 					infoPanel = new ModeFollowFragment();
 				} else {
 					infoPanel = new ModeGuidedFragment();
 				}
 				break;
+
 			case ROTOR_TOY:
 				infoPanel = new ModeDriftFragment();
 				break;
+
 			case ROTOR_SPORT:
 				infoPanel = new ModeSportFragment();
 				break;
+
 			case ROTOR_POSHOLD:
 				infoPanel = new ModePosHoldFragment();
 				break;
+
 			default:
 				infoPanel = new ModeDisconnectedFragment();
 				break;
diff --git a/Android/src/org/droidplanner/android/fragments/mode/ModeAcroFragment.java b/Android/src/org/droidplanner/android/fragments/mode/ModeAcroFragment.java
index b2bc3358e7..c3ac7f304e 100644
--- a/Android/src/org/droidplanner/android/fragments/mode/ModeAcroFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/mode/ModeAcroFragment.java
@@ -12,8 +12,7 @@ public class ModeAcroFragment extends Fragment {
 
 	@Override
 	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-		View view = inflater.inflate(R.layout.fragment_mode_acro, container, false);
-		return view;
+		return inflater.inflate(R.layout.fragment_mode_acro, container, false);
 	}
 
 }
diff --git a/Android/src/org/droidplanner/android/fragments/mode/ModeAltholdFragment.java b/Android/src/org/droidplanner/android/fragments/mode/ModeAltholdFragment.java
index ca1b8bd6b0..58dec0efa2 100644
--- a/Android/src/org/droidplanner/android/fragments/mode/ModeAltholdFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/mode/ModeAltholdFragment.java
@@ -12,8 +12,7 @@ public class ModeAltholdFragment extends Fragment {
 
 	@Override
 	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-		View view = inflater.inflate(R.layout.fragment_mode_althold, container, false);
-		return view;
+		return inflater.inflate(R.layout.fragment_mode_althold, container, false);
 	}
 
 }
diff --git a/Android/src/org/droidplanner/android/fragments/mode/ModeAutoFragment.java b/Android/src/org/droidplanner/android/fragments/mode/ModeAutoFragment.java
index 98ea1f30f4..1161b23977 100644
--- a/Android/src/org/droidplanner/android/fragments/mode/ModeAutoFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/mode/ModeAutoFragment.java
@@ -12,7 +12,6 @@ public class ModeAutoFragment extends Fragment {
 
 	@Override
 	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-		View view = inflater.inflate(R.layout.fragment_mode_auto, container, false);
-		return view;
+		return inflater.inflate(R.layout.fragment_mode_auto, container, false);
 	}
 }
diff --git a/Android/src/org/droidplanner/android/fragments/mode/ModeCircleFragment.java b/Android/src/org/droidplanner/android/fragments/mode/ModeCircleFragment.java
index d782e817ba..59a1df55c1 100644
--- a/Android/src/org/droidplanner/android/fragments/mode/ModeCircleFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/mode/ModeCircleFragment.java
@@ -12,7 +12,6 @@ public class ModeCircleFragment extends Fragment {
 
 	@Override
 	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-		View view = inflater.inflate(R.layout.fragment_mode_circle, container, false);
-		return view;
+		return inflater.inflate(R.layout.fragment_mode_circle, container, false);
 	}
 }
diff --git a/Android/src/org/droidplanner/android/fragments/mode/ModeDisconnectedFragment.java b/Android/src/org/droidplanner/android/fragments/mode/ModeDisconnectedFragment.java
index 0353a0d6aa..5ad0ae9c66 100644
--- a/Android/src/org/droidplanner/android/fragments/mode/ModeDisconnectedFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/mode/ModeDisconnectedFragment.java
@@ -12,7 +12,6 @@ public class ModeDisconnectedFragment extends Fragment {
 
 	@Override
 	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-		View view = inflater.inflate(R.layout.fragment_mode_disconnect, container, false);
-		return view;
+		return inflater.inflate(R.layout.fragment_mode_disconnect, container, false);
 	}
 }
diff --git a/Android/src/org/droidplanner/android/fragments/mode/ModeDriftFragment.java b/Android/src/org/droidplanner/android/fragments/mode/ModeDriftFragment.java
index f8e25a88a6..117e387300 100644
--- a/Android/src/org/droidplanner/android/fragments/mode/ModeDriftFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/mode/ModeDriftFragment.java
@@ -12,7 +12,6 @@ public class ModeDriftFragment extends Fragment {
 
 	@Override
 	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-		View view = inflater.inflate(R.layout.fragment_mode_drift, container, false);
-		return view;
+		return inflater.inflate(R.layout.fragment_mode_drift, container, false);
 	}
 }
diff --git a/Android/src/org/droidplanner/android/fragments/mode/ModeFollowFragment.java b/Android/src/org/droidplanner/android/fragments/mode/ModeFollowFragment.java
index 1baf2a4cf4..894ee7cfe7 100644
--- a/Android/src/org/droidplanner/android/fragments/mode/ModeFollowFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/mode/ModeFollowFragment.java
@@ -8,21 +8,17 @@
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
 import org.droidplanner.core.gcs.follow.Follow;
 import org.droidplanner.core.gcs.follow.FollowAlgorithm.FollowModes;
-import org.droidplanner.core.helpers.units.Length;
 import org.droidplanner.core.model.Drone;
 
 import android.content.Context;
 import android.os.Bundle;
 import android.view.LayoutInflater;
 import android.view.View;
-import android.view.View.OnClickListener;
 import android.view.ViewGroup;
 import android.widget.AdapterView;
 import android.widget.AdapterView.OnItemSelectedListener;
 import android.widget.ArrayAdapter;
-import android.widget.Button;
 import android.widget.Spinner;
-import android.widget.TextView;
 
 public class ModeFollowFragment extends ModeGuidedFragment implements
 		OnItemSelectedListener, OnDroneListener {
@@ -36,7 +32,7 @@ public class ModeFollowFragment extends ModeGuidedFragment implements
     @Override
 	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
 		DroidPlannerApp app = (DroidPlannerApp) getActivity().getApplication();
-		followMe = app.followMe;
+		followMe = app.getFollowMe();
 		drone = app.getDrone();
 
 		return inflater.inflate(R.layout.fragment_mode_follow, container, false);
diff --git a/Android/src/org/droidplanner/android/fragments/mode/ModeGuidedFragment.java b/Android/src/org/droidplanner/android/fragments/mode/ModeGuidedFragment.java
index 596ecf2b63..8cceee04ec 100644
--- a/Android/src/org/droidplanner/android/fragments/mode/ModeGuidedFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/mode/ModeGuidedFragment.java
@@ -39,7 +39,7 @@ public void onViewCreated(View parentView, Bundle savedInstanceState) {
         mAltitudeWheel.setViewAdapter(altitudeAdapter);
 
         final int initialValue = (int) Math.max(drone.getGuidedPoint().getAltitude()
-                        .valueInMeters(), GuidedPoint.MIN_ALTITUDE);
+                        .valueInMeters(), GuidedPoint.getMinAltitude(drone));
         mAltitudeWheel.setCurrentValue(initialValue);
         mAltitudeWheel.addChangingListener(this);
 	}
diff --git a/Android/src/org/droidplanner/android/fragments/mode/ModeLandFragment.java b/Android/src/org/droidplanner/android/fragments/mode/ModeLandFragment.java
index 349e36d4a6..aa487cf0bd 100644
--- a/Android/src/org/droidplanner/android/fragments/mode/ModeLandFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/mode/ModeLandFragment.java
@@ -12,7 +12,6 @@ public class ModeLandFragment extends Fragment {
 
 	@Override
 	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-		View view = inflater.inflate(R.layout.fragment_mode_land, container, false);
-		return view;
+		return  inflater.inflate(R.layout.fragment_mode_land, container, false);
 	}
 }
diff --git a/Android/src/org/droidplanner/android/fragments/mode/ModeLoiterFragment.java b/Android/src/org/droidplanner/android/fragments/mode/ModeLoiterFragment.java
index d1c936bdf6..734d6d8b81 100644
--- a/Android/src/org/droidplanner/android/fragments/mode/ModeLoiterFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/mode/ModeLoiterFragment.java
@@ -12,7 +12,6 @@ public class ModeLoiterFragment extends Fragment {
 
 	@Override
 	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-		View view = inflater.inflate(R.layout.fragment_mode_loiter, container, false);
-		return view;
+		return inflater.inflate(R.layout.fragment_mode_loiter, container, false);
 	}
 }
diff --git a/Android/src/org/droidplanner/android/fragments/mode/ModeOFLoiterFragment.java b/Android/src/org/droidplanner/android/fragments/mode/ModeOFLoiterFragment.java
deleted file mode 100644
index 354296a232..0000000000
--- a/Android/src/org/droidplanner/android/fragments/mode/ModeOFLoiterFragment.java
+++ /dev/null
@@ -1,18 +0,0 @@
-package org.droidplanner.android.fragments.mode;
-
-import org.droidplanner.R;
-
-import android.os.Bundle;
-import android.support.v4.app.Fragment;
-import android.view.LayoutInflater;
-import android.view.View;
-import android.view.ViewGroup;
-
-public class ModeOFLoiterFragment extends Fragment {
-
-	@Override
-	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-		View view = inflater.inflate(R.layout.fragment_mode_ofloiter, container, false);
-		return view;
-	}
-}
diff --git a/Android/src/org/droidplanner/android/fragments/mode/ModePosHoldFragment.java b/Android/src/org/droidplanner/android/fragments/mode/ModePosHoldFragment.java
index f08c6fc632..3869895771 100644
--- a/Android/src/org/droidplanner/android/fragments/mode/ModePosHoldFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/mode/ModePosHoldFragment.java
@@ -12,7 +12,6 @@ public class ModePosHoldFragment extends Fragment {
 
 	@Override
 	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-		View view = inflater.inflate(R.layout.fragment_mode_poshold, container, false);
-		return view;
+		return inflater.inflate(R.layout.fragment_mode_poshold, container, false);
 	}
 }
diff --git a/Android/src/org/droidplanner/android/fragments/mode/ModePositionFragment.java b/Android/src/org/droidplanner/android/fragments/mode/ModePositionFragment.java
deleted file mode 100644
index 39ff45ab33..0000000000
--- a/Android/src/org/droidplanner/android/fragments/mode/ModePositionFragment.java
+++ /dev/null
@@ -1,18 +0,0 @@
-package org.droidplanner.android.fragments.mode;
-
-import org.droidplanner.R;
-
-import android.os.Bundle;
-import android.support.v4.app.Fragment;
-import android.view.LayoutInflater;
-import android.view.View;
-import android.view.ViewGroup;
-
-public class ModePositionFragment extends Fragment {
-
-	@Override
-	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-		View view = inflater.inflate(R.layout.fragment_mode_position, container, false);
-		return view;
-	}
-}
diff --git a/Android/src/org/droidplanner/android/fragments/mode/ModeRTLFragment.java b/Android/src/org/droidplanner/android/fragments/mode/ModeRTLFragment.java
index c461bd9028..e423bad5a1 100644
--- a/Android/src/org/droidplanner/android/fragments/mode/ModeRTLFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/mode/ModeRTLFragment.java
@@ -12,7 +12,6 @@ public class ModeRTLFragment extends Fragment {
 
 	@Override
 	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-		View view = inflater.inflate(R.layout.fragment_mode_rtl, container, false);
-		return view;
+		return inflater.inflate(R.layout.fragment_mode_rtl, container, false);
 	}
 }
diff --git a/Android/src/org/droidplanner/android/fragments/mode/ModeSportFragment.java b/Android/src/org/droidplanner/android/fragments/mode/ModeSportFragment.java
index 0ff1eeff04..6b6b9ab42d 100644
--- a/Android/src/org/droidplanner/android/fragments/mode/ModeSportFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/mode/ModeSportFragment.java
@@ -12,7 +12,6 @@ public class ModeSportFragment extends Fragment {
 
 	@Override
 	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-		View view = inflater.inflate(R.layout.fragment_mode_sport, container, false);
-		return view;
+		return inflater.inflate(R.layout.fragment_mode_sport, container, false);
 	}
 }
diff --git a/Android/src/org/droidplanner/android/fragments/mode/ModeStabilizeFragment.java b/Android/src/org/droidplanner/android/fragments/mode/ModeStabilizeFragment.java
index 36283497f8..8eab3d1843 100644
--- a/Android/src/org/droidplanner/android/fragments/mode/ModeStabilizeFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/mode/ModeStabilizeFragment.java
@@ -12,7 +12,6 @@ public class ModeStabilizeFragment extends Fragment {
 
 	@Override
 	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-		View view = inflater.inflate(R.layout.fragment_mode_stabilize, container, false);
-		return view;
+		return inflater.inflate(R.layout.fragment_mode_stabilize, container, false);
 	}
 }
diff --git a/Android/src/org/droidplanner/android/gcs/location/FusedLocation.java b/Android/src/org/droidplanner/android/gcs/location/FusedLocation.java
index 3872b36c25..7699142548 100644
--- a/Android/src/org/droidplanner/android/gcs/location/FusedLocation.java
+++ b/Android/src/org/droidplanner/android/gcs/location/FusedLocation.java
@@ -1,32 +1,35 @@
 package org.droidplanner.android.gcs.location;
 
+import org.droidplanner.android.utils.GoogleApiClientManager;
+import org.droidplanner.android.utils.GoogleApiClientManager.GoogleApiClientTask;
 import org.droidplanner.core.gcs.location.Location.LocationFinder;
 import org.droidplanner.core.gcs.location.Location.LocationReceiver;
 import org.droidplanner.core.helpers.coordinates.Coord2D;
 
 import android.content.Context;
 import android.location.Location;
-import android.os.Bundle;
+import android.util.Log;
 
-import com.google.android.gms.common.ConnectionResult;
-import com.google.android.gms.common.GooglePlayServicesClient;
-import com.google.android.gms.location.LocationClient;
 import com.google.android.gms.location.LocationRequest;
+import com.google.android.gms.location.LocationServices;
 
 /**
  * Feeds Location Data from Android's FusedLocation LocationProvider
  * 
  */
-public class FusedLocation implements LocationFinder, GooglePlayServicesClient.ConnectionCallbacks,
-		GooglePlayServicesClient.OnConnectionFailedListener,
-		com.google.android.gms.location.LocationListener {
+public class FusedLocation implements LocationFinder, com.google.android.gms.location.LocationListener {
 
-	private static final long MIN_TIME_MS = 500;
+    private static final String TAG = FusedLocation.class.getSimpleName();
+
+	private static final long MIN_TIME_MS = 1000;
 	private static final float MIN_DISTANCE_M = 0.0f;
-    private static final float LOCATION_ACCURACY_THRESHOLD = 10.0f;
+    private static final float LOCATION_ACCURACY_THRESHOLD = 15.0f;
     private static final float JUMP_FACTOR = 4.0f;
 
-	private LocationClient mLocationClient;
+    private final GoogleApiClientManager gApiMgr;
+    private final GoogleApiClientTask requestLocationUpdate;
+    private final GoogleApiClientTask removeLocationUpdate;
+
 	private LocationReceiver receiver;
 
 	private Location mLastLocation;
@@ -35,43 +38,42 @@ public class FusedLocation implements LocationFinder, GooglePlayServicesClient.C
     private long mSpeedReadings;
 
 	public FusedLocation(Context context) {
-		mLocationClient = new LocationClient(context, this, this);
-		mLocationClient.connect();
+        gApiMgr = new GoogleApiClientManager(context, LocationServices.API);
+
+        requestLocationUpdate = gApiMgr.new GoogleApiClientTask() {
+            @Override
+            protected void doRun() {
+                final LocationRequest locationRequest = LocationRequest.create();
+                locationRequest.setPriority(LocationRequest.PRIORITY_HIGH_ACCURACY);
+                locationRequest.setInterval(MIN_TIME_MS);
+                locationRequest.setFastestInterval(MIN_TIME_MS);
+                locationRequest.setSmallestDisplacement(MIN_DISTANCE_M);
+                LocationServices.FusedLocationApi.requestLocationUpdates(getGoogleApiClient(),
+                        locationRequest, FusedLocation.this);
+            }
+        };
+
+        removeLocationUpdate = gApiMgr.new GoogleApiClientTask() {
+            @Override
+            protected void doRun() {
+                LocationServices.FusedLocationApi.removeLocationUpdates(getGoogleApiClient(),
+                        FusedLocation.this);
+            }
+        };
+
+        gApiMgr.start();
 	}
 
 	@Override
 	public void enableLocationUpdates() {
         mSpeedReadings = 0;
         mTotalSpeed = 0f;
-
-		LocationRequest mLocationRequest = LocationRequest.create();
-		mLocationRequest.setPriority(LocationRequest.PRIORITY_HIGH_ACCURACY);
-		mLocationRequest.setInterval(MIN_TIME_MS);
-		mLocationRequest.setFastestInterval(MIN_TIME_MS);
-		mLocationRequest.setSmallestDisplacement(MIN_DISTANCE_M);
-		mLocationClient.requestLocationUpdates(mLocationRequest, this);
+        gApiMgr.addTask(requestLocationUpdate);
 	}
 
 	@Override
 	public void disableLocationUpdates() {
-		if (mLocationClient.isConnected()) {
-			mLocationClient.removeLocationUpdates(this);
-		}
-	}
-
-	@Override
-	public void onConnectionFailed(ConnectionResult arg0) {
-
-	}
-
-	@Override
-	public void onConnected(Bundle arg0) {
-
-	}
-
-	@Override
-	public void onDisconnected() {
-
+        gApiMgr.addTask(removeLocationUpdate);
 	}
 
 	@Override
@@ -82,16 +84,19 @@ public void onLocationChanged(Location androidLocation) {
 
 			if(mLastLocation != null) {
 				distanceToLast = androidLocation.distanceTo(mLastLocation);
-				timeSinceLast = (androidLocation.getTime() - mLastLocation.getTime());
+				timeSinceLast = (androidLocation.getTime() - mLastLocation.getTime()) / 1000;
 			}
 
             final float currentSpeed = distanceToLast > 0f && timeSinceLast > 0
-                    ? (distanceToLast / (timeSinceLast / 1000))
+                    ? (distanceToLast / timeSinceLast)
                     : 0f;
+            final boolean isLocationAccurate = isLocationAccurate(androidLocation.getAccuracy(),
+                    currentSpeed);
+            Log.d(TAG, "Is location accurate: " + isLocationAccurate);
 
 			org.droidplanner.core.gcs.location.Location location = new org.droidplanner.core.gcs.location.Location(
 					new Coord2D(androidLocation.getLatitude(), androidLocation.getLongitude()),
-                    androidLocation.getBearing(), androidLocation.getSpeed(), isLocationAccurate(androidLocation.getAccuracy(), currentSpeed));
+                    androidLocation.getBearing(), androidLocation.getSpeed(), isLocationAccurate);
 
 			mLastLocation = androidLocation;
 			receiver.onLocationChanged(location);
@@ -100,6 +105,7 @@ public void onLocationChanged(Location androidLocation) {
 
     private boolean isLocationAccurate(float accuracy, float currentSpeed){
         if(accuracy >= LOCATION_ACCURACY_THRESHOLD){
+            Log.d(TAG, "High accuracy: " + accuracy);
             return false;
         }
 
@@ -112,6 +118,7 @@ private boolean isLocationAccurate(float accuracy, float currentSpeed){
             if(avg >= 1.0){
                 //Reject unreasonable updates.
                 if(currentSpeed >= (avg * JUMP_FACTOR)){
+                    Log.d(TAG, "High current speed: " + currentSpeed);
                     return false;
                 }
             }
@@ -123,6 +130,5 @@ private boolean isLocationAccurate(float accuracy, float currentSpeed){
 	@Override
 	public void setLocationListener(LocationReceiver receiver) {
 		this.receiver = receiver;
-
 	}
 }
diff --git a/Android/src/org/droidplanner/android/graphic/map/GraphicLocator.java b/Android/src/org/droidplanner/android/graphic/map/GraphicLocator.java
new file mode 100644
index 0000000000..b57d5f39c3
--- /dev/null
+++ b/Android/src/org/droidplanner/android/graphic/map/GraphicLocator.java
@@ -0,0 +1,53 @@
+package org.droidplanner.android.graphic.map;
+
+import android.content.res.Resources;
+import android.graphics.Bitmap;
+import android.graphics.BitmapFactory;
+
+import org.droidplanner.R;
+import org.droidplanner.android.maps.MarkerInfo;
+import org.droidplanner.core.helpers.coordinates.Coord2D;
+
+public class GraphicLocator extends MarkerInfo.SimpleMarkerInfo {
+
+    private Coord2D lastPosition;
+
+    @Override
+    public float getAnchorU() {
+        return 0.5f;
+    }
+
+    @Override
+    public float getAnchorV() {
+        return 0.5f;
+    }
+
+    @Override
+    public Coord2D getPosition(){
+        return lastPosition;
+    }
+
+    @Override
+    public Bitmap getIcon(Resources res){
+        return BitmapFactory.decodeResource(res, R.drawable.quad);
+    }
+
+    @Override
+    public boolean isVisible(){
+        return true;
+    }
+
+    @Override
+    public boolean isFlat(){
+        return true;
+    }
+
+    @Override
+    public float getRotation(){
+        return 0;
+    }
+
+    public void setLastPosition(Coord2D lastPosition) {
+        this.lastPosition = lastPosition;
+    }
+}
\ No newline at end of file
diff --git a/Android/src/org/droidplanner/android/helpers/calibration/CH_CalParameters.java b/Android/src/org/droidplanner/android/helpers/calibration/CH_CalParameters.java
deleted file mode 100644
index 6ca8d62750..0000000000
--- a/Android/src/org/droidplanner/android/helpers/calibration/CH_CalParameters.java
+++ /dev/null
@@ -1,15 +0,0 @@
-package org.droidplanner.android.helpers.calibration;
-
-import org.droidplanner.core.model.Drone;
-
-public class CH_CalParameters extends CalParameters {
-
-	public CH_CalParameters(Drone myDrone) {
-		super(myDrone);
-		calParameterNames.add("CH7_OPT");
-		calParameterNames.add("CH8_OPT");
-		calParameterNames.add("TUNE");
-		calParameterNames.add("TUNE_LOW");
-		calParameterNames.add("TUNE_HIGH");
-	}
-}
diff --git a/Android/src/org/droidplanner/android/helpers/calibration/CalParameters.java b/Android/src/org/droidplanner/android/helpers/calibration/CalParameters.java
deleted file mode 100644
index ef269870e7..0000000000
--- a/Android/src/org/droidplanner/android/helpers/calibration/CalParameters.java
+++ /dev/null
@@ -1,136 +0,0 @@
-package org.droidplanner.android.helpers.calibration;
-
-import java.util.ArrayList;
-import java.util.List;
-
-import org.droidplanner.core.model.Drone;
-import org.droidplanner.core.parameters.Parameter;
-
-public class CalParameters {
-	private Drone myDrone;
-	protected List<String> calParameterNames = new ArrayList<String>();
-	protected List<Parameter> calParameterItems = new ArrayList<Parameter>();
-	private boolean isUpdating = false;
-	private OnCalibrationEvent listener;
-	private int paramCount = 0;
-	private int uploadIndex = 0;
-
-	public interface OnCalibrationEvent {
-		public void onReadCalibration();
-
-		public void onSentCalibration();
-
-		public void onCalibrationData(int index, int count, boolean isSending);
-	}
-
-	public CalParameters(Drone myDrone) {
-		this.myDrone = myDrone;
-	}
-
-	public void setOnCalibrationEventListener(OnCalibrationEvent listener) {
-		this.listener = listener;
-	}
-
-	public void processReceivedParam() {
-		if (myDrone == null) {
-			return;
-		}
-		Parameter param = myDrone.getParameters().getLastParameter();
-		if (param == null) {
-			return;
-		}
-
-		if (isUpdating) {
-			compareCalibrationParameter(param);
-		} else {
-			calParameterItems.add(param);
-			paramCount = calParameterItems.size();
-			readCalibrationParameter(calParameterItems.size());
-		}
-	}
-
-	private void compareCalibrationParameter(Parameter param) {
-		Parameter paramRef = calParameterItems.get(uploadIndex);
-
-		if (paramRef.name.equalsIgnoreCase(param.name) && paramRef.value == param.value) {
-			uploadIndex++;
-		}
-		sendCalibrationParameters();
-	}
-
-	public void getCalibrationParameters(Drone drone) {
-		this.myDrone = drone;
-		calParameterItems.clear();
-		paramCount = 0;
-		readCalibrationParameter(0);
-	}
-
-	private void readCalibrationParameter(int seq) {
-		if (seq >= calParameterNames.size()) {
-			if (this.listener != null)
-				this.listener.onReadCalibration();
-			return;
-		}
-
-		if (myDrone != null)
-			myDrone.getParameters().ReadParameter(calParameterNames.get(seq));
-
-		if (this.listener != null) {
-			this.listener.onCalibrationData(seq, calParameterNames.size(), isUpdating);
-		}
-	}
-
-	public void sendCalibrationParameters() {
-		isUpdating = true;
-		if (calParameterItems.size() > 0 && uploadIndex < paramCount) {
-			if (this.listener != null) {
-				this.listener.onCalibrationData(uploadIndex, paramCount, isUpdating);
-			}
-			if (myDrone != null) {
-				myDrone.getParameters().sendParameter(calParameterItems.get(uploadIndex));
-			}
-		} else {
-			isUpdating = false;
-			uploadIndex = 0;
-			if (this.listener != null) {
-				this.listener.onSentCalibration();
-			}
-		}
-	}
-
-	public boolean isParameterDownloaded() {
-		return calParameterItems.size() == calParameterNames.size();
-	}
-
-	public double getParamValue(int paramIndex) {
-		if (paramIndex >= calParameterItems.size())
-			return -1;
-		Parameter param = calParameterItems.get(paramIndex);
-		return param.value;
-	}
-
-	public double getParamValueByName(String paramName) {
-		for (Parameter param : calParameterItems) {
-			if (param.name.contentEquals(paramName)) {
-				return param.value;
-			}
-		}
-		return -1;
-	}
-
-	public void setParamValue(int paramIndex, double value) {
-		if (paramIndex >= calParameterItems.size())
-			return;
-		Parameter param = calParameterItems.get(paramIndex);
-		param.value = value;
-	}
-
-	public void setParamValueByName(String paramName, double value) {
-		for (Parameter param : calParameterItems) {
-			if (param.name.contentEquals(paramName)) {
-				param.value = value;
-				return;
-			}
-		}
-	}
-}
diff --git a/Android/src/org/droidplanner/android/helpers/calibration/FM_CalParameters.java b/Android/src/org/droidplanner/android/helpers/calibration/FM_CalParameters.java
deleted file mode 100644
index fbc1e94ff9..0000000000
--- a/Android/src/org/droidplanner/android/helpers/calibration/FM_CalParameters.java
+++ /dev/null
@@ -1,21 +0,0 @@
-package org.droidplanner.android.helpers.calibration;
-
-import org.droidplanner.core.model.Drone;
-
-public class FM_CalParameters extends CalParameters {
-
-	public FM_CalParameters(Drone myDrone) {
-		super(myDrone);
-		for (int i = 1; i <= 6; i++) {
-			calParameterNames.add("FLTMODE" + i);
-		}
-		calParameterNames.add("SIMPLE");
-		calParameterNames.add("SUPER_SIMPLE");
-	}
-
-	public void setFMData(int[] data) {
-		for (int i = 0; i < 8; i++) {
-			setParamValue(i, data[i]);
-		}
-	}
-}
diff --git a/Android/src/org/droidplanner/android/helpers/calibration/RC_CalParameters.java b/Android/src/org/droidplanner/android/helpers/calibration/RC_CalParameters.java
deleted file mode 100644
index fa79159133..0000000000
--- a/Android/src/org/droidplanner/android/helpers/calibration/RC_CalParameters.java
+++ /dev/null
@@ -1,23 +0,0 @@
-package org.droidplanner.android.helpers.calibration;
-
-import org.droidplanner.core.model.Drone;
-
-public class RC_CalParameters extends CalParameters {
-
-	public RC_CalParameters(Drone myDrone) {
-		super(myDrone);
-		for (int i = 1; i <= 8; i++) {
-			calParameterNames.add("RC" + i + "_MIN");
-			calParameterNames.add("RC" + i + "_MAX");
-			calParameterNames.add("RC" + i + "_TRIM");
-		}
-	}
-
-	public void setRCData(int[] minData, int[] midData, int[] maxData) {
-		for (int i = 0; i < 8; i++) {
-			setParamValue((3 * i), minData[i]);
-			setParamValue((3 * i) + 1, midData[i]);
-			setParamValue((3 * i) + 2, maxData[i]);
-		}
-	}
-}
diff --git a/Android/src/org/droidplanner/android/helpers/calibration/SF_CalParameters.java b/Android/src/org/droidplanner/android/helpers/calibration/SF_CalParameters.java
deleted file mode 100644
index ff5887c9c2..0000000000
--- a/Android/src/org/droidplanner/android/helpers/calibration/SF_CalParameters.java
+++ /dev/null
@@ -1,16 +0,0 @@
-package org.droidplanner.android.helpers.calibration;
-
-import org.droidplanner.core.model.Drone;
-
-public class SF_CalParameters extends CalParameters {
-
-	public SF_CalParameters(Drone myDrone) {
-		super(myDrone);
-		calParameterNames.add("RC5_FUNCTION");
-		calParameterNames.add("RC6_FUNCTION");
-		calParameterNames.add("RC7_FUNCTION");
-		calParameterNames.add("RC8_FUNCTION");
-		calParameterNames.add("RC10_FUNCTION");
-		calParameterNames.add("RC11_FUNCTION");
-	}
-}
diff --git a/Android/src/org/droidplanner/android/lib/parcelables/ParcelableThreeSpacePoint.java b/Android/src/org/droidplanner/android/lib/parcelables/ParcelableThreeSpacePoint.java
new file mode 100644
index 0000000000..f56ff2dc86
--- /dev/null
+++ b/Android/src/org/droidplanner/android/lib/parcelables/ParcelableThreeSpacePoint.java
@@ -0,0 +1,53 @@
+package org.droidplanner.android.lib.parcelables;
+
+import android.os.Parcel;
+import android.os.Parcelable;
+
+import ellipsoidFit.ThreeSpacePoint;
+
+/**
+ * Parcelable wrapper for the {@link ThreeSpacePoint} class.
+ */
+public class ParcelableThreeSpacePoint extends ThreeSpacePoint implements Parcelable {
+
+    /**
+     * Instantiate a new object.
+     *
+     * @param x the point on the x-axis
+     * @param y the point on the y-axis
+     * @param z the point on the z-axis
+     */
+    public ParcelableThreeSpacePoint(double x, double y, double z) {
+        super(x, y, z);
+    }
+
+    public ParcelableThreeSpacePoint(ThreeSpacePoint copy){
+        super(copy.x, copy.y, copy.z);
+    }
+
+    @Override
+    public int describeContents() {
+        return 0;
+    }
+
+    @Override
+    public void writeToParcel(Parcel dest, int flags) {
+        dest.writeDouble(this.x);
+        dest.writeDouble(this.y);
+        dest.writeDouble(this.z);
+    }
+
+    private ParcelableThreeSpacePoint(Parcel in) {
+        this(in.readDouble(), in.readDouble(), in.readDouble());
+    }
+
+    public static final Parcelable.Creator<ParcelableThreeSpacePoint> CREATOR = new Parcelable.Creator<ParcelableThreeSpacePoint>() {
+        public ParcelableThreeSpacePoint createFromParcel(Parcel source) {
+            return new ParcelableThreeSpacePoint(source);
+        }
+
+        public ParcelableThreeSpacePoint[] newArray(int size) {
+            return new ParcelableThreeSpacePoint[size];
+        }
+    };
+}
diff --git a/Android/src/org/droidplanner/android/maps/DPMap.java b/Android/src/org/droidplanner/android/maps/DPMap.java
index a4fdf7ada1..3e4ba364a8 100644
--- a/Android/src/org/droidplanner/android/maps/DPMap.java
+++ b/Android/src/org/droidplanner/android/maps/DPMap.java
@@ -7,9 +7,11 @@
 import org.droidplanner.android.maps.providers.DPMapProvider;
 import org.droidplanner.android.utils.prefs.AutoPanMode;
 import org.droidplanner.core.drone.DroneInterfaces;
+import org.droidplanner.core.gcs.location.Location;
 import org.droidplanner.core.helpers.coordinates.Coord2D;
 
 import android.graphics.Color;
+import android.location.LocationListener;
 
 /**
  * Defines the functionality expected from the map providers.
@@ -264,6 +266,12 @@ interface OnMarkerDragListener {
 	 */
 	public void setOnMarkerDragListener(OnMarkerDragListener listener);
 
+    /**
+     * Sets a callback that's invoked when the user location is updated.
+     * @param listener
+     */
+    public void setLocationListener(LocationListener listener);
+
 	/**
 	 * Updates the map's center, and zoom level.
 	 * 
@@ -343,4 +351,17 @@ interface OnMarkerDragListener {
 	 *            to be displayed
 	 */
 	public void zoomToFit(List<Coord2D> coords);
+
+    /**
+     * Zoom to fit my location and the given coordinates on map
+     * @param coords
+     */
+    public void zoomToFitMyLocation(List<Coord2D> coords);
+    
+    /**
+     * Ignore marker clicks on the map and instead report the event as a mapClick
+     * @param skip if it should skip further events
+     */
+    public void skipMarkerClickEvents(boolean skip);
+    
 }
diff --git a/Android/src/org/droidplanner/android/maps/providers/google_map/GoogleMapFragment.java b/Android/src/org/droidplanner/android/maps/providers/google_map/GoogleMapFragment.java
index ef5ec552e7..1d27ce0d84 100644
--- a/Android/src/org/droidplanner/android/maps/providers/google_map/GoogleMapFragment.java
+++ b/Android/src/org/droidplanner/android/maps/providers/google_map/GoogleMapFragment.java
@@ -11,6 +11,8 @@
 import org.droidplanner.R;
 import org.droidplanner.android.DroidPlannerApp;
 import org.droidplanner.android.helpers.LocalMapTileProvider;
+import org.droidplanner.android.utils.GoogleApiClientManager;
+import org.droidplanner.android.utils.GoogleApiClientManager.GoogleApiClientTask;
 import org.droidplanner.android.maps.DPMap;
 import org.droidplanner.android.maps.MarkerInfo;
 import org.droidplanner.android.maps.providers.DPMapProvider;
@@ -18,12 +20,11 @@
 import org.droidplanner.android.utils.collection.HashBiMap;
 import org.droidplanner.android.utils.prefs.AutoPanMode;
 import org.droidplanner.android.utils.prefs.DroidPlannerPrefs;
+import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces;
 import org.droidplanner.core.helpers.coordinates.Coord2D;
-import org.droidplanner.core.model.Drone;
 
 import android.content.Context;
-import android.content.IntentSender;
 import android.content.SharedPreferences;
 import android.graphics.Bitmap;
 import android.graphics.Point;
@@ -34,10 +35,9 @@
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
+import android.view.ViewTreeObserver;
 import android.widget.Toast;
 
-import com.google.android.gms.common.ConnectionResult;
-import com.google.android.gms.common.api.GoogleApiClient;
 import com.google.android.gms.location.LocationListener;
 import com.google.android.gms.location.LocationRequest;
 import com.google.android.gms.location.LocationServices;
@@ -59,710 +59,754 @@
 import com.google.android.gms.maps.model.TileOverlay;
 import com.google.android.gms.maps.model.TileOverlayOptions;
 
-public class GoogleMapFragment extends SupportMapFragment implements DPMap,
-		GoogleApiClient.OnConnectionFailedListener, LocationListener,
-		GoogleApiClient.ConnectionCallbacks {
-
-	private static final String TAG = GoogleMapFragment.class.getSimpleName();
-
-	public static final String PREF_MAP_TYPE = "pref_map_type";
-
-	public static final String MAP_TYPE_SATELLITE = "Satellite";
-	public static final String MAP_TYPE_HYBRID = "Hybrid";
-	public static final String MAP_TYPE_NORMAL = "Normal";
-	public static final String MAP_TYPE_TERRAIN = "Terrain";
-
-	// TODO: update the interval based on the user's current activity.
-	private static final long USER_LOCATION_UPDATE_INTERVAL = 5000; // ms
-	private static final long USER_LOCATION_UPDATE_FASTEST_INTERVAL = 1000; // ms
-	private static final float USER_LOCATION_UPDATE_MIN_DISPLACEMENT = 5; // m
-
-	private final HashBiMap<MarkerInfo, Marker> mBiMarkersMap = new HashBiMap<MarkerInfo, Marker>();
-
-	private Drone mDrone;
-	private DroidPlannerPrefs mAppPrefs;
-
-	private final AtomicReference<AutoPanMode> mPanMode = new AtomicReference<AutoPanMode>(
-			AutoPanMode.DISABLED);
-	private final LinkedList<Runnable> mApiClientTasks = new LinkedList<Runnable>();
-
-	private final Runnable mGoToMyLocationTask = new Runnable() {
-		@Override
-		public void run() {
-			if (mApiClient.isConnected()) {
-				final Location myLocation = LocationServices.FusedLocationApi
-						.getLastLocation(mApiClient);
-				if (myLocation != null) {
-					final float currentZoomLevel = mMap.getCameraPosition().zoom;
-					updateCamera(DroneHelper.LocationToCoord(myLocation), (int) currentZoomLevel);
-				}
-			} else {
-				mApiClientTasks.add(this);
-			}
-		}
-	};
-
-	private final Runnable mRemoveLocationUpdateTask = new Runnable() {
-		@Override
-		public void run() {
-			if (mApiClient.isConnected()) {
-				LocationServices.FusedLocationApi.removeLocationUpdates(mApiClient,
-						GoogleMapFragment.this);
-			} else {
-				mApiClientTasks.add(this);
-			}
-		}
-	};
-
-	private final Runnable mRequestLocationUpdateTask = new Runnable() {
-		@Override
-		public void run() {
-			if (mApiClient.isConnected()) {
-				final LocationRequest locationReq = LocationRequest.create()
-						.setPriority(LocationRequest.PRIORITY_HIGH_ACCURACY)
-						.setFastestInterval(USER_LOCATION_UPDATE_FASTEST_INTERVAL)
-						.setInterval(USER_LOCATION_UPDATE_INTERVAL)
-						.setSmallestDisplacement(USER_LOCATION_UPDATE_MIN_DISPLACEMENT);
-				LocationServices.FusedLocationApi.requestLocationUpdates(mApiClient, locationReq,
-						GoogleMapFragment.this);
-			} else {
-				mApiClientTasks.add(this);
-			}
-		}
-	};
-
-	private GoogleMap mMap;
-	private GoogleApiClient mApiClient;
-
-	private Polyline flightPath;
-	private Polyline missionPath;
-	private Polyline mDroneLeashPath;
-	private int maxFlightPathSize;
-
-	/*
-	 * DP Map listeners
-	 */
-	private DPMap.OnMapClickListener mMapClickListener;
-	private DPMap.OnMapLongClickListener mMapLongClickListener;
-	private DPMap.OnMarkerClickListener mMarkerClickListener;
-	private DPMap.OnMarkerDragListener mMarkerDragListener;
+public class GoogleMapFragment extends SupportMapFragment implements DPMap, LocationListener {
 
-	@Override
-	public View onCreateView(LayoutInflater inflater, ViewGroup viewGroup, Bundle bundle) {
-		final FragmentActivity activity = getActivity();
-		final Context context = activity.getApplicationContext();
+    private static final String TAG = GoogleMapFragment.class.getSimpleName();
 
-		final View view = super.onCreateView(inflater, viewGroup, bundle);
-		mApiClient = new GoogleApiClient.Builder(context).addApi(LocationServices.API)
-				.addOnConnectionFailedListener(this).build();
+    public static final String PREF_MAP_TYPE = "pref_map_type";
 
-		mDrone = ((DroidPlannerApp) activity.getApplication()).getDrone();
-		mAppPrefs = new DroidPlannerPrefs(context);
+    public static final String MAP_TYPE_SATELLITE = "Satellite";
+    public static final String MAP_TYPE_HYBRID = "Hybrid";
+    public static final String MAP_TYPE_NORMAL = "Normal";
+    public static final String MAP_TYPE_TERRAIN = "Terrain";
 
-		final Bundle args = getArguments();
-		if (args != null) {
-			maxFlightPathSize = args.getInt(EXTRA_MAX_FLIGHT_PATH_SIZE);
-		}
+    // TODO: update the interval based on the user's current activity.
+    private static final long USER_LOCATION_UPDATE_INTERVAL = 30000; // ms
+    private static final long USER_LOCATION_UPDATE_FASTEST_INTERVAL = 10000; // ms
+    private static final float USER_LOCATION_UPDATE_MIN_DISPLACEMENT = 15; // m
 
-		return view;
-	}
+    private static final float GO_TO_MY_LOCATION_ZOOM = 19f;
 
-	@Override
-	public void onStart() {
-		super.onStart();
-		mApiClient.registerConnectionCallbacks(this);
-		mApiClient.connect();
-		setupMap();
-	}
+    private final HashBiMap<MarkerInfo, Marker> mBiMarkersMap = new HashBiMap<MarkerInfo, Marker>();
 
-	@Override
-	public void onStop() {
-		super.onStop();
-		mApiClient.unregisterConnectionCallbacks(this);
-		mApiClient.disconnect();
-		mApiClientTasks.clear();
-	}
+    private Drone mDrone;
+    private DroidPlannerPrefs mAppPrefs;
 
-	@Override
-	public void clearFlightPath() {
-		if (flightPath != null) {
-			List<LatLng> oldFlightPath = flightPath.getPoints();
-			oldFlightPath.clear();
-			flightPath.setPoints(oldFlightPath);
-		}
-	}
+    private final LinkedList<Runnable> onMapLaidOutTasks = new LinkedList<Runnable>();
 
-	@Override
-	public Coord2D getMapCenter() {
-		return DroneHelper.LatLngToCoord(mMap.getCameraPosition().target);
-	}
+    private final AtomicReference<AutoPanMode> mPanMode = new AtomicReference<AutoPanMode>(
+            AutoPanMode.DISABLED);
 
-	@Override
-	public float getMapZoomLevel() {
-		return mMap.getCameraPosition().zoom;
-	}
+    private GoogleApiClientTask mGoToMyLocationTask;
+    private GoogleApiClientTask mRemoveLocationUpdateTask;
+    private GoogleApiClientTask mRequestLocationUpdateTask;
 
-	@Override
-	public float getMaxZoomLevel() {
-		return mMap.getMaxZoomLevel();
-	}
+    private GoogleApiClientManager mGApiClientMgr;
 
-	@Override
-	public float getMinZoomLevel() {
-		return mMap.getMinZoomLevel();
-	}
+    private Polyline flightPath;
+    private Polyline missionPath;
+    private Polyline mDroneLeashPath;
+    private int maxFlightPathSize;
 
-	@Override
-	public void selectAutoPanMode(AutoPanMode target) {
-		final AutoPanMode currentMode = mPanMode.get();
-		if (currentMode == target)
-			return;
+    /*
+     * DP Map listeners
+     */
+    private DPMap.OnMapClickListener mMapClickListener;
+    private DPMap.OnMapLongClickListener mMapLongClickListener;
+    private DPMap.OnMarkerClickListener mMarkerClickListener;
+    private DPMap.OnMarkerDragListener mMarkerDragListener;
+    private android.location.LocationListener mLocationListener;
 
-		setAutoPanMode(currentMode, target);
-	}
+	protected boolean useMarkerClickAsMapClick = false;
+    private boolean isMapLayoutFinished = false;
 
-	private void setAutoPanMode(AutoPanMode current, AutoPanMode update) {
-		if (mPanMode.compareAndSet(current, update)) {
-			switch (current) {
-			case DRONE:
-				mDrone.removeDroneListener(this);
-				break;
-
-			case USER:
-				if (mApiClient.isConnected()) {
-					mRemoveLocationUpdateTask.run();
-				} else {
-					mApiClientTasks.add(mRemoveLocationUpdateTask);
-				}
-				break;
-
-			case DISABLED:
-			default:
-				break;
-			}
-
-			switch (update) {
-			case DRONE:
-				mDrone.addDroneListener(this);
-				break;
-
-			case USER:
-				if (mApiClient.isConnected()) {
-					mRequestLocationUpdateTask.run();
-				} else {
-					mApiClientTasks.add(mRequestLocationUpdateTask);
-				}
-				break;
-
-			case DISABLED:
-			default:
-				break;
-			}
-		}
-	}
+    @Override
+    public View onCreateView(LayoutInflater inflater, ViewGroup viewGroup,
+                             Bundle bundle) {
+        final FragmentActivity activity = getActivity();
+        final Context context = activity.getApplicationContext();
+
+        final View view = super.onCreateView(inflater, viewGroup, bundle);
+
+        mGApiClientMgr = new GoogleApiClientManager(context, LocationServices.API);
+
+        mGoToMyLocationTask = mGApiClientMgr.new GoogleApiClientTask() {
+            @Override
+            public void doRun() {
+                final Location myLocation = LocationServices.FusedLocationApi
+                        .getLastLocation(getGoogleApiClient());
+                if (myLocation != null) {
+                    updateCamera(DroneHelper.LocationToCoord(myLocation), GO_TO_MY_LOCATION_ZOOM);
+                }
+            }
+        };
+
+        mRemoveLocationUpdateTask = mGApiClientMgr.new GoogleApiClientTask() {
+            @Override
+            public void doRun() {
+                LocationServices.FusedLocationApi
+                        .removeLocationUpdates(getGoogleApiClient(), GoogleMapFragment.this);
+            }
+        };
+
+        mRequestLocationUpdateTask = mGApiClientMgr.new GoogleApiClientTask() {
+            @Override
+            public void doRun() {
+                final LocationRequest locationReq = LocationRequest.create()
+                        .setPriority(LocationRequest.PRIORITY_HIGH_ACCURACY)
+                        .setFastestInterval(USER_LOCATION_UPDATE_FASTEST_INTERVAL)
+                        .setInterval(USER_LOCATION_UPDATE_INTERVAL)
+                        .setSmallestDisplacement(USER_LOCATION_UPDATE_MIN_DISPLACEMENT);
+                LocationServices.FusedLocationApi.requestLocationUpdates(
+                        getGoogleApiClient(), locationReq, GoogleMapFragment.this);
+
+            }
+        };
+
+        mDrone = ((DroidPlannerApp) activity.getApplication()).getDrone();
+        mAppPrefs = new DroidPlannerPrefs(context);
+
+        final Bundle args = getArguments();
+        if (args != null) {
+            maxFlightPathSize = args.getInt(EXTRA_MAX_FLIGHT_PATH_SIZE);
+        }
+
+        isMapLayoutFinished = false;
+        view.getViewTreeObserver().addOnGlobalLayoutListener(new ViewTreeObserver.OnGlobalLayoutListener() {
+            @Override
+            public void onGlobalLayout() {
+                if (view.getWidth() > 0) {
+                    isMapLayoutFinished = true;
+                    view.getViewTreeObserver().removeGlobalOnLayoutListener(this);
+
+                    if(!onMapLaidOutTasks.isEmpty()) {
+                        for (Runnable task : onMapLaidOutTasks) {
+                            task.run();
+                        }
+                    }
+                }
+            }
+        });
+
+        return view;
+    }
 
-	@Override
-	public DPMapProvider getProvider() {
-		return DPMapProvider.GOOGLE_MAP;
-	}
+    @Override
+    public void onDestroyView(){
+        super.onDestroyView();
+        isMapLayoutFinished = false;
+    }
 
-	@Override
-	public void addFlightPathPoint(Coord2D coord) {
-		final LatLng position = DroneHelper.CoordToLatLang(coord);
-
-		if (maxFlightPathSize > 0) {
-			if (flightPath == null) {
-				PolylineOptions flightPathOptions = new PolylineOptions();
-				flightPathOptions.color(FLIGHT_PATH_DEFAULT_COLOR).width(FLIGHT_PATH_DEFAULT_WIDTH)
-						.zIndex(1);
-				flightPath = mMap.addPolyline(flightPathOptions);
-			}
-
-			List<LatLng> oldFlightPath = flightPath.getPoints();
-			if (oldFlightPath.size() > maxFlightPathSize) {
-				oldFlightPath.remove(0);
-			}
-			oldFlightPath.add(position);
-			flightPath.setPoints(oldFlightPath);
-		}
-	}
+    @Override
+    public void onStart() {
+        super.onStart();
+        mGApiClientMgr.start();
+        setupMap();
+    }
 
-	@Override
-	public void clearMarkers() {
-		for (Marker marker : mBiMarkersMap.valueSet()) {
-			marker.remove();
-		}
+    @Override
+    public void onStop() {
+        super.onStop();
+        mGApiClientMgr.stop();
+    }
 
-		mBiMarkersMap.clear();
-	}
+    @Override
+    public void clearFlightPath() {
+        if (flightPath != null) {
+            List<LatLng> oldFlightPath = flightPath.getPoints();
+            oldFlightPath.clear();
+            flightPath.setPoints(oldFlightPath);
+        }
+    }
 
-	@Override
-	public void updateMarker(MarkerInfo markerInfo) {
-		updateMarker(markerInfo, markerInfo.isDraggable());
-	}
+    @Override
+    public Coord2D getMapCenter() {
+        return DroneHelper.LatLngToCoord(getMap().getCameraPosition().target);
+    }
 
-	@Override
-	public void updateMarker(MarkerInfo markerInfo, boolean isDraggable) {
-		// if the drone hasn't received a gps signal yet
-		final Coord2D coord = markerInfo.getPosition();
-		if (coord == null) {
-			return;
-		}
-
-		final LatLng position = DroneHelper.CoordToLatLang(coord);
-		Marker marker = mBiMarkersMap.getValue(markerInfo);
-		if (marker == null) {
-			// Generate the marker
-			generateMarker(markerInfo, position, isDraggable);
-		} else {
-			// Update the marker
-			updateMarker(marker, markerInfo, position, isDraggable);
-		}
-	}
+    @Override
+    public float getMapZoomLevel() {
+        return getMap().getCameraPosition().zoom;
+    }
 
-	private void generateMarker(MarkerInfo markerInfo, LatLng position, boolean isDraggable) {
-		final MarkerOptions markerOptions = new MarkerOptions()
-				.position(position)
-				.draggable(isDraggable)
-				.alpha(markerInfo.getAlpha())
-				.anchor(markerInfo.getAnchorU(), markerInfo.getAnchorV())
-				.infoWindowAnchor(markerInfo.getInfoWindowAnchorU(),
-						markerInfo.getInfoWindowAnchorV()).rotation(markerInfo.getRotation())
-				.snippet(markerInfo.getSnippet()).title(markerInfo.getTitle())
-				.flat(markerInfo.isFlat()).visible(markerInfo.isVisible());
-
-		final Bitmap markerIcon = markerInfo.getIcon(getResources());
-		if (markerIcon != null) {
-			markerOptions.icon(BitmapDescriptorFactory.fromBitmap(markerIcon));
-		}
-
-		Marker marker = mMap.addMarker(markerOptions);
-		mBiMarkersMap.put(markerInfo, marker);
-	}
+    @Override
+    public float getMaxZoomLevel() {
+        return getMap().getMaxZoomLevel();
+    }
 
-	private void updateMarker(Marker marker, MarkerInfo markerInfo, LatLng position,
-			boolean isDraggable) {
-		final Bitmap markerIcon = markerInfo.getIcon(getResources());
-		if (markerIcon != null) {
-			marker.setIcon(BitmapDescriptorFactory.fromBitmap(markerIcon));
-		}
-
-		marker.setAlpha(markerInfo.getAlpha());
-		marker.setAnchor(markerInfo.getAnchorU(), markerInfo.getAnchorV());
-		marker.setInfoWindowAnchor(markerInfo.getInfoWindowAnchorU(),
-				markerInfo.getInfoWindowAnchorV());
-		marker.setPosition(position);
-		marker.setRotation(markerInfo.getRotation());
-		marker.setSnippet(markerInfo.getSnippet());
-		marker.setTitle(markerInfo.getTitle());
-		marker.setDraggable(isDraggable);
-		marker.setFlat(markerInfo.isFlat());
-		marker.setVisible(markerInfo.isVisible());
-	}
+    @Override
+    public float getMinZoomLevel() {
+        return getMap().getMinZoomLevel();
+    }
 
-	@Override
-	public void updateMarkers(List<MarkerInfo> markersInfos) {
-		for (MarkerInfo info : markersInfos) {
-			updateMarker(info);
-		}
-	}
+    @Override
+    public void selectAutoPanMode(AutoPanMode target) {
+        final AutoPanMode currentMode = mPanMode.get();
+        if (currentMode == target)
+            return;
 
-	@Override
-	public void updateMarkers(List<MarkerInfo> markersInfos, boolean isDraggable) {
-		for (MarkerInfo info : markersInfos) {
-			updateMarker(info, isDraggable);
-		}
-	}
+        setAutoPanMode(currentMode, target);
+    }
 
-	@Override
-	public Set<MarkerInfo> getMarkerInfoList() {
-		return new HashSet<MarkerInfo>(mBiMarkersMap.keySet());
-	}
+    private void setAutoPanMode(AutoPanMode current, AutoPanMode update) {
+        if (mPanMode.compareAndSet(current, update)) {
+            switch (current) {
+                case DRONE:
+                    mDrone.removeDroneListener(this);
+                    break;
+
+                case USER:
+                    if(!mGApiClientMgr.addTask(mRemoveLocationUpdateTask)){
+                        Log.e(TAG, "Unable to add google api client task.");
+                    }
+                    break;
+
+                case DISABLED:
+                default:
+                    break;
+            }
+
+            switch (update) {
+                case DRONE:
+                    mDrone.addDroneListener(this);
+                    break;
+
+                case USER:
+                    if(!mGApiClientMgr.addTask(mRequestLocationUpdateTask)){
+                        Log.e(TAG, "Unable to add google api client task.");
+                    }
+                    break;
+
+                case DISABLED:
+                default:
+                    break;
+            }
+        }
+    }
 
-	@Override
-	public List<Coord2D> projectPathIntoMap(List<Coord2D> path) {
-		List<Coord2D> coords = new ArrayList<Coord2D>();
-		Projection projection = mMap.getProjection();
+    @Override
+    public DPMapProvider getProvider() {
+        return DPMapProvider.GOOGLE_MAP;
+    }
 
-		for (Coord2D point : path) {
-			LatLng coord = projection.fromScreenLocation(new Point((int) point.getX(), (int) point
-					.getY()));
-			coords.add(DroneHelper.LatLngToCoord(coord));
-		}
+    @Override
+    public void addFlightPathPoint(Coord2D coord) {
+        final LatLng position = DroneHelper.CoordToLatLang(coord);
+
+        if (maxFlightPathSize > 0) {
+            if (flightPath == null) {
+                PolylineOptions flightPathOptions = new PolylineOptions();
+                flightPathOptions.color(FLIGHT_PATH_DEFAULT_COLOR)
+                        .width(FLIGHT_PATH_DEFAULT_WIDTH).zIndex(1);
+                flightPath = getMap().addPolyline(flightPathOptions);
+            }
+
+            List<LatLng> oldFlightPath = flightPath.getPoints();
+            if (oldFlightPath.size() > maxFlightPathSize) {
+                oldFlightPath.remove(0);
+            }
+            oldFlightPath.add(position);
+            flightPath.setPoints(oldFlightPath);
+        }
+    }
 
-		return coords;
-	}
+    @Override
+    public void clearMarkers() {
+        for (Marker marker : mBiMarkersMap.valueSet()) {
+            marker.remove();
+        }
 
-	@Override
-	public void removeMarkers(Collection<MarkerInfo> markerInfoList) {
-		if (markerInfoList == null || markerInfoList.isEmpty()) {
-			return;
-		}
-
-		for (MarkerInfo markerInfo : markerInfoList) {
-			Marker marker = mBiMarkersMap.getValue(markerInfo);
-			if (marker != null) {
-				marker.remove();
-				mBiMarkersMap.removeKey(markerInfo);
-			}
-		}
-	}
+        mBiMarkersMap.clear();
+    }
 
-	@Override
-	public void setMapPadding(int left, int top, int right, int bottom) {
-		mMap.setPadding(left, top, right, bottom);
-	}
+    @Override
+    public void updateMarker(MarkerInfo markerInfo) {
+        updateMarker(markerInfo, markerInfo.isDraggable());
+    }
 
-	@Override
-	public void setOnMapClickListener(OnMapClickListener listener) {
-		mMapClickListener = listener;
-	}
+    @Override
+    public void updateMarker(MarkerInfo markerInfo, boolean isDraggable) {
+        // if the drone hasn't received a gps signal yet
+        final Coord2D coord = markerInfo.getPosition();
+        if (coord == null) {
+            return;
+        }
+
+        final LatLng position = DroneHelper.CoordToLatLang(coord);
+        Marker marker = mBiMarkersMap.getValue(markerInfo);
+        if (marker == null) {
+            // Generate the marker
+            generateMarker(markerInfo, position, isDraggable);
+        } else {
+            // Update the marker
+            updateMarker(marker, markerInfo, position, isDraggable);
+        }
+    }
 
-	@Override
-	public void setOnMapLongClickListener(OnMapLongClickListener listener) {
-		mMapLongClickListener = listener;
-	}
+    private void generateMarker(MarkerInfo markerInfo, LatLng position, boolean isDraggable) {
+        final MarkerOptions markerOptions = new MarkerOptions()
+                .position(position)
+                .draggable(isDraggable)
+                .alpha(markerInfo.getAlpha())
+                .anchor(markerInfo.getAnchorU(), markerInfo.getAnchorV())
+                .infoWindowAnchor(markerInfo.getInfoWindowAnchorU(),
+                        markerInfo.getInfoWindowAnchorV()).rotation(markerInfo.getRotation())
+                .snippet(markerInfo.getSnippet()).title(markerInfo.getTitle())
+                .flat(markerInfo.isFlat()).visible(markerInfo.isVisible());
+
+        final Bitmap markerIcon = markerInfo.getIcon(getResources());
+        if (markerIcon != null) {
+            markerOptions.icon(BitmapDescriptorFactory.fromBitmap(markerIcon));
+        }
+
+        Marker marker = getMap().addMarker(markerOptions);
+        mBiMarkersMap.put(markerInfo, marker);
+    }
 
-	@Override
-	public void setOnMarkerDragListener(OnMarkerDragListener listener) {
-		mMarkerDragListener = listener;
-	}
+    private void updateMarker(Marker marker, MarkerInfo markerInfo, LatLng position,
+                              boolean isDraggable) {
+        final Bitmap markerIcon = markerInfo.getIcon(getResources());
+        if (markerIcon != null) {
+            marker.setIcon(BitmapDescriptorFactory.fromBitmap(markerIcon));
+        }
+
+        marker.setAlpha(markerInfo.getAlpha());
+        marker.setAnchor(markerInfo.getAnchorU(), markerInfo.getAnchorV());
+        marker.setInfoWindowAnchor(markerInfo.getInfoWindowAnchorU(),
+                markerInfo.getInfoWindowAnchorV());
+        marker.setPosition(position);
+        marker.setRotation(markerInfo.getRotation());
+        marker.setSnippet(markerInfo.getSnippet());
+        marker.setTitle(markerInfo.getTitle());
+        marker.setDraggable(isDraggable);
+        marker.setFlat(markerInfo.isFlat());
+        marker.setVisible(markerInfo.isVisible());
+    }
 
-	@Override
-	public void setOnMarkerClickListener(OnMarkerClickListener listener) {
-		mMarkerClickListener = listener;
-	}
+    @Override
+    public void updateMarkers(List<MarkerInfo> markersInfos) {
+        for (MarkerInfo info : markersInfos) {
+            updateMarker(info);
+        }
+    }
 
-	@Override
-	public void updateCamera(Coord2D coord, float zoomLevel) {
-		if (coord != null) {
-			mMap.animateCamera(CameraUpdateFactory.newLatLngZoom(DroneHelper.CoordToLatLang(coord),
-					zoomLevel));
-		}
-	}
+    @Override
+    public void updateMarkers(List<MarkerInfo> markersInfos, boolean isDraggable) {
+        for (MarkerInfo info : markersInfos) {
+            updateMarker(info, isDraggable);
+        }
+    }
+
+    @Override
+    public Set<MarkerInfo> getMarkerInfoList() {
+        return new HashSet<MarkerInfo>(mBiMarkersMap.keySet());
+    }
+
+    @Override
+    public List<Coord2D> projectPathIntoMap(List<Coord2D> path) {
+        List<Coord2D> coords = new ArrayList<Coord2D>();
+        Projection projection = getMap().getProjection();
+
+        for (Coord2D point : path) {
+            LatLng coord = projection.fromScreenLocation(new Point((int) point
+                    .getX(), (int) point.getY()));
+            coords.add(DroneHelper.LatLngToCoord(coord));
+        }
+
+        return coords;
+    }
+
+    @Override
+    public void removeMarkers(Collection<MarkerInfo> markerInfoList) {
+        if (markerInfoList == null || markerInfoList.isEmpty()) {
+            return;
+        }
+
+        for (MarkerInfo markerInfo : markerInfoList) {
+            Marker marker = mBiMarkersMap.getValue(markerInfo);
+            if (marker != null) {
+                marker.remove();
+                mBiMarkersMap.removeKey(markerInfo);
+            }
+        }
+    }
+
+    @Override
+    public void setMapPadding(int left, int top, int right, int bottom) {
+        getMap().setPadding(left, top, right, bottom);
+    }
+
+    @Override
+    public void setOnMapClickListener(OnMapClickListener listener) {
+        mMapClickListener = listener;
+    }
+
+    @Override
+    public void setOnMapLongClickListener(OnMapLongClickListener listener) {
+        mMapLongClickListener = listener;
+    }
+
+    @Override
+    public void setOnMarkerDragListener(OnMarkerDragListener listener) {
+        mMarkerDragListener = listener;
+    }
+
+    @Override
+    public void setOnMarkerClickListener(OnMarkerClickListener listener) {
+        mMarkerClickListener = listener;
+    }
+
+    @Override
+    public void setLocationListener(android.location.LocationListener receiver){
+        mLocationListener = receiver;
+
+        //Update the listener with the last received location
+        if(mLocationListener != null && isResumed()){
+            mGApiClientMgr.addTask(mGApiClientMgr.new GoogleApiClientTask() {
+                @Override
+                protected void doRun() {
+                    final Location lastLocation = LocationServices.FusedLocationApi.getLastLocation
+                            (getGoogleApiClient());
+                    if(lastLocation != null){
+                        mLocationListener.onLocationChanged(lastLocation);
+                    }
+                }
+            });
+        }
+    }
+
+    @Override
+    public void updateCamera(Coord2D coord, float zoomLevel) {
+        if (coord != null) {
+            getMap().animateCamera(CameraUpdateFactory.newLatLngZoom(
+                    DroneHelper.CoordToLatLang(coord), zoomLevel));
+        }
+    }
 
     @Override
     public void updateCameraBearing(float bearing){
         final CameraPosition cameraPosition = new CameraPosition(DroneHelper.CoordToLatLang
                 (getMapCenter()), getMapZoomLevel(), 0, bearing);
-        mMap.animateCamera(CameraUpdateFactory.newCameraPosition(cameraPosition));
+        getMap().animateCamera(CameraUpdateFactory.newCameraPosition(cameraPosition));
     }
 
-	@Override
-	public void updateDroneLeashPath(PathSource pathSource) {
-		List<Coord2D> pathCoords = pathSource.getPathPoints();
-		final List<LatLng> pathPoints = new ArrayList<LatLng>(pathCoords.size());
-		for (Coord2D coord : pathCoords) {
-			pathPoints.add(DroneHelper.CoordToLatLang(coord));
-		}
-
-		if (mDroneLeashPath == null) {
-			PolylineOptions flightPath = new PolylineOptions();
-			flightPath.color(DRONE_LEASH_DEFAULT_COLOR).width(
-					DroneHelper.scaleDpToPixels(DRONE_LEASH_DEFAULT_WIDTH, getResources()));
-			mDroneLeashPath = mMap.addPolyline(flightPath);
-		}
-
-		mDroneLeashPath.setPoints(pathPoints);
-	}
-
-	@Override
-	public void updateMissionPath(PathSource pathSource) {
-		List<Coord2D> pathCoords = pathSource.getPathPoints();
-		final List<LatLng> pathPoints = new ArrayList<LatLng>(pathCoords.size());
-		for (Coord2D coord : pathCoords) {
-			pathPoints.add(DroneHelper.CoordToLatLang(coord));
-		}
-
-		if (missionPath == null) {
-			PolylineOptions pathOptions = new PolylineOptions();
-			pathOptions.color(MISSION_PATH_DEFAULT_COLOR).width(MISSION_PATH_DEFAULT_WIDTH);
-			missionPath = mMap.addPolyline(pathOptions);
-		}
-
-		missionPath.setPoints(pathPoints);
-	}
+    @Override
+    public void updateDroneLeashPath(PathSource pathSource) {
+        List<Coord2D> pathCoords = pathSource.getPathPoints();
+        final List<LatLng> pathPoints = new ArrayList<LatLng>(pathCoords.size());
+        for (Coord2D coord : pathCoords) {
+            pathPoints.add(DroneHelper.CoordToLatLang(coord));
+        }
+
+        if (mDroneLeashPath == null) {
+            PolylineOptions flightPath = new PolylineOptions();
+            flightPath.color(DRONE_LEASH_DEFAULT_COLOR).width(
+                    DroneHelper.scaleDpToPixels(DRONE_LEASH_DEFAULT_WIDTH,
+                            getResources()));
+            mDroneLeashPath = getMap().addPolyline(flightPath);
+        }
+
+        mDroneLeashPath.setPoints(pathPoints);
+    }
 
-	/**
-	 * Save the map camera state on a preference file
-	 * http://stackoverflow.com/questions
-	 * /16697891/google-maps-android-api-v2-restoring
-	 * -map-state/16698624#16698624
-	 */
-	@Override
-	public void saveCameraPosition() {
-		CameraPosition camera = mMap.getCameraPosition();
-		mAppPrefs.prefs.edit().putFloat(PREF_LAT, (float) camera.target.latitude)
-				.putFloat(PREF_LNG, (float) camera.target.longitude)
-				.putFloat(PREF_BEA, camera.bearing).putFloat(PREF_TILT, camera.tilt)
-				.putFloat(PREF_ZOOM, camera.zoom).apply();
-	}
+    @Override
+    public void updateMissionPath(PathSource pathSource) {
+        List<Coord2D> pathCoords = pathSource.getPathPoints();
+        final List<LatLng> pathPoints = new ArrayList<LatLng>(pathCoords.size());
+        for (Coord2D coord : pathCoords) {
+            pathPoints.add(DroneHelper.CoordToLatLang(coord));
+        }
+
+        if (missionPath == null) {
+            PolylineOptions pathOptions = new PolylineOptions();
+            pathOptions.color(MISSION_PATH_DEFAULT_COLOR).width(
+                    MISSION_PATH_DEFAULT_WIDTH);
+            missionPath = getMap().addPolyline(pathOptions);
+        }
+
+        missionPath.setPoints(pathPoints);
+    }
 
-	@Override
-	public void loadCameraPosition() {
-		final SharedPreferences settings = mAppPrefs.prefs;
+    /**
+     * Save the map camera state on a preference file
+     * http://stackoverflow.com/questions
+     * /16697891/google-maps-android-api-v2-restoring
+     * -map-state/16698624#16698624
+     */
+    @Override
+    public void saveCameraPosition() {
+        CameraPosition camera = getMap().getCameraPosition();
+        mAppPrefs.prefs.edit()
+                .putFloat(PREF_LAT, (float) camera.target.latitude)
+                .putFloat(PREF_LNG, (float) camera.target.longitude)
+                .putFloat(PREF_BEA, camera.bearing)
+                .putFloat(PREF_TILT, camera.tilt)
+                .putFloat(PREF_ZOOM, camera.zoom).apply();
+    }
 
-		CameraPosition.Builder camera = new CameraPosition.Builder();
-		camera.bearing(settings.getFloat(PREF_BEA, DEFAULT_BEARING));
-		camera.tilt(settings.getFloat(PREF_TILT, DEFAULT_TILT));
-		camera.zoom(settings.getFloat(PREF_ZOOM, DEFAULT_ZOOM_LEVEL));
-		camera.target(new LatLng(settings.getFloat(PREF_LAT, DEFAULT_LATITUDE), settings.getFloat(
-				PREF_LNG, DEFAULT_LONGITUDE)));
+    @Override
+    public void loadCameraPosition() {
+        final SharedPreferences settings = mAppPrefs.prefs;
 
-		mMap.moveCamera(CameraUpdateFactory.newCameraPosition(camera.build()));
-	}
+        CameraPosition.Builder camera = new CameraPosition.Builder();
+        camera.bearing(settings.getFloat(PREF_BEA, DEFAULT_BEARING));
+        camera.tilt(settings.getFloat(PREF_TILT, DEFAULT_TILT));
+        camera.zoom(settings.getFloat(PREF_ZOOM, DEFAULT_ZOOM_LEVEL));
+        camera.target(new LatLng(settings.getFloat(PREF_LAT, DEFAULT_LATITUDE),
+                settings.getFloat(PREF_LNG, DEFAULT_LONGITUDE)));
 
-	private void setupMap() {
-		// Make sure the map is initialized
-		MapsInitializer.initialize(getActivity().getApplicationContext());
-
-		mMap = getMap();
-		if (isMapLayoutFinished()) {
-			// TODO it should wait for the map layout
-			// before setting it up, instead of just
-			// skipping the setup
-			setupMapUI();
-			setupMapOverlay();
-			setupMapListeners();
-		}
-	}
+        getMap().moveCamera(CameraUpdateFactory.newCameraPosition(camera.build()));
+    }
 
-	@Override
-	public void zoomToFit(List<Coord2D> coords) {
-		if (!coords.isEmpty()) {
-			final List<LatLng> points = new ArrayList<LatLng>();
-			for (Coord2D coord : coords)
-				points.add(DroneHelper.CoordToLatLang(coord));
-
-			LatLngBounds bounds = getBounds(points);
-			CameraUpdate animation;
-			if (isMapLayoutFinished())
-				animation = CameraUpdateFactory.newLatLngBounds(bounds, 100);
-			else
-				animation = CameraUpdateFactory.newLatLngBounds(bounds, 480, 360, 100);
-			getMap().animateCamera(animation);
-		}
-	}
+    private void setupMap() {
+        // Make sure the map is initialized
+        MapsInitializer.initialize(getActivity().getApplicationContext());
+
+        if (isMapLayoutFinished) {
+            setupMapUI();
+            setupMapOverlay();
+            setupMapListeners();
+        }
+        else{
+            postOnMapLaidOutTask(new Runnable() {
+                @Override
+                public void run() {
+                    setupMap();
+                }
+            });
+        }
+    }
 
-	@Override
-	public void goToMyLocation() {
-		if (mApiClient.isConnected())
-			mGoToMyLocationTask.run();
-		else {
-			mApiClientTasks.add(mGoToMyLocationTask);
-		}
-	}
+    private void postOnMapLaidOutTask(Runnable task){
+        onMapLaidOutTasks.offer(task);
+    }
 
-	@Override
-	public void goToDroneLocation() {
-		if (!mDrone.getGps().isPositionValid()) {
-			Toast.makeText(getActivity().getApplicationContext(), R.string.drone_no_location,
-					Toast.LENGTH_SHORT).show();
-			return;
-		}
-		final float currentZoomLevel = mMap.getCameraPosition().zoom;
-		final Coord2D droneLocation = mDrone.getGps().getPosition();
-		updateCamera(droneLocation, (int) currentZoomLevel);
-	}
+    @Override
+    public void zoomToFit(List<Coord2D> coords) {
+        if (!coords.isEmpty()) {
+            final List<LatLng> points = new ArrayList<LatLng>();
+            for (Coord2D coord : coords)
+                points.add(DroneHelper.CoordToLatLang(coord));
+
+            final LatLngBounds bounds = getBounds(points);
+            if (isMapLayoutFinished) {
+                CameraUpdate animation = CameraUpdateFactory.newLatLngBounds(bounds, 100);
+                getMap().animateCamera(animation);
+            }
+            else {
+                postOnMapLaidOutTask(new Runnable() {
+                    @Override
+                    public void run() {
+                        CameraUpdate animation = CameraUpdateFactory.newLatLngBounds(bounds, 100);
+                        getMap().animateCamera(animation);
+                    }
+                });
+            }
+        }
+    }
 
-	private void setupMapListeners() {
-		mMap.setOnMapClickListener(new GoogleMap.OnMapClickListener() {
-			@Override
-			public void onMapClick(LatLng latLng) {
-				if (mMapClickListener != null) {
-					mMapClickListener.onMapClick(DroneHelper.LatLngToCoord(latLng));
-				}
-			}
-		});
-
-		mMap.setOnMapLongClickListener(new GoogleMap.OnMapLongClickListener() {
-			@Override
-			public void onMapLongClick(LatLng latLng) {
-				if (mMapLongClickListener != null) {
-					mMapLongClickListener.onMapLongClick(DroneHelper.LatLngToCoord(latLng));
-				}
-			}
-		});
-
-		mMap.setOnMarkerDragListener(new GoogleMap.OnMarkerDragListener() {
-			@Override
-			public void onMarkerDragStart(Marker marker) {
-				if (mMarkerDragListener != null) {
-					final MarkerInfo markerInfo = mBiMarkersMap.getKey(marker);
-					markerInfo.setPosition(DroneHelper.LatLngToCoord(marker.getPosition()));
-					mMarkerDragListener.onMarkerDragStart(markerInfo);
-				}
-			}
-
-			@Override
-			public void onMarkerDrag(Marker marker) {
-				if (mMarkerDragListener != null) {
-					final MarkerInfo markerInfo = mBiMarkersMap.getKey(marker);
-					markerInfo.setPosition(DroneHelper.LatLngToCoord(marker.getPosition()));
-					mMarkerDragListener.onMarkerDrag(markerInfo);
-				}
-			}
-
-			@Override
-			public void onMarkerDragEnd(Marker marker) {
-				if (mMarkerDragListener != null) {
-					final MarkerInfo markerInfo = mBiMarkersMap.getKey(marker);
-					markerInfo.setPosition(DroneHelper.LatLngToCoord(marker.getPosition()));
-					mMarkerDragListener.onMarkerDragEnd(markerInfo);
-				}
-			}
-		});
-
-		mMap.setOnMarkerClickListener(new GoogleMap.OnMarkerClickListener() {
-			@Override
-			public boolean onMarkerClick(Marker marker) {
-				if (mMarkerClickListener != null) {
-					return mMarkerClickListener.onMarkerClick(mBiMarkersMap.getKey(marker));
-				}
-				return false;
-			}
-		});
-	}
+    @Override
+    public void zoomToFitMyLocation(final List<Coord2D> coords) {
+        mGApiClientMgr.addTask(mGApiClientMgr.new GoogleApiClientTask() {
+            @Override
+            protected void doRun() {
+                final Location myLocation = LocationServices.FusedLocationApi.getLastLocation
+                        (getGoogleApiClient());
+                if (myLocation != null) {
+                    final List<Coord2D> updatedCoords = new ArrayList<Coord2D>(coords);
+                    updatedCoords.add(DroneHelper.LocationToCoord(myLocation));
+                    zoomToFit(updatedCoords);
+                } else {
+                    zoomToFit(coords);
+                }
+            }
+        });
+    }
 
-	private void setupMapUI() {
-		mMap.setMyLocationEnabled(true);
-		UiSettings mUiSettings = mMap.getUiSettings();
-		mUiSettings.setMyLocationButtonEnabled(false);
-		mUiSettings.setCompassEnabled(false);
-		mUiSettings.setTiltGesturesEnabled(false);
-		mUiSettings.setZoomControlsEnabled(false);
-	}
+    @Override
+    public void goToMyLocation() {
+        if(!mGApiClientMgr.addTask(mGoToMyLocationTask)){
+            Log.e(TAG, "Unable to add google api client task.");
+        }
+    }
 
-	private void setupMapOverlay() {
-		if (mAppPrefs.isOfflineMapEnabled()) {
-			setupOfflineMapOverlay();
-		} else {
-			setupOnlineMapOverlay();
-		}
-	}
+    @Override
+    public void goToDroneLocation() {
+        if(!mDrone.getGps().isPositionValid()){
+            Toast.makeText(getActivity().getApplicationContext(), R.string.drone_no_location, Toast.LENGTH_SHORT).show();
+            return;
+        }
+        final float currentZoomLevel = getMap().getCameraPosition().zoom;
+        final Coord2D droneLocation = mDrone.getGps().getPosition();
+        updateCamera(droneLocation, (int) currentZoomLevel);
+    }
 
-	private void setupOnlineMapOverlay() {
-		mMap.setMapType(getMapType());
-	}
+    private void setupMapListeners() {
+        final GoogleMap.OnMapClickListener onMapClickListener = new GoogleMap.OnMapClickListener() {
+            @Override
+            public void onMapClick(LatLng latLng) {
+                if (mMapClickListener != null) {
+                    mMapClickListener.onMapClick(DroneHelper.LatLngToCoord(latLng));
+                }
+            }
+        };
+		getMap().setOnMapClickListener(onMapClickListener);
+
+        getMap().setOnMapLongClickListener(new GoogleMap.OnMapLongClickListener() {
+            @Override
+            public void onMapLongClick(LatLng latLng) {
+                if (mMapLongClickListener != null) {
+                    mMapLongClickListener.onMapLongClick(DroneHelper.LatLngToCoord(latLng));
+                }
+            }
+        });
+
+        getMap().setOnMarkerDragListener(new GoogleMap.OnMarkerDragListener() {
+            @Override
+            public void onMarkerDragStart(Marker marker) {
+                if (mMarkerDragListener != null) {
+                    final MarkerInfo markerInfo = mBiMarkersMap.getKey(marker);
+                    markerInfo.setPosition(DroneHelper.LatLngToCoord(marker.getPosition()));
+                    mMarkerDragListener.onMarkerDragStart(markerInfo);
+                }
+            }
+
+            @Override
+            public void onMarkerDrag(Marker marker) {
+                if (mMarkerDragListener != null) {
+                    final MarkerInfo markerInfo = mBiMarkersMap.getKey(marker);
+                    markerInfo.setPosition(DroneHelper.LatLngToCoord(marker.getPosition()));
+                    mMarkerDragListener.onMarkerDrag(markerInfo);
+                }
+            }
+
+            @Override
+            public void onMarkerDragEnd(Marker marker) {
+                if (mMarkerDragListener != null) {
+                    final MarkerInfo markerInfo = mBiMarkersMap.getKey(marker);
+                    markerInfo.setPosition(DroneHelper.LatLngToCoord(marker.getPosition()));
+                    mMarkerDragListener.onMarkerDragEnd(markerInfo);
+                }
+            }
+        });
+
+        getMap().setOnMarkerClickListener(new GoogleMap.OnMarkerClickListener() {
+            @Override
+            public boolean onMarkerClick(Marker marker) {
+                if (useMarkerClickAsMapClick) {
+                    onMapClickListener.onMapClick(marker.getPosition());
+                    return true;
+                }
+                if (mMarkerClickListener != null) {
+                    return mMarkerClickListener.onMarkerClick(mBiMarkersMap.getKey(marker));
+                }
+                return false;
+            }
+        });
+    }
 
-	private int getMapType() {
-		String mapType = mAppPrefs.getMapType();
-
-		if (mapType.equalsIgnoreCase(MAP_TYPE_SATELLITE)) {
-			return GoogleMap.MAP_TYPE_SATELLITE;
-		}
-		if (mapType.equalsIgnoreCase(MAP_TYPE_HYBRID)) {
-			return GoogleMap.MAP_TYPE_HYBRID;
-		}
-		if (mapType.equalsIgnoreCase(MAP_TYPE_NORMAL)) {
-			return GoogleMap.MAP_TYPE_NORMAL;
-		}
-		if (mapType.equalsIgnoreCase(MAP_TYPE_TERRAIN)) {
-			return GoogleMap.MAP_TYPE_TERRAIN;
-		} else {
-			return GoogleMap.MAP_TYPE_SATELLITE;
-		}
-	}
+    private void setupMapUI() {
+        getMap().setMyLocationEnabled(true);
+        UiSettings mUiSettings = getMap().getUiSettings();
+        mUiSettings.setMyLocationButtonEnabled(false);
+        mUiSettings.setCompassEnabled(false);
+        mUiSettings.setTiltGesturesEnabled(false);
+        mUiSettings.setZoomControlsEnabled(false);
+    }
 
-	private void setupOfflineMapOverlay() {
-		mMap.setMapType(GoogleMap.MAP_TYPE_NONE);
-		TileOverlay tileOverlay = mMap.addTileOverlay(new TileOverlayOptions()
-				.tileProvider(new LocalMapTileProvider()));
-		tileOverlay.setZIndex(-1);
-		tileOverlay.clearTileCache();
-	}
+    private void setupMapOverlay() {
+        if (mAppPrefs.isOfflineMapEnabled()) {
+            setupOfflineMapOverlay();
+        } else {
+            setupOnlineMapOverlay();
+        }
+    }
 
-	public void zoomToExtents(List<LatLng> pointsList) {
-		if (!pointsList.isEmpty()) {
-			LatLngBounds bounds = getBounds(pointsList);
-			CameraUpdate animation;
-			if (isMapLayoutFinished())
-				animation = CameraUpdateFactory.newLatLngBounds(bounds, 100);
-			else
-				animation = CameraUpdateFactory.newLatLngBounds(bounds, 480, 360, 100);
-			getMap().animateCamera(animation);
-		}
-	}
+    private void setupOnlineMapOverlay() {
+        getMap().setMapType(getMapType());
+    }
 
-	protected void clearMap() {
-		GoogleMap mMap = getMap();
-		mMap.clear();
-		setupMapOverlay();
-	}
+    private int getMapType() {
+        String mapType = mAppPrefs.getMapType();
+
+        if (mapType.equalsIgnoreCase(MAP_TYPE_SATELLITE)) {
+            return GoogleMap.MAP_TYPE_SATELLITE;
+        }
+        if (mapType.equalsIgnoreCase(MAP_TYPE_HYBRID)) {
+            return GoogleMap.MAP_TYPE_HYBRID;
+        }
+        if (mapType.equalsIgnoreCase(MAP_TYPE_NORMAL)) {
+            return GoogleMap.MAP_TYPE_NORMAL;
+        }
+        if (mapType.equalsIgnoreCase(MAP_TYPE_TERRAIN)) {
+            return GoogleMap.MAP_TYPE_TERRAIN;
+        } else {
+            return GoogleMap.MAP_TYPE_SATELLITE;
+        }
+    }
 
-	private LatLngBounds getBounds(List<LatLng> pointsList) {
-		LatLngBounds.Builder builder = new LatLngBounds.Builder();
-		for (LatLng point : pointsList) {
-			builder.include(point);
-		}
-		return builder.build();
-	}
+    private void setupOfflineMapOverlay() {
+        getMap().setMapType(GoogleMap.MAP_TYPE_NONE);
+        TileOverlay tileOverlay = getMap().addTileOverlay(new TileOverlayOptions()
+                .tileProvider(new LocalMapTileProvider()));
+        tileOverlay.setZIndex(-1);
+        tileOverlay.clearTileCache();
+    }
 
-	public double getMapRotation() {
-		if (isMapLayoutFinished()) {
-			return mMap.getCameraPosition().bearing;
-		} else {
-			return 0;
-		}
-	}
+    protected void clearMap() {
+        GoogleMap mMap = getMap();
+        mMap.clear();
+        setupMapOverlay();
+    }
 
-	private boolean isMapLayoutFinished() {
-		return getMap() != null;
-	}
+    private LatLngBounds getBounds(List<LatLng> pointsList) {
+        LatLngBounds.Builder builder = new LatLngBounds.Builder();
+        for (LatLng point : pointsList) {
+            builder.include(point);
+        }
+        return builder.build();
+    }
 
-	@Override
-	public void onConnectionFailed(ConnectionResult connectionResult) {
-		Log.e(TAG, "Google API Client connection failed: " + connectionResult.getErrorCode());
-		if (connectionResult.hasResolution()) {
-			try {
-				connectionResult.startResolutionForResult(getActivity(), 0);
-			} catch (IntentSender.SendIntentException e) {
-				Log.e(TAG, "Unable to launch the resolution intent.", e);
-			}
-		}
-	}
+    public double getMapRotation() {
+        if (isMapLayoutFinished) {
+            return getMap().getCameraPosition().bearing;
+        } else {
+            return 0;
+        }
+    }
 
-	/**
-	 * Used to monitor drone gps location updates if autopan is enabled.
-	 * {@inheritDoc}
-	 * 
-	 * @param event
-	 *            event type
-	 * @param drone
-	 *            drone state
-	 */
-	@Override
-	public void onDroneEvent(DroneInterfaces.DroneEventsType event, Drone drone) {
-		switch (event) {
-		case GPS:
-			if (mPanMode.get() == AutoPanMode.DRONE && drone.getGps().isPositionValid()) {
-				final float currentZoomLevel = mMap.getCameraPosition().zoom;
-				final Coord2D droneLocation = drone.getGps().getPosition();
-				updateCamera(droneLocation, currentZoomLevel);
-			}
-			break;
-		default:
-			break;
-		}
-	}
+    private boolean isMapLayoutFinished() {
+        return getMap() != null && getView() != null && getView().getWidth() > 0;
+    }
 
-	@Override
-	public void onLocationChanged(Location location) {
-		Log.d(TAG, "User location changed.");
-		if (mPanMode.get() == AutoPanMode.USER) {
-			updateCamera(DroneHelper.LocationToCoord(location), (int) mMap.getCameraPosition().zoom);
-		}
-	}
+    /**
+     * Used to monitor drone gps location updates if autopan is enabled.
+     * {@inheritDoc}
+     *
+     * @param event
+     *            event type
+     * @param drone
+     *            drone state
+     */
+    @Override
+    public void onDroneEvent(DroneInterfaces.DroneEventsType event, Drone drone) {
+        switch (event) {
+            case GPS:
+                if (mPanMode.get() == AutoPanMode.DRONE && drone.getGps().isPositionValid()) {
+                    final float currentZoomLevel = getMap().getCameraPosition().zoom;
+                    final Coord2D droneLocation = drone.getGps().getPosition();
+                    updateCamera(droneLocation, currentZoomLevel);
+                }
+                break;
+            default:
+                break;
+        }
+    }
 
-	@Override
-	public void onConnected(Bundle bundle) {
-		for (Runnable task : mApiClientTasks) {
-			task.run();
-		}
-	}
+    @Override
+    public void onLocationChanged(Location location) {
+        Log.d(TAG, "User location changed.");
+        if (mPanMode.get() == AutoPanMode.USER) {
+            updateCamera(DroneHelper.LocationToCoord(location),(int) getMap().getCameraPosition().zoom);
+        }
+
+        if(mLocationListener != null){
+            mLocationListener.onLocationChanged(location);
+        }
+    }
 
 	@Override
-	public void onConnectionSuspended(int i) {
-		Log.d(TAG, "Google API client connection suspended.");
+	public void skipMarkerClickEvents(boolean skip) {
+		useMarkerClickAsMapClick = skip;		
 	}
 }
diff --git a/Android/src/org/droidplanner/android/maps/providers/mapbox/MapBoxFragment.java b/Android/src/org/droidplanner/android/maps/providers/mapbox/MapBoxFragment.java
index 215e608c31..2ed9f410bf 100644
--- a/Android/src/org/droidplanner/android/maps/providers/mapbox/MapBoxFragment.java
+++ b/Android/src/org/droidplanner/android/maps/providers/mapbox/MapBoxFragment.java
@@ -27,6 +27,8 @@
 import android.graphics.BitmapFactory;
 import android.graphics.PointF;
 import android.graphics.drawable.BitmapDrawable;
+import android.location.Location;
+import android.location.LocationListener;
 import android.os.Bundle;
 import android.support.v4.app.Fragment;
 import android.view.LayoutInflater;
@@ -37,11 +39,11 @@
 import com.mapbox.mapboxsdk.api.ILatLng;
 import com.mapbox.mapboxsdk.geometry.BoundingBox;
 import com.mapbox.mapboxsdk.geometry.LatLng;
+import com.mapbox.mapboxsdk.overlay.GpsLocationProvider;
 import com.mapbox.mapboxsdk.overlay.Icon;
 import com.mapbox.mapboxsdk.overlay.ItemizedIconOverlay;
 import com.mapbox.mapboxsdk.overlay.Marker;
 import com.mapbox.mapboxsdk.overlay.PathOverlay;
-import com.mapbox.mapboxsdk.overlay.UserLocationOverlay;
 import com.mapbox.mapboxsdk.overlay.UserLocationOverlay.TrackingMode;
 import com.mapbox.mapboxsdk.views.MapController;
 import com.mapbox.mapboxsdk.views.MapView;
@@ -131,6 +133,7 @@ public void onLongPressMap(MapView pMapView, final ILatLng pPosition) {
 	private MapView mMapView;
 	private TrackingMode mUserLocationTrackingMode = TrackingMode.NONE;
 	private ItemizedDraggableIconOverlay mMarkersOverlay;
+    private UserLocationProvider mLocationProvider;
 
 	private PathOverlay mFlightPath;
 	private PathOverlay mMissionPath;
@@ -143,6 +146,7 @@ public void onLongPressMap(MapView pMapView, final ILatLng pPosition) {
 	private OnMapLongClickListener mMapLongClickListener;
 	private OnMarkerDragListener mMarkerDragListener;
 	private OnMarkerClickListener mMarkerClickListener;
+    private LocationListener mLocationListener;
 
 	@Override
 	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
@@ -163,22 +167,43 @@ public void onViewCreated(View view, Bundle savedInstanceState) {
 	public void onStart() {
 		super.onStart();
 		setupMap();
+	}
 
-		mMapView.setUserLocationEnabled(true);
-		final UserLocationOverlay userLocation = mMapView.getUserLocationOverlay();
-		if (userLocation != null) {
-			userLocation.setDrawAccuracyEnabled(true);
+    @Override
+    public void onStop() {
+        super.onStop();
+        enableUserLocation(false);
+    }
 
-			if (mUserLocationTrackingMode == TrackingMode.NONE) {
-				userLocation.disableFollowLocation();
-			} else {
-				userLocation.enableFollowLocation();
-			}
-		}
-	}
+    private void enableUserLocation(boolean enable){
+        if(mLocationProvider == null){
+            mLocationProvider = new UserLocationProvider(new GpsLocationProvider(getActivity()
+                    .getApplicationContext()), mMapView);
+            mLocationProvider.setDrawAccuracyEnabled(true);
+            if(mLocationListener != null){
+                mLocationProvider.setLocationListener(mLocationListener);
+            }
+
+            mMapView.addOverlay(mLocationProvider);
+        }
+
+        if(enable) {
+            mLocationProvider.enableMyLocation();
+
+            if(mUserLocationTrackingMode == TrackingMode.NONE){
+                mLocationProvider.disableFollowLocation();
+            }
+            else{
+                mLocationProvider.enableFollowLocation();
+            }
+        }
+        else{
+            mLocationProvider.disableFollowLocation();
+            mLocationProvider.disableMyLocation();
+        }
+    }
 
 	private void setupMap() {
-		// TODO complete
 		mMapView.setMapViewListener(mMapViewListener);
 
 		final RotationGestureOverlay rotationOverlay = new RotationGestureOverlay(mMapView);
@@ -186,6 +211,8 @@ private void setupMap() {
 
 		mMapView.getOverlays().add(rotationOverlay);
 		resetMarkersOverlay();
+
+        enableUserLocation(true);
 	}
 
 	private void removeMarkersOverlay(List<Marker> markers) {
@@ -218,18 +245,6 @@ public boolean onItemLongPress(int index, Marker item) {
 		mMapView.addItemizedOverlay(mMarkersOverlay);
 	}
 
-	@Override
-	public void onStop() {
-		super.onStop();
-
-		final UserLocationOverlay userLocation = mMapView.getUserLocationOverlay();
-		if (userLocation != null) {
-			userLocation.disableFollowLocation();
-		}
-
-		mMapView.setUserLocationEnabled(false);
-	}
-
 	@Override
 	public void addFlightPathPoint(Coord2D coord) {
 		if (mFlightPath == null) {
@@ -298,10 +313,9 @@ public void goToDroneLocation() {
 
 	@Override
 	public void goToMyLocation() {
-		final UserLocationOverlay userLocation = mMapView.getUserLocationOverlay();
-		if (userLocation != null) {
-			userLocation.goToMyPosition(true);
-		}
+        if(mLocationProvider != null){
+            mLocationProvider.goToMyPosition(true);
+        }
 	}
 
 	@Override
@@ -376,10 +390,9 @@ private void setAutoPanMode(AutoPanMode current, AutoPanMode update) {
 
 			case USER:
 				mUserLocationTrackingMode = TrackingMode.NONE;
-				final UserLocationOverlay userLocation = mMapView.getUserLocationOverlay();
-				if (userLocation != null) {
-					userLocation.disableFollowLocation();
-				}
+                if(mLocationProvider != null){
+                    mLocationProvider.disableFollowLocation();
+                }
 				break;
 
 			case DISABLED:
@@ -394,10 +407,9 @@ private void setAutoPanMode(AutoPanMode current, AutoPanMode update) {
 
 			case USER:
 				mUserLocationTrackingMode = TrackingMode.FOLLOW;
-				final UserLocationOverlay userLocation = mMapView.getUserLocationOverlay();
-				if (userLocation != null) {
-					userLocation.enableFollowLocation();
-				}
+                if(mLocationProvider != null){
+                    mLocationProvider.enableFollowLocation();
+                }
 				break;
 
 			case DISABLED:
@@ -431,6 +443,19 @@ public void setOnMarkerDragListener(OnMarkerDragListener listener) {
 		mMarkerDragListener = listener;
 	}
 
+    @Override
+    public void setLocationListener(LocationListener listener){
+        mLocationListener = listener;
+        if(mLocationProvider != null) {
+            mLocationProvider.setLocationListener(mLocationListener);
+
+            final Location lastLocation = mLocationProvider.getLastFix();
+            if(lastLocation != null) {
+                mLocationListener.onLocationChanged(lastLocation);
+            }
+        }
+    }
+
 	@Override
 	public void updateCamera(Coord2D coord, float zoomLevel) {
 		MapController mapController = mMapView.getController();
@@ -542,7 +567,22 @@ public void zoomToFit(List<Coord2D> coords) {
 		mMapView.zoomToBoundingBox(enclosingBounds, true, true, true);
 	}
 
-	@Override
+    @Override
+    public void zoomToFitMyLocation(List<Coord2D> coords) {
+        if(mLocationProvider != null){
+            LatLng userLocation = mLocationProvider.getMyLocation();
+            if(userLocation != null){
+                final List<Coord2D> updatedCoords = new ArrayList<Coord2D>(coords);
+                updatedCoords.add(DroneHelper.ILatLngToCoord(userLocation));
+                zoomToFit(updatedCoords);
+                return;
+            }
+        }
+
+        zoomToFit(coords);
+    }
+
+    @Override
 	public void onDroneEvent(DroneInterfaces.DroneEventsType event, Drone drone) {
 		switch (event) {
 		case GPS:
@@ -557,4 +597,10 @@ public void onDroneEvent(DroneInterfaces.DroneEventsType event, Drone drone) {
 			break;
 		}
 	}
+
+	@Override
+	public void skipMarkerClickEvents(boolean skip) {
+		// TODO Auto-generated method stub
+		
+	}
 }
diff --git a/Android/src/org/droidplanner/android/maps/providers/mapbox/UserLocationProvider.java b/Android/src/org/droidplanner/android/maps/providers/mapbox/UserLocationProvider.java
new file mode 100644
index 0000000000..71400b6fde
--- /dev/null
+++ b/Android/src/org/droidplanner/android/maps/providers/mapbox/UserLocationProvider.java
@@ -0,0 +1,36 @@
+package org.droidplanner.android.maps.providers.mapbox;
+
+import android.location.Location;
+import android.location.LocationListener;
+
+import com.mapbox.mapboxsdk.overlay.GpsLocationProvider;
+import com.mapbox.mapboxsdk.overlay.UserLocationOverlay;
+import com.mapbox.mapboxsdk.views.MapView;
+
+/**
+ * Provide facilities for a listener to be notified of location updates.
+ */
+public class UserLocationProvider extends UserLocationOverlay {
+    private LocationListener mLocationListener;
+
+    public UserLocationProvider(GpsLocationProvider myLocationProvider, MapView mapView, int arrowId, int personId) {
+        super(myLocationProvider, mapView, arrowId, personId);
+    }
+
+    public UserLocationProvider(GpsLocationProvider myLocationProvider, MapView mapView) {
+        super(myLocationProvider, mapView);
+    }
+
+    public void setLocationListener(LocationListener listener){
+        mLocationListener = listener;
+    }
+
+    @Override
+    public void onLocationChanged(Location location, GpsLocationProvider source){
+        super.onLocationChanged(location, source);
+
+        if(mLocationListener != null){
+            mLocationListener.onLocationChanged(location);
+        }
+    }
+}
diff --git a/Android/src/org/droidplanner/android/notifications/EmergencyBeepNotificationProvider.java b/Android/src/org/droidplanner/android/notifications/EmergencyBeepNotificationProvider.java
index 055e868ce9..29c81321c4 100644
--- a/Android/src/org/droidplanner/android/notifications/EmergencyBeepNotificationProvider.java
+++ b/Android/src/org/droidplanner/android/notifications/EmergencyBeepNotificationProvider.java
@@ -6,18 +6,14 @@
 
 import android.content.Context;
 import android.media.AudioManager;
-import android.media.MediaPlayer;
 import android.media.SoundPool;
 
 public class EmergencyBeepNotificationProvider implements NotificationHandler.NotificationProvider {
-	private MediaPlayer beeper;
-	private Context mContext;
+
 	private SoundPool mPool;
 	private int beepBeep;
 
-	public EmergencyBeepNotificationProvider(Context context) {
-		mContext = context;
-		beeper = MediaPlayer.create(context, R.raw.beep_beep);
+	public EmergencyBeepNotificationProvider(Context context){
 		mPool = new SoundPool(1, AudioManager.STREAM_MUSIC, 0);
 		beepBeep = mPool.load(context, R.raw.beep_beep, 1);
 	}
@@ -27,6 +23,11 @@ public void quickNotify(String feedback) {
 
 	}
 
+    @Override
+    public void onTerminate() {
+        mPool.release();
+    }
+
 	@Override
 	public void onDroneEvent(DroneInterfaces.DroneEventsType event, Drone drone) {
 		if (event == DroneInterfaces.DroneEventsType.STATE) {
diff --git a/Android/src/org/droidplanner/android/notifications/NotificationHandler.java b/Android/src/org/droidplanner/android/notifications/NotificationHandler.java
index cf8c857497..f555362ce2 100644
--- a/Android/src/org/droidplanner/android/notifications/NotificationHandler.java
+++ b/Android/src/org/droidplanner/android/notifications/NotificationHandler.java
@@ -1,10 +1,13 @@
 package org.droidplanner.android.notifications;
 
+import org.droidplanner.android.utils.analytics.GAUtils;
 import org.droidplanner.core.drone.DroneInterfaces;
 import org.droidplanner.core.model.Drone;
 
 import android.content.Context;
 
+import com.google.android.gms.analytics.HitBuilders;
+
 /**
  * This class handles DroidPlanner's status bar, and audible notifications. It
  * also provides support for the Android Wear functionality.
@@ -17,6 +20,11 @@ public class NotificationHandler implements DroneInterfaces.OnDroneListener {
 	 */
 	interface NotificationProvider extends DroneInterfaces.OnDroneListener {
 		void quickNotify(String feedback);
+
+        /**
+         * Release resources used by the provider.
+         */
+        void onTerminate();
 	}
 
 	/**
@@ -52,6 +60,16 @@ public void onDroneEvent(DroneInterfaces.DroneEventsType event, Drone drone) {
 		mStatusBarNotification.onDroneEvent(event, drone);
 		mPebbleNotification.onDroneEvent(event, drone);
 		mBeepNotification.onDroneEvent(event, drone);
+
+        switch(event){
+            case AUTOPILOT_WARNING:
+                final HitBuilders.EventBuilder eventBuilder = new HitBuilders.EventBuilder()
+                        .setCategory(GAUtils.Category.FAILSAFE)
+                        .setAction("Autopilot warning")
+                        .setLabel(drone.getState().getWarning());
+                GAUtils.sendEvent(eventBuilder);
+                break;
+        }
 	}
 
 	/**
@@ -65,4 +83,15 @@ public void quickNotify(String feedback) {
 		mTtsNotification.quickNotify(feedback);
 		mStatusBarNotification.quickNotify(feedback);
 	}
+
+    /**
+     * Release resources used by the notification handler.
+     * After calling this method, this object should no longer be used.
+     */
+    public void terminate(){
+        mTtsNotification.onTerminate();
+        mStatusBarNotification.onTerminate();
+        mPebbleNotification.onTerminate();
+        mBeepNotification.onTerminate();
+    }
 }
diff --git a/Android/src/org/droidplanner/android/notifications/PebbleNotificationProvider.java b/Android/src/org/droidplanner/android/notifications/PebbleNotificationProvider.java
index 6f92bfd0d7..57a84197fc 100644
--- a/Android/src/org/droidplanner/android/notifications/PebbleNotificationProvider.java
+++ b/Android/src/org/droidplanner/android/notifications/PebbleNotificationProvider.java
@@ -41,8 +41,8 @@ public PebbleNotificationProvider(Context context) {
 		PebbleKit.registerReceivedDataHandler(applicationContext, datahandler);
 	}
 
-	// FIXME call this method onPause()
-	public void onStop() {
+    @Override
+	public void onTerminate() {
 		if (datahandler != null) {
 			applicationContext.unregisterReceiver(datahandler);
 			datahandler = null;
@@ -95,7 +95,7 @@ public void sendDataToWatchIfTimeHasElapsed(Drone drone) {
 	 * @param drone
 	 */
 	public void sendDataToWatchNow(Drone drone) {
-		Follow followMe = ((DroidPlannerApp) applicationContext).followMe;
+		Follow followMe = ((DroidPlannerApp) applicationContext).getFollowMe();
 		PebbleDictionary data = new PebbleDictionary();
 
 		String mode = drone.getState().getMode().getName();
@@ -146,7 +146,7 @@ protected PebbleReceiverHandler(UUID id) {
 
 		@Override
 		public void receiveData(Context context, int transactionId, PebbleDictionary data) {
-			Follow followMe = ((DroidPlannerApp) applicationContext).followMe;
+			Follow followMe = ((DroidPlannerApp) applicationContext).getFollowMe();
 			PebbleKit.sendAckToPebble(applicationContext, transactionId);
 			int request = (data.getInteger(KEY_PEBBLE_REQUEST).intValue());
 			switch (request) {
diff --git a/Android/src/org/droidplanner/android/notifications/StatusBarNotificationProvider.java b/Android/src/org/droidplanner/android/notifications/StatusBarNotificationProvider.java
index 44d69714b4..4ef1e88b4e 100644
--- a/Android/src/org/droidplanner/android/notifications/StatusBarNotificationProvider.java
+++ b/Android/src/org/droidplanner/android/notifications/StatusBarNotificationProvider.java
@@ -46,7 +46,7 @@ public class StatusBarNotificationProvider implements NotificationHandler.Notifi
 		@Override
 		public void run() {
 			if (mContext != null) {
-				dismissNotification();
+				onTerminate();
 				mNotificationBuilder = null;
 			}
 		}
@@ -91,7 +91,7 @@ public void run() {
 				FlightActivity.class), 0);
 
 		mToggleConnectionIntent = PendingIntent.getActivity(mContext, 0, new Intent(mContext,
-				FlightActivity.class).setAction(SuperUI.ACTION_TOGGLE_DRONE_CONNECTION), 0);
+                FlightActivity.class).setAction(SuperUI.ACTION_TOGGLE_DRONE_CONNECTION), 0);
 	}
 
 	@Override
@@ -251,7 +251,8 @@ private void showNotification() {
 	/**
 	 * Dismiss the app status bar notification.
 	 */
-	private void dismissNotification() {
+    @Override
+	public void onTerminate() {
 		NotificationManagerCompat.from(mContext).cancelAll();
 	}
 
diff --git a/Android/src/org/droidplanner/android/notifications/TTSNotificationProvider.java b/Android/src/org/droidplanner/android/notifications/TTSNotificationProvider.java
index 2a32b56f4b..64bb381c2e 100644
--- a/Android/src/org/droidplanner/android/notifications/TTSNotificationProvider.java
+++ b/Android/src/org/droidplanner/android/notifications/TTSNotificationProvider.java
@@ -188,9 +188,7 @@ public void onInit(int status) {
 		} else {
 			// Notify the user that the tts engine is not available.
 			Log.e(TAG, "TextToSpeech initialization failed.");
-			Toast.makeText(
-					context,
-					"Please make sure 'Text to Speech' is enabled in the "
+			Toast.makeText(context,	"Please make sure 'Text to Speech' is enabled in the "
 							+ "system accessibility settings.", Toast.LENGTH_LONG).show();
 		}
 	}
@@ -266,7 +264,7 @@ public void onDroneEvent(DroneEventsType event, Drone drone) {
 				break;
 
 			case HEARTBEAT_TIMEOUT:
-				if (!Calibration.isCalibrating() && mAppPrefs.getWarningOnLostOrRestoredSignal()) {
+				if (!drone.getCalibrationSetup().isCalibrating() && mAppPrefs.getWarningOnLostOrRestoredSignal()) {
 					speak("Data link lost, check connection.");
 					handler.removeCallbacks(watchdogCallback);
 				}
@@ -384,4 +382,11 @@ private void speakGpsMode(int fix) {
 	public void quickNotify(String feedback) {
 		speak(feedback);
 	}
+
+    @Override
+    public void onTerminate() {
+        if(tts != null){
+            tts.shutdown();
+        }
+    }
 }
diff --git a/Android/src/org/droidplanner/android/proxy/mission/MissionProxy.java b/Android/src/org/droidplanner/android/proxy/mission/MissionProxy.java
index e2f1cb14c3..e87b48e343 100644
--- a/Android/src/org/droidplanner/android/proxy/mission/MissionProxy.java
+++ b/Android/src/org/droidplanner/android/proxy/mission/MissionProxy.java
@@ -1,5 +1,8 @@
 package org.droidplanner.android.proxy.mission;
 
+import com.google.android.gms.analytics.HitBuilders;
+import com.google.android.gms.internal.is;
+
 import java.util.ArrayList;
 import java.util.Collections;
 import java.util.List;
@@ -7,6 +10,7 @@
 import org.droidplanner.android.maps.DPMap;
 import org.droidplanner.android.maps.MarkerInfo;
 import org.droidplanner.android.proxy.mission.item.MissionItemProxy;
+import org.droidplanner.android.utils.analytics.GAUtils;
 import org.droidplanner.core.helpers.coordinates.Coord2D;
 import org.droidplanner.core.helpers.coordinates.Coord3D;
 import org.droidplanner.core.helpers.geoTools.GeoTools;
@@ -15,6 +19,7 @@
 import org.droidplanner.core.helpers.units.Length;
 import org.droidplanner.core.mission.Mission;
 import org.droidplanner.core.mission.MissionItem;
+import org.droidplanner.core.mission.commands.ReturnToHome;
 import org.droidplanner.core.mission.commands.Takeoff;
 import org.droidplanner.core.mission.survey.Survey;
 import org.droidplanner.core.mission.waypoints.SpatialCoordItem;
@@ -226,6 +231,22 @@ public void addDronie(Coord2D start, Coord2D end) {
 		addMissionItems(dronieItems);	
 	}
 
+
+
+    public void addTakeOffAndRTL(){
+        if(!mMission.isFirstItemTakeoff()){
+            final Takeoff takeOff = new Takeoff(mMission, new Altitude(Takeoff.DEFAULT_TAKEOFF_ALTITUDE));
+            mMissionItems.add(0, new MissionItemProxy(this, takeOff));
+            mMission.addMissionItem(0, takeOff);
+        }
+
+        if(!mMission.isLastItemLandOrRTL()){
+            final ReturnToHome rtl = new ReturnToHome(mMission);
+            mMissionItems.add(new MissionItemProxy(this, rtl));
+            mMission.addMissionItem(rtl);
+        }
+    }
+
 	/**
 	 * Returns the order for the given argument in the mission set.
 	 * 
@@ -503,6 +524,39 @@ public List<Coord2D> getVisibleCoords() {
 		return coords;
 	}
 
+    public static List<Coord2D> getVisibleCoords(List<MissionItemProxy> mipList){
+        final List<Coord2D> coords = new ArrayList<Coord2D>();
+
+        if(mipList == null || mipList.isEmpty()){
+            return coords;
+        }
+
+        for(MissionItemProxy mip: mipList){
+            if(!(mip.getMissionItem() instanceof SpatialCoordItem))
+                continue;
+
+            final Coord2D coordinate = ((SpatialCoordItem) mip.getMissionItem()).getCoordinate();
+            if(coordinate.isEmpty())
+                continue;
+
+            coords.add(coordinate);
+        }
+
+        return coords;
+    }
+
+    public void sendMissionToAPM(){
+        mMission.sendMissionToAPM();
+
+        //Send an event for the created mission
+        final HitBuilders.EventBuilder eventBuilder = new HitBuilders.EventBuilder()
+                .setCategory(GAUtils.Category.MISSION_PLANNING)
+                .setAction("Mission send to drone")
+                .setLabel("Mission items count")
+                .setValue(mMissionItems.size());
+        GAUtils.sendEvent(eventBuilder);
+    }
+
 	public Length getMissionLength() {
 		List<Coord2D> points = getPathPoints();
 		if (points.size()>1) {
diff --git a/Android/src/org/droidplanner/android/proxy/mission/item/MissionItemProxy.java b/Android/src/org/droidplanner/android/proxy/mission/item/MissionItemProxy.java
index 688eec0970..0359c0b28f 100644
--- a/Android/src/org/droidplanner/android/proxy/mission/item/MissionItemProxy.java
+++ b/Android/src/org/droidplanner/android/proxy/mission/item/MissionItemProxy.java
@@ -13,6 +13,7 @@
 import org.droidplanner.core.helpers.units.Length;
 import org.droidplanner.core.mission.MissionItem;
 import org.droidplanner.core.mission.commands.Takeoff;
+import org.droidplanner.core.mission.survey.CylindricalSurvey;
 import org.droidplanner.core.mission.survey.Survey;
 import org.droidplanner.core.mission.survey.grid.Grid;
 import org.droidplanner.core.mission.waypoints.Circle;
@@ -113,7 +114,13 @@ public List<Coord2D> getPath(Coord2D previousPoint) {
 			if (grid != null) {
 				pathPoints.addAll(grid.gridPoints);
 			}
+			break;
+		case CYLINDRICAL_SURVEY:
+			CylindricalSurvey survey = (CylindricalSurvey)mMissionItem;
+			pathPoints.addAll(survey.getPath());
+			break;
 		case TAKEOFF:
+			break;
 		default:
 			break;
 		}
diff --git a/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionCircleFragment.java b/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionCircleFragment.java
index 5373ab1992..60c5d0411a 100644
--- a/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionCircleFragment.java
+++ b/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionCircleFragment.java
@@ -1,5 +1,7 @@
 package org.droidplanner.android.proxy.mission.item.fragments;
 
+import java.util.List;
+
 import org.droidplanner.R;
 import org.droidplanner.android.widgets.spinnerWheel.CardWheelHorizontalView;
 import org.droidplanner.android.widgets.spinnerWheel.adapters.NumericWheelAdapter;
@@ -10,24 +12,12 @@
 import android.content.Context;
 import android.os.Bundle;
 import android.view.View;
-import android.widget.CheckBox;
-import android.widget.CompoundButton;
-
-import java.util.List;
 
 public class MissionCircleFragment extends MissionDetailFragment implements
-		CardWheelHorizontalView.OnCardWheelChangedListener, CompoundButton.OnCheckedChangeListener {
-
-	private static final String EXTRA_IS_ADVANCED_ON = "is_advanced_on";
-	private static final boolean DEFAULT_IS_ADVANCED_ON = false;
-
-	private CheckBox checkBoxAdvanced;
+		CardWheelHorizontalView.OnCardWheelChangedListener{
 
 	private List<Circle> mItemsList;
 
-	private CardWheelHorizontalView mNumberStepsPicker;
-	private CardWheelHorizontalView mAltitudeStepPicker;
-
 	@Override
 	protected int getResource() {
 		return R.layout.fragment_editor_detail_circle;
@@ -45,29 +35,6 @@ public void onViewCreated(View view, Bundle savedInstanceState) {
         //Use the first one as reference.
         final Circle firstItem = mItemsList.get(0);
 
-        boolean isAdvanced = DEFAULT_IS_ADVANCED_ON;
-        if (savedInstanceState != null) {
-            isAdvanced = savedInstanceState
-                    .getBoolean(EXTRA_IS_ADVANCED_ON, DEFAULT_IS_ADVANCED_ON);
-        }
-        checkBoxAdvanced = (CheckBox) view.findViewById(R.id.checkBoxAdvanced);
-        checkBoxAdvanced.setOnCheckedChangeListener(this);
-        checkBoxAdvanced.setChecked(isAdvanced);
-
-		final NumericWheelAdapter altitudeStepAdapter = new NumericWheelAdapter(context,
-				R.layout.wheel_text_centered, 1, 10, "%d m");
-		mAltitudeStepPicker = (CardWheelHorizontalView) view.findViewById(R.id.altitudeStepPicker);
-		mAltitudeStepPicker.setViewAdapter(altitudeStepAdapter);
-        mAltitudeStepPicker.addChangingListener(this);
-		mAltitudeStepPicker.setCurrentValue((int) firstItem.getAltitudeStep());
-
-		final NumericWheelAdapter numberStepsAdapter = new NumericWheelAdapter(context,
-				R.layout.wheel_text_centered, 1, 10, "%d");
-		mNumberStepsPicker = (CardWheelHorizontalView) view.findViewById(R.id.numberStepsPicker);
-		mNumberStepsPicker.setViewAdapter(numberStepsAdapter);
-        mNumberStepsPicker.addChangingListener(this);
-		mNumberStepsPicker.setCurrentValue(firstItem.getNumberOfSteps());
-
 		final NumericWheelAdapter altitudeAdapter = new NumericWheelAdapter(context, MIN_ALTITUDE,
 				MAX_ALTITUDE, "%d m");
 		altitudeAdapter.setItemResource(R.layout.wheel_text_centered);
@@ -96,35 +63,6 @@ public void onViewCreated(View view, Bundle savedInstanceState) {
 		loiterRadiusPicker.setCurrentValue((int) firstItem.getRadius());
 	}
 
-	@Override
-	public void onSaveInstanceState(Bundle outState) {
-		super.onSaveInstanceState(outState);
-		outState.putBoolean(EXTRA_IS_ADVANCED_ON,
-				checkBoxAdvanced != null && checkBoxAdvanced.isChecked());
-	}
-
-	@Override
-	public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
-		if (buttonView == checkBoxAdvanced) {
-			int visibility;
-			if (isChecked) {
-				visibility = View.VISIBLE;
-                for(Circle item: mItemsList) {
-                    item.setNumberOfSteps(mNumberStepsPicker.getCurrentValue());
-                    item.setAltitudeStep(mAltitudeStepPicker.getCurrentValue());
-                }
-			} else {
-				visibility = View.GONE;
-                for(Circle item: mItemsList) {
-                    item.setNumberOfSteps(1);
-                }
-			}
-
-			mAltitudeStepPicker.setVisibility(visibility);
-			mNumberStepsPicker.setVisibility(visibility);
-		}
-	}
-
 	@Override
 	public void onChanged(CardWheelHorizontalView cardWheel, int oldValue, int newValue) {
 		switch (cardWheel.getId()) {
@@ -146,22 +84,6 @@ public void onChanged(CardWheelHorizontalView cardWheel, int oldValue, int newVa
                 item.setTurns(newValue);
             }
 			break;
-
-		case R.id.numberStepsPicker:
-			if (checkBoxAdvanced.isChecked()) {
-                for(Circle item: mItemsList) {
-                    item.setNumberOfSteps(newValue);
-                }
-			}
-			break;
-
-		case R.id.altitudeStepPicker:
-			if (checkBoxAdvanced.isChecked()) {
-                for(Circle item: mItemsList) {
-                    item.setAltitudeStep(newValue);
-                }
-			}
-			break;
 		}
 	}
 }
diff --git a/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionCylindricalSurveyFragment.java b/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionCylindricalSurveyFragment.java
new file mode 100644
index 0000000000..72b96feecc
--- /dev/null
+++ b/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionCylindricalSurveyFragment.java
@@ -0,0 +1,115 @@
+package org.droidplanner.android.proxy.mission.item.fragments;
+
+import java.util.List;
+
+import org.droidplanner.R;
+import org.droidplanner.android.widgets.spinnerWheel.CardWheelHorizontalView;
+import org.droidplanner.android.widgets.spinnerWheel.adapters.NumericWheelAdapter;
+import org.droidplanner.core.mission.MissionItemType;
+import org.droidplanner.core.mission.survey.CylindricalSurvey;
+
+import android.content.Context;
+import android.os.Bundle;
+import android.util.Log;
+import android.view.View;
+import android.widget.CheckBox;
+import android.widget.CompoundButton;
+
+public class MissionCylindricalSurveyFragment extends MissionDetailFragment
+		implements CardWheelHorizontalView.OnCardWheelChangedListener,
+		CompoundButton.OnCheckedChangeListener {
+
+	private CheckBox checkBoxAdvanced;
+	private CardWheelHorizontalView radiusPicker, startAltitudeStepPicker,
+			endAltitudeStepPicker, mNumberStepsPicker;
+
+	@Override
+	protected int getResource() {
+		return R.layout.fragment_editor_detail_cylindrical_mapping;
+	}
+
+	@Override
+	public void onViewCreated(View view, Bundle savedInstanceState) {
+		super.onViewCreated(view, savedInstanceState);
+		final Context context = getActivity().getApplicationContext();
+
+		Log.d("DEBUG", "onViewCreated");
+		typeSpinner.setSelection(commandAdapter
+				.getPosition(MissionItemType.CYLINDRICAL_SURVEY));
+
+		// Use the first one as reference.
+		final CylindricalSurvey firstItem = ((List<CylindricalSurvey>) getMissionItems())
+				.get(0);
+
+		radiusPicker = (CardWheelHorizontalView) view
+				.findViewById(R.id.radiusPicker);
+		radiusPicker.setViewAdapter(new NumericWheelAdapter(context,
+				R.layout.wheel_text_centered, 2, 50, "%d m"));
+		radiusPicker.addChangingListener(this);
+		radiusPicker.setCurrentValue((int) firstItem.getRadius()
+				.valueInMeters());
+
+		startAltitudeStepPicker = (CardWheelHorizontalView) view
+				.findViewById(R.id.startAltitudePicker);
+		startAltitudeStepPicker.setViewAdapter(new NumericWheelAdapter(context,
+				R.layout.wheel_text_centered, MIN_ALTITUDE, MAX_ALTITUDE,
+				"%d m"));
+		startAltitudeStepPicker.addChangingListener(this);
+		startAltitudeStepPicker.setCurrentValue((int) firstItem
+				.getStartAltitude().valueInMeters());
+
+		endAltitudeStepPicker = (CardWheelHorizontalView) view
+				.findViewById(R.id.heightStepPicker);
+		endAltitudeStepPicker.setViewAdapter(new NumericWheelAdapter(context,
+				R.layout.wheel_text_centered, MIN_ALTITUDE, MAX_ALTITUDE,
+				"%d m"));
+		endAltitudeStepPicker.addChangingListener(this);
+		endAltitudeStepPicker.setCurrentValue((int) firstItem.getEndAltitude()
+				.valueInMeters());
+
+		mNumberStepsPicker = (CardWheelHorizontalView) view
+				.findViewById(R.id.stepsPicker);
+		mNumberStepsPicker.setViewAdapter(new NumericWheelAdapter(context,
+				R.layout.wheel_text_centered, 1, 10, "%d"));
+		mNumberStepsPicker.addChangingListener(this);
+		mNumberStepsPicker.setCurrentValue(firstItem.getNumberOfSteps());
+
+		checkBoxAdvanced = (CheckBox) view
+				.findViewById(R.id.checkBoxSurveyCrossHatch);
+		checkBoxAdvanced.setOnCheckedChangeListener(this);
+		checkBoxAdvanced.setChecked(firstItem.isCrossHatchEnabled());
+	}
+
+	@Override
+	public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
+		getItem().enableCrossHatch(isChecked);
+        getMissionProxy().getMission().notifyMissionUpdate();
+	}
+
+	@Override
+	public void onChanged(CardWheelHorizontalView cardWheel, int oldValue,
+			int newValue) {
+		switch (cardWheel.getId()) {
+		case R.id.radiusPicker:
+			getItem().setRadius(newValue);
+            getMissionProxy().getMission().notifyMissionUpdate();
+			break;
+		case R.id.startAltitudePicker:
+			getItem().setStartAltitude(newValue);
+            getMissionProxy().getMission().notifyMissionUpdate();
+			break;
+		case R.id.heightStepPicker:
+			getItem().setAltitudeStep(newValue);
+			break;
+		case R.id.stepsPicker:
+			getItem().setNumberOfSteps(newValue);
+			break;
+		}
+	}
+
+	private CylindricalSurvey getItem() {
+		CylindricalSurvey cylindricalSurvey = (CylindricalSurvey) getMissionItems()
+				.get(0);
+		return cylindricalSurvey;
+	}
+}
diff --git a/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionDetailFragment.java b/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionDetailFragment.java
index b3d449595e..35129383ee 100644
--- a/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionDetailFragment.java
+++ b/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionDetailFragment.java
@@ -14,6 +14,7 @@
 import org.droidplanner.core.mission.MissionItem;
 import org.droidplanner.core.mission.MissionItemType;
 import org.droidplanner.core.mission.commands.MissionCMD;
+import org.droidplanner.core.mission.survey.CylindricalSurvey;
 import org.droidplanner.core.mission.survey.Survey;
 import org.droidplanner.core.util.Pair;
 
@@ -94,6 +95,9 @@ public static MissionDetailFragment newInstance(MissionItemType itemType) {
 		case SPLINE_WAYPOINT:
 			fragment = new MissionSplineWaypointFragment();
 			break;
+		case CYLINDRICAL_SURVEY:
+			fragment = new MissionCylindricalSurveyFragment();
+			break;
 		default:
 			fragment = null;
 			break;
@@ -109,7 +113,7 @@ public void onCreate(Bundle savedInstanceState) {
 
 	@Override
 	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-		mMissionProxy = ((DroidPlannerApp) getActivity().getApplication()).missionProxy;
+		mMissionProxy = ((DroidPlannerApp) getActivity().getApplication()).getMissionProxy();
 		mSelectedProxies = new ArrayList<MissionItemProxy>(mMissionProxy.selection.getSelected());
 		if (mSelectedProxies.isEmpty()) {
 			return null;
@@ -134,7 +138,7 @@ protected List<? extends MissionItem> getMissionItems(){
 	@Override
 	public void onViewCreated(View view, Bundle savedInstanceState) {
 		super.onViewCreated(view, savedInstanceState);
-
+		
 		List<MissionItemType> list = new LinkedList<MissionItemType>(Arrays.asList(MissionItemType.values()));
 
         if(mSelectedProxies.size() == 1) {
@@ -147,6 +151,11 @@ public void onViewCreated(View view, Bundle savedInstanceState) {
             } else {
                 list.remove(MissionItemType.SURVEY);
             }
+            
+            if ((currentItem instanceof CylindricalSurvey)) {
+                list.clear();
+                list.add(MissionItemType.CYLINDRICAL_SURVEY);
+            }
 
             if (mMissionProxy.getItems().indexOf(itemProxy) != 0) {
                 list.remove(MissionItemType.TAKEOFF);
@@ -163,6 +172,7 @@ public void onViewCreated(View view, Bundle savedInstanceState) {
                 list.remove(MissionItemType.CIRCLE);
                 list.remove(MissionItemType.ROI);
                 list.remove(MissionItemType.WAYPOINT);
+                list.remove(MissionItemType.CYLINDRICAL_SURVEY);
             }
 
             final TextView waypointIndex = (TextView) view.findViewById(R.id.WaypointIndex);
@@ -192,6 +202,7 @@ else if(mSelectedProxies.size() > 1){
             list.remove(MissionItemType.LAND);
             list.remove(MissionItemType.RTL);
             list.remove(MissionItemType.SURVEY);
+            list.remove(MissionItemType.CYLINDRICAL_SURVEY);
         }
         else{
             //Invalid state. We should not have been able to get here.
diff --git a/Android/src/org/droidplanner/android/proxy/mission/item/markers/CylindricalSurveyMarkerInfoProvider.java b/Android/src/org/droidplanner/android/proxy/mission/item/markers/CylindricalSurveyMarkerInfoProvider.java
new file mode 100644
index 0000000000..8dbf1c3d8d
--- /dev/null
+++ b/Android/src/org/droidplanner/android/proxy/mission/item/markers/CylindricalSurveyMarkerInfoProvider.java
@@ -0,0 +1,23 @@
+package org.droidplanner.android.proxy.mission.item.markers;
+
+import org.droidplanner.android.maps.MarkerInfo;
+import org.droidplanner.android.proxy.mission.item.MissionItemProxy;
+import org.droidplanner.core.mission.survey.CylindricalSurvey;
+
+/**
+ *
+ */
+public class CylindricalSurveyMarkerInfoProvider extends MarkerInfo.SimpleMarkerInfo {
+
+
+	private MarkerInfo.SimpleMarkerInfo marker;
+
+	protected CylindricalSurveyMarkerInfoProvider(MissionItemProxy origin) {
+		CylindricalSurvey survey = (CylindricalSurvey) origin.getMissionItem();
+		marker = new PolygonMarkerInfo(survey.getCenter());
+	}
+
+	public MarkerInfo.SimpleMarkerInfo getMarkerInfo() {
+		return marker;
+	}
+}
diff --git a/Android/src/org/droidplanner/android/proxy/mission/item/markers/MissionItemMarkerInfo.java b/Android/src/org/droidplanner/android/proxy/mission/item/markers/MissionItemMarkerInfo.java
index d9c4521c43..d2112a0642 100644
--- a/Android/src/org/droidplanner/android/proxy/mission/item/markers/MissionItemMarkerInfo.java
+++ b/Android/src/org/droidplanner/android/proxy/mission/item/markers/MissionItemMarkerInfo.java
@@ -42,6 +42,10 @@ public static List<MarkerInfo> newInstance(MissionItemProxy origin) {
 			markerInfos.add(new SplineWaypointMarkerInfo(origin));
 			break;
 
+		case CYLINDRICAL_SURVEY:
+			markerInfos.add(new CylindricalSurveyMarkerInfoProvider(origin));
+			break;
+			
 		case SURVEY:
 			markerInfos.addAll(new SurveyMarkerInfoProvider(origin).getMarkersInfos());
 			break;
diff --git a/Android/src/org/droidplanner/android/utils/GoogleApiClientManager.java b/Android/src/org/droidplanner/android/utils/GoogleApiClientManager.java
new file mode 100644
index 0000000000..4d5e07e7ae
--- /dev/null
+++ b/Android/src/org/droidplanner/android/utils/GoogleApiClientManager.java
@@ -0,0 +1,227 @@
+package org.droidplanner.android.utils;
+
+import android.content.Context;
+import android.os.Handler;
+import android.os.HandlerThread;
+import android.util.Log;
+
+import com.google.android.gms.common.ConnectionResult;
+import com.google.android.gms.common.api.Api;
+import com.google.android.gms.common.api.GoogleApiClient;
+
+import java.util.concurrent.LinkedBlockingQueue;
+
+/**
+ * Handles the lifecycle for the google api client. Also takes care of running submitted tasks
+ * when the google api client is connected.
+ */
+public class GoogleApiClientManager {
+
+    private final static String TAG = GoogleApiClientManager.class.getSimpleName();
+
+    /**
+     * Manager background thread used to run the submitted google api client tasks.
+     */
+    private final Runnable mDriverRunnable = new Runnable() {
+        @Override
+        public void run() {
+            try{
+                while(true){
+                    final GoogleApiClientTask task = mTaskQueue.take();
+
+                    if(!mGoogleApiClient.isConnected()){
+                        final ConnectionResult result = mGoogleApiClient.blockingConnect();
+                        if(!result.isSuccess()){
+                            throw new IllegalStateException("Unable to connect to the google api " +
+                                    "client: " + result.getErrorCode());
+                        }
+                    }
+
+                    if(task.mRunOnBackgroundThread) {
+                        mBgHandler.post(task);
+                    }
+                    else{
+                        mMainHandler.post(task);
+                    }
+                }
+            }
+            catch(InterruptedException e){
+                Log.v(TAG, e.getMessage(), e);
+            }
+        }
+    };
+
+    private Thread mDriverThread;
+
+    /**
+     * This handler is in charge of running google api client tasks on the calling thread.
+     */
+    private final Handler mMainHandler;
+
+    /**
+     * This handler is in charge of running google api client tasks on the background thread.
+     */
+    private Handler mBgHandler;
+    private HandlerThread mBgHandlerThread;
+
+    /**
+     * Application context.
+     */
+    private final Context mContext;
+
+    /**
+     * Handle to the google api client.
+     */
+    private final GoogleApiClient mGoogleApiClient;
+
+    /**
+     * Holds tasks that needs to be run using the google api client.
+     * A background thread will be blocking on this queue until new tasks are inserted. In which
+     * case, it will retrieve the new task, and process it.
+     */
+    private final LinkedBlockingQueue<GoogleApiClientTask> mTaskQueue = new LinkedBlockingQueue
+            <GoogleApiClientTask>();
+
+    public GoogleApiClientManager(Context context, Api<? extends Api.ApiOptions.NotRequiredOptions>
+            ... apis){
+        mContext = context;
+        mMainHandler = new Handler();
+
+        final GoogleApiClient.Builder apiBuilder = new GoogleApiClient.Builder(context);
+        for(Api api: apis){
+            apiBuilder.addApi(api);
+        }
+
+        mGoogleApiClient = apiBuilder.build();
+    }
+
+    private void destroyBgHandler() {
+        if (mBgHandlerThread != null && mBgHandlerThread.isAlive()) {
+            mBgHandlerThread.quit();
+            mBgHandlerThread.interrupt();
+            mBgHandlerThread = null;
+        }
+
+        mBgHandler = null;
+    }
+
+    private void destroyDriverThread(){
+        if(mDriverThread != null && mDriverThread.isAlive()){
+            mDriverThread.interrupt();
+            mDriverThread = null;
+        }
+    }
+
+    private void initializeBgHandler(){
+        if(mBgHandlerThread == null || mBgHandlerThread.isInterrupted()) {
+            mBgHandlerThread = new HandlerThread("GAC Manager Background Thread");
+            mBgHandlerThread.start();
+            mBgHandler = null;
+        }
+
+        if(mBgHandler == null) {
+            mBgHandler = new Handler(mBgHandlerThread.getLooper());
+        }
+    }
+
+    private void initializeDriverThread(){
+        if(mDriverThread == null || mDriverThread.isInterrupted()){
+            mDriverThread = new Thread(mDriverRunnable, "GAC Manager Driver Thread");
+            mDriverThread.start();
+        }
+    }
+
+    /**
+     * Adds a task to the google api client manager tasks queue. This task will be scheduled to
+     * run on the calling thread.
+     * @param task task making use of the google api client.
+     * @return true if the task was successfully added to the queue.
+     * @throws IllegalStateException is the start() method was not called.
+     */
+    public boolean addTask(GoogleApiClientTask task){
+        if(!isStarted()){
+            throw new IllegalStateException("GoogleApiClientManager#start() was not called.");
+        }
+
+        task.mRunOnBackgroundThread = false;
+        return mTaskQueue.offer(task);
+    }
+
+    /**
+     * Adds a task to the google api client manager tasks queue. This task will be scheduled to
+     * run on a background thread.
+     * @param task task making use of the google api client.
+     * @return true if the task was successfully added to the queue.
+     * @throws IllegalStateException is the start() method was not called.
+     */
+    public boolean addTaskToBackground(GoogleApiClientTask task){
+        if(!isStarted()){
+            throw new IllegalStateException("GoogleApiClientManager#start() was not called.");
+        }
+
+        task.mRunOnBackgroundThread = true;
+        return mTaskQueue.offer(task);
+    }
+
+    /**
+     * @return true the google api client manager was started.
+     */
+    private boolean isStarted(){
+        return mDriverThread != null && mDriverThread.isAlive()
+                && mBgHandlerThread != null && mBgHandlerThread.isAlive()
+                && mBgHandler != null && mBgHandler.getLooper() != null;
+    }
+
+    /**
+     * Activates the google api client manager.
+     */
+    public void start(){
+        initializeDriverThread();
+        initializeBgHandler();
+    }
+
+    /**
+     * Release the resources used by this manager.
+     * After calling this method, start() needs to be called again to use that manager again.
+     */
+    public void stop(){
+        destroyBgHandler();
+        destroyDriverThread();
+
+        mTaskQueue.clear();
+        if(mGoogleApiClient.isConnected() || mGoogleApiClient.isConnecting()){
+            mGoogleApiClient.disconnect();
+        }
+    }
+
+    /**
+     * Type for the google api client tasks.
+     */
+    public abstract class GoogleApiClientTask implements Runnable {
+
+        /**
+         * If true, this task will be scheduled to run on a background thread.
+         * Otherwise, it will run on the calling thread.
+         */
+        private boolean mRunOnBackgroundThread = false;
+
+        protected GoogleApiClient getGoogleApiClient(){
+            return mGoogleApiClient;
+        }
+
+        @Override
+        public void run(){
+            if(!getGoogleApiClient().isConnected()){
+                //Add the task back to the queue.
+                mTaskQueue.offer(this);
+                return;
+            }
+
+            //Run the task
+            doRun();
+        }
+
+        protected abstract void doRun();
+
+    }
+}
diff --git a/Android/src/org/droidplanner/android/utils/ParcelableUtils.java b/Android/src/org/droidplanner/android/utils/ParcelableUtils.java
new file mode 100644
index 0000000000..28ab67c381
--- /dev/null
+++ b/Android/src/org/droidplanner/android/utils/ParcelableUtils.java
@@ -0,0 +1,50 @@
+package org.droidplanner.android.utils;
+
+import android.os.Parcel;
+import android.os.Parcelable;
+
+/**
+ * Utilities functions for parcelable objects.
+ */
+public class ParcelableUtils {
+
+    //Not instantiable
+    private ParcelableUtils(){}
+
+    /**
+     * Marshall a parcelable object to a byte array
+     * @param parceable
+     * @return
+     */
+    public static byte[] marshall(Parcelable parceable) {
+        Parcel parcel = Parcel.obtain();
+        parceable.writeToParcel(parcel, 0);
+        byte[] bytes = parcel.marshall();
+        parcel.recycle(); // not sure if needed or a good idea
+        return bytes;
+    }
+
+    /**
+     * Unmarshall a parcel object from a byte array.
+     * @param bytes
+     * @return
+     */
+    public static Parcel unmarshall(byte[] bytes) {
+        Parcel parcel = Parcel.obtain();
+        parcel.unmarshall(bytes, 0, bytes.length);
+        parcel.setDataPosition(0); // this is extremely important!
+        return parcel;
+    }
+
+    /**
+     * Unmarshall a parcelable instance from a byte array.
+     * @param bytes
+     * @param creator
+     * @param <T>
+     * @return
+     */
+    public static <T> T unmarshall(byte[] bytes, Parcelable.Creator<T> creator) {
+        Parcel parcel = unmarshall(bytes);
+        return creator.createFromParcel(parcel);
+    }
+}
diff --git a/Android/src/org/droidplanner/android/utils/analytics/GAUtils.java b/Android/src/org/droidplanner/android/utils/analytics/GAUtils.java
index fd4e84b0d9..fbb367f2ff 100644
--- a/Android/src/org/droidplanner/android/utils/analytics/GAUtils.java
+++ b/Android/src/org/droidplanner/android/utils/analytics/GAUtils.java
@@ -23,29 +23,37 @@ public class GAUtils {
 	private static final String LOG_TAG = GAUtils.class.getSimpleName();
 
 	// Not instantiable
-	private GAUtils() {
-	}
+	private GAUtils() {}
 
 	/**
 	 * List the analytics categories used in the app.
 	 */
 	public static class Category {
-		/**
-		 * Category for analytics data related to the details panel on the
-		 * flight data screen.
-		 */
-		public static final String FLIGHT_DATA_DETAILS_PANEL = "flight_data_details_panel";
-
 		/**
 		 * Category for analytics data related to the action buttons on the
 		 * flight data screen.
 		 */
-		public static final String FLIGHT_DATA_ACTION_BUTTON = "flight_data_action_button";
+		public static final String FLIGHT = "Flight";
+
+        /**
+         * Category for measuring failsafe events.
+         */
+        public static final String FAILSAFE = "Failsafe";
 
 		/**
 		 * Category for analytics related to mavlink connection events.
 		 */
-		public static final String MAVLINK_CONNECTION = "mavlink_connection";
+		public static final String MAVLINK_CONNECTION = "Mavlink connection";
+
+        /**
+         * Category for droneshare analytics
+         */
+        public static final String DRONESHARE = "Droneshare";
+
+        /**
+         * Category for mission planning, and editing.
+         */
+        public static final String MISSION_PLANNING = "Mission planning";
 	}
 
 	/**
@@ -113,6 +121,12 @@ public static void sendEvent(HitBuilders.EventBuilder eventBuilder) {
 		}
 	}
 
+    public static void sendEvent(HitBuilders.SocialBuilder socialBuilder){
+        if(socialBuilder != null){
+            sendHit(socialBuilder.build());
+        }
+    }
+
 	public static void sendTiming(HitBuilders.TimingBuilder timingBuilder) {
 		if (timingBuilder != null) {
 			sendHit(timingBuilder.build());
diff --git a/Android/src/org/droidplanner/android/utils/file/FileList.java b/Android/src/org/droidplanner/android/utils/file/FileList.java
index b8148fd068..bc858877aa 100644
--- a/Android/src/org/droidplanner/android/utils/file/FileList.java
+++ b/Android/src/org/droidplanner/android/utils/file/FileList.java
@@ -5,11 +5,19 @@
 
 public class FileList {
 
+    public static final String WAYPOINT_FILENAME_EXT = ".txt";
+
+    public static final String PARAM_FILENAME_EXT = ".param";
+
+    public static final String CAMERA_FILENAME_EXT = ".xml";
+
+    public static final String TLOG_FILENAME_EXT = ".tlog";
+
 	static public String[] getWaypointFileList() {
 		FilenameFilter filter = new FilenameFilter() {
 			@Override
 			public boolean accept(File dir, String filename) {
-				return filename.contains(".txt");
+				return filename.contains(WAYPOINT_FILENAME_EXT);
 			}
 		};
 		return getFileList(DirectoryPath.getWaypointsPath(), filter);
@@ -19,7 +27,7 @@ public static String[] getParametersFileList() {
 		FilenameFilter filter = new FilenameFilter() {
 			@Override
 			public boolean accept(File dir, String filename) {
-				return filename.contains(".param");
+				return filename.contains(PARAM_FILENAME_EXT);
 			}
 		};
 		return getFileList(DirectoryPath.getParametersPath(), filter);
@@ -29,12 +37,21 @@ public static String[] getCameraInfoFileList() {
 		FilenameFilter filter = new FilenameFilter() {
 			@Override
 			public boolean accept(File dir, String filename) {
-				return filename.contains(".xml");
+				return filename.contains(CAMERA_FILENAME_EXT);
 			}
 		};
 		return getFileList(DirectoryPath.getCameraInfoPath(), filter);
 	}
 
+    public static String[] getTLogFileList() {
+        FilenameFilter filter = new FilenameFilter() {
+            public boolean accept(File dir, String filename) {
+                return filename.contains(TLOG_FILENAME_EXT);
+            }
+        };
+        return getFileList(DirectoryPath.getTLogPath().getPath(), filter);
+    }
+
 	static public String[] getFileList(String path, FilenameFilter filter) {
 		File mPath = new File(path);
 		try {
diff --git a/Android/src/org/droidplanner/android/utils/file/FileManager.java b/Android/src/org/droidplanner/android/utils/file/FileManager.java
index 3cf544504f..e901577eb0 100644
--- a/Android/src/org/droidplanner/android/utils/file/FileManager.java
+++ b/Android/src/org/droidplanner/android/utils/file/FileManager.java
@@ -17,7 +17,7 @@ static public String getTimeStamp() {
 		return timeStamp;
 	}
 
-	public static boolean isExternalStorageAvaliable() {
+	public static boolean isExternalStorageAvailable() {
 		String state = Environment.getExternalStorageState();
 		return Environment.MEDIA_MOUNTED.equals(state);
 	}
diff --git a/Android/src/org/droidplanner/android/utils/file/FileStream.java b/Android/src/org/droidplanner/android/utils/file/FileStream.java
index 3f194bd9f6..ec506b1ea7 100644
--- a/Android/src/org/droidplanner/android/utils/file/FileStream.java
+++ b/Android/src/org/droidplanner/android/utils/file/FileStream.java
@@ -7,16 +7,21 @@
 import java.io.IOException;
 
 public class FileStream {
-	public static FileOutputStream getParameterFileStream() throws FileNotFoundException {
+	public static FileOutputStream getParameterFileStream(String filename) throws
+            FileNotFoundException {
 		File myDir = new File(DirectoryPath.getParametersPath());
 		myDir.mkdirs();
-		File file = new File(myDir, "Parameters-" + FileManager.getTimeStamp() + ".param");
+		File file = new File(myDir, filename);
 		if (file.exists())
 			file.delete();
 		FileOutputStream out = new FileOutputStream(file);
 		return out;
 	}
 
+    public static String getParameterFilename(String prefix){
+        return prefix + "-" + FileManager.getTimeStamp() + FileList.PARAM_FILENAME_EXT;
+    }
+
 	public static FileOutputStream getExceptionFileStream() throws FileNotFoundException {
 		File myDir = new File(DirectoryPath.getLogCatPath());
 		myDir.mkdirs();
@@ -27,16 +32,21 @@ public static FileOutputStream getExceptionFileStream() throws FileNotFoundExcep
 		return out;
 	}
 
-	static public FileOutputStream getWaypointFileStream(String name) throws FileNotFoundException {
+	static public FileOutputStream getWaypointFileStream(String filename) throws
+            FileNotFoundException {
 		File myDir = new File(DirectoryPath.getWaypointsPath());
 		myDir.mkdirs();
-		File file = new File(myDir, name + "-" + FileManager.getTimeStamp() + ".txt");
+		File file = new File(myDir, filename);
 		if (file.exists())
 			file.delete();
 		FileOutputStream out = new FileOutputStream(file);
 		return out;
 	}
 
+    public static String getWaypointFilename(String prefix){
+        return prefix + "-" + FileManager.getTimeStamp() + FileList.WAYPOINT_FILENAME_EXT;
+    }
+
 	/**
 	 * Return a filename that is suitable for a tlog
 	 * 
diff --git a/Android/src/org/droidplanner/android/utils/file/IO/MissionReader.java b/Android/src/org/droidplanner/android/utils/file/IO/MissionReader.java
index cfb30643ec..eebccf4f81 100644
--- a/Android/src/org/droidplanner/android/utils/file/IO/MissionReader.java
+++ b/Android/src/org/droidplanner/android/utils/file/IO/MissionReader.java
@@ -33,7 +33,7 @@ public MissionReader() {
 	}
 
 	public boolean openMission(String file) {
-		if (!FileManager.isExternalStorageAvaliable()) {
+		if (!FileManager.isExternalStorageAvailable()) {
 			return false;
 		}
 		try {
diff --git a/Android/src/org/droidplanner/android/utils/file/IO/MissionWriter.java b/Android/src/org/droidplanner/android/utils/file/IO/MissionWriter.java
index 5c5c645591..806160e463 100644
--- a/Android/src/org/droidplanner/android/utils/file/IO/MissionWriter.java
+++ b/Android/src/org/droidplanner/android/utils/file/IO/MissionWriter.java
@@ -5,6 +5,7 @@
 import java.util.List;
 import java.util.Locale;
 
+import org.droidplanner.android.utils.file.FileList;
 import org.droidplanner.android.utils.file.FileManager;
 import org.droidplanner.android.utils.file.FileStream;
 
@@ -22,15 +23,19 @@
  */
 public class MissionWriter {
 	public static boolean write(List<msg_mission_item> msgMissionItems) {
-		return write(msgMissionItems, "waypoints");
+		return write(msgMissionItems, FileStream.getWaypointFilename("waypoints"));
 	}
 
-	public static boolean write(List<msg_mission_item> msgMissionItems, String name) {
+	public static boolean write(List<msg_mission_item> msgMissionItems, String filename) {
 		try {
-			if (!FileManager.isExternalStorageAvaliable())
+			if (!FileManager.isExternalStorageAvailable())
 				return false;
 
-			final FileOutputStream out = FileStream.getWaypointFileStream(name);
+            if(!filename.endsWith(FileList.WAYPOINT_FILENAME_EXT)){
+                filename += FileList.WAYPOINT_FILENAME_EXT;
+            }
+
+			final FileOutputStream out = FileStream.getWaypointFileStream(filename);
 			writeHeader(out);
 			writeMissionItems(out, msgMissionItems);
 			out.close();
diff --git a/Android/src/org/droidplanner/android/utils/file/IO/ParameterReader.java b/Android/src/org/droidplanner/android/utils/file/IO/ParameterReader.java
index da0bfacef3..42a0065ca7 100644
--- a/Android/src/org/droidplanner/android/utils/file/IO/ParameterReader.java
+++ b/Android/src/org/droidplanner/android/utils/file/IO/ParameterReader.java
@@ -22,7 +22,7 @@ public ParameterReader() {
 
 	@Override
 	public boolean openFile(String itemList) {
-		if (!FileManager.isExternalStorageAvaliable()) {
+		if (!FileManager.isExternalStorageAvailable()) {
 			return false;
 		}
 		try {
diff --git a/Android/src/org/droidplanner/android/utils/file/IO/ParameterWriter.java b/Android/src/org/droidplanner/android/utils/file/IO/ParameterWriter.java
index 37cfa8ef01..e37b374ef8 100644
--- a/Android/src/org/droidplanner/android/utils/file/IO/ParameterWriter.java
+++ b/Android/src/org/droidplanner/android/utils/file/IO/ParameterWriter.java
@@ -5,6 +5,7 @@
 import java.util.List;
 import java.util.Locale;
 
+import org.droidplanner.android.utils.file.FileList;
 import org.droidplanner.android.utils.file.FileManager;
 import org.droidplanner.android.utils.file.FileStream;
 import org.droidplanner.core.parameters.Parameter;
@@ -16,12 +17,17 @@ public ParameterWriter(List<Parameter> param) {
 		this.parameterList = param;
 	}
 
-	public boolean saveParametersToFile() {
+	public boolean saveParametersToFile(String filename) {
 		try {
-			if (!FileManager.isExternalStorageAvaliable()) {
+			if (!FileManager.isExternalStorageAvailable()) {
 				return false;
 			}
-			FileOutputStream out = FileStream.getParameterFileStream();
+
+            if(!filename.endsWith(FileList.PARAM_FILENAME_EXT)){
+                filename += FileList.PARAM_FILENAME_EXT;
+            }
+
+			FileOutputStream out = FileStream.getParameterFileStream(filename);
 
 			writeFirstLine(out);
 
diff --git a/Android/src/org/droidplanner/android/utils/file/IO/TLogReader.java b/Android/src/org/droidplanner/android/utils/file/IO/TLogReader.java
new file mode 100644
index 0000000000..d5ffd79b1c
--- /dev/null
+++ b/Android/src/org/droidplanner/android/utils/file/IO/TLogReader.java
@@ -0,0 +1,131 @@
+package org.droidplanner.android.utils.file.IO;
+
+import com.MAVLink.Messages.MAVLinkMessage;
+import com.MAVLink.Messages.MAVLinkPacket;
+import com.MAVLink.Parser;
+
+import org.droidplanner.android.dialogs.openfile.OpenFileDialog;
+import org.droidplanner.android.utils.file.DirectoryPath;
+import org.droidplanner.android.utils.file.FileList;
+import org.droidplanner.android.utils.file.FileManager;
+
+import java.io.BufferedInputStream;
+import java.io.DataInputStream;
+import java.io.EOFException;
+import java.io.FileInputStream;
+import java.io.IOException;
+import java.util.LinkedList;
+import java.util.List;
+
+/**
+ * Read tlog file w/ optional message filter
+ *
+ * <timestamp><MavLink packet>...
+ *
+ * See http://qgroundcontrol.org/mavlink for details
+ *
+ */
+public class TLogReader implements OpenFileDialog.FileReader {
+
+    public static final int MSGFILTER_NONE = -1;
+
+    public static class Event
+    {
+        private long timestamp;
+        private MAVLinkMessage mavLinkMessage;
+
+        public Event(long timestamp, MAVLinkMessage mavLinkMessage) {
+            this.timestamp = timestamp;
+            this.mavLinkMessage = mavLinkMessage;
+        }
+
+        public long getTimestamp() {
+            return timestamp;
+        }
+
+        public MAVLinkMessage getMavLinkMessage() {
+            return mavLinkMessage;
+        }
+    }
+
+    private static final int TIMESTAMP_SIZE = Long.SIZE / Byte.SIZE;
+
+    private final int msgFilter;
+    private final List<Event> logEvents = new LinkedList<Event>();
+
+
+    public TLogReader(int msgFilter) {
+        this.msgFilter = msgFilter;
+    }
+
+    public List<Event> getLogEvents() {
+        return logEvents;
+    }
+
+    private boolean openTLog(String file) {
+        if (!FileManager.isExternalStorageAvailable()) {
+            return false;
+        }
+
+        final Parser parser = new Parser();
+        DataInputStream in = null;
+        try {
+            // open file
+            in = new DataInputStream(new BufferedInputStream(new FileInputStream(file)));
+
+            // read events, filter (if specified)
+            long timestamp;
+            long prevTimestamp = 0;
+            while(in.available() > 0) {
+                // read timestamp
+                timestamp = in.readLong() / 1000;
+
+                // read packet
+                MAVLinkPacket packet;
+                while((packet = parser.mavlink_parse_char(in.readUnsignedByte())) == null);
+
+                if(msgFilter == MSGFILTER_NONE || packet.msgid == msgFilter) {
+                    if((timestamp - prevTimestamp) > 60000) {
+                        logEvents.add(new Event(timestamp, packet.unpack()));
+                        prevTimestamp = timestamp;
+                    }
+                }
+            }
+
+        } catch (EOFException e) {
+            // NOP - file may be incomplete - take what we have
+            // fall thru...
+        } catch (Exception e) {
+            e.printStackTrace();
+            return false;
+        }
+        finally {
+            // close file
+            if(in != null) {
+                try {
+                    in.close();
+                } catch (IOException e) {
+                    e.printStackTrace();
+                    // NOP
+                }
+            }
+        }
+
+        return true;
+    }
+
+    @Override
+    public String getPath() {
+        return DirectoryPath.getTLogPath().getPath() + "/";
+    }
+
+    @Override
+    public String[] getFileList() {
+        return FileList.getTLogFileList();
+    }
+
+    @Override
+    public boolean openFile(String file) {
+        return openTLog(file);
+    }
+}
\ No newline at end of file
diff --git a/Android/src/org/droidplanner/android/widgets/FillBar/FillBar.java b/Android/src/org/droidplanner/android/widgets/FillBar/FillBar.java
deleted file mode 100644
index c01911f51c..0000000000
--- a/Android/src/org/droidplanner/android/widgets/FillBar/FillBar.java
+++ /dev/null
@@ -1,253 +0,0 @@
-package org.droidplanner.android.widgets.FillBar;
-
-import android.content.Context;
-import android.graphics.Canvas;
-import android.graphics.Color;
-import android.graphics.Paint;
-import android.graphics.Paint.Style;
-import android.graphics.Path;
-import android.util.AttributeSet;
-import android.view.View;
-
-public class FillBar extends View {
-
-	private Paint paintOutline;
-	private Paint paintFill;
-	private Path outlinePath = new Path();
-	private Path fillPath = new Path();
-	private int height;
-	private int width;
-	private float percentage = 0.5f;
-	private float min = 0.5f;
-	private float max = 0.5f;
-	private boolean showMinMax = false;
-	private int colorOutline;
-	private int colorMin;
-	private int colorBar;
-	private int val_max, val_min;
-	private boolean invert = false;
-
-	public FillBar(Context context, AttributeSet attrs) {
-		super(context, attrs);
-		initialize();
-	}
-
-	private void initialize() {
-		colorOutline = Color.parseColor("#333333");
-		colorMin = Color.parseColor("#FFFFFF");
-		colorBar = Color.parseColor("#3CB4E5");
-
-		paintOutline = new Paint();
-		paintOutline.setAntiAlias(false);
-		paintOutline.setStyle(Style.STROKE);
-		paintOutline.setStrokeWidth(3);
-
-		paintFill = new Paint(paintOutline);
-		paintFill.setStyle(Style.FILL);
-	}
-
-	@Override
-	protected void onSizeChanged(int w, int h, int oldw, int oldh) {
-		super.onSizeChanged(w, h, oldw, oldh);
-		width = w - 1;
-		height = h - 1;
-	}
-
-	@Override
-	protected void onDraw(Canvas canvas) {
-		super.onDraw(canvas);
-
-		float fheight = height < width ? height : (height * (1 - percentage));
-		float fwidth = height < width ? (width * (percentage)) : width;
-
-		paintFill.setColor(colorOutline);
-		outlinePath.reset();
-		outlinePath.moveTo(0, 0);
-		outlinePath.lineTo(0, height);
-		outlinePath.lineTo(width, height);
-		outlinePath.lineTo(width, 0);
-		outlinePath.lineTo(0, 0);
-		canvas.drawPath(outlinePath, paintFill);
-
-		paintFill.setColor(colorBar);
-		fillPath.reset();
-
-		if (invert) {
-			if (height > width) {
-				fillPath.moveTo(0, 0);
-				fillPath.lineTo(0, height - fheight);
-				fillPath.lineTo(width, height - fheight);
-				fillPath.lineTo(width, 0);
-				fillPath.lineTo(0, 0);
-			} else {
-				fillPath.moveTo(0, 0);
-				fillPath.lineTo(0, height);
-				fillPath.lineTo(width - fwidth, height);
-				fillPath.lineTo(width - fwidth, 0);
-				fillPath.lineTo(0, 0);
-			}
-		} else {
-			if (height > width) {
-				fillPath.moveTo(0, fheight);
-				fillPath.lineTo(0, height);
-				fillPath.lineTo(fwidth, height);
-				fillPath.lineTo(fwidth, fheight);
-				fillPath.lineTo(0, fheight);
-			} else {
-				fillPath.moveTo(0, 0);
-				fillPath.lineTo(0, height);
-				fillPath.lineTo(fwidth, height);
-				fillPath.lineTo(fwidth, 0);
-				fillPath.lineTo(0, 0);
-			}
-		}
-		canvas.drawPath(fillPath, paintFill);
-
-		paintOutline.setColor(colorMin);
-
-		if (isShowMinMax()) {
-			float f;
-			// int _t, _l, _w, _h;
-			outlinePath.reset();
-
-			if (invert) {
-				if (height > width) {
-					//
-					f = height * (min);
-					outlinePath.reset();
-					outlinePath.moveTo(0, f);
-					outlinePath.lineTo(width, f);
-					canvas.drawPath(outlinePath, paintOutline);
-
-					outlinePath.reset();
-					f = height * (max);
-					outlinePath.moveTo(0, f);
-					outlinePath.lineTo(width, f);
-					canvas.drawPath(outlinePath, paintOutline);
-
-				} else {
-
-					f = width * max;
-					outlinePath.reset();
-					outlinePath.moveTo(f, 0);
-					outlinePath.lineTo(f, height);
-					canvas.drawPath(outlinePath, paintOutline);
-
-					f = width * min;
-					outlinePath.reset();
-					outlinePath.moveTo(f, 0);
-					outlinePath.lineTo(f, height);
-					canvas.drawPath(outlinePath, paintOutline);
-				}
-			} else {
-				if (height > width) {
-					f = height * (1 - min);
-
-					outlinePath.reset();
-					outlinePath.moveTo(0, f);
-					outlinePath.lineTo(width, f);
-					canvas.drawPath(outlinePath, paintOutline);
-
-					outlinePath.reset();
-					f = height * (1 - max);
-					outlinePath.moveTo(0, f);
-					outlinePath.lineTo(width, f);
-					canvas.drawPath(outlinePath, paintOutline);
-
-				} else {
-
-					f = width * min;
-					outlinePath.reset();
-					outlinePath.moveTo(f, 0);
-					outlinePath.lineTo(f, height);
-					canvas.drawPath(outlinePath, paintOutline);
-
-					f = width * max;
-					outlinePath.reset();
-					outlinePath.moveTo(f, 0);
-					outlinePath.lineTo(f, height);
-					canvas.drawPath(outlinePath, paintOutline);
-				}
-			}
-		}
-	}
-
-	public float getPercentage() {
-		return percentage;
-	}
-
-	public void setPercentage(float percentage) {
-		this.percentage = percentage;
-		this.min = this.min > percentage ? percentage : this.min;
-		this.max = this.max < percentage ? percentage : this.max;
-		// Log.d("fillbar", "Min: " + String.valueOf(min));
-		// Log.d("fillbar", "Max: " + String.valueOf(max));
-		invalidate();
-	}
-
-	public void setup(int max, int min) {
-		this.val_max = max;
-		this.val_min = min;
-	}
-
-	public void setValue(int value) {
-		this.setPercentage((value - val_min) / ((float) (val_max - val_min)));
-	}
-
-	public boolean isShowMinMax() {
-		return showMinMax;
-	}
-
-	public void invertBar(boolean inv) {
-		invert = inv;
-	}
-
-	public void setShowMinMax(boolean showMinMax) {
-		this.showMinMax = showMinMax;
-		if (showMinMax) {
-			min = 0.5f;
-			max = 0.5f;
-		}
-		invalidate();
-	}
-
-	public float getMin() {
-		return this.min;
-	}
-
-	public float getMax() {
-		return this.max;
-	}
-
-	public int getMinValue() {
-		return val_min + (int) (getMin() * (val_max - val_min));
-	}
-
-	public int getMaxValue() {
-		return val_min + (int) (getMax() * (val_max - val_min));
-	}
-
-	public int getColorOutline() {
-		return colorOutline;
-	}
-
-	public void setColorOutline(int colorOutline) {
-		this.colorOutline = colorOutline;
-	}
-
-	public int getColorMin() {
-		return colorMin;
-	}
-
-	public void setColorMin(int colorMin) {
-		this.colorMin = colorMin;
-	}
-
-	public int getColorBar() {
-		return colorBar;
-	}
-
-	public void setColorBar(int colorBar) {
-		this.colorBar = colorBar;
-	}
-}
diff --git a/Android/src/org/droidplanner/android/widgets/NumberFieldEdit/NumberFieldEdit.java b/Android/src/org/droidplanner/android/widgets/NumberFieldEdit/NumberFieldEdit.java
deleted file mode 100644
index b2c6831f07..0000000000
--- a/Android/src/org/droidplanner/android/widgets/NumberFieldEdit/NumberFieldEdit.java
+++ /dev/null
@@ -1,259 +0,0 @@
-package org.droidplanner.android.widgets.NumberFieldEdit;
-
-import org.droidplanner.R;
-
-import android.content.Context;
-import android.content.res.TypedArray;
-import android.os.Handler;
-import android.text.InputType;
-import android.util.AttributeSet;
-import android.view.Gravity;
-import android.view.MotionEvent;
-import android.view.View;
-import android.view.View.OnTouchListener;
-import android.widget.EditText;
-import android.widget.ImageButton;
-import android.widget.LinearLayout;
-import android.widget.TextView;
-
-public class NumberFieldEdit extends LinearLayout implements OnTouchListener {
-
-	private TextView titleText;
-	private TextView separatorText;
-	private EditText editText;
-	private ImageButton buttonPlus;
-	private ImageButton buttonMinus;
-	private double min = 0;
-	private double inc = 1;
-	private double max = 100;
-	private double value = 0.0;
-	private double fastInc = 5.0;
-	private String title = "Title";
-	private String unit = "";
-	private String separator = ";";
-	private String formatString = "%2.1f";
-	private short delay = 1000;
-	private boolean countUp, fastCount;
-	private boolean waitingForLongPress = false;
-	private int startX, startY;
-
-	public NumberFieldEdit(Context context) {
-		this(context, null);
-	}
-
-	public NumberFieldEdit(Context context, AttributeSet attrs) {
-		this(context, attrs, 0);
-	}
-
-	public NumberFieldEdit(Context context, AttributeSet attrs, int defStyle) {
-		super(context, attrs, defStyle);
-		createViews(context, attrs, defStyle);
-	}
-
-	private void setFormat(String string) {
-		if (string != null) {
-			formatString = string;
-			invalidate();
-		}
-	}
-
-	private void createViews(Context context, AttributeSet attrs, int defStyle) {
-		TypedArray a = context.obtainStyledAttributes(attrs, R.styleable.NumberFieldEdit, defStyle,
-				0);
-
-		try {
-
-			setLayoutParams(new LayoutParams(android.view.ViewGroup.LayoutParams.MATCH_PARENT,
-					android.view.ViewGroup.LayoutParams.WRAP_CONTENT));
-			setOrientation(HORIZONTAL);
-
-			titleText = new TextView(context);
-			separatorText = new TextView(context);
-			editText = new EditText(context);
-			buttonPlus = new ImageButton(context);
-			buttonMinus = new ImageButton(context);
-			LinearLayout buttonLayout = new LinearLayout(context);
-
-			titleText.setGravity(Gravity.LEFT | Gravity.CENTER_VERTICAL);
-			separatorText.setGravity(Gravity.CENTER_HORIZONTAL | Gravity.CENTER_VERTICAL);
-			editText.setGravity(Gravity.RIGHT | Gravity.CENTER_VERTICAL);
-
-			final float textSize = a
-					.getDimension(R.styleable.NumberFieldEdit_android_textSize, 16f);
-			titleText.setTextSize(textSize);
-			separatorText.setTextSize(textSize);
-			editText.setTextSize(textSize);
-
-			separatorText.setLayoutParams(new LayoutParams(
-					android.view.ViewGroup.LayoutParams.WRAP_CONTENT,
-					android.view.ViewGroup.LayoutParams.MATCH_PARENT));
-			titleText.setLayoutParams(new LayoutParams(0,
-					android.view.ViewGroup.LayoutParams.MATCH_PARENT, 5));
-			editText.setLayoutParams(new LayoutParams(0,
-					android.view.ViewGroup.LayoutParams.MATCH_PARENT, 5));
-			buttonLayout.setLayoutParams(new LayoutParams(
-					android.view.ViewGroup.LayoutParams.WRAP_CONTENT,
-					android.view.ViewGroup.LayoutParams.WRAP_CONTENT));
-
-			buttonLayout.setFocusable(true);
-			buttonLayout.setFocusableInTouchMode(true);
-
-			editText.setInputType(InputType.TYPE_CLASS_NUMBER | InputType.TYPE_NUMBER_FLAG_DECIMAL);
-			editText.clearFocus();
-
-			final float buttonWidth = a.getDimension(R.styleable.NumberFieldEdit_buttonWidth,
-					android.view.ViewGroup.LayoutParams.WRAP_CONTENT);
-			final float buttonHeight = a.getDimension(R.styleable.NumberFieldEdit_buttonHeight,
-					android.view.ViewGroup.LayoutParams.WRAP_CONTENT);
-			LayoutParams p = new LayoutParams((int) buttonWidth, (int) buttonHeight);
-			p.setMargins(5, 0, 0, 0);
-
-			buttonPlus.setBackgroundResource(R.drawable.button_mode_options);
-			buttonPlus.setImageResource(R.drawable.ic_plus);
-			buttonPlus.setLayoutParams(p);
-
-			buttonMinus.setBackgroundResource(R.drawable.button_mode_options);
-			buttonMinus.setImageResource(R.drawable.ic_minus);
-			buttonMinus.setLayoutParams(p);
-
-			buttonPlus.setOnTouchListener(this);
-			buttonMinus.setOnTouchListener(this);
-
-			buttonLayout.addView(buttonPlus);
-			buttonLayout.addView(buttonMinus);
-
-			addView(titleText);
-			addView(separatorText);
-			addView(editText);
-			addView(buttonLayout);
-
-			editText.clearFocus();
-			buttonLayout.requestFocus();
-
-			setTitle(a.getString(R.styleable.NumberFieldEdit_Title));
-			setUnit(a.getString(R.styleable.NumberFieldEdit_Unit));
-			setMinMaxInc(a.getFloat(R.styleable.NumberFieldEdit_Min, 0),
-					a.getFloat(R.styleable.NumberFieldEdit_Max, 100),
-					a.getFloat(R.styleable.NumberFieldEdit_Inc, 1),
-					a.getFloat(R.styleable.NumberFieldEdit_FastInc, 2));
-			setFormat(a.getString(R.styleable.NumberFieldEdit_Format));
-			setSeparator(a.getString(R.styleable.NumberFieldEdit_Separator));
-			setValue(this.value);
-		} finally {
-			a.recycle();
-		}
-	}
-
-	public void setMinMaxInc(double min, double max, double inc, float fastinc) {
-		this.min = min;
-		this.inc = inc;
-		this.max = max;
-		this.fastInc = fastinc;
-		invalidate();
-	}
-
-	public void setUnit(String unit) {
-		if (unit != null) {
-			this.unit = unit;
-			updateTitle();
-		}
-	}
-
-	public void setTitle(CharSequence text) {
-		if (text != null) {
-			this.title = (String) text;
-			updateTitle();
-		}
-	}
-
-	public void setSeparator(CharSequence text) {
-		if (text != null) {
-			this.separator = (String) text;
-			updateSeparator();
-		}
-	}
-
-	private void updateSeparator() {
-		String t = separator;
-		if (t.isEmpty()) {
-			separatorText.setVisibility(GONE);
-		} else {
-
-			separatorText.setVisibility(VISIBLE);
-			separatorText.setText(separator);
-		}
-	}
-
-	private void updateTitle() {
-		String t = title;
-		t += unit.isEmpty() ? "" : String.format(" (%s)", unit);
-		titleText.setText(t);
-	}
-
-	public double getValue() {
-		return Double.valueOf(editText.getEditableText().toString());
-	}
-
-	public void setValue(double value) {
-		if (value >= max)
-			value = max;
-		else if (value <= min)
-			value = min;
-
-		this.value = value;
-		editText.setText(String.format(formatString, this.value));
-	}
-
-	public void setAbsValue(double value) {
-		if (value < 0)
-			value *= -1.0;
-
-		this.value = value;
-		editText.setText(String.format(formatString, this.value));
-	}
-
-	private void updateValue() {
-		double incVal = fastCount ? fastInc : inc;
-		if (countUp)
-			setValue(this.value + incVal);
-		else
-			setValue(this.value - incVal);
-	}
-
-	final Handler handler = new Handler();
-	Runnable mLongPressed = new Runnable() {
-		@Override
-		public void run() {
-			delay = 50;
-			updateValue();
-			handler.postDelayed(this, delay);
-		}
-	};
-
-	@Override
-	public boolean onTouch(View v, MotionEvent event) {
-		if (v.equals(buttonMinus) || v.equals(buttonPlus)) {
-			countUp = v.equals(buttonPlus);
-
-			if (event.getAction() == MotionEvent.ACTION_DOWN) {
-				if (!waitingForLongPress) {
-					startX = (int) event.getRawX();
-					startY = (int) event.getRawY();
-					waitingForLongPress = true;
-					handler.postDelayed(mLongPressed, delay);
-				}
-			} else if (event.getAction() == MotionEvent.ACTION_UP) {
-				waitingForLongPress = false;
-				fastCount = false;
-				handler.removeCallbacks(mLongPressed);
-				delay = 1000;
-				updateValue();
-			} else if (event.getAction() == MotionEvent.ACTION_MOVE) {
-				fastCount = (Math.abs(event.getRawX() - startX) > 20)
-						|| (Math.abs(event.getRawY() - startY) > 2);
-			}
-		}
-		return super.onTouchEvent(event);
-	}
-
-}
diff --git a/Android/src/org/droidplanner/android/widgets/RcStick/RcStick.java b/Android/src/org/droidplanner/android/widgets/RcStick/RcStick.java
deleted file mode 100644
index d676a4b97d..0000000000
--- a/Android/src/org/droidplanner/android/widgets/RcStick/RcStick.java
+++ /dev/null
@@ -1,66 +0,0 @@
-package org.droidplanner.android.widgets.RcStick;
-
-import android.content.Context;
-import android.graphics.Canvas;
-import android.graphics.Color;
-import android.graphics.Paint;
-import android.graphics.Paint.Style;
-import android.graphics.RectF;
-import android.util.AttributeSet;
-import android.view.View;
-
-public class RcStick extends View {
-
-	private static final float STICK_SIZE = 0.3f;
-
-	private Paint paintOutline;
-	private Paint paintFill;
-	private int height;
-	private int width;
-	private int xPos, yPos;
-	private int stickRadius;
-	private RectF borders;
-
-	public RcStick(Context context, AttributeSet attrs) {
-		super(context, attrs);
-		initialize();
-	}
-
-	private void initialize() {
-		paintFill = new Paint();
-		paintFill.setAntiAlias(true);
-		paintFill.setStyle(Style.FILL);
-		paintFill.setColor(Color.parseColor("#333333"));
-
-		paintOutline = new Paint(paintFill);
-		paintOutline.setColor(Color.parseColor("#3CB4E5"));
-		paintOutline.setStrokeWidth(6);
-		paintOutline.setStyle(Style.STROKE);
-	}
-
-	@Override
-	protected void onSizeChanged(int w, int h, int oldw, int oldh) {
-		super.onSizeChanged(w, h, oldw, oldh);
-		width = w - 1;
-		height = h - 1;
-		borders = new RectF(1, 1, width, height);
-		stickRadius = (int) (STICK_SIZE * Math.min(width, height) / 2);
-		setPosition(0, 0);
-	}
-
-	@Override
-	protected void onDraw(Canvas canvas) {
-		super.onDraw(canvas);
-
-		canvas.drawRoundRect(borders, stickRadius, stickRadius, paintFill);
-
-		canvas.drawCircle(xPos, yPos, stickRadius, paintOutline);
-	}
-
-	public void setPosition(float x, float y) {
-		xPos = (int) ((width - 2 * stickRadius) * ((1 + x) / 2f)) + stickRadius;
-		yPos = (int) ((height - 2 * stickRadius) * ((1 - y) / 2f)) + stickRadius;
-		invalidate();
-	}
-
-}
diff --git a/Android/src/org/droidplanner/android/widgets/SeekBarWithText/SeekBarWithText.java b/Android/src/org/droidplanner/android/widgets/SeekBarWithText/SeekBarWithText.java
deleted file mode 100644
index d75c9c0ed2..0000000000
--- a/Android/src/org/droidplanner/android/widgets/SeekBarWithText/SeekBarWithText.java
+++ /dev/null
@@ -1,135 +0,0 @@
-package org.droidplanner.android.widgets.SeekBarWithText;
-
-import org.droidplanner.R;
-
-import android.content.Context;
-import android.content.res.TypedArray;
-import android.util.AttributeSet;
-import android.widget.LinearLayout;
-import android.widget.SeekBar;
-import android.widget.SeekBar.OnSeekBarChangeListener;
-import android.widget.TextView;
-
-public class SeekBarWithText extends LinearLayout implements OnSeekBarChangeListener {
-
-	public interface OnTextSeekBarChangedListener {
-		public void onSeekBarChanged();
-	}
-
-	private TextView textView;
-	private SeekBar seekBar;
-	private double min = 0;
-	private double inc = 1;
-	private String title = "";
-	private String unit = "";
-	private String formatString = "%2.1f";
-	private OnTextSeekBarChangedListener listner;
-
-	public SeekBarWithText(Context context) {
-		this(context, null);
-	}
-
-	public SeekBarWithText(Context context, AttributeSet attrs) {
-		this(context, attrs, 0);
-	}
-
-	public SeekBarWithText(Context context, AttributeSet attrs, int defStyle) {
-		super(context, attrs, defStyle);
-		createViews(context, attrs);
-	}
-
-	private void setFormat(String string) {
-		if (string != null) {
-			formatString = string;
-			invalidate();
-		}
-	}
-
-	private void createViews(Context context, AttributeSet attrs) {
-		TypedArray a = context.getTheme().obtainStyledAttributes(attrs,
-				R.styleable.SeekBarWithText, 0, 0);
-
-		try {
-			setLayoutParams(new LayoutParams(android.view.ViewGroup.LayoutParams.MATCH_PARENT,
-					android.view.ViewGroup.LayoutParams.WRAP_CONTENT));
-			setOrientation(VERTICAL);
-			textView = new TextView(context);
-			seekBar = new SeekBar(context);
-			seekBar.setLayoutParams(new LayoutParams(
-					android.view.ViewGroup.LayoutParams.MATCH_PARENT,
-					android.view.ViewGroup.LayoutParams.WRAP_CONTENT));
-			seekBar.setOnSeekBarChangeListener(this);
-			addView(textView);
-			addView(seekBar);
-
-			setTitle(a.getString(R.styleable.SeekBarWithText_title));
-			setUnit(a.getString(R.styleable.SeekBarWithText_unit));
-			setMinMaxInc(a.getFloat(R.styleable.SeekBarWithText_min, 0),
-					a.getFloat(R.styleable.SeekBarWithText_max, 100),
-					a.getFloat(R.styleable.SeekBarWithText_inc, 1));
-			setFormat(a.getString(R.styleable.SeekBarWithText_formatString));
-		} finally {
-			a.recycle();
-		}
-	}
-
-	public void setMinMaxInc(double min, double max, double inc) {
-		this.min = min;
-		this.inc = inc;
-		seekBar.setMax((int) ((max - min) / inc));
-	}
-
-	public void setUnit(String unit) {
-		if (unit != null) {
-			this.unit = unit;
-			invalidate();
-		}
-	}
-
-	public void setTitle(CharSequence text) {
-		if (text != null) {
-			title = text.toString();
-			updateTitle();
-		}
-	}
-
-	private void updateTitle() {
-		textView.setText(String.format("%s\t" + formatString + " %s", title, getValue(), unit));
-	}
-
-	public double getValue() {
-		return (seekBar.getProgress() * inc + min);
-	}
-
-	public void setValue(double value) {
-		seekBar.setProgress((int) ((value - min) / inc));
-	}
-
-	public void setAbsValue(double value) {
-		if (value < 0)
-			value *= -1.0;
-		seekBar.setProgress((int) ((value - min) / inc));
-	}
-
-	@Override
-	public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
-		updateTitle();
-	}
-
-	@Override
-	public void onStartTrackingTouch(SeekBar seekBar) {
-
-	}
-
-	@Override
-	public void onStopTrackingTouch(SeekBar seekBar) {
-		if (listner != null) {
-			listner.onSeekBarChanged();
-		}
-	}
-
-	public void setOnChangedListener(OnTextSeekBarChangedListener listner) {
-		this.listner = listner;
-	}
-
-}
diff --git a/Android/src/org/droidplanner/android/widgets/actionProviders/InfoBarItem.java b/Android/src/org/droidplanner/android/widgets/actionProviders/InfoBarItem.java
index d3876f30ae..1c4d589860 100644
--- a/Android/src/org/droidplanner/android/widgets/actionProviders/InfoBarItem.java
+++ b/Android/src/org/droidplanner/android/widgets/actionProviders/InfoBarItem.java
@@ -5,6 +5,7 @@
 import java.util.Locale;
 
 import org.droidplanner.R;
+import org.droidplanner.android.utils.analytics.GAUtils;
 import org.droidplanner.android.utils.prefs.DroidPlannerPrefs;
 import org.droidplanner.android.widgets.spinners.ModeAdapter;
 import org.droidplanner.android.widgets.spinners.SpinnerSelfSelect;
@@ -21,6 +22,7 @@
 import android.widget.TextView;
 
 import com.MAVLink.Messages.ApmModes;
+import com.google.android.gms.analytics.HitBuilders;
 
 /**
  * Set of actions supported by the info bar
@@ -397,32 +399,39 @@ public void updateItemView(Context context, final Drone drone) {
 			if (mItemView == null)
 				return;
 
-			String infoUpdate;
 			if (drone == null) {
-				infoUpdate = sDefaultValue;
-
-				mRssiView.setText(sDefaultValue);
-				mRemRssiView.setText(sDefaultValue);
-				mNoiseView.setText(sDefaultValue);
-				mRemNoiseView.setText(sDefaultValue);
-				mFadeView.setText(sDefaultValue);
-				mRemFadeView.setText(sDefaultValue);
-			} else {
-				infoUpdate = String.format(Locale.ENGLISH,"%d%%", drone.getRadio().getSignalStrength());
-
-				mRssiView.setText(String.format("RSSI %2.0f dB", drone.getRadio().getRssi()));
-				mRemRssiView.setText(String.format("RemRSSI %2.0f dB", drone.getRadio()
-						.getRemRssi()));
-				mNoiseView.setText(String.format("Noise %2.0f dB", drone.getRadio().getNoise()));
-				mRemNoiseView.setText(String.format("RemNoise %2.0f dB", drone.getRadio()
-						.getRemNoise()));
-				mFadeView.setText(String.format("Fade %2.0f dB", drone.getRadio().getFadeMargin()));
-				mRemFadeView.setText(String.format("RemFade %2.0f dB", drone.getRadio()
-						.getRemFadeMargin()));
+				setDefaultValues();
+			}else if (!drone.getRadio().isValid()){
+				setDefaultValues();
+			}else{
+				setValuesFromRadio(drone);
 			}
 
 			mPopup.update();
-			((TextView) mItemView).setText(infoUpdate);
+		}
+
+		private void setValuesFromRadio(final Drone drone) {
+			((TextView) mItemView).setText(String.format(Locale.ENGLISH,"%d%%", drone.getRadio().getSignalStrength()));
+
+			mRssiView.setText(String.format("RSSI %2.0f dB", drone.getRadio().getRssi()));
+			mRemRssiView.setText(String.format("RemRSSI %2.0f dB", drone.getRadio()
+					.getRemRssi()));
+			mNoiseView.setText(String.format("Noise %2.0f dB", drone.getRadio().getNoise()));
+			mRemNoiseView.setText(String.format("RemNoise %2.0f dB", drone.getRadio()
+					.getRemNoise()));
+			mFadeView.setText(String.format("Fade %2.0f dB", drone.getRadio().getFadeMargin()));
+			mRemFadeView.setText(String.format("RemFade %2.0f dB", drone.getRadio()
+					.getRemFadeMargin()));
+		}
+
+		private void setDefaultValues() {
+			((TextView) mItemView).setText(sDefaultValue);
+			mRssiView.setText(sDefaultValue);
+			mRemRssiView.setText(sDefaultValue);
+			mNoiseView.setText(sDefaultValue);
+			mRemNoiseView.setText(sDefaultValue);
+			mFadeView.setText(sDefaultValue);
+			mRemFadeView.setText(sDefaultValue);
 		}
 	}
 
@@ -462,17 +471,22 @@ protected void initItemView(final Context context, View parentView, final Drone
 			mModeAdapter = new ModeAdapter(context, R.layout.spinner_drop_down);
 			modesSpinner.setAdapter(mModeAdapter);
 
-			modesSpinner
-					.setOnSpinnerItemSelectedListener(new SpinnerSelfSelect.OnSpinnerItemSelectedListener() {
-						@Override
-						public void onSpinnerItemSelected(Spinner parent, int position) {
-							if (mDrone != null) {
-								final ApmModes newMode = (ApmModes) parent
-										.getItemAtPosition(position);
-								mDrone.getState().changeFlightMode(newMode);
-							}
-						}
-					});
+			modesSpinner.setOnSpinnerItemSelectedListener(new SpinnerSelfSelect.OnSpinnerItemSelectedListener() {
+                @Override
+                public void onSpinnerItemSelected(Spinner parent, int position) {
+                    if (mDrone != null) {
+                        final ApmModes newMode = (ApmModes) parent.getItemAtPosition(position);
+                        mDrone.getState().changeFlightMode(newMode);
+
+                        //Record the attempt to change flight modes
+                        final HitBuilders.EventBuilder eventBuilder = new HitBuilders.EventBuilder()
+                                .setCategory(GAUtils.Category.FLIGHT)
+                                .setAction("Flight mode changed")
+                                .setLabel(newMode.getName());
+                        GAUtils.sendEvent(eventBuilder);
+                    }
+                }
+            });
 
 			updateItemView(context, drone);
 		}
@@ -497,9 +511,10 @@ public void updateItemView(final Context context, final Drone drone) {
 				mLastDroneType = droneType;
 			}
 
-			if (mDrone != null)
-				modesSpinner.forcedSetSelection(mModeAdapter.getPosition(mDrone.getState()
-						.getMode()));
+			if (mDrone != null) {
+                modesSpinner.forcedSetSelection(mModeAdapter.getPosition(mDrone.getState()
+                        .getMode()));
+            }
 		}
 	}
 
diff --git a/Android/src/org/droidplanner/android/widgets/adapterViews/LocatorItemAdapter.java b/Android/src/org/droidplanner/android/widgets/adapterViews/LocatorItemAdapter.java
new file mode 100644
index 0000000000..00524e603f
--- /dev/null
+++ b/Android/src/org/droidplanner/android/widgets/adapterViews/LocatorItemAdapter.java
@@ -0,0 +1,56 @@
+package org.droidplanner.android.widgets.adapterViews;
+
+import android.content.Context;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.ArrayAdapter;
+import android.widget.TextView;
+
+import com.MAVLink.Messages.ardupilotmega.msg_global_position_int;
+
+import org.droidplanner.R;
+
+import java.util.List;
+
+/**
+ * MissionItem Adapter for the MissionItem horizontal list view. This adapter
+ * updates the content of the list view item's view based on the mission item
+ * type.
+ */
+public class LocatorItemAdapter extends ArrayAdapter<msg_global_position_int> {
+
+	private final LayoutInflater inflater;
+
+	public LocatorItemAdapter(Context context, List<msg_global_position_int> list) {
+		super(context, 0, list);
+		inflater = (LayoutInflater) getContext().getSystemService(Context.LAYOUT_INFLATER_SERVICE);
+	}
+
+	@Override
+	public View getView(int position, View convertView, ViewGroup parent) {
+		final msg_global_position_int item = getItem(position);
+
+		final View view;
+		if (convertView != null) {
+			// recycle view
+			view = convertView;
+		} else {
+			// create new view
+			view = inflater.inflate(R.layout.fragment_locator_list_item, parent, false);
+		}
+
+		final TextView titleView = (TextView) view.findViewById(R.id.titleView);
+		final TextView timeView = (TextView) view.findViewById(R.id.timeView);
+
+		titleView.setText(String.valueOf(position + 1));
+
+		final int min = item.time_boot_ms / 60000;
+		final int sec = (item.time_boot_ms % 60000) / 1000;
+		final int fsec = (item.time_boot_ms % 1000) / 100;
+		timeView.setText(String.format("%dm%02d.%01ds", min, sec, fsec));
+
+		return view;
+	}
+
+}
\ No newline at end of file
diff --git a/Android/src/org/droidplanner/android/widgets/joystick/JoystickClickedListener.java b/Android/src/org/droidplanner/android/widgets/joystick/JoystickClickedListener.java
deleted file mode 100644
index bba96ab749..0000000000
--- a/Android/src/org/droidplanner/android/widgets/joystick/JoystickClickedListener.java
+++ /dev/null
@@ -1,10 +0,0 @@
-/**
- * Copied from https://code.google.com/p/mobile-anarchy-widgets/
- */
-package org.droidplanner.android.widgets.joystick;
-
-public interface JoystickClickedListener {
-	public void OnClicked();
-
-	public void OnReleased();
-}
diff --git a/Android/src/org/droidplanner/android/widgets/joystick/JoystickMovedListener.java b/Android/src/org/droidplanner/android/widgets/joystick/JoystickMovedListener.java
deleted file mode 100644
index 5476774cd0..0000000000
--- a/Android/src/org/droidplanner/android/widgets/joystick/JoystickMovedListener.java
+++ /dev/null
@@ -1,12 +0,0 @@
-/**
- * Copied from https://code.google.com/p/mobile-anarchy-widgets/
- */
-package org.droidplanner.android.widgets.joystick;
-
-public interface JoystickMovedListener {
-	public void OnMoved(double pan, double tilt);
-
-	public void OnReleased();
-
-	public void OnReturnedToCenter();
-}
diff --git a/Android/src/org/droidplanner/android/widgets/joystick/JoystickView.java b/Android/src/org/droidplanner/android/widgets/joystick/JoystickView.java
deleted file mode 100644
index 6c2d77c9bd..0000000000
--- a/Android/src/org/droidplanner/android/widgets/joystick/JoystickView.java
+++ /dev/null
@@ -1,262 +0,0 @@
-/**
- * Copied from https://code.google.com/p/mobile-anarchy-widgets/
- */
-package org.droidplanner.android.widgets.joystick;
-
-import android.content.Context;
-import android.graphics.Canvas;
-import android.graphics.Color;
-import android.graphics.Paint;
-import android.util.AttributeSet;
-import android.util.Log;
-import android.view.HapticFeedbackConstants;
-import android.view.MotionEvent;
-import android.view.View;
-
-public class JoystickView extends View {
-	public static final int INVALID_POINTER_ID = -1;
-	public String TAG = "JoystickView";
-
-	private static final double HAPTIC_FEEDBACK_ZONE = 0.05;
-	private int handleRadius = 20;
-	private int movementRadius = handleRadius * 4;
-
-	private boolean yAxisInverted = false;
-	private boolean xAxisInverted = false;
-	private boolean yAxisAutoReturnToCenter = true;
-	private boolean xAxisAutoReturnToCenter = true;
-	private boolean autoReturnToCenter = true;
-
-	private Paint bgHandlePaint;
-	private Paint handlePaint;
-
-	private JoystickMovedListener moveListener;
-
-	// Last touch point in view coordinates
-	private int pointerId = INVALID_POINTER_ID;
-	private float touchX, touchY;
-
-	// User coordinates of last touch point
-	private double userX, userY;
-	private double userXold, userYold;
-
-	private float firstTouchX, firstTouchY;
-	private double releaseX = 0;
-	private double releaseY = 0;
-
-	private boolean handleVisible = false;
-
-	public JoystickView(Context context) {
-		super(context);
-		initJoystickView();
-	}
-
-	public JoystickView(Context context, AttributeSet attrs) {
-		super(context, attrs);
-		initJoystickView();
-	}
-
-	public JoystickView(Context context, AttributeSet attrs, int defStyle) {
-		super(context, attrs, defStyle);
-		initJoystickView();
-	}
-
-	private void initJoystickView() {
-		setFocusable(true);
-		setHapticFeedbackEnabled(true);
-
-		handlePaint = new Paint(Paint.ANTI_ALIAS_FLAG);
-		handlePaint.setColor(Color.BLACK);
-		handlePaint.setStrokeWidth(1);
-		handlePaint.setStyle(Paint.Style.FILL_AND_STROKE);
-
-		bgHandlePaint = new Paint(Paint.ANTI_ALIAS_FLAG);
-		bgHandlePaint.setColor(Color.BLUE);
-		bgHandlePaint.setStrokeWidth(1);
-		bgHandlePaint.setStyle(Paint.Style.FILL_AND_STROKE);
-	}
-
-	public void setAutoReturnToCenter(boolean autoReturnToCenter) {
-		this.autoReturnToCenter = autoReturnToCenter;
-	}
-
-	public boolean isAutoReturnToCenter() {
-		return autoReturnToCenter;
-	}
-
-	public boolean isXAxisInverted() {
-		return xAxisInverted;
-	}
-
-	public boolean isYAxisInverted() {
-		return yAxisInverted;
-	}
-
-	public void setXAxisInverted(boolean xAxisInverted) {
-		this.xAxisInverted = xAxisInverted;
-	}
-
-	public void setYAxisInverted(boolean yAxisInverted) {
-		this.yAxisInverted = yAxisInverted;
-	}
-
-	public void setOnJostickMovedListener(JoystickMovedListener listener) {
-		this.moveListener = listener;
-	}
-
-	@Override
-	protected void onDraw(Canvas canvas) {
-		canvas.save();
-
-		// Draw the handle
-		if (handleVisible) {
-			canvas.drawCircle(firstTouchX, firstTouchY, movementRadius, bgHandlePaint);
-			canvas.drawCircle(firstTouchX, firstTouchY, handleRadius, handlePaint);
-		}
-		canvas.restore();
-	}
-
-	@Override
-	public boolean onTouchEvent(MotionEvent ev) {
-		int pointerIndex;
-		int pointerId;
-		final int action = ev.getAction();
-		switch (action & MotionEvent.ACTION_MASK) {
-		case MotionEvent.ACTION_MOVE:
-			return processMove(ev);
-		case MotionEvent.ACTION_CANCEL:
-		case MotionEvent.ACTION_UP:
-			if (isPointerValid()) {
-				return processRelease();
-			}
-			break;
-		case MotionEvent.ACTION_POINTER_UP:
-			pointerIndex = (action & MotionEvent.ACTION_POINTER_INDEX_MASK) >> MotionEvent.ACTION_POINTER_INDEX_SHIFT;
-			pointerId = ev.getPointerId(pointerIndex);
-			if (pointerId == this.pointerId) {
-				return processRelease();
-			}
-			break;
-		case MotionEvent.ACTION_DOWN:
-			if (!isPointerValid()) {
-				this.pointerId = ev.getPointerId(0);
-				processFirstTouch(ev);
-				return true;
-			}
-			break;
-		case MotionEvent.ACTION_POINTER_DOWN:
-			pointerIndex = (action & MotionEvent.ACTION_POINTER_INDEX_MASK) >> MotionEvent.ACTION_POINTER_INDEX_SHIFT;
-			pointerId = ev.getPointerId(pointerIndex);
-			if (pointerId == INVALID_POINTER_ID) {
-				this.pointerId = pointerId;
-				processFirstTouch(ev);
-				return true;
-			}
-			break;
-		}
-		return false;
-	}
-
-	private boolean processRelease() {
-		this.pointerId = INVALID_POINTER_ID;
-		handleVisible = false;
-		invalidate();
-		if (moveListener != null) {
-			releaseX = xAxisAutoReturnToCenter ? 0 : userX;
-			releaseY = yAxisAutoReturnToCenter ? 0 : userY;
-			moveListener.OnMoved(releaseX, releaseY);
-		}
-		return true;
-	}
-
-	private void processFirstTouch(MotionEvent ev) {
-		firstTouchX = ev.getX();
-		firstTouchY = ev.getY();
-		touchX = 0;
-		touchY = 0;
-		handleVisible = true;
-		invalidate();
-	}
-
-	private boolean isPointerValid() {
-		return pointerId != INVALID_POINTER_ID;
-	}
-
-	private boolean processMove(MotionEvent ev) {
-		if (isPointerValid()) {
-			final int pointerIndex = ev.findPointerIndex(pointerId);
-
-			// Translate touch position to center of view
-			float x = ev.getX(pointerIndex);
-			float y = ev.getY(pointerIndex);
-
-			touchX = x - firstTouchX;
-			touchY = y - firstTouchY;
-
-			reportOnMoved();
-			return true;
-		}
-		return false;
-	}
-
-	private void reportOnMoved() {
-		calcUserCoordinates();
-		constrainBox();
-
-		hapticFeedback();
-
-		if (moveListener != null) {
-			moveListener.OnMoved(userX, userY);
-		}
-	}
-
-	private void hapticFeedback() {
-		if (hasEnteredHapticFeedbackZone(userX, userXold)) {
-			performHapticFeedback(HapticFeedbackConstants.VIRTUAL_KEY);
-			Log.d(TAG, "XonCenter");
-		}
-		if (hasEnteredHapticFeedbackZone(userY, userYold)) {
-			performHapticFeedback(HapticFeedbackConstants.VIRTUAL_KEY);
-			Log.d(TAG, "YonCenter");
-		}
-
-		userXold = userX;
-		userYold = userY;
-	}
-
-	private boolean hasEnteredHapticFeedbackZone(double value, double oldValue) {
-		return isInHapticFeedbackZone(value) & (!isInHapticFeedbackZone(oldValue));
-	}
-
-	private boolean isInHapticFeedbackZone(double value) {
-		return Math.abs(value) < HAPTIC_FEEDBACK_ZONE;
-	}
-
-	private void calcUserCoordinates() {
-		// First convert to cartesian coordinates
-		double cartX = (touchX / movementRadius);
-		double cartY = (touchY / movementRadius);
-
-		// Invert axis if requested
-		if (!xAxisInverted)
-			cartX *= -1;
-		if (!yAxisInverted)
-			cartY *= -1;
-
-		userX = cartX + (xAxisAutoReturnToCenter ? 0 : releaseX);
-		userY = cartY + (yAxisAutoReturnToCenter ? 0 : releaseY);
-
-	}
-
-	// Constrain touch within a box
-	private void constrainBox() {
-		userX = Math.max(Math.min(userX, 1), -1);
-		userY = Math.max(Math.min(userY, 1), -1);
-	}
-
-	public void setAxisAutoReturnToCenter(boolean yAxisAutoReturnToCenter,
-			boolean xAxisAutoReturnToCenter) {
-		this.yAxisAutoReturnToCenter = yAxisAutoReturnToCenter;
-		this.xAxisAutoReturnToCenter = xAxisAutoReturnToCenter;
-	}
-}
diff --git a/Android/src/org/droidplanner/android/widgets/scatterplot/ScatterPlot.java b/Android/src/org/droidplanner/android/widgets/scatterplot/ScatterPlot.java
new file mode 100644
index 0000000000..0618054056
--- /dev/null
+++ b/Android/src/org/droidplanner/android/widgets/scatterplot/ScatterPlot.java
@@ -0,0 +1,117 @@
+package org.droidplanner.android.widgets.scatterplot;
+
+import android.content.Context;
+import android.graphics.Canvas;
+import android.graphics.Color;
+import android.graphics.Paint;
+import android.graphics.RectF;
+import android.util.AttributeSet;
+import android.view.View;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public class ScatterPlot extends View {
+	private static final float SCALE_FACTOR = 1 / 1000f;
+
+    private final RectF reuseRectF = new RectF();
+	private float halfWidth, halfHeight, halfScale;
+
+	private ArrayList<Float> points = new ArrayList<Float>();
+	private Paint paintText, paintChartLines, paintPoints, paintEndPoint,paintCircle;
+	private String title = "";
+
+	private int[] sphere;
+
+
+	public ScatterPlot(Context context, AttributeSet attrs) {
+		super(context, attrs);
+		paintChartLines = new Paint(Paint.ANTI_ALIAS_FLAG);
+		paintChartLines.setColor(Color.GRAY);
+
+		paintPoints = new Paint();
+		paintPoints.setColor(Color.WHITE);
+		paintPoints.setStrokeWidth(3f);
+		paintEndPoint = new Paint(paintPoints);
+		paintEndPoint.setColor(Color.RED);
+		paintCircle = new Paint(paintPoints);
+		paintCircle.setStyle(Paint.Style.STROKE);
+		paintCircle.setColor(Color.BLUE);
+
+		paintText = new Paint(Paint.ANTI_ALIAS_FLAG);
+		paintText.setTextSize(20f);
+		paintText.setColor(Color.WHITE);
+	}
+
+	@Override
+	protected void onSizeChanged(int w, int h, int oldw, int oldh) {
+		super.onSizeChanged(w, h, oldw, oldh);
+		halfWidth = w / 2f;
+		halfHeight = h / 2f;
+		halfScale = (halfHeight > halfWidth) ? halfWidth : halfHeight;
+	}
+
+	public void setTitle(String title) {
+		this.title = title;
+		invalidate();
+	}
+
+    public void addData(float datum){
+        points.add(datum);
+    }
+
+	public void updateSphere(int[] sphere) {
+		this.sphere = sphere;
+	}
+
+    public void reset(){
+        points.clear();
+        this.sphere = null;
+        invalidate();
+    }
+
+	@Override
+	protected void onDraw(Canvas canvas) {
+		super.onDraw(canvas);
+
+		canvas.drawText(title, 0, paintText.getTextSize(), paintText);
+
+		// Draw the graph lines
+		canvas.drawLine(halfWidth, 0, halfWidth, halfHeight * 2, paintChartLines);
+		canvas.drawLine(0, halfHeight, halfWidth * 2, halfHeight, paintChartLines);
+
+		// Draw the points
+		float x = 0, y = 0;
+        final int pointsCount = points.size();
+		for (int i = 0; i < pointsCount; i += 2) {
+			x = mapToImgX(points.get(i + 0));
+			y = mapToImgY(points.get(i + 1));
+			canvas.drawPoint(x, y, paintPoints);
+		}
+		canvas.drawCircle(x, y, 10f, paintEndPoint); // Redraw the endpoint with a bigger dot
+		
+		// Draw the estimated Sphere
+		if (sphere != null) {
+			x = mapToImgX(sphere[0]);
+			y = mapToImgY(sphere[1]);
+			int width = (int) scale(sphere[2]);
+			int height = (int) scale(sphere[3]);
+
+            this.reuseRectF.set(x -width, y - height, x + width, y + height);
+			canvas.drawOval(this.reuseRectF,paintCircle);
+		}
+	}
+	
+	private int mapToImgX(float coord) {
+		return (int) (scale(coord) + halfWidth);
+	}
+
+	private int mapToImgY(float coord) {
+		return (int) (-scale(coord) + halfHeight);
+	}
+
+	private float scale(float value) {
+		return SCALE_FACTOR * halfScale * value;
+	}
+
+}
diff --git a/ChangeLog.md b/ChangeLog.md
index 2164162ad0..506d053d90 100644
--- a/ChangeLog.md
+++ b/ChangeLog.md
@@ -8,6 +8,28 @@ Our convention for release control is the following (for a release like DPvA.B.C
 All the changes are logged below (preferable with the pull request numbers in parenteses):
 
 # Releases
+
+## Droidplanner v2.8.0
+* Tablet only flight's
+* Initial ArduPlane support (#1181, #1193, #1080, #1194)
+* Compass calibration (#1147)
+* Safety info dialog for autonomous takeoff (#1127, #1196)
+* Minor follow-me fix (#1176, #1195, #1119)
+* Building mapper (#1170, #1171, #1198)
+* Drone Locator (#1177)
+* Flight screen UI bug-fixes (#1120, #1188, #1182, #1192, #1197, #847)
+* Editor UI bug-fixes (#1186, #952, #1187, #1141)
+* Just display radio info after receiving it (#1184, #1165)
+* Added camera info for GoPro 4 (#1181)
+* Mission assistant, auto-add RTL and Land (#1142, #847)
+* Mission save filename dialog (#1173)
+* Fix Droneshare live-trakking (#1174)
+* Codebase clean-up (#1172, #1030, #1191)
+* Android updated to API 21 (#1189)
+* Analytics update (#1180)
+* Travis-CI updates (#1185)
+* Add libraries licenses information (#1164)
+
 ## Droidplanner v2.7.12
 * Add support for PL2303 USB devices (#1162)
 
diff --git a/Core/.classpath b/Core/.classpath
index 4200cf8f21..894ba2c8c9 100644
--- a/Core/.classpath
+++ b/Core/.classpath
@@ -7,6 +7,7 @@
 	<classpathentry kind="con" path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/>
 	<classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.LIBRARIES"/>
 	<classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.DEPENDENCIES"/>
+	<classpathentry combineaccessrules="false" exported="true" kind="src" path="/EllipsoidFit"/>
 	<classpathentry kind="src" path="src"/>
 	<classpathentry kind="src" path="gen"/>
 	<classpathentry kind="output" path="bin/classes"/>
diff --git a/Core/AndroidManifest.xml b/Core/AndroidManifest.xml
index a2a30fd37e..91c5d83745 100644
--- a/Core/AndroidManifest.xml
+++ b/Core/AndroidManifest.xml
@@ -1,12 +1 @@
-<manifest xmlns:android="http://schemas.android.com/apk/res/android"
-    package="org.droidplanner.core"
-    android:versionCode="1"
-    android:versionName="1.0" >
-
-    <uses-sdk
-        android:minSdkVersion="14"
-        android:targetSdkVersion="19" />
-
-    <application/>
-
-</manifest>
\ No newline at end of file
+<manifest package="org.droidplanner.core"/>
\ No newline at end of file
diff --git a/Core/build.gradle b/Core/build.gradle
index c50d6992df..7604721be1 100644
--- a/Core/build.gradle
+++ b/Core/build.gradle
@@ -17,6 +17,7 @@ configurations {
 
 dependencies {
     compile project(':Mavlink')
+    compile project(':Libraries:EllipsoidFit:EllipsoidFit')
 
     //FIXME: hackish implementation
     unitTestCompile files("$project.buildDir/intermediates/classes/release")
@@ -25,8 +26,13 @@ dependencies {
 }
 
 android {
-    compileSdkVersion 19
-    buildToolsVersion "19.1.0"
+    compileSdkVersion 21
+    buildToolsVersion "21.0.1"
+
+    defaultConfig {
+        minSdkVersion 14
+        targetSdkVersion 21
+    }
 
     sourceSets {
         main {
@@ -51,4 +57,4 @@ task unitTest(type: Test, dependsOn: assemble){
     classpath = project.sourceSets.unitTest.runtimeClasspath
 }
 
-check.dependsOn unitTest
\ No newline at end of file
+check.dependsOn unitTest
diff --git a/Core/project.properties b/Core/project.properties
index 91d2b02460..93c8c3c08d 100644
--- a/Core/project.properties
+++ b/Core/project.properties
@@ -11,5 +11,5 @@
 #proguard.config=${sdk.dir}/tools/proguard/proguard-android.txt:proguard-project.txt
 
 # Project target.
-target=android-19
+target=android-21
 android.library=true
diff --git a/Core/src/org/droidplanner/core/MAVLink/MavLinkMsgHandler.java b/Core/src/org/droidplanner/core/MAVLink/MavLinkMsgHandler.java
index 67a7af0f63..4fcc34da00 100644
--- a/Core/src/org/droidplanner/core/MAVLink/MavLinkMsgHandler.java
+++ b/Core/src/org/droidplanner/core/MAVLink/MavLinkMsgHandler.java
@@ -12,6 +12,7 @@
 import com.MAVLink.Messages.ardupilotmega.msg_mission_current;
 import com.MAVLink.Messages.ardupilotmega.msg_nav_controller_output;
 import com.MAVLink.Messages.ardupilotmega.msg_radio;
+import com.MAVLink.Messages.ardupilotmega.msg_raw_imu;
 import com.MAVLink.Messages.ardupilotmega.msg_rc_channels_raw;
 import com.MAVLink.Messages.ardupilotmega.msg_servo_output_raw;
 import com.MAVLink.Messages.ardupilotmega.msg_statustext;
@@ -23,6 +24,8 @@
 public class MavLinkMsgHandler {
 
 	private static final byte SEVERITY_HIGH = 3;
+    private static final byte SEVERITY_CRITICAL = 4;
+
 	private Drone drone;
 
 	public MavLinkMsgHandler(Drone drone) {
@@ -58,6 +61,11 @@ public void receiveData(MAVLinkMessage msg) {
 					m_nav.nav_bearing);
 			break;
 
+		case msg_raw_imu.MAVLINK_MSG_ID_RAW_IMU:
+			msg_raw_imu msg_imu = (msg_raw_imu) msg;
+			drone.getMagnetometer().newData(msg_imu);
+			break;
+
 		case msg_heartbeat.MAVLINK_MSG_ID_HEARTBEAT:
 			msg_heartbeat msg_heart = (msg_heartbeat) msg;
 			drone.setType(msg_heart.type);
@@ -104,7 +112,7 @@ public void receiveData(MAVLinkMessage msg) {
 			msg_statustext msg_statustext = (msg_statustext) msg;
 			String message = msg_statustext.getText();
 
-			if (msg_statustext.severity >= SEVERITY_HIGH) {
+			if (msg_statustext.severity == SEVERITY_HIGH || msg_statustext.severity == SEVERITY_CRITICAL) {
 				drone.getState().setWarning(message);
 				break;
 			} else if (message.equals("Low Battery!")) {
diff --git a/Core/src/org/droidplanner/core/drone/DroneEvents.java b/Core/src/org/droidplanner/core/drone/DroneEvents.java
index 19155706a9..5b84aca631 100644
--- a/Core/src/org/droidplanner/core/drone/DroneEvents.java
+++ b/Core/src/org/droidplanner/core/drone/DroneEvents.java
@@ -1,19 +1,40 @@
 package org.droidplanner.core.drone;
 
-import java.util.ArrayList;
-import java.util.List;
-
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
 import org.droidplanner.core.model.Drone;
 
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.ConcurrentLinkedQueue;
+
 public class DroneEvents extends DroneVariable {
 
-	public DroneEvents(Drone myDrone) {
+	private final ConcurrentLinkedQueue<DroneEventsType> eventsQueue = new ConcurrentLinkedQueue<DroneEventsType>();
+
+	private final DroneInterfaces.Handler handler;
+
+	private final Runnable eventsDispatcher = new Runnable() {
+		@Override
+		public void run() {
+            do {
+                handler.removeCallbacks(this);
+                final DroneEventsType event = eventsQueue.poll();
+                if (event != null && !droneListeners.isEmpty()) {
+                    for (OnDroneListener listener : droneListeners) {
+                        listener.onDroneEvent(event, myDrone);
+                    }
+                }
+            }while(!eventsQueue.isEmpty());
+		}
+	};
+
+	public DroneEvents(Drone myDrone, DroneInterfaces.Handler handler) {
 		super(myDrone);
+		this.handler = handler;
 	}
 
-	private List<OnDroneListener> droneListeners = new ArrayList<OnDroneListener>();
+	private final ConcurrentLinkedQueue<OnDroneListener> droneListeners = new ConcurrentLinkedQueue<OnDroneListener>();
 
 	public void addDroneListener(OnDroneListener listener) {
 		if (listener != null & !droneListeners.contains(listener))
@@ -26,10 +47,7 @@ public void removeDroneListener(OnDroneListener listener) {
 	}
 
 	public void notifyDroneEvent(DroneEventsType event) {
-		if (droneListeners.size() > 0) {
-			for (OnDroneListener listener : droneListeners) {
-				listener.onDroneEvent(event, myDrone);
-			}
-		}
+        eventsQueue.offer(event);
+		handler.post(eventsDispatcher);
 	}
 }
diff --git a/Core/src/org/droidplanner/core/drone/DroneImpl.java b/Core/src/org/droidplanner/core/drone/DroneImpl.java
index 0957bcdefd..617ec0c87b 100644
--- a/Core/src/org/droidplanner/core/drone/DroneImpl.java
+++ b/Core/src/org/droidplanner/core/drone/DroneImpl.java
@@ -11,6 +11,7 @@
 import org.droidplanner.core.drone.variables.GuidedPoint;
 import org.droidplanner.core.drone.variables.HeartBeat;
 import org.droidplanner.core.drone.variables.Home;
+import org.droidplanner.core.drone.variables.Magnetometer;
 import org.droidplanner.core.drone.variables.MissionStats;
 import org.droidplanner.core.drone.variables.Navigation;
 import org.droidplanner.core.drone.variables.Orientation;
@@ -26,31 +27,29 @@
 
 import com.MAVLink.Messages.ardupilotmega.msg_heartbeat;
 
-/**
- * Created by fhuya on 8/20/14.
- */
 public class DroneImpl implements Drone {
 
-	private final DroneEvents events = new DroneEvents(this);
-	private final Type type = new Type(this);
+	private final DroneEvents events;
+	private final Type type;
 	private VehicleProfile profile;
-	private final org.droidplanner.core.drone.variables.GPS GPS = new GPS(this);
-
-	private final org.droidplanner.core.drone.variables.RC RC = new RC(this);
-	private final Speed speed = new Speed(this);
-	private final Battery battery = new Battery(this);
-	private final Radio radio = new Radio(this);
-	private final Home home = new Home(this);
-	private final Mission mission = new Mission(this);
-	private final MissionStats missionStats = new MissionStats(this);
-	private final StreamRates streamRates = new StreamRates(this);
-	private final Altitude altitude = new Altitude(this);
-	private final Orientation orientation = new Orientation(this);
-	private final Navigation navigation = new Navigation(this);
-	private final GuidedPoint guidedPoint = new GuidedPoint(this);
-	private final Calibration calibrationSetup = new Calibration(this);
-	private final WaypointManager waypointManager = new WaypointManager(this);
-
+	private final org.droidplanner.core.drone.variables.GPS GPS;
+
+	private final org.droidplanner.core.drone.variables.RC RC;
+	private final Speed speed;
+	private final Battery battery;
+	private final Radio radio;
+	private final Home home;
+	private final Mission mission;
+	private final MissionStats missionStats;
+	private final StreamRates streamRates;
+	private final Altitude altitude;
+	private final Orientation orientation;
+	private final Navigation navigation;
+	private final GuidedPoint guidedPoint;
+	private final Calibration calibrationSetup;
+	private final WaypointManager waypointManager;
+	private final Magnetometer mag;
+	
 	private final State state;
 	private final HeartBeat heartbeat;
 	private final Parameters parameters;
@@ -58,17 +57,35 @@ public class DroneImpl implements Drone {
 	private final MAVLinkStreams.MAVLinkOutputStream MavClient;
 	private final Preferences preferences;
 
-    private final DroneInterfaces.Handler mHandler;
-
 	public DroneImpl(MAVLinkStreams.MAVLinkOutputStream mavClient, DroneInterfaces.Clock clock,
 			DroneInterfaces.Handler handler, Preferences pref) {
 		this.MavClient = mavClient;
 		this.preferences = pref;
-        mHandler = handler;
+
+        events = new DroneEvents(this, handler);
 		state = new State(this, clock, handler);
 		heartbeat = new HeartBeat(this, handler);
 		parameters = new Parameters(this, handler);
-		loadVehicleProfile();
+
+        RC = new RC(this);
+        GPS = new GPS(this);
+        this.type = new Type(this);
+        this.speed = new Speed(this);
+        this.battery = new Battery(this);
+        this.radio = new Radio(this);
+        this.home = new Home(this);
+        this.mission = new Mission(this);
+        this.missionStats = new MissionStats(this);
+        this.streamRates = new StreamRates(this);
+        this.altitude = new Altitude(this);
+        this.orientation = new Orientation(this);
+        this.navigation = new Navigation(this);
+        this.guidedPoint =  new GuidedPoint(this);
+        this.calibrationSetup = new Calibration(this);
+        this.waypointManager = new WaypointManager(this);
+        this.mag = new Magnetometer(this);
+
+        loadVehicleProfile();
 	}
 
 	@Override
@@ -76,7 +93,7 @@ public void setAltitudeGroundAndAirSpeeds(double altitude, double groundSpeed, d
 			double climb) {
 		this.altitude.setAltitude(altitude);
 		speed.setGroundAndAirSpeeds(groundSpeed, airSpeed, climb);
-		events.notifyDroneEvent(DroneInterfaces.DroneEventsType.SPEED);
+	    notifyDroneEvent(DroneInterfaces.DroneEventsType.SPEED);
 	}
 
 	@Override
@@ -84,7 +101,7 @@ public void setDisttowpAndSpeedAltErrors(double disttowp, double alt_error, doub
 		missionStats.setDistanceToWp(disttowp);
 		altitude.setAltitudeError(alt_error);
 		speed.setSpeedError(aspd_error);
-		events.notifyDroneEvent(DroneInterfaces.DroneEventsType.ORIENTATION);
+		notifyDroneEvent(DroneInterfaces.DroneEventsType.ORIENTATION);
 	}
 
 	@Override
@@ -104,13 +121,7 @@ public void removeDroneListener(DroneInterfaces.OnDroneListener listener) {
 
 	@Override
 	public void notifyDroneEvent(final DroneInterfaces.DroneEventsType event) {
-        //Send the events on the main thread.
-        mHandler.post(new Runnable() {
-            @Override
-            public void run() {
-                events.notifyDroneEvent(event);
-            }
-        });
+        events.notifyDroneEvent(event);
 	}
 
 	@Override
@@ -252,4 +263,9 @@ public String getFirmwareVersion() {
 	public void setFirmwareVersion(String message) {
 		type.setFirmwareVersion(message);
 	}
+
+	@Override
+	public Magnetometer getMagnetometer() {
+		return mag;
+	}
 }
diff --git a/Core/src/org/droidplanner/core/drone/DroneInterfaces.java b/Core/src/org/droidplanner/core/drone/DroneInterfaces.java
index 199ae75b11..bac53ac4ff 100644
--- a/Core/src/org/droidplanner/core/drone/DroneInterfaces.java
+++ b/Core/src/org/droidplanner/core/drone/DroneInterfaces.java
@@ -214,7 +214,12 @@ public enum DroneEventsType {
 		/**
 		 * Warn that the drone has no gps signal
 		 */
-		WARNING_NO_GPS,
+		WARNING_NO_GPS, 
+		
+		/**
+		 * New magnetometer data has been received
+		 */
+		MAGNETOMETER,
 	}
 
 	public interface OnDroneListener {
diff --git a/Core/src/org/droidplanner/core/drone/variables/Calibration.java b/Core/src/org/droidplanner/core/drone/variables/Calibration.java
index 90dcc52a30..804d736aef 100644
--- a/Core/src/org/droidplanner/core/drone/variables/Calibration.java
+++ b/Core/src/org/droidplanner/core/drone/variables/Calibration.java
@@ -11,7 +11,7 @@
 public class Calibration extends DroneVariable {
 	private Drone myDrone;
 	private String mavMsg;
-	private static boolean calibrating;
+	private boolean calibrating;
 
 	public Calibration(Drone drone) {
 		super(drone);
@@ -19,7 +19,7 @@ public Calibration(Drone drone) {
 	}
 
 	public void startCalibration() {
-		Calibration.calibrating = true;
+		calibrating = true;
 		MavLinkCalibration.sendStartCalibrationMessage(myDrone);
 	}
 
@@ -33,7 +33,7 @@ public void processMessage(MAVLinkMessage msg) {
 			mavMsg = statusMsg.getText();
 
 			if (mavMsg.contains("Calibration"))
-				Calibration.calibrating = false;
+				calibrating = false;
 
 			myDrone.notifyDroneEvent(DroneEventsType.CALIBRATION_IMU);
 		}
@@ -43,11 +43,11 @@ public String getMessage() {
 		return mavMsg;
 	}
 
-	public static void setClibrating(boolean flag) {
-		Calibration.calibrating = flag;
+	public void setCalibrating(boolean flag) {
+		calibrating = flag;
 	}
 
-	public static boolean isCalibrating() {
-		return Calibration.calibrating;
+	public boolean isCalibrating() {
+		return calibrating;
 	}
 }
diff --git a/Core/src/org/droidplanner/core/drone/variables/GuidedPoint.java b/Core/src/org/droidplanner/core/drone/variables/GuidedPoint.java
index 8bcd2d24ba..5593e8231d 100644
--- a/Core/src/org/droidplanner/core/drone/variables/GuidedPoint.java
+++ b/Core/src/org/droidplanner/core/drone/variables/GuidedPoint.java
@@ -13,8 +13,6 @@
 
 public class GuidedPoint extends DroneVariable implements OnDroneListener {
 
-    public final static float MIN_ALTITUDE = 2.0f;
-
 	private GuidedStates state = GuidedStates.UNINITIALIZED;
 	private Coord2D coord = new Coord2D(0, 0);
 	private Altitude altitude = new Altitude(0.0);
@@ -34,7 +32,7 @@ public GuidedPoint(Drone myDrone) {
 	public void onDroneEvent(DroneEventsType event, Drone drone) {
 		switch (event) {
 		case MODE:
-			if ((myDrone.getState().getMode() == ApmModes.ROTOR_GUIDED)) {
+			if (isGuidedMode(myDrone)) {
 				initialize();
 			} else {
 				disable();
@@ -50,21 +48,58 @@ public void onDroneEvent(DroneEventsType event, Drone drone) {
 		}
 	}
 
+    public static boolean isGuidedMode(Drone drone){
+        final int droneType = drone.getType();
+        final ApmModes droneMode = drone.getState().getMode();
+
+        if(Type.isCopter(droneType)){
+            return droneMode == ApmModes.ROTOR_GUIDED;
+        }
+
+        if(Type.isPlane(droneType)){
+            return droneMode == ApmModes.FIXED_WING_GUIDED;
+        }
+
+        if(Type.isRover(droneType)){
+            return droneMode == ApmModes.ROVER_GUIDED;
+        }
+
+        return false;
+    }
+
 	public void pauseAtCurrentLocation() {
 		if (state !=GuidedStates.ACTIVE) {
-			myDrone.getState().changeFlightMode(ApmModes.ROTOR_GUIDED);
+			changeToGuidedMode(myDrone);
 		}else{
 			newGuidedCoord(myDrone.getGps().getPosition());
 		}
 	}
 
+    public static void changeToGuidedMode(Drone drone){
+        final State droneState = drone.getState();
+        final int droneType = drone.getType();
+        if(Type.isCopter(droneType)){
+            droneState.changeFlightMode(ApmModes.ROTOR_GUIDED);
+        }
+        else if(Type.isPlane(droneType)){
+            //You have to send a guided point to the plane in order to trigger guided mode.
+            forceSendGuidedPoint(drone, drone.getGps().getPosition(),
+                    getDroneAltConstrained(drone));
+        }
+        else if(Type.isRover(droneType)){
+            droneState.changeFlightMode(ApmModes.ROVER_GUIDED);
+        }
+    }
+
 	public void doGuidedTakeoff(Altitude alt) {
-		coord = myDrone.getGps().getPosition();
-		altitude.set(alt.valueInMeters());
-		state = GuidedStates.IDLE;		
-		myDrone.getState().changeFlightMode(ApmModes.ROTOR_GUIDED);
-		MavLinkTakeoff.sendTakeoff(myDrone, alt);
-		myDrone.notifyDroneEvent(DroneEventsType.GUIDEDPOINT);
+        if(Type.isCopter(myDrone.getType())) {
+            coord = myDrone.getGps().getPosition();
+            altitude.set(alt.valueInMeters());
+            state = GuidedStates.IDLE;
+            changeToGuidedMode(myDrone);
+            MavLinkTakeoff.sendTakeoff(myDrone, alt);
+            myDrone.notifyDroneEvent(DroneEventsType.GUIDEDPOINT);
+        }
 	}
 
 	public void newGuidedCoord(Coord2D coord) {
@@ -91,14 +126,14 @@ public void run() {
                 }
             };
 
-            myDrone.getState().changeFlightMode(ApmModes.ROTOR_GUIDED);
+            changeToGuidedMode(myDrone);
         }
 	}
 
 	private void initialize() {
 		if (state == GuidedStates.UNINITIALIZED) {
 			coord = myDrone.getGps().getPosition();
-			altitude.set(getDroneAltConstrained());
+			altitude.set(getDroneAltConstrained(myDrone));
 			state = GuidedStates.IDLE;
 			myDrone.notifyDroneEvent(DroneEventsType.GUIDEDPOINT);
 		}
@@ -124,7 +159,7 @@ private void changeAlt(double alt) {
                 /** FALL THROUGH **/
 
             case ACTIVE:
-                altitude.set(Math.max(alt, MIN_ALTITUDE));
+                altitude.set(Math.max(alt, getMinAltitude(myDrone)));
                 sendGuidedPoint();
                 break;
         }
@@ -134,10 +169,10 @@ private void changeCoord(Coord2D coord) {
 		switch (state) {
 		case UNINITIALIZED:
 			break;
+
 		case IDLE:
 			state = GuidedStates.ACTIVE;
-			changeCoord(coord);
-			break;
+            /** FALL THROUGH **/
 		case ACTIVE:
 			this.coord = coord;
 			sendGuidedPoint();
@@ -147,15 +182,18 @@ private void changeCoord(Coord2D coord) {
 
 	private void sendGuidedPoint() {
 		if (state == GuidedStates.ACTIVE) {
-			myDrone.notifyDroneEvent(DroneEventsType.GUIDEDPOINT);
-			MavLinkModes.setGuidedMode(myDrone, coord.getLat(), coord.getLng(),
-					altitude.valueInMeters());
+            forceSendGuidedPoint(myDrone, coord, altitude.valueInMeters());
 		}
 	}
 
-	private double getDroneAltConstrained() {
-		double alt = Math.floor(myDrone.getAltitude().getAltitude());
-		return Math.max(alt, 2.0);
+    public static void forceSendGuidedPoint(Drone drone, Coord2D coord, double altitudeInMeters){
+        drone.notifyDroneEvent(DroneEventsType.GUIDEDPOINT);
+        MavLinkModes.setGuidedMode(drone, coord.getLat(), coord.getLng(), altitudeInMeters);
+    }
+
+	private static double getDroneAltConstrained(Drone drone) {
+		double alt = Math.floor(drone.getAltitude().getAltitude());
+		return Math.max(alt, getMinAltitude(drone));
 	}
 
 	public Coord2D getCoord() {
@@ -178,4 +216,17 @@ public boolean isInitialized() {
 		return !(state == GuidedStates.UNINITIALIZED);
 	}
 
+    public static float getMinAltitude(Drone drone){
+        final int droneType = drone.getType();
+        if(Type.isCopter(droneType)){
+            return 2f;
+        }
+        else if(Type.isPlane(droneType)){
+            return 15f;
+        }
+        else{
+            return 0f;
+        }
+    }
+
 }
diff --git a/Core/src/org/droidplanner/core/drone/variables/HeartBeat.java b/Core/src/org/droidplanner/core/drone/variables/HeartBeat.java
index 0eafabb0ed..b6152e9691 100644
--- a/Core/src/org/droidplanner/core/drone/variables/HeartBeat.java
+++ b/Core/src/org/droidplanner/core/drone/variables/HeartBeat.java
@@ -10,8 +10,9 @@
 
 public class HeartBeat extends DroneVariable implements OnDroneListener {
 
-	private static final long HEARTBEAT_NORMAL_TIMEOUT = 5000;
-	private static final long HEARTBEAT_LOST_TIMEOUT = 15000;
+	private static final long HEARTBEAT_NORMAL_TIMEOUT = 5000; //ms
+	private static final long HEARTBEAT_LOST_TIMEOUT = 15000; //ms
+    private static final long HEARTBEAT_IMU_CALIBRATION_TIMEOUT = 35000; //ms
 
 	public static final int INVALID_MAVLINK_VERSION = -1;
 
@@ -24,7 +25,7 @@ public class HeartBeat extends DroneVariable implements OnDroneListener {
 	private byte mMavlinkVersion = INVALID_MAVLINK_VERSION;
 
 	public enum HeartbeatState {
-		FIRST_HEARTBEAT, LOST_HEARTBEAT, NORMAL_HEARTBEAT
+		FIRST_HEARTBEAT, LOST_HEARTBEAT, NORMAL_HEARTBEAT, IMU_CALIBRATION
 	}
 
 	public final Handler watchdog;
@@ -59,8 +60,6 @@ public void onHeartbeat(msg_heartbeat msg) {
 		case LOST_HEARTBEAT:
 			myDrone.notifyDroneEvent(DroneEventsType.HEARTBEAT_RESTORED);
 			break;
-		case NORMAL_HEARTBEAT:
-			break;
 		}
 
 		heartbeatState = HeartbeatState.NORMAL_HEARTBEAT;
@@ -74,13 +73,21 @@ public boolean isConnectionAlive() {
 	@Override
 	public void onDroneEvent(DroneEventsType event, Drone drone) {
 		switch (event) {
-		case CONNECTED:
+            case CALIBRATION_IMU:
+                //Set the heartbeat in imu calibration mode.
+                heartbeatState = HeartbeatState.IMU_CALIBRATION;
+                restartWatchdog(HEARTBEAT_IMU_CALIBRATION_TIMEOUT);
+                break;
+
+            case CONNECTED:
 			notifyConnected();
 			break;
+
 		case DISCONNECTED:
 			notifyDisconnected();
 			break;
-		default:
+
+            default:
 			break;
 		}
 	}
@@ -96,9 +103,18 @@ private void notifyDisconnected() {
 	}
 
 	private void onHeartbeatTimeout() {
-		heartbeatState = HeartbeatState.LOST_HEARTBEAT;
-		restartWatchdog(HEARTBEAT_LOST_TIMEOUT);
-		myDrone.notifyDroneEvent(DroneEventsType.HEARTBEAT_TIMEOUT);
+        switch(heartbeatState){
+            case IMU_CALIBRATION:
+                restartWatchdog(HEARTBEAT_IMU_CALIBRATION_TIMEOUT);
+                myDrone.notifyDroneEvent(DroneEventsType.CALIBRATION_TIMEOUT);
+                break;
+
+            default:
+                heartbeatState = HeartbeatState.LOST_HEARTBEAT;
+                restartWatchdog(HEARTBEAT_LOST_TIMEOUT);
+                myDrone.notifyDroneEvent(DroneEventsType.HEARTBEAT_TIMEOUT);
+                break;
+        }
 	}
 
 	private void restartWatchdog(long timeout) {
diff --git a/Core/src/org/droidplanner/core/drone/variables/Magnetometer.java b/Core/src/org/droidplanner/core/drone/variables/Magnetometer.java
new file mode 100644
index 0000000000..dbbaf40de5
--- /dev/null
+++ b/Core/src/org/droidplanner/core/drone/variables/Magnetometer.java
@@ -0,0 +1,53 @@
+package org.droidplanner.core.drone.variables;
+
+import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
+import org.droidplanner.core.drone.DroneVariable;
+import org.droidplanner.core.model.Drone;
+import org.droidplanner.core.parameters.Parameter;
+
+import com.MAVLink.Messages.ardupilotmega.msg_raw_imu;
+
+public class Magnetometer extends DroneVariable {
+
+	private int x;
+	private int y;
+	private int z;
+
+	public Magnetometer(Drone myDrone) {
+		super(myDrone);
+	}
+
+	public void newData(msg_raw_imu msg_imu) {
+		x = msg_imu.xmag;
+		y = msg_imu.ymag;
+		z = msg_imu.zmag;
+		myDrone.notifyDroneEvent(DroneEventsType.MAGNETOMETER);
+	}
+
+	public int[] getVector() {
+		return new int[] { x, y, z };
+	}
+
+	public int getX() {
+		return x;
+	}
+
+	public int getY() {
+		return y;
+	}
+
+	public int getZ() {
+		return z;
+	}
+
+	public int[] getOffsets() {
+		Parameter paramX = myDrone.getParameters().getParameter("COMPASS_OFS_X");
+		Parameter paramY = myDrone.getParameters().getParameter("COMPASS_OFS_Y");
+		Parameter paramZ = myDrone.getParameters().getParameter("COMPASS_OFS_Z");
+		if (paramX == null || paramY == null || paramZ == null) {
+			return null;
+		}
+		return new int[]{(int) paramX.value,(int) paramY.value,(int) paramZ.value};
+
+	}
+}
diff --git a/Core/src/org/droidplanner/core/drone/variables/Radio.java b/Core/src/org/droidplanner/core/drone/variables/Radio.java
index b74b06804e..d2ac974969 100644
--- a/Core/src/org/droidplanner/core/drone/variables/Radio.java
+++ b/Core/src/org/droidplanner/core/drone/variables/Radio.java
@@ -1,15 +1,18 @@
 package org.droidplanner.core.drone.variables;
 
+import org.droidplanner.core.drone.DroneInterfaces;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneVariable;
 import org.droidplanner.core.helpers.math.MathUtil;
 import org.droidplanner.core.model.Drone;
 
-public class Radio extends DroneVariable {
-	private static final int MAX_FADE_MARGIN = 50;
-	private static final int MIN_FADE_MARGIN = 6;
+public class Radio extends DroneVariable implements DroneInterfaces.OnDroneListener{
+	public static final int MAX_FADE_MARGIN = 50;
+	public static final int MIN_FADE_MARGIN = 6;
 
 	private double previousSignalStrength = 100;
+	
+	private boolean isValid = false;
 
 	private int rxerrors = -1;
 	private int fixed = -1;
@@ -71,6 +74,7 @@ public int getSignalStrength() {
 
 	public void setRadioState(short rxerrors, short fixed, byte rssi, byte remrssi, byte txbuf,
 			byte noise, byte remnoise) {
+		isValid = true;
 		if (this.rxerrors != rxerrors | this.fixed != fixed | this.rssi != rssi
 				| this.remrssi != remrssi | this.txbuf != txbuf | this.noise != noise
 				| this.remnoise != remnoise) {
@@ -105,4 +109,16 @@ private double SikValueToDB(int value) {
 		return (value / 1.9) - 127;
 	}
 
+	public boolean isValid() {
+		return isValid;
+	}
+
+    @Override
+    public void onDroneEvent(DroneEventsType event, Drone drone) {
+        switch(event){
+            case DISCONNECTED:
+                isValid = false;
+                break;
+        }
+    }
 }
diff --git a/Core/src/org/droidplanner/core/drone/variables/Type.java b/Core/src/org/droidplanner/core/drone/variables/Type.java
index 5e24d2c1ff..f5e5ed6b1c 100644
--- a/Core/src/org/droidplanner/core/drone/variables/Type.java
+++ b/Core/src/org/droidplanner/core/drone/variables/Type.java
@@ -1,5 +1,6 @@
 package org.droidplanner.core.drone.variables;
 
+import org.droidplanner.core.drone.DroneInterfaces;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneVariable;
 import org.droidplanner.core.firmware.FirmwareType;
@@ -7,13 +8,16 @@
 
 import com.MAVLink.Messages.enums.MAV_TYPE;
 
-public class Type extends DroneVariable {
+public class Type extends DroneVariable implements DroneInterfaces.OnDroneListener{
 
-	private int type = MAV_TYPE.MAV_TYPE_GENERIC;
+    private static final int DEFAULT_TYPE = MAV_TYPE.MAV_TYPE_GENERIC;
+
+	private int type = DEFAULT_TYPE;
 	private String firmwareVersion = null;
 
 	public Type(Drone myDrone) {
 		super(myDrone);
+        myDrone.addDroneListener(this);
 	}
 
 	public void setType(int type) {
@@ -65,4 +69,34 @@ public void setFirmwareVersion(String message) {
 		myDrone.notifyDroneEvent(DroneEventsType.FIRMWARE);
 	}
 
+    public static boolean isCopter(int type){
+        switch (type) {
+            case MAV_TYPE.MAV_TYPE_TRICOPTER:
+            case MAV_TYPE.MAV_TYPE_QUADROTOR:
+            case MAV_TYPE.MAV_TYPE_HEXAROTOR:
+            case MAV_TYPE.MAV_TYPE_OCTOROTOR:
+            case MAV_TYPE.MAV_TYPE_HELICOPTER:
+                return true;
+
+            default:
+                return false;
+        }
+    }
+
+    public static boolean isPlane(int type){
+        return type == MAV_TYPE.MAV_TYPE_FIXED_WING;
+    }
+
+    public static boolean isRover(int type){
+        return type == MAV_TYPE.MAV_TYPE_GROUND_ROVER;
+    }
+
+    @Override
+    public void onDroneEvent(DroneEventsType event, Drone drone) {
+        switch(event){
+            case DISCONNECTED:
+                setType(DEFAULT_TYPE);
+                break;
+        }
+    }
 }
\ No newline at end of file
diff --git a/Core/src/org/droidplanner/core/drone/variables/helpers/MagnetometerCalibration.java b/Core/src/org/droidplanner/core/drone/variables/helpers/MagnetometerCalibration.java
new file mode 100644
index 0000000000..c4159a15e9
--- /dev/null
+++ b/Core/src/org/droidplanner/core/drone/variables/helpers/MagnetometerCalibration.java
@@ -0,0 +1,169 @@
+package org.droidplanner.core.drone.variables.helpers;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+
+import org.droidplanner.core.MAVLink.MavLinkStreamRates;
+import org.droidplanner.core.drone.DroneInterfaces;
+import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
+import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
+import org.droidplanner.core.drone.variables.Magnetometer;
+import org.droidplanner.core.model.Drone;
+import org.droidplanner.core.parameters.Parameter;
+
+import ellipsoidFit.FitPoints;
+import ellipsoidFit.ThreeSpacePoint;
+
+public class MagnetometerCalibration implements OnDroneListener {
+
+    private static final double ELLIPSOID_FITNESS_MIN = 0.97;
+    public static final int MIN_POINTS_COUNT = 250;
+    private static final int REFRESH_RATE = 50; //hz
+
+    public interface OnMagCalibrationListener {
+        public void newEstimation(FitPoints fit, List<ThreeSpacePoint> points);
+        public void finished(FitPoints fit);
+    }
+
+    private final DroneInterfaces.Handler handler;
+    private ExecutorService fitRunner;
+
+	private final FitPoints ellipsoidFit = new FitPoints();
+	private final ArrayList<ThreeSpacePoint> points = new ArrayList<ThreeSpacePoint>();
+
+    private final Runnable newEstimationUpdate = new Runnable() {
+        @Override
+        public void run() {
+            handler.removeCallbacks(this);
+            if(listener != null){
+                listener.newEstimation(ellipsoidFit, points);
+            }
+        }
+    };
+
+    private final Runnable finishedEstimationUpdate = new Runnable() {
+        @Override
+        public void run() {
+            handler.removeCallbacks(this);
+            if(listener != null){
+                listener.finished(ellipsoidFit);
+            }
+        }
+    };
+
+    private final Runnable stopCalibration = new Runnable() {
+        @Override
+        public void run() {
+            handler.removeCallbacks(this);
+            stop();
+        }
+    };
+
+	private boolean fitComplete =false;
+	private OnMagCalibrationListener listener;
+	private Drone drone;
+
+	public MagnetometerCalibration(Drone drone, OnMagCalibrationListener listener, DroneInterfaces.Handler handler) {
+		this.drone = drone;
+		this.listener = listener;
+        this.handler = handler;
+	}
+
+    public void start(List<? extends ThreeSpacePoint> newPoints){
+        this.points.clear();
+        if(newPoints != null && !newPoints.isEmpty()){
+            this.points.addAll(newPoints);
+        }
+
+        if(this.fitRunner != null && !this.fitRunner.isShutdown()){
+            this.fitRunner.shutdownNow();
+        }
+
+        this.fitRunner = Executors.newSingleThreadExecutor();
+        MavLinkStreamRates.setupStreamRates(drone.getMavClient(), 0, 0, 0, 0, 0, 0, REFRESH_RATE,
+                0);
+        drone.addDroneListener(this);
+    }
+
+    public void stop(){
+        drone.removeDroneListener(this);
+        drone.getStreamRates().setupStreamRatesFromPref();
+
+        if(this.fitRunner != null) {
+            this.fitRunner.shutdownNow();
+        }
+    }
+
+	@Override
+	public void onDroneEvent(DroneEventsType event, final Drone drone) {
+		switch (event) {
+
+		case MAGNETOMETER:
+			addpoint(drone);
+            this.fitRunner.execute(new Runnable() {
+                @Override
+                public void run() {
+                    fit();
+                    MavLinkStreamRates.setupStreamRates(drone.getMavClient(), 0, 0, 0, 0, 0, 0,
+                            REFRESH_RATE, 0);
+                }
+            });
+			break;
+
+		default:
+			break;
+		}
+	}
+
+    public List<ThreeSpacePoint> getPoints(){
+        return points;
+    }
+
+	void addpoint(Drone drone) {
+		final Magnetometer mag = drone.getMagnetometer();
+		int[] offsets = mag.getOffsets();
+		ThreeSpacePoint point = new ThreeSpacePoint(mag.getX()-offsets[0], mag.getY()-offsets[1], mag.getZ()-offsets[2]);
+		points.add(point);
+	}
+
+	void fit() {
+        if(points.isEmpty()){
+            return;
+        }
+
+		ellipsoidFit.fitEllipsoid(points);
+        if(listener != null) {
+            handler.post(newEstimationUpdate);
+        }
+
+		if (!fitComplete && ellipsoidFit.getFitness() > ELLIPSOID_FITNESS_MIN && points.size() >
+                MIN_POINTS_COUNT) {
+			fitComplete  = true;
+			if (listener !=null) {
+                handler.post(finishedEstimationUpdate);
+			}
+
+            this.handler.post(stopCalibration);
+		}
+	}
+
+	public void sendOffsets() throws Exception {
+		Parameter offsetX = drone.getParameters().getParameter("COMPASS_OFS_X");
+		Parameter offsetY = drone.getParameters().getParameter("COMPASS_OFS_Y");
+		Parameter offsetZ = drone.getParameters().getParameter("COMPASS_OFS_Z");
+		
+		if (offsetX == null || offsetY == null || offsetZ == null) {
+			throw new Exception("Parameters have not been loaded");
+		}
+		
+		offsetX.value = -ellipsoidFit.center.getEntry(0);
+		offsetY.value = -ellipsoidFit.center.getEntry(1);
+		offsetZ.value = -ellipsoidFit.center.getEntry(2);
+				
+		drone.getParameters().sendParameter(offsetX); //TODO should probably do a check after sending the parameters
+		drone.getParameters().sendParameter(offsetY);
+		drone.getParameters().sendParameter(offsetZ);
+	}
+}
\ No newline at end of file
diff --git a/Core/src/org/droidplanner/core/gcs/follow/Follow.java b/Core/src/org/droidplanner/core/gcs/follow/Follow.java
index 1a0c5a73cd..c3ca087557 100644
--- a/Core/src/org/droidplanner/core/gcs/follow/Follow.java
+++ b/Core/src/org/droidplanner/core/gcs/follow/Follow.java
@@ -4,7 +4,9 @@
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.Handler;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
+import org.droidplanner.core.drone.variables.GuidedPoint;
 import org.droidplanner.core.drone.variables.State;
+import org.droidplanner.core.drone.variables.Type;
 import org.droidplanner.core.gcs.follow.FollowAlgorithm.FollowModes;
 import org.droidplanner.core.gcs.location.Location;
 import org.droidplanner.core.gcs.location.Location.LocationFinder;
@@ -50,7 +52,7 @@ public void toggleFollowMeState() {
 		} else {
 			if (drone.getMavClient().isConnected()) {
 				if (drone.getState().isArmed()) {
-					drone.getState().changeFlightMode(ApmModes.ROTOR_GUIDED);
+					GuidedPoint.changeToGuidedMode(drone);
 					enableFollowMe();
 				} else {
 					state = FollowStates.FOLLOW_DRONE_NOT_ARMED;
@@ -73,7 +75,11 @@ private void disableFollowMe() {
 		if (isEnabled()) {
 			state = FollowStates.FOLLOW_END;
 			MavLinkROI.resetROI(drone);
-			drone.getGuidedPoint().pauseAtCurrentLocation();
+
+            if(GuidedPoint.isGuidedMode(drone)) {
+                drone.getGuidedPoint().pauseAtCurrentLocation();
+            }
+
 			drone.notifyDroneEvent(DroneEventsType.FOLLOW_STOP);
 		}
 	}
@@ -86,10 +92,11 @@ public boolean isEnabled() {
 	public void onDroneEvent(DroneEventsType event, Drone drone) {
 		switch (event) {
 		case MODE:
-			if ((drone.getState().getMode() != ApmModes.ROTOR_GUIDED)) {
+			if (!GuidedPoint.isGuidedMode(drone)) {
 				disableFollowMe();
 			}
 			break;
+
 		case DISCONNECTED:
 			disableFollowMe();
 			break;
diff --git a/Core/src/org/droidplanner/core/gcs/location/Location.java b/Core/src/org/droidplanner/core/gcs/location/Location.java
index 2507394b4b..4e2b1988eb 100644
--- a/Core/src/org/droidplanner/core/gcs/location/Location.java
+++ b/Core/src/org/droidplanner/core/gcs/location/Location.java
@@ -21,6 +21,10 @@ public interface LocationFinder {
 	private double speed = 0.0;
     private boolean isAccurate;
 
+    public Location(Coord2D coord2d){
+    	coordinate = coord2d;
+    }
+    
 	public Location(Coord2D coord2d, float heading, float speed, boolean isAccurate) {
 		coordinate = coord2d;
 		this.heading = heading;
diff --git a/Core/src/org/droidplanner/core/mission/Mission.java b/Core/src/org/droidplanner/core/mission/Mission.java
index 2d3e2401b2..320466fd97 100644
--- a/Core/src/org/droidplanner/core/mission/Mission.java
+++ b/Core/src/org/droidplanner/core/mission/Mission.java
@@ -104,6 +104,11 @@ public void addMissionItem(MissionItem missionItem) {
 		notifyMissionUpdate();
 	}
 
+    public void addMissionItem(int index, MissionItem missionItem){
+        items.add(index, missionItem);
+        notifyMissionUpdate();
+    }
+
 	/**
 	 * Signals that this mission object was updated. //TODO: maybe move outside
 	 * of this class
@@ -303,7 +308,6 @@ public void makeAndUploadDronie() {
 		items.addAll(createDronie(this, currentPosition, GeoTools.newCoordFromBearingAndDistance(
 				currentPosition, 180 + myDrone.getOrientation().getYaw(), 50.0)));
 		sendMissionToAPM();
-		myDrone.notifyDroneEvent(DroneEventsType.MISSION_RECEIVED);
 		notifyMissionUpdate();
 	}
 
@@ -318,4 +322,22 @@ public static List<MissionItem> createDronie(Mission mMission,Coord2D start, Coo
 		dronieItems.add(new Land(mMission,start));
 		return dronieItems;
 	}
+
+	public boolean hasTakeoffAndLandOrRTL() {
+		if (items.size() >= 2) {
+			if (isFirstItemTakeoff() && isLastItemLandOrRTL()) {
+				return true;
+			}
+		}
+		return false;
+	}
+
+	public boolean isFirstItemTakeoff() {
+		return items.get(0) instanceof Takeoff;
+	}
+
+	public boolean isLastItemLandOrRTL() {
+		MissionItem last = items.get(items.size()-1);
+		return (last instanceof ReturnToHome) || (last instanceof Land);
+	}
 }
diff --git a/Core/src/org/droidplanner/core/mission/MissionItemType.java b/Core/src/org/droidplanner/core/mission/MissionItemType.java
index 61f824014a..c756f4fffe 100644
--- a/Core/src/org/droidplanner/core/mission/MissionItemType.java
+++ b/Core/src/org/droidplanner/core/mission/MissionItemType.java
@@ -5,6 +5,7 @@
 import org.droidplanner.core.helpers.coordinates.Coord2D;
 import org.droidplanner.core.mission.commands.ReturnToHome;
 import org.droidplanner.core.mission.commands.Takeoff;
+import org.droidplanner.core.mission.survey.CylindricalSurvey;
 import org.droidplanner.core.mission.survey.Survey;
 import org.droidplanner.core.mission.waypoints.Circle;
 import org.droidplanner.core.mission.waypoints.Land;
@@ -15,7 +16,7 @@
 public enum MissionItemType {
 	WAYPOINT("Waypoint"), SPLINE_WAYPOINT("Spline Waypoint"), TAKEOFF("Takeoff"), RTL(
 			"Return to Launch"), LAND("Land"), CIRCLE("Circle"), ROI("Region of Interest"), SURVEY(
-			"Survey");
+			"Survey"), CYLINDRICAL_SURVEY("Landmark Mapper");
 
 	private final String name;
 
@@ -45,6 +46,8 @@ public MissionItem getNewItem(MissionItem referenceItem) throws IllegalArgumentE
 			return new RegionOfInterest(referenceItem);
 		case SURVEY:
 			return new Survey(referenceItem.getMission(), Collections.<Coord2D> emptyList());
+		case CYLINDRICAL_SURVEY:
+			return new CylindricalSurvey(referenceItem);
 		default:
 			throw new IllegalArgumentException("Unrecognized mission item type (" + name + ")"
 					+ ".");
diff --git a/Core/src/org/droidplanner/core/mission/commands/ReturnToHome.java b/Core/src/org/droidplanner/core/mission/commands/ReturnToHome.java
index bf33c2252e..0e4e4eea43 100644
--- a/Core/src/org/droidplanner/core/mission/commands/ReturnToHome.java
+++ b/Core/src/org/droidplanner/core/mission/commands/ReturnToHome.java
@@ -25,6 +25,11 @@ public ReturnToHome(msg_mission_item msg, Mission mission) {
 		unpackMAVMessage(msg);
 	}
 
+	public ReturnToHome(Mission mission) {
+		super(mission);
+		returnAltitude = new Altitude(0.0);
+	}
+
 	public Altitude getHeight() {
 		return returnAltitude;
 	}
diff --git a/Core/src/org/droidplanner/core/mission/commands/Takeoff.java b/Core/src/org/droidplanner/core/mission/commands/Takeoff.java
index fdff99b3cf..58136ab6b1 100644
--- a/Core/src/org/droidplanner/core/mission/commands/Takeoff.java
+++ b/Core/src/org/droidplanner/core/mission/commands/Takeoff.java
@@ -13,6 +13,8 @@
 
 public class Takeoff extends MissionCMD {
 
+    public static final double DEFAULT_TAKEOFF_ALTITUDE = 10.0;
+
 	private Altitude finishedAlt = new Altitude(10);
 
 	public Takeoff(MissionItem item) {
diff --git a/Core/src/org/droidplanner/core/mission/survey/CylindricalSurvey.java b/Core/src/org/droidplanner/core/mission/survey/CylindricalSurvey.java
new file mode 100644
index 0000000000..233dd353f2
--- /dev/null
+++ b/Core/src/org/droidplanner/core/mission/survey/CylindricalSurvey.java
@@ -0,0 +1,183 @@
+package org.droidplanner.core.mission.survey;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import org.droidplanner.core.helpers.coordinates.Coord2D;
+import org.droidplanner.core.helpers.coordinates.Coord3D;
+import org.droidplanner.core.helpers.geoTools.GeoTools;
+import org.droidplanner.core.helpers.units.Altitude;
+import org.droidplanner.core.helpers.units.Length;
+import org.droidplanner.core.mission.Mission;
+import org.droidplanner.core.mission.MissionItem;
+import org.droidplanner.core.mission.MissionItemType;
+import org.droidplanner.core.mission.survey.grid.GridBuilder;
+import org.droidplanner.core.mission.waypoints.Circle;
+import org.droidplanner.core.mission.waypoints.RegionOfInterest;
+import org.droidplanner.core.mission.waypoints.SpatialCoordItem;
+import org.droidplanner.core.polygon.Polygon;
+
+import com.MAVLink.Messages.ardupilotmega.msg_mission_item;
+import com.MAVLink.Messages.enums.MAV_CMD;
+
+public class CylindricalSurvey extends MissionItem {
+
+	protected Coord2D center;
+	private Length radius;
+	private Altitude startHeight, heightStep;
+	private int numberOfSteps;
+	private boolean crossHatch;
+
+	private CylindricalSurvey(Mission mission) {
+		super(mission);
+		this.center = null;
+		radius = new Length(10.0);
+		startHeight = new Altitude(10);
+		heightStep = new Altitude(5);
+		numberOfSteps = 2;
+		crossHatch = true;
+	}
+
+	public CylindricalSurvey(Mission mission, Coord2D center) {
+		this(mission);
+		this.center = center;
+	}
+
+	public CylindricalSurvey(MissionItem item) {
+		this(item.getMission());
+		Coord3D coordinate;
+		if (item instanceof SpatialCoordItem) {
+			coordinate = ((SpatialCoordItem) item).getCoordinate();
+		} else {
+			coordinate = new Coord3D(0, 0, new Altitude(0));
+		}
+		this.center = coordinate;
+	}
+
+	@Override
+	public List<msg_mission_item> packMissionItem() {
+		List<msg_mission_item> list = new ArrayList<msg_mission_item>();
+		packROI(list);
+		packCircles(list);
+		if (crossHatch) {
+			packHatch(list);			
+		}
+		return list;
+	}
+
+	private void packROI(List<msg_mission_item> list) {
+		RegionOfInterest roi = new RegionOfInterest(mission, new Coord3D(
+				center, new Altitude(0.0)));
+		list.addAll(roi.packMissionItem());
+	}
+
+	private void packCircles(List<msg_mission_item> list) {
+		for (double altitude = startHeight.valueInMeters(); altitude <= getTopHeight().valueInMeters(); altitude += heightStep.valueInMeters()) {
+			Circle circle = new Circle(mission, new Coord3D(center,
+					new Altitude(altitude)));
+			circle.setRadius(radius.valueInMeters());
+			list.addAll(circle.packMissionItem());
+		}
+	}
+
+	private void packHatch(List<msg_mission_item> list) {
+		Polygon polygon = new Polygon();
+		for (double angle = 0; angle <= 360; angle += 10) {
+			polygon.addPoint(GeoTools.newCoordFromBearingAndDistance(center,
+					angle, radius.valueInMeters()));
+		}
+
+		Coord2D corner = GeoTools.newCoordFromBearingAndDistance(center,
+				-45, radius.valueInMeters()*2);
+		GridBuilder grid = new GridBuilder(polygon, 0.0,
+				radius.valueInMeters() / 4, corner );
+		try {
+			for (Coord2D point : grid.generate(false).gridPoints) {
+				list.add(Survey.packSurveyPoint(point, getTopHeight()));
+			}
+			grid.setAngle(90.0);
+			for (Coord2D point : grid.generate(false).gridPoints) {
+				list.add(Survey.packSurveyPoint(point, getTopHeight()));
+			}
+		} catch (Exception e) { // Should never fail, since it has good polygons
+		}
+
+	}
+
+	public List<Coord2D> getPath() {
+		List<Coord2D> path = new ArrayList<Coord2D>();
+		for (msg_mission_item msg_mission_item : packMissionItem()) {
+			if (msg_mission_item.command == MAV_CMD.MAV_CMD_NAV_WAYPOINT) {
+				path.add(new Coord2D(msg_mission_item.x, msg_mission_item.y));
+			}
+			if (msg_mission_item.command == MAV_CMD.MAV_CMD_NAV_LOITER_TURNS) {
+				for (double angle = 0; angle <= 360; angle += 12) {
+					path.add(GeoTools.newCoordFromBearingAndDistance(center,angle, radius.valueInMeters()));
+				}
+			}
+			
+		}
+		return path;
+
+	}
+
+	@Override
+	public void unpackMAVMessage(msg_mission_item mavMsg) {
+	}
+
+	@Override
+	public MissionItemType getType() {
+		return MissionItemType.CYLINDRICAL_SURVEY;
+	}
+	
+
+
+	private Length getTopHeight() {
+		return new Length(startHeight.valueInMeters()+ (numberOfSteps-1)*heightStep.valueInMeters());
+	}
+
+	public Altitude getStartAltitude() {
+		return startHeight;
+	}
+
+	public Altitude getEndAltitude() {
+		return heightStep;
+	}
+
+	public int getNumberOfSteps() {
+		return numberOfSteps;
+	}
+
+	public Length getRadius() {
+		return radius;
+	}
+
+	public Coord2D getCenter() {
+		return center;
+	}
+
+	public void setRadius(int newValue) {
+		radius = new Length(newValue);
+	}
+
+	public void enableCrossHatch(boolean isEnabled) {
+		crossHatch = isEnabled;
+	}
+
+	public boolean isCrossHatchEnabled() {
+		return crossHatch;
+	}
+
+	public void setStartAltitude(int newValue) {
+		startHeight = new Altitude(newValue);		
+	}
+
+	public void setAltitudeStep(int newValue) {
+		heightStep = new Altitude(newValue);		
+	}
+
+	public void setNumberOfSteps(int newValue) {
+		numberOfSteps = newValue;	
+	}
+
+}
\ No newline at end of file
diff --git a/Core/src/org/droidplanner/core/mission/survey/Survey.java b/Core/src/org/droidplanner/core/mission/survey/Survey.java
index dd2773dc45..a81bbc12d1 100644
--- a/Core/src/org/droidplanner/core/mission/survey/Survey.java
+++ b/Core/src/org/droidplanner/core/mission/survey/Survey.java
@@ -5,6 +5,7 @@
 
 import org.droidplanner.core.helpers.coordinates.Coord2D;
 import org.droidplanner.core.helpers.units.Altitude;
+import org.droidplanner.core.helpers.units.Length;
 import org.droidplanner.core.mission.Mission;
 import org.droidplanner.core.mission.MissionItem;
 import org.droidplanner.core.mission.MissionItemType;
@@ -42,7 +43,7 @@ public void build() throws Exception {
 		grid = null;
 		GridBuilder gridBuilder = new GridBuilder(polygon, surveyData, new Coord2D(0, 0));
 		polygon.checkIfValid();
-		grid = gridBuilder.generate();
+		grid = gridBuilder.generate(true);
 	}
 
 	@Override
@@ -51,7 +52,7 @@ public List<msg_mission_item> packMissionItem() {
 			List<msg_mission_item> list = new ArrayList<msg_mission_item>();
 			build();
 			for (Coord2D point : grid.gridPoints) {
-				msg_mission_item mavMsg = packSurveyPoint(point);
+				msg_mission_item mavMsg = packSurveyPoint(point,surveyData.getAltitude());
 				list.add(mavMsg);
 			}
 			return list;
@@ -60,7 +61,7 @@ public List<msg_mission_item> packMissionItem() {
 		}
 	}
 
-	private msg_mission_item packSurveyPoint(Coord2D point) {
+	public static msg_mission_item packSurveyPoint(Coord2D point, Length altitude) {
 		msg_mission_item mavMsg = new msg_mission_item();
 		mavMsg.autocontinue = 1;
 		mavMsg.target_component = 1;
@@ -69,7 +70,7 @@ private msg_mission_item packSurveyPoint(Coord2D point) {
 		mavMsg.command = MAV_CMD.MAV_CMD_NAV_WAYPOINT;
 		mavMsg.x = (float) point.getX();
 		mavMsg.y = (float) point.getY();
-		mavMsg.z = (float) surveyData.getAltitude().valueInMeters();
+		mavMsg.z = (float) altitude.valueInMeters();
 		mavMsg.param1 = 0f;
 		mavMsg.param2 = 0f;
 		mavMsg.param3 = 0f;
diff --git a/Core/src/org/droidplanner/core/mission/survey/grid/EndpointSorter.java b/Core/src/org/droidplanner/core/mission/survey/grid/EndpointSorter.java
index 43acd9fefa..94cec145dd 100644
--- a/Core/src/org/droidplanner/core/mission/survey/grid/EndpointSorter.java
+++ b/Core/src/org/droidplanner/core/mission/survey/grid/EndpointSorter.java
@@ -16,23 +16,32 @@ public class EndpointSorter {
 	private Double sampleDistance;
 	private List<Coord2D> cameraLocations = new ArrayList<Coord2D>();
 
+	private boolean toggle;
+
 	public EndpointSorter(List<LineCoord2D> grid, Double sampleDistance) {
 		this.grid = grid;
 		this.sampleDistance = sampleDistance;
 	}
 
-	public void sortGrid(Coord2D lastpnt, boolean innerWPs) throws Exception {
+	public void sortGrid(Coord2D lastpnt, boolean innerWPs, boolean sort) throws Exception {
 		while (grid.size() > 0) {
-			LineCoord2D closestLine = LineTools.findClosestLineToPoint(lastpnt, grid);
-			Coord2D secondWp = processOneGridLine(closestLine, lastpnt, innerWPs);
-			lastpnt = secondWp;
+			if (sort) {				
+				LineCoord2D closestLine = LineTools.findClosestLineToPoint(lastpnt, grid);
+				Coord2D secondWp = processOneGridLine(closestLine, lastpnt, innerWPs,sort);
+				lastpnt = secondWp;
+			}else{
+				LineCoord2D closestLine = grid.get(0);
+				Coord2D secondWp = processOneGridLine(closestLine, lastpnt, innerWPs,sort);
+				lastpnt = secondWp;
+			}
 		}
 	}
 
-	private Coord2D processOneGridLine(LineCoord2D closestLine, Coord2D lastpnt, boolean innerWPs)
+	private Coord2D processOneGridLine(LineCoord2D closestLine, Coord2D lastpnt, boolean innerWPs, boolean sort)
 			throws Exception {
-		Coord2D firstWP = closestLine.getClosestEndpointTo(lastpnt);
-		Coord2D secondWp = closestLine.getFarthestEndpointTo(lastpnt);
+		Coord2D firstWP, secondWp;
+		firstWP = closestLine.getClosestEndpointTo(lastpnt);
+		secondWp = closestLine.getFarthestEndpointTo(lastpnt);
 
 		grid.remove(closestLine);
 
diff --git a/Core/src/org/droidplanner/core/mission/survey/grid/GridBuilder.java b/Core/src/org/droidplanner/core/mission/survey/grid/GridBuilder.java
index f57cb12ddb..429341d7ca 100644
--- a/Core/src/org/droidplanner/core/mission/survey/grid/GridBuilder.java
+++ b/Core/src/org/droidplanner/core/mission/survey/grid/GridBuilder.java
@@ -33,9 +33,14 @@ public GridBuilder(Polygon polygon, double angle, double distance, Coord2D origi
 		this.angle = angle;
 		this.lineDist = distance;
 		this.innerWPs = false;
+		this.wpDistance = distance;
+	}
+	
+	public void setAngle(double newAngle){
+		angle = newAngle;
 	}
 
-	public Grid generate() throws Exception {
+	public Grid generate(boolean sort) throws Exception {
 		List<Coord2D> polygonPoints = poly.getPoints();
 
 		List<LineCoord2D> circumscribedGrid = new CircumscribedGrid(polygonPoints, angle, lineDist)
@@ -43,7 +48,7 @@ public Grid generate() throws Exception {
 		List<LineCoord2D> trimedGrid = new Trimmer(circumscribedGrid, poly.getLines())
 				.getTrimmedGrid();
 		EndpointSorter gridSorter = new EndpointSorter(trimedGrid, wpDistance);
-		gridSorter.sortGrid(origin, innerWPs);
+		gridSorter.sortGrid(origin, innerWPs, sort);
 		grid = new Grid(gridSorter.getSortedGrid(), gridSorter.getCameraLocations());
 		return grid;
 	}
diff --git a/Core/src/org/droidplanner/core/mission/waypoints/Circle.java b/Core/src/org/droidplanner/core/mission/waypoints/Circle.java
index 427e7a9977..0b5770b042 100644
--- a/Core/src/org/droidplanner/core/mission/waypoints/Circle.java
+++ b/Core/src/org/droidplanner/core/mission/waypoints/Circle.java
@@ -4,7 +4,6 @@
 import java.util.List;
 
 import org.droidplanner.core.helpers.coordinates.Coord3D;
-import org.droidplanner.core.helpers.units.Length;
 import org.droidplanner.core.mission.Mission;
 import org.droidplanner.core.mission.MissionItem;
 import org.droidplanner.core.mission.MissionItemType;
@@ -17,8 +16,6 @@ public class Circle extends SpatialCoordItem {
 
 	private double radius = 10.0;
 	private int turns = 1;
-	private int numberOfSteps = 1;
-	private double altitudeStep = 2;
 
 	public Circle(MissionItem item) {
 		super(item);
@@ -49,46 +46,14 @@ public double getRadius() {
 		return radius;
 	}
 
-	public double getAltitudeStep() {
-		return altitudeStep;
-	}
-
-	public void setAltitudeStep(double altitudeStep) {
-		this.altitudeStep = altitudeStep;
-	}
-
-	public int getNumberOfSteps() {
-		return numberOfSteps;
-	}
-
-	public void setNumberOfSteps(int numberOfSteps) {
-		this.numberOfSteps = numberOfSteps;
-	}
-
-	public void setMultiCircle(int number, double stepHeight) {
-		this.numberOfSteps = number;
-		this.altitudeStep = stepHeight;
-	}
-
-	public void setSingleCircle() {
-		numberOfSteps = 1;
-	}
-
 	@Override
 	public List<msg_mission_item> packMissionItem() {
-
 		List<msg_mission_item> list = new ArrayList<msg_mission_item>();
-
-		for (int i = 0; i < getNumberOfSteps(); i++) {
-			Length extraHeight = new Length(getAltitudeStep() * i);
-			packSingleCircle(list, extraHeight);
-		}
-
-		System.out.println(list.toString());
+		packSingleCircle(list);
 		return list;
 	}
 
-	private void packSingleCircle(List<msg_mission_item> list, Length extraHeight) {
+	private void packSingleCircle(List<msg_mission_item> list) {
 		msg_mission_item mavMsg = new msg_mission_item();
 		list.add(mavMsg);
 		mavMsg.autocontinue = 1;
@@ -97,7 +62,7 @@ private void packSingleCircle(List<msg_mission_item> list, Length extraHeight) {
 		mavMsg.frame = MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT;
 		mavMsg.x = (float) coordinate.getLat();
 		mavMsg.y = (float) coordinate.getLng();
-		mavMsg.z = (float) (coordinate.getAltitude().valueInMeters() + extraHeight.valueInMeters());
+		mavMsg.z = (float) (coordinate.getAltitude().valueInMeters());
 		mavMsg.command = MAV_CMD.MAV_CMD_NAV_LOITER_TURNS;
 		mavMsg.param1 = Math.abs(turns);
 		mavMsg.param3 = (float) radius;
diff --git a/Core/src/org/droidplanner/core/model/Drone.java b/Core/src/org/droidplanner/core/model/Drone.java
index 7e8351cede..882150175d 100644
--- a/Core/src/org/droidplanner/core/model/Drone.java
+++ b/Core/src/org/droidplanner/core/model/Drone.java
@@ -12,6 +12,7 @@
 import org.droidplanner.core.drone.variables.GPS;
 import org.droidplanner.core.drone.variables.GuidedPoint;
 import org.droidplanner.core.drone.variables.Home;
+import org.droidplanner.core.drone.variables.Magnetometer;
 import org.droidplanner.core.drone.variables.MissionStats;
 import org.droidplanner.core.drone.variables.Navigation;
 import org.droidplanner.core.drone.variables.Orientation;
@@ -86,6 +87,8 @@ public interface Drone {
 	public Calibration getCalibrationSetup();
 
 	public RC getRC();
+	
+	public Magnetometer getMagnetometer();
 
 	public void setAltitudeGroundAndAirSpeeds(double altitude, double groundSpeed, double airSpeed,
 			double climb);
diff --git a/Desktop/.classpath b/Desktop/.classpath
index 4d3735b585..7af0920316 100644
--- a/Desktop/.classpath
+++ b/Desktop/.classpath
@@ -1,13 +1,9 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-	<classpathentry combineaccessrules="false" kind="src"
-		path="/Core" />
-	<classpathentry combineaccessrules="false" kind="src"
-		path="/Mavlink" />
-	<classpathentry combineaccessrules="false" kind="src"
-		path="/OSM" />
-	<classpathentry kind="con"
-		path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.7" />
-	<classpathentry kind="src" path="src" />
-	<classpathentry kind="output" path="bin" />
+	<classpathentry combineaccessrules="false" kind="src" path="/Core"/>
+	<classpathentry combineaccessrules="false" kind="src" path="/Mavlink"/>
+	<classpathentry combineaccessrules="false" kind="src" path="/OSM"/>
+	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.7"/>
+	<classpathentry kind="src" path="src"/>
+	<classpathentry kind="output" path="bin"/>
 </classpath>
diff --git a/Desktop/src/org/droidplanner/desktop/location/FakeLocation.java b/Desktop/src/org/droidplanner/desktop/location/FakeLocation.java
index 000ecfb797..6cb503bb15 100644
--- a/Desktop/src/org/droidplanner/desktop/location/FakeLocation.java
+++ b/Desktop/src/org/droidplanner/desktop/location/FakeLocation.java
@@ -15,7 +15,7 @@ public class FakeLocation implements LocationFinder {
 	private LocationReceiver receiver;
 
 	@Override
-	public void setLocationListner(LocationReceiver receiver) {
+	public void setLocationListener(LocationReceiver receiver) {
 		this.receiver = receiver;
 	}
 
@@ -47,4 +47,6 @@ public void disableLocationUpdates() {
 		// TODO Auto-generated method stub
 
 	}
+
+	
 }
\ No newline at end of file
diff --git a/Desktop/src/org/droidplanner/desktop/logic/Clock.java b/Desktop/src/org/droidplanner/desktop/logic/Clock.java
new file mode 100644
index 0000000000..ea61e0f24f
--- /dev/null
+++ b/Desktop/src/org/droidplanner/desktop/logic/Clock.java
@@ -0,0 +1,8 @@
+package org.droidplanner.desktop.logic;
+
+public class Clock implements org.droidplanner.core.drone.DroneInterfaces.Clock {
+	@Override
+	public long elapsedRealtime() {
+		return System.currentTimeMillis();
+	}
+};
\ No newline at end of file
diff --git a/Desktop/src/org/droidplanner/desktop/logic/FakeFactory.java b/Desktop/src/org/droidplanner/desktop/logic/FakeFactory.java
index a4c2ebef1d..d06a2cd44a 100644
--- a/Desktop/src/org/droidplanner/desktop/logic/FakeFactory.java
+++ b/Desktop/src/org/droidplanner/desktop/logic/FakeFactory.java
@@ -1,7 +1,5 @@
 package org.droidplanner.desktop.logic;
 
-import org.droidplanner.core.drone.DroneInterfaces.Clock;
-import org.droidplanner.core.drone.DroneInterfaces.Handler;
 import org.droidplanner.core.drone.Preferences;
 import org.droidplanner.core.drone.profiles.VehicleProfile;
 import org.droidplanner.core.firmware.FirmwareType;
@@ -30,35 +28,4 @@ public Rates getRates() {
 		};
 	}
 
-	static Handler fakeHandler() {
-		return new Handler() {
-
-			@Override
-			public void removeCallbacks(Runnable thread) {
-				// TODO Auto-generated method stub
-
-			}
-			
-			@Override
-			public void post(Runnable thread){
-				
-			}
-
-			@Override
-			public void postDelayed(Runnable thread, long timeout) {
-				// TODO Auto-generated method stub
-
-			}
-		};
-	}
-
-	static Clock fakeClock() {
-		return new Clock() {
-			@Override
-			public long elapsedRealtime() {
-				return System.currentTimeMillis();
-			}
-		};
-	}
-
 }
diff --git a/Desktop/src/org/droidplanner/desktop/logic/Handler.java b/Desktop/src/org/droidplanner/desktop/logic/Handler.java
new file mode 100644
index 0000000000..b0d72dadfd
--- /dev/null
+++ b/Desktop/src/org/droidplanner/desktop/logic/Handler.java
@@ -0,0 +1,36 @@
+package org.droidplanner.desktop.logic;
+
+import java.util.HashMap;
+import java.util.Map;
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.ScheduledFuture;
+import java.util.concurrent.TimeUnit;
+
+public class Handler implements
+		org.droidplanner.core.drone.DroneInterfaces.Handler {
+
+	private final ScheduledExecutorService scheduler = Executors
+			.newSingleThreadScheduledExecutor();
+	private final Map<Runnable, ScheduledFuture<?>> futureThreads = new HashMap<Runnable, ScheduledFuture<?>>();
+
+	@Override
+	public void removeCallbacks(Runnable thread) {
+		if (futureThreads.containsKey(thread)) {
+			boolean mayInterruptIfRunning = false;
+			futureThreads.get(thread).cancel(mayInterruptIfRunning);
+		}
+	}
+
+	@Override
+	public void post(Runnable thread) {
+		scheduler.execute(thread);
+	}
+
+	@Override
+	public void postDelayed(Runnable thread, long timeout) {
+		ScheduledFuture<?> future = scheduler.schedule(thread, timeout,
+				TimeUnit.MILLISECONDS);
+		futureThreads.put(thread, future);
+	}
+}
diff --git a/Desktop/src/org/droidplanner/desktop/logic/Logic.java b/Desktop/src/org/droidplanner/desktop/logic/Logic.java
index c95ad734f1..2a4ad89377 100644
--- a/Desktop/src/org/droidplanner/desktop/logic/Logic.java
+++ b/Desktop/src/org/droidplanner/desktop/logic/Logic.java
@@ -5,6 +5,7 @@
 
 import org.droidplanner.core.MAVLink.MavLinkMsgHandler;
 import org.droidplanner.core.drone.DroneImpl;
+import org.droidplanner.core.drone.DroneInterfaces.Handler;
 import org.droidplanner.core.gcs.follow.Follow;
 import org.droidplanner.core.model.Drone;
 import org.droidplanner.desktop.communication.Connection;
@@ -18,12 +19,13 @@ public class Logic implements Runnable {
 	public Follow follow;
 	private MavLinkMsgHandler mavlinkHandler;
 	protected Connection link = new Connection(14550);
+	
 
 	public Logic() {
-		drone = new DroneImpl(link, FakeFactory.fakeClock(), FakeFactory.fakeHandler(),
-				FakeFactory.fakePreferences());
+		Handler handler = new org.droidplanner.desktop.logic.Handler();
+		drone = new DroneImpl(link, new Clock(), handler,FakeFactory.fakePreferences());
 		mavlinkHandler = new MavLinkMsgHandler(drone);
-		follow = new Follow(drone, FakeFactory.fakeHandler(), new FakeLocation());
+		follow = new Follow(drone, handler, new FakeLocation());
 	}
 
 	@Override
@@ -49,4 +51,5 @@ public void run() {
 		System.out.println("Closing socket");
 		link.socket.close();
 	}
+	
 }
\ No newline at end of file
diff --git a/Desktop/src/org/droidplanner/desktop/ui/MagnetometerCal.java b/Desktop/src/org/droidplanner/desktop/ui/MagnetometerCal.java
new file mode 100644
index 0000000000..f9cd90ef35
--- /dev/null
+++ b/Desktop/src/org/droidplanner/desktop/ui/MagnetometerCal.java
@@ -0,0 +1,167 @@
+package org.droidplanner.desktop.ui;
+
+import java.awt.BorderLayout;
+import java.awt.Canvas;
+import java.awt.Dimension;
+import java.awt.Graphics;
+import java.util.ArrayList;
+import java.util.List;
+
+import javax.swing.JFrame;
+
+import org.droidplanner.core.drone.variables.helpers.MagnetometerCalibration;
+import org.droidplanner.core.drone.variables.helpers.MagnetometerCalibration.OnMagCalibrationListener;
+import org.droidplanner.desktop.logic.Handler;
+import org.droidplanner.desktop.ui.widgets.GraphPanel;
+
+import ellipsoidFit.FitPoints;
+import ellipsoidFit.ThreeSpacePoint;
+
+public class MagnetometerCal implements OnMagCalibrationListener {
+	private static final int Y_SIZE = 600;
+	private static final int X_SIZE = 600;
+	private static MagnetometerCalibration cal;
+	private List<Float> data1 = new ArrayList<Float>(), data2 = new ArrayList<Float>();
+	public GraphPanel graph;
+	private ScatterPlot plot1, plot2;
+
+	public MagnetometerCal() {
+
+		JFrame frame = new JFrame("Parameters");
+		frame.setLayout(new BorderLayout());
+		plot1 = new ScatterPlot("XZ");
+		plot1.setPreferredSize(new Dimension(X_SIZE / 2, Y_SIZE / 2));
+		plot2 = new ScatterPlot("YZ");
+		plot2.setPreferredSize(new Dimension(X_SIZE / 2, Y_SIZE / 2));
+		frame.setPreferredSize(new Dimension(X_SIZE, Y_SIZE));
+		frame.add(plot1, BorderLayout.EAST);
+		frame.add(plot2);
+		frame.pack();
+		frame.setVisible(true);
+	}
+
+	static void create(org.droidplanner.core.model.Drone drone) {
+		MagnetometerCal window = new MagnetometerCal();
+		cal = new MagnetometerCalibration(drone, window, new Handler());
+		cal.start(null);
+	}
+
+	@Override
+	public void newEstimation(FitPoints ellipsoidFit, List<ThreeSpacePoint> points) {
+        final int sampleSize = points.size();
+        final ThreeSpacePoint magVector = points.get(sampleSize - 1);
+        
+		System.out.println(String.format("Sample %d\traw %03d %03d %03d\tFit %2.1f \tCenter %s\tRadius %s",
+				sampleSize, (int) magVector.x, (int) magVector.y, (int) magVector.z, ellipsoidFit.getFitness() * 100,
+				ellipsoidFit.center.toString(), ellipsoidFit.radii.toString()));
+		
+		data1.add((float) magVector.x);
+		data1.add((float) magVector.z);
+		plot1.newDataSet((Float[]) data1.toArray(new Float[data1.size()]));
+		if (ellipsoidFit.center.isNaN() || ellipsoidFit.radii.isNaN()) {
+			plot1.updateSphere(null);
+		} else {
+			plot1.updateSphere(new int[] { (int) ellipsoidFit.center.getEntry(0),
+					(int) ellipsoidFit.center.getEntry(2), (int) ellipsoidFit.radii.getEntry(0),
+					(int) ellipsoidFit.radii.getEntry(2) });
+		}
+
+		data2.add((float) magVector.y);
+		data2.add((float) magVector.z);
+		plot2.newDataSet((Float[]) data2.toArray(new Float[data2.size()]));
+		if (ellipsoidFit.center.isNaN() || ellipsoidFit.radii.isNaN()) {
+			plot2.updateSphere(null);
+		} else {
+			plot2.updateSphere(new int[] { (int) ellipsoidFit.center.getEntry(1),
+					(int) ellipsoidFit.center.getEntry(2), (int) ellipsoidFit.radii.getEntry(1),
+					(int) ellipsoidFit.radii.getEntry(2) });
+		}
+		
+		plot1.repaint(100);
+		plot2.repaint(100);
+
+	}
+
+	@Override
+	public void finished(FitPoints fit) {
+		try {
+			cal.sendOffsets();
+		} catch (Exception e) {
+			e.printStackTrace();
+		}
+		cal.stop();
+		System.out.println("Calibration Finished: "+fit.center.toString());
+	}
+
+	public class ScatterPlot extends Canvas {
+		private static final long serialVersionUID = 1L;
+
+		private static final float SCALE_FACTOR = 1 / 1000f;
+
+		private Float[] points = new Float[] {};
+
+		private int[] sphere = null;
+
+		private int halfWidth, halfHeight, halfScale;
+
+		private String title;
+
+		public ScatterPlot(String title){
+			this.title = title;
+		}
+		
+		public void newDataSet(Float[] array) {
+			points = array;
+		}
+
+		public void updateSphere(int[] sphere) {
+			this.sphere = sphere;
+		}
+		
+		@Override
+		public void paint(Graphics canvas) {
+
+			halfWidth = this.getWidth() / 2;
+			halfHeight = this.getHeight() / 2;
+			halfScale = (halfHeight > halfWidth) ? halfWidth : halfHeight;
+
+			canvas.drawString(title, 0, 0);
+
+			// Draw the graph lines
+			canvas.drawLine(halfWidth, 0, halfWidth, halfHeight * 2);
+			canvas.drawLine(0, halfHeight, halfWidth * 2, halfHeight);
+
+			// Draw the points
+			int x = 0, y = 0;
+			for (int i = 0; i < points.length; i += 2) {
+				x = mapToImgX(points[i + 0]);
+				y = mapToImgY(points[i + 1]);
+				canvas.drawOval(x, y, 2, 2);
+			}
+			canvas.drawOval(x - 5 / 2, y - 5 / 2, 5, 5);
+
+			// Draw the estimated Sphere
+			if (sphere != null) {
+				x = mapToImgX(sphere[0]);
+				y = mapToImgY(sphere[1]);
+				int width = (int) scale(sphere[2]);
+				int height = (int) scale(sphere[3]);
+				canvas.drawOval(x - width, y - height, width * 2, height * 2);
+			}
+		}
+
+		private int mapToImgX(float coord) {
+			return (int) (scale(coord) + halfWidth);
+		}
+
+		private int mapToImgY(float coord) {
+			return (int) (-scale(coord) + halfHeight);
+		}
+
+		private float scale(float value) {
+			return SCALE_FACTOR * halfScale * value;
+		}
+
+	}
+
+}
\ No newline at end of file
diff --git a/Desktop/src/org/droidplanner/desktop/ui/Map.java b/Desktop/src/org/droidplanner/desktop/ui/Map.java
index 4d890b2e72..5a7721513a 100644
--- a/Desktop/src/org/droidplanner/desktop/ui/Map.java
+++ b/Desktop/src/org/droidplanner/desktop/ui/Map.java
@@ -48,7 +48,9 @@ public void onDroneEvent(DroneEventsType event, org.droidplanner.core.model.Dron
 			map.repaint();
 			break;
 		case HEARTBEAT_FIRST:
-			map.setDisplayPosition(new Coordinate(position.getLat(), position.getLng()), 17);
+			if (map!=null) {
+				map.setDisplayPosition(new Coordinate(position.getLat(), position.getLng()), 17);				
+			}
 			break;
 		case MISSION_RECEIVED:
 			for (MissionItem item : drone.getMission().getItems()) {
diff --git a/Desktop/src/org/droidplanner/desktop/ui/Menu.java b/Desktop/src/org/droidplanner/desktop/ui/Menu.java
index 2e3717baf5..d0baeb5f72 100644
--- a/Desktop/src/org/droidplanner/desktop/ui/Menu.java
+++ b/Desktop/src/org/droidplanner/desktop/ui/Menu.java
@@ -16,7 +16,7 @@ public class Menu extends JMenuBar implements ActionListener {
 
 	public enum DroneMenu {
 		LOAD_MISSION("Load Mission"), LOAD_PARAMETERS("Load Parameters"), FOLLOW("Follow"), GRAPH(
-				"Graph");
+				"Graph"), MAG("Magnetometer Calibration");
 		private String text;
 
 		private DroneMenu(String text) {
@@ -57,7 +57,10 @@ public void actionPerformed(ActionEvent e) {
 			follow.toggleFollowMeState();
 		} else if (e.getActionCommand().equalsIgnoreCase(DroneMenu.GRAPH.toString())) {
 			Graph.createGraph(drone);
+		} else if (e.getActionCommand().equalsIgnoreCase(DroneMenu.MAG.toString())) {
+			MagnetometerCal.create(drone);
 		}
+
 	}
 
 }
diff --git a/Libraries/AndroidSlidingUpPanel-2.0.2/library/.classpath b/Libraries/AndroidSlidingUpPanel-2.0.2/library/.classpath
index 7bc01d9a9c..51769745b2 100644
--- a/Libraries/AndroidSlidingUpPanel-2.0.2/library/.classpath
+++ b/Libraries/AndroidSlidingUpPanel-2.0.2/library/.classpath
@@ -1,9 +1,9 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-	<classpathentry kind="src" path="src"/>
-	<classpathentry kind="src" path="gen"/>
 	<classpathentry kind="con" path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/>
 	<classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.LIBRARIES"/>
 	<classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.DEPENDENCIES"/>
+	<classpathentry kind="src" path="src"/>
+	<classpathentry kind="src" path="gen"/>
 	<classpathentry kind="output" path="bin/classes"/>
 </classpath>
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/.classpath b/Libraries/EllipsoidFit/EllipsoidFit/.classpath
new file mode 100644
index 0000000000..77bfa0eb54
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/.classpath
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.7"/>
+	<classpathentry kind="con" path="org.eclipse.jdt.junit.JUNIT_CONTAINER/3"/>
+	<classpathentry kind="con" path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/>
+	<classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.LIBRARIES"/>
+	<classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.DEPENDENCIES"/>
+	<classpathentry kind="src" path="src"/>
+	<classpathentry kind="src" path="gen"/>
+	<classpathentry kind="output" path="bin/classes"/>
+</classpath>
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/.codepro/deadCodeEntryPoints.xml b/Libraries/EllipsoidFit/EllipsoidFit/.codepro/deadCodeEntryPoints.xml
new file mode 100644
index 0000000000..03bb4dabe7
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/.codepro/deadCodeEntryPoints.xml
@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!-- Generated by Code Pro -->
+<entry-points
+		version="1">
+	<explicit-entry-points>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java"/>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java%ellipsoidFit"/>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java#"/>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java#java.util.ArrayList"/>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java#java.util.Arrays"/>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java#org.apache.commons.math3.linear.Array2DRowRealMatrix"/>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java#org.apache.commons.math3.linear.ArrayRealVector"/>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java#org.apache.commons.math3.linear.DecompositionSolver"/>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java#org.apache.commons.math3.linear.EigenDecomposition"/>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java#org.apache.commons.math3.linear.MatrixUtils"/>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java#org.apache.commons.math3.linear.RealMatrix"/>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java#org.apache.commons.math3.linear.RealVector"/>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java#org.apache.commons.math3.linear.SingularValueDecomposition"/>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java[FitPoints"/>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java[FitPoints~fitEllipsoid~QArrayList\&lt;QThreeSpacePoint;&gt;;"/>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java[FitPoints~solveSystem~QArrayList\&lt;QThreeSpacePoint;&gt;;"/>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java[FitPoints~formAlgebraicMatrix~QRealVector;"/>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java[FitPoints~findCenter~QRealMatrix;"/>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java[FitPoints~translateToCenter~QRealVector;~QRealMatrix;"/>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java[FitPoints~findRadii~\[D"/>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java[FitPoints~printLog"/>
+		<explicit-entry-point
+				handle="=EllipsoidFit/src&lt;ellipsoidFit{FitPoints.java[FitPoints~getFitness"/>
+	</explicit-entry-points>
+	<include-main
+			enabled="true"/>
+	<include-tests
+			enabled="false"/>
+	<include-xml
+			enabled="true"/>
+</entry-points>
\ No newline at end of file
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/.gitignore b/Libraries/EllipsoidFit/EllipsoidFit/.gitignore
new file mode 100644
index 0000000000..ae3c172604
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/.gitignore
@@ -0,0 +1 @@
+/bin/
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/.project b/Libraries/EllipsoidFit/EllipsoidFit/.project
new file mode 100644
index 0000000000..14d0e5e7a7
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/.project
@@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>EllipsoidFit</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>com.android.ide.eclipse.adt.ResourceManagerBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>com.android.ide.eclipse.adt.PreCompilerBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>com.android.ide.eclipse.adt.ApkBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>com.android.ide.eclipse.adt.AndroidNature</nature>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+	</natures>
+</projectDescription>
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/.settings/org.eclipse.jdt.core.prefs b/Libraries/EllipsoidFit/EllipsoidFit/.settings/org.eclipse.jdt.core.prefs
new file mode 100644
index 0000000000..838bd9d694
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/.settings/org.eclipse.jdt.core.prefs
@@ -0,0 +1,11 @@
+eclipse.preferences.version=1
+org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.7
+org.eclipse.jdt.core.compiler.codegen.unusedLocal=preserve
+org.eclipse.jdt.core.compiler.compliance=1.7
+org.eclipse.jdt.core.compiler.debug.lineNumber=generate
+org.eclipse.jdt.core.compiler.debug.localVariable=generate
+org.eclipse.jdt.core.compiler.debug.sourceFile=generate
+org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
+org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
+org.eclipse.jdt.core.compiler.source=1.7
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/AndroidManifest.xml b/Libraries/EllipsoidFit/EllipsoidFit/AndroidManifest.xml
new file mode 100644
index 0000000000..91c5d83745
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/AndroidManifest.xml
@@ -0,0 +1 @@
+<manifest package="org.droidplanner.core"/>
\ No newline at end of file
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/build.gradle b/Libraries/EllipsoidFit/EllipsoidFit/build.gradle
new file mode 100644
index 0000000000..45d1e17d80
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/build.gradle
@@ -0,0 +1,8 @@
+apply plugin: 'java'
+
+sourceSets {
+    main {
+        java.srcDirs = ['src']
+    }
+}
+
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/licence/The Apache Software License, Version 2.0 b/Libraries/EllipsoidFit/EllipsoidFit/licence/The Apache Software License, Version 2.0
new file mode 100644
index 0000000000..af1ec010b5
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/licence/The Apache Software License, Version 2.0	
@@ -0,0 +1,201 @@
+                    Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
\ No newline at end of file
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/project.properties b/Libraries/EllipsoidFit/EllipsoidFit/project.properties
new file mode 100644
index 0000000000..93c8c3c08d
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/project.properties
@@ -0,0 +1,15 @@
+# This file is automatically generated by Android Tools.
+# Do not modify this file -- YOUR CHANGES WILL BE ERASED!
+#
+# This file must be checked in Version Control Systems.
+#
+# To customize properties used by the Ant build system edit
+# "ant.properties", and override values to adapt the script to your
+# project structure.
+#
+# To enable ProGuard to shrink and obfuscate your code, uncomment this (available properties: sdk.dir, user.home):
+#proguard.config=${sdk.dir}/tools/proguard/proguard-android.txt:proguard-project.txt
+
+# Project target.
+target=android-21
+android.library=true
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/ellipsoidFit/FitPoints.java b/Libraries/EllipsoidFit/EllipsoidFit/src/ellipsoidFit/FitPoints.java
new file mode 100644
index 0000000000..17acc1f637
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/ellipsoidFit/FitPoints.java
@@ -0,0 +1,293 @@
+package ellipsoidFit;
+
+import java.util.ArrayList;
+import java.util.Arrays;
+
+import org.apache.commons.math3.linear.Array2DRowRealMatrix;
+import org.apache.commons.math3.linear.ArrayRealVector;
+import org.apache.commons.math3.linear.DecompositionSolver;
+import org.apache.commons.math3.linear.EigenDecomposition;
+import org.apache.commons.math3.linear.MatrixUtils;
+import org.apache.commons.math3.linear.RealMatrix;
+import org.apache.commons.math3.linear.RealVector;
+import org.apache.commons.math3.linear.SingularValueDecomposition;
+
+/**
+ * Determines the center, radii, eigenvalues and eigenvectors of the ellipse
+ * using an algorithm from Yury Petrov's Ellipsoid Fit MATLAB script. The
+ * algorithm fits points from an ellipsoid to the polynomial expression Ax^2 +
+ * By^2 + Cz^2 + 2Dxy + 2Exz + 2Fyz + 2Gx + 2Hy + 2Iz = 1. The polynomial
+ * expression is then solved and the center and radii of the ellipse are
+ * determined.
+ * 
+ * Caveat Emptor: The polynomial expression not guaranteed to be one of an
+ * ellipsoid. It could result in any quadric (hyperboloid, paraboloid, etc). If
+ * the data is to sparse, the values of the eigenvectors could be reversed
+ * resulting in a fit that is not an ellipsoid.
+ * 
+ * Apache License Version 2.0, January 2004.
+ * 
+ * @author Kaleb
+ * @version 1.0
+ * @see http://www.mathworks.com/matlabcentral/fileexchange/24693-ellipsoid-fit
+ * 
+ */
+public class FitPoints
+{
+	public RealVector center;
+	public RealVector radii;
+	public RealVector evecs;
+	public RealVector evecs1;
+	public RealVector evecs2;
+
+	public double[] evals;
+	
+	/**
+	 * Fit points to the polynomial expression Ax^2 + By^2 + Cz^2 + 2Dxy + 2Exz
+	 * + 2Fyz + 2Gx + 2Hy + 2Iz = 1 and determine the center and radii of the
+	 * fit ellipsoid.
+	 * 
+	 * @param points
+	 *            the points to be fit to the ellipsoid.
+	 */
+	public void fitEllipsoid(ArrayList<ThreeSpacePoint> points)
+	{
+		// Fit the points to Ax^2 + By^2 + Cz^2 + 2Dxy + 2Exz
+		// + 2Fyz + 2Gx + 2Hy + 2Iz = 1 and solve the system.
+		// v = (( d' * d )^-1) * ( d' * ones.mapAddToSelf(1));
+		RealVector v = solveSystem(points);
+
+		// Form the algebraic form of the ellipsoid.
+		RealMatrix a = formAlgebraicMatrix(v);
+
+		// Find the center of the ellipsoid.
+		center = findCenter(a);
+
+		// Translate the algebraic form of the ellipsoid to the center.
+		RealMatrix r = translateToCenter(center, a);
+
+		// Generate a submatrix of r.
+		RealMatrix subr = r.getSubMatrix(0, 2, 0, 2);
+
+		// subr[i][j] = subr[i][j] / -r[3][3]).
+		double divr = -r.getEntry(3, 3);
+		for (int i = 0; i < subr.getRowDimension(); i++)
+		{
+			for (int j = 0; j < subr.getRowDimension(); j++)
+			{
+				subr.setEntry(i, j, subr.getEntry(i, j) / divr);
+			}
+		}
+
+		// Get the eigenvalues and eigenvectors.
+		EigenDecomposition ed = new EigenDecomposition(subr, 0);
+		evals = ed.getRealEigenvalues();
+		evecs = ed.getEigenvector(0);
+		evecs1 = ed.getEigenvector(1);
+		evecs2 = ed.getEigenvector(2);
+
+		// Find the radii of the ellipsoid.
+		radii = findRadii(evals);
+	}
+
+	/**
+	 * Solve the polynomial expression Ax^2 + By^2 + Cz^2 + 2Dxy + 2Exz + 2Fyz +
+	 * 2Gx + 2Hy + 2Iz from the provided points.
+	 * 
+	 * @param points
+	 *            the points that will be fit to the polynomial expression.
+	 * @return the solution vector to the polynomial expression.
+	 */
+	private RealVector solveSystem(ArrayList<ThreeSpacePoint> points)
+	{
+		// determine the number of points
+		int numPoints = points.size();
+
+		// the design matrix
+		// size: numPoints x 9
+		RealMatrix d = new Array2DRowRealMatrix(numPoints, 9);
+
+		// Fit the ellipsoid in the form of
+		// Ax^2 + By^2 + Cz^2 + 2Dxy + 2Exz + 2Fyz + 2Gx + 2Hy + 2Iz
+		for (int i = 0; i < d.getRowDimension(); i++)
+		{
+			double xx = Math.pow(points.get(i).x, 2);
+			double yy = Math.pow(points.get(i).y, 2);
+			double zz = Math.pow(points.get(i).z, 2);
+			double xy = 2 * (points.get(i).x * points.get(i).y);
+			double xz = 2 * (points.get(i).x * points.get(i).z);
+			double yz = 2 * (points.get(i).y * points.get(i).z);
+			double x = 2 * points.get(i).x;
+			double y = 2 * points.get(i).y;
+			double z = 2 * points.get(i).z;
+
+			d.setEntry(i, 0, xx);
+			d.setEntry(i, 1, yy);
+			d.setEntry(i, 2, zz);
+			d.setEntry(i, 3, xy);
+			d.setEntry(i, 4, xz);
+			d.setEntry(i, 5, yz);
+			d.setEntry(i, 6, x);
+			d.setEntry(i, 7, y);
+			d.setEntry(i, 8, z);
+		}
+
+		// solve the normal system of equations
+		// v = (( d' * d )^-1) * ( d' * ones.mapAddToSelf(1));
+
+		// Multiply: d' * d
+		RealMatrix dtd = d.transpose().multiply(d);
+
+		// Create a vector of ones.
+		RealVector ones = new ArrayRealVector(numPoints);
+		ones.mapAddToSelf(1);
+
+		// Multiply: d' * ones.mapAddToSelf(1)
+		RealVector dtOnes = d.transpose().operate(ones);
+
+		// Find ( d' * d )^-1
+		DecompositionSolver solver = new SingularValueDecomposition(dtd)
+				.getSolver();
+		RealMatrix dtdi = solver.getInverse();
+
+		// v = (( d' * d )^-1) * ( d' * ones.mapAddToSelf(1));
+		RealVector v = dtdi.operate(dtOnes);
+
+		return v;
+	}
+
+	/**
+	 * Create a matrix in the algebraic form of the polynomial Ax^2 + By^2 +
+	 * Cz^2 + 2Dxy + 2Exz + 2Fyz + 2Gx + 2Hy + 2Iz = 1.
+	 * 
+	 * @param v
+	 *            the vector polynomial.
+	 * @return the matrix of the algebraic form of the polynomial.
+	 */
+	private RealMatrix formAlgebraicMatrix(RealVector v)
+	{
+		// a =
+		// [ Ax^2 2Dxy 2Exz 2Gx ]
+		// [ 2Dxy By^2 2Fyz 2Hy ]
+		// [ 2Exz 2Fyz Cz^2 2Iz ]
+		// [ 2Gx 2Hy 2Iz -1 ] ]
+		RealMatrix a = new Array2DRowRealMatrix(4, 4);
+
+		a.setEntry(0, 0, v.getEntry(0));
+		a.setEntry(0, 1, v.getEntry(3));
+		a.setEntry(0, 2, v.getEntry(4));
+		a.setEntry(0, 3, v.getEntry(6));
+		a.setEntry(1, 0, v.getEntry(3));
+		a.setEntry(1, 1, v.getEntry(1));
+		a.setEntry(1, 2, v.getEntry(5));
+		a.setEntry(1, 3, v.getEntry(7));
+		a.setEntry(2, 0, v.getEntry(4));
+		a.setEntry(2, 1, v.getEntry(5));
+		a.setEntry(2, 2, v.getEntry(2));
+		a.setEntry(2, 3, v.getEntry(8));
+		a.setEntry(3, 0, v.getEntry(6));
+		a.setEntry(3, 1, v.getEntry(7));
+		a.setEntry(3, 2, v.getEntry(8));
+		a.setEntry(3, 3, -1);
+
+		return a;
+	}
+
+	/**
+	 * Find the center of the ellipsoid.
+	 * 
+	 * @param a
+	 *            the algebraic from of the polynomial.
+	 * @return a vector containing the center of the ellipsoid.
+	 */
+	private RealVector findCenter(RealMatrix a)
+	{
+		RealMatrix subA = a.getSubMatrix(0, 2, 0, 2);
+
+		for (int q = 0; q < subA.getRowDimension(); q++)
+		{
+			for (int s = 0; s < subA.getColumnDimension(); s++)
+			{
+				subA.multiplyEntry(q, s, -1.0);
+			}
+		}
+
+		RealVector subV = a.getRowVector(3).getSubVector(0, 3);
+
+		// inv (dtd)
+		DecompositionSolver solver = new SingularValueDecomposition(subA)
+				.getSolver();
+		RealMatrix subAi = solver.getInverse();
+
+		return subAi.operate(subV);
+	}
+
+	/**
+	 * Translate the algebraic form of the ellipsoid to the center.
+	 * 
+	 * @param center
+	 *            vector containing the center of the ellipsoid.
+	 * @param a
+	 *            the algebraic form of the polynomial.
+	 * @return the center translated form of the algebraic ellipsoid.
+	 */
+	private RealMatrix translateToCenter(RealVector center, RealMatrix a)
+	{
+		// Form the corresponding translation matrix.
+		RealMatrix t = MatrixUtils.createRealIdentityMatrix(4);
+
+		RealMatrix centerMatrix = new Array2DRowRealMatrix(1, 3);
+
+		centerMatrix.setRowVector(0, center);
+
+		t.setSubMatrix(centerMatrix.getData(), 3, 0);
+
+		// Translate to the center.
+		RealMatrix r = t.multiply(a).multiply(t.transpose());
+
+		return r;
+	}
+
+
+	
+	/**
+	 * Find the radii of the ellipsoid in ascending order.
+	 * @param evals the eigenvalues of the ellipsoid.
+	 * @return the radii of the ellipsoid.
+	 */
+	private RealVector findRadii(double[] evals)
+	{
+		RealVector radii = new ArrayRealVector(evals.length);
+
+		// radii[i] = sqrt(1/eval[i]);
+		for (int i = 0; i < evals.length; i++)
+		{
+			radii.setEntry(i, Math.sqrt(1 / evals[i]));
+		}
+		
+		return radii;
+	}
+
+	private void printLog()
+	{
+		System.out.println("");
+	
+		for (int i = 0; i < evals.length; i++)
+		{
+			System.out.println(Arrays.toString(evals));
+		}
+		System.out.println(evecs.toString());
+		System.out.println(evecs1.toString());
+		System.out.println(evecs2.toString());
+
+		System.out.print("Center: " + center.toString());
+		System.out.print(" Radii: " + radii.toString());
+	}
+
+	public double getFitness() {
+		double x = evecs.getEntry(2);
+		double y = evecs1.getEntry(0);
+		double z = evecs2.getEntry(1);
+		return Math.sqrt(x*x+y*y+z*z)/Math.sqrt(3);
+	}
+}
\ No newline at end of file
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/ellipsoidFit/ThreeSpacePoint.java b/Libraries/EllipsoidFit/EllipsoidFit/src/ellipsoidFit/ThreeSpacePoint.java
new file mode 100644
index 0000000000..4e82f1f909
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/ellipsoidFit/ThreeSpacePoint.java
@@ -0,0 +1,30 @@
+package ellipsoidFit;
+
+/**
+ * A representation of a three space point with double precision.
+ * 
+ * Apache License Version 2.0, January 2004.
+ * 
+ * @author Kaleb
+ * @version 1.0
+ * 
+ */
+public class ThreeSpacePoint
+{
+	public double x;
+	public double y;
+	public double z;
+
+	/**
+	 * Instantiate a new object.
+	 * @param x the point on the x-axis
+	 * @param y the point on the y-axis
+	 * @param z the point on the z-axis
+	 */
+	public ThreeSpacePoint(double x, double y, double z)
+	{
+		this.x = x;
+		this.y = y;
+		this.z = z;
+	}
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/Field.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/Field.java
new file mode 100644
index 0000000000..379a092d36
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/Field.java
@@ -0,0 +1,59 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3;
+
+/**
+ * Interface representing a <a href="http://mathworld.wolfram.com/Field.html">field</a>.
+ * <p>
+ * Classes implementing this interface will often be singletons.
+ * </p>
+ * @param <T> the type of the field elements
+ * @see FieldElement
+ * @version $Id: Field.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public interface Field<T> {
+
+    /** Get the additive identity of the field.
+     * <p>
+     * The additive identity is the element e<sub>0</sub> of the field such that
+     * for all elements a of the field, the equalities a + e<sub>0</sub> =
+     * e<sub>0</sub> + a = a hold.
+     * </p>
+     * @return additive identity of the field
+     */
+    T getZero();
+
+    /** Get the multiplicative identity of the field.
+     * <p>
+     * The multiplicative identity is the element e<sub>1</sub> of the field such that
+     * for all elements a of the field, the equalities a &times; e<sub>1</sub> =
+     * e<sub>1</sub> &times; a = a hold.
+     * </p>
+     * @return multiplicative identity of the field
+     */
+    T getOne();
+
+    /**
+     * Returns the runtime class of the FieldElement.
+     *
+     * @return The {@code Class} object that represents the runtime
+     *         class of this object.
+     */
+    Class<? extends FieldElement<T>> getRuntimeClass();
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/FieldElement.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/FieldElement.java
new file mode 100644
index 0000000000..94d535e3b3
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/FieldElement.java
@@ -0,0 +1,79 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3;
+
+
+/**
+ * Interface representing <a href="http://mathworld.wolfram.com/Field.html">field</a> elements.
+ * @param <T> the type of the field elements
+ * @see Field
+ * @version $Id: FieldElement.java 1293898 2012-02-26 17:58:07Z celestin $
+ * @since 2.0
+ */
+public interface FieldElement<T> {
+
+    /** Compute this + a.
+     * @param a element to add
+     * @return a new element representing this + a
+     */
+    T add(T a);
+
+    /** Compute this - a.
+     * @param a element to subtract
+     * @return a new element representing this - a
+     */
+    T subtract(T a);
+
+    /**
+     * Returns the additive inverse of {@code this} element.
+     * @return the opposite of {@code this}.
+     */
+    T negate();
+
+    /** Compute n &times; this. Multiplication by an integer number is defined
+     * as the following sum
+     * <center>
+     * n &times; this = &sum;<sub>i=1</sub><sup>n</sup> this.
+     * </center>
+     * @param n Number of times {@code this} must be added to itself.
+     * @return A new element representing n &times; this.
+     */
+    T multiply(int n);
+
+    /** Compute this &times; a.
+     * @param a element to multiply
+     * @return a new element representing this &times; a
+     */
+    T multiply(T a);
+
+    /** Compute this &divide; a.
+     * @param a element to add
+     * @return a new element representing this &divide; a
+     */
+    T divide(T a);
+
+    /**
+     * Returns the multiplicative inverse of {@code this} element.
+     * @return the inverse of {@code this}.
+     */
+    T reciprocal();
+
+    /** Get the {@link Field} to which the instance belongs.
+     * @return {@link Field} to which the instance belongs
+     */
+    Field<T> getField();
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/BivariateFunction.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/BivariateFunction.java
new file mode 100644
index 0000000000..1537ec3a3f
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/BivariateFunction.java
@@ -0,0 +1,36 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis;
+
+/**
+ * An interface representing a bivariate real function.
+ *
+ * @since 2.1
+ * @version $Id: BivariateFunction.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public interface BivariateFunction {
+    /**
+     * Compute the value for the function.
+     *
+     * @param x Abscissa for which the function value should be computed.
+     * @param y Ordinate for which the function value should be computed.
+     * @return the value.
+     */
+    double value(double x, double y);
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/DifferentiableMultivariateFunction.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/DifferentiableMultivariateFunction.java
new file mode 100644
index 0000000000..5ae626b43a
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/DifferentiableMultivariateFunction.java
@@ -0,0 +1,51 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis;
+
+/**
+ * Extension of {@link MultivariateFunction} representing a differentiable
+ * multivariate real function.
+ * @version $Id: DifferentiableMultivariateFunction.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public interface DifferentiableMultivariateFunction extends MultivariateFunction {
+
+    /**
+     * Returns the partial derivative of the function with respect to a point coordinate.
+     * <p>
+     * The partial derivative is defined with respect to point coordinate
+     * x<sub>k</sub>. If the partial derivatives with respect to all coordinates are
+     * needed, it may be more efficient to use the {@link #gradient()} method which will
+     * compute them all at once.
+     * </p>
+     * @param k index of the coordinate with respect to which the partial
+     * derivative is computed
+     * @return the partial derivative function with respect to k<sup>th</sup> point coordinate
+     */
+    MultivariateFunction partialDerivative(int k);
+
+    /**
+     * Returns the gradient function.
+     * <p>If only one partial derivative with respect to a specific coordinate is
+     * needed, it may be more efficient to use the {@link #partialDerivative(int)} method
+     * which will compute only the specified component.</p>
+     * @return the gradient function
+     */
+    MultivariateVectorFunction gradient();
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/DifferentiableMultivariateVectorFunction.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/DifferentiableMultivariateVectorFunction.java
new file mode 100644
index 0000000000..c35562ae2b
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/DifferentiableMultivariateVectorFunction.java
@@ -0,0 +1,36 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis;
+
+
+/**
+ * Extension of {@link MultivariateVectorFunction} representing a differentiable
+ * multivariate vectorial function.
+ * @version $Id: DifferentiableMultivariateVectorFunction.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public interface DifferentiableMultivariateVectorFunction
+    extends MultivariateVectorFunction {
+
+    /**
+     * Returns the jacobian function.
+     * @return the jacobian function
+     */
+    MultivariateMatrixFunction jacobian();
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/DifferentiableUnivariateFunction.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/DifferentiableUnivariateFunction.java
new file mode 100644
index 0000000000..654ecba736
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/DifferentiableUnivariateFunction.java
@@ -0,0 +1,34 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.analysis;
+
+/**
+ * Extension of {@link UnivariateFunction} representing a differentiable univariate real function.
+ *
+ * @version $Id: DifferentiableUnivariateFunction.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public interface DifferentiableUnivariateFunction
+    extends UnivariateFunction {
+
+    /**
+     * Returns the derivative of the function
+     *
+     * @return  the derivative function
+     */
+    UnivariateFunction derivative();
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/DifferentiableUnivariateMatrixFunction.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/DifferentiableUnivariateMatrixFunction.java
new file mode 100644
index 0000000000..52725dd902
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/DifferentiableUnivariateMatrixFunction.java
@@ -0,0 +1,35 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.analysis;
+
+/**
+ * Extension of {@link UnivariateMatrixFunction} representing a differentiable univariate matrix function.
+ *
+ * @version $Id: DifferentiableUnivariateMatrixFunction.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public interface DifferentiableUnivariateMatrixFunction
+    extends UnivariateMatrixFunction {
+
+    /**
+     * Returns the derivative of the function
+     *
+     * @return  the derivative function
+     */
+    UnivariateMatrixFunction derivative();
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/DifferentiableUnivariateVectorFunction.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/DifferentiableUnivariateVectorFunction.java
new file mode 100644
index 0000000000..3ea1db1166
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/DifferentiableUnivariateVectorFunction.java
@@ -0,0 +1,35 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.analysis;
+
+/**
+ * Extension of {@link UnivariateVectorFunction} representing a differentiable univariate vectorial function.
+ *
+ * @version $Id: DifferentiableUnivariateVectorFunction.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public interface DifferentiableUnivariateVectorFunction
+    extends UnivariateVectorFunction {
+
+    /**
+     * Returns the derivative of the function
+     *
+     * @return  the derivative function
+     */
+    UnivariateVectorFunction derivative();
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/FunctionUtils.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/FunctionUtils.java
new file mode 100644
index 0000000000..b7841a0eca
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/FunctionUtils.java
@@ -0,0 +1,336 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis;
+
+import org.apache.commons.math3.analysis.function.Identity;
+import org.apache.commons.math3.exception.NotStrictlyPositiveException;
+import org.apache.commons.math3.exception.NumberIsTooLargeException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Utilities for manipulating function objects.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class FunctionUtils {
+    /**
+     * Class only contains static methods.
+     */
+    private FunctionUtils() {}
+
+    /**
+     * Compose functions.  The functions in the argument list are composed
+     * sequentially, in the order given.  For example, compose(f1,f2,f3)
+     * acts like f1(f2(f3(x))).
+     *
+     * @param f List of functions.
+     * @return the composite function.
+     */
+    public static UnivariateFunction compose(final UnivariateFunction ... f) {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                double r = x;
+                for (int i = f.length - 1; i >= 0; i--) {
+                    r = f[i].value(r);
+                }
+                return r;
+            }
+        };
+    }
+
+    /**
+     * Compose functions.  The functions in the argument list are composed
+     * sequentially, in the order given.  For example, compose(f1,f2,f3)
+     * acts like f1(f2(f3(x))).
+     *
+     * @param f List of functions.
+     * @return the composite function.
+     */
+    public static DifferentiableUnivariateFunction compose(final DifferentiableUnivariateFunction ... f) {
+        return new DifferentiableUnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                double r = x;
+                for (int i = f.length - 1; i >= 0; i--) {
+                    r = f[i].value(r);
+                }
+                return r;
+            }
+
+            /** {@inheritDoc} */
+            public UnivariateFunction derivative() {
+                return new UnivariateFunction() {
+                    /** {@inheritDoc} */
+                    public double value(double x) {
+                        double p = 1;
+                        double r = x;
+                        for (int i = f.length - 1; i >= 0; i--) {
+                            p *= f[i].derivative().value(r);
+                            r = f[i].value(r);
+                        }
+                        return p;
+                    }
+                };
+            }
+        };
+    }
+
+    /**
+     * Add functions.
+     *
+     * @param f List of functions.
+     * @return a function that computes the sum of the functions.
+     */
+    public static UnivariateFunction add(final UnivariateFunction ... f) {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                double r = f[0].value(x);
+                for (int i = 1; i < f.length; i++) {
+                    r += f[i].value(x);
+                }
+                return r;
+            }
+        };
+    }
+
+    /**
+     * Add functions.
+     *
+     * @param f List of functions.
+     * @return a function that computes the sum of the functions.
+     */
+    public static DifferentiableUnivariateFunction add(final DifferentiableUnivariateFunction ... f) {
+        return new DifferentiableUnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                double r = f[0].value(x);
+                for (int i = 1; i < f.length; i++) {
+                    r += f[i].value(x);
+                }
+                return r;
+            }
+
+            /** {@inheritDoc} */
+            public UnivariateFunction derivative() {
+                return new UnivariateFunction() {
+                    /** {@inheritDoc} */
+                    public double value(double x) {
+                        double r = f[0].derivative().value(x);
+                        for (int i = 1; i < f.length; i++) {
+                            r += f[i].derivative().value(x);
+                        }
+                        return r;
+                    }
+                };
+            }
+        };
+    }
+
+    /**
+     * Multiply functions.
+     *
+     * @param f List of functions.
+     * @return a function that computes the product of the functions.
+     */
+    public static UnivariateFunction multiply(final UnivariateFunction ... f) {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                double r = f[0].value(x);
+                for (int i = 1; i < f.length; i++) {
+                    r *= f[i].value(x);
+                }
+                return r;
+            }
+        };
+    }
+
+    /**
+     * Multiply functions.
+     *
+     * @param f List of functions.
+     * @return a function that computes the product of the functions.
+     */
+    public static DifferentiableUnivariateFunction multiply(final DifferentiableUnivariateFunction ... f) {
+        return new DifferentiableUnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                double r = f[0].value(x);
+                for (int i = 1; i < f.length; i++) {
+                    r *= f[i].value(x);
+                }
+                return r;
+            }
+
+            /** {@inheritDoc} */
+            public UnivariateFunction derivative() {
+                return new UnivariateFunction() {
+                    /** {@inheritDoc} */
+                    public double value(double x) {
+                        double sum = 0;
+                        for (int i = 0; i < f.length; i++) {
+                            double prod = f[i].derivative().value(x);
+                            for (int j = 0; j < f.length; j++) {
+                                if (i != j) {
+                                    prod *= f[j].value(x);
+                                }
+                            }
+                            sum += prod;
+                        }
+                        return sum;
+                    }
+                };
+            }
+        };
+    }
+
+    /**
+     * Returns the univariate function <br/>
+     * {@code h(x) = combiner(f(x), g(x))}.
+     *
+     * @param combiner Combiner function.
+     * @param f Function.
+     * @param g Function.
+     * @return the composite function.
+     */
+    public static UnivariateFunction combine(final BivariateFunction combiner,
+                                                 final UnivariateFunction f,
+                                                 final UnivariateFunction g) {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                return combiner.value(f.value(x), g.value(x));
+            }
+        };
+    }
+
+    /**
+     * Returns a MultivariateFunction h(x[]) defined by <pre> <code>
+     * h(x[]) = combiner(...combiner(combiner(initialValue,f(x[0])),f(x[1]))...),f(x[x.length-1]))
+     * </code></pre>
+     *
+     * @param combiner Combiner function.
+     * @param f Function.
+     * @param initialValue Initial value.
+     * @return a collector function.
+     */
+    public static MultivariateFunction collector(final BivariateFunction combiner,
+                                                     final UnivariateFunction f,
+                                                     final double initialValue) {
+        return new MultivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double[] point) {
+                double result = combiner.value(initialValue, f.value(point[0]));
+                for (int i = 1; i < point.length; i++) {
+                    result = combiner.value(result, f.value(point[i]));
+                }
+                return result;
+            }
+        };
+    }
+
+    /**
+     * Returns a MultivariateFunction h(x[]) defined by <pre> <code>
+     * h(x[]) = combiner(...combiner(combiner(initialValue,x[0]),x[1])...),x[x.length-1])
+     * </code></pre>
+     *
+     * @param combiner Combiner function.
+     * @param initialValue Initial value.
+     * @return a collector function.
+     */
+    public static MultivariateFunction collector(final BivariateFunction combiner,
+                                                     final double initialValue) {
+        return collector(combiner, new Identity(), initialValue);
+    }
+
+    /**
+     * Create a unary function by fixing the first argument of a binary function.
+     *
+     * @param f Binary function.
+     * @param fixed Value to which the first argument of {@code f} is set.
+     * @return the unary function h(x) = f(fixed, x)
+     */
+    public static UnivariateFunction fix1stArgument(final BivariateFunction f,
+                                                        final double fixed) {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                return f.value(fixed, x);
+            }
+        };
+    }
+    /**
+     * Create a unary function by fixing the second argument of a binary function.
+     *
+     * @param f Binary function.
+     * @param fixed Value to which the second argument of {@code f} is set.
+     * @return the unary function h(x) = f(x, fixed)
+     */
+    public static UnivariateFunction fix2ndArgument(final BivariateFunction f,
+                                                        final double fixed) {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                return f.value(x, fixed);
+            }
+        };
+    }
+
+    /**
+     * <p>
+     * Samples the specified univariate real function on the specified interval.
+     * </p>
+     * <p>
+     * The interval is divided equally into {@code n} sections and sample points
+     * are taken from {@code min} to {@code max - (max - min) / n}; therefore
+     * {@code f} is not sampled at the upper bound {@code max}.
+     * </p>
+     *
+     * @param f the function to be sampled
+     * @param min the (inclusive) lower bound of the interval
+     * @param max the (exclusive) upper bound of the interval
+     * @param n the number of sample points
+     * @return the array of samples
+     * @throws NumberIsTooLargeException if the lower bound {@code min} is
+     * greater than, or equal to the upper bound {@code max}
+     * @throws NotStrictlyPositiveException if the number of sample points
+     * {@code n} is negative
+     */
+    public static double[] sample(UnivariateFunction f,
+            double min, double max, int n) {
+
+        if (n <= 0) {
+            throw new NotStrictlyPositiveException(
+                    LocalizedFormats.NOT_POSITIVE_NUMBER_OF_SAMPLES,
+                    Integer.valueOf(n));
+        }
+        if (min >= max) {
+            throw new NumberIsTooLargeException(min, max, false);
+        }
+
+        double[] s = new double[n];
+        double h = (max - min) / n;
+        for (int i = 0; i < n; i++) {
+            s[i] = f.value(min + i * h);
+        }
+        return s;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/MultivariateFunction.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/MultivariateFunction.java
new file mode 100644
index 0000000000..4e388cd850
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/MultivariateFunction.java
@@ -0,0 +1,43 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis;
+
+/**
+ * An interface representing a multivariate real function.
+ *
+ * @version $Id: MultivariateFunction.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public interface MultivariateFunction {
+
+    /**
+     * Compute the value for the function at the given point.
+     *
+     * @param point Point at which the function must be evaluated.
+     * @return the function value for the given point.
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if the parameter's dimension is wrong for the function being evaluated.
+     * @throws  org.apache.commons.math3.exception.MathIllegalArgumentException
+     * when the activated method itself can ascertain that preconditions,
+     * specified in the API expressed at the level of the activated method,
+     * have been violated.  In the vast majority of cases where Commons Math
+     * throws this exception, it is the result of argument checking of actual
+     * parameters immediately passed to a method.
+     */
+    double value(double[] point);
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/MultivariateMatrixFunction.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/MultivariateMatrixFunction.java
new file mode 100644
index 0000000000..3bdba4d81e
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/MultivariateMatrixFunction.java
@@ -0,0 +1,36 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis;
+
+/**
+ * An interface representing a multivariate matrix function.
+ * @version $Id: MultivariateMatrixFunction.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public interface MultivariateMatrixFunction {
+
+    /**
+     * Compute the value for the function at the given point.
+     * @param point point at which the function must be evaluated
+     * @return function value for the given point
+     * @exception IllegalArgumentException if points dimension is wrong
+     */
+    double[][] value(double[] point)
+        throws IllegalArgumentException;
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/MultivariateVectorFunction.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/MultivariateVectorFunction.java
new file mode 100644
index 0000000000..39561dcc4a
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/MultivariateVectorFunction.java
@@ -0,0 +1,36 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis;
+
+/**
+ * An interface representing a multivariate vectorial function.
+ * @version $Id: MultivariateVectorFunction.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public interface MultivariateVectorFunction {
+
+    /**
+     * Compute the value for the function at the given point.
+     * @param point point at which the function must be evaluated
+     * @return function value for the given point
+     * @exception IllegalArgumentException if points dimension is wrong
+     */
+    double[] value(double[] point)
+        throws IllegalArgumentException;
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/ParametricUnivariateFunction.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/ParametricUnivariateFunction.java
new file mode 100644
index 0000000000..3388a8b597
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/ParametricUnivariateFunction.java
@@ -0,0 +1,45 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis;
+
+/**
+ * An interface representing a real function that depends on one independent
+ * variable plus some extra parameters.
+ *
+ * @since 3.0
+ * @version $Id: ParametricUnivariateFunction.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public interface ParametricUnivariateFunction {
+    /**
+     * Compute the value of the function.
+     *
+     * @param x Point for which the function value should be computed.
+     * @param parameters Function parameters.
+     * @return the value.
+     */
+    double value(double x, double ... parameters);
+
+    /**
+     * Compute the gradient of the function with respect to its parameters.
+     *
+     * @param x Point for which the function value should be computed.
+     * @param parameters Function parameters.
+     * @return the value.
+     */
+    double[] gradient(double x, double ... parameters);
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/TrivariateFunction.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/TrivariateFunction.java
new file mode 100644
index 0000000000..c9044bed85
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/TrivariateFunction.java
@@ -0,0 +1,36 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis;
+
+/**
+ * An interface representing a trivariate real function.
+ *
+ * @since 2.2
+ * @version $Id$
+ */
+public interface TrivariateFunction {
+    /**
+     * Compute the value for the function.
+     *
+     * @param x x-coordinate for which the function value should be computed.
+     * @param y y-coordinate for which the function value should be computed.
+     * @param z z-coordinate for which the function value should be computed.
+     * @return the value.
+     */
+    double value(double x, double y, double z);
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/UnivariateFunction.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/UnivariateFunction.java
new file mode 100644
index 0000000000..d8cb004258
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/UnivariateFunction.java
@@ -0,0 +1,82 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.analysis;
+
+/**
+ * An interface representing a univariate real function.
+ * <br/>
+ * When a <em>user-defined</em> function encounters an error during
+ * evaluation, the {@link #value(double) value} method should throw a
+ * <em>user-defined</em> unchecked exception.
+ * <br/>
+ * The following code excerpt shows the recommended way to do that using
+ * a root solver as an example, but the same construct is applicable to
+ * ODE integrators or optimizers.
+ *
+ * <pre>
+ * private static class LocalException extends RuntimeException {
+ *     // The x value that caused the problem.
+ *     private final double x;
+ *
+ *     public LocalException(double x) {
+ *         this.x = x;
+ *     }
+ *
+ *     public double getX() {
+ *         return x;
+ *     }
+ * }
+ *
+ * private static class MyFunction implements UnivariateFunction {
+ *     public double value(double x) {
+ *         double y = hugeFormula(x);
+ *         if (somethingBadHappens) {
+ *           throw new LocalException(x);
+ *         }
+ *         return y;
+ *     }
+ * }
+ *
+ * public void compute() {
+ *     try {
+ *         solver.solve(maxEval, new MyFunction(a, b, c), min, max);
+ *     } catch (LocalException le) {
+ *         // Retrieve the x value.
+ *     }
+ * }
+ * </pre>
+ *
+ * As shown, the exception is local to the user's code and it is guaranteed
+ * that Apache Commons Math will not catch it.
+ *
+ * @version $Id: UnivariateFunction.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public interface UnivariateFunction {
+    /**
+     * Compute the value of the function.
+     *
+     * @param x Point at which the function value should be computed.
+     * @return the value of the function.
+     * @throws IllegalArgumentException when the activated method itself can
+     * ascertain that a precondition, specified in the API expressed at the
+     * level of the activated method, has been violated.
+     * When Commons Math throws an {@code IllegalArgumentException}, it is
+     * usually the consequence of checking the actual parameters passed to
+     * the method.
+     */
+    double value(double x);
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/UnivariateMatrixFunction.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/UnivariateMatrixFunction.java
new file mode 100644
index 0000000000..79e882913d
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/UnivariateMatrixFunction.java
@@ -0,0 +1,34 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.analysis;
+
+/**
+ * An interface representing a univariate matrix function.
+ *
+ * @version $Id: UnivariateMatrixFunction.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public interface UnivariateMatrixFunction {
+
+    /**
+     * Compute the value for the function.
+     * @param x the point for which the function value should be computed
+     * @return the value
+     */
+    double[][] value(double x);
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/UnivariateVectorFunction.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/UnivariateVectorFunction.java
new file mode 100644
index 0000000000..ecf674fa50
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/UnivariateVectorFunction.java
@@ -0,0 +1,34 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.analysis;
+
+/**
+ * An interface representing a univariate vectorial function.
+ *
+ * @version $Id: UnivariateVectorFunction.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public interface UnivariateVectorFunction {
+
+    /**
+     * Compute the value for the function.
+     * @param x the point for which the function value should be computed
+     * @return the value
+     */
+    double[] value(double x);
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Abs.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Abs.java
new file mode 100644
index 0000000000..758c30cc6e
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Abs.java
@@ -0,0 +1,34 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Absolute value function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Abs implements UnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.abs(x);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Acos.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Acos.java
new file mode 100644
index 0000000000..caf8606c2f
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Acos.java
@@ -0,0 +1,45 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Arc-cosine function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Acos implements DifferentiableUnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.acos(x);
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                return -1 / FastMath.sqrt(1 - x * x);
+            }
+        };
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Acosh.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Acosh.java
new file mode 100644
index 0000000000..9a891bbccc
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Acosh.java
@@ -0,0 +1,45 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Hyperbolic arc-cosine function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Acosh implements DifferentiableUnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.acosh(x);
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                return 1 / FastMath.sqrt(x * x - 1);
+            }
+        };
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Add.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Add.java
new file mode 100644
index 0000000000..09fa777923
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Add.java
@@ -0,0 +1,33 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.BivariateFunction;
+
+/**
+ * Add the two operands.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Add implements BivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x, double y) {
+        return x + y;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Asin.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Asin.java
new file mode 100644
index 0000000000..c3db514074
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Asin.java
@@ -0,0 +1,45 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Arc-sine function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Asin implements DifferentiableUnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.asin(x);
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                return 1 / FastMath.sqrt(1 - x * x);
+            }
+        };
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Asinh.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Asinh.java
new file mode 100644
index 0000000000..df68956c82
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Asinh.java
@@ -0,0 +1,45 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Hyperbolic arc-sine function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Asinh implements DifferentiableUnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.asinh(x);
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                return 1 / FastMath.sqrt(1 + x * x);
+            }
+        };
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Atan.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Atan.java
new file mode 100644
index 0000000000..edae9f4b2c
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Atan.java
@@ -0,0 +1,45 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Arc-tangent function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Atan implements DifferentiableUnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.atan(x);
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                return 1 / (1 + x * x);
+            }
+        };
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Atan2.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Atan2.java
new file mode 100644
index 0000000000..0f555f35b2
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Atan2.java
@@ -0,0 +1,34 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.BivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Arc-tangent function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Atan2 implements BivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x, double y) {
+        return FastMath.atan2(x, y);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Atanh.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Atanh.java
new file mode 100644
index 0000000000..7a794250cd
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Atanh.java
@@ -0,0 +1,45 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Hyperbolic arc-tangent function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Atanh implements DifferentiableUnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.atanh(x);
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                return 1 / (1 - x * x);
+            }
+        };
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Cbrt.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Cbrt.java
new file mode 100644
index 0000000000..fb21ade223
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Cbrt.java
@@ -0,0 +1,45 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Cube root function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Cbrt implements DifferentiableUnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.cbrt(x);
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                return 1 / (3 * FastMath.cbrt(x * x));
+            }
+        };
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Ceil.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Ceil.java
new file mode 100644
index 0000000000..ef836d0abb
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Ceil.java
@@ -0,0 +1,34 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * {@code ceil} function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Ceil implements UnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.ceil(x);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Constant.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Constant.java
new file mode 100644
index 0000000000..1c24f1ffec
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Constant.java
@@ -0,0 +1,48 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+
+/**
+ * Constant function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Constant implements DifferentiableUnivariateFunction {
+    /** Constant. */
+    private final double c;
+
+    /**
+     * @param c Constant.
+     */
+    public Constant(double c) {
+        this.c = c;
+    }
+
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return c;
+    }
+
+    /** {@inheritDoc} */
+    public DifferentiableUnivariateFunction derivative() {
+        return new Constant(0);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Cos.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Cos.java
new file mode 100644
index 0000000000..5c17debb9c
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Cos.java
@@ -0,0 +1,45 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Cosine function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Cos implements DifferentiableUnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.cos(x);
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                return -FastMath.sin(x);
+            }
+        };
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Cosh.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Cosh.java
new file mode 100644
index 0000000000..bd3a82a332
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Cosh.java
@@ -0,0 +1,39 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Hyperbolic cosine function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Cosh implements DifferentiableUnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.cosh(x);
+    }
+
+    /** {@inheritDoc} */
+    public DifferentiableUnivariateFunction derivative() {
+        return new Sinh();
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Divide.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Divide.java
new file mode 100644
index 0000000000..107fa5b9fe
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Divide.java
@@ -0,0 +1,33 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.BivariateFunction;
+
+/**
+ * Divide the first operand by the second.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Divide implements BivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x, double y) {
+        return x / y;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Exp.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Exp.java
new file mode 100644
index 0000000000..2bbd5ee11a
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Exp.java
@@ -0,0 +1,45 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Exponential function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Exp implements DifferentiableUnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.exp(x);
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                return FastMath.exp(x);
+            }
+        };
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Expm1.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Expm1.java
new file mode 100644
index 0000000000..ea48d7628f
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Expm1.java
@@ -0,0 +1,45 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * <code>e<sup>x</sup>-1</code> function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Expm1 implements DifferentiableUnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.expm1(x);
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                return FastMath.exp(x);
+            }
+        };
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Floor.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Floor.java
new file mode 100644
index 0000000000..8e9a954962
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Floor.java
@@ -0,0 +1,34 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * {@code floor} function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Floor implements UnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.floor(x);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Gaussian.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Gaussian.java
new file mode 100644
index 0000000000..88f18ed2fe
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Gaussian.java
@@ -0,0 +1,198 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.analysis.ParametricUnivariateFunction;
+import org.apache.commons.math3.exception.NotStrictlyPositiveException;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * <a href="http://en.wikipedia.org/wiki/Gaussian_function">
+ *  Gaussian</a> function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Gaussian implements DifferentiableUnivariateFunction {
+    /** Mean. */
+    private final double mean;
+    /** Inverse of twice the square of the standard deviation. */
+    private final double i2s2;
+    /** Normalization factor. */
+    private final double norm;
+
+    /**
+     * Gaussian with given normalization factor, mean and standard deviation.
+     *
+     * @param norm Normalization factor.
+     * @param mean Mean.
+     * @param sigma Standard deviation.
+     * @throws NotStrictlyPositiveException if {@code sigma <= 0}.
+     */
+    public Gaussian(double norm,
+                    double mean,
+                    double sigma) {
+        if (sigma <= 0) {
+            throw new NotStrictlyPositiveException(sigma);
+        }
+
+        this.norm = norm;
+        this.mean = mean;
+        this.i2s2 = 1 / (2 * sigma * sigma);
+    }
+
+    /**
+     * Normalized gaussian with given mean and standard deviation.
+     *
+     * @param mean Mean.
+     * @param sigma Standard deviation.
+     * @throws NotStrictlyPositiveException if {@code sigma <= 0}.
+     */
+    public Gaussian(double mean,
+                    double sigma) {
+        this(1 / (sigma * FastMath.sqrt(2 * Math.PI)), mean, sigma);
+    }
+
+    /**
+     * Normalized gaussian with zero mean and unit standard deviation.
+     */
+    public Gaussian() {
+        this(0, 1);
+    }
+
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return value(x - mean, norm, i2s2);
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                final double diff = x - mean;
+                final double g = Gaussian.value(diff, norm, i2s2);
+
+                if (g == 0) {
+                    // Avoid returning NaN in case of overflow.
+                    return 0;
+                } else {
+                    return -2 * diff * i2s2 * g;
+                }
+            }
+        };
+    }
+
+    /**
+     * Parametric function where the input array contains the parameters of
+     * the Gaussian, ordered as follows:
+     * <ul>
+     *  <li>Norm</li>
+     *  <li>Mean</li>
+     *  <li>Standard deviation</li>
+     * </ul>
+     */
+    public static class Parametric implements ParametricUnivariateFunction {
+        /**
+         * Computes the value of the Gaussian at {@code x}.
+         *
+         * @param x Value for which the function must be computed.
+         * @param param Values of norm, mean and standard deviation.
+         * @return the value of the function.
+         * @throws NullArgumentException if {@code param} is {@code null}.
+         * @throws DimensionMismatchException if the size of {@code param} is
+         * not 3.
+         * @throws NotStrictlyPositiveException if {@code param[2]} is negative.
+         */
+        public double value(double x, double ... param) {
+            validateParameters(param);
+
+            final double diff = x - param[1];
+            final double i2s2 = 1 / (2 * param[2] * param[2]);
+            return Gaussian.value(diff, param[0], i2s2);
+        }
+
+        /**
+         * Computes the value of the gradient at {@code x}.
+         * The components of the gradient vector are the partial
+         * derivatives of the function with respect to each of the
+         * <em>parameters</em> (norm, mean and standard deviation).
+         *
+         * @param x Value at which the gradient must be computed.
+         * @param param Values of norm, mean and standard deviation.
+         * @return the gradient vector at {@code x}.
+         * @throws NullArgumentException if {@code param} is {@code null}.
+         * @throws DimensionMismatchException if the size of {@code param} is
+         * not 3.
+         * @throws NotStrictlyPositiveException if {@code param[2]} is negative.
+         */
+        public double[] gradient(double x, double ... param) {
+            validateParameters(param);
+
+            final double norm = param[0];
+            final double diff = x - param[1];
+            final double sigma = param[2];
+            final double i2s2 = 1 / (2 * sigma * sigma);
+
+            final double n = Gaussian.value(diff, 1, i2s2);
+            final double m = norm * n * 2 * i2s2 * diff;
+            final double s = m * diff / sigma;
+
+            return new double[] { n, m, s };
+        }
+
+        /**
+         * Validates parameters to ensure they are appropriate for the evaluation of
+         * the {@link #value(double,double[])} and {@link #gradient(double,double[])}
+         * methods.
+         *
+         * @param param Values of norm, mean and standard deviation.
+         * @throws NullArgumentException if {@code param} is {@code null}.
+         * @throws DimensionMismatchException if the size of {@code param} is
+         * not 3.
+         * @throws NotStrictlyPositiveException if {@code param[2]} is negative.
+         */
+        private void validateParameters(double[] param) {
+            if (param == null) {
+                throw new NullArgumentException();
+            }
+            if (param.length != 3) {
+                throw new DimensionMismatchException(param.length, 3);
+            }
+            if (param[2] <= 0) {
+                throw new NotStrictlyPositiveException(param[2]);
+            }
+        }
+    }
+
+    /**
+     * @param xMinusMean {@code x - mean}.
+     * @param norm Normalization factor.
+     * @param i2s2 Inverse of twice the square of the standard deviation.
+     * @return the value of the Gaussian at {@code x}.
+     */
+    private static double value(double xMinusMean,
+                                double norm,
+                                double i2s2) {
+        return norm * FastMath.exp(-xMinusMean * xMinusMean * i2s2);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/HarmonicOscillator.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/HarmonicOscillator.java
new file mode 100644
index 0000000000..3a264d558b
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/HarmonicOscillator.java
@@ -0,0 +1,154 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.analysis.ParametricUnivariateFunction;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * <a href="http://en.wikipedia.org/wiki/Harmonic_oscillator">
+ *  simple harmonic oscillator</a> function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class HarmonicOscillator implements DifferentiableUnivariateFunction {
+    /** Amplitude. */
+    private final double amplitude;
+    /** Angular frequency. */
+    private final double omega;
+    /** Phase. */
+    private final double phase;
+
+    /**
+     * Harmonic oscillator function.
+     *
+     * @param amplitude Amplitude.
+     * @param omega Angular frequency.
+     * @param phase Phase.
+     */
+    public HarmonicOscillator(double amplitude,
+                              double omega,
+                              double phase) {
+        this.amplitude = amplitude;
+        this.omega = omega;
+        this.phase = phase;
+    }
+
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return value(omega * x + phase, amplitude);
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                return -amplitude * omega * FastMath.sin(omega * x + phase);
+            }
+        };
+    }
+
+    /**
+     * Parametric function where the input array contains the parameters of
+     * the harmonic oscillator function, ordered as follows:
+     * <ul>
+     *  <li>Amplitude</li>
+     *  <li>Angular frequency</li>
+     *  <li>Phase</li>
+     * </ul>
+     */
+    public static class Parametric implements ParametricUnivariateFunction {
+        /**
+         * Computes the value of the harmonic oscillator at {@code x}.
+         *
+         * @param x Value for which the function must be computed.
+         * @param param Values of norm, mean and standard deviation.
+         * @return the value of the function.
+         * @throws NullArgumentException if {@code param} is {@code null}.
+         * @throws DimensionMismatchException if the size of {@code param} is
+         * not 3.
+         */
+        public double value(double x, double ... param) {
+            validateParameters(param);
+            return HarmonicOscillator.value(x * param[1] + param[2], param[0]);
+        }
+
+        /**
+         * Computes the value of the gradient at {@code x}.
+         * The components of the gradient vector are the partial
+         * derivatives of the function with respect to each of the
+         * <em>parameters</em> (amplitude, angular frequency and phase).
+         *
+         * @param x Value at which the gradient must be computed.
+         * @param param Values of amplitude, angular frequency and phase.
+         * @return the gradient vector at {@code x}.
+         * @throws NullArgumentException if {@code param} is {@code null}.
+         * @throws DimensionMismatchException if the size of {@code param} is
+         * not 3.
+         */
+        public double[] gradient(double x, double ... param) {
+            validateParameters(param);
+
+            final double amplitude = param[0];
+            final double omega = param[1];
+            final double phase = param[2];
+
+            final double xTimesOmegaPlusPhase = omega * x + phase;
+            final double a = HarmonicOscillator.value(xTimesOmegaPlusPhase, 1);
+            final double p = -amplitude * FastMath.sin(xTimesOmegaPlusPhase);
+            final double w = p * x;
+
+            return new double[] { a, w, p };
+        }
+
+        /**
+         * Validates parameters to ensure they are appropriate for the evaluation of
+         * the {@link #value(double,double[])} and {@link #gradient(double,double[])}
+         * methods.
+         *
+         * @param param Values of norm, mean and standard deviation.
+         * @throws NullArgumentException if {@code param} is {@code null}.
+         * @throws DimensionMismatchException if the size of {@code param} is
+         * not 3.
+         */
+        private void validateParameters(double[] param) {
+            if (param == null) {
+                throw new NullArgumentException();
+            }
+            if (param.length != 3) {
+                throw new DimensionMismatchException(param.length, 3);
+            }
+        }
+    }
+
+    /**
+     * @param xTimesOmegaPlusPhase {@code omega * x + phase}.
+     * @param amplitude Amplitude.
+     * @return the value of the harmonic oscillator function at {@code x}.
+     */
+    private static double value(double xTimesOmegaPlusPhase,
+                                double amplitude) {
+        return amplitude * FastMath.cos(xTimesOmegaPlusPhase);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Identity.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Identity.java
new file mode 100644
index 0000000000..cd51bbaf12
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Identity.java
@@ -0,0 +1,38 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+
+/**
+ * Identity function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Identity implements DifferentiableUnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return x;
+    }
+
+    /** {@inheritDoc} */
+    public DifferentiableUnivariateFunction derivative() {
+        return new Constant(1);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Inverse.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Inverse.java
new file mode 100644
index 0000000000..169799f3a5
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Inverse.java
@@ -0,0 +1,44 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+
+/**
+ * Inverse function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Inverse implements DifferentiableUnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return 1 / x;
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                return -1 / (x * x);
+            }
+        };
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Log.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Log.java
new file mode 100644
index 0000000000..26d05db93a
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Log.java
@@ -0,0 +1,45 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Natural logarithm function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Log implements DifferentiableUnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.log(x);
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                return 1 / x;
+            }
+        };
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Log10.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Log10.java
new file mode 100644
index 0000000000..4cb1230f5d
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Log10.java
@@ -0,0 +1,48 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Base 10 logarithm function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Log10 implements DifferentiableUnivariateFunction {
+    /** ln(10) = {@value}.*/
+    private static final double LN_10 = FastMath.log(10);
+
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.log10(x);
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                return 1 / (x * LN_10);
+            }
+        };
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Log1p.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Log1p.java
new file mode 100644
index 0000000000..298b0bfeb5
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Log1p.java
@@ -0,0 +1,45 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * <code>log(1 + p)</code> function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Log1p implements DifferentiableUnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.log1p(x);
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                return 1 / (1 + x);
+            }
+        };
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Logistic.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Logistic.java
new file mode 100644
index 0000000000..f7981b7d40
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Logistic.java
@@ -0,0 +1,208 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.analysis.ParametricUnivariateFunction;
+import org.apache.commons.math3.exception.NotStrictlyPositiveException;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * <a href="http://en.wikipedia.org/wiki/Generalised_logistic_function">
+ *  Generalised logistic</a> function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Logistic implements DifferentiableUnivariateFunction {
+    /** Lower asymptote. */
+    private final double a;
+    /** Upper asymptote. */
+    private final double k;
+    /** Growth rate. */
+    private final double b;
+    /** Parameter that affects near which asymptote maximum growth occurs. */
+    private final double oneOverN;
+    /** Parameter that affects the position of the curve along the ordinate axis. */
+    private final double q;
+    /** Abscissa of maximum growth. */
+    private final double m;
+
+    /**
+     * @param k If {@code b > 0}, value of the function for x going towards +&infin;.
+     * If {@code b < 0}, value of the function for x going towards -&infin;.
+     * @param m Abscissa of maximum growth.
+     * @param b Growth rate.
+     * @param q Parameter that affects the position of the curve along the
+     * ordinate axis.
+     * @param a If {@code b > 0}, value of the function for x going towards -&infin;.
+     * If {@code b < 0}, value of the function for x going towards +&infin;.
+     * @param n Parameter that affects near which asymptote the maximum
+     * growth occurs.
+     * @throws NotStrictlyPositiveException if {@code n <= 0}.
+     */
+    public Logistic(double k,
+                    double m,
+                    double b,
+                    double q,
+                    double a,
+                    double n) {
+        if (n <= 0) {
+            throw new NotStrictlyPositiveException(n);
+        }
+
+        this.k = k;
+        this.m = m;
+        this.b = b;
+        this.q = q;
+        this.a = a;
+        oneOverN = 1 / n;
+    }
+
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return value(m - x, k, b, q, a, oneOverN);
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                final double exp = q * FastMath.exp(b * (m - x));
+                if (Double.isInfinite(exp)) {
+                    // Avoid returning NaN in case of overflow.
+                    return 0;
+                }
+                final double exp1 = exp + 1;
+                return b * oneOverN * exp / FastMath.pow(exp1, oneOverN + 1);
+            }
+        };
+    }
+
+    /**
+     * Parametric function where the input array contains the parameters of
+     * the logit function, ordered as follows:
+     * <ul>
+     *  <li>Lower asymptote</li>
+     *  <li>Higher asymptote</li>
+     * </ul>
+     */
+    public static class Parametric implements ParametricUnivariateFunction {
+        /**
+         * Computes the value of the sigmoid at {@code x}.
+         *
+         * @param x Value for which the function must be computed.
+         * @param param Values for {@code k}, {@code m}, {@code b}, {@code q},
+         * {@code a} and  {@code n}.
+         * @return the value of the function.
+         * @throws NullArgumentException if {@code param} is {@code null}.
+         * @throws DimensionMismatchException if the size of {@code param} is
+         * not 6.
+         */
+        public double value(double x, double ... param) {
+            validateParameters(param);
+            return Logistic.value(param[1] - x, param[0],
+                                  param[2], param[3],
+                                  param[4], 1 / param[5]);
+        }
+
+        /**
+         * Computes the value of the gradient at {@code x}.
+         * The components of the gradient vector are the partial
+         * derivatives of the function with respect to each of the
+         * <em>parameters</em>.
+         *
+         * @param x Value at which the gradient must be computed.
+         * @param param Values for {@code k}, {@code m}, {@code b}, {@code q},
+         * {@code a} and  {@code n}.
+         * @return the gradient vector at {@code x}.
+         * @throws NullArgumentException if {@code param} is {@code null}.
+         * @throws DimensionMismatchException if the size of {@code param} is
+         * not 6.
+         */
+        public double[] gradient(double x, double ... param) {
+            validateParameters(param);
+
+            final double b = param[2];
+            final double q = param[3];
+
+            final double mMinusX = param[1] - x;
+            final double oneOverN = 1 / param[5];
+            final double exp = FastMath.exp(b * mMinusX);
+            final double qExp = q * exp;
+            final double qExp1 = qExp + 1;
+            final double factor1 = (param[0] - param[4]) * oneOverN / FastMath.pow(qExp1, oneOverN);
+            final double factor2 = -factor1 / qExp1;
+
+            // Components of the gradient.
+            final double gk = Logistic.value(mMinusX, 1, b, q, 0, oneOverN);
+            final double gm = factor2 * b * qExp;
+            final double gb = factor2 * mMinusX * qExp;
+            final double gq = factor2 * exp;
+            final double ga = Logistic.value(mMinusX, 0, b, q, 1, oneOverN);
+            final double gn = factor1 * Math.log(qExp1) * oneOverN;
+
+            return new double[] { gk, gm, gb, gq, ga, gn };
+        }
+
+        /**
+         * Validates parameters to ensure they are appropriate for the evaluation of
+         * the {@link #value(double,double[])} and {@link #gradient(double,double[])}
+         * methods.
+         *
+         * @param param Values for {@code k}, {@code m}, {@code b}, {@code q},
+         * {@code a} and  {@code n}.
+         * @throws NullArgumentException if {@code param} is {@code null}.
+         * @throws DimensionMismatchException if the size of {@code param} is
+         * not 6.
+         */
+        private void validateParameters(double[] param) {
+            if (param == null) {
+                throw new NullArgumentException();
+            }
+            if (param.length != 6) {
+                throw new DimensionMismatchException(param.length, 6);
+            }
+            if (param[5] <= 0) {
+                throw new NotStrictlyPositiveException(param[5]);
+            }
+        }
+    }
+
+    /**
+     * @param mMinusX {@code m - x}.
+     * @param k {@code k}.
+     * @param b {@code b}.
+     * @param q {@code q}.
+     * @param a {@code a}.
+     * @param oneOverN {@code 1 / n}.
+     * @return the value of the function.
+     */
+    private static double value(double mMinusX,
+                                double k,
+                                double b,
+                                double q,
+                                double a,
+                                double oneOverN) {
+        return a + (k - a) / FastMath.pow(1 + q * FastMath.exp(b * mMinusX), oneOverN);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Logit.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Logit.java
new file mode 100644
index 0000000000..1388c119fa
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Logit.java
@@ -0,0 +1,157 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.analysis.ParametricUnivariateFunction;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.OutOfRangeException;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * <a href="http://en.wikipedia.org/wiki/Logit">
+ *  Logit</a> function.
+ * It is the inverse of the {@link Sigmoid sigmoid} function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Logit implements DifferentiableUnivariateFunction {
+    /** Lower bound. */
+    private final double lo;
+    /** Higher bound. */
+    private final double hi;
+
+    /**
+     * Usual logit function, where the lower bound is 0 and the higher
+     * bound is 1.
+     */
+    public Logit() {
+        this(0, 1);
+    }
+
+    /**
+     * Logit function.
+     *
+     * @param lo Lower bound of the function domain.
+     * @param hi Higher bound of the function domain.
+     */
+    public Logit(double lo,
+                 double hi) {
+        this.lo = lo;
+        this.hi = hi;
+    }
+
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return value(x, lo, hi);
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                return (hi - lo) / ((x - lo) * (hi - x));
+            }
+        };
+    }
+
+    /**
+     * Parametric function where the input array contains the parameters of
+     * the logit function, ordered as follows:
+     * <ul>
+     *  <li>Lower bound</li>
+     *  <li>Higher bound</li>
+     * </ul>
+     */
+    public static class Parametric implements ParametricUnivariateFunction {
+        /**
+         * Computes the value of the logit at {@code x}.
+         *
+         * @param x Value for which the function must be computed.
+         * @param param Values of lower bound and higher bounds.
+         * @return the value of the function.
+         * @throws NullArgumentException if {@code param} is {@code null}.
+         * @throws DimensionMismatchException if the size of {@code param} is
+         * not 2.
+         */
+        public double value(double x, double ... param) {
+            validateParameters(param);
+            return Logit.value(x, param[0], param[1]);
+        }
+
+        /**
+         * Computes the value of the gradient at {@code x}.
+         * The components of the gradient vector are the partial
+         * derivatives of the function with respect to each of the
+         * <em>parameters</em> (lower bound and higher bound).
+         *
+         * @param x Value at which the gradient must be computed.
+         * @param param Values for lower and higher bounds.
+         * @return the gradient vector at {@code x}.
+         * @throws NullArgumentException if {@code param} is {@code null}.
+         * @throws DimensionMismatchException if the size of {@code param} is
+         * not 2.
+         */
+        public double[] gradient(double x, double ... param) {
+            validateParameters(param);
+
+            final double lo = param[0];
+            final double hi = param[1];
+
+            return new double[] { 1 / (lo - x), 1 / (hi - x) };
+        }
+
+        /**
+         * Validates parameters to ensure they are appropriate for the evaluation of
+         * the {@link #value(double,double[])} and {@link #gradient(double,double[])}
+         * methods.
+         *
+         * @param param Values for lower and higher bounds.
+         * @throws NullArgumentException if {@code param} is {@code null}.
+         * @throws DimensionMismatchException if the size of {@code param} is
+         * not 2.
+         */
+        private void validateParameters(double[] param) {
+            if (param == null) {
+                throw new NullArgumentException();
+            }
+            if (param.length != 2) {
+                throw new DimensionMismatchException(param.length, 2);
+            }
+        }
+    }
+
+    /**
+     * @param x Value at which to compute the logit.
+     * @param lo Lower bound.
+     * @param hi Higher bound.
+     * @return the value of the logit function at {@code x}.
+     */
+    private static double value(double x,
+                                double lo,
+                                double hi) {
+        if (x < lo || x > hi) {
+            throw new OutOfRangeException(x, lo, hi);
+        }
+        return FastMath.log((x - lo) / (hi - x));
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Max.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Max.java
new file mode 100644
index 0000000000..3ec68ffc79
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Max.java
@@ -0,0 +1,34 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.BivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Maximum function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Max implements BivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x, double y) {
+        return FastMath.max(x, y);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Min.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Min.java
new file mode 100644
index 0000000000..3f691df977
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Min.java
@@ -0,0 +1,34 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.BivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Minimum function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Min implements BivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x, double y) {
+        return FastMath.min(x, y);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Minus.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Minus.java
new file mode 100644
index 0000000000..12346b9eb7
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Minus.java
@@ -0,0 +1,38 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+
+/**
+ * Minus function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Minus implements DifferentiableUnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return -x;
+    }
+
+    /** {@inheritDoc} */
+    public DifferentiableUnivariateFunction derivative() {
+        return new Constant(-1);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Multiply.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Multiply.java
new file mode 100644
index 0000000000..2911545080
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Multiply.java
@@ -0,0 +1,33 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.BivariateFunction;
+
+/**
+ * Multiply the two operands.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Multiply implements BivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x, double y) {
+        return x * y;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Pow.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Pow.java
new file mode 100644
index 0000000000..7a1428b304
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Pow.java
@@ -0,0 +1,34 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.BivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Power function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Pow implements BivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x, double y) {
+        return FastMath.pow(x, y);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Power.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Power.java
new file mode 100644
index 0000000000..907cb7b7d3
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Power.java
@@ -0,0 +1,55 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Power function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Power implements DifferentiableUnivariateFunction {
+    /** Power. */
+    private final double p;
+
+    /**
+     * @param p Power.
+     */
+    public Power(double p) {
+        this.p = p;
+    }
+
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.pow(x, p);
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                return p * FastMath.pow(x, p - 1);
+            }
+        };
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Rint.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Rint.java
new file mode 100644
index 0000000000..628152707d
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Rint.java
@@ -0,0 +1,34 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * {@code rint} function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Rint implements UnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.rint(x);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Sigmoid.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Sigmoid.java
new file mode 100644
index 0000000000..3695697fe3
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Sigmoid.java
@@ -0,0 +1,160 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.analysis.ParametricUnivariateFunction;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * <a href="http://en.wikipedia.org/wiki/Sigmoid_function">
+ *  Sigmoid</a> function.
+ * It is the inverse of the {@link Logit logit} function.
+ * A more flexible version, the generalised logistic, is implemented
+ * by the {@link Logistic} class.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Sigmoid implements DifferentiableUnivariateFunction {
+    /** Lower asymptote. */
+    private final double lo;
+    /** Higher asymptote. */
+    private final double hi;
+
+    /**
+     * Usual sigmoid function, where the lower asymptote is 0 and the higher
+     * asymptote is 1.
+     */
+    public Sigmoid() {
+        this(0, 1);
+    }
+
+    /**
+     * Sigmoid function.
+     *
+     * @param lo Lower asymptote.
+     * @param hi Higher asymptote.
+     */
+    public Sigmoid(double lo,
+                   double hi) {
+        this.lo = lo;
+        this.hi = hi;
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                final double exp = FastMath.exp(-x);
+                if (Double.isInfinite(exp)) {
+                    // Avoid returning NaN in case of overflow.
+                    return 0;
+                }
+                final double exp1 = 1 + exp;
+                return (hi - lo) * exp / (exp1 * exp1);
+            }
+        };
+    }
+
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return value(x, lo, hi);
+    }
+
+    /**
+     * Parametric function where the input array contains the parameters of
+     * the logit function, ordered as follows:
+     * <ul>
+     *  <li>Lower asymptote</li>
+     *  <li>Higher asymptote</li>
+     * </ul>
+     */
+    public static class Parametric implements ParametricUnivariateFunction {
+        /**
+         * Computes the value of the sigmoid at {@code x}.
+         *
+         * @param x Value for which the function must be computed.
+         * @param param Values of lower asymptote and higher asymptote.
+         * @return the value of the function.
+         * @throws NullArgumentException if {@code param} is {@code null}.
+         * @throws DimensionMismatchException if the size of {@code param} is
+         * not 2.
+         */
+        public double value(double x, double ... param) {
+            validateParameters(param);
+            return Sigmoid.value(x, param[0], param[1]);
+        }
+
+        /**
+         * Computes the value of the gradient at {@code x}.
+         * The components of the gradient vector are the partial
+         * derivatives of the function with respect to each of the
+         * <em>parameters</em> (lower asymptote and higher asymptote).
+         *
+         * @param x Value at which the gradient must be computed.
+         * @param param Values for lower asymptote and higher asymptote.
+         * @return the gradient vector at {@code x}.
+         * @throws NullArgumentException if {@code param} is {@code null}.
+         * @throws DimensionMismatchException if the size of {@code param} is
+         * not 2.
+         */
+        public double[] gradient(double x, double ... param) {
+            validateParameters(param);
+
+            final double invExp1 = 1 / (1 + FastMath.exp(-x));
+
+            return new double[] { 1 - invExp1, invExp1 };
+        }
+
+        /**
+         * Validates parameters to ensure they are appropriate for the evaluation of
+         * the {@link #value(double,double[])} and {@link #gradient(double,double[])}
+         * methods.
+         *
+         * @param param Values for lower and higher asymptotes.
+         * @throws NullArgumentException if {@code param} is {@code null}.
+         * @throws DimensionMismatchException if the size of {@code param} is
+         * not 2.
+         */
+        private void validateParameters(double[] param) {
+            if (param == null) {
+                throw new NullArgumentException();
+            }
+            if (param.length != 2) {
+                throw new DimensionMismatchException(param.length, 2);
+            }
+        }
+    }
+
+    /**
+     * @param x Value at which to compute the sigmoid.
+     * @param lo Lower asymptote.
+     * @param hi Higher asymptote.
+     * @return the value of the sigmoid function at {@code x}.
+     */
+    private static double value(double x,
+                                double lo,
+                                double hi) {
+        return lo + (hi - lo) / (1 + FastMath.exp(-x));
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Signum.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Signum.java
new file mode 100644
index 0000000000..f393315457
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Signum.java
@@ -0,0 +1,34 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * {@code signum} function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Signum implements UnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.signum(x);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Sin.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Sin.java
new file mode 100644
index 0000000000..8096e846ab
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Sin.java
@@ -0,0 +1,39 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Sine function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Sin implements DifferentiableUnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.sin(x);
+    }
+
+    /** {@inheritDoc} */
+    public DifferentiableUnivariateFunction derivative() {
+        return new Cos();
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Sinc.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Sinc.java
new file mode 100644
index 0000000000..10634edfb0
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Sinc.java
@@ -0,0 +1,117 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * <a href="http://en.wikipedia.org/wiki/Sinc_function">Sinc</a> function,
+ * defined by
+ * <pre><code>
+ *   sinc(x) = 1            if x = 0,
+ *             sin(x) / x   otherwise.
+ * </code></pre>
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Sinc implements DifferentiableUnivariateFunction {
+    /**
+     * Value below which the result of the computation will not change
+     * anymore due to the finite precision of the "double" representation
+     * of real numbers.
+     */
+    private static final double SHORTCUT = 1e-9;
+    /** For normalized sinc function. */
+    private final boolean normalized;
+
+    /**
+     * The sinc function, {@code sin(x) / x}.
+     */
+    public Sinc() {
+        this(false);
+    }
+
+    /**
+     * Instantiates the sinc function.
+     *
+     * @param normalized If {@code true}, the function is
+     * <code> sin(&pi;x) / &pi;x</code>, otherwise {@code sin(x) / x}.
+     */
+    public Sinc(boolean normalized) {
+        this.normalized = normalized;
+    }
+
+    /** {@inheritDoc} */
+    public double value(double x) {
+        if (normalized) {
+            final double piTimesX = Math.PI * x;
+            return sinc(piTimesX);
+        } else {
+            return sinc(x);
+        }
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        if (normalized) {
+            return new UnivariateFunction() {
+                /** {@inheritDoc} */
+                public double value(double x) {
+                    final double piTimesX = Math.PI * x;
+                    return sincDerivative(piTimesX);
+                }
+            };
+        } else {
+            return new UnivariateFunction() {
+                /** {@inheritDoc} */
+                public double value(double x) {
+                    return sincDerivative(x);
+                }
+            };
+        }
+    }
+
+    /**
+     * @param x Argument.
+     * @return {@code sin(x) / x}.
+     */
+    private static double sinc(double x) {
+        // The direct assignment to 1 for values below 1e-9 is an efficiency
+        // optimization on the ground that the result of the full computation
+        // is indistinguishable from 1 due to the limited accuracy of the
+        // floating point representation.
+        return FastMath.abs(x) < SHORTCUT ? 1 :
+            FastMath.sin(x) / x;
+    }
+
+    /**
+     * @param x Argument.
+     * @return {@code (cos(x) - sin(x) / x) / x}.
+     */
+    private static double sincDerivative(double x) {
+        // The direct assignment to 0 for values below 1e-9 is an efficiency
+        // optimization on the ground that the result of the full computation
+        // is indistinguishable from 1 due to the limited accuracy of the
+        // floating point representation.
+        return FastMath.abs(x) < SHORTCUT ? 0 :
+            (FastMath.cos(x) - FastMath.sin(x) / x) / x;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Sinh.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Sinh.java
new file mode 100644
index 0000000000..93445f91f2
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Sinh.java
@@ -0,0 +1,39 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Hyperbolic sine function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Sinh implements DifferentiableUnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.sinh(x);
+    }
+
+    /** {@inheritDoc} */
+    public DifferentiableUnivariateFunction derivative() {
+        return new Cosh();
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Sqrt.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Sqrt.java
new file mode 100644
index 0000000000..e71980a5db
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Sqrt.java
@@ -0,0 +1,45 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Square-root function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Sqrt implements DifferentiableUnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.sqrt(x);
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                return 1 / (2 * FastMath.sqrt(x));
+            }
+        };
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/StepFunction.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/StepFunction.java
new file mode 100644
index 0000000000..f06682f469
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/StepFunction.java
@@ -0,0 +1,98 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import java.util.Arrays;
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.exception.NoDataException;
+import org.apache.commons.math3.util.MathArrays;
+
+/**
+ * <a href="http://en.wikipedia.org/wiki/Step_function">
+ *  Step function</a>.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class StepFunction implements UnivariateFunction {
+    /** Abscissae. */
+    private final double[] abscissa;
+    /** Ordinates. */
+    private final double[] ordinate;
+
+    /**
+     * Builds a step function from a list of arguments and the corresponding
+     * values. Specifically, returns the function h(x) defined by <pre><code>
+     * h(x) = y[0] for all x < x[1]
+     *        y[1] for x[1] <= x < x[2]
+     *        ...
+     *        y[y.length - 1] for x >= x[x.length - 1]
+     * </code></pre>
+     * The value of {@code x[0]} is ignored, but it must be strictly less than
+     * {@code x[1]}.
+     *
+     * @param x Domain values where the function changes value.
+     * @param y Values of the function.
+     * @throws org.apache.commons.math3.exception.NonMonotonicSequenceException
+     * if the {@code x} array is not sorted in strictly increasing order.
+     * @throws NullArgumentException if {@code x} or {@code y} are {@code null}.
+     * @throws NoDataException if {@code x} or {@code y} are zero-length.
+     * @throws DimensionMismatchException if {@code x} and {@code y} do not
+     * have the same length.
+     */
+    public StepFunction(double[] x,
+                        double[] y) {
+        if (x == null ||
+            y == null) {
+            throw new NullArgumentException();
+        }
+        if (x.length == 0 ||
+            y.length == 0) {
+            throw new NoDataException();
+        }
+        if (y.length != x.length) {
+            throw new DimensionMismatchException(y.length, x.length);
+        }
+        MathArrays.checkOrder(x);
+
+        abscissa = MathArrays.copyOf(x);
+        ordinate = MathArrays.copyOf(y);
+    }
+
+    /** {@inheritDoc} */
+    public double value(double x) {
+        int index = Arrays.binarySearch(abscissa, x);
+        double fx = 0;
+
+        if (index < -1) {
+            // "x" is between "abscissa[-index-2]" and "abscissa[-index-1]".
+            fx = ordinate[-index-2];
+        } else if (index >= 0) {
+            // "x" is exactly "abscissa[index]".
+            fx = ordinate[index];
+        } else {
+            // Otherwise, "x" is smaller than the first value in "abscissa"
+            // (hence the returned value should be "ordinate[0]").
+            fx = ordinate[0];
+        }
+
+        return fx;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Subtract.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Subtract.java
new file mode 100644
index 0000000000..01ee5211a9
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Subtract.java
@@ -0,0 +1,33 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.BivariateFunction;
+
+/**
+ * Subtract the second operand from the first.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Subtract implements BivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x, double y) {
+        return x - y;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Tan.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Tan.java
new file mode 100644
index 0000000000..34b90a0178
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Tan.java
@@ -0,0 +1,46 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Tangent function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Tan implements DifferentiableUnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.tan(x);
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                final double tanX = FastMath.tan(x);
+                return 1 + tanX * tanX;
+            }
+        };
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Tanh.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Tanh.java
new file mode 100644
index 0000000000..c9662e58f1
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Tanh.java
@@ -0,0 +1,46 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.analysis.DifferentiableUnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Hyperbolic tangent function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Tanh implements DifferentiableUnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.tanh(x);
+    }
+
+    /** {@inheritDoc} */
+    public UnivariateFunction derivative() {
+        return new UnivariateFunction() {
+            /** {@inheritDoc} */
+            public double value(double x) {
+                final double tanhX = FastMath.tanh(x);
+                return 1 - tanhX * tanhX;
+            }
+        };
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Ulp.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Ulp.java
new file mode 100644
index 0000000000..8f13995962
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/Ulp.java
@@ -0,0 +1,34 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.analysis.function;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * {@code ulp} function.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Ulp implements UnivariateFunction {
+    /** {@inheritDoc} */
+    public double value(double x) {
+        return FastMath.ulp(x);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/package-info.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/package-info.java
new file mode 100644
index 0000000000..cb24544a97
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/function/package-info.java
@@ -0,0 +1,26 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/**
+ *
+ *    <p>
+ *      The {@code function} package contains function objects that wrap the
+ *      methods contained in {@link java.lang.Math}, as well as common
+ *      mathematical functions such as the gaussian and sinc functions.
+ *    </p>
+ *
+ */
+package org.apache.commons.math3.analysis.function;
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/package-info.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/package-info.java
new file mode 100644
index 0000000000..dedbf0b7a3
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/analysis/package-info.java
@@ -0,0 +1,33 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/**
+ *
+ *    <p>
+ *      Parent package for common numerical analysis procedures, including root finding,
+ *      function interpolation and integration. Note that the optimization (i.e. minimization
+ *      and maximization) is a huge separate top package, despite it also operate on functions
+ *      as defined by this top-level package.
+ *    </p>
+ *    <p>
+ *      Functions interfaces are intended to be implemented by user code to represent their
+ *      domain problems. The algorithms provided by the library will then operate on these
+ *      function to find their roots, or integrate them, or ... Functions can be multivariate
+ *      or univariate, real vectorial or matrix valued, and they can be differentiable or not.
+ *    </p>
+ *
+ */
+package org.apache.commons.math3.analysis;
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/ConvergenceException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/ConvergenceException.java
new file mode 100644
index 0000000000..63c07845ed
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/ConvergenceException.java
@@ -0,0 +1,51 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.Localizable;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Error thrown when a numerical computation can not be performed because the
+ * numerical result failed to converge to a finite value.
+ *
+ * @since 2.2
+ * @version $Id$
+ */
+public class ConvergenceException extends MathIllegalStateException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = 4330003017885151975L;
+
+    /**
+     * Construct the exception.
+     */
+    public ConvergenceException() {
+        this(LocalizedFormats.CONVERGENCE_FAILED);
+    }
+
+    /**
+     * Construct the exception with a specific context and arguments.
+     *
+     * @param pattern Message pattern providing the specific context of
+     * the error.
+     * @param args Arguments.
+     */
+    public ConvergenceException(Localizable pattern,
+                                Object ... args) {
+        getContext().addMessage(pattern, args);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/DimensionMismatchException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/DimensionMismatchException.java
new file mode 100644
index 0000000000..675934a00a
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/DimensionMismatchException.java
@@ -0,0 +1,65 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+import org.apache.commons.math3.exception.util.Localizable;
+
+/**
+ * Exception to be thrown when two dimensions differ.
+ *
+ * @since 2.2
+ * @version $Id$
+ */
+public class DimensionMismatchException extends MathIllegalNumberException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -8415396756375798143L;
+    /** Correct dimension. */
+    private final int dimension;
+
+    /**
+     * Construct an exception from the mismatched dimensions.
+     *
+     * @param specific Specific context information pattern.
+     * @param wrong Wrong dimension.
+     * @param expected Expected dimension.
+     */
+    public DimensionMismatchException(Localizable specific,
+                                      int wrong,
+                                      int expected) {
+        super(specific, wrong, expected);
+        dimension = expected;
+    }
+
+    /**
+     * Construct an exception from the mismatched dimensions.
+     *
+     * @param wrong Wrong dimension.
+     * @param expected Expected dimension.
+     */
+    public DimensionMismatchException(int wrong,
+                                      int expected) {
+        this(LocalizedFormats.DIMENSIONS_MISMATCH_SIMPLE, wrong, expected);
+    }
+
+    /**
+     * @return the expected dimension.
+     */
+    public int getDimension() {
+        return dimension;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MathArithmeticException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MathArithmeticException.java
new file mode 100644
index 0000000000..fe19f7a20f
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MathArithmeticException.java
@@ -0,0 +1,77 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.Localizable;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+import org.apache.commons.math3.exception.util.ExceptionContext;
+import org.apache.commons.math3.exception.util.ExceptionContextProvider;
+
+/**
+ * Base class for arithmetic exceptions.
+ * It is used for all the exceptions that have the semantics of the standard
+ * {@link ArithmeticException}, but must also provide a localized
+ * message.
+ *
+ * @since 3.0
+ * @version $Id$
+ */
+public class MathArithmeticException extends ArithmeticException
+    implements ExceptionContextProvider {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -6024911025449780478L;
+    /** Context. */
+    private final ExceptionContext context;
+
+    /**
+     * Default constructor.
+     */
+    public MathArithmeticException() {
+        context = new ExceptionContext(this);
+        context.addMessage(LocalizedFormats.ARITHMETIC_EXCEPTION);
+    }
+
+    /**
+     * Constructor with a specific message.
+     *
+     * @param pattern Message pattern providing the specific context of
+     * the error.
+     * @param args Arguments.
+     */
+    public MathArithmeticException(Localizable pattern,
+                                   Object ... args) {
+        context = new ExceptionContext(this);
+        context.addMessage(pattern, args);
+    }
+
+    /** {@inheritDoc} */
+    public ExceptionContext getContext() {
+        return context;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public String getMessage() {
+        return context.getMessage();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public String getLocalizedMessage() {
+        return context.getLocalizedMessage();
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MathIllegalArgumentException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MathIllegalArgumentException.java
new file mode 100644
index 0000000000..e1b85ee10c
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MathIllegalArgumentException.java
@@ -0,0 +1,65 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.Localizable;
+import org.apache.commons.math3.exception.util.ExceptionContext;
+import org.apache.commons.math3.exception.util.ExceptionContextProvider;
+
+/**
+ * Base class for all preconditions violation exceptions.
+ * In most cases, this class should not be instantiated directly: it should
+ * serve as a base class to create all the exceptions that have the semantics
+ * of the standard {@link IllegalArgumentException}.
+ *
+ * @since 2.2
+ * @version $Id$
+ */
+public class MathIllegalArgumentException extends IllegalArgumentException
+    implements ExceptionContextProvider {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -6024911025449780478L;
+    /** Context. */
+    private final ExceptionContext context;
+
+    /**
+     * @param pattern Message pattern explaining the cause of the error.
+     * @param args Arguments.
+     */
+    public MathIllegalArgumentException(Localizable pattern,
+                                        Object ... args) {
+        context = new ExceptionContext(this);
+        context.addMessage(pattern, args);
+    }
+
+    /** {@inheritDoc} */
+    public ExceptionContext getContext() {
+        return context;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public String getMessage() {
+        return context.getMessage();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public String getLocalizedMessage() {
+        return context.getLocalizedMessage();
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MathIllegalNumberException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MathIllegalNumberException.java
new file mode 100644
index 0000000000..788102f219
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MathIllegalNumberException.java
@@ -0,0 +1,56 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.Localizable;
+
+/**
+ * Base class for exceptions raised by a wrong number.
+ * This class is not intended to be instantiated directly: it should serve
+ * as a base class to create all the exceptions that are raised because some
+ * precondition is violated by a number argument.
+ *
+ * @since 2.2
+ * @version $Id$
+ */
+public class MathIllegalNumberException extends MathIllegalArgumentException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -7447085893598031110L;
+    /** Requested. */
+    private final Number argument;
+
+    /**
+     * Construct an exception.
+     *
+     * @param pattern Localizable pattern.
+     * @param wrong Wrong number.
+     * @param arguments Arguments.
+     */
+    protected MathIllegalNumberException(Localizable pattern,
+                                         Number wrong,
+                                         Object ... arguments) {
+        super(pattern, wrong, arguments);
+        argument = wrong;
+    }
+
+    /**
+     * @return the requested value.
+     */
+    public Number getArgument() {
+        return argument;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MathIllegalStateException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MathIllegalStateException.java
new file mode 100644
index 0000000000..c2a8e4cd89
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MathIllegalStateException.java
@@ -0,0 +1,88 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.Localizable;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+import org.apache.commons.math3.exception.util.ExceptionContext;
+import org.apache.commons.math3.exception.util.ExceptionContextProvider;
+
+/**
+ * Base class for all exceptions that signal a mismatch between the
+ * current state and the user's expectations.
+ *
+ * @since 2.2
+ * @version $Id$
+ */
+public class MathIllegalStateException extends IllegalStateException
+    implements ExceptionContextProvider {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -6024911025449780478L;
+    /** Context. */
+    private final ExceptionContext context;
+
+    /**
+     * Simple constructor.
+     *
+     * @param pattern Message pattern explaining the cause of the error.
+     * @param args Arguments.
+     */
+    public MathIllegalStateException(Localizable pattern,
+                                     Object ... args) {
+        context = new ExceptionContext(this);
+        context.addMessage(pattern, args);
+    }
+
+    /**
+     * Simple constructor.
+     *
+     * @param cause Root cause.
+     * @param pattern Message pattern explaining the cause of the error.
+     * @param args Arguments.
+     */
+    public MathIllegalStateException(Throwable cause,
+                                     Localizable pattern,
+                                     Object ... args) {
+        super(cause);
+        context = new ExceptionContext(this);
+        context.addMessage(pattern, args);
+    }
+
+    /**
+     * Default constructor.
+     */
+    public MathIllegalStateException() {
+        this(LocalizedFormats.ILLEGAL_STATE);
+    }
+
+    /** {@inheritDoc} */
+    public ExceptionContext getContext() {
+        return context;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public String getMessage() {
+        return context.getMessage();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public String getLocalizedMessage() {
+        return context.getLocalizedMessage();
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MathInternalError.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MathInternalError.java
new file mode 100644
index 0000000000..9894c74966
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MathInternalError.java
@@ -0,0 +1,58 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.Localizable;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Exception triggered when something that shouldn't happen does happen.
+ *
+ * @since 2.2
+ * @version $Id: MathInternalError.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public class MathInternalError extends MathIllegalStateException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -6276776513966934846L;
+    /** URL for reporting problems. */
+    private static final String REPORT_URL = "https://issues.apache.org/jira/browse/MATH";
+
+    /**
+     * Simple constructor.
+     */
+    public MathInternalError() {
+        getContext().addMessage(LocalizedFormats.INTERNAL_ERROR, REPORT_URL);
+    }
+
+    /**
+     * Simple constructor.
+     * @param cause root cause
+     */
+    public MathInternalError(final Throwable cause) {
+        super(cause, LocalizedFormats.INTERNAL_ERROR, REPORT_URL);
+    }
+
+    /**
+     * Constructor accepting a localized message.
+     *
+     * @param pattern Message pattern explaining the cause of the error.
+     * @param args Arguments.
+     */
+    public MathInternalError(Localizable pattern, Object ... args) {
+        super(pattern, args);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MathParseException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MathParseException.java
new file mode 100644
index 0000000000..4ee0b87609
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MathParseException.java
@@ -0,0 +1,57 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.ExceptionContextProvider;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Class to signal parse failures.
+ *
+ * @since 2.2
+ * @version $Id$
+ */
+public class MathParseException extends MathIllegalStateException
+    implements ExceptionContextProvider {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -6024911025449780478L;
+
+    /**
+     * @param wrong Bad string representation of the object.
+     * @param position Index, in the {@code wrong} string, that caused the
+     * parsing to fail.
+     * @param type Class of the object supposedly represented by the
+     * {@code wrong} string.
+     */
+    public MathParseException(String wrong,
+                              int position,
+                              Class<?> type) {
+        getContext().addMessage(LocalizedFormats.CANNOT_PARSE_AS_TYPE,
+                                wrong, Integer.valueOf(position), type.getName());
+    }
+
+    /**
+     * @param wrong Bad string representation of the object.
+     * @param position Index, in the {@code wrong} string, that caused the
+     * parsing to fail.
+     */
+    public MathParseException(String wrong,
+                              int position) {
+        getContext().addMessage(LocalizedFormats.CANNOT_PARSE,
+                                wrong, Integer.valueOf(position));
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MathUnsupportedOperationException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MathUnsupportedOperationException.java
new file mode 100644
index 0000000000..fdd6f60c8a
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MathUnsupportedOperationException.java
@@ -0,0 +1,73 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.Localizable;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+import org.apache.commons.math3.exception.util.ExceptionContext;
+import org.apache.commons.math3.exception.util.ExceptionContextProvider;
+
+/**
+ * Base class for all unsupported features.
+ * It is used for all the exceptions that have the semantics of the standard
+ * {@link UnsupportedOperationException}, but must also provide a localized
+ * message.
+ *
+ * @since 2.2
+ * @version $Id$
+ */
+public class MathUnsupportedOperationException extends UnsupportedOperationException
+    implements ExceptionContextProvider {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -6024911025449780478L;
+    /** Context. */
+    private final ExceptionContext context;
+
+    /**
+     * Default constructor.
+     */
+    public MathUnsupportedOperationException() {
+        this(LocalizedFormats.UNSUPPORTED_OPERATION);
+    }
+    /**
+     * @param pattern Message pattern providing the specific context of
+     * the error.
+     * @param args Arguments.
+     */
+    public MathUnsupportedOperationException(Localizable pattern,
+                                             Object ... args) {
+        context = new ExceptionContext(this);
+        context.addMessage(pattern, args);
+    }
+
+    /** {@inheritDoc} */
+    public ExceptionContext getContext() {
+        return context;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public String getMessage() {
+        return context.getMessage();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public String getLocalizedMessage() {
+        return context.getLocalizedMessage();
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MaxCountExceededException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MaxCountExceededException.java
new file mode 100644
index 0000000000..425b9662ea
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MaxCountExceededException.java
@@ -0,0 +1,64 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.Localizable;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Exception to be thrown when some counter maximum value is exceeded.
+ *
+ * @since 3.0
+ * @version $Id$
+ */
+public class MaxCountExceededException extends MathIllegalStateException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = 4330003017885151975L;
+    /**
+     * Maximum number of evaluations.
+     */
+    private final Number max;
+
+    /**
+     * Construct the exception.
+     *
+     * @param max Maximum.
+     */
+    public MaxCountExceededException(Number max) {
+        this(LocalizedFormats.MAX_COUNT_EXCEEDED, max);
+    }
+    /**
+     * Construct the exception with a specific context.
+     *
+     * @param specific Specific context pattern.
+     * @param max Maximum.
+     * @param args Additional arguments.
+     */
+    public MaxCountExceededException(Localizable specific,
+                                     Number max,
+                                     Object ... args) {
+        getContext().addMessage(specific, max, args);
+        this.max = max;
+    }
+
+    /**
+     * @return the maximum number of evaluations.
+     */
+    public Number getMax() {
+        return max;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MultiDimensionMismatchException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MultiDimensionMismatchException.java
new file mode 100644
index 0000000000..33bbc7cda1
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/MultiDimensionMismatchException.java
@@ -0,0 +1,91 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.Localizable;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Exception to be thrown when two sets of dimensions differ.
+ *
+ * @since 3.0
+ * @version $Id$
+ */
+public class MultiDimensionMismatchException extends MathIllegalArgumentException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -8415396756375798143L;
+
+    /** Wrong dimensions. */
+    private final Integer[] wrong;
+    /** Correct dimensions. */
+    private final Integer[] expected;
+
+    /**
+     * Construct an exception from the mismatched dimensions.
+     *
+     * @param wrong Wrong dimensions.
+     * @param expected Expected dimensions.
+     */
+    public MultiDimensionMismatchException(Integer[] wrong,
+                                           Integer[] expected) {
+        this(LocalizedFormats.DIMENSIONS_MISMATCH, wrong, expected);
+    }
+
+    /**
+     * Construct an exception from the mismatched dimensions.
+     *
+     * @param specific Message pattern providing the specific context of
+     * the error.
+     * @param wrong Wrong dimensions.
+     * @param expected Expected dimensions.
+     */
+    public MultiDimensionMismatchException(Localizable specific,
+                                           Integer[] wrong,
+                                           Integer[] expected) {
+        super(specific, wrong, expected);
+        this.wrong = wrong.clone();
+        this.expected = expected.clone();
+    }
+
+    /**
+     * @return an array containing the wrong dimensions.
+     */
+    public Integer[] getWrongDimensions() {
+        return wrong.clone();
+    }
+    /**
+     * @return an array containing the expected dimensions.
+     */
+    public Integer[] getExpectedDimensions() {
+        return expected.clone();
+    }
+
+    /**
+     * @param index Dimension index.
+     * @return the wrong dimension stored at {@code index}.
+     */
+    public int getWrongDimension(int index) {
+        return wrong[index];
+    }
+    /**
+     * @param index Dimension index.
+     * @return the expected dimension stored at {@code index}.
+     */
+    public int getExpectedDimension(int index) {
+        return expected[index];
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NoBracketingException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NoBracketingException.java
new file mode 100644
index 0000000000..73152f3c65
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NoBracketingException.java
@@ -0,0 +1,107 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.Localizable;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Exception to be thrown when function values have the same sign at both
+ * ends of an interval.
+ *
+ * @since 3.0
+ * @version $Id$
+ */
+public class NoBracketingException extends MathIllegalArgumentException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -3629324471511904459L;
+    /** Lower end of the interval. */
+    private final double lo;
+    /** Higher end of the interval. */
+    private final double hi;
+    /** Value at lower end of the interval. */
+    private final double fLo;
+    /** Value at higher end of the interval. */
+    private final double fHi;
+
+    /**
+     * Construct the exception.
+     *
+     * @param lo Lower end of the interval.
+     * @param hi Higher end of the interval.
+     * @param fLo Value at lower end of the interval.
+     * @param fHi Value at higher end of the interval.
+     */
+    public NoBracketingException(double lo, double hi,
+                                 double fLo, double fHi) {
+        this(LocalizedFormats.SAME_SIGN_AT_ENDPOINTS, lo, hi, fLo, fHi);
+    }
+
+    /**
+     * Construct the exception with a specific context.
+     *
+     * @param specific Contextual information on what caused the exception.
+     * @param lo Lower end of the interval.
+     * @param hi Higher end of the interval.
+     * @param fLo Value at lower end of the interval.
+     * @param fHi Value at higher end of the interval.
+     * @param args Additional arguments.
+     */
+    public NoBracketingException(Localizable specific,
+                                 double lo, double hi,
+                                 double fLo, double fHi,
+                                 Object ... args) {
+        super(specific, lo, hi, fLo, fHi, args);
+        this.lo = lo;
+        this.hi = hi;
+        this.fLo = fLo;
+        this.fHi = fHi;
+    }
+
+    /**
+     * Get the lower end of the interval.
+     *
+     * @return the lower end.
+     */
+    public double getLo() {
+        return lo;
+    }
+    /**
+     * Get the higher end of the interval.
+     *
+     * @return the higher end.
+     */
+    public double getHi() {
+        return hi;
+    }
+    /**
+     * Get the value at the lower end of the interval.
+     *
+     * @return the value at the lower end.
+     */
+    public double getFLo() {
+        return fLo;
+    }
+    /**
+     * Get the value at the higher end of the interval.
+     *
+     * @return the value at the higher end.
+     */
+    public double getFHi() {
+        return fHi;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NoDataException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NoDataException.java
new file mode 100644
index 0000000000..cdc870b70e
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NoDataException.java
@@ -0,0 +1,47 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.Localizable;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Exception to be thrown when the required data is missing.
+ *
+ * @since 2.2
+ * @version $Id$
+ */
+public class NoDataException extends MathIllegalArgumentException {
+
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -3629324471511904459L;
+
+    /**
+     * Construct the exception.
+     */
+    public NoDataException() {
+        this(LocalizedFormats.NO_DATA);
+    }
+    /**
+     * Construct the exception with a specific context.
+     *
+     * @param specific Contextual information on what caused the exception.
+     */
+    public NoDataException(Localizable specific) {
+        super(specific);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NonMonotonicSequenceException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NonMonotonicSequenceException.java
new file mode 100644
index 0000000000..79c60549d9
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NonMonotonicSequenceException.java
@@ -0,0 +1,121 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.util.MathArrays;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Exception to be thrown when the a sequence of values is not monotonically
+ * increasing or decreasing.
+ *
+ * @since 2.2 (name changed to "NonMonotonicSequenceException" in 3.0)
+ * @version $Id$
+ */
+public class NonMonotonicSequenceException extends MathIllegalNumberException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = 3596849179428944575L;
+    /**
+     * Direction (positive for increasing, negative for decreasing).
+     */
+    private final MathArrays.OrderDirection direction;
+    /**
+     * Whether the sequence must be strictly increasing or decreasing.
+     */
+    private final boolean strict;
+    /**
+     * Index of the wrong value.
+     */
+    private final int index;
+    /**
+     * Previous value.
+     */
+    private final Number previous;
+
+    /**
+     * Construct the exception.
+     * This constructor uses default values assuming that the sequence should
+     * have been strictly increasing.
+     *
+     * @param wrong Value that did not match the requirements.
+     * @param previous Previous value in the sequence.
+     * @param index Index of the value that did not match the requirements.
+     */
+    public NonMonotonicSequenceException(Number wrong,
+                                         Number previous,
+                                         int index) {
+        this(wrong, previous, index, MathArrays.OrderDirection.INCREASING, true);
+    }
+
+    /**
+     * Construct the exception.
+     *
+     * @param wrong Value that did not match the requirements.
+     * @param previous Previous value in the sequence.
+     * @param index Index of the value that did not match the requirements.
+     * @param direction Strictly positive for a sequence required to be
+     * increasing, negative (or zero) for a decreasing sequence.
+     * @param strict Whether the sequence must be strictly increasing or
+     * decreasing.
+     */
+    public NonMonotonicSequenceException(Number wrong,
+                                         Number previous,
+                                         int index,
+                                         MathArrays.OrderDirection direction,
+                                         boolean strict) {
+        super(direction == MathArrays.OrderDirection.INCREASING ?
+              (strict ?
+               LocalizedFormats.NOT_STRICTLY_INCREASING_SEQUENCE :
+               LocalizedFormats.NOT_INCREASING_SEQUENCE) :
+              (strict ?
+               LocalizedFormats.NOT_STRICTLY_DECREASING_SEQUENCE :
+               LocalizedFormats.NOT_DECREASING_SEQUENCE),
+              wrong, previous, index, index - 1);
+
+        this.direction = direction;
+        this.strict = strict;
+        this.index = index;
+        this.previous = previous;
+    }
+
+    /**
+     * @return the order direction.
+     **/
+    public MathArrays.OrderDirection getDirection() {
+        return direction;
+    }
+    /**
+     * @return {@code true} is the sequence should be strictly monotonic.
+     **/
+    public boolean getStrict() {
+        return strict;
+    }
+    /**
+     * Get the index of the wrong value.
+     *
+     * @return the current index.
+     */
+    public int getIndex() {
+        return index;
+    }
+    /**
+     * @return the previous value.
+     */
+    public Number getPrevious() {
+        return previous;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NotFiniteNumberException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NotFiniteNumberException.java
new file mode 100644
index 0000000000..5a60954da2
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NotFiniteNumberException.java
@@ -0,0 +1,55 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.Localizable;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Exception to be thrown when a number is not finite.
+ *
+ * @since 3.0
+ * @version $Id$
+ */
+public class NotFiniteNumberException extends MathIllegalNumberException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -6100997100383932834L;
+
+    /**
+     * Construct the exception.
+     *
+     * @param wrong Value that is infinite or NaN.
+     * @param args Optional arguments.
+     */
+    public NotFiniteNumberException(Number wrong,
+                                    Object ... args) {
+        this(LocalizedFormats.NOT_FINITE_NUMBER, wrong, args);
+    }
+
+    /**
+     * Construct the exception with a specific context.
+     *
+     * @param specific Specific context pattern.
+     * @param wrong Value that is infinite or NaN.
+     * @param args Optional arguments.
+     */
+    public NotFiniteNumberException(Localizable specific,
+                                    Number wrong,
+                                    Object ... args) {
+        super(specific, wrong, args);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NotPositiveException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NotPositiveException.java
new file mode 100644
index 0000000000..604e7e9910
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NotPositiveException.java
@@ -0,0 +1,49 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.Localizable;
+
+/**
+ * Exception to be thrown when the argument is negative.
+ *
+ * @since 2.2
+ * @version $Id$
+ */
+public class NotPositiveException extends NumberIsTooSmallException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -2250556892093726375L;
+
+    /**
+     * Construct the exception.
+     *
+     * @param value Argument.
+     */
+    public NotPositiveException(Number value) {
+        super(value, 0, true);
+    }
+    /**
+     * Construct the exception with a specific context.
+     *
+     * @param specific Specific context where the error occurred.
+     * @param value Argument.
+     */
+    public NotPositiveException(Localizable specific,
+                                Number value) {
+        super(specific, value, 0, true);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NotStrictlyPositiveException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NotStrictlyPositiveException.java
new file mode 100644
index 0000000000..11c595d8e7
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NotStrictlyPositiveException.java
@@ -0,0 +1,50 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.Localizable;
+
+/**
+ * Exception to be thrown when the argument is negative.
+ *
+ * @since 2.2
+ * @version $Id$
+ */
+public class NotStrictlyPositiveException extends NumberIsTooSmallException {
+
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -7824848630829852237L;
+
+    /**
+     * Construct the exception.
+     *
+     * @param value Argument.
+     */
+    public NotStrictlyPositiveException(Number value) {
+        super(value, 0, false);
+    }
+    /**
+     * Construct the exception with a specific context.
+     *
+     * @param specific Specific context where the error occurred.
+     * @param value Argument.
+     */
+    public NotStrictlyPositiveException(Localizable specific,
+                                        Number value) {
+        super(specific, value, 0, false);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NullArgumentException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NullArgumentException.java
new file mode 100644
index 0000000000..4ddc1cb999
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NullArgumentException.java
@@ -0,0 +1,52 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.Localizable;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * All conditions checks that fail due to a {@code null} argument must throw
+ * this exception.
+ * This class is meant to signal a precondition violation ("null is an illegal
+ * argument") and so does not extend the standard {@code NullPointerException}.
+ * Propagation of {@code NullPointerException} from within Commons-Math is
+ * construed to be a bug.
+ *
+ * @since 2.2
+ * @version $Id$
+ */
+public class NullArgumentException extends MathIllegalArgumentException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -6024911025449780478L;
+
+    /**
+     * Default constructor.
+     */
+    public NullArgumentException() {
+        this(LocalizedFormats.NULL_NOT_ALLOWED);
+    }
+    /**
+     * @param pattern Message pattern providing the specific context of
+     * the error.
+     * @param arguments Values for replacing the placeholders in {@code pattern}.
+     */
+    public NullArgumentException(Localizable pattern,
+                                 Object ... arguments) {
+        super(pattern, arguments);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NumberIsTooLargeException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NumberIsTooLargeException.java
new file mode 100644
index 0000000000..8a5d645f6f
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NumberIsTooLargeException.java
@@ -0,0 +1,86 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.Localizable;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Exception to be thrown when a number is too large.
+ *
+ * @since 2.2
+ * @version $Id$
+ */
+public class NumberIsTooLargeException extends MathIllegalNumberException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = 4330003017885151975L;
+    /**
+     * Higher bound.
+     */
+    private final Number max;
+    /**
+     * Whether the maximum is included in the allowed range.
+     */
+    private final boolean boundIsAllowed;
+
+    /**
+     * Construct the exception.
+     *
+     * @param wrong Value that is larger than the maximum.
+     * @param max Maximum.
+     * @param boundIsAllowed if true the maximum is included in the allowed range.
+     */
+    public NumberIsTooLargeException(Number wrong,
+                                     Number max,
+                                     boolean boundIsAllowed) {
+        this(boundIsAllowed ?
+             LocalizedFormats.NUMBER_TOO_LARGE :
+             LocalizedFormats.NUMBER_TOO_LARGE_BOUND_EXCLUDED,
+             wrong, max, boundIsAllowed);
+    }
+    /**
+     * Construct the exception with a specific context.
+     *
+     * @param specific Specific context pattern.
+     * @param wrong Value that is larger than the maximum.
+     * @param max Maximum.
+     * @param boundIsAllowed if true the maximum is included in the allowed range.
+     */
+    public NumberIsTooLargeException(Localizable specific,
+                                     Number wrong,
+                                     Number max,
+                                     boolean boundIsAllowed) {
+        super(specific, wrong, max);
+
+        this.max = max;
+        this.boundIsAllowed = boundIsAllowed;
+    }
+
+    /**
+     * @return {@code true} if the maximum is included in the allowed range.
+     */
+    public boolean getBoundIsAllowed() {
+        return boundIsAllowed;
+    }
+
+    /**
+     * @return the maximum.
+     */
+    public Number getMax() {
+        return max;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NumberIsTooSmallException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NumberIsTooSmallException.java
new file mode 100644
index 0000000000..d4746a2945
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/NumberIsTooSmallException.java
@@ -0,0 +1,87 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.Localizable;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Exception to be thrown when a number is too small.
+ *
+ * @since 2.2
+ * @version $Id$
+ */
+public class NumberIsTooSmallException extends MathIllegalNumberException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -6100997100383932834L;
+    /**
+     * Higher bound.
+     */
+    private final Number min;
+    /**
+     * Whether the maximum is included in the allowed range.
+     */
+    private final boolean boundIsAllowed;
+
+    /**
+     * Construct the exception.
+     *
+     * @param wrong Value that is smaller than the minimum.
+     * @param min Minimum.
+     * @param boundIsAllowed Whether {@code min} is included in the allowed range.
+     */
+    public NumberIsTooSmallException(Number wrong,
+                                     Number min,
+                                     boolean boundIsAllowed) {
+        this(boundIsAllowed ?
+             LocalizedFormats.NUMBER_TOO_SMALL :
+             LocalizedFormats.NUMBER_TOO_SMALL_BOUND_EXCLUDED,
+             wrong, min, boundIsAllowed);
+    }
+
+    /**
+     * Construct the exception with a specific context.
+     *
+     * @param specific Specific context pattern.
+     * @param wrong Value that is smaller than the minimum.
+     * @param min Minimum.
+     * @param boundIsAllowed Whether {@code min} is included in the allowed range.
+     */
+    public NumberIsTooSmallException(Localizable specific,
+                                     Number wrong,
+                                     Number min,
+                                     boolean boundIsAllowed) {
+        super(specific, wrong, min);
+
+        this.min = min;
+        this.boundIsAllowed = boundIsAllowed;
+    }
+
+    /**
+     * @return {@code true} if the minimum is included in the allowed range.
+     */
+    public boolean getBoundIsAllowed() {
+        return boundIsAllowed;
+    }
+
+    /**
+     * @return the minimum.
+     */
+    public Number getMin() {
+        return min;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/OutOfRangeException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/OutOfRangeException.java
new file mode 100644
index 0000000000..b8cb7b89c0
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/OutOfRangeException.java
@@ -0,0 +1,79 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+import org.apache.commons.math3.exception.util.Localizable;
+
+/**
+ * Exception to be thrown when some argument is out of range.
+ *
+ * @since 2.2
+ * @version $Id$
+ */
+public class OutOfRangeException extends MathIllegalNumberException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = 111601815794403609L;
+    /** Lower bound. */
+    private final Number lo;
+    /** Higher bound. */
+    private final Number hi;
+
+    /**
+     * Construct an exception from the mismatched dimensions.
+     *
+     * @param wrong Requested value.
+     * @param lo Lower bound.
+     * @param hi Higher bound.
+     */
+    public OutOfRangeException(Number wrong,
+                               Number lo,
+                               Number hi) {
+        this(LocalizedFormats.OUT_OF_RANGE_SIMPLE, wrong, lo, hi);
+    }
+
+    /**
+     * Construct an exception from the mismatched dimensions with a
+     * specific context information.
+     *
+     * @param specific Context information.
+     * @param wrong Requested value.
+     * @param lo Lower bound.
+     * @param hi Higher bound.
+     */
+    public OutOfRangeException(Localizable specific,
+                               Number wrong,
+                               Number lo,
+                               Number hi) {
+        super(specific, wrong, lo, hi);
+        this.lo = lo;
+        this.hi = hi;
+    }
+
+    /**
+     * @return the lower bound.
+     */
+    public Number getLo() {
+        return lo;
+    }
+    /**
+     * @return the higher bound.
+     */
+    public Number getHi() {
+        return hi;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/TooManyEvaluationsException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/TooManyEvaluationsException.java
new file mode 100644
index 0000000000..39e32771c6
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/TooManyEvaluationsException.java
@@ -0,0 +1,40 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Exception to be thrown when the maximal number of evaluations is exceeded.
+ *
+ * @since 3.0
+ * @version $Id$
+ */
+public class TooManyEvaluationsException extends MaxCountExceededException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = 4330003017885151975L;
+
+    /**
+     * Construct the exception.
+     *
+     * @param max Maximum number of evaluations.
+     */
+    public TooManyEvaluationsException(Number max) {
+        super(max);
+        getContext().addMessage(LocalizedFormats.EVALUATIONS);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/ZeroException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/ZeroException.java
new file mode 100644
index 0000000000..10b658d6be
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/ZeroException.java
@@ -0,0 +1,49 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception;
+
+import org.apache.commons.math3.exception.util.Localizable;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Exception to be thrown when zero is provided where it is not allowed.
+ *
+ * @since 2.2
+ * @version $Id: ZeroException.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public class ZeroException extends MathIllegalNumberException {
+
+    /** Serializable version identifier */
+    private static final long serialVersionUID = -1960874856936000015L;
+
+    /**
+     * Construct the exception.
+     */
+    public ZeroException() {
+        this(LocalizedFormats.ZERO_NOT_ALLOWED);
+    }
+
+    /**
+     * Construct the exception with a specific context.
+     *
+     * @param specific Specific context pattern.
+     * @param arguments Arguments.
+     */
+    public ZeroException(Localizable specific, Object ... arguments) {
+        super(specific, 0, arguments);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/package-info.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/package-info.java
new file mode 100644
index 0000000000..f6e7319e51
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/package-info.java
@@ -0,0 +1,23 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/**
+ *
+ *     Specialized exceptions for algorithms errors. The exceptions can be localized
+ *     using simple java properties.
+ *
+ */
+package org.apache.commons.math3.exception;
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/util/ArgUtils.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/util/ArgUtils.java
new file mode 100644
index 0000000000..f62009a247
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/util/ArgUtils.java
@@ -0,0 +1,56 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception.util;
+
+import java.util.List;
+import java.util.ArrayList;
+
+/**
+ * Utility class for transforming the list of arguments passed to
+ * constructors of exceptions.
+ *
+ * @version $Id$
+ */
+public class ArgUtils {
+    /**
+     * Class contains only static methods.
+     */
+    private ArgUtils() {}
+
+    /**
+     * Transform a multidimensional array into a one-dimensional list.
+     *
+     * @param array Array (possibly multidimensional).
+     * @return a list of all the {@code Object} instances contained in
+     * {@code array}.
+     */
+    public static Object[] flatten(Object[] array) {
+        final List<Object> list = new ArrayList<Object>();
+        if (array != null) {
+            for (Object o : array) {
+                if (o instanceof Object[]) {
+                    for (Object oR : flatten((Object[]) o)) {
+                        list.add(oR);
+                    }
+                } else {
+                    list.add(o);
+                }
+            }
+        }
+        return list.toArray();
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/util/DummyLocalizable.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/util/DummyLocalizable.java
new file mode 100644
index 0000000000..6c8560b397
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/util/DummyLocalizable.java
@@ -0,0 +1,58 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception.util;
+
+import java.util.Locale;
+
+/**
+ * Dummy implementation of the {@link Localizable} interface, without localization.
+ *
+ * @version $Id: DummyLocalizable.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.2
+ */
+public class DummyLocalizable implements Localizable {
+
+    /** Serializable version identifier. */
+    private static final long serialVersionUID = 8843275624471387299L;
+
+    /** Source string. */
+    private final String source;
+
+    /** Simple constructor.
+     * @param source source text
+     */
+    public DummyLocalizable(final String source) {
+        this.source = source;
+    }
+
+    /** {@inheritDoc} */
+    public String getSourceString() {
+        return source;
+    }
+
+    /** {@inheritDoc} */
+    public String getLocalizedString(Locale locale) {
+        return source;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public String toString() {
+        return source;
+    }
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/util/ExceptionContext.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/util/ExceptionContext.java
new file mode 100644
index 0000000000..ce7a8733a1
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/util/ExceptionContext.java
@@ -0,0 +1,335 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception.util;
+
+import java.util.List;
+import java.util.ArrayList;
+import java.util.Set;
+import java.util.Map;
+import java.io.IOException;
+import java.io.Serializable;
+import java.io.ObjectOutputStream;
+import java.io.ObjectInputStream;
+import java.util.HashMap;
+import java.text.MessageFormat;
+import java.util.Locale;
+
+/**
+ * Class that contains the actual implementation of the functionality mandated
+ * by the {@link ExceptionContext} interface.
+ * All Commons Math exceptions delegate the interface's methods to this class.
+ *
+ * @since 3.0
+ * @version $Id$
+ */
+public class ExceptionContext implements Serializable {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -6024911025449780478L;
+    /**
+     * The throwable to which this context refers to.
+     */
+    private Throwable throwable;
+    /**
+     * Various informations that enrich the informative message.
+     */
+    private List<Localizable> msgPatterns;
+    /**
+     * Various informations that enrich the informative message.
+     * The arguments will replace the corresponding place-holders in
+     * {@link #msgPatterns}.
+     */
+    private List<Object[]> msgArguments;
+    /**
+     * Arbitrary context information.
+     */
+    private Map<String, Object> context;
+
+    /** Simple constructor.
+     * @param throwable the exception this context refers too
+     */
+    public ExceptionContext(final Throwable throwable) {
+        this.throwable = throwable;
+        msgPatterns    = new ArrayList<Localizable>();
+        msgArguments   = new ArrayList<Object[]>();
+        context        = new HashMap<String, Object>();
+    }
+
+    /** Get a reference to the exception to which the context relates.
+     * @return a reference to the exception to which the context relates
+     */
+    public Throwable getThrowable() {
+        return throwable;
+    }
+
+    /**
+     * Adds a message.
+     *
+     * @param pattern Message pattern.
+     * @param arguments Values for replacing the placeholders in the message
+     * pattern.
+     */
+    public void addMessage(Localizable pattern,
+                           Object ... arguments) {
+        msgPatterns.add(pattern);
+        msgArguments.add(ArgUtils.flatten(arguments));
+    }
+
+    /**
+     * Sets the context (key, value) pair.
+     * Keys are assumed to be unique within an instance. If the same key is
+     * assigned a new value, the previous one will be lost.
+     *
+     * @param key Context key (not null).
+     * @param value Context value.
+     */
+    public void setValue(String key, Object value) {
+        context.put(key, value);
+    }
+
+    /**
+     * Gets the value associated to the given context key.
+     *
+     * @param key Context key.
+     * @return the context value or {@code null} if the key does not exist.
+     */
+    public Object getValue(String key) {
+        return context.get(key);
+    }
+
+    /**
+     * Gets all the keys stored in the exception
+     *
+     * @return the set of keys.
+     */
+    public Set<String> getKeys() {
+        return context.keySet();
+    }
+
+    /**
+     * Gets the default message.
+     *
+     * @return the message.
+     */
+    public String getMessage() {
+        return getMessage(Locale.US);
+    }
+
+    /**
+     * Gets the message in the default locale.
+     *
+     * @return the localized message.
+     */
+    public String getLocalizedMessage() {
+        return getMessage(Locale.getDefault());
+    }
+
+    /**
+     * Gets the message in a specified locale.
+     *
+     * @param locale Locale in which the message should be translated.
+     * @return the localized message.
+     */
+    public String getMessage(final Locale locale) {
+        return buildMessage(locale, ": ");
+    }
+
+    /**
+     * Gets the message in a specified locale.
+     *
+     * @param locale Locale in which the message should be translated.
+     * @param separator Separator inserted between the message parts.
+     * @return the localized message.
+     */
+    public String getMessage(final Locale locale,
+                             final String separator) {
+        return buildMessage(locale, separator);
+    }
+
+    /**
+     * Builds a message string.
+     *
+     * @param locale Locale in which the message should be translated.
+     * @param separator Message separator.
+     * @return a localized message string.
+     */
+    private String buildMessage(Locale locale,
+                                String separator) {
+        final StringBuilder sb = new StringBuilder();
+        int count = 0;
+        final int len = msgPatterns.size();
+        for (int i = 0; i < len; i++) {
+            final Localizable pat = msgPatterns.get(i);
+            final Object[] args = msgArguments.get(i);
+            final MessageFormat fmt = new MessageFormat(pat.getLocalizedString(locale),
+                                                        locale);
+            sb.append(fmt.format(args));
+            if (++count < len) {
+                // Add a separator if there are other messages.
+                sb.append(separator);
+            }
+        }
+
+        return sb.toString();
+    }
+
+    /**
+     * Serialize this object to the given stream.
+     *
+     * @param out Stream.
+     * @throws IOException This should never happen.
+     */
+    private void writeObject(ObjectOutputStream out)
+        throws IOException {
+        out.writeObject(throwable);
+        serializeMessages(out);
+        serializeContext(out);
+    }
+    /**
+     * Deserialize this object from the given stream.
+     *
+     * @param in Stream.
+     * @throws IOException This should never happen.
+     * @throws ClassNotFoundException This should never happen.
+     */
+    private void readObject(ObjectInputStream in)
+        throws IOException,
+               ClassNotFoundException {
+        throwable = (Throwable) in.readObject();
+        deSerializeMessages(in);
+        deSerializeContext(in);
+    }
+
+    /**
+     * Serialize  {@link #msgPatterns} and {@link #msgArguments}.
+     *
+     * @param out Stream.
+     * @throws IOException This should never happen.
+     */
+    private void serializeMessages(ObjectOutputStream out)
+        throws IOException {
+        // Step 1.
+        final int len = msgPatterns.size();
+        out.writeInt(len);
+        // Step 2.
+        for (int i = 0; i < len; i++) {
+            final Localizable pat = msgPatterns.get(i);
+            // Step 3.
+            out.writeObject(pat);
+            final Object[] args = msgArguments.get(i);
+            final int aLen = args.length;
+            // Step 4.
+            out.writeInt(aLen);
+            for (int j = 0; j < aLen; j++) {
+                if (args[j] instanceof Serializable) {
+                    // Step 5a.
+                    out.writeObject(args[j]);
+                } else {
+                    // Step 5b.
+                    out.writeObject(nonSerializableReplacement(args[j]));
+                }
+            }
+        }
+    }
+
+    /**
+     * Deserialize {@link #msgPatterns} and {@link #msgArguments}.
+     *
+     * @param in Stream.
+     * @throws IOException This should never happen.
+     * @throws ClassNotFoundException This should never happen.
+     */
+    private void deSerializeMessages(ObjectInputStream in)
+        throws IOException,
+               ClassNotFoundException {
+        // Step 1.
+        final int len = in.readInt();
+        msgPatterns = new ArrayList<Localizable>(len);
+        msgArguments = new ArrayList<Object[]>(len);
+        // Step 2.
+        for (int i = 0; i < len; i++) {
+            // Step 3.
+            final Localizable pat = (Localizable) in.readObject();
+            msgPatterns.add(pat);
+            // Step 4.
+            final int aLen = in.readInt();
+            final Object[] args = new Object[aLen];
+            for (int j = 0; j < aLen; j++) {
+                // Step 5.
+                args[j] = in.readObject();
+            }
+            msgArguments.add(args);
+        }
+    }
+
+    /**
+     * Serialize {@link #context}.
+     *
+     * @param out Stream.
+     * @throws IOException This should never happen.
+     */
+    private void serializeContext(ObjectOutputStream out)
+        throws IOException {
+        // Step 1.
+        final int len = context.keySet().size();
+        out.writeInt(len);
+        for (String key : context.keySet()) {
+            // Step 2.
+            out.writeObject(key);
+            final Object value = context.get(key);
+            if (value instanceof Serializable) {
+                // Step 3a.
+                out.writeObject(value);
+            } else {
+                // Step 3b.
+                out.writeObject(nonSerializableReplacement(value));
+            }
+        }
+    }
+
+    /**
+     * Deserialize {@link #context}.
+     *
+     * @param in Stream.
+     * @throws IOException This should never happen.
+     * @throws ClassNotFoundException This should never happen.
+     */
+    private void deSerializeContext(ObjectInputStream in)
+        throws IOException,
+               ClassNotFoundException {
+        // Step 1.
+        final int len = in.readInt();
+        context = new HashMap<String, Object>();
+        for (int i = 0; i < len; i++) {
+            // Step 2.
+            final String key = (String) in.readObject();
+            // Step 3.
+            final Object value = in.readObject();
+            context.put(key, value);
+        }
+    }
+
+    /**
+     * Replaces a non-serializable object with an error message string.
+     *
+     * @param obj Object that does not implement the {@code Serializable}
+     * interface.
+     * @return a string that mentions which class could not be serialized.
+     */
+    private String nonSerializableReplacement(Object obj) {
+        return "[Object could not be serialized: " + obj.getClass().getName() + "]";
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/util/ExceptionContextProvider.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/util/ExceptionContextProvider.java
new file mode 100644
index 0000000000..d408d14cbc
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/util/ExceptionContextProvider.java
@@ -0,0 +1,34 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception.util;
+
+/**
+ * Interface for accessing the context data structure stored in Commons Math
+ * exceptions.
+ *
+ * @version $Id$
+ */
+public interface ExceptionContextProvider {
+    /**
+     * Gets a reference to the "rich context" data structure that allows to
+     * customize error messages and store key, value pairs in exceptions.
+     *
+     * @return a reference to the exception context.
+     */
+    ExceptionContext getContext();
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/util/Localizable.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/util/Localizable.java
new file mode 100644
index 0000000000..81e2336525
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/util/Localizable.java
@@ -0,0 +1,44 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception.util;
+
+import java.io.Serializable;
+import java.util.Locale;
+
+/**
+ * Interface for localizable strings.
+ *
+ * @version $Id: Localizable.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.2
+ */
+public interface Localizable extends Serializable {
+    /**
+     * Gets the source (non-localized) string.
+     *
+     * @return the source string.
+     */
+    String getSourceString();
+
+    /**
+     * Gets the localized string.
+     *
+     * @param locale locale into which to get the string.
+     * @return the localized string or the source string if no
+     * localized version is available.
+     */
+    String getLocalizedString(Locale locale);
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/util/LocalizedFormats.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/util/LocalizedFormats.java
new file mode 100644
index 0000000000..000bd7a0d1
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/util/LocalizedFormats.java
@@ -0,0 +1,397 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.exception.util;
+
+import java.util.Locale;
+import java.util.MissingResourceException;
+import java.util.ResourceBundle;
+
+/**
+ * Enumeration for localized messages formats used in exceptions messages.
+ * <p>
+ * The constants in this enumeration represent the available
+ * formats as localized strings. These formats are intended to be
+ * localized using simple properties files, using the constant
+ * name as the key and the property value as the message format.
+ * The source English format is provided in the constants themselves
+ * to serve both as a reminder for developers to understand the parameters
+ * needed by each format, as a basis for translators to create
+ * localized properties files, and as a default format if some
+ * translation is missing.
+ * </p>
+ * @since 2.2
+ * @version $Id: LocalizedFormats.java 1244705 2012-02-15 20:47:20Z luc $
+ */
+public enum LocalizedFormats implements Localizable {
+
+    // CHECKSTYLE: stop MultipleVariableDeclarations
+    // CHECKSTYLE: stop JavadocVariable
+
+    ARGUMENT_OUTSIDE_DOMAIN("Argument {0} outside domain [{1} ; {2}]"),
+    ARRAY_SIZE_EXCEEDS_MAX_VARIABLES("array size cannot be greater than {0}"),
+    ARRAY_SIZES_SHOULD_HAVE_DIFFERENCE_1("array sizes should have difference 1 ({0} != {1} + 1)"),
+    ARRAY_SUMS_TO_ZERO("array sums to zero"),
+    ASSYMETRIC_EIGEN_NOT_SUPPORTED("eigen decomposition of assymetric matrices not supported yet"),
+    AT_LEAST_ONE_COLUMN("matrix must have at least one column"),
+    AT_LEAST_ONE_ROW("matrix must have at least one row"),
+    BANDWIDTH("bandwidth ({0})"),
+    BINOMIAL_INVALID_PARAMETERS_ORDER("must have n >= k for binomial coefficient (n, k), got k = {0}, n = {1}"),
+    BINOMIAL_NEGATIVE_PARAMETER("must have n >= 0 for binomial coefficient (n, k), got n = {0}"),
+    CANNOT_CLEAR_STATISTIC_CONSTRUCTED_FROM_EXTERNAL_MOMENTS("statistics constructed from external moments cannot be cleared"),
+    CANNOT_COMPUTE_0TH_ROOT_OF_UNITY("cannot compute 0-th root of unity, indefinite result"),
+    CANNOT_COMPUTE_BETA_DENSITY_AT_0_FOR_SOME_ALPHA("cannot compute beta density at 0 when alpha = {0,number}"),
+    CANNOT_COMPUTE_BETA_DENSITY_AT_1_FOR_SOME_BETA("cannot compute beta density at 1 when beta = %.3g"),
+    CANNOT_COMPUTE_NTH_ROOT_FOR_NEGATIVE_N("cannot compute nth root for null or negative n: {0}"),
+    CANNOT_DISCARD_NEGATIVE_NUMBER_OF_ELEMENTS("cannot discard a negative number of elements ({0})"),
+    CANNOT_FORMAT_INSTANCE_AS_3D_VECTOR("cannot format a {0} instance as a 3D vector"),
+    CANNOT_FORMAT_INSTANCE_AS_COMPLEX("cannot format a {0} instance as a complex number"),
+    CANNOT_FORMAT_INSTANCE_AS_REAL_VECTOR("cannot format a {0} instance as a real vector"),
+    CANNOT_FORMAT_OBJECT_TO_FRACTION("cannot format given object as a fraction number"),
+    CANNOT_INCREMENT_STATISTIC_CONSTRUCTED_FROM_EXTERNAL_MOMENTS("statistics constructed from external moments cannot be incremented"),
+    CANNOT_NORMALIZE_A_ZERO_NORM_VECTOR("cannot normalize a zero norm vector"),
+    CANNOT_RETRIEVE_AT_NEGATIVE_INDEX("elements cannot be retrieved from a negative array index {0}"),
+    CANNOT_SET_AT_NEGATIVE_INDEX("cannot set an element at a negative index {0}"),
+    CANNOT_SUBSTITUTE_ELEMENT_FROM_EMPTY_ARRAY("cannot substitute an element from an empty array"),
+    CANNOT_TRANSFORM_TO_DOUBLE("Conversion Exception in Transformation: {0}"),
+    CARDAN_ANGLES_SINGULARITY("Cardan angles singularity"),
+    CLASS_DOESNT_IMPLEMENT_COMPARABLE("class ({0}) does not implement Comparable"),
+    CLOSEST_ORTHOGONAL_MATRIX_HAS_NEGATIVE_DETERMINANT("the closest orthogonal matrix has a negative determinant {0}"),
+    COLUMN_INDEX_OUT_OF_RANGE("column index {0} out of allowed range [{1}, {2}]"),
+    COLUMN_INDEX("column index ({0})"), /* keep */
+    CONTINUED_FRACTION_INFINITY_DIVERGENCE("Continued fraction convergents diverged to +/- infinity for value {0}"),
+    CONTINUED_FRACTION_NAN_DIVERGENCE("Continued fraction diverged to NaN for value {0}"),
+    CONTRACTION_CRITERIA_SMALLER_THAN_EXPANSION_FACTOR("contraction criteria ({0}) smaller than the expansion factor ({1}).  This would lead to a never ending loop of expansion and contraction as a newly expanded internal storage array would immediately satisfy the criteria for contraction."),
+    CONTRACTION_CRITERIA_SMALLER_THAN_ONE("contraction criteria smaller than one ({0}).  This would lead to a never ending loop of expansion and contraction as an internal storage array length equal to the number of elements would satisfy the contraction criteria."),
+    CONVERGENCE_FAILED("convergence failed"), /* keep */
+    CROSSING_BOUNDARY_LOOPS("some outline boundary loops cross each other"),
+    CROSSOVER_RATE("crossover rate ({0})"),
+    CUMULATIVE_PROBABILITY_RETURNED_NAN("Cumulative probability function returned NaN for argument {0} p = {1}"),
+    DIFFERENT_ROWS_LENGTHS("some rows have length {0} while others have length {1}"),
+    DIFFERENT_ORIG_AND_PERMUTED_DATA("original and permuted data must contain the same elements"),
+    DIGEST_NOT_INITIALIZED("digest not initialized"),
+    DIMENSIONS_MISMATCH_2x2("got {0}x{1} but expected {2}x{3}"), /* keep */
+    DIMENSIONS_MISMATCH_SIMPLE("{0} != {1}"), /* keep */
+    DIMENSIONS_MISMATCH("dimensions mismatch"), /* keep */
+    DISCRETE_CUMULATIVE_PROBABILITY_RETURNED_NAN("Discrete cumulative probability function returned NaN for argument {0}"),
+    DISTRIBUTION_NOT_LOADED("distribution not loaded"),
+    DUPLICATED_ABSCISSA("Abscissa {0} is duplicated at both indices {1} and {2}"),
+    ELITISM_RATE("elitism rate ({0})"),
+    EMPTY_CLUSTER_IN_K_MEANS("empty cluster in k-means"),
+    EMPTY_POLYNOMIALS_COEFFICIENTS_ARRAY("empty polynomials coefficients array"), /* keep */
+    EMPTY_SELECTED_COLUMN_INDEX_ARRAY("empty selected column index array"),
+    EMPTY_SELECTED_ROW_INDEX_ARRAY("empty selected row index array"),
+    EMPTY_STRING_FOR_IMAGINARY_CHARACTER("empty string for imaginary character"),
+    ENDPOINTS_NOT_AN_INTERVAL("endpoints do not specify an interval: [{0}, {1}]"),
+    EQUAL_VERTICES_IN_SIMPLEX("equal vertices {0} and {1} in simplex configuration"),
+    EULER_ANGLES_SINGULARITY("Euler angles singularity"),
+    EVALUATION("evaluation"), /* keep */
+    EXPANSION_FACTOR_SMALLER_THAN_ONE("expansion factor smaller than one ({0})"),
+    FACTORIAL_NEGATIVE_PARAMETER("must have n >= 0 for n!, got n = {0}"),
+    FAILED_BRACKETING("number of iterations={4}, maximum iterations={5}, initial={6}, lower bound={7}, upper bound={8}, final a value={0}, final b value={1}, f(a)={2}, f(b)={3}"),
+    FAILED_FRACTION_CONVERSION("Unable to convert {0} to fraction after {1} iterations"),
+    FIRST_COLUMNS_NOT_INITIALIZED_YET("first {0} columns are not initialized yet"),
+    FIRST_ELEMENT_NOT_ZERO("first element is not 0: {0}"),
+    FIRST_ROWS_NOT_INITIALIZED_YET("first {0} rows are not initialized yet"),
+    FRACTION_CONVERSION_OVERFLOW("Overflow trying to convert {0} to fraction ({1}/{2})"),
+    FUNCTION_NOT_DIFFERENTIABLE("function is not differentiable"),
+    FUNCTION_NOT_POLYNOMIAL("function is not polynomial"),
+    GCD_OVERFLOW_32_BITS("overflow: gcd({0}, {1}) is 2^31"),
+    GCD_OVERFLOW_64_BITS("overflow: gcd({0}, {1}) is 2^63"),
+    HOLE_BETWEEN_MODELS_TIME_RANGES("{0} wide hole between models time ranges"),
+    IDENTICAL_ABSCISSAS_DIVISION_BY_ZERO("identical abscissas x[{0}] == x[{1}] == {2} cause division by zero"),
+    ILL_CONDITIONED_OPERATOR("condition number {1} is too high "),
+    INDEX_LARGER_THAN_MAX("the index specified: {0} is larger than the current maximal index {1}"),
+    INDEX_NOT_POSITIVE("index ({0}) is not positive"),
+    INDEX_OUT_OF_RANGE("index {0} out of allowed range [{1}, {2}]"),
+    INDEX("index ({0})"), /* keep */
+    NOT_FINITE_NUMBER("{0} is not a finite number"), /* keep */
+    INFINITE_BOUND("interval bounds must be finite"),
+    ARRAY_ELEMENT("value {0} at index {1}"), /* keep */
+    INFINITE_ARRAY_ELEMENT("Array contains an infinite element, {0} at index {1}"),
+    INFINITE_VALUE_CONVERSION("cannot convert infinite value"),
+    INITIAL_CAPACITY_NOT_POSITIVE("initial capacity ({0}) is not positive"),
+    INITIAL_COLUMN_AFTER_FINAL_COLUMN("initial column {1} after final column {0}"),
+    INITIAL_ROW_AFTER_FINAL_ROW("initial row {1} after final row {0}"),
+    INPUT_DATA_FROM_UNSUPPORTED_DATASOURCE("input data comes from unsupported datasource: {0}, supported sources: {1}, {2}"),
+    INSTANCES_NOT_COMPARABLE_TO_EXISTING_VALUES("instance of class {0} not comparable to existing values"),
+    INSUFFICIENT_DATA_FOR_T_STATISTIC("insufficient data for t statistic, needs at least 2, got {0}"),
+    INSUFFICIENT_DIMENSION("insufficient dimension {0}, must be at least {1}"),
+    DIMENSION("dimension ({0})"), /* keep */
+    INSUFFICIENT_OBSERVED_POINTS_IN_SAMPLE("sample contains {0} observed points, at least {1} are required"),
+    INSUFFICIENT_ROWS_AND_COLUMNS("insufficient data: only {0} rows and {1} columns."),
+    INTEGRATION_METHOD_NEEDS_AT_LEAST_TWO_PREVIOUS_POINTS("{0} method needs at least two previous points"),
+    INTERNAL_ERROR("internal error, please fill a bug report at {0}"),
+    INVALID_BINARY_DIGIT("invalid binary digit: {0}"),
+    INVALID_BINARY_CHROMOSOME("binary mutation works on BinaryChromosome only"),
+    INVALID_BRACKETING_PARAMETERS("invalid bracketing parameters:  lower bound={0},  initial={1}, upper bound={2}"),
+    INVALID_FIXED_LENGTH_CHROMOSOME("one-point crossover only works with fixed-length chromosomes"),
+    INVALID_INTERVAL_INITIAL_VALUE_PARAMETERS("invalid interval, initial value parameters:  lower={0}, initial={1}, upper={2}"),
+    INVALID_ITERATIONS_LIMITS("invalid iteration limits: min={0}, max={1}"),
+    INVALID_MAX_ITERATIONS("bad value for maximum iterations number: {0}"),
+    NOT_ENOUGH_DATA_REGRESSION("the number of observations is not sufficient to conduct regression"),
+    INVALID_REGRESSION_ARRAY("input data array length = {0} does not match the number of observations = {1} and the number of regressors = {2}"),
+    INVALID_REGRESSION_OBSERVATION("length of regressor array = {0} does not match the number of variables = {1} in the model"),
+    INVALID_ROUNDING_METHOD("invalid rounding method {0}, valid methods: {1} ({2}), {3} ({4}), {5} ({6}), {7} ({8}), {9} ({10}), {11} ({12}), {13} ({14}), {15} ({16})"),
+    ITERATOR_EXHAUSTED("iterator exhausted"),
+    LCM_OVERFLOW_32_BITS("overflow: lcm({0}, {1}) is 2^31"),
+    LCM_OVERFLOW_64_BITS("overflow: lcm({0}, {1}) is 2^63"),
+    LIST_OF_CHROMOSOMES_BIGGER_THAN_POPULATION_SIZE("list of chromosomes bigger than maxPopulationSize"),
+    LOESS_EXPECTS_AT_LEAST_ONE_POINT("Loess expects at least 1 point"),
+    LOWER_BOUND_NOT_BELOW_UPPER_BOUND("lower bound ({0}) must be strictly less than upper bound ({1})"), /* keep */
+    LOWER_ENDPOINT_ABOVE_UPPER_ENDPOINT("lower endpoint ({0}) must be less than or equal to upper endpoint ({1})"),
+    MAP_MODIFIED_WHILE_ITERATING("map has been modified while iterating"),
+    EVALUATIONS("evaluations"), /* keep */
+    MAX_COUNT_EXCEEDED("maximal count ({0}) exceeded"), /* keep */
+    MAX_ITERATIONS_EXCEEDED("maximal number of iterations ({0}) exceeded"),
+    MINIMAL_STEPSIZE_REACHED_DURING_INTEGRATION("minimal step size ({1,number,0.00E00}) reached, integration needs {0,number,0.00E00}"),
+    MISMATCHED_LOESS_ABSCISSA_ORDINATE_ARRAYS("Loess expects the abscissa and ordinate arrays to be of the same size, but got {0} abscissae and {1} ordinatae"),
+    MUTATION_RATE("mutation rate ({0})"),
+    NAN_ELEMENT_AT_INDEX("element {0} is NaN"),
+    NAN_VALUE_CONVERSION("cannot convert NaN value"),
+    NEGATIVE_BRIGHTNESS_EXPONENT("brightness exponent should be positive or null, but got {0}"),
+    NEGATIVE_COMPLEX_MODULE("negative complex module {0}"),
+    NEGATIVE_ELEMENT_AT_2D_INDEX("element ({0}, {1}) is negative: {2}"),
+    NEGATIVE_ELEMENT_AT_INDEX("element {0} is negative: {1}"),
+    NEGATIVE_NUMBER_OF_SUCCESSES("number of successes must be non-negative ({0})"),
+    NUMBER_OF_SUCCESSES("number of successes ({0})"), /* keep */
+    NEGATIVE_NUMBER_OF_TRIALS("number of trials must be non-negative ({0})"),
+    NUMBER_OF_INTERPOLATION_POINTS("number of interpolation points ({0})"), /* keep */
+    NUMBER_OF_TRIALS("number of trials ({0})"),
+    ROBUSTNESS_ITERATIONS("number of robustness iterations ({0})"),
+    START_POSITION("start position ({0})"), /* keep */
+    NON_CONVERGENT_CONTINUED_FRACTION("Continued fraction convergents failed to converge (in less than {0} iterations) for value {1}"),
+    NON_INVERTIBLE_TRANSFORM("non-invertible affine transform collapses some lines into single points"),
+    NON_POSITIVE_MICROSPHERE_ELEMENTS("number of microsphere elements must be positive, but got {0}"),
+    NON_POSITIVE_POLYNOMIAL_DEGREE("polynomial degree must be positive: degree={0}"),
+    NON_REAL_FINITE_ABSCISSA("all abscissae must be finite real numbers, but {0}-th is {1}"),
+    NON_REAL_FINITE_ORDINATE("all ordinatae must be finite real numbers, but {0}-th is {1}"),
+    NON_REAL_FINITE_WEIGHT("all weights must be finite real numbers, but {0}-th is {1}"),
+    NON_SQUARE_MATRIX("non square ({0}x{1}) matrix"),
+    NORMALIZE_INFINITE("Cannot normalize to an infinite value"),
+    NORMALIZE_NAN("Cannot normalize to NaN"),
+    NOT_ADDITION_COMPATIBLE_MATRICES("{0}x{1} and {2}x{3} matrices are not addition compatible"),
+    NOT_DECREASING_NUMBER_OF_POINTS("points {0} and {1} are not decreasing ({2} < {3})"),
+    NOT_DECREASING_SEQUENCE("points {3} and {2} are not decreasing ({1} < {0})"), /* keep */
+    NOT_ENOUGH_DATA_FOR_NUMBER_OF_PREDICTORS("not enough data ({0} rows) for this many predictors ({1} predictors)"),
+    NOT_ENOUGH_POINTS_IN_SPLINE_PARTITION("spline partition must have at least {0} points, got {1}"),
+    NOT_INCREASING_NUMBER_OF_POINTS("points {0} and {1} are not increasing ({2} > {3})"),
+    NOT_INCREASING_SEQUENCE("points {3} and {2} are not increasing ({1} > {0})"), /* keep */
+    NOT_MULTIPLICATION_COMPATIBLE_MATRICES("{0}x{1} and {2}x{3} matrices are not multiplication compatible"),
+    ALPHA("alpha"), /* keep */
+    BETA("beta"), /* keep */
+    NOT_POSITIVE_DEFINITE_MATRIX("not positive definite matrix"), /* keep */
+    NON_POSITIVE_DEFINITE_MATRIX("not positive definite matrix: diagonal element at ({1},{1}) is smaller than {2} ({0})"),
+    NON_POSITIVE_DEFINITE_OPERATOR("non positive definite linear operator"), /* keep */
+    NON_SELF_ADJOINT_OPERATOR("non self-adjoint linear operator"), /* keep */
+    NON_SQUARE_OPERATOR("non square ({0}x{1}) linear operator"), /* keep */
+    DEGREES_OF_FREEDOM("degrees of freedom ({0})"), /* keep */
+    NOT_POSITIVE_DEGREES_OF_FREEDOM("degrees of freedom must be positive ({0})"),
+    NOT_POSITIVE_ELEMENT_AT_INDEX("element {0} is not positive: {1}"),
+    NOT_POSITIVE_EXPONENT("invalid exponent {0} (must be positive)"),
+    EXPONENT("exponent ({0})"), /* keep */
+    NOT_POSITIVE_LENGTH("length must be positive ({0})"),
+    LENGTH("length ({0})"), /* keep */
+    NOT_POSITIVE_MEAN("mean must be positive ({0})"),
+    MEAN("mean ({0})"), /* keep */
+    NOT_POSITIVE_NUMBER_OF_SAMPLES("number of sample is not positive: {0}"),
+    NUMBER_OF_SAMPLES("number of samples ({0})"), /* keep */
+    NOT_POSITIVE_PERMUTATION("permutation k ({0}) must be positive"),
+    PERMUTATION_SIZE("permutation size ({0}"), /* keep */
+    NOT_POSITIVE_POISSON_MEAN("the Poisson mean must be positive ({0})"),
+    NOT_POSITIVE_POPULATION_SIZE("population size must be positive ({0})"),
+    POPULATION_SIZE("population size ({0})"), /* keep */
+    NOT_POSITIVE_ROW_DIMENSION("invalid row dimension: {0} (must be positive)"),
+    NOT_POSITIVE_SAMPLE_SIZE("sample size must be positive ({0})"),
+    NOT_POSITIVE_SCALE("scale must be positive ({0})"),
+    SCALE("scale ({0})"), /* keep */
+    NOT_POSITIVE_SHAPE("shape must be positive ({0})"),
+    SHAPE("shape ({0})"), /* keep */
+    NOT_POSITIVE_STANDARD_DEVIATION("standard deviation must be positive ({0})"),
+    STANDARD_DEVIATION("standard deviation ({0})"), /* keep */
+    NOT_POSITIVE_UPPER_BOUND("upper bound must be positive ({0})"),
+    NOT_POSITIVE_WINDOW_SIZE("window size must be positive ({0})"),
+    NOT_POWER_OF_TWO("{0} is not a power of 2"),
+    NOT_POWER_OF_TWO_CONSIDER_PADDING("{0} is not a power of 2, consider padding for fix"),
+    NOT_POWER_OF_TWO_PLUS_ONE("{0} is not a power of 2 plus one"),
+    NOT_STRICTLY_DECREASING_NUMBER_OF_POINTS("points {0} and {1} are not strictly decreasing ({2} <= {3})"),
+    NOT_STRICTLY_DECREASING_SEQUENCE("points {3} and {2} are not strictly decreasing ({1} <= {0})"), /* keep */
+    NOT_STRICTLY_INCREASING_KNOT_VALUES("knot values must be strictly increasing"),
+    NOT_STRICTLY_INCREASING_NUMBER_OF_POINTS("points {0} and {1} are not strictly increasing ({2} >= {3})"),
+    NOT_STRICTLY_INCREASING_SEQUENCE("points {3} and {2} are not strictly increasing ({1} >= {0})"), /* keep */
+    NOT_SUBTRACTION_COMPATIBLE_MATRICES("{0}x{1} and {2}x{3} matrices are not subtraction compatible"),
+    NOT_SUPPORTED_IN_DIMENSION_N("method not supported in dimension {0}"),
+    NOT_SYMMETRIC_MATRIX("not symmetric matrix"),
+    NON_SYMMETRIC_MATRIX("non symmetric matrix: the difference between entries at ({0},{1}) and ({1},{0}) is larger than {2}"), /* keep */
+    NO_BIN_SELECTED("no bin selected"),
+    NO_CONVERGENCE_WITH_ANY_START_POINT("none of the {0} start points lead to convergence"), /* keep */
+    NO_DATA("no data"), /* keep */
+    NO_DEGREES_OF_FREEDOM("no degrees of freedom ({0} measurements, {1} parameters)"),
+    NO_DENSITY_FOR_THIS_DISTRIBUTION("This distribution does not have a density function implemented"),
+    NO_FEASIBLE_SOLUTION("no feasible solution"),
+    NO_OPTIMUM_COMPUTED_YET("no optimum computed yet"), /* keep */
+    NO_REGRESSORS("Regression model must include at least one regressor"),
+    NO_RESULT_AVAILABLE("no result available"),
+    NO_SUCH_MATRIX_ENTRY("no entry at indices ({0}, {1}) in a {2}x{3} matrix"),
+    NAN_NOT_ALLOWED("NaN is not allowed"),
+    NULL_NOT_ALLOWED("null is not allowed"), /* keep */
+    ARRAY_ZERO_LENGTH_OR_NULL_NOT_ALLOWED("a null or zero length array not allowed"),
+    COVARIANCE_MATRIX("covariance matrix"), /* keep */
+    DENOMINATOR("denominator"), /* keep */
+    DENOMINATOR_FORMAT("denominator format"), /* keep */
+    FRACTION("fraction"), /* keep */
+    FUNCTION("function"), /* keep */
+    IMAGINARY_FORMAT("imaginary format"), /* keep */
+    INPUT_ARRAY("input array"), /* keep */
+    NUMERATOR("numerator"), /* keep */
+    NUMERATOR_FORMAT("numerator format"), /* keep */
+    OBJECT_TRANSFORMATION("conversion exception in transformation"), /* keep */
+    REAL_FORMAT("real format"), /* keep */
+    WHOLE_FORMAT("whole format"), /* keep */
+    NUMBER_TOO_LARGE("{0} is larger than the maximum ({1})"), /* keep */
+    NUMBER_TOO_SMALL("{0} is smaller than the minimum ({1})"), /* keep */
+    NUMBER_TOO_LARGE_BOUND_EXCLUDED("{0} is larger than, or equal to, the maximum ({1})"), /* keep */
+    NUMBER_TOO_SMALL_BOUND_EXCLUDED("{0} is smaller than, or equal to, the minimum ({1})"), /* keep */
+    NUMBER_OF_SUCCESS_LARGER_THAN_POPULATION_SIZE("number of successes ({0}) must be less than or equal to population size ({1})"),
+    NUMERATOR_OVERFLOW_AFTER_MULTIPLY("overflow, numerator too large after multiply: {0}"),
+    N_POINTS_GAUSS_LEGENDRE_INTEGRATOR_NOT_SUPPORTED("{0} points Legendre-Gauss integrator not supported, number of points must be in the {1}-{2} range"),
+    OBSERVED_COUNTS_ALL_ZERO("observed counts are all 0 in observed array {0}"),
+    OBSERVED_COUNTS_BOTTH_ZERO_FOR_ENTRY("observed counts are both zero for entry {0}"),
+    BOBYQA_BOUND_DIFFERENCE_CONDITION("the difference between the upper and lower bound must be larger than twice the initial trust region radius ({0})"),
+    OUT_OF_BOUNDS_QUANTILE_VALUE("out of bounds quantile value: {0}, must be in (0, 100]"),
+    OUT_OF_BOUND_SIGNIFICANCE_LEVEL("out of bounds significance level {0}, must be between {1} and {2}"),
+    SIGNIFICANCE_LEVEL("significance level ({0})"), /* keep */
+    OUT_OF_ORDER_ABSCISSA_ARRAY("the abscissae array must be sorted in a strictly increasing order, but the {0}-th element is {1} whereas {2}-th is {3}"),
+    OUT_OF_RANGE_ROOT_OF_UNITY_INDEX("out of range root of unity index {0} (must be in [{1};{2}])"),
+    OUT_OF_RANGE("out of range"), /* keep */
+    OUT_OF_RANGE_SIMPLE("{0} out of [{1}, {2}] range"), /* keep */
+    OUT_OF_RANGE_LEFT("{0} out of ({1}, {2}] range"),
+    OUT_OF_RANGE_RIGHT("{0} out of [{1}, {2}) range"),
+    OUTLINE_BOUNDARY_LOOP_OPEN("an outline boundary loop is open"),
+    OVERFLOW("overflow"), /* keep */
+    OVERFLOW_IN_FRACTION("overflow in fraction {0}/{1}, cannot negate"),
+    OVERFLOW_IN_ADDITION("overflow in addition: {0} + {1}"),
+    OVERFLOW_IN_SUBTRACTION("overflow in subtraction: {0} - {1}"),
+    PERCENTILE_IMPLEMENTATION_CANNOT_ACCESS_METHOD("cannot access {0} method in percentile implementation {1}"),
+    PERCENTILE_IMPLEMENTATION_UNSUPPORTED_METHOD("percentile implementation {0} does not support {1}"),
+    PERMUTATION_EXCEEDS_N("permutation size ({0}) exceeds permuation domain ({1})"), /* keep */
+    POLYNOMIAL("polynomial"), /* keep */
+    POLYNOMIAL_INTERPOLANTS_MISMATCH_SEGMENTS("number of polynomial interpolants must match the number of segments ({0} != {1} - 1)"),
+    POPULATION_LIMIT_NOT_POSITIVE("population limit has to be positive"),
+    POWER_NEGATIVE_PARAMETERS("cannot raise an integral value to a negative power ({0}^{1})"),
+    PROPAGATION_DIRECTION_MISMATCH("propagation direction mismatch"),
+    RANDOMKEY_MUTATION_WRONG_CLASS("RandomKeyMutation works only with RandomKeys, not {0}"),
+    ROOTS_OF_UNITY_NOT_COMPUTED_YET("roots of unity have not been computed yet"),
+    ROTATION_MATRIX_DIMENSIONS("a {0}x{1} matrix cannot be a rotation matrix"),
+    ROW_INDEX_OUT_OF_RANGE("row index {0} out of allowed range [{1}, {2}]"),
+    ROW_INDEX("row index ({0})"), /* keep */
+    SAME_SIGN_AT_ENDPOINTS("function values at endpoints do not have different signs, endpoints: [{0}, {1}], values: [{2}, {3}]"),
+    SAMPLE_SIZE_EXCEEDS_COLLECTION_SIZE("sample size ({0}) exceeds collection size ({1})"), /* keep */
+    SAMPLE_SIZE_LARGER_THAN_POPULATION_SIZE("sample size ({0}) must be less than or equal to population size ({1})"),
+    SIMPLEX_NEED_ONE_POINT("simplex must contain at least one point"),
+    SIMPLE_MESSAGE("{0}"),
+    SINGULAR_MATRIX("matrix is singular"), /* keep */
+    SINGULAR_OPERATOR("operator is singular"),
+    SUBARRAY_ENDS_AFTER_ARRAY_END("subarray ends after array end"),
+    TOO_LARGE_CUTOFF_SINGULAR_VALUE("cutoff singular value is {0}, should be at most {1}"),
+    TOO_LARGE_TOURNAMENT_ARITY("tournament arity ({0}) cannot be bigger than population size ({1})"),
+    TOO_MANY_ELEMENTS_TO_DISCARD_FROM_ARRAY("cannot discard {0} elements from a {1} elements array"),
+    TOO_MANY_REGRESSORS("too many regressors ({0}) specified, only {1} in the model"),
+    TOO_SMALL_COST_RELATIVE_TOLERANCE("cost relative tolerance is too small ({0}), no further reduction in the sum of squares is possible"),
+    TOO_SMALL_INTEGRATION_INTERVAL("too small integration interval: length = {0}"),
+    TOO_SMALL_ORTHOGONALITY_TOLERANCE("orthogonality tolerance is too small ({0}), solution is orthogonal to the jacobian"),
+    TOO_SMALL_PARAMETERS_RELATIVE_TOLERANCE("parameters relative tolerance is too small ({0}), no further improvement in the approximate solution is possible"),
+    TRUST_REGION_STEP_FAILED("trust region step has failed to reduce Q"),
+    TWO_OR_MORE_CATEGORIES_REQUIRED("two or more categories required, got {0}"),
+    TWO_OR_MORE_VALUES_IN_CATEGORY_REQUIRED("two or more values required in each category, one has {0}"),
+    UNABLE_TO_BRACKET_OPTIMUM_IN_LINE_SEARCH("unable to bracket optimum in line search"),
+    UNABLE_TO_COMPUTE_COVARIANCE_SINGULAR_PROBLEM("unable to compute covariances: singular problem"),
+    UNABLE_TO_FIRST_GUESS_HARMONIC_COEFFICIENTS("unable to first guess the harmonic coefficients"),
+    UNABLE_TO_ORTHOGONOLIZE_MATRIX("unable to orthogonalize matrix in {0} iterations"),
+    UNABLE_TO_PERFORM_QR_DECOMPOSITION_ON_JACOBIAN("unable to perform Q.R decomposition on the {0}x{1} jacobian matrix"),
+    UNABLE_TO_SOLVE_SINGULAR_PROBLEM("unable to solve: singular problem"),
+    UNBOUNDED_SOLUTION("unbounded solution"),
+    UNKNOWN_MODE("unknown mode {0}, known modes: {1} ({2}), {3} ({4}), {5} ({6}), {7} ({8}), {9} ({10}) and {11} ({12})"),
+    UNKNOWN_PARAMETER("unknown parameter {0}"),
+    UNMATCHED_ODE_IN_EXPANDED_SET("ode does not match the main ode set in the extended set"),
+    CANNOT_PARSE_AS_TYPE("string \"{0}\" unparseable (from position {1}) as an object of type {2}"), /* keep */
+    CANNOT_PARSE("string \"{0}\" unparseable (from position {1})"), /* keep */
+    UNPARSEABLE_3D_VECTOR("unparseable 3D vector: \"{0}\""),
+    UNPARSEABLE_COMPLEX_NUMBER("unparseable complex number: \"{0}\""),
+    UNPARSEABLE_REAL_VECTOR("unparseable real vector: \"{0}\""),
+    UNSUPPORTED_EXPANSION_MODE("unsupported expansion mode {0}, supported modes are {1} ({2}) and {3} ({4})"),
+    UNSUPPORTED_OPERATION("unsupported operation"), /* keep */
+    ARITHMETIC_EXCEPTION("arithmetic exception"), /* keep */
+    ILLEGAL_STATE("illegal state"), /* keep */
+    USER_EXCEPTION("exception generated in user code"), /* keep */
+    URL_CONTAINS_NO_DATA("URL {0} contains no data"),
+    VALUES_ADDED_BEFORE_CONFIGURING_STATISTIC("{0} values have been added before statistic is configured"),
+    VECTOR_LENGTH_MISMATCH("vector length mismatch: got {0} but expected {1}"),
+    VECTOR_MUST_HAVE_AT_LEAST_ONE_ELEMENT("vector must have at least one element"),
+    WEIGHT_AT_LEAST_ONE_NON_ZERO("weigth array must contain at least one non-zero value"),
+    WRONG_BLOCK_LENGTH("wrong array shape (block length = {0}, expected {1})"),
+    WRONG_NUMBER_OF_POINTS("{0} points are required, got only {1}"),
+    NUMBER_OF_POINTS("number of points ({0})"), /* keep */
+    ZERO_DENOMINATOR("denominator must be different from 0"),
+    ZERO_DENOMINATOR_IN_FRACTION("zero denominator in fraction {0}/{1}"),
+    ZERO_FRACTION_TO_DIVIDE_BY("the fraction to divide by must not be zero: {0}/{1}"),
+    ZERO_NORM("zero norm"),
+    ZERO_NORM_FOR_ROTATION_AXIS("zero norm for rotation axis"),
+    ZERO_NORM_FOR_ROTATION_DEFINING_VECTOR("zero norm for rotation defining vector"),
+    ZERO_NOT_ALLOWED("zero not allowed here");
+
+    // CHECKSTYLE: resume JavadocVariable
+    // CHECKSTYLE: resume MultipleVariableDeclarations
+
+
+    /** Source English format. */
+    private final String sourceFormat;
+
+    /** Simple constructor.
+     * @param sourceFormat source English format to use when no
+     * localized version is available
+     */
+    private LocalizedFormats(final String sourceFormat) {
+        this.sourceFormat = sourceFormat;
+    }
+
+    /** {@inheritDoc} */
+    public String getSourceString() {
+        return sourceFormat;
+    }
+
+    /** {@inheritDoc} */
+    public String getLocalizedString(final Locale locale) {
+        try {
+            final String path = LocalizedFormats.class.getName().replaceAll("\\.", "/");
+            ResourceBundle bundle =
+                    ResourceBundle.getBundle("assets/" + path, locale);
+            if (bundle.getLocale().getLanguage().equals(locale.getLanguage())) {
+                // the value of the resource is the translated format
+                return bundle.getString(toString());
+            }
+
+        } catch (MissingResourceException mre) {
+            // do nothing here
+        }
+
+        // either the locale is not supported or the resource is unknown
+        // don't translate and fall back to using the source format
+        return sourceFormat;
+
+    }
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/util/package-info.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/util/package-info.java
new file mode 100644
index 0000000000..6439a8dfe5
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/exception/util/package-info.java
@@ -0,0 +1,22 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/**
+ *
+ *    Classes supporting exception localization.
+ *
+ */
+package org.apache.commons.math3.exception.util;
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/filter/DefaultMeasurementModel.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/filter/DefaultMeasurementModel.java
new file mode 100644
index 0000000000..ebdd852091
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/filter/DefaultMeasurementModel.java
@@ -0,0 +1,77 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.filter;
+
+import org.apache.commons.math3.linear.Array2DRowRealMatrix;
+import org.apache.commons.math3.linear.RealMatrix;
+
+/**
+ * Default implementation of a {@link MeasurementModel} for the use with a
+ * {@link KalmanFilter}.
+ *
+ * @since 3.0
+ * @version $Id: DefaultMeasurementModel.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public class DefaultMeasurementModel implements MeasurementModel {
+
+    /**
+     * The measurement matrix, used to associate the measurement vector to the
+     * internal state estimation vector.
+     */
+    private RealMatrix measurementMatrix;
+
+    /**
+     * The measurement noise covariance matrix.
+     */
+    private RealMatrix measurementNoise;
+
+    /**
+     * Create a new {@link MeasurementModel}, taking double arrays as input
+     * parameters for the respective measurement matrix and noise.
+     *
+     * @param measMatrix the measurement matrix
+     * @param measNoise the measurement noise matrix
+     */
+    public DefaultMeasurementModel(final double[][] measMatrix,
+            final double[][] measNoise) {
+        this(new Array2DRowRealMatrix(measMatrix),
+                new Array2DRowRealMatrix(measNoise));
+    }
+
+    /**
+     * Create a new {@link MeasurementModel}, taking {@link RealMatrix} objects
+     * as input parameters for the respective measurement matrix and noise.
+     *
+     * @param measMatrix the measurement matrix
+     * @param measNoise the measurement noise matrix
+     */
+    public DefaultMeasurementModel(final RealMatrix measMatrix,
+            final RealMatrix measNoise) {
+        this.measurementMatrix = measMatrix;
+        this.measurementNoise = measNoise;
+    }
+
+    /** {@inheritDoc} */
+    public RealMatrix getMeasurementMatrix() {
+        return measurementMatrix;
+    }
+
+    /** {@inheritDoc} */
+    public RealMatrix getMeasurementNoise() {
+        return measurementNoise;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/filter/DefaultProcessModel.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/filter/DefaultProcessModel.java
new file mode 100644
index 0000000000..5a0e9a74da
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/filter/DefaultProcessModel.java
@@ -0,0 +1,138 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.filter;
+
+import org.apache.commons.math3.linear.Array2DRowRealMatrix;
+import org.apache.commons.math3.linear.ArrayRealVector;
+import org.apache.commons.math3.linear.RealMatrix;
+import org.apache.commons.math3.linear.RealVector;
+
+/**
+ * Default implementation of a {@link ProcessModel} for the use with a
+ * {@link KalmanFilter}.
+ *
+ * @since 3.0
+ * @version $Id: DefaultProcessModel.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public class DefaultProcessModel implements ProcessModel {
+    /**
+     * The state transition matrix, used to advance the internal state
+     * estimation each time-step.
+     */
+    private RealMatrix stateTransitionMatrix;
+
+    /**
+     * The control matrix, used to integrate a control input into the state
+     * estimation.
+     */
+    private RealMatrix controlMatrix;
+
+    /** The process noise covariance matrix. */
+    private RealMatrix processNoiseCovMatrix;
+
+    /** The initial state estimation of the observed process. */
+    private RealVector initialStateEstimateVector;
+
+    /** The initial error covariance matrix of the observed process. */
+    private RealMatrix initialErrorCovMatrix;
+
+    /**
+     * Create a new {@link ProcessModel}, taking double arrays as input
+     * parameters.
+     *
+     * @param stateTransition the state transition matrix
+     * @param control the control matrix
+     * @param processNoise the process noise matrix
+     * @param initialStateEstimate the initial state estimate vector
+     * @param initialErrorCovariance the initial error covariance matrix
+     */
+    public DefaultProcessModel(final double[][] stateTransition,
+                               final double[][] control,
+                               final double[][] processNoise,
+                               final double[] initialStateEstimate,
+                               final double[][] initialErrorCovariance) {
+        this(new Array2DRowRealMatrix(stateTransition),
+                new Array2DRowRealMatrix(control),
+                new Array2DRowRealMatrix(processNoise),
+                new ArrayRealVector(initialStateEstimate),
+                new Array2DRowRealMatrix(initialErrorCovariance));
+    }
+
+    /**
+     * Create a new {@link ProcessModel}, taking double arrays as input
+     * parameters. The initial state estimate and error covariance are omitted
+     * and will be initialized by the {@link KalmanFilter} to default values.
+     *
+     * @param stateTransition the state transition matrix
+     * @param control the control matrix
+     * @param processNoise the process noise matrix
+     */
+    public DefaultProcessModel(final double[][] stateTransition,
+                               final double[][] control,
+                               final double[][] processNoise) {
+        this(new Array2DRowRealMatrix(stateTransition),
+                new Array2DRowRealMatrix(control),
+                new Array2DRowRealMatrix(processNoise), null, null);
+    }
+
+    /**
+     * Create a new {@link ProcessModel}, taking double arrays as input
+     * parameters.
+     *
+     * @param stateTransition the state transition matrix
+     * @param control the control matrix
+     * @param processNoise the process noise matrix
+     * @param initialStateEstimate the initial state estimate vector
+     * @param initialErrorCovariance the initial error covariance matrix
+     */
+    public DefaultProcessModel(final RealMatrix stateTransition,
+                               final RealMatrix control,
+                               final RealMatrix processNoise,
+                               final RealVector initialStateEstimate,
+                               final RealMatrix initialErrorCovariance) {
+        this.stateTransitionMatrix = stateTransition;
+        this.controlMatrix = control;
+        this.processNoiseCovMatrix = processNoise;
+        this.initialStateEstimateVector = initialStateEstimate;
+        this.initialErrorCovMatrix = initialErrorCovariance;
+    }
+
+    /** {@inheritDoc} */
+    public RealMatrix getStateTransitionMatrix() {
+        return stateTransitionMatrix;
+    }
+
+    /** {@inheritDoc} */
+    public RealMatrix getControlMatrix() {
+        return controlMatrix;
+    }
+
+    /** {@inheritDoc} */
+    public RealMatrix getProcessNoise() {
+        return processNoiseCovMatrix;
+    }
+
+    /** {@inheritDoc} */
+    public RealVector getInitialStateEstimate() {
+        return initialStateEstimateVector;
+    }
+
+    /** {@inheritDoc} */
+    public RealMatrix getInitialErrorCovariance() {
+        return initialErrorCovMatrix;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/filter/KalmanFilter.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/filter/KalmanFilter.java
new file mode 100644
index 0000000000..76e2de345b
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/filter/KalmanFilter.java
@@ -0,0 +1,376 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.filter;
+
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.linear.Array2DRowRealMatrix;
+import org.apache.commons.math3.linear.ArrayRealVector;
+import org.apache.commons.math3.linear.CholeskyDecomposition;
+import org.apache.commons.math3.linear.DecompositionSolver;
+import org.apache.commons.math3.linear.MatrixDimensionMismatchException;
+import org.apache.commons.math3.linear.MatrixUtils;
+import org.apache.commons.math3.linear.NonSquareMatrixException;
+import org.apache.commons.math3.linear.RealMatrix;
+import org.apache.commons.math3.linear.RealVector;
+import org.apache.commons.math3.util.MathUtils;
+
+/**
+ * Implementation of a Kalman filter to estimate the state <i>x<sub>k</sub></i>
+ * of a discrete-time controlled process that is governed by the linear
+ * stochastic difference equation:
+ *
+ * <pre>
+ * <i>x<sub>k</sub></i> = <b>A</b><i>x<sub>k-1</sub></i> + <b>B</b><i>u<sub>k-1</sub></i> + <i>w<sub>k-1</sub></i>
+ * </pre>
+ *
+ * with a measurement <i>x<sub>k</sub></i> that is
+ *
+ * <pre>
+ * <i>z<sub>k</sub></i> = <b>H</b><i>x<sub>k</sub></i> + <i>v<sub>k</sub></i>.
+ * </pre>
+ *
+ * The random variables <i>w<sub>k</sub></i> and <i>v<sub>k</sub></i> represent
+ * the process and measurement noise and are assumed to be independent of each
+ * other and distributed with normal probability (white noise).
+ * <p>
+ * The Kalman filter cycle involves the following steps:
+ * <ol>
+ * <li>predict: project the current state estimate ahead in time</li>
+ * <li>correct: adjust the projected estimate by an actual measurement</li>
+ * </ol>
+ * </p>
+ * <br/>
+ * <p>
+ * The Kalman filter is initialized with a {@link ProcessModel} and a
+ * {@link MeasurementModel}, which contain the corresponding transformation and
+ * noise covariance matrices. The parameter names used in the respective models
+ * correspond to the following names commonly used in the mathematical
+ * literature:
+ * <ul>
+ * <li>A - state transition matrix</li>
+ * <li>B - control input matrix</li>
+ * <li>H - measurement matrix</li>
+ * <li>Q - process noise covariance matrix</li>
+ * <li>R - measurement noise covariance matrix</li>
+ * <li>P - error covariance matrix</li>
+ * </ul>
+ * </p>
+ *
+ * @see <a href="http://www.cs.unc.edu/~welch/kalman/">Kalman filter
+ *      resources</a>
+ * @see <a href="http://www.cs.unc.edu/~welch/media/pdf/kalman_intro.pdf">An
+ *      introduction to the Kalman filter by Greg Welch and Gary Bishop</a>
+ * @see <a href="http://academic.csuohio.edu/simond/courses/eec644/kalman.pdf">
+ *      Kalman filter example by Dan Simon</a>
+ * @see ProcessModel
+ * @see MeasurementModel
+ * @since 3.0
+ * @version $Id: KalmanFilter.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public class KalmanFilter {
+    /** The process model used by this filter instance. */
+    private final ProcessModel processModel;
+    /** The measurement model used by this filter instance. */
+    private final MeasurementModel measurementModel;
+    /** The transition matrix, equivalent to A. */
+    private RealMatrix transitionMatrix;
+    /** The transposed transition matrix. */
+    private RealMatrix transitionMatrixT;
+    /** The control matrix, equivalent to B. */
+    private RealMatrix controlMatrix;
+    /** The measurement matrix, equivalent to H. */
+    private RealMatrix measurementMatrix;
+    /** The transposed measurement matrix. */
+    private RealMatrix measurementMatrixT;
+    /** The internal state estimation vector, equivalent to x hat. */
+    private RealVector stateEstimation;
+    /** The error covariance matrix, equivalent to P. */
+    private RealMatrix errorCovariance;
+
+    /**
+     * Creates a new Kalman filter with the given process and measurement
+     * models.
+     *
+     * @param process
+     *            the model defining the underlying process dynamics
+     * @param measurement
+     *            the model defining the given measurement characteristics
+     * @throws org.apache.commons.math3.exception.NullArgumentException
+     *             if any of the given inputs is null (except for the control
+     *             matrix)
+     * @throws NonSquareMatrixException
+     *             if the transition matrix is non square
+     * @throws MatrixDimensionMismatchException
+     *             if the matrix dimensions do not fit together
+     */
+    public KalmanFilter(final ProcessModel process,
+                        final MeasurementModel measurement) {
+
+        MathUtils.checkNotNull(process);
+        MathUtils.checkNotNull(measurement);
+
+        this.processModel = process;
+        this.measurementModel = measurement;
+
+        transitionMatrix = processModel.getStateTransitionMatrix();
+        MathUtils.checkNotNull(transitionMatrix);
+        transitionMatrixT = transitionMatrix.transpose();
+
+        // create an empty matrix if no control matrix was given
+        if (processModel.getControlMatrix() == null) {
+            controlMatrix = new Array2DRowRealMatrix();
+        } else {
+            controlMatrix = processModel.getControlMatrix();
+        }
+
+        measurementMatrix = measurementModel.getMeasurementMatrix();
+        MathUtils.checkNotNull(measurementMatrix);
+        measurementMatrixT = measurementMatrix.transpose();
+
+        // check that the process and measurement noise matrices are not null
+        // they will be directly accessed from the model as they may change
+        // over time
+        RealMatrix processNoise = processModel.getProcessNoise();
+        MathUtils.checkNotNull(processNoise);
+        RealMatrix measNoise = measurementModel.getMeasurementNoise();
+        MathUtils.checkNotNull(measNoise);
+
+        // set the initial state estimate to a zero vector if it is not
+        // available from the process model
+        if (processModel.getInitialStateEstimate() == null) {
+            stateEstimation =
+                new ArrayRealVector(transitionMatrix.getColumnDimension());
+        } else {
+            stateEstimation = processModel.getInitialStateEstimate();
+        }
+
+        if (transitionMatrix.getColumnDimension() != stateEstimation.getDimension()) {
+            throw new DimensionMismatchException(transitionMatrix.getColumnDimension(),
+                                                 stateEstimation.getDimension());
+        }
+
+        // initialize the error covariance to the process noise if it is not
+        // available from the process model
+        if (processModel.getInitialErrorCovariance() == null) {
+            errorCovariance = processNoise.copy();
+        } else {
+            errorCovariance = processModel.getInitialErrorCovariance();
+        }
+
+        // sanity checks, the control matrix B may be null
+
+        // A must be a square matrix
+        if (!transitionMatrix.isSquare()) {
+            throw new NonSquareMatrixException(
+                    transitionMatrix.getRowDimension(),
+                    transitionMatrix.getColumnDimension());
+        }
+
+        // row dimension of B must be equal to A
+        if (controlMatrix != null &&
+            controlMatrix.getRowDimension() > 0 &&
+            controlMatrix.getColumnDimension() > 0 &&
+            (controlMatrix.getRowDimension() != transitionMatrix.getRowDimension() ||
+             controlMatrix.getColumnDimension() != 1)) {
+            throw new MatrixDimensionMismatchException(controlMatrix.getRowDimension(),
+                                                       controlMatrix.getColumnDimension(),
+                                                       transitionMatrix.getRowDimension(), 1);
+        }
+
+        // Q must be equal to A
+        MatrixUtils.checkAdditionCompatible(transitionMatrix, processNoise);
+
+        // column dimension of H must be equal to row dimension of A
+        if (measurementMatrix.getColumnDimension() != transitionMatrix.getRowDimension()) {
+            throw new MatrixDimensionMismatchException(measurementMatrix.getRowDimension(),
+                                                       measurementMatrix.getColumnDimension(),
+                                                       measurementMatrix.getRowDimension(),
+                                                       transitionMatrix.getRowDimension());
+        }
+
+        // row dimension of R must be equal to row dimension of H
+        if (measNoise.getRowDimension() != measurementMatrix.getRowDimension() ||
+            measNoise.getColumnDimension() != 1) {
+            throw new MatrixDimensionMismatchException(measNoise.getRowDimension(),
+                                                       measNoise.getColumnDimension(),
+                                                       measurementMatrix.getRowDimension(), 1);
+        }
+    }
+
+    /**
+     * Returns the dimension of the state estimation vector.
+     *
+     * @return the state dimension
+     */
+    public int getStateDimension() {
+        return stateEstimation.getDimension();
+    }
+
+    /**
+     * Returns the dimension of the measurement vector.
+     *
+     * @return the measurement vector dimension
+     */
+    public int getMeasurementDimension() {
+        return measurementMatrix.getRowDimension();
+    }
+
+    /**
+     * Returns the current state estimation vector.
+     *
+     * @return the state estimation vector
+     */
+    public double[] getStateEstimation() {
+        return stateEstimation.toArray();
+    }
+
+    /**
+     * Returns a copy of the current state estimation vector.
+     *
+     * @return the state estimation vector
+     */
+    public RealVector getStateEstimationVector() {
+        return stateEstimation.copy();
+    }
+
+    /**
+     * Returns the current error covariance matrix.
+     *
+     * @return the error covariance matrix
+     */
+    public double[][] getErrorCovariance() {
+        return errorCovariance.getData();
+    }
+
+    /**
+     * Returns a copy of the current error covariance matrix.
+     *
+     * @return the error covariance matrix
+     */
+    public RealMatrix getErrorCovarianceMatrix() {
+        return errorCovariance.copy();
+    }
+
+    /**
+     * Predict the internal state estimation one time step ahead.
+     */
+    public void predict() {
+        predict((RealVector) null);
+    }
+
+    /**
+     * Predict the internal state estimation one time step ahead.
+     *
+     * @param u
+     *            the control vector
+     * @throws DimensionMismatchException
+     *             if the dimension of the control vector does not fit
+     */
+    public void predict(final double[] u) {
+        predict(new ArrayRealVector(u));
+    }
+
+    /**
+     * Predict the internal state estimation one time step ahead.
+     *
+     * @param u the control vector
+     * @throws DimensionMismatchException if the dimension of the control
+     * vector does not fit
+     */
+    public void predict(final RealVector u) {
+        // sanity checks
+        if (u != null &&
+            u.getDimension() != controlMatrix.getColumnDimension()) {
+            throw new DimensionMismatchException(u.getDimension(),
+                                                 controlMatrix.getColumnDimension());
+        }
+
+        // project the state estimation ahead (a priori state)
+        // xHat(k)- = A * xHat(k-1) + B * u(k-1)
+        stateEstimation = transitionMatrix.operate(stateEstimation);
+
+        // add control input if it is available
+        if (u != null) {
+            stateEstimation = stateEstimation.add(controlMatrix.operate(u));
+        }
+
+        // project the error covariance ahead
+        // P(k)- = A * P(k-1) * A' + Q
+        errorCovariance = transitionMatrix.multiply(errorCovariance)
+                .multiply(transitionMatrixT)
+                .add(processModel.getProcessNoise());
+    }
+
+    /**
+     * Correct the current state estimate with an actual measurement.
+     *
+     * @param z the measurement vector
+     * @throws DimensionMismatchException
+     * if the dimension of the measurement vector does not fit
+     * @throws org.apache.commons.math3.linear.SingularMatrixException
+     * if the covariance matrix could not be inverted
+     */
+    public void correct(final double[] z) {
+        correct(new ArrayRealVector(z));
+    }
+
+    /**
+     * Correct the current state estimate with an actual measurement.
+     *
+     * @param z the measurement vector
+     * @throws DimensionMismatchException if the dimension of the
+     * measurement vector does not fit
+     * @throws org.apache.commons.math3.linear.SingularMatrixException
+     * if the covariance matrix could not be inverted
+     */
+    public void correct(final RealVector z) {
+        // sanity checks
+        MathUtils.checkNotNull(z);
+        if (z.getDimension() != measurementMatrix.getRowDimension()) {
+            throw new DimensionMismatchException(z.getDimension(),
+                                                 measurementMatrix.getRowDimension());
+        }
+
+        // S = H * P(k) - * H' + R
+        RealMatrix s = measurementMatrix.multiply(errorCovariance)
+            .multiply(measurementMatrixT)
+            .add(measurementModel.getMeasurementNoise());
+
+        // invert S
+        // as the error covariance matrix is a symmetric positive
+        // semi-definite matrix, we can use the cholesky decomposition
+        DecompositionSolver solver = new CholeskyDecomposition(s).getSolver();
+        RealMatrix invertedS = solver.getInverse();
+
+        // Inn = z(k) - H * xHat(k)-
+        RealVector innovation = z.subtract(measurementMatrix.operate(stateEstimation));
+
+        // calculate gain matrix
+        // K(k) = P(k)- * H' * (H * P(k)- * H' + R)^-1
+        // K(k) = P(k)- * H' * S^-1
+        RealMatrix kalmanGain = errorCovariance.multiply(measurementMatrixT).multiply(invertedS);
+
+        // update estimate with measurement z(k)
+        // xHat(k) = xHat(k)- + K * Inn
+        stateEstimation = stateEstimation.add(kalmanGain.operate(innovation));
+
+        // update covariance of prediction error
+        // P(k) = (I - K * H) * P(k)-
+        RealMatrix identity = MatrixUtils.createRealIdentityMatrix(kalmanGain.getRowDimension());
+        errorCovariance = identity.subtract(kalmanGain.multiply(measurementMatrix)).multiply(errorCovariance);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/filter/MeasurementModel.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/filter/MeasurementModel.java
new file mode 100644
index 0000000000..af5d244b73
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/filter/MeasurementModel.java
@@ -0,0 +1,46 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.filter;
+
+import org.apache.commons.math3.linear.RealMatrix;
+
+/**
+ * Defines the measurement model for the use with a {@link KalmanFilter}.
+ *
+ * @since 3.0
+ * @version $Id: MeasurementModel.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public interface MeasurementModel {
+    /**
+     * Returns the measurement matrix.
+     *
+     * @return the measurement matrix
+     */
+    RealMatrix getMeasurementMatrix();
+
+    /**
+     * Returns the measurement noise matrix. This method is called by the
+     * {@link KalmanFilter} every correct step, so implementations of this
+     * interface may return a modified measurement noise depending on current
+     * iteration step.
+     *
+     * @return the measurement noise matrix
+     * @see KalmanFilter#correct(double[])
+     * @see KalmanFilter#correct(org.apache.commons.math3.linear.RealVector)
+     */
+    RealMatrix getMeasurementNoise();
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/filter/ProcessModel.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/filter/ProcessModel.java
new file mode 100644
index 0000000000..79ce225d52
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/filter/ProcessModel.java
@@ -0,0 +1,77 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.filter;
+
+import org.apache.commons.math3.linear.RealMatrix;
+import org.apache.commons.math3.linear.RealVector;
+
+/**
+ * Defines the process dynamics model for the use with a {@link KalmanFilter}.
+ *
+ * @since 3.0
+ * @version $Id: ProcessModel.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public interface ProcessModel {
+    /**
+     * Returns the state transition matrix.
+     *
+     * @return the state transition matrix
+     */
+    RealMatrix getStateTransitionMatrix();
+
+    /**
+     * Returns the control matrix.
+     *
+     * @return the control matrix
+     */
+    RealMatrix getControlMatrix();
+
+    /**
+     * Returns the process noise matrix. This method is called by the
+     * {@link KalmanFilter} every predict step, so implementations of this
+     * interface may return a modified process noise depending on current
+     * iteration step.
+     *
+     * @return the process noise matrix
+     * @see KalmanFilter#predict()
+     * @see KalmanFilter#predict(double[])
+     * @see KalmanFilter#predict(RealVector)
+     */
+    RealMatrix getProcessNoise();
+
+    /**
+     * Returns the initial state estimation vector.
+     * <p>
+     * Note: if the return value is zero, the Kalman filter will initialize the
+     * state estimation with a zero vector.
+     * </p>
+     *
+     * @return the initial state estimation vector
+     */
+    RealVector getInitialStateEstimate();
+
+    /**
+     * Returns the initial error covariance matrix.
+     * <p>
+     * Note: if the return value is zero, the Kalman filter will initialize the
+     * error covariance with the process noise matrix.
+     * </p>
+     *
+     * @return the initial error covariance matrix
+     */
+    RealMatrix getInitialErrorCovariance();
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/filter/package-info.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/filter/package-info.java
new file mode 100644
index 0000000000..4e76536645
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/filter/package-info.java
@@ -0,0 +1,20 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/**
+ * Implementations of common discrete-time linear filters.
+ */
+package org.apache.commons.math3.filter;
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/AbstractFieldMatrix.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/AbstractFieldMatrix.java
new file mode 100644
index 0000000000..dfe67ccb6a
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/AbstractFieldMatrix.java
@@ -0,0 +1,1123 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import java.lang.reflect.Array;
+import java.util.ArrayList;
+import java.util.Arrays;
+
+import org.apache.commons.math3.Field;
+import org.apache.commons.math3.FieldElement;
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.NoDataException;
+import org.apache.commons.math3.exception.OutOfRangeException;
+import org.apache.commons.math3.exception.NumberIsTooSmallException;
+import org.apache.commons.math3.exception.NotStrictlyPositiveException;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Basic implementation of {@link FieldMatrix} methods regardless of the underlying storage.
+ * <p>All the methods implemented here use {@link #getEntry(int, int)} to access
+ * matrix elements. Derived class can provide faster implementations. </p>
+ *
+ * @param <T> Type of the field elements.
+ *
+ * @version $Id: AbstractFieldMatrix.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public abstract class AbstractFieldMatrix<T extends FieldElement<T>>
+    implements FieldMatrix<T> {
+    /** Field to which the elements belong. */
+    private final Field<T> field;
+
+    /**
+     * Constructor for use with Serializable
+     */
+    protected AbstractFieldMatrix() {
+        field = null;
+    }
+
+    /**
+     * Creates a matrix with no data
+     * @param field field to which the elements belong
+     */
+    protected AbstractFieldMatrix(final Field<T> field) {
+        this.field = field;
+    }
+
+    /**
+     * Create a new FieldMatrix<T> with the supplied row and column dimensions.
+     *
+     * @param field Field to which the elements belong.
+     * @param rowDimension Number of rows in the new matrix.
+     * @param columnDimension Number of columns in the new matrix.
+     * @throws NotStrictlyPositiveException if row or column dimension is not
+     * positive.
+     */
+    protected AbstractFieldMatrix(final Field<T> field,
+                                  final int rowDimension,
+                                  final int columnDimension) {
+        if (rowDimension <= 0) {
+            throw new NotStrictlyPositiveException(LocalizedFormats.DIMENSION,
+                                                   rowDimension);
+        }
+        if (columnDimension <= 0) {
+            throw new NotStrictlyPositiveException(LocalizedFormats.DIMENSION,
+                                                   columnDimension);
+        }
+        this.field = field;
+    }
+
+    /**
+     * Get the elements type from an array.
+     *
+     * @param <T> Type of the field elements.
+     * @param d Data array.
+     * @return the field to which the array elements belong.
+     * @throws NullArgumentException if the array is {@code null}.
+     * @throws NoDataException if the array is empty.
+     */
+    protected static <T extends FieldElement<T>> Field<T> extractField(final T[][] d) {
+        if (d == null) {
+            throw new NullArgumentException();
+        }
+        if (d.length == 0) {
+            throw new NoDataException(LocalizedFormats.AT_LEAST_ONE_ROW);
+        }
+        if (d[0].length == 0) {
+            throw new NoDataException(LocalizedFormats.AT_LEAST_ONE_COLUMN);
+        }
+        return d[0][0].getField();
+    }
+
+    /**
+     * Get the elements type from an array.
+     *
+     * @param <T> Type of the field elements.
+     * @param d Data array.
+     * @return the field to which the array elements belong.
+     * @throws NoDataException if array is empty.
+     */
+    protected static <T extends FieldElement<T>> Field<T> extractField(final T[] d) {
+        if (d.length == 0) {
+            throw new NoDataException(LocalizedFormats.AT_LEAST_ONE_ROW);
+        }
+        return d[0].getField();
+    }
+
+    /** Build an array of elements.
+     * <p>
+     * Complete arrays are filled with field.getZero()
+     * </p>
+     * @param <T> Type of the field elements
+     * @param field field to which array elements belong
+     * @param rows number of rows
+     * @param columns number of columns (may be negative to build partial
+     * arrays in the same way <code>new Field[rows][]</code> works)
+     * @return a new array
+     */
+    @SuppressWarnings("unchecked")
+    protected static <T extends FieldElement<T>> T[][] buildArray(final Field<T> field,
+                                                                  final int rows,
+                                                                  final int columns) {
+        if (columns < 0) {
+            T[] dummyRow = (T[]) Array.newInstance(field.getRuntimeClass(), 0);
+            return (T[][]) Array.newInstance(dummyRow.getClass(), rows);
+        }
+        T[][] array =
+            (T[][]) Array.newInstance(field.getRuntimeClass(), new int[] { rows, columns });
+        for (int i = 0; i < array.length; ++i) {
+            Arrays.fill(array[i], field.getZero());
+        }
+        return array;
+    }
+
+    /** Build an array of elements.
+     * <p>
+     * Arrays are filled with field.getZero()
+     * </p>
+     * @param <T> the type of the field elements
+     * @param field field to which array elements belong
+     * @param length of the array
+     * @return a new array
+     */
+    protected static <T extends FieldElement<T>> T[] buildArray(final Field<T> field,
+                                                                final int length) {
+        @SuppressWarnings("unchecked") // OK because field must be correct class
+        T[] array = (T[]) Array.newInstance(field.getRuntimeClass(), length);
+        Arrays.fill(array, field.getZero());
+        return array;
+    }
+
+    /** {@inheritDoc} */
+    public Field<T> getField() {
+        return field;
+    }
+
+    /** {@inheritDoc} */
+    public abstract FieldMatrix<T> createMatrix(final int rowDimension, final int columnDimension);
+
+    /** {@inheritDoc} */
+    public abstract FieldMatrix<T> copy();
+
+    /** {@inheritDoc} */
+    public FieldMatrix<T> add(FieldMatrix<T> m) {
+        // safety check
+        checkAdditionCompatible(m);
+
+        final int rowCount    = getRowDimension();
+        final int columnCount = getColumnDimension();
+        final FieldMatrix<T> out = createMatrix(rowCount, columnCount);
+        for (int row = 0; row < rowCount; ++row) {
+            for (int col = 0; col < columnCount; ++col) {
+                out.setEntry(row, col, getEntry(row, col).add(m.getEntry(row, col)));
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    public FieldMatrix<T> subtract(final FieldMatrix<T> m) {
+        // safety check
+        checkSubtractionCompatible(m);
+
+        final int rowCount    = getRowDimension();
+        final int columnCount = getColumnDimension();
+        final FieldMatrix<T> out = createMatrix(rowCount, columnCount);
+        for (int row = 0; row < rowCount; ++row) {
+            for (int col = 0; col < columnCount; ++col) {
+                out.setEntry(row, col, getEntry(row, col).subtract(m.getEntry(row, col)));
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    public FieldMatrix<T> scalarAdd(final T d) {
+
+        final int rowCount    = getRowDimension();
+        final int columnCount = getColumnDimension();
+        final FieldMatrix<T> out = createMatrix(rowCount, columnCount);
+        for (int row = 0; row < rowCount; ++row) {
+            for (int col = 0; col < columnCount; ++col) {
+                out.setEntry(row, col, getEntry(row, col).add(d));
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    public FieldMatrix<T> scalarMultiply(final T d) {
+        final int rowCount    = getRowDimension();
+        final int columnCount = getColumnDimension();
+        final FieldMatrix<T> out = createMatrix(rowCount, columnCount);
+        for (int row = 0; row < rowCount; ++row) {
+            for (int col = 0; col < columnCount; ++col) {
+                out.setEntry(row, col, getEntry(row, col).multiply(d));
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    public FieldMatrix<T> multiply(final FieldMatrix<T> m) {
+        // safety check
+        checkMultiplicationCompatible(m);
+
+        final int nRows = getRowDimension();
+        final int nCols = m.getColumnDimension();
+        final int nSum  = getColumnDimension();
+        final FieldMatrix<T> out = createMatrix(nRows, nCols);
+        for (int row = 0; row < nRows; ++row) {
+            for (int col = 0; col < nCols; ++col) {
+                T sum = field.getZero();
+                for (int i = 0; i < nSum; ++i) {
+                    sum = sum.add(getEntry(row, i).multiply(m.getEntry(i, col)));
+                }
+                out.setEntry(row, col, sum);
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    public FieldMatrix<T> preMultiply(final FieldMatrix<T> m) {
+        return m.multiply(this);
+    }
+
+    /** {@inheritDoc} */
+    public FieldMatrix<T> power(final int p) {
+        if (p < 0) {
+            throw new IllegalArgumentException("p must be >= 0");
+        }
+
+        if (!isSquare()) {
+            throw new NonSquareMatrixException(getRowDimension(), getColumnDimension());
+        }
+
+        if (p == 0) {
+            return MatrixUtils.createFieldIdentityMatrix(this.getField(), this.getRowDimension());
+        }
+
+        if (p == 1) {
+            return this.copy();
+        }
+
+        final int power = p - 1;
+
+        /*
+         * Only log_2(p) operations is used by doing as follows:
+         * 5^214 = 5^128 * 5^64 * 5^16 * 5^4 * 5^2
+         *
+         * In general, the same approach is used for A^p.
+         */
+
+        final char[] binaryRepresentation = Integer.toBinaryString(power)
+                .toCharArray();
+        final ArrayList<Integer> nonZeroPositions = new ArrayList<Integer>();
+
+        for (int i = 0; i < binaryRepresentation.length; ++i) {
+            if (binaryRepresentation[i] == '1') {
+                final int pos = binaryRepresentation.length - i - 1;
+                nonZeroPositions.add(pos);
+            }
+        }
+
+        ArrayList<FieldMatrix<T>> results = new ArrayList<FieldMatrix<T>>(
+                binaryRepresentation.length);
+
+        results.add(0, this.copy());
+
+        for (int i = 1; i < binaryRepresentation.length; ++i) {
+            final FieldMatrix<T> s = results.get(i - 1);
+            final FieldMatrix<T> r = s.multiply(s);
+            results.add(i, r);
+        }
+
+        FieldMatrix<T> result = this.copy();
+
+        for (Integer i : nonZeroPositions) {
+            result = result.multiply(results.get(i));
+        }
+
+        return result;
+    }
+
+    /** {@inheritDoc} */
+    public T[][] getData() {
+        final T[][] data = buildArray(field, getRowDimension(), getColumnDimension());
+
+        for (int i = 0; i < data.length; ++i) {
+            final T[] dataI = data[i];
+            for (int j = 0; j < dataI.length; ++j) {
+                dataI[j] = getEntry(i, j);
+            }
+        }
+
+        return data;
+    }
+
+    /** {@inheritDoc} */
+    public FieldMatrix<T> getSubMatrix(final int startRow, final int endRow,
+                                       final int startColumn, final int endColumn) {
+        checkSubMatrixIndex(startRow, endRow, startColumn, endColumn);
+
+        final FieldMatrix<T> subMatrix =
+            createMatrix(endRow - startRow + 1, endColumn - startColumn + 1);
+        for (int i = startRow; i <= endRow; ++i) {
+            for (int j = startColumn; j <= endColumn; ++j) {
+                subMatrix.setEntry(i - startRow, j - startColumn, getEntry(i, j));
+            }
+        }
+
+        return subMatrix;
+
+    }
+
+    /** {@inheritDoc} */
+    public FieldMatrix<T> getSubMatrix(final int[] selectedRows,
+                                       final int[] selectedColumns) {
+
+        // safety checks
+        checkSubMatrixIndex(selectedRows, selectedColumns);
+
+        // copy entries
+        final FieldMatrix<T> subMatrix =
+            createMatrix(selectedRows.length, selectedColumns.length);
+        subMatrix.walkInOptimizedOrder(new DefaultFieldMatrixChangingVisitor<T>(field.getZero()) {
+
+            /** {@inheritDoc} */
+            @Override
+            public T visit(final int row, final int column, final T value) {
+                return getEntry(selectedRows[row], selectedColumns[column]);
+            }
+
+        });
+
+        return subMatrix;
+
+    }
+
+    /** {@inheritDoc} */
+    public void copySubMatrix(final int startRow, final int endRow,
+                              final int startColumn, final int endColumn,
+                              final T[][] destination) {
+        // safety checks
+        checkSubMatrixIndex(startRow, endRow, startColumn, endColumn);
+        final int rowsCount    = endRow + 1 - startRow;
+        final int columnsCount = endColumn + 1 - startColumn;
+        if ((destination.length < rowsCount) || (destination[0].length < columnsCount)) {
+            throw new MatrixDimensionMismatchException(destination.length,
+                                                       destination[0].length,
+                                                       rowsCount,
+                                                       columnsCount);
+        }
+
+        // copy entries
+        walkInOptimizedOrder(new DefaultFieldMatrixPreservingVisitor<T>(field.getZero()) {
+
+            /** Initial row index. */
+            private int startRow;
+
+            /** Initial column index. */
+            private int startColumn;
+
+            /** {@inheritDoc} */
+            @Override
+            public void start(final int rows, final int columns,
+                              final int startRow, final int endRow,
+                              final int startColumn, final int endColumn) {
+                this.startRow    = startRow;
+                this.startColumn = startColumn;
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public void visit(final int row, final int column, final T value) {
+                destination[row - startRow][column - startColumn] = value;
+            }
+
+        }, startRow, endRow, startColumn, endColumn);
+
+    }
+
+    /** {@inheritDoc} */
+    public void copySubMatrix(int[] selectedRows, int[] selectedColumns, T[][] destination) {
+        // safety checks
+        checkSubMatrixIndex(selectedRows, selectedColumns);
+        if ((destination.length < selectedRows.length) ||
+            (destination[0].length < selectedColumns.length)) {
+            throw new MatrixDimensionMismatchException(destination.length,
+                                                       destination[0].length,
+                                                       selectedRows.length,
+                                                       selectedColumns.length);
+        }
+
+        // copy entries
+        for (int i = 0; i < selectedRows.length; i++) {
+            final T[] destinationI = destination[i];
+            for (int j = 0; j < selectedColumns.length; j++) {
+                destinationI[j] = getEntry(selectedRows[i], selectedColumns[j]);
+            }
+        }
+
+    }
+
+    /** {@inheritDoc} */
+    public void setSubMatrix(final T[][] subMatrix, final int row, final int column) {
+        if (subMatrix == null) {
+            throw new NullArgumentException();
+        }
+        final int nRows = subMatrix.length;
+        if (nRows == 0) {
+            throw new NoDataException(LocalizedFormats.AT_LEAST_ONE_ROW);
+        }
+
+        final int nCols = subMatrix[0].length;
+        if (nCols == 0) {
+            throw new NoDataException(LocalizedFormats.AT_LEAST_ONE_COLUMN);
+        }
+
+        for (int r = 1; r < nRows; ++r) {
+            if (subMatrix[r].length != nCols) {
+                throw new DimensionMismatchException(nCols, subMatrix[r].length);
+            }
+        }
+
+        checkRowIndex(row);
+        checkColumnIndex(column);
+        checkRowIndex(nRows + row - 1);
+        checkColumnIndex(nCols + column - 1);
+
+        for (int i = 0; i < nRows; ++i) {
+            for (int j = 0; j < nCols; ++j) {
+                setEntry(row + i, column + j, subMatrix[i][j]);
+            }
+        }
+    }
+
+    /** {@inheritDoc} */
+    public FieldMatrix<T> getRowMatrix(final int row) {
+        checkRowIndex(row);
+        final int nCols = getColumnDimension();
+        final FieldMatrix<T> out = createMatrix(1, nCols);
+        for (int i = 0; i < nCols; ++i) {
+            out.setEntry(0, i, getEntry(row, i));
+        }
+
+        return out;
+
+    }
+
+    /** {@inheritDoc} */
+    public void setRowMatrix(final int row, final FieldMatrix<T> matrix) {
+        checkRowIndex(row);
+        final int nCols = getColumnDimension();
+        if ((matrix.getRowDimension() != 1) ||
+            (matrix.getColumnDimension() != nCols)) {
+            throw new MatrixDimensionMismatchException(matrix.getRowDimension(),
+                                                       matrix.getColumnDimension(),
+                                                       1, nCols);
+        }
+        for (int i = 0; i < nCols; ++i) {
+            setEntry(row, i, matrix.getEntry(0, i));
+        }
+
+    }
+
+    /** {@inheritDoc} */
+    public FieldMatrix<T> getColumnMatrix(final int column) {
+
+        checkColumnIndex(column);
+        final int nRows = getRowDimension();
+        final FieldMatrix<T> out = createMatrix(nRows, 1);
+        for (int i = 0; i < nRows; ++i) {
+            out.setEntry(i, 0, getEntry(i, column));
+        }
+
+        return out;
+
+    }
+
+    /** {@inheritDoc} */
+    public void setColumnMatrix(final int column, final FieldMatrix<T> matrix) {
+        checkColumnIndex(column);
+        final int nRows = getRowDimension();
+        if ((matrix.getRowDimension() != nRows) ||
+            (matrix.getColumnDimension() != 1)) {
+            throw new MatrixDimensionMismatchException(matrix.getRowDimension(),
+                                                       matrix.getColumnDimension(),
+                                                       nRows, 1);
+        }
+        for (int i = 0; i < nRows; ++i) {
+            setEntry(i, column, matrix.getEntry(i, 0));
+        }
+
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> getRowVector(final int row) {
+        return new ArrayFieldVector<T>(field, getRow(row), false);
+    }
+
+    /** {@inheritDoc} */
+    public void setRowVector(final int row, final FieldVector<T> vector) {
+        checkRowIndex(row);
+        final int nCols = getColumnDimension();
+        if (vector.getDimension() != nCols) {
+            throw new MatrixDimensionMismatchException(1, vector.getDimension(),
+                                                       1, nCols);
+        }
+        for (int i = 0; i < nCols; ++i) {
+            setEntry(row, i, vector.getEntry(i));
+        }
+
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> getColumnVector(final int column) {
+        return new ArrayFieldVector<T>(field, getColumn(column), false);
+    }
+
+    /** {@inheritDoc} */
+    public void setColumnVector(final int column, final FieldVector<T> vector) {
+        checkColumnIndex(column);
+        final int nRows = getRowDimension();
+        if (vector.getDimension() != nRows) {
+            throw new MatrixDimensionMismatchException(vector.getDimension(), 1,
+                                                       nRows, 1);
+        }
+        for (int i = 0; i < nRows; ++i) {
+            setEntry(i, column, vector.getEntry(i));
+        }
+
+    }
+
+    /** {@inheritDoc} */
+    public T[] getRow(final int row) {
+        checkRowIndex(row);
+        final int nCols = getColumnDimension();
+        final T[] out = buildArray(field, nCols);
+        for (int i = 0; i < nCols; ++i) {
+            out[i] = getEntry(row, i);
+        }
+
+        return out;
+
+    }
+
+    /** {@inheritDoc} */
+    public void setRow(final int row, final T[] array) {
+        checkRowIndex(row);
+        final int nCols = getColumnDimension();
+        if (array.length != nCols) {
+            throw new MatrixDimensionMismatchException(1, array.length, 1, nCols);
+        }
+        for (int i = 0; i < nCols; ++i) {
+            setEntry(row, i, array[i]);
+        }
+
+    }
+
+    /** {@inheritDoc} */
+    public T[] getColumn(final int column) {
+        checkColumnIndex(column);
+        final int nRows = getRowDimension();
+        final T[] out = buildArray(field, nRows);
+        for (int i = 0; i < nRows; ++i) {
+            out[i] = getEntry(i, column);
+        }
+
+        return out;
+
+    }
+
+    /** {@inheritDoc} */
+    public void setColumn(final int column, final T[] array) {
+        checkColumnIndex(column);
+        final int nRows = getRowDimension();
+        if (array.length != nRows) {
+            throw new MatrixDimensionMismatchException(array.length, 1, nRows, 1);
+        }
+        for (int i = 0; i < nRows; ++i) {
+            setEntry(i, column, array[i]);
+        }
+    }
+
+    /** {@inheritDoc} */
+    public abstract T getEntry(int row, int column);
+
+    /** {@inheritDoc} */
+    public abstract void setEntry(int row, int column, T value);
+
+    /** {@inheritDoc} */
+    public abstract void addToEntry(int row, int column, T increment);
+
+    /** {@inheritDoc} */
+    public abstract void multiplyEntry(int row, int column, T factor);
+
+    /** {@inheritDoc} */
+    public FieldMatrix<T> transpose() {
+        final int nRows = getRowDimension();
+        final int nCols = getColumnDimension();
+        final FieldMatrix<T> out = createMatrix(nCols, nRows);
+        walkInOptimizedOrder(new DefaultFieldMatrixPreservingVisitor<T>(field.getZero()) {
+            /** {@inheritDoc} */
+            @Override
+            public void visit(final int row, final int column, final T value) {
+                out.setEntry(column, row, value);
+            }
+        });
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    public boolean isSquare() {
+        return getColumnDimension() == getRowDimension();
+    }
+
+    /** {@inheritDoc} */
+    public abstract int getRowDimension();
+
+    /** {@inheritDoc} */
+    public abstract int getColumnDimension();
+
+    /** {@inheritDoc} */
+    public T getTrace() {
+        final int nRows = getRowDimension();
+        final int nCols = getColumnDimension();
+        if (nRows != nCols) {
+            throw new NonSquareMatrixException(nRows, nCols);
+       }
+        T trace = field.getZero();
+        for (int i = 0; i < nRows; ++i) {
+            trace = trace.add(getEntry(i, i));
+        }
+        return trace;
+    }
+
+    /** {@inheritDoc} */
+    public T[] operate(final T[] v) {
+
+        final int nRows = getRowDimension();
+        final int nCols = getColumnDimension();
+        if (v.length != nCols) {
+            throw new DimensionMismatchException(v.length, nCols);
+        }
+
+        final T[] out = buildArray(field, nRows);
+        for (int row = 0; row < nRows; ++row) {
+            T sum = field.getZero();
+            for (int i = 0; i < nCols; ++i) {
+                sum = sum.add(getEntry(row, i).multiply(v[i]));
+            }
+            out[row] = sum;
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> operate(final FieldVector<T> v) {
+        try {
+            return new ArrayFieldVector<T>(field, operate(((ArrayFieldVector<T>) v).getDataRef()), false);
+        } catch (ClassCastException cce) {
+            final int nRows = getRowDimension();
+            final int nCols = getColumnDimension();
+            if (v.getDimension() != nCols) {
+                throw new DimensionMismatchException(v.getDimension(), nCols);
+            }
+
+            final T[] out = buildArray(field, nRows);
+            for (int row = 0; row < nRows; ++row) {
+                T sum = field.getZero();
+                for (int i = 0; i < nCols; ++i) {
+                    sum = sum.add(getEntry(row, i).multiply(v.getEntry(i)));
+                }
+                out[row] = sum;
+            }
+
+            return new ArrayFieldVector<T>(field, out, false);
+        }
+    }
+
+    /** {@inheritDoc} */
+    public T[] preMultiply(final T[] v) {
+
+        final int nRows = getRowDimension();
+        final int nCols = getColumnDimension();
+        if (v.length != nRows) {
+            throw new DimensionMismatchException(v.length, nRows);
+        }
+
+        final T[] out = buildArray(field, nCols);
+        for (int col = 0; col < nCols; ++col) {
+            T sum = field.getZero();
+            for (int i = 0; i < nRows; ++i) {
+                sum = sum.add(getEntry(i, col).multiply(v[i]));
+            }
+            out[col] = sum;
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> preMultiply(final FieldVector<T> v) {
+        try {
+            return new ArrayFieldVector<T>(field, preMultiply(((ArrayFieldVector<T>) v).getDataRef()), false);
+        } catch (ClassCastException cce) {
+            final int nRows = getRowDimension();
+            final int nCols = getColumnDimension();
+            if (v.getDimension() != nRows) {
+                throw new DimensionMismatchException(v.getDimension(), nRows);
+            }
+
+            final T[] out = buildArray(field, nCols);
+            for (int col = 0; col < nCols; ++col) {
+                T sum = field.getZero();
+                for (int i = 0; i < nRows; ++i) {
+                    sum = sum.add(getEntry(i, col).multiply(v.getEntry(i)));
+                }
+                out[col] = sum;
+            }
+
+            return new ArrayFieldVector<T>(field, out, false);
+        }
+    }
+
+    /** {@inheritDoc} */
+    public T walkInRowOrder(final FieldMatrixChangingVisitor<T> visitor) {
+        final int rows    = getRowDimension();
+        final int columns = getColumnDimension();
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        for (int row = 0; row < rows; ++row) {
+            for (int column = 0; column < columns; ++column) {
+                final T oldValue = getEntry(row, column);
+                final T newValue = visitor.visit(row, column, oldValue);
+                setEntry(row, column, newValue);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    public T walkInRowOrder(final FieldMatrixPreservingVisitor<T> visitor) {
+        final int rows    = getRowDimension();
+        final int columns = getColumnDimension();
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        for (int row = 0; row < rows; ++row) {
+            for (int column = 0; column < columns; ++column) {
+                visitor.visit(row, column, getEntry(row, column));
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    public T walkInRowOrder(final FieldMatrixChangingVisitor<T> visitor,
+                            final int startRow, final int endRow,
+                            final int startColumn, final int endColumn) {
+        checkSubMatrixIndex(startRow, endRow, startColumn, endColumn);
+        visitor.start(getRowDimension(), getColumnDimension(),
+                      startRow, endRow, startColumn, endColumn);
+        for (int row = startRow; row <= endRow; ++row) {
+            for (int column = startColumn; column <= endColumn; ++column) {
+                final T oldValue = getEntry(row, column);
+                final T newValue = visitor.visit(row, column, oldValue);
+                setEntry(row, column, newValue);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    public T walkInRowOrder(final FieldMatrixPreservingVisitor<T> visitor,
+                            final int startRow, final int endRow,
+                            final int startColumn, final int endColumn) {
+        checkSubMatrixIndex(startRow, endRow, startColumn, endColumn);
+        visitor.start(getRowDimension(), getColumnDimension(),
+                      startRow, endRow, startColumn, endColumn);
+        for (int row = startRow; row <= endRow; ++row) {
+            for (int column = startColumn; column <= endColumn; ++column) {
+                visitor.visit(row, column, getEntry(row, column));
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    public T walkInColumnOrder(final FieldMatrixChangingVisitor<T> visitor) {
+        final int rows    = getRowDimension();
+        final int columns = getColumnDimension();
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        for (int column = 0; column < columns; ++column) {
+            for (int row = 0; row < rows; ++row) {
+                final T oldValue = getEntry(row, column);
+                final T newValue = visitor.visit(row, column, oldValue);
+                setEntry(row, column, newValue);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    public T walkInColumnOrder(final FieldMatrixPreservingVisitor<T> visitor) {
+        final int rows    = getRowDimension();
+        final int columns = getColumnDimension();
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        for (int column = 0; column < columns; ++column) {
+            for (int row = 0; row < rows; ++row) {
+                visitor.visit(row, column, getEntry(row, column));
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    public T walkInColumnOrder(final FieldMatrixChangingVisitor<T> visitor,
+                               final int startRow, final int endRow,
+                               final int startColumn, final int endColumn) {
+        checkSubMatrixIndex(startRow, endRow, startColumn, endColumn);
+        visitor.start(getRowDimension(), getColumnDimension(),
+                      startRow, endRow, startColumn, endColumn);
+        for (int column = startColumn; column <= endColumn; ++column) {
+            for (int row = startRow; row <= endRow; ++row) {
+                final T oldValue = getEntry(row, column);
+                final T newValue = visitor.visit(row, column, oldValue);
+                setEntry(row, column, newValue);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    public T walkInColumnOrder(final FieldMatrixPreservingVisitor<T> visitor,
+                               final int startRow, final int endRow,
+                               final int startColumn, final int endColumn) {
+        checkSubMatrixIndex(startRow, endRow, startColumn, endColumn);
+        visitor.start(getRowDimension(), getColumnDimension(),
+                      startRow, endRow, startColumn, endColumn);
+        for (int column = startColumn; column <= endColumn; ++column) {
+            for (int row = startRow; row <= endRow; ++row) {
+                visitor.visit(row, column, getEntry(row, column));
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    public T walkInOptimizedOrder(final FieldMatrixChangingVisitor<T> visitor) {
+        return walkInRowOrder(visitor);
+    }
+
+    /** {@inheritDoc} */
+    public T walkInOptimizedOrder(final FieldMatrixPreservingVisitor<T> visitor) {
+        return walkInRowOrder(visitor);
+    }
+
+    /** {@inheritDoc} */
+    public T walkInOptimizedOrder(final FieldMatrixChangingVisitor<T> visitor,
+                                  final int startRow, final int endRow,
+                                  final int startColumn, final int endColumn) {
+        return walkInRowOrder(visitor, startRow, endRow, startColumn, endColumn);
+    }
+
+    /** {@inheritDoc} */
+    public T walkInOptimizedOrder(final FieldMatrixPreservingVisitor<T> visitor,
+                                  final int startRow, final int endRow,
+                                  final int startColumn, final int endColumn) {
+        return walkInRowOrder(visitor, startRow, endRow, startColumn, endColumn);
+    }
+
+    /**
+     * Get a string representation for this matrix.
+     * @return a string representation for this matrix
+     */
+    @Override
+    public String toString() {
+        final int nRows = getRowDimension();
+        final int nCols = getColumnDimension();
+        final StringBuffer res = new StringBuffer();
+        String fullClassName = getClass().getName();
+        String shortClassName = fullClassName.substring(fullClassName.lastIndexOf('.') + 1);
+        res.append(shortClassName).append("{");
+
+        for (int i = 0; i < nRows; ++i) {
+            if (i > 0) {
+                res.append(",");
+            }
+            res.append("{");
+            for (int j = 0; j < nCols; ++j) {
+                if (j > 0) {
+                    res.append(",");
+                }
+                res.append(getEntry(i, j));
+            }
+            res.append("}");
+        }
+
+        res.append("}");
+        return res.toString();
+    }
+
+    /**
+     * Returns true iff <code>object</code> is a
+     * <code>FieldMatrix</code> instance with the same dimensions as this
+     * and all corresponding matrix entries are equal.
+     *
+     * @param object the object to test equality against.
+     * @return true if object equals this
+     */
+    @Override
+    public boolean equals(final Object object) {
+        if (object == this ) {
+            return true;
+        }
+        if (object instanceof FieldMatrix<?> == false) {
+            return false;
+        }
+        FieldMatrix<?> m = (FieldMatrix<?>) object;
+        final int nRows = getRowDimension();
+        final int nCols = getColumnDimension();
+        if (m.getColumnDimension() != nCols || m.getRowDimension() != nRows) {
+            return false;
+        }
+        for (int row = 0; row < nRows; ++row) {
+            for (int col = 0; col < nCols; ++col) {
+                if (!getEntry(row, col).equals(m.getEntry(row, col))) {
+                    return false;
+                }
+            }
+        }
+        return true;
+    }
+
+    /**
+     * Computes a hashcode for the matrix.
+     *
+     * @return hashcode for matrix
+     */
+    @Override
+    public int hashCode() {
+        int ret = 322562;
+        final int nRows = getRowDimension();
+        final int nCols = getColumnDimension();
+        ret = ret * 31 + nRows;
+        ret = ret * 31 + nCols;
+        for (int row = 0; row < nRows; ++row) {
+            for (int col = 0; col < nCols; ++col) {
+               ret = ret * 31 + (11 * (row+1) + 17 * (col+1)) * getEntry(row, col).hashCode();
+           }
+        }
+        return ret;
+    }
+
+    /**
+     * Check if a row index is valid.
+     *
+     * @param row Row index to check.
+     * @throws OutOfRangeException if {@code index} is not valid.
+     */
+    protected void checkRowIndex(final int row) {
+        if (row < 0 || row >= getRowDimension()) {
+            throw new OutOfRangeException(LocalizedFormats.ROW_INDEX,
+                                          row, 0, getRowDimension() - 1);
+        }
+    }
+
+    /**
+     * Check if a column index is valid.
+     *
+     * @param column Column index to check.
+     * @throws OutOfRangeException if {@code index} is not valid.
+     */
+    protected void checkColumnIndex(final int column) {
+        if (column < 0 || column >= getColumnDimension()) {
+            throw new OutOfRangeException(LocalizedFormats.COLUMN_INDEX,
+                                          column, 0, getColumnDimension() - 1);
+        }
+    }
+
+    /**
+     * Check if submatrix ranges indices are valid.
+     * Rows and columns are indicated counting from 0 to n-1.
+     *
+     * @param startRow Initial row index.
+     * @param endRow Final row index.
+     * @param startColumn Initial column index.
+     * @param endColumn Final column index.
+     * @throws OutOfRangeException if the indices are not valid.
+     * @throws NumberIsTooSmallException if {@code endRow < startRow} or
+     * {@code endColumn < startColumn}.
+     */
+    protected void checkSubMatrixIndex(final int startRow, final int endRow,
+                                       final int startColumn, final int endColumn) {
+        checkRowIndex(startRow);
+        checkRowIndex(endRow);
+        if (endRow < startRow) {
+            throw new NumberIsTooSmallException(LocalizedFormats.INITIAL_ROW_AFTER_FINAL_ROW,
+                                                endRow, startRow, true);
+        }
+
+        checkColumnIndex(startColumn);
+        checkColumnIndex(endColumn);
+        if (endColumn < startColumn) {
+            throw new NumberIsTooSmallException(LocalizedFormats.INITIAL_COLUMN_AFTER_FINAL_COLUMN,
+                                                endColumn, startColumn, true);
+        }
+    }
+
+    /**
+     * Check if submatrix ranges indices are valid.
+     * Rows and columns are indicated counting from 0 to n-1.
+     *
+     * @param selectedRows Array of row indices.
+     * @param selectedColumns Array of column indices.
+     * @throws NullArgumentException if the arrays are {@code null}.
+     * @throws NoDataException if the arrays have zero length.
+     * @throws OutOfRangeException if row or column selections are not valid.
+     */
+    protected void checkSubMatrixIndex(final int[] selectedRows, final int[] selectedColumns) {
+        if (selectedRows == null ||
+            selectedColumns == null) {
+            throw new NullArgumentException();
+        }
+        if (selectedRows.length == 0 ||
+            selectedColumns.length == 0) {
+            throw new NoDataException();
+        }
+
+        for (final int row : selectedRows) {
+            checkRowIndex(row);
+        }
+        for (final int column : selectedColumns) {
+            checkColumnIndex(column);
+        }
+    }
+
+    /**
+     * Check if a matrix is addition compatible with the instance.
+     *
+     * @param m Matrix to check.
+     * @throws MatrixDimensionMismatchException if the matrix is not
+     * addition-compatible with instance.
+     */
+    protected void checkAdditionCompatible(final FieldMatrix<T> m) {
+        if ((getRowDimension() != m.getRowDimension()) ||
+            (getColumnDimension() != m.getColumnDimension())) {
+            throw new MatrixDimensionMismatchException(m.getRowDimension(), m.getColumnDimension(),
+                                                       getRowDimension(), getColumnDimension());
+        }
+    }
+
+    /**
+     * Check if a matrix is subtraction compatible with the instance.
+     *
+     * @param m Matrix to check.
+     * @throws MatrixDimensionMismatchException if the matrix is not
+     * subtraction-compatible with instance.
+     */
+    protected void checkSubtractionCompatible(final FieldMatrix<T> m) {
+        if ((getRowDimension() != m.getRowDimension()) ||
+            (getColumnDimension() != m.getColumnDimension())) {
+            throw new MatrixDimensionMismatchException(m.getRowDimension(), m.getColumnDimension(),
+                                                       getRowDimension(), getColumnDimension());
+        }
+    }
+
+    /**
+     * Check if a matrix is multiplication compatible with the instance.
+     *
+     * @param m Matrix to check.
+     * @throws DimensionMismatchException if the matrix is not
+     * multiplication-compatible with instance.
+     */
+    protected void checkMultiplicationCompatible(final FieldMatrix<T> m) {
+        if (getColumnDimension() != m.getRowDimension()) {
+            throw new DimensionMismatchException(m.getRowDimension(), getColumnDimension());
+        }
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/AbstractRealMatrix.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/AbstractRealMatrix.java
new file mode 100644
index 0000000000..0522ea2ff2
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/AbstractRealMatrix.java
@@ -0,0 +1,951 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import java.util.ArrayList;
+
+import org.apache.commons.math3.exception.NoDataException;
+import org.apache.commons.math3.exception.NotStrictlyPositiveException;
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+import org.apache.commons.math3.util.MathUtils;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Basic implementation of RealMatrix methods regardless of the underlying storage.
+ * <p>All the methods implemented here use {@link #getEntry(int, int)} to access
+ * matrix elements. Derived class can provide faster implementations. </p>
+ *
+ * @version $Id: AbstractRealMatrix.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public abstract class AbstractRealMatrix
+    extends RealLinearOperator
+    implements RealMatrix {
+    /**
+     * Creates a matrix with no data
+     */
+    protected AbstractRealMatrix() {}
+
+    /**
+     * Create a new RealMatrix with the supplied row and column dimensions.
+     *
+     * @param rowDimension  the number of rows in the new matrix
+     * @param columnDimension  the number of columns in the new matrix
+     * @throws NotStrictlyPositiveException if row or column dimension is not positive
+     */
+    protected AbstractRealMatrix(final int rowDimension, final int columnDimension) {
+        if (rowDimension < 1) {
+            throw new NotStrictlyPositiveException(rowDimension);
+        }
+        if (columnDimension < 1) {
+            throw new NotStrictlyPositiveException(columnDimension);
+        }
+    }
+
+    /** {@inheritDoc} */
+    public abstract RealMatrix createMatrix(final int rowDimension, final int columnDimension);
+
+    /** {@inheritDoc} */
+    public abstract RealMatrix copy();
+
+    /** {@inheritDoc} */
+    public RealMatrix add(RealMatrix m) {
+        // Safety check.
+        MatrixUtils.checkAdditionCompatible(this, m);
+
+        final int rowCount    = getRowDimension();
+        final int columnCount = getColumnDimension();
+        final RealMatrix out = createMatrix(rowCount, columnCount);
+        for (int row = 0; row < rowCount; ++row) {
+            for (int col = 0; col < columnCount; ++col) {
+                out.setEntry(row, col, getEntry(row, col) + m.getEntry(row, col));
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    public RealMatrix subtract(final RealMatrix m) {
+        // Safety check.
+        MatrixUtils.checkSubtractionCompatible(this, m);
+
+        final int rowCount    = getRowDimension();
+        final int columnCount = getColumnDimension();
+        final RealMatrix out = createMatrix(rowCount, columnCount);
+        for (int row = 0; row < rowCount; ++row) {
+            for (int col = 0; col < columnCount; ++col) {
+                out.setEntry(row, col, getEntry(row, col) - m.getEntry(row, col));
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    public RealMatrix scalarAdd(final double d) {
+        final int rowCount    = getRowDimension();
+        final int columnCount = getColumnDimension();
+        final RealMatrix out = createMatrix(rowCount, columnCount);
+        for (int row = 0; row < rowCount; ++row) {
+            for (int col = 0; col < columnCount; ++col) {
+                out.setEntry(row, col, getEntry(row, col) + d);
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    public RealMatrix scalarMultiply(final double d) {
+        final int rowCount    = getRowDimension();
+        final int columnCount = getColumnDimension();
+        final RealMatrix out = createMatrix(rowCount, columnCount);
+        for (int row = 0; row < rowCount; ++row) {
+            for (int col = 0; col < columnCount; ++col) {
+                out.setEntry(row, col, getEntry(row, col) * d);
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    public RealMatrix multiply(final RealMatrix m) {
+        // Safety check.
+        MatrixUtils.checkMultiplicationCompatible(this, m);
+
+        final int nRows = getRowDimension();
+        final int nCols = m.getColumnDimension();
+        final int nSum  = getColumnDimension();
+        final RealMatrix out = createMatrix(nRows, nCols);
+        for (int row = 0; row < nRows; ++row) {
+            for (int col = 0; col < nCols; ++col) {
+                double sum = 0;
+                for (int i = 0; i < nSum; ++i) {
+                    sum += getEntry(row, i) * m.getEntry(i, col);
+                }
+                out.setEntry(row, col, sum);
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    public RealMatrix preMultiply(final RealMatrix m) {
+        return m.multiply(this);
+    }
+
+    /** {@inheritDoc} */
+    public RealMatrix power(final int p) {
+        if (p < 0) {
+            throw new IllegalArgumentException("p must be >= 0");
+        }
+
+        if (!isSquare()) {
+            throw new NonSquareMatrixException(getRowDimension(), getColumnDimension());
+        }
+
+        if (p == 0) {
+            return MatrixUtils.createRealIdentityMatrix(this.getRowDimension());
+        }
+
+        if (p == 1) {
+            return this.copy();
+        }
+
+        final int power = p - 1;
+
+        /*
+         * Only log_2(p) operations is used by doing as follows:
+         * 5^214 = 5^128 * 5^64 * 5^16 * 5^4 * 5^2
+         *
+         * In general, the same approach is used for A^p.
+         */
+
+        final char[] binaryRepresentation = Integer.toBinaryString(power).toCharArray();
+        final ArrayList<Integer> nonZeroPositions = new ArrayList<Integer>();
+        int maxI = -1;
+
+        for (int i = 0; i < binaryRepresentation.length; ++i) {
+            if (binaryRepresentation[i] == '1') {
+                final int pos = binaryRepresentation.length - i - 1;
+                nonZeroPositions.add(pos);
+
+                // The positions are taken in turn, so maxI is only changed once
+                if (maxI == -1) {
+                    maxI = pos;
+                }
+            }
+        }
+
+        RealMatrix[] results = new RealMatrix[maxI + 1];
+        results[0] = this.copy();
+
+        for (int i = 1; i <= maxI; ++i) {
+            results[i] = results[i-1].multiply(results[i-1]);
+        }
+
+        RealMatrix result = this.copy();
+
+        for (Integer i : nonZeroPositions) {
+            result = result.multiply(results[i]);
+        }
+
+        return result;
+    }
+
+    /** {@inheritDoc} */
+    public double[][] getData() {
+        final double[][] data = new double[getRowDimension()][getColumnDimension()];
+
+        for (int i = 0; i < data.length; ++i) {
+            final double[] dataI = data[i];
+            for (int j = 0; j < dataI.length; ++j) {
+                dataI[j] = getEntry(i, j);
+            }
+        }
+
+        return data;
+    }
+
+    /** {@inheritDoc} */
+    public double getNorm() {
+        return walkInColumnOrder(new RealMatrixPreservingVisitor() {
+
+            /** Last row index. */
+            private double endRow;
+
+            /** Sum of absolute values on one column. */
+            private double columnSum;
+
+            /** Maximal sum across all columns. */
+            private double maxColSum;
+
+            /** {@inheritDoc} */
+            public void start(final int rows, final int columns,
+                              final int startRow, final int endRow,
+                              final int startColumn, final int endColumn) {
+                this.endRow = endRow;
+                columnSum   = 0;
+                maxColSum   = 0;
+            }
+
+            /** {@inheritDoc} */
+            public void visit(final int row, final int column, final double value) {
+                columnSum += FastMath.abs(value);
+                if (row == endRow) {
+                    maxColSum = FastMath.max(maxColSum, columnSum);
+                    columnSum = 0;
+                }
+            }
+
+            /** {@inheritDoc} */
+            public double end() {
+                return maxColSum;
+            }
+        });
+    }
+
+    /** {@inheritDoc} */
+    public double getFrobeniusNorm() {
+        return walkInOptimizedOrder(new RealMatrixPreservingVisitor() {
+
+            /** Sum of squared entries. */
+            private double sum;
+
+            /** {@inheritDoc} */
+            public void start(final int rows, final int columns,
+                              final int startRow, final int endRow,
+                              final int startColumn, final int endColumn) {
+                sum = 0;
+            }
+
+            /** {@inheritDoc} */
+            public void visit(final int row, final int column, final double value) {
+                sum += value * value;
+            }
+
+            /** {@inheritDoc} */
+            public double end() {
+                return FastMath.sqrt(sum);
+            }
+        });
+    }
+
+    /** {@inheritDoc} */
+    public RealMatrix getSubMatrix(final int startRow, final int endRow,
+                                   final int startColumn, final int endColumn) {
+        MatrixUtils.checkSubMatrixIndex(this, startRow, endRow, startColumn, endColumn);
+
+        final RealMatrix subMatrix =
+            createMatrix(endRow - startRow + 1, endColumn - startColumn + 1);
+        for (int i = startRow; i <= endRow; ++i) {
+            for (int j = startColumn; j <= endColumn; ++j) {
+                subMatrix.setEntry(i - startRow, j - startColumn, getEntry(i, j));
+            }
+        }
+
+        return subMatrix;
+    }
+
+    /** {@inheritDoc} */
+    public RealMatrix getSubMatrix(final int[] selectedRows, final int[] selectedColumns) {
+        // safety checks
+        MatrixUtils.checkSubMatrixIndex(this, selectedRows, selectedColumns);
+
+        // copy entries
+        final RealMatrix subMatrix =
+            createMatrix(selectedRows.length, selectedColumns.length);
+        subMatrix.walkInOptimizedOrder(new DefaultRealMatrixChangingVisitor() {
+
+            /** {@inheritDoc} */
+            @Override
+            public double visit(final int row, final int column, final double value) {
+                return getEntry(selectedRows[row], selectedColumns[column]);
+            }
+
+        });
+
+        return subMatrix;
+    }
+
+    /** {@inheritDoc} */
+    public void copySubMatrix(final int startRow, final int endRow,
+                              final int startColumn, final int endColumn,
+                              final double[][] destination) {
+        // safety checks
+        MatrixUtils.checkSubMatrixIndex(this, startRow, endRow, startColumn, endColumn);
+        final int rowsCount    = endRow + 1 - startRow;
+        final int columnsCount = endColumn + 1 - startColumn;
+        if ((destination.length < rowsCount) || (destination[0].length < columnsCount)) {
+            throw new MatrixDimensionMismatchException(destination.length, destination[0].length,
+                                                       rowsCount, columnsCount);
+        }
+
+        // copy entries
+        walkInOptimizedOrder(new DefaultRealMatrixPreservingVisitor() {
+
+            /** Initial row index. */
+            private int startRow;
+
+            /** Initial column index. */
+            private int startColumn;
+
+            /** {@inheritDoc} */
+            @Override
+            public void start(final int rows, final int columns,
+                              final int startRow, final int endRow,
+                              final int startColumn, final int endColumn) {
+                this.startRow    = startRow;
+                this.startColumn = startColumn;
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public void visit(final int row, final int column, final double value) {
+                destination[row - startRow][column - startColumn] = value;
+            }
+
+        }, startRow, endRow, startColumn, endColumn);
+    }
+
+    /** {@inheritDoc} */
+    public void copySubMatrix(int[] selectedRows, int[] selectedColumns, double[][] destination) {
+        // safety checks
+        MatrixUtils.checkSubMatrixIndex(this, selectedRows, selectedColumns);
+        if ((destination.length < selectedRows.length) ||
+            (destination[0].length < selectedColumns.length)) {
+            throw new MatrixDimensionMismatchException(destination.length, destination[0].length,
+                                                       selectedRows.length, selectedColumns.length);
+        }
+
+        // copy entries
+        for (int i = 0; i < selectedRows.length; i++) {
+            final double[] destinationI = destination[i];
+            for (int j = 0; j < selectedColumns.length; j++) {
+                destinationI[j] = getEntry(selectedRows[i], selectedColumns[j]);
+            }
+        }
+    }
+
+    /** {@inheritDoc} */
+    public void setSubMatrix(final double[][] subMatrix, final int row, final int column)
+        throws NoDataException, DimensionMismatchException, NullArgumentException {
+        MathUtils.checkNotNull(subMatrix);
+        final int nRows = subMatrix.length;
+        if (nRows == 0) {
+            throw new NoDataException(LocalizedFormats.AT_LEAST_ONE_ROW);
+        }
+
+        final int nCols = subMatrix[0].length;
+        if (nCols == 0) {
+            throw new NoDataException(LocalizedFormats.AT_LEAST_ONE_COLUMN);
+        }
+
+        for (int r = 1; r < nRows; ++r) {
+            if (subMatrix[r].length != nCols) {
+                throw new DimensionMismatchException(nCols, subMatrix[r].length);
+            }
+        }
+
+        MatrixUtils.checkRowIndex(this, row);
+        MatrixUtils.checkColumnIndex(this, column);
+        MatrixUtils.checkRowIndex(this, nRows + row - 1);
+        MatrixUtils.checkColumnIndex(this, nCols + column - 1);
+
+        for (int i = 0; i < nRows; ++i) {
+            for (int j = 0; j < nCols; ++j) {
+                setEntry(row + i, column + j, subMatrix[i][j]);
+            }
+        }
+    }
+
+    /** {@inheritDoc} */
+    public RealMatrix getRowMatrix(final int row) {
+        MatrixUtils.checkRowIndex(this, row);
+        final int nCols = getColumnDimension();
+        final RealMatrix out = createMatrix(1, nCols);
+        for (int i = 0; i < nCols; ++i) {
+            out.setEntry(0, i, getEntry(row, i));
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    public void setRowMatrix(final int row, final RealMatrix matrix) {
+        MatrixUtils.checkRowIndex(this, row);
+        final int nCols = getColumnDimension();
+        if ((matrix.getRowDimension() != 1) ||
+            (matrix.getColumnDimension() != nCols)) {
+            throw new MatrixDimensionMismatchException(matrix.getRowDimension(),
+                                                       matrix.getColumnDimension(),
+                                                       1, nCols);
+        }
+        for (int i = 0; i < nCols; ++i) {
+            setEntry(row, i, matrix.getEntry(0, i));
+        }
+    }
+
+    /** {@inheritDoc} */
+    public RealMatrix getColumnMatrix(final int column) {
+        MatrixUtils.checkColumnIndex(this, column);
+        final int nRows = getRowDimension();
+        final RealMatrix out = createMatrix(nRows, 1);
+        for (int i = 0; i < nRows; ++i) {
+            out.setEntry(i, 0, getEntry(i, column));
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    public void setColumnMatrix(final int column, final RealMatrix matrix) {
+        MatrixUtils.checkColumnIndex(this, column);
+        final int nRows = getRowDimension();
+        if ((matrix.getRowDimension() != nRows) ||
+            (matrix.getColumnDimension() != 1)) {
+            throw new MatrixDimensionMismatchException(matrix.getRowDimension(),
+                                                       matrix.getColumnDimension(),
+                                                       nRows, 1);
+        }
+        for (int i = 0; i < nRows; ++i) {
+            setEntry(i, column, matrix.getEntry(i, 0));
+        }
+    }
+
+    /** {@inheritDoc} */
+    public RealVector getRowVector(final int row) {
+        return new ArrayRealVector(getRow(row), false);
+    }
+
+    /** {@inheritDoc} */
+    public void setRowVector(final int row, final RealVector vector) {
+        MatrixUtils.checkRowIndex(this, row);
+        final int nCols = getColumnDimension();
+        if (vector.getDimension() != nCols) {
+            throw new MatrixDimensionMismatchException(1, vector.getDimension(),
+                                                       1, nCols);
+        }
+        for (int i = 0; i < nCols; ++i) {
+            setEntry(row, i, vector.getEntry(i));
+        }
+    }
+
+    /** {@inheritDoc} */
+    public RealVector getColumnVector(final int column) {
+        return new ArrayRealVector(getColumn(column), false);
+    }
+
+    /** {@inheritDoc} */
+    public void setColumnVector(final int column, final RealVector vector) {
+        MatrixUtils.checkColumnIndex(this, column);
+        final int nRows = getRowDimension();
+        if (vector.getDimension() != nRows) {
+            throw new MatrixDimensionMismatchException(vector.getDimension(), 1,
+                                                       nRows, 1);
+        }
+        for (int i = 0; i < nRows; ++i) {
+            setEntry(i, column, vector.getEntry(i));
+        }
+    }
+
+    /** {@inheritDoc} */
+    public double[] getRow(final int row) {
+        MatrixUtils.checkRowIndex(this, row);
+        final int nCols = getColumnDimension();
+        final double[] out = new double[nCols];
+        for (int i = 0; i < nCols; ++i) {
+            out[i] = getEntry(row, i);
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    public void setRow(final int row, final double[] array) {
+        MatrixUtils.checkRowIndex(this, row);
+        final int nCols = getColumnDimension();
+        if (array.length != nCols) {
+            throw new MatrixDimensionMismatchException(1, array.length, 1, nCols);
+        }
+        for (int i = 0; i < nCols; ++i) {
+            setEntry(row, i, array[i]);
+        }
+    }
+
+    /** {@inheritDoc} */
+    public double[] getColumn(final int column) {
+        MatrixUtils.checkColumnIndex(this, column);
+        final int nRows = getRowDimension();
+        final double[] out = new double[nRows];
+        for (int i = 0; i < nRows; ++i) {
+            out[i] = getEntry(i, column);
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    public void setColumn(final int column, final double[] array) {
+        MatrixUtils.checkColumnIndex(this, column);
+        final int nRows = getRowDimension();
+        if (array.length != nRows) {
+            throw new MatrixDimensionMismatchException(array.length, 1, nRows, 1);
+        }
+        for (int i = 0; i < nRows; ++i) {
+            setEntry(i, column, array[i]);
+        }
+    }
+
+    /** {@inheritDoc} */
+    public abstract double getEntry(int row, int column);
+
+    /** {@inheritDoc} */
+    public abstract void setEntry(int row, int column, double value);
+
+    /** {@inheritDoc} */
+    public void addToEntry(int row, int column, double increment) {
+        MatrixUtils.checkMatrixIndex(this, row, column);
+        setEntry(row, column, getEntry(row, column) + increment);
+    }
+
+    /** {@inheritDoc} */
+    public void multiplyEntry(int row, int column, double factor) {
+        MatrixUtils.checkMatrixIndex(this, row, column);
+        setEntry(row, column, getEntry(row, column) * factor);
+    }
+
+    /** {@inheritDoc} */
+    public RealMatrix transpose() {
+        final int nRows = getRowDimension();
+        final int nCols = getColumnDimension();
+        final RealMatrix out = createMatrix(nCols, nRows);
+        walkInOptimizedOrder(new DefaultRealMatrixPreservingVisitor() {
+
+            /** {@inheritDoc} */
+            @Override
+            public void visit(final int row, final int column, final double value) {
+                out.setEntry(column, row, value);
+            }
+
+        });
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    public boolean isSquare() {
+        return getColumnDimension() == getRowDimension();
+    }
+
+    /** {@inheritDoc} */
+
+    /**
+     * Returns the number of rows of this matrix.
+     *
+     * @return the number of rows.
+     */
+    @Override
+    public abstract int getRowDimension();
+
+    /**
+     * Returns the number of columns of this matrix.
+     *
+     * @return the number of columns.
+     */
+    @Override
+    public abstract int getColumnDimension();
+
+    /** {@inheritDoc} */
+    public double getTrace() {
+        final int nRows = getRowDimension();
+        final int nCols = getColumnDimension();
+        if (nRows != nCols) {
+            throw new NonSquareMatrixException(nRows, nCols);
+       }
+        double trace = 0;
+        for (int i = 0; i < nRows; ++i) {
+            trace += getEntry(i, i);
+        }
+        return trace;
+    }
+
+    /** {@inheritDoc} */
+    public double[] operate(final double[] v) {
+        final int nRows = getRowDimension();
+        final int nCols = getColumnDimension();
+        if (v.length != nCols) {
+            throw new DimensionMismatchException(v.length, nCols);
+        }
+
+        final double[] out = new double[nRows];
+        for (int row = 0; row < nRows; ++row) {
+            double sum = 0;
+            for (int i = 0; i < nCols; ++i) {
+                sum += getEntry(row, i) * v[i];
+            }
+            out[row] = sum;
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector operate(final RealVector v) {
+        try {
+            return new ArrayRealVector(operate(((ArrayRealVector) v).getDataRef()), false);
+        } catch (ClassCastException cce) {
+            final int nRows = getRowDimension();
+            final int nCols = getColumnDimension();
+            if (v.getDimension() != nCols) {
+                throw new DimensionMismatchException(v.getDimension(), nCols);
+            }
+
+            final double[] out = new double[nRows];
+            for (int row = 0; row < nRows; ++row) {
+                double sum = 0;
+                for (int i = 0; i < nCols; ++i) {
+                    sum += getEntry(row, i) * v.getEntry(i);
+                }
+                out[row] = sum;
+            }
+
+            return new ArrayRealVector(out, false);
+        }
+    }
+
+    /** {@inheritDoc} */
+    public double[] preMultiply(final double[] v) {
+
+        final int nRows = getRowDimension();
+        final int nCols = getColumnDimension();
+        if (v.length != nRows) {
+            throw new DimensionMismatchException(v.length, nRows);
+        }
+
+        final double[] out = new double[nCols];
+        for (int col = 0; col < nCols; ++col) {
+            double sum = 0;
+            for (int i = 0; i < nRows; ++i) {
+                sum += getEntry(i, col) * v[i];
+            }
+            out[col] = sum;
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    public RealVector preMultiply(final RealVector v) {
+        try {
+            return new ArrayRealVector(preMultiply(((ArrayRealVector) v).getDataRef()), false);
+        } catch (ClassCastException cce) {
+
+            final int nRows = getRowDimension();
+            final int nCols = getColumnDimension();
+            if (v.getDimension() != nRows) {
+                throw new DimensionMismatchException(v.getDimension(), nRows);
+            }
+
+            final double[] out = new double[nCols];
+            for (int col = 0; col < nCols; ++col) {
+                double sum = 0;
+                for (int i = 0; i < nRows; ++i) {
+                    sum += getEntry(i, col) * v.getEntry(i);
+                }
+                out[col] = sum;
+            }
+
+            return new ArrayRealVector(out, false);
+        }
+    }
+
+    /** {@inheritDoc} */
+    public double walkInRowOrder(final RealMatrixChangingVisitor visitor) {
+        final int rows    = getRowDimension();
+        final int columns = getColumnDimension();
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        for (int row = 0; row < rows; ++row) {
+            for (int column = 0; column < columns; ++column) {
+                final double oldValue = getEntry(row, column);
+                final double newValue = visitor.visit(row, column, oldValue);
+                setEntry(row, column, newValue);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    public double walkInRowOrder(final RealMatrixPreservingVisitor visitor) {
+        final int rows    = getRowDimension();
+        final int columns = getColumnDimension();
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        for (int row = 0; row < rows; ++row) {
+            for (int column = 0; column < columns; ++column) {
+                visitor.visit(row, column, getEntry(row, column));
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    public double walkInRowOrder(final RealMatrixChangingVisitor visitor,
+                                 final int startRow, final int endRow,
+                                 final int startColumn, final int endColumn) {
+        MatrixUtils.checkSubMatrixIndex(this, startRow, endRow, startColumn, endColumn);
+        visitor.start(getRowDimension(), getColumnDimension(),
+                      startRow, endRow, startColumn, endColumn);
+        for (int row = startRow; row <= endRow; ++row) {
+            for (int column = startColumn; column <= endColumn; ++column) {
+                final double oldValue = getEntry(row, column);
+                final double newValue = visitor.visit(row, column, oldValue);
+                setEntry(row, column, newValue);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    public double walkInRowOrder(final RealMatrixPreservingVisitor visitor,
+                                 final int startRow, final int endRow,
+                                 final int startColumn, final int endColumn) {
+        MatrixUtils.checkSubMatrixIndex(this, startRow, endRow, startColumn, endColumn);
+        visitor.start(getRowDimension(), getColumnDimension(),
+                      startRow, endRow, startColumn, endColumn);
+        for (int row = startRow; row <= endRow; ++row) {
+            for (int column = startColumn; column <= endColumn; ++column) {
+                visitor.visit(row, column, getEntry(row, column));
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    public double walkInColumnOrder(final RealMatrixChangingVisitor visitor) {
+        final int rows    = getRowDimension();
+        final int columns = getColumnDimension();
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        for (int column = 0; column < columns; ++column) {
+            for (int row = 0; row < rows; ++row) {
+                final double oldValue = getEntry(row, column);
+                final double newValue = visitor.visit(row, column, oldValue);
+                setEntry(row, column, newValue);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    public double walkInColumnOrder(final RealMatrixPreservingVisitor visitor) {
+        final int rows    = getRowDimension();
+        final int columns = getColumnDimension();
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        for (int column = 0; column < columns; ++column) {
+            for (int row = 0; row < rows; ++row) {
+                visitor.visit(row, column, getEntry(row, column));
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    public double walkInColumnOrder(final RealMatrixChangingVisitor visitor,
+                                    final int startRow, final int endRow,
+                                    final int startColumn, final int endColumn) {
+        MatrixUtils.checkSubMatrixIndex(this, startRow, endRow, startColumn, endColumn);
+        visitor.start(getRowDimension(), getColumnDimension(),
+                      startRow, endRow, startColumn, endColumn);
+        for (int column = startColumn; column <= endColumn; ++column) {
+            for (int row = startRow; row <= endRow; ++row) {
+                final double oldValue = getEntry(row, column);
+                final double newValue = visitor.visit(row, column, oldValue);
+                setEntry(row, column, newValue);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    public double walkInColumnOrder(final RealMatrixPreservingVisitor visitor,
+                                    final int startRow, final int endRow,
+                                    final int startColumn, final int endColumn) {
+        MatrixUtils.checkSubMatrixIndex(this, startRow, endRow, startColumn, endColumn);
+        visitor.start(getRowDimension(), getColumnDimension(),
+                      startRow, endRow, startColumn, endColumn);
+        for (int column = startColumn; column <= endColumn; ++column) {
+            for (int row = startRow; row <= endRow; ++row) {
+                visitor.visit(row, column, getEntry(row, column));
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    public double walkInOptimizedOrder(final RealMatrixChangingVisitor visitor) {
+        return walkInRowOrder(visitor);
+    }
+
+    /** {@inheritDoc} */
+    public double walkInOptimizedOrder(final RealMatrixPreservingVisitor visitor) {
+        return walkInRowOrder(visitor);
+    }
+
+    /** {@inheritDoc} */
+    public double walkInOptimizedOrder(final RealMatrixChangingVisitor visitor,
+                                       final int startRow, final int endRow,
+                                       final int startColumn, final int endColumn) {
+        return walkInRowOrder(visitor, startRow, endRow, startColumn, endColumn);
+    }
+
+    /** {@inheritDoc} */
+    public double walkInOptimizedOrder(final RealMatrixPreservingVisitor visitor,
+                                       final int startRow, final int endRow,
+                                       final int startColumn, final int endColumn) {
+        return walkInRowOrder(visitor, startRow, endRow, startColumn, endColumn);
+    }
+
+    /**
+     * Get a string representation for this matrix.
+     * @return a string representation for this matrix
+     */
+    @Override
+    public String toString() {
+        final int nRows = getRowDimension();
+        final int nCols = getColumnDimension();
+        final StringBuffer res = new StringBuffer();
+        String fullClassName = getClass().getName();
+        String shortClassName = fullClassName.substring(fullClassName.lastIndexOf('.') + 1);
+        res.append(shortClassName).append("{");
+
+        for (int i = 0; i < nRows; ++i) {
+            if (i > 0) {
+                res.append(",");
+            }
+            res.append("{");
+            for (int j = 0; j < nCols; ++j) {
+                if (j > 0) {
+                    res.append(",");
+                }
+                res.append(getEntry(i, j));
+            }
+            res.append("}");
+        }
+
+        res.append("}");
+        return res.toString();
+    }
+
+    /**
+     * Returns true iff <code>object</code> is a
+     * <code>RealMatrix</code> instance with the same dimensions as this
+     * and all corresponding matrix entries are equal.
+     *
+     * @param object the object to test equality against.
+     * @return true if object equals this
+     */
+    @Override
+    public boolean equals(final Object object) {
+        if (object == this ) {
+            return true;
+        }
+        if (object instanceof RealMatrix == false) {
+            return false;
+        }
+        RealMatrix m = (RealMatrix) object;
+        final int nRows = getRowDimension();
+        final int nCols = getColumnDimension();
+        if (m.getColumnDimension() != nCols || m.getRowDimension() != nRows) {
+            return false;
+        }
+        for (int row = 0; row < nRows; ++row) {
+            for (int col = 0; col < nCols; ++col) {
+                if (getEntry(row, col) != m.getEntry(row, col)) {
+                    return false;
+                }
+            }
+        }
+        return true;
+    }
+
+    /**
+     * Computes a hashcode for the matrix.
+     *
+     * @return hashcode for matrix
+     */
+    @Override
+    public int hashCode() {
+        int ret = 7;
+        final int nRows = getRowDimension();
+        final int nCols = getColumnDimension();
+        ret = ret * 31 + nRows;
+        ret = ret * 31 + nCols;
+        for (int row = 0; row < nRows; ++row) {
+            for (int col = 0; col < nCols; ++col) {
+               ret = ret * 31 + (11 * (row+1) + 17 * (col+1)) *
+                   MathUtils.hash(getEntry(row, col));
+           }
+        }
+        return ret;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/AnyMatrix.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/AnyMatrix.java
new file mode 100644
index 0000000000..397b934e6e
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/AnyMatrix.java
@@ -0,0 +1,48 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+
+/**
+ * Interface defining very basic matrix operations.
+ * @version $Id: AnyMatrix.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public interface AnyMatrix {
+
+    /**
+     * Is this a square matrix?
+     * @return true if the matrix is square (rowDimension = columnDimension)
+     */
+    boolean isSquare();
+
+    /**
+     * Returns the number of rows in the matrix.
+     *
+     * @return rowDimension
+     */
+    int getRowDimension();
+
+    /**
+     * Returns the number of columns in the matrix.
+     *
+     * @return columnDimension
+     */
+    int getColumnDimension();
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/Array2DRowFieldMatrix.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/Array2DRowFieldMatrix.java
new file mode 100644
index 0000000000..7693448e1b
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/Array2DRowFieldMatrix.java
@@ -0,0 +1,589 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import java.io.Serializable;
+
+import org.apache.commons.math3.Field;
+import org.apache.commons.math3.FieldElement;
+import org.apache.commons.math3.exception.NoDataException;
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.MathIllegalStateException;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+import org.apache.commons.math3.util.MathUtils;
+
+/**
+ * Implementation of FieldMatrix<T> using a {@link FieldElement}[][] array to store entries.
+ * <p>
+ * As specified in the {@link FieldMatrix} interface, matrix element indexing
+ * is 0-based -- e.g., <code>getEntry(0, 0)</code>
+ * returns the element in the first row, first column of the matrix.</li></ul>
+ * </p>
+ *
+ * @param <T> the type of the field elements
+ * @version $Id: Array2DRowFieldMatrix.java 1296536 2012-03-03 00:44:04Z sebb $
+ */
+public class Array2DRowFieldMatrix<T extends FieldElement<T>>
+    extends AbstractFieldMatrix<T>
+    implements Serializable {
+    /** Serializable version identifier */
+    private static final long serialVersionUID = 7260756672015356458L;
+    /** Entries of the matrix */
+    private T[][] data;
+
+    /**
+     * Creates a matrix with no data
+     * @param field field to which the elements belong
+     */
+    public Array2DRowFieldMatrix(final Field<T> field) {
+        super(field);
+    }
+
+    /**
+     * Create a new {@code FieldMatrix<T>} with the supplied row and column dimensions.
+     *
+     * @param field Field to which the elements belong.
+     * @param rowDimension Number of rows in the new matrix.
+     * @param columnDimension Number of columns in the new matrix.
+     * @throws org.apache.commons.math3.exception.NotStrictlyPositiveException
+     * if row or column dimension is not positive.
+     */
+    public Array2DRowFieldMatrix(final Field<T> field,
+                                 final int rowDimension,
+                                 final int columnDimension) {
+        super(field, rowDimension, columnDimension);
+        data = buildArray(field, rowDimension, columnDimension);
+    }
+
+    /**
+     * Create a new {@code FieldMatrix<T>} using the input array as the underlying
+     * data array.
+     * <p>The input array is copied, not referenced. This constructor has
+     * the same effect as calling {@link #Array2DRowFieldMatrix(FieldElement[][], boolean)}
+     * with the second argument set to {@code true}.</p>
+     *
+     * @param d Data for the new matrix.
+     * @throws DimensionMismatchException if {@code d} is not rectangular.
+     * @throws org.apache.commons.math3.exception.NullArgumentException if
+     * {@code d} is {@code null}.
+     * @throws NoDataException if there are not at least one row and one column.
+     * @see #Array2DRowFieldMatrix(FieldElement[][], boolean)
+     */
+    public Array2DRowFieldMatrix(final T[][] d) {
+        this(extractField(d), d);
+    }
+
+    /**
+     * Create a new {@code FieldMatrix<T>} using the input array as the underlying
+     * data array.
+     * <p>The input array is copied, not referenced. This constructor has
+     * the same effect as calling {@link #Array2DRowFieldMatrix(FieldElement[][], boolean)}
+     * with the second argument set to {@code true}.</p>
+     *
+     * @param field Field to which the elements belong.
+     * @param d Data for the new matrix.
+     * @throws DimensionMismatchException if {@code d} is not rectangular.
+     * @throws org.apache.commons.math3.exception.NullArgumentException if
+     * {@code d} is {@code null}.
+     * @throws NoDataException if there are not at least one row and one column.
+     * @see #Array2DRowFieldMatrix(FieldElement[][], boolean)
+     */
+    public Array2DRowFieldMatrix(final Field<T> field, final T[][] d) {
+        super(field);
+        copyIn(d);
+    }
+
+    /**
+     * Create a new {@code FieldMatrix<T>} using the input array as the underlying
+     * data array.
+     * <p>If an array is built specially in order to be embedded in a
+     * {@code FieldMatrix<T>} and not used directly, the {@code copyArray} may be
+     * set to {@code false}. This will prevent the copying and improve
+     * performance as no new array will be built and no data will be copied.</p>
+     *
+     * @param d Data for the new matrix.
+     * @param copyArray Whether to copy or reference the input array.
+     * @throws DimensionMismatchException if {@code d} is not rectangular.
+     * @throws NoDataException if there are not at least one row and one column.
+     * @throws org.apache.commons.math3.exception.NullArgumentException
+     * if {@code d} is {@code null}.
+     * @see #Array2DRowFieldMatrix(FieldElement[][])
+     */
+    public Array2DRowFieldMatrix(final T[][] d, final boolean copyArray) {
+        this(extractField(d), d, copyArray);
+    }
+
+    /**
+     * Create a new {@code FieldMatrix<T>} using the input array as the underlying
+     * data array.
+     * <p>If an array is built specially in order to be embedded in a
+     * {@code FieldMatrix<T>} and not used directly, the {@code copyArray} may be
+     * set to {@code false}. This will prevent the copying and improve
+     * performance as no new array will be built and no data will be copied.</p>
+     *
+     * @param field Field to which the elements belong.
+     * @param d Data for the new matrix.
+     * @param copyArray Whether to copy or reference the input array.
+     * @throws DimensionMismatchException if {@code d} is not rectangular.
+     * @throws NoDataException if there are not at least one row and one column.
+     * @throws NullArgumentException if {@code d} is {@code null}.
+     * @see #Array2DRowFieldMatrix(FieldElement[][])
+     */
+    public Array2DRowFieldMatrix(final Field<T> field, final T[][] d, final boolean copyArray)
+        throws DimensionMismatchException, NoDataException, NullArgumentException {
+        super(field);
+        if (copyArray) {
+            copyIn(d);
+        } else {
+            MathUtils.checkNotNull(d);
+            final int nRows = d.length;
+            if (nRows == 0) {
+                throw new NoDataException(LocalizedFormats.AT_LEAST_ONE_ROW);
+            }
+            final int nCols = d[0].length;
+            if (nCols == 0) {
+                throw new NoDataException(LocalizedFormats.AT_LEAST_ONE_COLUMN);
+            }
+            for (int r = 1; r < nRows; r++) {
+                if (d[r].length != nCols) {
+                    throw new DimensionMismatchException(nCols, d[r].length);
+                }
+            }
+            data = d;
+        }
+    }
+
+    /**
+     * Create a new (column) {@code FieldMatrix<T>} using {@code v} as the
+     * data for the unique column of the created matrix.
+     * The input array is copied.
+     *
+     * @param v Column vector holding data for new matrix.
+     */
+    public Array2DRowFieldMatrix(final T[] v) {
+        this(extractField(v), v);
+    }
+
+    /**
+     * Create a new (column) {@code FieldMatrix<T>} using {@code v} as the
+     * data for the unique column of the created matrix.
+     * The input array is copied.
+     *
+     * @param field Field to which the elements belong.
+     * @param v Column vector holding data for new matrix.
+     */
+    public Array2DRowFieldMatrix(final Field<T> field, final T[] v) {
+        super(field);
+        final int nRows = v.length;
+        data = buildArray(getField(), nRows, 1);
+        for (int row = 0; row < nRows; row++) {
+            data[row][0] = v[row];
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public FieldMatrix<T> createMatrix(final int rowDimension, final int columnDimension) {
+        return new Array2DRowFieldMatrix<T>(getField(), rowDimension, columnDimension);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public FieldMatrix<T> copy() {
+        return new Array2DRowFieldMatrix<T>(getField(), copyOut(), false);
+    }
+
+    /**
+     * Add {@code m} to this matrix.
+     *
+     * @param m Matrix to be added.
+     * @return {@code this} + m.
+     * @throws MatrixDimensionMismatchException
+     * if {@code m} is not the same size as this matrix.
+     */
+    public Array2DRowFieldMatrix<T> add(final Array2DRowFieldMatrix<T> m) {
+        // safety check
+        checkAdditionCompatible(m);
+
+        final int rowCount    = getRowDimension();
+        final int columnCount = getColumnDimension();
+        final T[][] outData = buildArray(getField(), rowCount, columnCount);
+        for (int row = 0; row < rowCount; row++) {
+            final T[] dataRow    = data[row];
+            final T[] mRow       = m.data[row];
+            final T[] outDataRow = outData[row];
+            for (int col = 0; col < columnCount; col++) {
+                outDataRow[col] = dataRow[col].add(mRow[col]);
+            }
+        }
+
+        return new Array2DRowFieldMatrix<T>(getField(), outData, false);
+    }
+
+    /**
+     * Subtract {@code m} from this matrix.
+     *
+     * @param m Matrix to be subtracted.
+     * @return {@code this} + m.
+     * @throws MatrixDimensionMismatchException
+     * if {@code m} is not the same size as this matrix.
+     */
+    public Array2DRowFieldMatrix<T> subtract(final Array2DRowFieldMatrix<T> m) {
+        // safety check
+        checkSubtractionCompatible(m);
+
+        final int rowCount    = getRowDimension();
+        final int columnCount = getColumnDimension();
+        final T[][] outData = buildArray(getField(), rowCount, columnCount);
+        for (int row = 0; row < rowCount; row++) {
+            final T[] dataRow    = data[row];
+            final T[] mRow       = m.data[row];
+            final T[] outDataRow = outData[row];
+            for (int col = 0; col < columnCount; col++) {
+                outDataRow[col] = dataRow[col].subtract(mRow[col]);
+            }
+        }
+
+        return new Array2DRowFieldMatrix<T>(getField(), outData, false);
+
+    }
+
+    /**
+     * Postmultiplying this matrix by {@code m}.
+     *
+     * @param m Matrix to postmultiply by.
+     * @return {@code this} * m.
+     * @throws DimensionMismatchException if the number of columns of this
+     * matrix is not equal to the number of rows of {@code m}.
+     */
+    public Array2DRowFieldMatrix<T> multiply(final Array2DRowFieldMatrix<T> m) {
+        // safety check
+        checkMultiplicationCompatible(m);
+
+        final int nRows = this.getRowDimension();
+        final int nCols = m.getColumnDimension();
+        final int nSum = this.getColumnDimension();
+        final T[][] outData = buildArray(getField(), nRows, nCols);
+        for (int row = 0; row < nRows; row++) {
+            final T[] dataRow    = data[row];
+            final T[] outDataRow = outData[row];
+            for (int col = 0; col < nCols; col++) {
+                T sum = getField().getZero();
+                for (int i = 0; i < nSum; i++) {
+                    sum = sum.add(dataRow[i].multiply(m.data[i][col]));
+                }
+                outDataRow[col] = sum;
+            }
+        }
+
+        return new Array2DRowFieldMatrix<T>(getField(), outData, false);
+
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T[][] getData() {
+        return copyOut();
+    }
+
+    /**
+     * Get a reference to the underlying data array.
+     * This methods returns internal data, <strong>not</strong> fresh copy of it.
+     *
+     * @return the 2-dimensional array of entries.
+     */
+    public T[][] getDataRef() {
+        return data;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setSubMatrix(final T[][] subMatrix, final int row, final int column) {
+        if (data == null) {
+            if (row > 0) {
+                throw new MathIllegalStateException(LocalizedFormats.FIRST_ROWS_NOT_INITIALIZED_YET, row);
+            }
+            if (column > 0) {
+                throw new MathIllegalStateException(LocalizedFormats.FIRST_COLUMNS_NOT_INITIALIZED_YET, column);
+            }
+            final int nRows = subMatrix.length;
+            if (nRows == 0) {
+                throw new NoDataException(LocalizedFormats.AT_LEAST_ONE_ROW);
+            }
+
+            final int nCols = subMatrix[0].length;
+            if (nCols == 0) {
+                throw new NoDataException(LocalizedFormats.AT_LEAST_ONE_COLUMN);
+            }
+            data = buildArray(getField(), subMatrix.length, nCols);
+            for (int i = 0; i < data.length; ++i) {
+                if (subMatrix[i].length != nCols) {
+                    throw new DimensionMismatchException(nCols, subMatrix[i].length);
+                }
+                System.arraycopy(subMatrix[i], 0, data[i + row], column, nCols);
+            }
+        } else {
+            super.setSubMatrix(subMatrix, row, column);
+        }
+
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T getEntry(final int row, final int column) {
+        checkRowIndex(row);
+        checkColumnIndex(column);
+
+        return data[row][column];
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setEntry(final int row, final int column, final T value) {
+        checkRowIndex(row);
+        checkColumnIndex(column);
+
+        data[row][column] = value;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void addToEntry(final int row, final int column, final T increment) {
+        checkRowIndex(row);
+        checkColumnIndex(column);
+
+        data[row][column] = data[row][column].add(increment);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void multiplyEntry(final int row, final int column, final T factor) {
+        checkRowIndex(row);
+        checkColumnIndex(column);
+
+        data[row][column] = data[row][column].multiply(factor);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public int getRowDimension() {
+        return (data == null) ? 0 : data.length;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public int getColumnDimension() {
+        return ((data == null) || (data[0] == null)) ? 0 : data[0].length;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T[] operate(final T[] v) {
+        final int nRows = this.getRowDimension();
+        final int nCols = this.getColumnDimension();
+        if (v.length != nCols) {
+            throw new DimensionMismatchException(v.length, nCols);
+        }
+        final T[] out = buildArray(getField(), nRows);
+        for (int row = 0; row < nRows; row++) {
+            final T[] dataRow = data[row];
+            T sum = getField().getZero();
+            for (int i = 0; i < nCols; i++) {
+                sum = sum.add(dataRow[i].multiply(v[i]));
+            }
+            out[row] = sum;
+        }
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T[] preMultiply(final T[] v) {
+        final int nRows = getRowDimension();
+        final int nCols = getColumnDimension();
+        if (v.length != nRows) {
+            throw new DimensionMismatchException(v.length, nRows);
+        }
+
+        final T[] out = buildArray(getField(), nCols);
+        for (int col = 0; col < nCols; ++col) {
+            T sum = getField().getZero();
+            for (int i = 0; i < nRows; ++i) {
+                sum = sum.add(data[i][col].multiply(v[i]));
+            }
+            out[col] = sum;
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T walkInRowOrder(final FieldMatrixChangingVisitor<T> visitor) {
+        final int rows    = getRowDimension();
+        final int columns = getColumnDimension();
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        for (int i = 0; i < rows; ++i) {
+            final T[] rowI = data[i];
+            for (int j = 0; j < columns; ++j) {
+                rowI[j] = visitor.visit(i, j, rowI[j]);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T walkInRowOrder(final FieldMatrixPreservingVisitor<T> visitor) {
+        final int rows    = getRowDimension();
+        final int columns = getColumnDimension();
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        for (int i = 0; i < rows; ++i) {
+            final T[] rowI = data[i];
+            for (int j = 0; j < columns; ++j) {
+                visitor.visit(i, j, rowI[j]);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T walkInRowOrder(final FieldMatrixChangingVisitor<T> visitor,
+                            final int startRow, final int endRow,
+                            final int startColumn, final int endColumn) {
+        checkSubMatrixIndex(startRow, endRow, startColumn, endColumn);
+        visitor.start(getRowDimension(), getColumnDimension(),
+                      startRow, endRow, startColumn, endColumn);
+        for (int i = startRow; i <= endRow; ++i) {
+            final T[] rowI = data[i];
+            for (int j = startColumn; j <= endColumn; ++j) {
+                rowI[j] = visitor.visit(i, j, rowI[j]);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T walkInRowOrder(final FieldMatrixPreservingVisitor<T> visitor,
+                            final int startRow, final int endRow,
+                            final int startColumn, final int endColumn) {
+        checkSubMatrixIndex(startRow, endRow, startColumn, endColumn);
+        visitor.start(getRowDimension(), getColumnDimension(),
+                      startRow, endRow, startColumn, endColumn);
+        for (int i = startRow; i <= endRow; ++i) {
+            final T[] rowI = data[i];
+            for (int j = startColumn; j <= endColumn; ++j) {
+                visitor.visit(i, j, rowI[j]);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T walkInColumnOrder(final FieldMatrixChangingVisitor<T> visitor) {
+        final int rows    = getRowDimension();
+        final int columns = getColumnDimension();
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        for (int j = 0; j < columns; ++j) {
+            for (int i = 0; i < rows; ++i) {
+                final T[] rowI = data[i];
+                rowI[j] = visitor.visit(i, j, rowI[j]);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T walkInColumnOrder(final FieldMatrixPreservingVisitor<T> visitor) {
+        final int rows    = getRowDimension();
+        final int columns = getColumnDimension();
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        for (int j = 0; j < columns; ++j) {
+            for (int i = 0; i < rows; ++i) {
+                visitor.visit(i, j, data[i][j]);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T walkInColumnOrder(final FieldMatrixChangingVisitor<T> visitor,
+                               final int startRow, final int endRow,
+                               final int startColumn, final int endColumn) {
+        checkSubMatrixIndex(startRow, endRow, startColumn, endColumn);
+        visitor.start(getRowDimension(), getColumnDimension(),
+                      startRow, endRow, startColumn, endColumn);
+        for (int j = startColumn; j <= endColumn; ++j) {
+            for (int i = startRow; i <= endRow; ++i) {
+                final T[] rowI = data[i];
+                rowI[j] = visitor.visit(i, j, rowI[j]);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T walkInColumnOrder(final FieldMatrixPreservingVisitor<T> visitor,
+                               final int startRow, final int endRow,
+                               final int startColumn, final int endColumn) {
+        checkSubMatrixIndex(startRow, endRow, startColumn, endColumn);
+        visitor.start(getRowDimension(), getColumnDimension(),
+                      startRow, endRow, startColumn, endColumn);
+        for (int j = startColumn; j <= endColumn; ++j) {
+            for (int i = startRow; i <= endRow; ++i) {
+                visitor.visit(i, j, data[i][j]);
+            }
+        }
+        return visitor.end();
+    }
+
+    /**
+     * Get a fresh copy of the underlying data array.
+     *
+     * @return a copy of the underlying data array.
+     */
+    private T[][] copyOut() {
+        final int nRows = this.getRowDimension();
+        final T[][] out = buildArray(getField(), nRows, getColumnDimension());
+        // can't copy 2-d array in one shot, otherwise get row references
+        for (int i = 0; i < nRows; i++) {
+            System.arraycopy(data[i], 0, out[i], 0, data[i].length);
+        }
+        return out;
+    }
+
+    /**
+     * Replace data with a fresh copy of the input array.
+     *
+     * @param in Data to copy.
+     * @throws NoDataException if the input array is empty.
+     * @throws DimensionMismatchException if the input array is not rectangular.
+     * @throws org.apache.commons.math3.exception.NullArgumentException if
+     * the input array is {@code null}.
+     */
+    private void copyIn(final T[][] in) {
+        setSubMatrix(in, 0, 0);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/Array2DRowRealMatrix.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/Array2DRowRealMatrix.java
new file mode 100644
index 0000000000..198adc7688
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/Array2DRowRealMatrix.java
@@ -0,0 +1,528 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import java.io.Serializable;
+
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.exception.NoDataException;
+import org.apache.commons.math3.exception.MathIllegalStateException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+import org.apache.commons.math3.util.MathUtils;
+
+/**
+ * Implementation of {@link RealMatrix} using a {@code double[][]} array to
+ * store entries.
+ *
+ * @version $Id: Array2DRowRealMatrix.java 1296537 2012-03-03 00:45:19Z sebb $
+ */
+public class Array2DRowRealMatrix extends AbstractRealMatrix implements Serializable {
+    /** Serializable version identifier. */
+    private static final long serialVersionUID = -1067294169172445528L;
+
+    /** Entries of the matrix. */
+    private double data[][];
+
+    /**
+     * Creates a matrix with no data
+     */
+    public Array2DRowRealMatrix() {}
+
+    /**
+     * Create a new RealMatrix with the supplied row and column dimensions.
+     *
+     * @param rowDimension Number of rows in the new matrix.
+     * @param columnDimension Number of columns in the new matrix.
+     * @throws org.apache.commons.math3.exception.NotStrictlyPositiveException
+     * if the row or column dimension is not positive.
+     */
+    public Array2DRowRealMatrix(final int rowDimension, final int columnDimension) {
+        super(rowDimension, columnDimension);
+        data = new double[rowDimension][columnDimension];
+    }
+
+    /**
+     * Create a new {@code RealMatrix} using the input array as the underlying
+     * data array.
+     * <p>The input array is copied, not referenced. This constructor has
+     * the same effect as calling {@link #Array2DRowRealMatrix(double[][], boolean)}
+     * with the second argument set to {@code true}.</p>
+     *
+     * @param d Data for the new matrix.
+     * @throws DimensionMismatchException if {@code d} is not rectangular.
+     * @throws NoDataException if {@code d} row or colum dimension is zero.
+     * @throws NullArgumentException if {@code d} is {@code null}.
+     * @see #Array2DRowRealMatrix(double[][], boolean)
+     */
+    public Array2DRowRealMatrix(final double[][] d)
+        throws DimensionMismatchException, NoDataException, NullArgumentException {
+        copyIn(d);
+    }
+
+    /**
+     * Create a new RealMatrix using the input array as the underlying
+     * data array.
+     * If an array is built specially in order to be embedded in a
+     * RealMatrix and not used directly, the {@code copyArray} may be
+     * set to {@code false}. This will prevent the copying and improve
+     * performance as no new array will be built and no data will be copied.
+     *
+     * @param d Data for new matrix.
+     * @param copyArray if {@code true}, the input array will be copied,
+     * otherwise it will be referenced.
+     * @throws DimensionMismatchException if {@code d} is not rectangular
+     * (not all rows have the same length) or empty.
+     * @throws NullArgumentException if {@code d} is {@code null}.
+     * @throws NoDataException if there are not at least one row and one column.
+     * @see #Array2DRowRealMatrix(double[][])
+     */
+    public Array2DRowRealMatrix(final double[][] d, final boolean copyArray) {
+        if (copyArray) {
+            copyIn(d);
+        } else {
+            if (d == null) {
+                throw new NullArgumentException();
+            }
+            final int nRows = d.length;
+            if (nRows == 0) {
+                throw new NoDataException(LocalizedFormats.AT_LEAST_ONE_ROW);
+            }
+            final int nCols = d[0].length;
+            if (nCols == 0) {
+                throw new NoDataException(LocalizedFormats.AT_LEAST_ONE_COLUMN);
+            }
+            for (int r = 1; r < nRows; r++) {
+                if (d[r].length != nCols) {
+                    throw new DimensionMismatchException(d[r].length, nCols);
+                }
+            }
+            data = d;
+        }
+    }
+
+    /**
+     * Create a new (column) RealMatrix using {@code v} as the
+     * data for the unique column of the created matrix.
+     * The input array is copied.
+     *
+     * @param v Column vector holding data for new matrix.
+     */
+    public Array2DRowRealMatrix(final double[] v) {
+        final int nRows = v.length;
+        data = new double[nRows][1];
+        for (int row = 0; row < nRows; row++) {
+            data[row][0] = v[row];
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealMatrix createMatrix(final int rowDimension,
+                                   final int columnDimension) {
+        return new Array2DRowRealMatrix(rowDimension, columnDimension);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealMatrix copy() {
+        return new Array2DRowRealMatrix(copyOut(), false);
+    }
+
+    /**
+     * Compute the sum of this matrix with {@code m}.
+     *
+     * @param m Matrix to be added.
+     * @return {@code this} + m.
+     * @throws MatrixDimensionMismatchException
+     * if {@code m} is not the same size as this matrix.
+     */
+    public Array2DRowRealMatrix add(final Array2DRowRealMatrix m) {
+        // Safety check.
+        MatrixUtils.checkAdditionCompatible(this, m);
+
+        final int rowCount    = getRowDimension();
+        final int columnCount = getColumnDimension();
+        final double[][] outData = new double[rowCount][columnCount];
+        for (int row = 0; row < rowCount; row++) {
+            final double[] dataRow    = data[row];
+            final double[] mRow       = m.data[row];
+            final double[] outDataRow = outData[row];
+            for (int col = 0; col < columnCount; col++) {
+                outDataRow[col] = dataRow[col] + mRow[col];
+            }
+        }
+
+        return new Array2DRowRealMatrix(outData, false);
+    }
+
+    /**
+     * Subtract {@code m} from this matrix.
+     *
+     * @param m Matrix to be subtracted.
+     * @return {@code this} - m.
+     * @throws MatrixDimensionMismatchException
+     * if {@code m} is not the same size as this matrix.
+     */
+    public Array2DRowRealMatrix subtract(final Array2DRowRealMatrix m) {
+        // Safety check.
+        MatrixUtils.checkSubtractionCompatible(this, m);
+
+        final int rowCount    = getRowDimension();
+        final int columnCount = getColumnDimension();
+        final double[][] outData = new double[rowCount][columnCount];
+        for (int row = 0; row < rowCount; row++) {
+            final double[] dataRow    = data[row];
+            final double[] mRow       = m.data[row];
+            final double[] outDataRow = outData[row];
+            for (int col = 0; col < columnCount; col++) {
+                outDataRow[col] = dataRow[col] - mRow[col];
+            }
+        }
+
+        return new Array2DRowRealMatrix(outData, false);
+    }
+
+    /**
+     * Postmultiplying this matrix by {@code m}.
+     *
+     * @param m Matrix to postmultiply by.
+     * @return {@code this} * m.
+     * @throws DimensionMismatchException if the number of columns of this
+     * matrix is not equal to the number of rows of {@code m}.
+     */
+    public Array2DRowRealMatrix multiply(final Array2DRowRealMatrix m) {
+        // Safety check.
+        MatrixUtils.checkMultiplicationCompatible(this, m);
+
+        final int nRows = this.getRowDimension();
+        final int nCols = m.getColumnDimension();
+        final int nSum = this.getColumnDimension();
+
+        final double[][] outData = new double[nRows][nCols];
+        // Will hold a column of "m".
+        final double[] mCol = new double[nSum];
+        final double[][] mData = m.data;
+
+        // Multiply.
+        for (int col = 0; col < nCols; col++) {
+            // Copy all elements of column "col" of "m" so that
+            // will be in contiguous memory.
+            for (int mRow = 0; mRow < nSum; mRow++) {
+                mCol[mRow] = mData[mRow][col];
+            }
+
+            for (int row = 0; row < nRows; row++) {
+                final double[] dataRow = data[row];
+                double sum = 0;
+                for (int i = 0; i < nSum; i++) {
+                    sum += dataRow[i] * mCol[i];
+                }
+                outData[row][col] = sum;
+            }
+        }
+
+        return new Array2DRowRealMatrix(outData, false);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double[][] getData() {
+        return copyOut();
+    }
+
+    /**
+     * Get a reference to the underlying data array.
+     *
+     * @return 2-dimensional array of entries.
+     */
+    public double[][] getDataRef() {
+        return data;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setSubMatrix(final double[][] subMatrix,
+                             final int row, final int column) {
+        if (data == null) {
+            if (row > 0) {
+                throw new MathIllegalStateException(LocalizedFormats.FIRST_ROWS_NOT_INITIALIZED_YET, row);
+            }
+            if (column > 0) {
+                throw new MathIllegalStateException(LocalizedFormats.FIRST_COLUMNS_NOT_INITIALIZED_YET, column);
+            }
+            MathUtils.checkNotNull(subMatrix);
+            final int nRows = subMatrix.length;
+            if (nRows == 0) {
+                throw new NoDataException(LocalizedFormats.AT_LEAST_ONE_ROW);
+            }
+
+            final int nCols = subMatrix[0].length;
+            if (nCols == 0) {
+                throw new NoDataException(LocalizedFormats.AT_LEAST_ONE_COLUMN);
+            }
+            data = new double[subMatrix.length][nCols];
+            for (int i = 0; i < data.length; ++i) {
+                if (subMatrix[i].length != nCols) {
+                    throw new DimensionMismatchException(subMatrix[i].length, nCols);
+                }
+                System.arraycopy(subMatrix[i], 0, data[i + row], column, nCols);
+            }
+        } else {
+            super.setSubMatrix(subMatrix, row, column);
+        }
+
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double getEntry(final int row, final int column) {
+        MatrixUtils.checkMatrixIndex(this, row, column);
+        return data[row][column];
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setEntry(final int row, final int column, final double value) {
+        MatrixUtils.checkMatrixIndex(this, row, column);
+        data[row][column] = value;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void addToEntry(final int row, final int column, final double increment) {
+        MatrixUtils.checkMatrixIndex(this, row, column);
+        data[row][column] += increment;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void multiplyEntry(final int row, final int column, final double factor) {
+        MatrixUtils.checkMatrixIndex(this, row, column);
+        data[row][column] *= factor;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public int getRowDimension() {
+        return (data == null) ? 0 : data.length;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public int getColumnDimension() {
+        return ((data == null) || (data[0] == null)) ? 0 : data[0].length;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double[] operate(final double[] v) {
+        final int nRows = this.getRowDimension();
+        final int nCols = this.getColumnDimension();
+        if (v.length != nCols) {
+            throw new DimensionMismatchException(v.length, nCols);
+        }
+        final double[] out = new double[nRows];
+        for (int row = 0; row < nRows; row++) {
+            final double[] dataRow = data[row];
+            double sum = 0;
+            for (int i = 0; i < nCols; i++) {
+                sum += dataRow[i] * v[i];
+            }
+            out[row] = sum;
+        }
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double[] preMultiply(final double[] v) {
+        final int nRows = getRowDimension();
+        final int nCols = getColumnDimension();
+        if (v.length != nRows) {
+            throw new DimensionMismatchException(v.length, nRows);
+        }
+
+        final double[] out = new double[nCols];
+        for (int col = 0; col < nCols; ++col) {
+            double sum = 0;
+            for (int i = 0; i < nRows; ++i) {
+                sum += data[i][col] * v[i];
+            }
+            out[col] = sum;
+        }
+
+        return out;
+
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double walkInRowOrder(final RealMatrixChangingVisitor visitor) {
+        final int rows    = getRowDimension();
+        final int columns = getColumnDimension();
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        for (int i = 0; i < rows; ++i) {
+            final double[] rowI = data[i];
+            for (int j = 0; j < columns; ++j) {
+                rowI[j] = visitor.visit(i, j, rowI[j]);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double walkInRowOrder(final RealMatrixPreservingVisitor visitor) {
+        final int rows    = getRowDimension();
+        final int columns = getColumnDimension();
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        for (int i = 0; i < rows; ++i) {
+            final double[] rowI = data[i];
+            for (int j = 0; j < columns; ++j) {
+                visitor.visit(i, j, rowI[j]);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double walkInRowOrder(final RealMatrixChangingVisitor visitor,
+                                 final int startRow, final int endRow,
+                                 final int startColumn, final int endColumn) {
+        MatrixUtils.checkSubMatrixIndex(this, startRow, endRow, startColumn, endColumn);
+        visitor.start(getRowDimension(), getColumnDimension(),
+                      startRow, endRow, startColumn, endColumn);
+        for (int i = startRow; i <= endRow; ++i) {
+            final double[] rowI = data[i];
+            for (int j = startColumn; j <= endColumn; ++j) {
+                rowI[j] = visitor.visit(i, j, rowI[j]);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double walkInRowOrder(final RealMatrixPreservingVisitor visitor,
+                                 final int startRow, final int endRow,
+                                 final int startColumn, final int endColumn) {
+        MatrixUtils.checkSubMatrixIndex(this, startRow, endRow, startColumn, endColumn);
+        visitor.start(getRowDimension(), getColumnDimension(),
+                      startRow, endRow, startColumn, endColumn);
+        for (int i = startRow; i <= endRow; ++i) {
+            final double[] rowI = data[i];
+            for (int j = startColumn; j <= endColumn; ++j) {
+                visitor.visit(i, j, rowI[j]);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double walkInColumnOrder(final RealMatrixChangingVisitor visitor) {
+        final int rows    = getRowDimension();
+        final int columns = getColumnDimension();
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        for (int j = 0; j < columns; ++j) {
+            for (int i = 0; i < rows; ++i) {
+                final double[] rowI = data[i];
+                rowI[j] = visitor.visit(i, j, rowI[j]);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double walkInColumnOrder(final RealMatrixPreservingVisitor visitor) {
+        final int rows    = getRowDimension();
+        final int columns = getColumnDimension();
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        for (int j = 0; j < columns; ++j) {
+            for (int i = 0; i < rows; ++i) {
+                visitor.visit(i, j, data[i][j]);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double walkInColumnOrder(final RealMatrixChangingVisitor visitor,
+                                    final int startRow, final int endRow,
+                                    final int startColumn, final int endColumn) {
+        MatrixUtils.checkSubMatrixIndex(this, startRow, endRow, startColumn, endColumn);
+        visitor.start(getRowDimension(), getColumnDimension(),
+                      startRow, endRow, startColumn, endColumn);
+        for (int j = startColumn; j <= endColumn; ++j) {
+            for (int i = startRow; i <= endRow; ++i) {
+                final double[] rowI = data[i];
+                rowI[j] = visitor.visit(i, j, rowI[j]);
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double walkInColumnOrder(final RealMatrixPreservingVisitor visitor,
+                                    final int startRow, final int endRow,
+                                    final int startColumn, final int endColumn) {
+        MatrixUtils.checkSubMatrixIndex(this, startRow, endRow, startColumn, endColumn);
+        visitor.start(getRowDimension(), getColumnDimension(),
+                      startRow, endRow, startColumn, endColumn);
+        for (int j = startColumn; j <= endColumn; ++j) {
+            for (int i = startRow; i <= endRow; ++i) {
+                visitor.visit(i, j, data[i][j]);
+            }
+        }
+        return visitor.end();
+    }
+
+    /**
+     * Get a fresh copy of the underlying data array.
+     *
+     * @return a copy of the underlying data array.
+     */
+    private double[][] copyOut() {
+        final int nRows = this.getRowDimension();
+        final double[][] out = new double[nRows][this.getColumnDimension()];
+        // can't copy 2-d array in one shot, otherwise get row references
+        for (int i = 0; i < nRows; i++) {
+            System.arraycopy(data[i], 0, out[i], 0, data[i].length);
+        }
+        return out;
+    }
+
+    /**
+     * Replace data with a fresh copy of the input array.
+     *
+     * @param in Data to copy.
+     * @throws NoDataException if the input array is empty.
+     * @throws DimensionMismatchException if the input array is not rectangular.
+     * @throws NullArgumentException if
+     * the input array is {@code null}.
+     */
+    private void copyIn(final double[][] in)
+        throws DimensionMismatchException, NoDataException, NullArgumentException {
+        setSubMatrix(in, 0, 0);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/ArrayFieldVector.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/ArrayFieldVector.java
new file mode 100644
index 0000000000..43db2252ff
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/ArrayFieldVector.java
@@ -0,0 +1,879 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+import java.io.Serializable;
+import java.lang.reflect.Array;
+import java.util.Arrays;
+
+import org.apache.commons.math3.Field;
+import org.apache.commons.math3.FieldElement;
+import org.apache.commons.math3.exception.ZeroException;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.exception.OutOfRangeException;
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.NumberIsTooLargeException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * This class implements the {@link FieldVector} interface with a {@link FieldElement} array.
+ * @param <T> the type of the field elements
+ * @version $Id: ArrayFieldVector.java 1296538 2012-03-03 00:46:37Z sebb $
+ * @since 2.0
+ */
+public class ArrayFieldVector<T extends FieldElement<T>> implements FieldVector<T>, Serializable {
+    /** Serializable version identifier. */
+    private static final long serialVersionUID = 7648186910365927050L;
+
+    /** Entries of the vector. */
+    private T[] data;
+
+    /** Field to which the elements belong. */
+    private final Field<T> field;
+
+    /**
+     * Build a 0-length vector.
+     * Zero-length vectors may be used to initialized construction of vectors
+     * by data gathering. We start with zero-length and use either the {@link
+     * #ArrayFieldVector(ArrayFieldVector, ArrayFieldVector)} constructor
+     * or one of the {@code append} methods ({@link #add(FieldVector)} or
+     * {@link #append(ArrayFieldVector)}) to gather data into this vector.
+     *
+     * @param field field to which the elements belong
+     */
+    public ArrayFieldVector(final Field<T> field) {
+        this(field, 0);
+    }
+
+    /**
+     * Construct a vector of zeroes.
+     *
+     * @param field Field to which the elements belong.
+     * @param size Size of the vector.
+     */
+    public ArrayFieldVector(Field<T> field, int size) {
+        this.field = field;
+        data = buildArray(size);
+        Arrays.fill(data, field.getZero());
+    }
+
+    /**
+     * Construct a vector with preset values.
+     *
+     * @param size Size of the vector.
+     * @param preset All entries will be set with this value.
+     */
+    public ArrayFieldVector(int size, T preset) {
+        this(preset.getField(), size);
+        Arrays.fill(data, preset);
+    }
+
+    /**
+     * Construct a vector from an array, copying the input array.
+     * This constructor needs a non-empty {@code d} array to retrieve
+     * the field from its first element. This implies it cannot build
+     * 0 length vectors. To build vectors from any size, one should
+     * use the {@link #ArrayFieldVector(Field, FieldElement[])} constructor.
+     *
+     * @param d Array.
+     * @throws NullArgumentException if {@code d} is {@code null}.
+     * @throws ZeroException if {@code d} is empty.
+     * @see #ArrayFieldVector(Field, FieldElement[])
+     */
+    public ArrayFieldVector(T[] d) {
+        if (d == null) {
+            throw new NullArgumentException();
+        }
+        try {
+            field = d[0].getField();
+            data = d.clone();
+        } catch (ArrayIndexOutOfBoundsException e) {
+            throw new ZeroException(LocalizedFormats.VECTOR_MUST_HAVE_AT_LEAST_ONE_ELEMENT);
+        }
+    }
+
+    /**
+     * Construct a vector from an array, copying the input array.
+     *
+     * @param field Field to which the elements belong.
+     * @param d Array.
+     * @throws NullArgumentException if {@code d} is {@code null}.
+     * @see #ArrayFieldVector(FieldElement[])
+     */
+    public ArrayFieldVector(Field<T> field, T[] d) {
+        if (d == null) {
+            throw new NullArgumentException();
+        }
+        this.field = field;
+        data = d.clone();
+    }
+
+    /**
+     * Create a new ArrayFieldVector using the input array as the underlying
+     * data array.
+     * If an array is built specially in order to be embedded in a
+     * ArrayFieldVector and not used directly, the {@code copyArray} may be
+     * set to {@code false}. This will prevent the copying and improve
+     * performance as no new array will be built and no data will be copied.
+     * This constructor needs a non-empty {@code d} array to retrieve
+     * the field from its first element. This implies it cannot build
+     * 0 length vectors. To build vectors from any size, one should
+     * use the {@link #ArrayFieldVector(Field, FieldElement[], boolean)}
+     * constructor.
+     *
+     * @param d Data for the new vector.
+     * @param copyArray If {@code true}, the input array will be copied,
+     * otherwise it will be referenced.
+     * @throws NullArgumentException if {@code d} is {@code null}.
+     * @throws ZeroException if {@code d} is empty.
+     * @see #ArrayFieldVector(FieldElement[])
+     * @see #ArrayFieldVector(Field, FieldElement[], boolean)
+     */
+    public ArrayFieldVector(T[] d, boolean copyArray) {
+        if (d == null) {
+            throw new NullArgumentException();
+        }
+        if (d.length == 0) {
+            throw new ZeroException(LocalizedFormats.VECTOR_MUST_HAVE_AT_LEAST_ONE_ELEMENT);
+        }
+        field = d[0].getField();
+        data = copyArray ? d.clone() :  d;
+    }
+
+    /**
+     * Create a new ArrayFieldVector using the input array as the underlying
+     * data array.
+     * If an array is built specially in order to be embedded in a
+     * ArrayFieldVector and not used directly, the {@code copyArray} may be
+     * set to {@code false}. This will prevent the copying and improve
+     * performance as no new array will be built and no data will be copied.
+     *
+     * @param field Field to which the elements belong.
+     * @param d Data for the new vector.
+     * @param copyArray If {@code true}, the input array will be copied,
+     * otherwise it will be referenced.
+     * @throws NullArgumentException if {@code d} is {@code null}.
+     * @see #ArrayFieldVector(FieldElement[], boolean)
+     */
+    public ArrayFieldVector(Field<T> field, T[] d, boolean copyArray) {
+        if (d == null) {
+            throw new NullArgumentException();
+        }
+        this.field = field;
+        data = copyArray ? d.clone() :  d;
+    }
+
+    /**
+     * Construct a vector from part of a array.
+     *
+     * @param d Array.
+     * @param pos Position of the first entry.
+     * @param size Number of entries to copy.
+     * @throws NullArgumentException if {@code d} is {@code null}.
+     * @throws NumberIsTooLargeException if the size of {@code d} is less
+     * than {@code pos + size}.
+     */
+    public ArrayFieldVector(T[] d, int pos, int size) {
+        if (d == null) {
+            throw new NullArgumentException();
+        }
+        if (d.length < pos + size) {
+            throw new NumberIsTooLargeException(pos + size, d.length, true);
+        }
+        field = d[0].getField();
+        data = buildArray(size);
+        System.arraycopy(d, pos, data, 0, size);
+    }
+
+    /**
+     * Construct a vector from part of a array.
+     *
+     * @param field Field to which the elements belong.
+     * @param d Array.
+     * @param pos Position of the first entry.
+     * @param size Number of entries to copy.
+     * @throws NullArgumentException if {@code d} is {@code null}.
+     * @throws NumberIsTooLargeException if the size of {@code d} is less
+     * than {@code pos + size}.
+     */
+    public ArrayFieldVector(Field<T> field, T[] d, int pos, int size) {
+        if (d == null) {
+            throw new NullArgumentException();
+        }
+        if (d.length < pos + size) {
+            throw new NumberIsTooLargeException(pos + size, d.length, true);
+        }
+        this.field = field;
+        data = buildArray(size);
+        System.arraycopy(d, pos, data, 0, size);
+    }
+
+    /**
+     * Construct a vector from another vector, using a deep copy.
+     *
+     * @param v Vector to copy.
+     * @throws NullArgumentException if {@code v} is {@code null}.
+     */
+    public ArrayFieldVector(FieldVector<T> v) {
+        if (v == null) {
+            throw new NullArgumentException();
+        }
+        field = v.getField();
+        data = buildArray(v.getDimension());
+        for (int i = 0; i < data.length; ++i) {
+            data[i] = v.getEntry(i);
+        }
+    }
+
+    /**
+     * Construct a vector from another vector, using a deep copy.
+     *
+     * @param v Vector to copy.
+     * @throws NullArgumentException if {@code v} is {@code null}.
+     */
+    public ArrayFieldVector(ArrayFieldVector<T> v) {
+        if (v == null) {
+            throw new NullArgumentException();
+        }
+        field = v.getField();
+        data = v.data.clone();
+    }
+
+    /**
+     * Construct a vector from another vector.
+     *
+     * @param v Vector to copy.
+     * @param deep If {@code true} perform a deep copy, otherwise perform
+     * a shallow copy
+     * @throws NullArgumentException if {@code v} is {@code null}.
+     */
+    public ArrayFieldVector(ArrayFieldVector<T> v, boolean deep) {
+        if (v == null) {
+            throw new NullArgumentException();
+        }
+        field = v.getField();
+        data = deep ? v.data.clone() : v.data;
+    }
+
+    /**
+     * Construct a vector by appending one vector to another vector.
+     *
+     * @param v1 First vector (will be put in front of the new vector).
+     * @param v2 Second vector (will be put at back of the new vector).
+     * @throws NullArgumentException if {@code v1} or {@code v2} is
+     * {@code null}.
+     */
+    public ArrayFieldVector(ArrayFieldVector<T> v1, ArrayFieldVector<T> v2) {
+        if (v1 == null ||
+            v2 == null) {
+            throw new NullArgumentException();
+        }
+        field = v1.getField();
+        data = buildArray(v1.data.length + v2.data.length);
+        System.arraycopy(v1.data, 0, data, 0, v1.data.length);
+        System.arraycopy(v2.data, 0, data, v1.data.length, v2.data.length);
+    }
+
+    /**
+     * Construct a vector by appending one vector to another vector.
+     *
+     * @param v1 First vector (will be put in front of the new vector).
+     * @param v2 Second vector (will be put at back of the new vector).
+     * @throws NullArgumentException if {@code v1} or {@code v2} is
+     * {@code null}.
+     */
+    public ArrayFieldVector(ArrayFieldVector<T> v1, T[] v2) {
+        if (v1 == null ||
+            v2 == null) {
+            throw new NullArgumentException();
+        }
+        field = v1.getField();
+        data = buildArray(v1.data.length + v2.length);
+        System.arraycopy(v1.data, 0, data, 0, v1.data.length);
+        System.arraycopy(v2, 0, data, v1.data.length, v2.length);
+    }
+
+    /**
+     * Construct a vector by appending one vector to another vector.
+     *
+     * @param v1 First vector (will be put in front of the new vector).
+     * @param v2 Second vector (will be put at back of the new vector).
+     * @throws NullArgumentException if {@code v1} or {@code v2} is
+     * {@code null}.
+     */
+    public ArrayFieldVector(T[] v1, ArrayFieldVector<T> v2) {
+        if (v1 == null ||
+            v2 == null) {
+            throw new NullArgumentException();
+        }
+        field = v2.getField();
+        data = buildArray(v1.length + v2.data.length);
+        System.arraycopy(v1, 0, data, 0, v1.length);
+        System.arraycopy(v2.data, 0, data, v1.length, v2.data.length);
+    }
+
+    /**
+     * Construct a vector by appending one vector to another vector.
+     * This constructor needs at least one non-empty array to retrieve
+     * the field from its first element. This implies it cannot build
+     * 0 length vectors. To build vectors from any size, one should
+     * use the {@link #ArrayFieldVector(Field, FieldElement[], FieldElement[])}
+     * constructor.
+     *
+     * @param v1 First vector (will be put in front of the new vector).
+     * @param v2 Second vector (will be put at back of the new vector).
+     * @throws NullArgumentException if {@code v1} or {@code v2} is
+     * {@code null}.
+     * @throws ZeroException if both arrays are empty.
+     * @see #ArrayFieldVector(Field, FieldElement[], FieldElement[])
+     */
+    public ArrayFieldVector(T[] v1, T[] v2) {
+        if (v1 == null ||
+            v2 == null) {
+            throw new NullArgumentException();
+        }
+        if (v1.length + v2.length == 0) {
+            throw new ZeroException(LocalizedFormats.VECTOR_MUST_HAVE_AT_LEAST_ONE_ELEMENT);
+        }
+        data = buildArray(v1.length + v2.length);
+        System.arraycopy(v1, 0, data, 0, v1.length);
+        System.arraycopy(v2, 0, data, v1.length, v2.length);
+        field = data[0].getField();
+    }
+
+    /**
+     * Construct a vector by appending one vector to another vector.
+     *
+     * @param field Field to which the elements belong.
+     * @param v1 First vector (will be put in front of the new vector).
+     * @param v2 Second vector (will be put at back of the new vector).
+     * @throws NullArgumentException if {@code v1} or {@code v2} is
+     * {@code null}.
+     * @throws ZeroException if both arrays are empty.
+     * @see #ArrayFieldVector(FieldElement[], FieldElement[])
+     */
+    public ArrayFieldVector(Field<T> field, T[] v1, T[] v2) {
+        if (v1.length + v2.length == 0) {
+            throw new ZeroException(LocalizedFormats.VECTOR_MUST_HAVE_AT_LEAST_ONE_ELEMENT);
+        }
+        data = buildArray(v1.length + v2.length);
+        System.arraycopy(v1, 0, data, 0, v1.length);
+        System.arraycopy(v2, 0, data, v1.length, v2.length);
+        this.field = field;
+    }
+
+    /**
+     * Build an array of elements.
+     *
+     * @param length Size of the array to build.
+     * @return a new array.
+     */
+    @SuppressWarnings("unchecked") // field is of type T
+    private T[] buildArray(final int length) {
+        return (T[]) Array.newInstance(field.getRuntimeClass(), length);
+    }
+
+    /** {@inheritDoc} */
+    public Field<T> getField() {
+        return field;
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> copy() {
+        return new ArrayFieldVector<T>(this, true);
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> add(FieldVector<T> v) {
+        try {
+            return add((ArrayFieldVector<T>) v);
+        } catch (ClassCastException cce) {
+            checkVectorDimensions(v);
+            T[] out = buildArray(data.length);
+            for (int i = 0; i < data.length; i++) {
+                out[i] = data[i].add(v.getEntry(i));
+            }
+            return new ArrayFieldVector<T>(field, out, false);
+        }
+    }
+
+    /**
+     * Compute the sum of this and v.
+     * @param v vector to be added
+     * @return this + v
+     * @throws IllegalArgumentException if v is not the same size as this
+     */
+    public ArrayFieldVector<T> add(ArrayFieldVector<T> v) {
+        checkVectorDimensions(v.data.length);
+        T[] out = buildArray(data.length);
+        for (int i = 0; i < data.length; i++) {
+            out[i] = data[i].add(v.data[i]);
+        }
+        return new ArrayFieldVector<T>(field, out, false);
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> subtract(FieldVector<T> v) {
+        try {
+            return subtract((ArrayFieldVector<T>) v);
+        } catch (ClassCastException cce) {
+            checkVectorDimensions(v);
+            T[] out = buildArray(data.length);
+            for (int i = 0; i < data.length; i++) {
+                out[i] = data[i].subtract(v.getEntry(i));
+            }
+            return new ArrayFieldVector<T>(field, out, false);
+        }
+    }
+
+    /**
+     * Compute this minus v.
+     * @param v vector to be subtracted
+     * @return this + v
+     * @throws IllegalArgumentException if v is not the same size as this
+     */
+    public ArrayFieldVector<T> subtract(ArrayFieldVector<T> v) {
+        checkVectorDimensions(v.data.length);
+        T[] out = buildArray(data.length);
+        for (int i = 0; i < data.length; i++) {
+            out[i] = data[i].subtract(v.data[i]);
+        }
+        return new ArrayFieldVector<T>(field, out, false);
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> mapAdd(T d) {
+        T[] out = buildArray(data.length);
+        for (int i = 0; i < data.length; i++) {
+            out[i] = data[i].add(d);
+        }
+        return new ArrayFieldVector<T>(field, out, false);
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> mapAddToSelf(T d) {
+        for (int i = 0; i < data.length; i++) {
+            data[i] = data[i].add(d);
+        }
+        return this;
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> mapSubtract(T d) {
+        T[] out = buildArray(data.length);
+        for (int i = 0; i < data.length; i++) {
+            out[i] = data[i].subtract(d);
+        }
+        return new ArrayFieldVector<T>(field, out, false);
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> mapSubtractToSelf(T d) {
+        for (int i = 0; i < data.length; i++) {
+            data[i] = data[i].subtract(d);
+        }
+        return this;
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> mapMultiply(T d) {
+        T[] out = buildArray(data.length);
+        for (int i = 0; i < data.length; i++) {
+            out[i] = data[i].multiply(d);
+        }
+        return new ArrayFieldVector<T>(field, out, false);
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> mapMultiplyToSelf(T d) {
+        for (int i = 0; i < data.length; i++) {
+            data[i] = data[i].multiply(d);
+        }
+        return this;
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> mapDivide(T d) {
+        T[] out = buildArray(data.length);
+        for (int i = 0; i < data.length; i++) {
+            out[i] = data[i].divide(d);
+        }
+        return new ArrayFieldVector<T>(field, out, false);
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> mapDivideToSelf(T d) {
+        for (int i = 0; i < data.length; i++) {
+            data[i] = data[i].divide(d);
+        }
+        return this;
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> mapInv() {
+        T[] out = buildArray(data.length);
+        final T one = field.getOne();
+        for (int i = 0; i < data.length; i++) {
+            out[i] = one.divide(data[i]);
+        }
+        return new ArrayFieldVector<T>(field, out, false);
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> mapInvToSelf() {
+        final T one = field.getOne();
+        for (int i = 0; i < data.length; i++) {
+            data[i] = one.divide(data[i]);
+        }
+        return this;
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> ebeMultiply(FieldVector<T> v) {
+        try {
+            return ebeMultiply((ArrayFieldVector<T>) v);
+        } catch (ClassCastException cce) {
+            checkVectorDimensions(v);
+            T[] out = buildArray(data.length);
+            for (int i = 0; i < data.length; i++) {
+                out[i] = data[i].multiply(v.getEntry(i));
+            }
+            return new ArrayFieldVector<T>(field, out, false);
+        }
+    }
+
+    /**
+     * Element-by-element multiplication.
+     * @param v vector by which instance elements must be multiplied
+     * @return a vector containing this[i] * v[i] for all i
+     * @exception IllegalArgumentException if v is not the same size as this
+     */
+    public ArrayFieldVector<T> ebeMultiply(ArrayFieldVector<T> v) {
+        checkVectorDimensions(v.data.length);
+        T[] out = buildArray(data.length);
+        for (int i = 0; i < data.length; i++) {
+            out[i] = data[i].multiply(v.data[i]);
+        }
+        return new ArrayFieldVector<T>(field, out, false);
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> ebeDivide(FieldVector<T> v) {
+        try {
+            return ebeDivide((ArrayFieldVector<T>) v);
+        } catch (ClassCastException cce) {
+            checkVectorDimensions(v);
+            T[] out = buildArray(data.length);
+            for (int i = 0; i < data.length; i++) {
+                out[i] = data[i].divide(v.getEntry(i));
+            }
+            return new ArrayFieldVector<T>(field, out, false);
+        }
+    }
+
+    /**
+     * Element-by-element division.
+     * @param v vector by which instance elements must be divided
+     * @return a vector containing this[i] / v[i] for all i
+     * @throws IllegalArgumentException if v is not the same size as this
+     */
+    public ArrayFieldVector<T> ebeDivide(ArrayFieldVector<T> v) {
+        checkVectorDimensions(v.data.length);
+        T[] out = buildArray(data.length);
+        for (int i = 0; i < data.length; i++) {
+                out[i] = data[i].divide(v.data[i]);
+        }
+        return new ArrayFieldVector<T>(field, out, false);
+    }
+
+    /** {@inheritDoc} */
+    public T[] getData() {
+        return data.clone();
+    }
+
+    /**
+     * Returns a reference to the underlying data array.
+     * <p>Does not make a fresh copy of the underlying data.</p>
+     * @return array of entries
+     */
+    public T[] getDataRef() {
+        return data;
+    }
+
+    /** {@inheritDoc} */
+    public T dotProduct(FieldVector<T> v) {
+        try {
+            return dotProduct((ArrayFieldVector<T>) v);
+        } catch (ClassCastException cce) {
+            checkVectorDimensions(v);
+            T dot = field.getZero();
+            for (int i = 0; i < data.length; i++) {
+                dot = dot.add(data[i].multiply(v.getEntry(i)));
+            }
+            return dot;
+        }
+    }
+
+    /**
+     * Compute the dot product.
+     * @param v vector with which dot product should be computed
+     * @return the scalar dot product between instance and v
+     * @exception IllegalArgumentException if v is not the same size as this
+     */
+    public T dotProduct(ArrayFieldVector<T> v) {
+        checkVectorDimensions(v.data.length);
+        T dot = field.getZero();
+        for (int i = 0; i < data.length; i++) {
+            dot = dot.add(data[i].multiply(v.data[i]));
+        }
+        return dot;
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> projection(FieldVector<T> v) {
+        return v.mapMultiply(dotProduct(v).divide(v.dotProduct(v)));
+    }
+
+   /** Find the orthogonal projection of this vector onto another vector.
+     * @param v vector onto which instance must be projected
+     * @return projection of the instance onto v
+     * @throws IllegalArgumentException if v is not the same size as this
+     */
+    public ArrayFieldVector<T> projection(ArrayFieldVector<T> v) {
+        return (ArrayFieldVector<T>) v.mapMultiply(dotProduct(v).divide(v.dotProduct(v)));
+    }
+
+    /** {@inheritDoc} */
+    public FieldMatrix<T> outerProduct(FieldVector<T> v) {
+        try {
+            return outerProduct((ArrayFieldVector<T>) v);
+        } catch (ClassCastException cce) {
+            final int m = data.length;
+            final int n = v.getDimension();
+            final FieldMatrix<T> out = new Array2DRowFieldMatrix<T>(field, m, n);
+            for (int i = 0; i < m; i++) {
+                for (int j = 0; j < n; j++) {
+                    out.setEntry(i, j, data[i].multiply(v.getEntry(j)));
+                }
+            }
+            return out;
+        }
+    }
+
+    /**
+     * Compute the outer product.
+     * @param v vector with which outer product should be computed
+     * @return the square matrix outer product between instance and v
+     * @exception IllegalArgumentException if v is not the same size as this
+     */
+    public FieldMatrix<T> outerProduct(ArrayFieldVector<T> v) {
+        final int m = data.length;
+        final int n = v.data.length;
+        final FieldMatrix<T> out = new Array2DRowFieldMatrix<T>(field, m, n);
+        for (int i = 0; i < m; i++) {
+            for (int j = 0; j < n; j++) {
+                out.setEntry(i, j, data[i].multiply(v.data[j]));
+            }
+        }
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    public T getEntry(int index) {
+        return data[index];
+    }
+
+    /** {@inheritDoc} */
+    public int getDimension() {
+        return data.length;
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> append(FieldVector<T> v) {
+        try {
+            return append((ArrayFieldVector<T>) v);
+        } catch (ClassCastException cce) {
+            return new ArrayFieldVector<T>(this,new ArrayFieldVector<T>(v));
+        }
+    }
+
+    /**
+     * Construct a vector by appending a vector to this vector.
+     * @param v vector to append to this one.
+     * @return a new vector
+     */
+    public ArrayFieldVector<T> append(ArrayFieldVector<T> v) {
+        return new ArrayFieldVector<T>(this, v);
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> append(T in) {
+        final T[] out = buildArray(data.length + 1);
+        System.arraycopy(data, 0, out, 0, data.length);
+        out[data.length] = in;
+        return new ArrayFieldVector<T>(field, out, false);
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> getSubVector(int index, int n) {
+        ArrayFieldVector<T> out = new ArrayFieldVector<T>(field, n);
+        try {
+            System.arraycopy(data, index, out.data, 0, n);
+        } catch (IndexOutOfBoundsException e) {
+            checkIndex(index);
+            checkIndex(index + n - 1);
+        }
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    public void setEntry(int index, T value) {
+        try {
+            data[index] = value;
+        } catch (IndexOutOfBoundsException e) {
+            checkIndex(index);
+        }
+    }
+
+    /** {@inheritDoc} */
+    public void setSubVector(int index, FieldVector<T> v) {
+        try {
+            try {
+                set(index, (ArrayFieldVector<T>) v);
+            } catch (ClassCastException cce) {
+                for (int i = index; i < index + v.getDimension(); ++i) {
+                    data[i] = v.getEntry(i-index);
+                }
+            }
+        } catch (IndexOutOfBoundsException e) {
+            checkIndex(index);
+            checkIndex(index + v.getDimension() - 1);
+        }
+    }
+
+    /**
+     * Set a set of consecutive elements.
+     *
+     * @param index index of first element to be set.
+     * @param v vector containing the values to set.
+     * @throws OutOfRangeException if the index is
+     * inconsistent with vector size
+     */
+    public void set(int index, ArrayFieldVector<T> v) {
+        try {
+            System.arraycopy(v.data, 0, data, index, v.data.length);
+        } catch (IndexOutOfBoundsException e) {
+            checkIndex(index);
+            checkIndex(index + v.data.length - 1);
+        }
+    }
+
+    /** {@inheritDoc} */
+    public void set(T value) {
+        Arrays.fill(data, value);
+    }
+
+    /** {@inheritDoc} */
+    public T[] toArray(){
+        return data.clone();
+    }
+
+    /**
+     * Check if instance and specified vectors have the same dimension.
+     * @param v vector to compare instance with
+     * @exception IllegalArgumentException if the vectors do not
+     * have the same dimension
+     */
+    protected void checkVectorDimensions(FieldVector<T> v) {
+        checkVectorDimensions(v.getDimension());
+    }
+
+    /**
+     * Check if instance dimension is equal to some expected value.
+     *
+     * @param n Expected dimension.
+     * @throws OutOfRangeException if the dimension is
+     * inconsistent with this vector size.
+     */
+    protected void checkVectorDimensions(int n) {
+        if (data.length != n) {
+            throw new DimensionMismatchException(data.length, n);
+        }
+    }
+
+    /**
+     * Test for the equality of two vectors.
+     *
+     * @param other Object to test for equality.
+     * @return {@code true} if two vector objects are equal, {@code false}
+     * otherwise.
+     */
+    @Override
+    public boolean equals(Object other) {
+        if (this == other) {
+            return true;
+        }
+        if (other == null) {
+            return false;
+        }
+
+        try {
+            @SuppressWarnings("unchecked") // May fail, but we ignore ClassCastException
+                FieldVector<T> rhs = (FieldVector<T>) other;
+            if (data.length != rhs.getDimension()) {
+                return false;
+            }
+
+            for (int i = 0; i < data.length; ++i) {
+                if (!data[i].equals(rhs.getEntry(i))) {
+                    return false;
+                }
+            }
+            return true;
+        } catch (ClassCastException ex) {
+            // ignore exception
+            return false;
+        }
+    }
+
+    /**
+     * Get a hashCode for the real vector.
+     * <p>All NaN values have the same hash code.</p>
+     * @return a hash code value for this object
+     */
+    @Override
+    public int hashCode() {
+        int h = 3542;
+        for (final T a : data) {
+            h = h ^ a.hashCode();
+        }
+        return h;
+    }
+
+    /**
+     * Check if an index is valid.
+     *
+     * @param index Index to check.
+     * @exception OutOfRangeException if the index is not valid.
+     */
+    private void checkIndex(final int index) {
+        if (index < 0 || index >= getDimension()) {
+            throw new OutOfRangeException(LocalizedFormats.INDEX,
+                                          index, 0, getDimension() - 1);
+        }
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/ArrayRealVector.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/ArrayRealVector.java
new file mode 100644
index 0000000000..88e66784ec
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/ArrayRealVector.java
@@ -0,0 +1,884 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+import java.io.Serializable;
+import java.util.Arrays;
+import java.util.Iterator;
+
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.NumberIsTooLargeException;
+import org.apache.commons.math3.exception.MathArithmeticException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+import org.apache.commons.math3.util.MathUtils;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * This class implements the {@link RealVector} interface with a double array.
+ * @version $Id: ArrayRealVector.java 1296539 2012-03-03 00:47:39Z sebb $
+ * @since 2.0
+ */
+public class ArrayRealVector extends RealVector implements Serializable {
+    /** Serializable version identifier. */
+    private static final long serialVersionUID = -1097961340710804027L;
+    /** Default format. */
+    private static final RealVectorFormat DEFAULT_FORMAT = RealVectorFormat.getInstance();
+
+    /** Entries of the vector. */
+    private double data[];
+
+    /**
+     * Build a 0-length vector.
+     * Zero-length vectors may be used to initialized construction of vectors
+     * by data gathering. We start with zero-length and use either the {@link
+     * #ArrayRealVector(ArrayRealVector, ArrayRealVector)} constructor
+     * or one of the {@code append} method ({@link #append(double)},
+     * {@link #append(ArrayRealVector)}) to gather data into this vector.
+     */
+    public ArrayRealVector() {
+        data = new double[0];
+    }
+
+    /**
+     * Construct a vector of zeroes.
+     *
+     * @param size Size of the vector.
+     */
+    public ArrayRealVector(int size) {
+        data = new double[size];
+    }
+
+    /**
+     * Construct a vector with preset values.
+     *
+     * @param size Size of the vector
+     * @param preset All entries will be set with this value.
+     */
+    public ArrayRealVector(int size, double preset) {
+        data = new double[size];
+        Arrays.fill(data, preset);
+    }
+
+    /**
+     * Construct a vector from an array, copying the input array.
+     *
+     * @param d Array.
+     * @throws NullArgumentException if {@code d} is {@code null}.
+     */
+    public ArrayRealVector(double[] d) {
+        data = d.clone();
+    }
+
+    /**
+     * Create a new ArrayRealVector using the input array as the underlying
+     * data array.
+     * If an array is built specially in order to be embedded in a
+     * ArrayRealVector and not used directly, the {@code copyArray} may be
+     * set to {@code false}. This will prevent the copying and improve
+     * performance as no new array will be built and no data will be copied.
+     *
+     * @param d Data for the new vector.
+     * @param copyArray if {@code true}, the input array will be copied,
+     * otherwise it will be referenced.
+     * @throws NullArgumentException if {@code d} is {@code null}.
+     * @see #ArrayRealVector(double[])
+     */
+    public ArrayRealVector(double[] d, boolean copyArray) {
+        if (d == null) {
+            throw new NullArgumentException();
+        }
+        data = copyArray ? d.clone() :  d;
+    }
+
+    /**
+     * Construct a vector from part of a array.
+     *
+     * @param d Array.
+     * @param pos Position of first entry.
+     * @param size Number of entries to copy.
+     * @throws NullArgumentException if {@code d} is {@code null}.
+     * @throws NumberIsTooLargeException if the size of {@code d} is less
+     * than {@code pos + size}.
+     */
+    public ArrayRealVector(double[] d, int pos, int size) {
+        if (d == null) {
+            throw new NullArgumentException();
+        }
+        if (d.length < pos + size) {
+            throw new NumberIsTooLargeException(pos + size, d.length, true);
+        }
+        data = new double[size];
+        System.arraycopy(d, pos, data, 0, size);
+    }
+
+    /**
+     * Construct a vector from an array.
+     *
+     * @param d Array of {@code Double}s.
+     */
+    public ArrayRealVector(Double[] d) {
+        data = new double[d.length];
+        for (int i = 0; i < d.length; i++) {
+            data[i] = d[i].doubleValue();
+        }
+    }
+
+    /**
+     * Construct a vector from part of an array.
+     *
+     * @param d Array.
+     * @param pos Position of first entry.
+     * @param size Number of entries to copy.
+     * @throws NullArgumentException if {@code d} is {@code null}.
+     * @throws NumberIsTooLargeException if the size of {@code d} is less
+     * than {@code pos + size}.
+     */
+    public ArrayRealVector(Double[] d, int pos, int size) {
+        if (d == null) {
+            throw new NullArgumentException();
+        }
+        if (d.length < pos + size) {
+            throw new NumberIsTooLargeException(pos + size, d.length, true);
+        }
+        data = new double[size];
+        for (int i = pos; i < pos + size; i++) {
+            data[i - pos] = d[i].doubleValue();
+        }
+    }
+
+    /**
+     * Construct a vector from another vector, using a deep copy.
+     *
+     * @param v vector to copy.
+     * @throws NullArgumentException if {@code v} is {@code null}.
+     */
+    public ArrayRealVector(RealVector v) {
+        if (v == null) {
+            throw new NullArgumentException();
+        }
+        data = new double[v.getDimension()];
+        for (int i = 0; i < data.length; ++i) {
+            data[i] = v.getEntry(i);
+        }
+    }
+
+    /**
+     * Construct a vector from another vector, using a deep copy.
+     *
+     * @param v Vector to copy.
+     * @throws NullArgumentException if {@code v} is {@code null}.
+     */
+    public ArrayRealVector(ArrayRealVector v) {
+        this(v, true);
+    }
+
+    /**
+     * Construct a vector from another vector.
+     *
+     * @param v Vector to copy.
+     * @param deep If {@code true} perform a deep copy, otherwise perform a
+     * shallow copy.
+     */
+    public ArrayRealVector(ArrayRealVector v, boolean deep) {
+        data = deep ? v.data.clone() : v.data;
+    }
+
+    /**
+     * Construct a vector by appending one vector to another vector.
+     * @param v1 First vector (will be put in front of the new vector).
+     * @param v2 Second vector (will be put at back of the new vector).
+     */
+    public ArrayRealVector(ArrayRealVector v1, ArrayRealVector v2) {
+        data = new double[v1.data.length + v2.data.length];
+        System.arraycopy(v1.data, 0, data, 0, v1.data.length);
+        System.arraycopy(v2.data, 0, data, v1.data.length, v2.data.length);
+    }
+
+    /**
+     * Construct a vector by appending one vector to another vector.
+     * @param v1 First vector (will be put in front of the new vector).
+     * @param v2 Second vector (will be put at back of the new vector).
+     */
+    public ArrayRealVector(ArrayRealVector v1, RealVector v2) {
+        final int l1 = v1.data.length;
+        final int l2 = v2.getDimension();
+        data = new double[l1 + l2];
+        System.arraycopy(v1.data, 0, data, 0, l1);
+        for (int i = 0; i < l2; ++i) {
+            data[l1 + i] = v2.getEntry(i);
+        }
+    }
+
+    /**
+     * Construct a vector by appending one vector to another vector.
+     * @param v1 First vector (will be put in front of the new vector).
+     * @param v2 Second vector (will be put at back of the new vector).
+     */
+    public ArrayRealVector(RealVector v1, ArrayRealVector v2) {
+        final int l1 = v1.getDimension();
+        final int l2 = v2.data.length;
+        data = new double[l1 + l2];
+        for (int i = 0; i < l1; ++i) {
+            data[i] = v1.getEntry(i);
+        }
+        System.arraycopy(v2.data, 0, data, l1, l2);
+    }
+
+    /**
+     * Construct a vector by appending one vector to another vector.
+     * @param v1 First vector (will be put in front of the new vector).
+     * @param v2 Second vector (will be put at back of the new vector).
+     */
+    public ArrayRealVector(ArrayRealVector v1, double[] v2) {
+        final int l1 = v1.getDimension();
+        final int l2 = v2.length;
+        data = new double[l1 + l2];
+        System.arraycopy(v1.data, 0, data, 0, l1);
+        System.arraycopy(v2, 0, data, l1, l2);
+    }
+
+    /**
+     * Construct a vector by appending one vector to another vector.
+     * @param v1 First vector (will be put in front of the new vector).
+     * @param v2 Second vector (will be put at back of the new vector).
+     */
+    public ArrayRealVector(double[] v1, ArrayRealVector v2) {
+        final int l1 = v1.length;
+        final int l2 = v2.getDimension();
+        data = new double[l1 + l2];
+        System.arraycopy(v1, 0, data, 0, l1);
+        System.arraycopy(v2.data, 0, data, l1, l2);
+    }
+
+    /**
+     * Construct a vector by appending one vector to another vector.
+     * @param v1 first vector (will be put in front of the new vector)
+     * @param v2 second vector (will be put at back of the new vector)
+     */
+    public ArrayRealVector(double[] v1, double[] v2) {
+        final int l1 = v1.length;
+        final int l2 = v2.length;
+        data = new double[l1 + l2];
+        System.arraycopy(v1, 0, data, 0, l1);
+        System.arraycopy(v2, 0, data, l1, l2);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public ArrayRealVector copy() {
+        return new ArrayRealVector(this, true);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public ArrayRealVector add(RealVector v) {
+        if (v instanceof ArrayRealVector) {
+            final double[] vData = ((ArrayRealVector) v).data;
+            final int dim = vData.length;
+            checkVectorDimensions(dim);
+            ArrayRealVector result = new ArrayRealVector(dim);
+            double[] resultData = result.data;
+            for (int i = 0; i < dim; i++) {
+                resultData[i] = data[i] + vData[i];
+            }
+            return result;
+        } else {
+            checkVectorDimensions(v);
+            double[] out = data.clone();
+            Iterator<Entry> it = v.sparseIterator();
+            Entry e;
+            while (it.hasNext() && (e = it.next()) != null) {
+                out[e.getIndex()] += e.getValue();
+            }
+            return new ArrayRealVector(out, false);
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public ArrayRealVector subtract(RealVector v) {
+        if (v instanceof ArrayRealVector) {
+            final double[] vData = ((ArrayRealVector) v).data;
+            final int dim = vData.length;
+            checkVectorDimensions(dim);
+            ArrayRealVector result = new ArrayRealVector(dim);
+            double[] resultData = result.data;
+            for (int i = 0; i < dim; i++) {
+                resultData[i] = data[i] - vData[i];
+            }
+            return result;
+        } else {
+            checkVectorDimensions(v);
+            double[] out = data.clone();
+            Iterator<Entry> it = v.sparseIterator();
+            Entry e;
+            while(it.hasNext() && (e = it.next()) != null) {
+                out[e.getIndex()] -= e.getValue();
+            }
+            return new ArrayRealVector(out, false);
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public ArrayRealVector map(UnivariateFunction function) {
+        return copy().mapToSelf(function);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public ArrayRealVector mapToSelf(UnivariateFunction function) {
+        for (int i = 0; i < data.length; i++) {
+            data[i] = function.value(data[i]);
+        }
+        return this;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector mapAddToSelf(double d) {
+        for (int i = 0; i < data.length; i++) {
+            data[i] = data[i] + d;
+        }
+        return this;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector mapSubtractToSelf(double d) {
+        for (int i = 0; i < data.length; i++) {
+            data[i] = data[i] - d;
+        }
+        return this;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector mapMultiplyToSelf(double d) {
+        for (int i = 0; i < data.length; i++) {
+            data[i] = data[i] * d;
+        }
+        return this;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector mapDivideToSelf(double d) {
+        for (int i = 0; i < data.length; i++) {
+            data[i] = data[i] / d;
+        }
+        return this;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public ArrayRealVector ebeMultiply(RealVector v) {
+        if (v instanceof ArrayRealVector) {
+            final double[] vData = ((ArrayRealVector) v).data;
+            final int dim = vData.length;
+            checkVectorDimensions(dim);
+            ArrayRealVector result = new ArrayRealVector(dim);
+            double[] resultData = result.data;
+            for (int i = 0; i < dim; i++) {
+                resultData[i] = data[i] * vData[i];
+            }
+            return result;
+        } else {
+            checkVectorDimensions(v);
+            double[] out = data.clone();
+            for (int i = 0; i < data.length; i++) {
+                out[i] *= v.getEntry(i);
+            }
+            return new ArrayRealVector(out, false);
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public ArrayRealVector ebeDivide(RealVector v) {
+        if (v instanceof ArrayRealVector) {
+            final double[] vData = ((ArrayRealVector) v).data;
+            final int dim = vData.length;
+            checkVectorDimensions(dim);
+            ArrayRealVector result = new ArrayRealVector(dim);
+            double[] resultData = result.data;
+            for (int i = 0; i < dim; i++) {
+                resultData[i] = data[i] / vData[i];
+            }
+            return result;
+        } else {
+            checkVectorDimensions(v);
+            double[] out = data.clone();
+            for (int i = 0; i < data.length; i++) {
+                out[i] /= v.getEntry(i);
+            }
+            return new ArrayRealVector(out, false);
+        }
+    }
+
+    /**
+     * Get a reference to the underlying data array.
+     * This method does not make a fresh copy of the underlying data.
+     *
+     * @return the array of entries.
+     */
+    public double[] getDataRef() {
+        return data;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double dotProduct(RealVector v) {
+        if (v instanceof ArrayRealVector) {
+            final double[] vData = ((ArrayRealVector) v).data;
+            checkVectorDimensions(vData.length);
+            double dot = 0;
+            for (int i = 0; i < data.length; i++) {
+                dot += data[i] * vData[i];
+            }
+            return dot;
+        } else {
+            checkVectorDimensions(v);
+            double dot = 0;
+            Iterator<Entry> it = v.sparseIterator();
+            Entry e;
+            while(it.hasNext() && (e = it.next()) != null) {
+                dot += data[e.getIndex()] * e.getValue();
+            }
+            return dot;
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double getNorm() {
+        double sum = 0;
+        for (double a : data) {
+            sum += a * a;
+        }
+        return FastMath.sqrt(sum);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double getL1Norm() {
+        double sum = 0;
+        for (double a : data) {
+            sum += FastMath.abs(a);
+        }
+        return sum;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double getLInfNorm() {
+        double max = 0;
+        for (double a : data) {
+            max = FastMath.max(max, FastMath.abs(a));
+        }
+        return max;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double getDistance(RealVector v) {
+        if (v instanceof ArrayRealVector) {
+            final double[] vData = ((ArrayRealVector) v).data;
+            checkVectorDimensions(vData.length);
+            double sum = 0;
+            for (int i = 0; i < data.length; ++i) {
+                final double delta = data[i] - vData[i];
+                sum += delta * delta;
+            }
+            return FastMath.sqrt(sum);
+        } else {
+            checkVectorDimensions(v);
+            double sum = 0;
+            for (int i = 0; i < data.length; ++i) {
+                final double delta = data[i] - v.getEntry(i);
+                sum += delta * delta;
+            }
+            return FastMath.sqrt(sum);
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double getL1Distance(RealVector v) {
+        if (v instanceof ArrayRealVector) {
+            final double[] vData = ((ArrayRealVector) v).data;
+            checkVectorDimensions(vData.length);
+            double sum = 0;
+            for (int i = 0; i < data.length; ++i) {
+                final double delta = data[i] - vData[i];
+                sum += FastMath.abs(delta);
+            }
+            return sum;
+        } else {
+            checkVectorDimensions(v);
+            double sum = 0;
+            for (int i = 0; i < data.length; ++i) {
+                final double delta = data[i] - v.getEntry(i);
+                sum += FastMath.abs(delta);
+            }
+            return sum;
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double getLInfDistance(RealVector v) {
+        if (v instanceof ArrayRealVector) {
+            final double[] vData = ((ArrayRealVector) v).data;
+            checkVectorDimensions(vData.length);
+            double max = 0;
+            for (int i = 0; i < data.length; ++i) {
+                final double delta = data[i] - vData[i];
+                max = FastMath.max(max, FastMath.abs(delta));
+            }
+            return max;
+        } else {
+            checkVectorDimensions(v);
+            double max = 0;
+            for (int i = 0; i < data.length; ++i) {
+                final double delta = data[i] - v.getEntry(i);
+                max = FastMath.max(max, FastMath.abs(delta));
+            }
+            return max;
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector unitVector() {
+        final double norm = getNorm();
+        if (norm == 0) {
+            throw new MathArithmeticException(LocalizedFormats.ZERO_NORM);
+        }
+        return mapDivide(norm);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void unitize() {
+        final double norm = getNorm();
+        if (norm == 0) {
+            throw new MathArithmeticException(LocalizedFormats.ZERO_NORM);
+        }
+        mapDivideToSelf(norm);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector projection(RealVector v) {
+        return v.mapMultiply(dotProduct(v) / v.dotProduct(v));
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealMatrix outerProduct(RealVector v) {
+        if (v instanceof ArrayRealVector) {
+            final double[] vData = ((ArrayRealVector) v).data;
+            final int m = data.length;
+            final int n = vData.length;
+            final RealMatrix out = MatrixUtils.createRealMatrix(m, n);
+            for (int i = 0; i < m; i++) {
+                for (int j = 0; j < n; j++) {
+                    out.setEntry(i, j, data[i] * vData[j]);
+                }
+            }
+            return out;
+        } else {
+            final int m = data.length;
+            final int n = v.getDimension();
+            final RealMatrix out = MatrixUtils.createRealMatrix(m, n);
+            for (int i = 0; i < m; i++) {
+                for (int j = 0; j < n; j++) {
+                    out.setEntry(i, j, data[i] * v.getEntry(j));
+                }
+            }
+            return out;
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double getEntry(int index) {
+        return data[index];
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public int getDimension() {
+        return data.length;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector append(RealVector v) {
+        try {
+            return new ArrayRealVector(this, (ArrayRealVector) v);
+        } catch (ClassCastException cce) {
+            return new ArrayRealVector(this, v);
+        }
+    }
+
+    /**
+     * Construct a vector by appending a vector to this vector.
+     *
+     * @param v Vector to append to this one.
+     * @return a new vector.
+     */
+    public ArrayRealVector append(ArrayRealVector v) {
+        return new ArrayRealVector(this, v);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector append(double in) {
+        final double[] out = new double[data.length + 1];
+        System.arraycopy(data, 0, out, 0, data.length);
+        out[data.length] = in;
+        return new ArrayRealVector(out, false);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector getSubVector(int index, int n) {
+        ArrayRealVector out = new ArrayRealVector(n);
+        try {
+            System.arraycopy(data, index, out.data, 0, n);
+        } catch (IndexOutOfBoundsException e) {
+            checkIndex(index);
+            checkIndex(index + n - 1);
+        }
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setEntry(int index, double value) {
+        try {
+            data[index] = value;
+        } catch (IndexOutOfBoundsException e) {
+            checkIndex(index);
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void addToEntry(int index, double increment) {
+        data[index] += increment;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setSubVector(int index, RealVector v) {
+        if (v instanceof ArrayRealVector) {
+            setSubVector(index, ((ArrayRealVector) v).data);
+        } else {
+            try {
+                for (int i = index; i < index + v.getDimension(); ++i) {
+                    data[i] = v.getEntry(i - index);
+                }
+            } catch (IndexOutOfBoundsException e) {
+                checkIndex(index);
+                checkIndex(index + v.getDimension() - 1);
+            }
+        }
+    }
+
+    /**
+     * Set a set of consecutive elements.
+     *
+     * @param index Index of first element to be set.
+     * @param v Vector containing the values to set.
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the index is inconsistent with the vector size.
+     */
+    public void setSubVector(int index, double[] v) {
+        try {
+            System.arraycopy(v, 0, data, index, v.length);
+        } catch (IndexOutOfBoundsException e) {
+            checkIndex(index);
+            checkIndex(index + v.length - 1);
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void set(double value) {
+        Arrays.fill(data, value);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double[] toArray(){
+        return data.clone();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public String toString(){
+        return DEFAULT_FORMAT.format(this);
+    }
+
+    /**
+     * Check if instance and specified vectors have the same dimension.
+     *
+     * @param v Vector to compare instance with.
+     * @throws DimensionMismatchException if the vectors do not
+     * have the same dimension.
+     */
+    @Override
+    protected void checkVectorDimensions(RealVector v) {
+        checkVectorDimensions(v.getDimension());
+    }
+
+    /**
+     * Check if instance dimension is equal to some expected value.
+     *
+     * @param n Expected dimension.
+     * @throws DimensionMismatchException if the dimension is
+     * inconsistent with vector size.
+     */
+    @Override
+    protected void checkVectorDimensions(int n) {
+        if (data.length != n) {
+            throw new DimensionMismatchException(data.length, n);
+        }
+    }
+
+    /**
+     * Check if any coordinate of this vector is {@code NaN}.
+     *
+     * @return {@code true} if any coordinate of this vector is {@code NaN},
+     * {@code false} otherwise.
+     */
+    @Override
+    public boolean isNaN() {
+        for (double v : data) {
+            if (Double.isNaN(v)) {
+                return true;
+            }
+        }
+        return false;
+    }
+
+    /**
+     * Check whether any coordinate of this vector is infinite and none
+     * are {@code NaN}.
+     *
+     * @return {@code true} if any coordinate of this vector is infinite and
+     * none are {@code NaN}, {@code false} otherwise.
+     */
+    @Override
+    public boolean isInfinite() {
+        if (isNaN()) {
+            return false;
+        }
+
+        for (double v : data) {
+            if (Double.isInfinite(v)) {
+                return true;
+            }
+        }
+
+        return false;
+    }
+
+    /**
+     * Test for the equality of two real vectors.
+     * If all coordinates of two real vectors are exactly the same, and none are
+     * {@code NaN}, the two real vectors are considered to be equal.
+     * {@code NaN} coordinates are considered to affect globally the vector
+     * and be equals to each other - i.e, if either (or all) coordinates of the
+     * real vector are equal to {@code NaN}, the real vector is equal to
+     * a vector with all {@code NaN} coordinates.
+     *
+     * @param other Object to test for equality.
+     * @return {@code true} if two vector objects are equal, {@code false} if
+     * {@code other} is null, not an instance of {@code RealVector}, or
+     * not equal to this {@code RealVector} instance.
+     */
+    @Override
+    public boolean equals(Object other) {
+        if (this == other) {
+            return true;
+        }
+
+        if (other == null || !(other instanceof RealVector)) {
+            return false;
+        }
+
+        RealVector rhs = (RealVector) other;
+        if (data.length != rhs.getDimension()) {
+            return false;
+        }
+
+        if (rhs.isNaN()) {
+            return this.isNaN();
+        }
+
+        for (int i = 0; i < data.length; ++i) {
+            if (data[i] != rhs.getEntry(i)) {
+                return false;
+            }
+        }
+        return true;
+    }
+
+    /**
+     * Get a hashCode for the real vector.
+     * All {@code NaN} values have the same hash code.
+     *
+     * @return a hash code.
+     */
+    @Override
+    public int hashCode() {
+        if (isNaN()) {
+            return 9;
+        }
+        return MathUtils.hash(data);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public ArrayRealVector combine(double a, double b, RealVector y) {
+        return copy().combineToSelf(a, b, y);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public ArrayRealVector combineToSelf(double a, double b, RealVector y) {
+        if (y instanceof ArrayRealVector) {
+            final double[] yData = ((ArrayRealVector) y).data;
+            checkVectorDimensions(yData.length);
+            for (int i = 0; i < this.data.length; i++) {
+                data[i] = a * data[i] + b * yData[i];
+            }
+        } else {
+            checkVectorDimensions(y);
+            for (int i = 0; i < this.data.length; i++) {
+                data[i] = a * data[i] + b * y.getEntry(i);
+            }
+        }
+        return this;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/BiDiagonalTransformer.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/BiDiagonalTransformer.java
new file mode 100644
index 0000000000..a66c0c97a8
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/BiDiagonalTransformer.java
@@ -0,0 +1,381 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.util.FastMath;
+
+
+/**
+ * Class transforming any matrix to bi-diagonal shape.
+ * <p>Any m &times; n matrix A can be written as the product of three matrices:
+ * A = U &times; B &times; V<sup>T</sup> with U an m &times; m orthogonal matrix,
+ * B an m &times; n bi-diagonal matrix (lower diagonal if m &lt; n, upper diagonal
+ * otherwise), and V an n &times; n orthogonal matrix.</p>
+ * <p>Transformation to bi-diagonal shape is often not a goal by itself, but it is
+ * an intermediate step in more general decomposition algorithms like {@link
+ * SingularValueDecomposition Singular Value Decomposition}. This class is therefore
+ * intended for internal use by the library and is not public. As a consequence of
+ * this explicitly limited scope, many methods directly returns references to
+ * internal arrays, not copies.</p>
+ * @version $Id: BiDiagonalTransformer.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+class BiDiagonalTransformer {
+
+    /** Householder vectors. */
+    private final double householderVectors[][];
+
+    /** Main diagonal. */
+    private final double[] main;
+
+    /** Secondary diagonal. */
+    private final double[] secondary;
+
+    /** Cached value of U. */
+    private RealMatrix cachedU;
+
+    /** Cached value of B. */
+    private RealMatrix cachedB;
+
+    /** Cached value of V. */
+    private RealMatrix cachedV;
+
+    /**
+     * Build the transformation to bi-diagonal shape of a matrix.
+     * @param matrix the matrix to transform.
+     */
+    public BiDiagonalTransformer(RealMatrix matrix) {
+
+        final int m = matrix.getRowDimension();
+        final int n = matrix.getColumnDimension();
+        final int p = FastMath.min(m, n);
+        householderVectors = matrix.getData();
+        main      = new double[p];
+        secondary = new double[p - 1];
+        cachedU   = null;
+        cachedB   = null;
+        cachedV   = null;
+
+        // transform matrix
+        if (m >= n) {
+            transformToUpperBiDiagonal();
+        } else {
+            transformToLowerBiDiagonal();
+        }
+
+    }
+
+    /**
+     * Returns the matrix U of the transform.
+     * <p>U is an orthogonal matrix, i.e. its transpose is also its inverse.</p>
+     * @return the U matrix
+     */
+    public RealMatrix getU() {
+
+        if (cachedU == null) {
+
+            final int m = householderVectors.length;
+            final int n = householderVectors[0].length;
+            final int p = main.length;
+            final int diagOffset    = (m >= n) ? 0 : 1;
+            final double[] diagonal = (m >= n) ? main : secondary;
+            double[][] ua = new double[m][m];
+
+            // fill up the part of the matrix not affected by Householder transforms
+            for (int k = m - 1; k >= p; --k) {
+                ua[k][k] = 1;
+            }
+
+            // build up first part of the matrix by applying Householder transforms
+            for (int k = p - 1; k >= diagOffset; --k) {
+                final double[] hK = householderVectors[k];
+                ua[k][k] = 1;
+                if (hK[k - diagOffset] != 0.0) {
+                    for (int j = k; j < m; ++j) {
+                        double alpha = 0;
+                        for (int i = k; i < m; ++i) {
+                            alpha -= ua[i][j] * householderVectors[i][k - diagOffset];
+                        }
+                        alpha /= diagonal[k - diagOffset] * hK[k - diagOffset];
+
+                        for (int i = k; i < m; ++i) {
+                            ua[i][j] += -alpha * householderVectors[i][k - diagOffset];
+                        }
+                    }
+                }
+            }
+            if (diagOffset > 0) {
+                ua[0][0] = 1;
+            }
+            cachedU = MatrixUtils.createRealMatrix(ua);
+        }
+
+        // return the cached matrix
+        return cachedU;
+
+    }
+
+    /**
+     * Returns the bi-diagonal matrix B of the transform.
+     * @return the B matrix
+     */
+    public RealMatrix getB() {
+
+        if (cachedB == null) {
+
+            final int m = householderVectors.length;
+            final int n = householderVectors[0].length;
+            double[][] ba = new double[m][n];
+            for (int i = 0; i < main.length; ++i) {
+                ba[i][i] = main[i];
+                if (m < n) {
+                    if (i > 0) {
+                        ba[i][i-1] = secondary[i - 1];
+                    }
+                } else {
+                    if (i < main.length - 1) {
+                        ba[i][i+1] = secondary[i];
+                    }
+                }
+            }
+            cachedB = MatrixUtils.createRealMatrix(ba);
+        }
+
+        // return the cached matrix
+        return cachedB;
+
+    }
+
+    /**
+     * Returns the matrix V of the transform.
+     * <p>V is an orthogonal matrix, i.e. its transpose is also its inverse.</p>
+     * @return the V matrix
+     */
+    public RealMatrix getV() {
+
+        if (cachedV == null) {
+
+            final int m = householderVectors.length;
+            final int n = householderVectors[0].length;
+            final int p = main.length;
+            final int diagOffset    = (m >= n) ? 1 : 0;
+            final double[] diagonal = (m >= n) ? secondary : main;
+            double[][] va = new double[n][n];
+
+            // fill up the part of the matrix not affected by Householder transforms
+            for (int k = n - 1; k >= p; --k) {
+                va[k][k] = 1;
+            }
+
+            // build up first part of the matrix by applying Householder transforms
+            for (int k = p - 1; k >= diagOffset; --k) {
+                final double[] hK = householderVectors[k - diagOffset];
+                va[k][k] = 1;
+                if (hK[k] != 0.0) {
+                    for (int j = k; j < n; ++j) {
+                        double beta = 0;
+                        for (int i = k; i < n; ++i) {
+                            beta -= va[i][j] * hK[i];
+                        }
+                        beta /= diagonal[k - diagOffset] * hK[k];
+
+                        for (int i = k; i < n; ++i) {
+                            va[i][j] += -beta * hK[i];
+                        }
+                    }
+                }
+            }
+            if (diagOffset > 0) {
+                va[0][0] = 1;
+            }
+            cachedV = MatrixUtils.createRealMatrix(va);
+        }
+
+        // return the cached matrix
+        return cachedV;
+
+    }
+
+    /**
+     * Get the Householder vectors of the transform.
+     * <p>Note that since this class is only intended for internal use,
+     * it returns directly a reference to its internal arrays, not a copy.</p>
+     * @return the main diagonal elements of the B matrix
+     */
+    double[][] getHouseholderVectorsRef() {
+        return householderVectors;
+    }
+
+    /**
+     * Get the main diagonal elements of the matrix B of the transform.
+     * <p>Note that since this class is only intended for internal use,
+     * it returns directly a reference to its internal arrays, not a copy.</p>
+     * @return the main diagonal elements of the B matrix
+     */
+    double[] getMainDiagonalRef() {
+        return main;
+    }
+
+    /**
+     * Get the secondary diagonal elements of the matrix B of the transform.
+     * <p>Note that since this class is only intended for internal use,
+     * it returns directly a reference to its internal arrays, not a copy.</p>
+     * @return the secondary diagonal elements of the B matrix
+     */
+    double[] getSecondaryDiagonalRef() {
+        return secondary;
+    }
+
+    /**
+     * Check if the matrix is transformed to upper bi-diagonal.
+     * @return true if the matrix is transformed to upper bi-diagonal
+     */
+    boolean isUpperBiDiagonal() {
+        return householderVectors.length >=  householderVectors[0].length;
+    }
+
+    /**
+     * Transform original matrix to upper bi-diagonal form.
+     * <p>Transformation is done using alternate Householder transforms
+     * on columns and rows.</p>
+     */
+    private void transformToUpperBiDiagonal() {
+
+        final int m = householderVectors.length;
+        final int n = householderVectors[0].length;
+        for (int k = 0; k < n; k++) {
+
+            //zero-out a column
+            double xNormSqr = 0;
+            for (int i = k; i < m; ++i) {
+                final double c = householderVectors[i][k];
+                xNormSqr += c * c;
+            }
+            final double[] hK = householderVectors[k];
+            final double a = (hK[k] > 0) ? -FastMath.sqrt(xNormSqr) : FastMath.sqrt(xNormSqr);
+            main[k] = a;
+            if (a != 0.0) {
+                hK[k] -= a;
+                for (int j = k + 1; j < n; ++j) {
+                    double alpha = 0;
+                    for (int i = k; i < m; ++i) {
+                        final double[] hI = householderVectors[i];
+                        alpha -= hI[j] * hI[k];
+                    }
+                    alpha /= a * householderVectors[k][k];
+                    for (int i = k; i < m; ++i) {
+                        final double[] hI = householderVectors[i];
+                        hI[j] -= alpha * hI[k];
+                    }
+                }
+            }
+
+            if (k < n - 1) {
+                //zero-out a row
+                xNormSqr = 0;
+                for (int j = k + 1; j < n; ++j) {
+                    final double c = hK[j];
+                    xNormSqr += c * c;
+                }
+                final double b = (hK[k + 1] > 0) ? -FastMath.sqrt(xNormSqr) : FastMath.sqrt(xNormSqr);
+                secondary[k] = b;
+                if (b != 0.0) {
+                    hK[k + 1] -= b;
+                    for (int i = k + 1; i < m; ++i) {
+                        final double[] hI = householderVectors[i];
+                        double beta = 0;
+                        for (int j = k + 1; j < n; ++j) {
+                            beta -= hI[j] * hK[j];
+                        }
+                        beta /= b * hK[k + 1];
+                        for (int j = k + 1; j < n; ++j) {
+                            hI[j] -= beta * hK[j];
+                        }
+                    }
+                }
+            }
+
+        }
+    }
+
+    /**
+     * Transform original matrix to lower bi-diagonal form.
+     * <p>Transformation is done using alternate Householder transforms
+     * on rows and columns.</p>
+     */
+    private void transformToLowerBiDiagonal() {
+
+        final int m = householderVectors.length;
+        final int n = householderVectors[0].length;
+        for (int k = 0; k < m; k++) {
+
+            //zero-out a row
+            final double[] hK = householderVectors[k];
+            double xNormSqr = 0;
+            for (int j = k; j < n; ++j) {
+                final double c = hK[j];
+                xNormSqr += c * c;
+            }
+            final double a = (hK[k] > 0) ? -FastMath.sqrt(xNormSqr) : FastMath.sqrt(xNormSqr);
+            main[k] = a;
+            if (a != 0.0) {
+                hK[k] -= a;
+                for (int i = k + 1; i < m; ++i) {
+                    final double[] hI = householderVectors[i];
+                    double alpha = 0;
+                    for (int j = k; j < n; ++j) {
+                        alpha -= hI[j] * hK[j];
+                    }
+                    alpha /= a * householderVectors[k][k];
+                    for (int j = k; j < n; ++j) {
+                        hI[j] -= alpha * hK[j];
+                    }
+                }
+            }
+
+            if (k < m - 1) {
+                //zero-out a column
+                final double[] hKp1 = householderVectors[k + 1];
+                xNormSqr = 0;
+                for (int i = k + 1; i < m; ++i) {
+                    final double c = householderVectors[i][k];
+                    xNormSqr += c * c;
+                }
+                final double b = (hKp1[k] > 0) ? -FastMath.sqrt(xNormSqr) : FastMath.sqrt(xNormSqr);
+                secondary[k] = b;
+                if (b != 0.0) {
+                    hKp1[k] -= b;
+                    for (int j = k + 1; j < n; ++j) {
+                        double beta = 0;
+                        for (int i = k + 1; i < m; ++i) {
+                            final double[] hI = householderVectors[i];
+                            beta -= hI[j] * hI[k];
+                        }
+                        beta /= b * hKp1[k];
+                        for (int i = k + 1; i < m; ++i) {
+                            final double[] hI = householderVectors[i];
+                            hI[j] -= beta * hI[k];
+                        }
+                    }
+                }
+            }
+
+        }
+    }
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/BlockFieldMatrix.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/BlockFieldMatrix.java
new file mode 100644
index 0000000000..6b72b69644
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/BlockFieldMatrix.java
@@ -0,0 +1,1549 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import java.io.Serializable;
+
+import org.apache.commons.math3.Field;
+import org.apache.commons.math3.FieldElement;
+import org.apache.commons.math3.exception.NoDataException;
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+import org.apache.commons.math3.util.FastMath;
+import org.apache.commons.math3.util.MathUtils;
+
+/**
+ * Cache-friendly implementation of FieldMatrix using a flat arrays to store
+ * square blocks of the matrix.
+ * <p>
+ * This implementation is specially designed to be cache-friendly. Square blocks are
+ * stored as small arrays and allow efficient traversal of data both in row major direction
+ * and columns major direction, one block at a time. This greatly increases performances
+ * for algorithms that use crossed directions loops like multiplication or transposition.
+ * </p>
+ * <p>
+ * The size of square blocks is a static parameter. It may be tuned according to the cache
+ * size of the target computer processor. As a rule of thumbs, it should be the largest
+ * value that allows three blocks to be simultaneously cached (this is necessary for example
+ * for matrix multiplication). The default value is to use 36x36 blocks.
+ * </p>
+ * <p>
+ * The regular blocks represent {@link #BLOCK_SIZE} x {@link #BLOCK_SIZE} squares. Blocks
+ * at right hand side and bottom side which may be smaller to fit matrix dimensions. The square
+ * blocks are flattened in row major order in single dimension arrays which are therefore
+ * {@link #BLOCK_SIZE}<sup>2</sup> elements long for regular blocks. The blocks are themselves
+ * organized in row major order.
+ * </p>
+ * <p>
+ * As an example, for a block size of 36x36, a 100x60 matrix would be stored in 6 blocks.
+ * Block 0 would be a Field[1296] array holding the upper left 36x36 square, block 1 would be
+ * a Field[1296] array holding the upper center 36x36 square, block 2 would be a Field[1008]
+ * array holding the upper right 36x28 rectangle, block 3 would be a Field[864] array holding
+ * the lower left 24x36 rectangle, block 4 would be a Field[864] array holding the lower center
+ * 24x36 rectangle and block 5 would be a Field[672] array holding the lower right 24x28
+ * rectangle.
+ * </p>
+ * <p>
+ * The layout complexity overhead versus simple mapping of matrices to java
+ * arrays is negligible for small matrices (about 1%). The gain from cache efficiency leads
+ * to up to 3-fold improvements for matrices of moderate to large size.
+ * </p>
+ * @param <T> the type of the field elements
+ * @version $Id: BlockFieldMatrix.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public class BlockFieldMatrix<T extends FieldElement<T>> extends AbstractFieldMatrix<T> implements Serializable {
+    /** Block size. */
+    public static final int BLOCK_SIZE = 36;
+    /** Serializable version identifier. */
+    private static final long serialVersionUID = -4602336630143123183L;
+    /** Blocks of matrix entries. */
+    private final T blocks[][];
+    /** Number of rows of the matrix. */
+    private final int rows;
+    /** Number of columns of the matrix. */
+    private final int columns;
+    /** Number of block rows of the matrix. */
+    private final int blockRows;
+    /** Number of block columns of the matrix. */
+    private final int blockColumns;
+
+    /**
+     * Create a new matrix with the supplied row and column dimensions.
+     *
+     * @param field Field to which the elements belong.
+     * @param rows Number of rows in the new matrix.
+     * @param columns Number of columns in the new matrix.
+     * @throws org.apache.commons.math3.exception.NotStrictlyPositiveException
+     * if row or column dimension is not positive.
+     */
+    public BlockFieldMatrix(final Field<T> field, final int rows, final int columns) {
+        super(field, rows, columns);
+        this.rows    = rows;
+        this.columns = columns;
+
+        // number of blocks
+        blockRows    = (rows    + BLOCK_SIZE - 1) / BLOCK_SIZE;
+        blockColumns = (columns + BLOCK_SIZE - 1) / BLOCK_SIZE;
+
+        // allocate storage blocks, taking care of smaller ones at right and bottom
+        blocks = createBlocksLayout(field, rows, columns);
+    }
+
+    /**
+     * Create a new dense matrix copying entries from raw layout data.
+     * <p>The input array <em>must</em> already be in raw layout.</p>
+     * <p>Calling this constructor is equivalent to call:
+     * <pre>matrix = new BlockFieldMatrix<T>(getField(), rawData.length, rawData[0].length,
+     *                                   toBlocksLayout(rawData), false);</pre>
+     * </p>
+     * @param rawData Data for the new matrix, in raw layout.
+     *
+     * @exception DimensionMismatchException if the {@code blockData} shape is
+     * inconsistent with block layout.
+     * @see #BlockFieldMatrix(int, int, FieldElement[][], boolean)
+     */
+    public BlockFieldMatrix(final T[][] rawData) {
+        this(rawData.length, rawData[0].length, toBlocksLayout(rawData), false);
+    }
+
+    /**
+     * Create a new dense matrix copying entries from block layout data.
+     * <p>The input array <em>must</em> already be in blocks layout.</p>
+     * @param rows  the number of rows in the new matrix
+     * @param columns  the number of columns in the new matrix
+     * @param blockData data for new matrix
+     * @param copyArray if true, the input array will be copied, otherwise
+     * it will be referenced
+     *
+     * @exception DimensionMismatchException if the {@code blockData} shape is
+     * inconsistent with block layout.
+     * @see #createBlocksLayout(Field, int, int)
+     * @see #toBlocksLayout(FieldElement[][])
+     * @see #BlockFieldMatrix(FieldElement[][])
+     */
+    public BlockFieldMatrix(final int rows, final int columns,
+                            final T[][] blockData, final boolean copyArray) {
+        super(extractField(blockData), rows, columns);
+        this.rows    = rows;
+        this.columns = columns;
+
+        // number of blocks
+        blockRows    = (rows    + BLOCK_SIZE - 1) / BLOCK_SIZE;
+        blockColumns = (columns + BLOCK_SIZE - 1) / BLOCK_SIZE;
+
+        if (copyArray) {
+            // allocate storage blocks, taking care of smaller ones at right and bottom
+            blocks = buildArray(getField(), blockRows * blockColumns, -1);
+        } else {
+            // reference existing array
+            blocks = blockData;
+        }
+
+        int index = 0;
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int iHeight = blockHeight(iBlock);
+            for (int jBlock = 0; jBlock < blockColumns; ++jBlock, ++index) {
+                if (blockData[index].length != iHeight * blockWidth(jBlock)) {
+                    throw new DimensionMismatchException(blockData[index].length,
+                                                         iHeight * blockWidth(jBlock));
+                }
+                if (copyArray) {
+                    blocks[index] = blockData[index].clone();
+                }
+            }
+        }
+    }
+
+    /**
+     * Convert a data array from raw layout to blocks layout.
+     * <p>
+     * Raw layout is the straightforward layout where element at row i and
+     * column j is in array element <code>rawData[i][j]</code>. Blocks layout
+     * is the layout used in {@link BlockFieldMatrix} instances, where the matrix
+     * is split in square blocks (except at right and bottom side where blocks may
+     * be rectangular to fit matrix size) and each block is stored in a flattened
+     * one-dimensional array.
+     * </p>
+     * <p>
+     * This method creates an array in blocks layout from an input array in raw layout.
+     * It can be used to provide the array argument of the {@link
+     * #BlockFieldMatrix(int, int, FieldElement[][], boolean)}
+     * constructor.
+     * </p>
+     * @param <T> Type of the field elements.
+     * @param rawData Data array in raw layout.
+     * @return a new data array containing the same entries but in blocks layout
+     * @throws DimensionMismatchException if {@code rawData} is not rectangular
+     *  (not all rows have the same length).
+     * @see #createBlocksLayout(Field, int, int)
+     * @see #BlockFieldMatrix(int, int, FieldElement[][], boolean)
+     */
+    public static <T extends FieldElement<T>> T[][] toBlocksLayout(final T[][] rawData) {
+
+        final int rows         = rawData.length;
+        final int columns      = rawData[0].length;
+        final int blockRows    = (rows    + BLOCK_SIZE - 1) / BLOCK_SIZE;
+        final int blockColumns = (columns + BLOCK_SIZE - 1) / BLOCK_SIZE;
+
+        // safety checks
+        for (int i = 0; i < rawData.length; ++i) {
+            final int length = rawData[i].length;
+            if (length != columns) {
+                throw new DimensionMismatchException(columns, length);
+            }
+        }
+
+        // convert array
+        final Field<T> field = extractField(rawData);
+        final T[][] blocks = buildArray(field, blockRows * blockColumns, -1);
+        int blockIndex = 0;
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int pStart  = iBlock * BLOCK_SIZE;
+            final int pEnd    = FastMath.min(pStart + BLOCK_SIZE, rows);
+            final int iHeight = pEnd - pStart;
+            for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+                final int qStart = jBlock * BLOCK_SIZE;
+                final int qEnd   = FastMath.min(qStart + BLOCK_SIZE, columns);
+                final int jWidth = qEnd - qStart;
+
+                // allocate new block
+                final T[] block = buildArray(field, iHeight * jWidth);
+                blocks[blockIndex] = block;
+
+                // copy data
+                int index = 0;
+                for (int p = pStart; p < pEnd; ++p) {
+                    System.arraycopy(rawData[p], qStart, block, index, jWidth);
+                    index += jWidth;
+                }
+
+                ++blockIndex;
+            }
+        }
+
+        return blocks;
+    }
+
+    /**
+     * Create a data array in blocks layout.
+     * <p>
+     * This method can be used to create the array argument of the {@link
+     * #BlockFieldMatrix(int, int, FieldElement[][], boolean)}
+     * constructor.
+     * </p>
+     * @param <T> Type of the field elements.
+     * @param field Field to which the elements belong.
+     * @param rows Number of rows in the new matrix.
+     * @param columns Number of columns in the new matrix.
+     * @return a new data array in blocks layout.
+     * @see #toBlocksLayout(FieldElement[][])
+     * @see #BlockFieldMatrix(int, int, FieldElement[][], boolean)
+     */
+    public static <T extends FieldElement<T>> T[][] createBlocksLayout(final Field<T> field,
+                                                                       final int rows, final int columns) {
+        final int blockRows    = (rows    + BLOCK_SIZE - 1) / BLOCK_SIZE;
+        final int blockColumns = (columns + BLOCK_SIZE - 1) / BLOCK_SIZE;
+
+        final T[][] blocks = buildArray(field, blockRows * blockColumns, -1);
+        int blockIndex = 0;
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int pStart  = iBlock * BLOCK_SIZE;
+            final int pEnd    = FastMath.min(pStart + BLOCK_SIZE, rows);
+            final int iHeight = pEnd - pStart;
+            for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+                final int qStart = jBlock * BLOCK_SIZE;
+                final int qEnd   = FastMath.min(qStart + BLOCK_SIZE, columns);
+                final int jWidth = qEnd - qStart;
+                blocks[blockIndex] = buildArray(field, iHeight * jWidth);
+                ++blockIndex;
+            }
+        }
+
+        return blocks;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public FieldMatrix<T> createMatrix(final int rowDimension, final int columnDimension) {
+        return new BlockFieldMatrix<T>(getField(), rowDimension, columnDimension);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public FieldMatrix<T> copy() {
+
+        // create an empty matrix
+        BlockFieldMatrix<T> copied = new BlockFieldMatrix<T>(getField(), rows, columns);
+
+        // copy the blocks
+        for (int i = 0; i < blocks.length; ++i) {
+            System.arraycopy(blocks[i], 0, copied.blocks[i], 0, blocks[i].length);
+        }
+
+        return copied;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public FieldMatrix<T> add(final FieldMatrix<T> m) {
+        try {
+            return add((BlockFieldMatrix<T>) m);
+        } catch (ClassCastException cce) {
+
+            // safety check
+            checkAdditionCompatible(m);
+
+            final BlockFieldMatrix<T> out = new BlockFieldMatrix<T>(getField(), rows, columns);
+
+            // perform addition block-wise, to ensure good cache behavior
+            int blockIndex = 0;
+            for (int iBlock = 0; iBlock < out.blockRows; ++iBlock) {
+                for (int jBlock = 0; jBlock < out.blockColumns; ++jBlock) {
+
+                    // perform addition on the current block
+                    final T[] outBlock = out.blocks[blockIndex];
+                    final T[] tBlock   = blocks[blockIndex];
+                    final int      pStart   = iBlock * BLOCK_SIZE;
+                    final int      pEnd     = FastMath.min(pStart + BLOCK_SIZE, rows);
+                    final int      qStart   = jBlock * BLOCK_SIZE;
+                    final int      qEnd     = FastMath.min(qStart + BLOCK_SIZE, columns);
+                    int k = 0;
+                    for (int p = pStart; p < pEnd; ++p) {
+                        for (int q = qStart; q < qEnd; ++q) {
+                            outBlock[k] = tBlock[k].add(m.getEntry(p, q));
+                            ++k;
+                        }
+                    }
+
+                    // go to next block
+                    ++blockIndex;
+
+                }
+            }
+
+            return out;
+        }
+    }
+
+    /**
+     * Compute the sum of this and <code>m</code>.
+     *
+     * @param m    matrix to be added
+     * @return     this + m
+     * @throws  IllegalArgumentException if m is not the same size as this
+     */
+    public BlockFieldMatrix<T> add(final BlockFieldMatrix<T> m) {
+
+        // safety check
+        checkAdditionCompatible(m);
+
+        final BlockFieldMatrix<T> out = new BlockFieldMatrix<T>(getField(), rows, columns);
+
+        // perform addition block-wise, to ensure good cache behavior
+        for (int blockIndex = 0; blockIndex < out.blocks.length; ++blockIndex) {
+            final T[] outBlock = out.blocks[blockIndex];
+            final T[] tBlock   = blocks[blockIndex];
+            final T[] mBlock   = m.blocks[blockIndex];
+            for (int k = 0; k < outBlock.length; ++k) {
+                outBlock[k] = tBlock[k].add(mBlock[k]);
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public FieldMatrix<T> subtract(final FieldMatrix<T> m) {
+        try {
+            return subtract((BlockFieldMatrix<T>) m);
+        } catch (ClassCastException cce) {
+
+            // safety check
+            checkSubtractionCompatible(m);
+
+            final BlockFieldMatrix<T> out = new BlockFieldMatrix<T>(getField(), rows, columns);
+
+            // perform subtraction block-wise, to ensure good cache behavior
+            int blockIndex = 0;
+            for (int iBlock = 0; iBlock < out.blockRows; ++iBlock) {
+                for (int jBlock = 0; jBlock < out.blockColumns; ++jBlock) {
+
+                    // perform subtraction on the current block
+                    final T[] outBlock = out.blocks[blockIndex];
+                    final T[] tBlock   = blocks[blockIndex];
+                    final int      pStart   = iBlock * BLOCK_SIZE;
+                    final int      pEnd     = FastMath.min(pStart + BLOCK_SIZE, rows);
+                    final int      qStart   = jBlock * BLOCK_SIZE;
+                    final int      qEnd     = FastMath.min(qStart + BLOCK_SIZE, columns);
+                    int k = 0;
+                    for (int p = pStart; p < pEnd; ++p) {
+                        for (int q = qStart; q < qEnd; ++q) {
+                            outBlock[k] = tBlock[k].subtract(m.getEntry(p, q));
+                            ++k;
+                        }
+                    }
+
+                    // go to next block
+                    ++blockIndex;
+
+                }
+            }
+
+            return out;
+        }
+    }
+
+    /**
+     * Compute this minus <code>m</code>.
+     *
+     * @param m    matrix to be subtracted
+     * @return     this - m
+     * @throws  IllegalArgumentException if m is not the same size as this
+     */
+    public BlockFieldMatrix<T> subtract(final BlockFieldMatrix<T> m) {
+        // safety check
+        checkSubtractionCompatible(m);
+
+        final BlockFieldMatrix<T> out = new BlockFieldMatrix<T>(getField(), rows, columns);
+
+        // perform subtraction block-wise, to ensure good cache behavior
+        for (int blockIndex = 0; blockIndex < out.blocks.length; ++blockIndex) {
+            final T[] outBlock = out.blocks[blockIndex];
+            final T[] tBlock   = blocks[blockIndex];
+            final T[] mBlock   = m.blocks[blockIndex];
+            for (int k = 0; k < outBlock.length; ++k) {
+                outBlock[k] = tBlock[k].subtract(mBlock[k]);
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public FieldMatrix<T> scalarAdd(final T d) {
+        final BlockFieldMatrix<T> out = new BlockFieldMatrix<T>(getField(), rows, columns);
+
+        // perform subtraction block-wise, to ensure good cache behavior
+        for (int blockIndex = 0; blockIndex < out.blocks.length; ++blockIndex) {
+            final T[] outBlock = out.blocks[blockIndex];
+            final T[] tBlock   = blocks[blockIndex];
+            for (int k = 0; k < outBlock.length; ++k) {
+                outBlock[k] = tBlock[k].add(d);
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public FieldMatrix<T> scalarMultiply(final T d) {
+
+        final BlockFieldMatrix<T> out = new BlockFieldMatrix<T>(getField(), rows, columns);
+
+        // perform subtraction block-wise, to ensure good cache behavior
+        for (int blockIndex = 0; blockIndex < out.blocks.length; ++blockIndex) {
+            final T[] outBlock = out.blocks[blockIndex];
+            final T[] tBlock   = blocks[blockIndex];
+            for (int k = 0; k < outBlock.length; ++k) {
+                outBlock[k] = tBlock[k].multiply(d);
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public FieldMatrix<T> multiply(final FieldMatrix<T> m) {
+        try {
+            return multiply((BlockFieldMatrix<T>) m);
+        } catch (ClassCastException cce) {
+
+            // safety check
+            checkMultiplicationCompatible(m);
+
+            final BlockFieldMatrix<T> out = new BlockFieldMatrix<T>(getField(), rows, m.getColumnDimension());
+            final T zero = getField().getZero();
+
+            // perform multiplication block-wise, to ensure good cache behavior
+            int blockIndex = 0;
+            for (int iBlock = 0; iBlock < out.blockRows; ++iBlock) {
+
+                final int pStart = iBlock * BLOCK_SIZE;
+                final int pEnd   = FastMath.min(pStart + BLOCK_SIZE, rows);
+
+                for (int jBlock = 0; jBlock < out.blockColumns; ++jBlock) {
+
+                    final int qStart = jBlock * BLOCK_SIZE;
+                    final int qEnd   = FastMath.min(qStart + BLOCK_SIZE, m.getColumnDimension());
+
+                    // select current block
+                    final T[] outBlock = out.blocks[blockIndex];
+
+                    // perform multiplication on current block
+                    for (int kBlock = 0; kBlock < blockColumns; ++kBlock) {
+                        final int kWidth      = blockWidth(kBlock);
+                        final T[] tBlock = blocks[iBlock * blockColumns + kBlock];
+                        final int rStart      = kBlock * BLOCK_SIZE;
+                        int k = 0;
+                        for (int p = pStart; p < pEnd; ++p) {
+                            final int lStart = (p - pStart) * kWidth;
+                            final int lEnd   = lStart + kWidth;
+                            for (int q = qStart; q < qEnd; ++q) {
+                                T sum = zero;
+                                int r = rStart;
+                                for (int l = lStart; l < lEnd; ++l) {
+                                    sum = sum.add(tBlock[l].multiply(m.getEntry(r, q)));
+                                    ++r;
+                                }
+                                outBlock[k] = outBlock[k].add(sum);
+                                ++k;
+                            }
+                        }
+                    }
+
+                    // go to next block
+                    ++blockIndex;
+
+                }
+            }
+
+            return out;
+        }
+    }
+
+    /**
+     * Returns the result of postmultiplying this by m.
+     *
+     * @param m    matrix to postmultiply by
+     * @return     this * m
+     * @throws     IllegalArgumentException
+     *             if columnDimension(this) != rowDimension(m)
+     */
+    public BlockFieldMatrix<T> multiply(BlockFieldMatrix<T> m) {
+
+        // safety check
+        checkMultiplicationCompatible(m);
+
+        final BlockFieldMatrix<T> out = new BlockFieldMatrix<T>(getField(), rows, m.columns);
+        final T zero = getField().getZero();
+
+        // perform multiplication block-wise, to ensure good cache behavior
+        int blockIndex = 0;
+        for (int iBlock = 0; iBlock < out.blockRows; ++iBlock) {
+
+            final int pStart = iBlock * BLOCK_SIZE;
+            final int pEnd   = FastMath.min(pStart + BLOCK_SIZE, rows);
+
+            for (int jBlock = 0; jBlock < out.blockColumns; ++jBlock) {
+                final int jWidth = out.blockWidth(jBlock);
+                final int jWidth2 = jWidth  + jWidth;
+                final int jWidth3 = jWidth2 + jWidth;
+                final int jWidth4 = jWidth3 + jWidth;
+
+                // select current block
+                final T[] outBlock = out.blocks[blockIndex];
+
+                // perform multiplication on current block
+                for (int kBlock = 0; kBlock < blockColumns; ++kBlock) {
+                    final int kWidth = blockWidth(kBlock);
+                    final T[] tBlock = blocks[iBlock * blockColumns + kBlock];
+                    final T[] mBlock = m.blocks[kBlock * m.blockColumns + jBlock];
+                    int k = 0;
+                    for (int p = pStart; p < pEnd; ++p) {
+                        final int lStart = (p - pStart) * kWidth;
+                        final int lEnd   = lStart + kWidth;
+                        for (int nStart = 0; nStart < jWidth; ++nStart) {
+                            T sum = zero;
+                            int l = lStart;
+                            int n = nStart;
+                            while (l < lEnd - 3) {
+                                sum = sum.
+                                      add(tBlock[l].multiply(mBlock[n])).
+                                      add(tBlock[l + 1].multiply(mBlock[n + jWidth])).
+                                      add(tBlock[l + 2].multiply(mBlock[n + jWidth2])).
+                                      add(tBlock[l + 3].multiply(mBlock[n + jWidth3]));
+                                l += 4;
+                                n += jWidth4;
+                            }
+                            while (l < lEnd) {
+                                sum = sum.add(tBlock[l++].multiply(mBlock[n]));
+                                n += jWidth;
+                            }
+                            outBlock[k] = outBlock[k].add(sum);
+                            ++k;
+                        }
+                    }
+                }
+
+                // go to next block
+                ++blockIndex;
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T[][] getData() {
+
+        final T[][] data = buildArray(getField(), getRowDimension(), getColumnDimension());
+        final int lastColumns = columns - (blockColumns - 1) * BLOCK_SIZE;
+
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int pStart = iBlock * BLOCK_SIZE;
+            final int pEnd   = FastMath.min(pStart + BLOCK_SIZE, rows);
+            int regularPos   = 0;
+            int lastPos      = 0;
+            for (int p = pStart; p < pEnd; ++p) {
+                final T[] dataP = data[p];
+                int blockIndex = iBlock * blockColumns;
+                int dataPos    = 0;
+                for (int jBlock = 0; jBlock < blockColumns - 1; ++jBlock) {
+                    System.arraycopy(blocks[blockIndex++], regularPos, dataP, dataPos, BLOCK_SIZE);
+                    dataPos += BLOCK_SIZE;
+                }
+                System.arraycopy(blocks[blockIndex], lastPos, dataP, dataPos, lastColumns);
+                regularPos += BLOCK_SIZE;
+                lastPos    += lastColumns;
+            }
+        }
+
+        return data;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public FieldMatrix<T> getSubMatrix(final int startRow, final int endRow,
+                                       final int startColumn, final int endColumn) {
+        // safety checks
+        checkSubMatrixIndex(startRow, endRow, startColumn, endColumn);
+
+        // create the output matrix
+        final BlockFieldMatrix<T> out =
+            new BlockFieldMatrix<T>(getField(), endRow - startRow + 1, endColumn - startColumn + 1);
+
+        // compute blocks shifts
+        final int blockStartRow    = startRow    / BLOCK_SIZE;
+        final int rowsShift        = startRow    % BLOCK_SIZE;
+        final int blockStartColumn = startColumn / BLOCK_SIZE;
+        final int columnsShift     = startColumn % BLOCK_SIZE;
+
+        // perform extraction block-wise, to ensure good cache behavior
+        int pBlock = blockStartRow;
+        for (int iBlock = 0; iBlock < out.blockRows; ++iBlock) {
+            final int iHeight = out.blockHeight(iBlock);
+            int qBlock = blockStartColumn;
+            for (int jBlock = 0; jBlock < out.blockColumns; ++jBlock) {
+                final int jWidth = out.blockWidth(jBlock);
+
+                // handle one block of the output matrix
+                final int      outIndex = iBlock * out.blockColumns + jBlock;
+                final T[] outBlock = out.blocks[outIndex];
+                final int      index    = pBlock * blockColumns + qBlock;
+                final int      width    = blockWidth(qBlock);
+
+                final int heightExcess = iHeight + rowsShift - BLOCK_SIZE;
+                final int widthExcess  = jWidth + columnsShift - BLOCK_SIZE;
+                if (heightExcess > 0) {
+                    // the submatrix block spans on two blocks rows from the original matrix
+                    if (widthExcess > 0) {
+                        // the submatrix block spans on two blocks columns from the original matrix
+                        final int width2 = blockWidth(qBlock + 1);
+                        copyBlockPart(blocks[index], width,
+                                      rowsShift, BLOCK_SIZE,
+                                      columnsShift, BLOCK_SIZE,
+                                      outBlock, jWidth, 0, 0);
+                        copyBlockPart(blocks[index + 1], width2,
+                                      rowsShift, BLOCK_SIZE,
+                                      0, widthExcess,
+                                      outBlock, jWidth, 0, jWidth - widthExcess);
+                        copyBlockPart(blocks[index + blockColumns], width,
+                                      0, heightExcess,
+                                      columnsShift, BLOCK_SIZE,
+                                      outBlock, jWidth, iHeight - heightExcess, 0);
+                        copyBlockPart(blocks[index + blockColumns + 1], width2,
+                                      0, heightExcess,
+                                      0, widthExcess,
+                                      outBlock, jWidth, iHeight - heightExcess, jWidth - widthExcess);
+                    } else {
+                        // the submatrix block spans on one block column from the original matrix
+                        copyBlockPart(blocks[index], width,
+                                      rowsShift, BLOCK_SIZE,
+                                      columnsShift, jWidth + columnsShift,
+                                      outBlock, jWidth, 0, 0);
+                        copyBlockPart(blocks[index + blockColumns], width,
+                                      0, heightExcess,
+                                      columnsShift, jWidth + columnsShift,
+                                      outBlock, jWidth, iHeight - heightExcess, 0);
+                    }
+                } else {
+                    // the submatrix block spans on one block row from the original matrix
+                    if (widthExcess > 0) {
+                        // the submatrix block spans on two blocks columns from the original matrix
+                        final int width2 = blockWidth(qBlock + 1);
+                        copyBlockPart(blocks[index], width,
+                                      rowsShift, iHeight + rowsShift,
+                                      columnsShift, BLOCK_SIZE,
+                                      outBlock, jWidth, 0, 0);
+                        copyBlockPart(blocks[index + 1], width2,
+                                      rowsShift, iHeight + rowsShift,
+                                      0, widthExcess,
+                                      outBlock, jWidth, 0, jWidth - widthExcess);
+                    } else {
+                        // the submatrix block spans on one block column from the original matrix
+                        copyBlockPart(blocks[index], width,
+                                      rowsShift, iHeight + rowsShift,
+                                      columnsShift, jWidth + columnsShift,
+                                      outBlock, jWidth, 0, 0);
+                    }
+               }
+                ++qBlock;
+            }
+            ++pBlock;
+        }
+
+        return out;
+    }
+
+    /**
+     * Copy a part of a block into another one
+     * <p>This method can be called only when the specified part fits in both
+     * blocks, no verification is done here.</p>
+     * @param srcBlock source block
+     * @param srcWidth source block width ({@link #BLOCK_SIZE} or smaller)
+     * @param srcStartRow start row in the source block
+     * @param srcEndRow end row (exclusive) in the source block
+     * @param srcStartColumn start column in the source block
+     * @param srcEndColumn end column (exclusive) in the source block
+     * @param dstBlock destination block
+     * @param dstWidth destination block width ({@link #BLOCK_SIZE} or smaller)
+     * @param dstStartRow start row in the destination block
+     * @param dstStartColumn start column in the destination block
+     */
+    private void copyBlockPart(final T[] srcBlock, final int srcWidth,
+                               final int srcStartRow, final int srcEndRow,
+                               final int srcStartColumn, final int srcEndColumn,
+                               final T[] dstBlock, final int dstWidth,
+                               final int dstStartRow, final int dstStartColumn) {
+        final int length = srcEndColumn - srcStartColumn;
+        int srcPos = srcStartRow * srcWidth + srcStartColumn;
+        int dstPos = dstStartRow * dstWidth + dstStartColumn;
+        for (int srcRow = srcStartRow; srcRow < srcEndRow; ++srcRow) {
+            System.arraycopy(srcBlock, srcPos, dstBlock, dstPos, length);
+            srcPos += srcWidth;
+            dstPos += dstWidth;
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setSubMatrix(final T[][] subMatrix, final int row, final int column) {
+        // safety checks
+        MathUtils.checkNotNull(subMatrix);
+        final int refLength = subMatrix[0].length;
+        if (refLength == 0) {
+            throw new NoDataException(LocalizedFormats.AT_LEAST_ONE_COLUMN);
+        }
+        final int endRow    = row + subMatrix.length - 1;
+        final int endColumn = column + refLength - 1;
+        checkSubMatrixIndex(row, endRow, column, endColumn);
+        for (final T[] subRow : subMatrix) {
+            if (subRow.length != refLength) {
+                throw new DimensionMismatchException(refLength, subRow.length);
+            }
+        }
+
+        // compute blocks bounds
+        final int blockStartRow    = row / BLOCK_SIZE;
+        final int blockEndRow      = (endRow + BLOCK_SIZE) / BLOCK_SIZE;
+        final int blockStartColumn = column / BLOCK_SIZE;
+        final int blockEndColumn   = (endColumn + BLOCK_SIZE) / BLOCK_SIZE;
+
+        // perform copy block-wise, to ensure good cache behavior
+        for (int iBlock = blockStartRow; iBlock < blockEndRow; ++iBlock) {
+            final int iHeight  = blockHeight(iBlock);
+            final int firstRow = iBlock * BLOCK_SIZE;
+            final int iStart   = FastMath.max(row,    firstRow);
+            final int iEnd     = FastMath.min(endRow + 1, firstRow + iHeight);
+
+            for (int jBlock = blockStartColumn; jBlock < blockEndColumn; ++jBlock) {
+                final int jWidth      = blockWidth(jBlock);
+                final int firstColumn = jBlock * BLOCK_SIZE;
+                final int jStart      = FastMath.max(column,    firstColumn);
+                final int jEnd        = FastMath.min(endColumn + 1, firstColumn + jWidth);
+                final int jLength     = jEnd - jStart;
+
+                // handle one block, row by row
+                final T[] block = blocks[iBlock * blockColumns + jBlock];
+                for (int i = iStart; i < iEnd; ++i) {
+                    System.arraycopy(subMatrix[i - row], jStart - column,
+                                     block, (i - firstRow) * jWidth + (jStart - firstColumn),
+                                     jLength);
+                }
+
+            }
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public FieldMatrix<T> getRowMatrix(final int row) {
+        checkRowIndex(row);
+        final BlockFieldMatrix<T> out = new BlockFieldMatrix<T>(getField(), 1, columns);
+
+        // perform copy block-wise, to ensure good cache behavior
+        final int iBlock  = row / BLOCK_SIZE;
+        final int iRow    = row - iBlock * BLOCK_SIZE;
+        int outBlockIndex = 0;
+        int outIndex      = 0;
+        T[] outBlock = out.blocks[outBlockIndex];
+        for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+            final int jWidth     = blockWidth(jBlock);
+            final T[] block = blocks[iBlock * blockColumns + jBlock];
+            final int available  = outBlock.length - outIndex;
+            if (jWidth > available) {
+                System.arraycopy(block, iRow * jWidth, outBlock, outIndex, available);
+                outBlock = out.blocks[++outBlockIndex];
+                System.arraycopy(block, iRow * jWidth, outBlock, 0, jWidth - available);
+                outIndex = jWidth - available;
+            } else {
+                System.arraycopy(block, iRow * jWidth, outBlock, outIndex, jWidth);
+                outIndex += jWidth;
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setRowMatrix(final int row, final FieldMatrix<T> matrix) {
+        try {
+            setRowMatrix(row, (BlockFieldMatrix<T>) matrix);
+        } catch (ClassCastException cce) {
+            super.setRowMatrix(row, matrix);
+        }
+    }
+
+    /**
+     * Sets the entries in row number <code>row</code>
+     * as a row matrix.  Row indices start at 0.
+     *
+     * @param row the row to be set
+     * @param matrix row matrix (must have one row and the same number of columns
+     * as the instance)
+     * @throws org.apache.commons.math3.exception.OutOfRangeException if the
+     * specified row index is invalid.
+     * @throws MatrixDimensionMismatchException if the matrix dimensions do
+     * not match one instance row.
+     */
+    public void setRowMatrix(final int row, final BlockFieldMatrix<T> matrix) {
+        checkRowIndex(row);
+        final int nCols = getColumnDimension();
+        if ((matrix.getRowDimension() != 1) ||
+            (matrix.getColumnDimension() != nCols)) {
+            throw new MatrixDimensionMismatchException(matrix.getRowDimension(),
+                                                       matrix.getColumnDimension(),
+                                                       1, nCols);
+        }
+
+        // perform copy block-wise, to ensure good cache behavior
+        final int iBlock = row / BLOCK_SIZE;
+        final int iRow   = row - iBlock * BLOCK_SIZE;
+        int mBlockIndex  = 0;
+        int mIndex       = 0;
+        T[] mBlock  = matrix.blocks[mBlockIndex];
+        for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+            final int jWidth     = blockWidth(jBlock);
+            final T[] block = blocks[iBlock * blockColumns + jBlock];
+            final int available  = mBlock.length - mIndex;
+            if (jWidth > available) {
+                System.arraycopy(mBlock, mIndex, block, iRow * jWidth, available);
+                mBlock = matrix.blocks[++mBlockIndex];
+                System.arraycopy(mBlock, 0, block, iRow * jWidth, jWidth - available);
+                mIndex = jWidth - available;
+            } else {
+                System.arraycopy(mBlock, mIndex, block, iRow * jWidth, jWidth);
+                mIndex += jWidth;
+           }
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public FieldMatrix<T> getColumnMatrix(final int column) {
+        checkColumnIndex(column);
+        final BlockFieldMatrix<T> out = new BlockFieldMatrix<T>(getField(), rows, 1);
+
+        // perform copy block-wise, to ensure good cache behavior
+        final int jBlock  = column / BLOCK_SIZE;
+        final int jColumn = column - jBlock * BLOCK_SIZE;
+        final int jWidth  = blockWidth(jBlock);
+        int outBlockIndex = 0;
+        int outIndex      = 0;
+        T[] outBlock = out.blocks[outBlockIndex];
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int iHeight = blockHeight(iBlock);
+            final T[] block = blocks[iBlock * blockColumns + jBlock];
+            for (int i = 0; i < iHeight; ++i) {
+                if (outIndex >= outBlock.length) {
+                    outBlock = out.blocks[++outBlockIndex];
+                    outIndex = 0;
+                }
+                outBlock[outIndex++] = block[i * jWidth + jColumn];
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setColumnMatrix(final int column, final FieldMatrix<T> matrix) {
+        try {
+            setColumnMatrix(column, (BlockFieldMatrix<T>) matrix);
+        } catch (ClassCastException cce) {
+            super.setColumnMatrix(column, matrix);
+        }
+    }
+
+    /**
+     * Sets the entries in column number {@code column}
+     * as a column matrix.  Column indices start at 0.
+     *
+     * @param column Column to be set.
+     * @param matrix Column matrix (must have one column and the same number of rows
+     * as the instance).
+     * @throws org.apache.commons.math3.exception.OutOfRangeException if
+     * the specified column index is invalid.
+     * @throws MatrixDimensionMismatchException if the matrix dimensions do
+     * not match one instance column.
+     */
+    void setColumnMatrix(final int column, final BlockFieldMatrix<T> matrix) {
+        checkColumnIndex(column);
+        final int nRows = getRowDimension();
+        if ((matrix.getRowDimension() != nRows) ||
+            (matrix.getColumnDimension() != 1)) {
+            throw new MatrixDimensionMismatchException(matrix.getRowDimension(),
+                                                       matrix.getColumnDimension(),
+                                                       nRows, 1);
+        }
+
+        // perform copy block-wise, to ensure good cache behavior
+        final int jBlock  = column / BLOCK_SIZE;
+        final int jColumn = column - jBlock * BLOCK_SIZE;
+        final int jWidth  = blockWidth(jBlock);
+        int mBlockIndex = 0;
+        int mIndex      = 0;
+        T[] mBlock = matrix.blocks[mBlockIndex];
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int iHeight = blockHeight(iBlock);
+            final T[] block = blocks[iBlock * blockColumns + jBlock];
+            for (int i = 0; i < iHeight; ++i) {
+                if (mIndex >= mBlock.length) {
+                    mBlock = matrix.blocks[++mBlockIndex];
+                    mIndex = 0;
+                }
+                block[i * jWidth + jColumn] = mBlock[mIndex++];
+            }
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public FieldVector<T> getRowVector(final int row) {
+        checkRowIndex(row);
+        final T[] outData = buildArray(getField(), columns);
+
+        // perform copy block-wise, to ensure good cache behavior
+        final int iBlock  = row / BLOCK_SIZE;
+        final int iRow    = row - iBlock * BLOCK_SIZE;
+        int outIndex      = 0;
+        for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+            final int jWidth     = blockWidth(jBlock);
+            final T[] block = blocks[iBlock * blockColumns + jBlock];
+            System.arraycopy(block, iRow * jWidth, outData, outIndex, jWidth);
+            outIndex += jWidth;
+        }
+
+        return new ArrayFieldVector<T>(getField(), outData, false);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setRowVector(final int row, final FieldVector<T> vector) {
+        try {
+            setRow(row, ((ArrayFieldVector<T>) vector).getDataRef());
+        } catch (ClassCastException cce) {
+            super.setRowVector(row, vector);
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public FieldVector<T> getColumnVector(final int column) {
+        checkColumnIndex(column);
+        final T[] outData = buildArray(getField(), rows);
+
+        // perform copy block-wise, to ensure good cache behavior
+        final int jBlock  = column / BLOCK_SIZE;
+        final int jColumn = column - jBlock * BLOCK_SIZE;
+        final int jWidth  = blockWidth(jBlock);
+        int outIndex      = 0;
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int iHeight = blockHeight(iBlock);
+            final T[] block = blocks[iBlock * blockColumns + jBlock];
+            for (int i = 0; i < iHeight; ++i) {
+                outData[outIndex++] = block[i * jWidth + jColumn];
+            }
+        }
+
+        return new ArrayFieldVector<T>(getField(), outData, false);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setColumnVector(final int column, final FieldVector<T> vector) {
+        try {
+            setColumn(column, ((ArrayFieldVector<T>) vector).getDataRef());
+        } catch (ClassCastException cce) {
+            super.setColumnVector(column, vector);
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T[] getRow(final int row) {
+        checkRowIndex(row);
+        final T[] out = buildArray(getField(), columns);
+
+        // perform copy block-wise, to ensure good cache behavior
+        final int iBlock  = row / BLOCK_SIZE;
+        final int iRow    = row - iBlock * BLOCK_SIZE;
+        int outIndex      = 0;
+        for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+            final int jWidth     = blockWidth(jBlock);
+            final T[] block = blocks[iBlock * blockColumns + jBlock];
+            System.arraycopy(block, iRow * jWidth, out, outIndex, jWidth);
+            outIndex += jWidth;
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setRow(final int row, final T[] array) {
+        checkRowIndex(row);
+        final int nCols = getColumnDimension();
+        if (array.length != nCols) {
+            throw new MatrixDimensionMismatchException(1, array.length, 1, nCols);
+        }
+
+        // perform copy block-wise, to ensure good cache behavior
+        final int iBlock  = row / BLOCK_SIZE;
+        final int iRow    = row - iBlock * BLOCK_SIZE;
+        int outIndex      = 0;
+        for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+            final int jWidth     = blockWidth(jBlock);
+            final T[] block = blocks[iBlock * blockColumns + jBlock];
+            System.arraycopy(array, outIndex, block, iRow * jWidth, jWidth);
+            outIndex += jWidth;
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T[] getColumn(final int column) {
+        checkColumnIndex(column);
+        final T[] out = buildArray(getField(), rows);
+
+        // perform copy block-wise, to ensure good cache behavior
+        final int jBlock  = column / BLOCK_SIZE;
+        final int jColumn = column - jBlock * BLOCK_SIZE;
+        final int jWidth  = blockWidth(jBlock);
+        int outIndex      = 0;
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int iHeight = blockHeight(iBlock);
+            final T[] block = blocks[iBlock * blockColumns + jBlock];
+            for (int i = 0; i < iHeight; ++i) {
+                out[outIndex++] = block[i * jWidth + jColumn];
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setColumn(final int column, final T[] array) {
+        checkColumnIndex(column);
+        final int nRows = getRowDimension();
+        if (array.length != nRows) {
+            throw new MatrixDimensionMismatchException(array.length, 1, nRows, 1);
+        }
+
+        // perform copy block-wise, to ensure good cache behavior
+        final int jBlock  = column / BLOCK_SIZE;
+        final int jColumn = column - jBlock * BLOCK_SIZE;
+        final int jWidth  = blockWidth(jBlock);
+        int outIndex      = 0;
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int iHeight = blockHeight(iBlock);
+            final T[] block = blocks[iBlock * blockColumns + jBlock];
+            for (int i = 0; i < iHeight; ++i) {
+                block[i * jWidth + jColumn] = array[outIndex++];
+            }
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T getEntry(final int row, final int column) {
+        checkRowIndex(row);
+        checkColumnIndex(column);
+
+        final int iBlock = row    / BLOCK_SIZE;
+        final int jBlock = column / BLOCK_SIZE;
+        final int k      = (row    - iBlock * BLOCK_SIZE) * blockWidth(jBlock) +
+            (column - jBlock * BLOCK_SIZE);
+
+        return blocks[iBlock * blockColumns + jBlock][k];
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setEntry(final int row, final int column, final T value) {
+        checkRowIndex(row);
+        checkColumnIndex(column);
+
+        final int iBlock = row    / BLOCK_SIZE;
+        final int jBlock = column / BLOCK_SIZE;
+        final int k      = (row    - iBlock * BLOCK_SIZE) * blockWidth(jBlock) +
+            (column - jBlock * BLOCK_SIZE);
+
+        blocks[iBlock * blockColumns + jBlock][k] = value;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void addToEntry(final int row, final int column, final T increment) {
+        checkRowIndex(row);
+        checkColumnIndex(column);
+
+        final int iBlock = row    / BLOCK_SIZE;
+        final int jBlock = column / BLOCK_SIZE;
+        final int k      = (row    - iBlock * BLOCK_SIZE) * blockWidth(jBlock) +
+            (column - jBlock * BLOCK_SIZE);
+        final T[] blockIJ = blocks[iBlock * blockColumns + jBlock];
+
+        blockIJ[k] = blockIJ[k].add(increment);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void multiplyEntry(final int row, final int column, final T factor) {
+        checkRowIndex(row);
+        checkColumnIndex(column);
+
+        final int iBlock = row    / BLOCK_SIZE;
+        final int jBlock = column / BLOCK_SIZE;
+        final int k      = (row    - iBlock * BLOCK_SIZE) * blockWidth(jBlock) +
+            (column - jBlock * BLOCK_SIZE);
+        final T[] blockIJ = blocks[iBlock * blockColumns + jBlock];
+
+        blockIJ[k] = blockIJ[k].multiply(factor);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public FieldMatrix<T> transpose() {
+        final int nRows = getRowDimension();
+        final int nCols = getColumnDimension();
+        final BlockFieldMatrix<T> out = new BlockFieldMatrix<T>(getField(), nCols, nRows);
+
+        // perform transpose block-wise, to ensure good cache behavior
+        int blockIndex = 0;
+        for (int iBlock = 0; iBlock < blockColumns; ++iBlock) {
+            for (int jBlock = 0; jBlock < blockRows; ++jBlock) {
+
+                // transpose current block
+                final T[] outBlock = out.blocks[blockIndex];
+                final T[] tBlock   = blocks[jBlock * blockColumns + iBlock];
+                final int      pStart   = iBlock * BLOCK_SIZE;
+                final int      pEnd     = FastMath.min(pStart + BLOCK_SIZE, columns);
+                final int      qStart   = jBlock * BLOCK_SIZE;
+                final int      qEnd     = FastMath.min(qStart + BLOCK_SIZE, rows);
+                int k = 0;
+                for (int p = pStart; p < pEnd; ++p) {
+                    final int lInc = pEnd - pStart;
+                    int l = p - pStart;
+                    for (int q = qStart; q < qEnd; ++q) {
+                        outBlock[k] = tBlock[l];
+                        ++k;
+                        l+= lInc;
+                    }
+                }
+
+                // go to next block
+                ++blockIndex;
+
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public int getRowDimension() {
+        return rows;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public int getColumnDimension() {
+        return columns;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T[] operate(final T[] v) {
+        if (v.length != columns) {
+            throw new DimensionMismatchException(v.length, columns);
+        }
+        final T[] out = buildArray(getField(), rows);
+        final T zero = getField().getZero();
+
+        // perform multiplication block-wise, to ensure good cache behavior
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int pStart = iBlock * BLOCK_SIZE;
+            final int pEnd   = FastMath.min(pStart + BLOCK_SIZE, rows);
+            for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+                final T[] block  = blocks[iBlock * blockColumns + jBlock];
+                final int      qStart = jBlock * BLOCK_SIZE;
+                final int      qEnd   = FastMath.min(qStart + BLOCK_SIZE, columns);
+                int k = 0;
+                for (int p = pStart; p < pEnd; ++p) {
+                    T sum = zero;
+                    int q = qStart;
+                    while (q < qEnd - 3) {
+                        sum = sum.
+                              add(block[k].multiply(v[q])).
+                              add(block[k + 1].multiply(v[q + 1])).
+                              add(block[k + 2].multiply(v[q + 2])).
+                              add(block[k + 3].multiply(v[q + 3]));
+                        k += 4;
+                        q += 4;
+                    }
+                    while (q < qEnd) {
+                        sum = sum.add(block[k++].multiply(v[q++]));
+                    }
+                    out[p] = out[p].add(sum);
+                }
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T[] preMultiply(final T[] v) {
+
+        if (v.length != rows) {
+            throw new DimensionMismatchException(v.length, rows);
+        }
+        final T[] out = buildArray(getField(), columns);
+        final T zero = getField().getZero();
+
+        // perform multiplication block-wise, to ensure good cache behavior
+        for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+            final int jWidth  = blockWidth(jBlock);
+            final int jWidth2 = jWidth  + jWidth;
+            final int jWidth3 = jWidth2 + jWidth;
+            final int jWidth4 = jWidth3 + jWidth;
+            final int qStart = jBlock * BLOCK_SIZE;
+            final int qEnd   = FastMath.min(qStart + BLOCK_SIZE, columns);
+            for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+                final T[] block  = blocks[iBlock * blockColumns + jBlock];
+                final int      pStart = iBlock * BLOCK_SIZE;
+                final int      pEnd   = FastMath.min(pStart + BLOCK_SIZE, rows);
+                for (int q = qStart; q < qEnd; ++q) {
+                    int k = q - qStart;
+                    T sum = zero;
+                    int p = pStart;
+                    while (p < pEnd - 3) {
+                        sum = sum.
+                              add(block[k].multiply(v[p])).
+                              add(block[k + jWidth].multiply(v[p + 1])).
+                              add(block[k + jWidth2].multiply(v[p + 2])).
+                              add(block[k + jWidth3].multiply(v[p + 3]));
+                        k += jWidth4;
+                        p += 4;
+                    }
+                    while (p < pEnd) {
+                        sum = sum.add(block[k].multiply(v[p++]));
+                        k += jWidth;
+                    }
+                    out[q] = out[q].add(sum);
+                }
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T walkInRowOrder(final FieldMatrixChangingVisitor<T> visitor) {
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int pStart = iBlock * BLOCK_SIZE;
+            final int pEnd   = FastMath.min(pStart + BLOCK_SIZE, rows);
+            for (int p = pStart; p < pEnd; ++p) {
+                for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+                    final int jWidth = blockWidth(jBlock);
+                    final int qStart = jBlock * BLOCK_SIZE;
+                    final int qEnd   = FastMath.min(qStart + BLOCK_SIZE, columns);
+                    final T[] block = blocks[iBlock * blockColumns + jBlock];
+                    int k = (p - pStart) * jWidth;
+                    for (int q = qStart; q < qEnd; ++q) {
+                        block[k] = visitor.visit(p, q, block[k]);
+                        ++k;
+                    }
+                }
+             }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T walkInRowOrder(final FieldMatrixPreservingVisitor<T> visitor) {
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int pStart = iBlock * BLOCK_SIZE;
+            final int pEnd   = FastMath.min(pStart + BLOCK_SIZE, rows);
+            for (int p = pStart; p < pEnd; ++p) {
+                for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+                    final int jWidth = blockWidth(jBlock);
+                    final int qStart = jBlock * BLOCK_SIZE;
+                    final int qEnd   = FastMath.min(qStart + BLOCK_SIZE, columns);
+                    final T[] block = blocks[iBlock * blockColumns + jBlock];
+                    int k = (p - pStart) * jWidth;
+                    for (int q = qStart; q < qEnd; ++q) {
+                        visitor.visit(p, q, block[k]);
+                        ++k;
+                    }
+                }
+             }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T walkInRowOrder(final FieldMatrixChangingVisitor<T> visitor,
+                            final int startRow, final int endRow,
+                            final int startColumn, final int endColumn) {
+        checkSubMatrixIndex(startRow, endRow, startColumn, endColumn);
+        visitor.start(rows, columns, startRow, endRow, startColumn, endColumn);
+        for (int iBlock = startRow / BLOCK_SIZE; iBlock < 1 + endRow / BLOCK_SIZE; ++iBlock) {
+            final int p0     = iBlock * BLOCK_SIZE;
+            final int pStart = FastMath.max(startRow, p0);
+            final int pEnd   = FastMath.min((iBlock + 1) * BLOCK_SIZE, 1 + endRow);
+            for (int p = pStart; p < pEnd; ++p) {
+                for (int jBlock = startColumn / BLOCK_SIZE; jBlock < 1 + endColumn / BLOCK_SIZE; ++jBlock) {
+                    final int jWidth = blockWidth(jBlock);
+                    final int q0     = jBlock * BLOCK_SIZE;
+                    final int qStart = FastMath.max(startColumn, q0);
+                    final int qEnd   = FastMath.min((jBlock + 1) * BLOCK_SIZE, 1 + endColumn);
+                    final T[] block = blocks[iBlock * blockColumns + jBlock];
+                    int k = (p - p0) * jWidth + qStart - q0;
+                    for (int q = qStart; q < qEnd; ++q) {
+                        block[k] = visitor.visit(p, q, block[k]);
+                        ++k;
+                    }
+                }
+             }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T walkInRowOrder(final FieldMatrixPreservingVisitor<T> visitor,
+                            final int startRow, final int endRow,
+                            final int startColumn, final int endColumn) {
+        checkSubMatrixIndex(startRow, endRow, startColumn, endColumn);
+        visitor.start(rows, columns, startRow, endRow, startColumn, endColumn);
+        for (int iBlock = startRow / BLOCK_SIZE; iBlock < 1 + endRow / BLOCK_SIZE; ++iBlock) {
+            final int p0     = iBlock * BLOCK_SIZE;
+            final int pStart = FastMath.max(startRow, p0);
+            final int pEnd   = FastMath.min((iBlock + 1) * BLOCK_SIZE, 1 + endRow);
+            for (int p = pStart; p < pEnd; ++p) {
+                for (int jBlock = startColumn / BLOCK_SIZE; jBlock < 1 + endColumn / BLOCK_SIZE; ++jBlock) {
+                    final int jWidth = blockWidth(jBlock);
+                    final int q0     = jBlock * BLOCK_SIZE;
+                    final int qStart = FastMath.max(startColumn, q0);
+                    final int qEnd   = FastMath.min((jBlock + 1) * BLOCK_SIZE, 1 + endColumn);
+                    final T[] block = blocks[iBlock * blockColumns + jBlock];
+                    int k = (p - p0) * jWidth + qStart - q0;
+                    for (int q = qStart; q < qEnd; ++q) {
+                        visitor.visit(p, q, block[k]);
+                        ++k;
+                    }
+                }
+             }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T walkInOptimizedOrder(final FieldMatrixChangingVisitor<T> visitor) {
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        int blockIndex = 0;
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int pStart = iBlock * BLOCK_SIZE;
+            final int pEnd   = FastMath.min(pStart + BLOCK_SIZE, rows);
+            for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+                final int qStart = jBlock * BLOCK_SIZE;
+                final int qEnd   = FastMath.min(qStart + BLOCK_SIZE, columns);
+                final T[] block = blocks[blockIndex];
+                int k = 0;
+                for (int p = pStart; p < pEnd; ++p) {
+                    for (int q = qStart; q < qEnd; ++q) {
+                        block[k] = visitor.visit(p, q, block[k]);
+                        ++k;
+                    }
+                }
+                ++blockIndex;
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T walkInOptimizedOrder(final FieldMatrixPreservingVisitor<T> visitor) {
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        int blockIndex = 0;
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int pStart = iBlock * BLOCK_SIZE;
+            final int pEnd   = FastMath.min(pStart + BLOCK_SIZE, rows);
+            for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+                final int qStart = jBlock * BLOCK_SIZE;
+                final int qEnd   = FastMath.min(qStart + BLOCK_SIZE, columns);
+                final T[] block = blocks[blockIndex];
+                int k = 0;
+                for (int p = pStart; p < pEnd; ++p) {
+                    for (int q = qStart; q < qEnd; ++q) {
+                        visitor.visit(p, q, block[k]);
+                        ++k;
+                    }
+                }
+                ++blockIndex;
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T walkInOptimizedOrder(final FieldMatrixChangingVisitor<T> visitor,
+                                       final int startRow, final int endRow,
+                                       final int startColumn, final int endColumn) {
+        checkSubMatrixIndex(startRow, endRow, startColumn, endColumn);
+        visitor.start(rows, columns, startRow, endRow, startColumn, endColumn);
+        for (int iBlock = startRow / BLOCK_SIZE; iBlock < 1 + endRow / BLOCK_SIZE; ++iBlock) {
+            final int p0     = iBlock * BLOCK_SIZE;
+            final int pStart = FastMath.max(startRow, p0);
+            final int pEnd   = FastMath.min((iBlock + 1) * BLOCK_SIZE, 1 + endRow);
+            for (int jBlock = startColumn / BLOCK_SIZE; jBlock < 1 + endColumn / BLOCK_SIZE; ++jBlock) {
+                final int jWidth = blockWidth(jBlock);
+                final int q0     = jBlock * BLOCK_SIZE;
+                final int qStart = FastMath.max(startColumn, q0);
+                final int qEnd   = FastMath.min((jBlock + 1) * BLOCK_SIZE, 1 + endColumn);
+                final T[] block = blocks[iBlock * blockColumns + jBlock];
+                for (int p = pStart; p < pEnd; ++p) {
+                    int k = (p - p0) * jWidth + qStart - q0;
+                    for (int q = qStart; q < qEnd; ++q) {
+                        block[k] = visitor.visit(p, q, block[k]);
+                        ++k;
+                    }
+                }
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T walkInOptimizedOrder(final FieldMatrixPreservingVisitor<T> visitor,
+                                       final int startRow, final int endRow,
+                                       final int startColumn, final int endColumn) {
+        checkSubMatrixIndex(startRow, endRow, startColumn, endColumn);
+        visitor.start(rows, columns, startRow, endRow, startColumn, endColumn);
+        for (int iBlock = startRow / BLOCK_SIZE; iBlock < 1 + endRow / BLOCK_SIZE; ++iBlock) {
+            final int p0     = iBlock * BLOCK_SIZE;
+            final int pStart = FastMath.max(startRow, p0);
+            final int pEnd   = FastMath.min((iBlock + 1) * BLOCK_SIZE, 1 + endRow);
+            for (int jBlock = startColumn / BLOCK_SIZE; jBlock < 1 + endColumn / BLOCK_SIZE; ++jBlock) {
+                final int jWidth = blockWidth(jBlock);
+                final int q0     = jBlock * BLOCK_SIZE;
+                final int qStart = FastMath.max(startColumn, q0);
+                final int qEnd   = FastMath.min((jBlock + 1) * BLOCK_SIZE, 1 + endColumn);
+                final T[] block = blocks[iBlock * blockColumns + jBlock];
+                for (int p = pStart; p < pEnd; ++p) {
+                    int k = (p - p0) * jWidth + qStart - q0;
+                    for (int q = qStart; q < qEnd; ++q) {
+                        visitor.visit(p, q, block[k]);
+                        ++k;
+                    }
+                }
+            }
+        }
+        return visitor.end();
+    }
+
+    /**
+     * Get the height of a block.
+     * @param blockRow row index (in block sense) of the block
+     * @return height (number of rows) of the block
+     */
+    private int blockHeight(final int blockRow) {
+        return (blockRow == blockRows - 1) ? rows - blockRow * BLOCK_SIZE : BLOCK_SIZE;
+    }
+
+    /**
+     * Get the width of a block.
+     * @param blockColumn column index (in block sense) of the block
+     * @return width (number of columns) of the block
+     */
+    private int blockWidth(final int blockColumn) {
+        return (blockColumn == blockColumns - 1) ? columns - blockColumn * BLOCK_SIZE : BLOCK_SIZE;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/BlockRealMatrix.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/BlockRealMatrix.java
new file mode 100644
index 0000000000..f487dabc42
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/BlockRealMatrix.java
@@ -0,0 +1,1536 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import java.io.Serializable;
+import java.util.Arrays;
+
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.NoDataException;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+import org.apache.commons.math3.util.FastMath;
+import org.apache.commons.math3.util.MathUtils;
+
+/**
+ * Cache-friendly implementation of RealMatrix using a flat arrays to store
+ * square blocks of the matrix.
+ * <p>
+ * This implementation is specially designed to be cache-friendly. Square blocks are
+ * stored as small arrays and allow efficient traversal of data both in row major direction
+ * and columns major direction, one block at a time. This greatly increases performances
+ * for algorithms that use crossed directions loops like multiplication or transposition.
+ * </p>
+ * <p>
+ * The size of square blocks is a static parameter. It may be tuned according to the cache
+ * size of the target computer processor. As a rule of thumbs, it should be the largest
+ * value that allows three blocks to be simultaneously cached (this is necessary for example
+ * for matrix multiplication). The default value is to use 52x52 blocks which is well suited
+ * for processors with 64k L1 cache (one block holds 2704 values or 21632 bytes). This value
+ * could be lowered to 36x36 for processors with 32k L1 cache.
+ * </p>
+ * <p>
+ * The regular blocks represent {@link #BLOCK_SIZE} x {@link #BLOCK_SIZE} squares. Blocks
+ * at right hand side and bottom side which may be smaller to fit matrix dimensions. The square
+ * blocks are flattened in row major order in single dimension arrays which are therefore
+ * {@link #BLOCK_SIZE}<sup>2</sup> elements long for regular blocks. The blocks are themselves
+ * organized in row major order.
+ * </p>
+ * <p>
+ * As an example, for a block size of 52x52, a 100x60 matrix would be stored in 4 blocks.
+ * Block 0 would be a double[2704] array holding the upper left 52x52 square, block 1 would be
+ * a double[416] array holding the upper right 52x8 rectangle, block 2 would be a double[2496]
+ * array holding the lower left 48x52 rectangle and block 3 would be a double[384] array
+ * holding the lower right 48x8 rectangle.
+ * </p>
+ * <p>
+ * The layout complexity overhead versus simple mapping of matrices to java
+ * arrays is negligible for small matrices (about 1%). The gain from cache efficiency leads
+ * to up to 3-fold improvements for matrices of moderate to large size.
+ * </p>
+ * @version $Id: BlockRealMatrix.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public class BlockRealMatrix extends AbstractRealMatrix implements Serializable {
+    /** Block size. */
+    public static final int BLOCK_SIZE = 52;
+    /** Serializable version identifier */
+    private static final long serialVersionUID = 4991895511313664478L;
+    /** Blocks of matrix entries. */
+    private final double blocks[][];
+    /** Number of rows of the matrix. */
+    private final int rows;
+    /** Number of columns of the matrix. */
+    private final int columns;
+    /** Number of block rows of the matrix. */
+    private final int blockRows;
+    /** Number of block columns of the matrix. */
+    private final int blockColumns;
+
+    /**
+     * Create a new matrix with the supplied row and column dimensions.
+     *
+     * @param rows  the number of rows in the new matrix
+     * @param columns  the number of columns in the new matrix
+     * @throws org.apache.commons.math3.exception.NotStrictlyPositiveException
+     * if row or column dimension is not positive.
+     */
+    public BlockRealMatrix(final int rows, final int columns) {
+        super(rows, columns);
+        this.rows = rows;
+        this.columns = columns;
+
+        // number of blocks
+        blockRows = (rows + BLOCK_SIZE - 1) / BLOCK_SIZE;
+        blockColumns = (columns + BLOCK_SIZE - 1) / BLOCK_SIZE;
+
+        // allocate storage blocks, taking care of smaller ones at right and bottom
+        blocks = createBlocksLayout(rows, columns);
+    }
+
+    /**
+     * Create a new dense matrix copying entries from raw layout data.
+     * <p>The input array <em>must</em> already be in raw layout.</p>
+     * <p>Calling this constructor is equivalent to call:
+     * <pre>matrix = new BlockRealMatrix(rawData.length, rawData[0].length,
+     *                                   toBlocksLayout(rawData), false);</pre>
+     * </p>
+     *
+     * @param rawData data for new matrix, in raw layout
+     * @throws DimensionMismatchException if the shape of {@code blockData} is
+     * inconsistent with block layout.
+     * @see #BlockRealMatrix(int, int, double[][], boolean)
+     */
+    public BlockRealMatrix(final double[][] rawData) {
+        this(rawData.length, rawData[0].length, toBlocksLayout(rawData), false);
+    }
+
+    /**
+     * Create a new dense matrix copying entries from block layout data.
+     * <p>The input array <em>must</em> already be in blocks layout.</p>
+     *
+     * @param rows Number of rows in the new matrix.
+     * @param columns Number of columns in the new matrix.
+     * @param blockData data for new matrix
+     * @param copyArray Whether the input array will be copied or referenced.
+     * @throws DimensionMismatchException if the shape of {@code blockData} is
+     * inconsistent with block layout.
+     * @see #createBlocksLayout(int, int)
+     * @see #toBlocksLayout(double[][])
+     * @see #BlockRealMatrix(double[][])
+     */
+    public BlockRealMatrix(final int rows, final int columns,
+                           final double[][] blockData, final boolean copyArray) {
+        super(rows, columns);
+        this.rows = rows;
+        this.columns = columns;
+
+        // number of blocks
+        blockRows = (rows + BLOCK_SIZE - 1) / BLOCK_SIZE;
+        blockColumns = (columns + BLOCK_SIZE - 1) / BLOCK_SIZE;
+
+        if (copyArray) {
+            // allocate storage blocks, taking care of smaller ones at right and bottom
+            blocks = new double[blockRows * blockColumns][];
+        } else {
+            // reference existing array
+            blocks = blockData;
+        }
+
+        int index = 0;
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int iHeight = blockHeight(iBlock);
+            for (int jBlock = 0; jBlock < blockColumns; ++jBlock, ++index) {
+                if (blockData[index].length != iHeight * blockWidth(jBlock)) {
+                    throw new DimensionMismatchException(blockData[index].length,
+                                                         iHeight * blockWidth(jBlock));
+                }
+                if (copyArray) {
+                    blocks[index] = blockData[index].clone();
+                }
+            }
+        }
+    }
+
+    /**
+     * Convert a data array from raw layout to blocks layout.
+     * <p>
+     * Raw layout is the straightforward layout where element at row i and
+     * column j is in array element <code>rawData[i][j]</code>. Blocks layout
+     * is the layout used in {@link BlockRealMatrix} instances, where the matrix
+     * is split in square blocks (except at right and bottom side where blocks may
+     * be rectangular to fit matrix size) and each block is stored in a flattened
+     * one-dimensional array.
+     * </p>
+     * <p>
+     * This method creates an array in blocks layout from an input array in raw layout.
+     * It can be used to provide the array argument of the {@link
+     * #BlockRealMatrix(int, int, double[][], boolean)} constructor.
+     * </p>
+     * @param rawData Data array in raw layout.
+     * @return a new data array containing the same entries but in blocks layout.
+     * @throws DimensionMismatchException if {@code rawData} is not rectangular.
+     * @see #createBlocksLayout(int, int)
+     * @see #BlockRealMatrix(int, int, double[][], boolean)
+     */
+    public static double[][] toBlocksLayout(final double[][] rawData) {
+        final int rows = rawData.length;
+        final int columns = rawData[0].length;
+        final int blockRows = (rows    + BLOCK_SIZE - 1) / BLOCK_SIZE;
+        final int blockColumns = (columns + BLOCK_SIZE - 1) / BLOCK_SIZE;
+
+        // safety checks
+        for (int i = 0; i < rawData.length; ++i) {
+            final int length = rawData[i].length;
+            if (length != columns) {
+                throw new DimensionMismatchException(columns, length);
+            }
+        }
+
+        // convert array
+        final double[][] blocks = new double[blockRows * blockColumns][];
+        int blockIndex = 0;
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int pStart = iBlock * BLOCK_SIZE;
+            final int pEnd = FastMath.min(pStart + BLOCK_SIZE, rows);
+            final int iHeight = pEnd - pStart;
+            for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+                final int qStart = jBlock * BLOCK_SIZE;
+                final int qEnd = FastMath.min(qStart + BLOCK_SIZE, columns);
+                final int jWidth = qEnd - qStart;
+
+                // allocate new block
+                final double[] block = new double[iHeight * jWidth];
+                blocks[blockIndex] = block;
+
+                // copy data
+                int index = 0;
+                for (int p = pStart; p < pEnd; ++p) {
+                    System.arraycopy(rawData[p], qStart, block, index, jWidth);
+                    index += jWidth;
+                }
+                ++blockIndex;
+            }
+        }
+
+        return blocks;
+    }
+
+    /**
+     * Create a data array in blocks layout.
+     * <p>
+     * This method can be used to create the array argument of the {@link
+     * #BlockRealMatrix(int, int, double[][], boolean)} constructor.
+     * </p>
+     * @param rows Number of rows in the new matrix.
+     * @param columns Number of columns in the new matrix.
+     * @return a new data array in blocks layout.
+     * @see #toBlocksLayout(double[][])
+     * @see #BlockRealMatrix(int, int, double[][], boolean)
+     */
+    public static double[][] createBlocksLayout(final int rows, final int columns) {
+        final int blockRows = (rows    + BLOCK_SIZE - 1) / BLOCK_SIZE;
+        final int blockColumns = (columns + BLOCK_SIZE - 1) / BLOCK_SIZE;
+
+        final double[][] blocks = new double[blockRows * blockColumns][];
+        int blockIndex = 0;
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int pStart = iBlock * BLOCK_SIZE;
+            final int pEnd = FastMath.min(pStart + BLOCK_SIZE, rows);
+            final int iHeight = pEnd - pStart;
+            for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+                final int qStart = jBlock * BLOCK_SIZE;
+                final int qEnd = FastMath.min(qStart + BLOCK_SIZE, columns);
+                final int jWidth = qEnd - qStart;
+                blocks[blockIndex] = new double[iHeight * jWidth];
+                ++blockIndex;
+            }
+        }
+
+        return blocks;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public BlockRealMatrix createMatrix(final int rowDimension, final int columnDimension) {
+        return new BlockRealMatrix(rowDimension, columnDimension);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public BlockRealMatrix copy() {
+        // create an empty matrix
+        BlockRealMatrix copied = new BlockRealMatrix(rows, columns);
+
+        // copy the blocks
+        for (int i = 0; i < blocks.length; ++i) {
+            System.arraycopy(blocks[i], 0, copied.blocks[i], 0, blocks[i].length);
+        }
+
+        return copied;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public BlockRealMatrix add(final RealMatrix m) {
+        try {
+            return add((BlockRealMatrix) m);
+        } catch (ClassCastException cce) {
+            // safety check
+            MatrixUtils.checkAdditionCompatible(this, m);
+
+            final BlockRealMatrix out = new BlockRealMatrix(rows, columns);
+
+            // perform addition block-wise, to ensure good cache behavior
+            int blockIndex = 0;
+            for (int iBlock = 0; iBlock < out.blockRows; ++iBlock) {
+                for (int jBlock = 0; jBlock < out.blockColumns; ++jBlock) {
+
+                    // perform addition on the current block
+                    final double[] outBlock = out.blocks[blockIndex];
+                    final double[] tBlock   = blocks[blockIndex];
+                    final int pStart = iBlock * BLOCK_SIZE;
+                    final int pEnd = FastMath.min(pStart + BLOCK_SIZE, rows);
+                    final int qStart = jBlock * BLOCK_SIZE;
+                    final int qEnd = FastMath.min(qStart + BLOCK_SIZE, columns);
+                    int k = 0;
+                    for (int p = pStart; p < pEnd; ++p) {
+                        for (int q = qStart; q < qEnd; ++q) {
+                            outBlock[k] = tBlock[k] + m.getEntry(p, q);
+                            ++k;
+                        }
+                    }
+                    // go to next block
+                    ++blockIndex;
+                }
+            }
+
+            return out;
+        }
+    }
+
+    /**
+     * Compute the sum of this matrix and {@code m}.
+     *
+     * @param m Matrix to be added.
+     * @return {@code this} + m.
+     * @throws MatrixDimensionMismatchException if {@code m} is not the same
+     * size as this matrix.
+     */
+    public BlockRealMatrix add(final BlockRealMatrix m) {
+        // safety check
+        MatrixUtils.checkAdditionCompatible(this, m);
+
+        final BlockRealMatrix out = new BlockRealMatrix(rows, columns);
+
+        // perform addition block-wise, to ensure good cache behavior
+        for (int blockIndex = 0; blockIndex < out.blocks.length; ++blockIndex) {
+            final double[] outBlock = out.blocks[blockIndex];
+            final double[] tBlock = blocks[blockIndex];
+            final double[] mBlock = m.blocks[blockIndex];
+            for (int k = 0; k < outBlock.length; ++k) {
+                outBlock[k] = tBlock[k] + mBlock[k];
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public BlockRealMatrix subtract(final RealMatrix m) {
+        try {
+            return subtract((BlockRealMatrix) m);
+        } catch (ClassCastException cce) {
+            // safety check
+            MatrixUtils.checkSubtractionCompatible(this, m);
+
+            final BlockRealMatrix out = new BlockRealMatrix(rows, columns);
+
+            // perform subtraction block-wise, to ensure good cache behavior
+            int blockIndex = 0;
+            for (int iBlock = 0; iBlock < out.blockRows; ++iBlock) {
+                for (int jBlock = 0; jBlock < out.blockColumns; ++jBlock) {
+
+                    // perform subtraction on the current block
+                    final double[] outBlock = out.blocks[blockIndex];
+                    final double[] tBlock = blocks[blockIndex];
+                    final int pStart = iBlock * BLOCK_SIZE;
+                    final int pEnd = FastMath.min(pStart + BLOCK_SIZE, rows);
+                    final int qStart = jBlock * BLOCK_SIZE;
+                    final int qEnd = FastMath.min(qStart + BLOCK_SIZE, columns);
+                    int k = 0;
+                    for (int p = pStart; p < pEnd; ++p) {
+                        for (int q = qStart; q < qEnd; ++q) {
+                            outBlock[k] = tBlock[k] - m.getEntry(p, q);
+                            ++k;
+                        }
+                    }
+                    // go to next block
+                    ++blockIndex;
+                }
+            }
+
+            return out;
+        }
+    }
+
+    /**
+     * Subtract {@code m} from this matrix.
+     *
+     * @param m Matrix to be subtracted.
+     * @return {@code this} - m.
+     * @throws MatrixDimensionMismatchException if {@code m} is not the
+     * same size as this matrix.
+     */
+    public BlockRealMatrix subtract(final BlockRealMatrix m) {
+        // safety check
+        MatrixUtils.checkSubtractionCompatible(this, m);
+
+        final BlockRealMatrix out = new BlockRealMatrix(rows, columns);
+
+        // perform subtraction block-wise, to ensure good cache behavior
+        for (int blockIndex = 0; blockIndex < out.blocks.length; ++blockIndex) {
+            final double[] outBlock = out.blocks[blockIndex];
+            final double[] tBlock = blocks[blockIndex];
+            final double[] mBlock = m.blocks[blockIndex];
+            for (int k = 0; k < outBlock.length; ++k) {
+                outBlock[k] = tBlock[k] - mBlock[k];
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public BlockRealMatrix scalarAdd(final double d) {
+
+        final BlockRealMatrix out = new BlockRealMatrix(rows, columns);
+
+        // perform subtraction block-wise, to ensure good cache behavior
+        for (int blockIndex = 0; blockIndex < out.blocks.length; ++blockIndex) {
+            final double[] outBlock = out.blocks[blockIndex];
+            final double[] tBlock = blocks[blockIndex];
+            for (int k = 0; k < outBlock.length; ++k) {
+                outBlock[k] = tBlock[k] + d;
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealMatrix scalarMultiply(final double d) {
+        final BlockRealMatrix out = new BlockRealMatrix(rows, columns);
+
+        // perform subtraction block-wise, to ensure good cache behavior
+        for (int blockIndex = 0; blockIndex < out.blocks.length; ++blockIndex) {
+            final double[] outBlock = out.blocks[blockIndex];
+            final double[] tBlock = blocks[blockIndex];
+            for (int k = 0; k < outBlock.length; ++k) {
+                outBlock[k] = tBlock[k] * d;
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public BlockRealMatrix multiply(final RealMatrix m) {
+        try {
+            return multiply((BlockRealMatrix) m);
+        } catch (ClassCastException cce) {
+            // safety check
+            MatrixUtils.checkMultiplicationCompatible(this, m);
+
+            final BlockRealMatrix out = new BlockRealMatrix(rows, m.getColumnDimension());
+
+            // perform multiplication block-wise, to ensure good cache behavior
+            int blockIndex = 0;
+            for (int iBlock = 0; iBlock < out.blockRows; ++iBlock) {
+                final int pStart = iBlock * BLOCK_SIZE;
+                final int pEnd = FastMath.min(pStart + BLOCK_SIZE, rows);
+
+                for (int jBlock = 0; jBlock < out.blockColumns; ++jBlock) {
+                    final int qStart = jBlock * BLOCK_SIZE;
+                    final int qEnd = FastMath.min(qStart + BLOCK_SIZE, m.getColumnDimension());
+
+                    // select current block
+                    final double[] outBlock = out.blocks[blockIndex];
+
+                    // perform multiplication on current block
+                    for (int kBlock = 0; kBlock < blockColumns; ++kBlock) {
+                        final int kWidth = blockWidth(kBlock);
+                        final double[] tBlock = blocks[iBlock * blockColumns + kBlock];
+                        final int rStart = kBlock * BLOCK_SIZE;
+                        int k = 0;
+                        for (int p = pStart; p < pEnd; ++p) {
+                            final int lStart = (p - pStart) * kWidth;
+                            final int lEnd = lStart + kWidth;
+                            for (int q = qStart; q < qEnd; ++q) {
+                                double sum = 0;
+                                int r = rStart;
+                                for (int l = lStart; l < lEnd; ++l) {
+                                    sum += tBlock[l] * m.getEntry(r, q);
+                                    ++r;
+                                }
+                                outBlock[k] += sum;
+                                ++k;
+                            }
+                        }
+                    }
+                    // go to next block
+                    ++blockIndex;
+                }
+            }
+
+            return out;
+        }
+    }
+
+    /**
+     * Returns the result of postmultiplying this by {@code m}.
+     *
+     * @param m Matrix to postmultiply by.
+     * @return {@code this} * m.
+     * @throws MatrixDimensionMismatchException if the matrices are not
+     * compatible.
+     */
+    public BlockRealMatrix multiply(BlockRealMatrix m) {
+        // safety check
+        MatrixUtils.checkMultiplicationCompatible(this, m);
+
+        final BlockRealMatrix out = new BlockRealMatrix(rows, m.columns);
+
+        // perform multiplication block-wise, to ensure good cache behavior
+        int blockIndex = 0;
+        for (int iBlock = 0; iBlock < out.blockRows; ++iBlock) {
+
+            final int pStart = iBlock * BLOCK_SIZE;
+            final int pEnd = FastMath.min(pStart + BLOCK_SIZE, rows);
+
+            for (int jBlock = 0; jBlock < out.blockColumns; ++jBlock) {
+                final int jWidth = out.blockWidth(jBlock);
+                final int jWidth2 = jWidth  + jWidth;
+                final int jWidth3 = jWidth2 + jWidth;
+                final int jWidth4 = jWidth3 + jWidth;
+
+                // select current block
+                final double[] outBlock = out.blocks[blockIndex];
+
+                // perform multiplication on current block
+                for (int kBlock = 0; kBlock < blockColumns; ++kBlock) {
+                    final int kWidth = blockWidth(kBlock);
+                    final double[] tBlock = blocks[iBlock * blockColumns + kBlock];
+                    final double[] mBlock = m.blocks[kBlock * m.blockColumns + jBlock];
+                    int k = 0;
+                    for (int p = pStart; p < pEnd; ++p) {
+                        final int lStart = (p - pStart) * kWidth;
+                        final int lEnd = lStart + kWidth;
+                        for (int nStart = 0; nStart < jWidth; ++nStart) {
+                            double sum = 0;
+                            int l = lStart;
+                            int n = nStart;
+                            while (l < lEnd - 3) {
+                                sum += tBlock[l] * mBlock[n] +
+                                       tBlock[l + 1] * mBlock[n + jWidth] +
+                                       tBlock[l + 2] * mBlock[n + jWidth2] +
+                                       tBlock[l + 3] * mBlock[n + jWidth3];
+                                l += 4;
+                                n += jWidth4;
+                            }
+                            while (l < lEnd) {
+                                sum += tBlock[l++] * mBlock[n];
+                                n += jWidth;
+                            }
+                            outBlock[k] += sum;
+                            ++k;
+                        }
+                    }
+                }
+                // go to next block
+                ++blockIndex;
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double[][] getData() {
+        final double[][] data = new double[getRowDimension()][getColumnDimension()];
+        final int lastColumns = columns - (blockColumns - 1) * BLOCK_SIZE;
+
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int pStart = iBlock * BLOCK_SIZE;
+            final int pEnd = FastMath.min(pStart + BLOCK_SIZE, rows);
+            int regularPos = 0;
+            int lastPos = 0;
+            for (int p = pStart; p < pEnd; ++p) {
+                final double[] dataP = data[p];
+                int blockIndex = iBlock * blockColumns;
+                int dataPos = 0;
+                for (int jBlock = 0; jBlock < blockColumns - 1; ++jBlock) {
+                    System.arraycopy(blocks[blockIndex++], regularPos, dataP, dataPos, BLOCK_SIZE);
+                    dataPos += BLOCK_SIZE;
+                }
+                System.arraycopy(blocks[blockIndex], lastPos, dataP, dataPos, lastColumns);
+                regularPos += BLOCK_SIZE;
+                lastPos    += lastColumns;
+            }
+        }
+
+        return data;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double getNorm() {
+        final double[] colSums = new double[BLOCK_SIZE];
+        double maxColSum = 0;
+        for (int jBlock = 0; jBlock < blockColumns; jBlock++) {
+            final int jWidth = blockWidth(jBlock);
+            Arrays.fill(colSums, 0, jWidth, 0.0);
+            for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+                final int iHeight = blockHeight(iBlock);
+                final double[] block = blocks[iBlock * blockColumns + jBlock];
+                for (int j = 0; j < jWidth; ++j) {
+                    double sum = 0;
+                    for (int i = 0; i < iHeight; ++i) {
+                        sum += FastMath.abs(block[i * jWidth + j]);
+                    }
+                    colSums[j] += sum;
+                }
+            }
+            for (int j = 0; j < jWidth; ++j) {
+                maxColSum = FastMath.max(maxColSum, colSums[j]);
+            }
+        }
+        return maxColSum;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double getFrobeniusNorm() {
+        double sum2 = 0;
+        for (int blockIndex = 0; blockIndex < blocks.length; ++blockIndex) {
+            for (final double entry : blocks[blockIndex]) {
+                sum2 += entry * entry;
+            }
+        }
+        return FastMath.sqrt(sum2);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public BlockRealMatrix getSubMatrix(final int startRow, final int endRow,
+                                        final int startColumn, final int endColumn) {
+        // safety checks
+        MatrixUtils.checkSubMatrixIndex(this, startRow, endRow, startColumn, endColumn);
+
+        // create the output matrix
+        final BlockRealMatrix out =
+            new BlockRealMatrix(endRow - startRow + 1, endColumn - startColumn + 1);
+
+        // compute blocks shifts
+        final int blockStartRow = startRow / BLOCK_SIZE;
+        final int rowsShift = startRow % BLOCK_SIZE;
+        final int blockStartColumn = startColumn / BLOCK_SIZE;
+        final int columnsShift = startColumn % BLOCK_SIZE;
+
+        // perform extraction block-wise, to ensure good cache behavior
+        int pBlock = blockStartRow;
+        for (int iBlock = 0; iBlock < out.blockRows; ++iBlock) {
+            final int iHeight = out.blockHeight(iBlock);
+            int qBlock = blockStartColumn;
+            for (int jBlock = 0; jBlock < out.blockColumns; ++jBlock) {
+                final int jWidth = out.blockWidth(jBlock);
+
+                // handle one block of the output matrix
+                final int outIndex = iBlock * out.blockColumns + jBlock;
+                final double[] outBlock = out.blocks[outIndex];
+                final int index = pBlock * blockColumns + qBlock;
+                final int width = blockWidth(qBlock);
+
+                final int heightExcess = iHeight + rowsShift - BLOCK_SIZE;
+                final int widthExcess = jWidth + columnsShift - BLOCK_SIZE;
+                if (heightExcess > 0) {
+                    // the submatrix block spans on two blocks rows from the original matrix
+                    if (widthExcess > 0) {
+                        // the submatrix block spans on two blocks columns from the original matrix
+                        final int width2 = blockWidth(qBlock + 1);
+                        copyBlockPart(blocks[index], width,
+                                      rowsShift, BLOCK_SIZE,
+                                      columnsShift, BLOCK_SIZE,
+                                      outBlock, jWidth, 0, 0);
+                        copyBlockPart(blocks[index + 1], width2,
+                                      rowsShift, BLOCK_SIZE,
+                                      0, widthExcess,
+                                      outBlock, jWidth, 0, jWidth - widthExcess);
+                        copyBlockPart(blocks[index + blockColumns], width,
+                                      0, heightExcess,
+                                      columnsShift, BLOCK_SIZE,
+                                      outBlock, jWidth, iHeight - heightExcess, 0);
+                        copyBlockPart(blocks[index + blockColumns + 1], width2,
+                                      0, heightExcess,
+                                      0, widthExcess,
+                                      outBlock, jWidth, iHeight - heightExcess, jWidth - widthExcess);
+                    } else {
+                        // the submatrix block spans on one block column from the original matrix
+                        copyBlockPart(blocks[index], width,
+                                      rowsShift, BLOCK_SIZE,
+                                      columnsShift, jWidth + columnsShift,
+                                      outBlock, jWidth, 0, 0);
+                        copyBlockPart(blocks[index + blockColumns], width,
+                                      0, heightExcess,
+                                      columnsShift, jWidth + columnsShift,
+                                      outBlock, jWidth, iHeight - heightExcess, 0);
+                    }
+                } else {
+                    // the submatrix block spans on one block row from the original matrix
+                    if (widthExcess > 0) {
+                        // the submatrix block spans on two blocks columns from the original matrix
+                        final int width2 = blockWidth(qBlock + 1);
+                        copyBlockPart(blocks[index], width,
+                                      rowsShift, iHeight + rowsShift,
+                                      columnsShift, BLOCK_SIZE,
+                                      outBlock, jWidth, 0, 0);
+                        copyBlockPart(blocks[index + 1], width2,
+                                      rowsShift, iHeight + rowsShift,
+                                      0, widthExcess,
+                                      outBlock, jWidth, 0, jWidth - widthExcess);
+                    } else {
+                        // the submatrix block spans on one block column from the original matrix
+                        copyBlockPart(blocks[index], width,
+                                      rowsShift, iHeight + rowsShift,
+                                      columnsShift, jWidth + columnsShift,
+                                      outBlock, jWidth, 0, 0);
+                    }
+               }
+                ++qBlock;
+            }
+            ++pBlock;
+        }
+
+        return out;
+    }
+
+    /**
+     * Copy a part of a block into another one
+     * <p>This method can be called only when the specified part fits in both
+     * blocks, no verification is done here.</p>
+     * @param srcBlock source block
+     * @param srcWidth source block width ({@link #BLOCK_SIZE} or smaller)
+     * @param srcStartRow start row in the source block
+     * @param srcEndRow end row (exclusive) in the source block
+     * @param srcStartColumn start column in the source block
+     * @param srcEndColumn end column (exclusive) in the source block
+     * @param dstBlock destination block
+     * @param dstWidth destination block width ({@link #BLOCK_SIZE} or smaller)
+     * @param dstStartRow start row in the destination block
+     * @param dstStartColumn start column in the destination block
+     */
+    private void copyBlockPart(final double[] srcBlock, final int srcWidth,
+                               final int srcStartRow, final int srcEndRow,
+                               final int srcStartColumn, final int srcEndColumn,
+                               final double[] dstBlock, final int dstWidth,
+                               final int dstStartRow, final int dstStartColumn) {
+        final int length = srcEndColumn - srcStartColumn;
+        int srcPos = srcStartRow * srcWidth + srcStartColumn;
+        int dstPos = dstStartRow * dstWidth + dstStartColumn;
+        for (int srcRow = srcStartRow; srcRow < srcEndRow; ++srcRow) {
+            System.arraycopy(srcBlock, srcPos, dstBlock, dstPos, length);
+            srcPos += srcWidth;
+            dstPos += dstWidth;
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setSubMatrix(final double[][] subMatrix, final int row, final int column)
+        throws NoDataException, NullArgumentException {
+        // safety checks
+        MathUtils.checkNotNull(subMatrix);
+        final int refLength = subMatrix[0].length;
+        if (refLength == 0) {
+            throw new NoDataException(LocalizedFormats.AT_LEAST_ONE_COLUMN);
+        }
+        final int endRow = row + subMatrix.length - 1;
+        final int endColumn = column + refLength - 1;
+        MatrixUtils.checkSubMatrixIndex(this, row, endRow, column, endColumn);
+        for (final double[] subRow : subMatrix) {
+            if (subRow.length != refLength) {
+                throw new DimensionMismatchException(refLength, subRow.length);
+            }
+        }
+
+        // compute blocks bounds
+        final int blockStartRow = row / BLOCK_SIZE;
+        final int blockEndRow = (endRow + BLOCK_SIZE) / BLOCK_SIZE;
+        final int blockStartColumn = column / BLOCK_SIZE;
+        final int blockEndColumn = (endColumn + BLOCK_SIZE) / BLOCK_SIZE;
+
+        // perform copy block-wise, to ensure good cache behavior
+        for (int iBlock = blockStartRow; iBlock < blockEndRow; ++iBlock) {
+            final int iHeight = blockHeight(iBlock);
+            final int firstRow = iBlock * BLOCK_SIZE;
+            final int iStart = FastMath.max(row,    firstRow);
+            final int iEnd = FastMath.min(endRow + 1, firstRow + iHeight);
+
+            for (int jBlock = blockStartColumn; jBlock < blockEndColumn; ++jBlock) {
+                final int jWidth = blockWidth(jBlock);
+                final int firstColumn = jBlock * BLOCK_SIZE;
+                final int jStart = FastMath.max(column,    firstColumn);
+                final int jEnd = FastMath.min(endColumn + 1, firstColumn + jWidth);
+                final int jLength = jEnd - jStart;
+
+                // handle one block, row by row
+                final double[] block = blocks[iBlock * blockColumns + jBlock];
+                for (int i = iStart; i < iEnd; ++i) {
+                    System.arraycopy(subMatrix[i - row], jStart - column,
+                                     block, (i - firstRow) * jWidth + (jStart - firstColumn),
+                                     jLength);
+                }
+
+            }
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public BlockRealMatrix getRowMatrix(final int row) {
+        MatrixUtils.checkRowIndex(this, row);
+        final BlockRealMatrix out = new BlockRealMatrix(1, columns);
+
+        // perform copy block-wise, to ensure good cache behavior
+        final int iBlock = row / BLOCK_SIZE;
+        final int iRow = row - iBlock * BLOCK_SIZE;
+        int outBlockIndex = 0;
+        int outIndex = 0;
+        double[] outBlock = out.blocks[outBlockIndex];
+        for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+            final int jWidth = blockWidth(jBlock);
+            final double[] block = blocks[iBlock * blockColumns + jBlock];
+            final int available = outBlock.length - outIndex;
+            if (jWidth > available) {
+                System.arraycopy(block, iRow * jWidth, outBlock, outIndex, available);
+                outBlock = out.blocks[++outBlockIndex];
+                System.arraycopy(block, iRow * jWidth, outBlock, 0, jWidth - available);
+                outIndex = jWidth - available;
+            } else {
+                System.arraycopy(block, iRow * jWidth, outBlock, outIndex, jWidth);
+                outIndex += jWidth;
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setRowMatrix(final int row, final RealMatrix matrix) {
+        try {
+            setRowMatrix(row, (BlockRealMatrix) matrix);
+        } catch (ClassCastException cce) {
+            super.setRowMatrix(row, matrix);
+        }
+    }
+
+    /**
+     * Sets the entries in row number <code>row</code>
+     * as a row matrix.  Row indices start at 0.
+     *
+     * @param row the row to be set
+     * @param matrix row matrix (must have one row and the same number of columns
+     * as the instance)
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the specified row index is invalid.
+     * @throws MatrixDimensionMismatchException if the matrix dimensions do
+     * not match one instance row.
+     */
+    public void setRowMatrix(final int row, final BlockRealMatrix matrix) {
+        MatrixUtils.checkRowIndex(this, row);
+        final int nCols = getColumnDimension();
+        if ((matrix.getRowDimension() != 1) ||
+            (matrix.getColumnDimension() != nCols)) {
+            throw new MatrixDimensionMismatchException(matrix.getRowDimension(),
+                                                       matrix.getColumnDimension(),
+                                                       1, nCols);
+        }
+
+        // perform copy block-wise, to ensure good cache behavior
+        final int iBlock = row / BLOCK_SIZE;
+        final int iRow = row - iBlock * BLOCK_SIZE;
+        int mBlockIndex = 0;
+        int mIndex = 0;
+        double[] mBlock = matrix.blocks[mBlockIndex];
+        for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+            final int jWidth = blockWidth(jBlock);
+            final double[] block = blocks[iBlock * blockColumns + jBlock];
+            final int available  = mBlock.length - mIndex;
+            if (jWidth > available) {
+                System.arraycopy(mBlock, mIndex, block, iRow * jWidth, available);
+                mBlock = matrix.blocks[++mBlockIndex];
+                System.arraycopy(mBlock, 0, block, iRow * jWidth, jWidth - available);
+                mIndex = jWidth - available;
+            } else {
+                System.arraycopy(mBlock, mIndex, block, iRow * jWidth, jWidth);
+                mIndex += jWidth;
+           }
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public BlockRealMatrix getColumnMatrix(final int column) {
+        MatrixUtils.checkColumnIndex(this, column);
+        final BlockRealMatrix out = new BlockRealMatrix(rows, 1);
+
+        // perform copy block-wise, to ensure good cache behavior
+        final int jBlock = column / BLOCK_SIZE;
+        final int jColumn = column - jBlock * BLOCK_SIZE;
+        final int jWidth = blockWidth(jBlock);
+        int outBlockIndex = 0;
+        int outIndex = 0;
+        double[] outBlock = out.blocks[outBlockIndex];
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int iHeight = blockHeight(iBlock);
+            final double[] block = blocks[iBlock * blockColumns + jBlock];
+            for (int i = 0; i < iHeight; ++i) {
+                if (outIndex >= outBlock.length) {
+                    outBlock = out.blocks[++outBlockIndex];
+                    outIndex = 0;
+                }
+                outBlock[outIndex++] = block[i * jWidth + jColumn];
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setColumnMatrix(final int column, final RealMatrix matrix) {
+        try {
+            setColumnMatrix(column, (BlockRealMatrix) matrix);
+        } catch (ClassCastException cce) {
+            super.setColumnMatrix(column, matrix);
+        }
+    }
+
+    /**
+     * Sets the entries in column number <code>column</code>
+     * as a column matrix.  Column indices start at 0.
+     *
+     * @param column the column to be set
+     * @param matrix column matrix (must have one column and the same number of rows
+     * as the instance)
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the specified column index is invalid.
+     * @throws MatrixDimensionMismatchException if the matrix dimensions do
+     * not match one instance column.
+     */
+    void setColumnMatrix(final int column, final BlockRealMatrix matrix) {
+        MatrixUtils.checkColumnIndex(this, column);
+        final int nRows = getRowDimension();
+        if ((matrix.getRowDimension() != nRows) ||
+            (matrix.getColumnDimension() != 1)) {
+            throw new MatrixDimensionMismatchException(matrix.getRowDimension(),
+                                                       matrix.getColumnDimension(),
+                                                       nRows, 1);
+        }
+
+        // perform copy block-wise, to ensure good cache behavior
+        final int jBlock = column / BLOCK_SIZE;
+        final int jColumn = column - jBlock * BLOCK_SIZE;
+        final int jWidth = blockWidth(jBlock);
+        int mBlockIndex = 0;
+        int mIndex = 0;
+        double[] mBlock = matrix.blocks[mBlockIndex];
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int iHeight = blockHeight(iBlock);
+            final double[] block = blocks[iBlock * blockColumns + jBlock];
+            for (int i = 0; i < iHeight; ++i) {
+                if (mIndex >= mBlock.length) {
+                    mBlock = matrix.blocks[++mBlockIndex];
+                    mIndex = 0;
+                }
+                block[i * jWidth + jColumn] = mBlock[mIndex++];
+            }
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector getRowVector(final int row) {
+        MatrixUtils.checkRowIndex(this, row);
+        final double[] outData = new double[columns];
+
+        // perform copy block-wise, to ensure good cache behavior
+        final int iBlock = row / BLOCK_SIZE;
+        final int iRow = row - iBlock * BLOCK_SIZE;
+        int outIndex = 0;
+        for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+            final int jWidth = blockWidth(jBlock);
+            final double[] block = blocks[iBlock * blockColumns + jBlock];
+            System.arraycopy(block, iRow * jWidth, outData, outIndex, jWidth);
+            outIndex += jWidth;
+        }
+
+        return new ArrayRealVector(outData, false);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setRowVector(final int row, final RealVector vector) {
+        try {
+            setRow(row, ((ArrayRealVector) vector).getDataRef());
+        } catch (ClassCastException cce) {
+            super.setRowVector(row, vector);
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector getColumnVector(final int column) {
+        MatrixUtils.checkColumnIndex(this, column);
+        final double[] outData = new double[rows];
+
+        // perform copy block-wise, to ensure good cache behavior
+        final int jBlock = column / BLOCK_SIZE;
+        final int jColumn = column - jBlock * BLOCK_SIZE;
+        final int jWidth = blockWidth(jBlock);
+        int outIndex = 0;
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int iHeight = blockHeight(iBlock);
+            final double[] block = blocks[iBlock * blockColumns + jBlock];
+            for (int i = 0; i < iHeight; ++i) {
+                outData[outIndex++] = block[i * jWidth + jColumn];
+            }
+        }
+
+        return new ArrayRealVector(outData, false);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setColumnVector(final int column, final RealVector vector) {
+        try {
+            setColumn(column, ((ArrayRealVector) vector).getDataRef());
+        } catch (ClassCastException cce) {
+            super.setColumnVector(column, vector);
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double[] getRow(final int row) {
+        MatrixUtils.checkRowIndex(this, row);
+        final double[] out = new double[columns];
+
+        // perform copy block-wise, to ensure good cache behavior
+        final int iBlock = row / BLOCK_SIZE;
+        final int iRow = row - iBlock * BLOCK_SIZE;
+        int outIndex = 0;
+        for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+            final int jWidth     = blockWidth(jBlock);
+            final double[] block = blocks[iBlock * blockColumns + jBlock];
+            System.arraycopy(block, iRow * jWidth, out, outIndex, jWidth);
+            outIndex += jWidth;
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setRow(final int row, final double[] array) {
+        MatrixUtils.checkRowIndex(this, row);
+        final int nCols = getColumnDimension();
+        if (array.length != nCols) {
+            throw new MatrixDimensionMismatchException(1, array.length, 1, nCols);
+        }
+
+        // perform copy block-wise, to ensure good cache behavior
+        final int iBlock = row / BLOCK_SIZE;
+        final int iRow = row - iBlock * BLOCK_SIZE;
+        int outIndex = 0;
+        for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+            final int jWidth     = blockWidth(jBlock);
+            final double[] block = blocks[iBlock * blockColumns + jBlock];
+            System.arraycopy(array, outIndex, block, iRow * jWidth, jWidth);
+            outIndex += jWidth;
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double[] getColumn(final int column) {
+        MatrixUtils.checkColumnIndex(this, column);
+        final double[] out = new double[rows];
+
+        // perform copy block-wise, to ensure good cache behavior
+        final int jBlock  = column / BLOCK_SIZE;
+        final int jColumn = column - jBlock * BLOCK_SIZE;
+        final int jWidth  = blockWidth(jBlock);
+        int outIndex = 0;
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int iHeight = blockHeight(iBlock);
+            final double[] block = blocks[iBlock * blockColumns + jBlock];
+            for (int i = 0; i < iHeight; ++i) {
+                out[outIndex++] = block[i * jWidth + jColumn];
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setColumn(final int column, final double[] array) {
+        MatrixUtils.checkColumnIndex(this, column);
+        final int nRows = getRowDimension();
+        if (array.length != nRows) {
+            throw new MatrixDimensionMismatchException(array.length, 1, nRows, 1);
+        }
+
+        // perform copy block-wise, to ensure good cache behavior
+        final int jBlock  = column / BLOCK_SIZE;
+        final int jColumn = column - jBlock * BLOCK_SIZE;
+        final int jWidth = blockWidth(jBlock);
+        int outIndex = 0;
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int iHeight = blockHeight(iBlock);
+            final double[] block = blocks[iBlock * blockColumns + jBlock];
+            for (int i = 0; i < iHeight; ++i) {
+                block[i * jWidth + jColumn] = array[outIndex++];
+            }
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double getEntry(final int row, final int column) {
+        MatrixUtils.checkMatrixIndex(this, row, column);
+        final int iBlock = row / BLOCK_SIZE;
+        final int jBlock = column / BLOCK_SIZE;
+        final int k = (row - iBlock * BLOCK_SIZE) * blockWidth(jBlock) +
+            (column - jBlock * BLOCK_SIZE);
+        return blocks[iBlock * blockColumns + jBlock][k];
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setEntry(final int row, final int column, final double value) {
+        MatrixUtils.checkMatrixIndex(this, row, column);
+        final int iBlock = row / BLOCK_SIZE;
+        final int jBlock = column / BLOCK_SIZE;
+        final int k = (row - iBlock * BLOCK_SIZE) * blockWidth(jBlock) +
+            (column - jBlock * BLOCK_SIZE);
+        blocks[iBlock * blockColumns + jBlock][k] = value;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void addToEntry(final int row, final int column, final double increment) {
+        MatrixUtils.checkMatrixIndex(this, row, column);
+        final int iBlock = row    / BLOCK_SIZE;
+        final int jBlock = column / BLOCK_SIZE;
+        final int k = (row    - iBlock * BLOCK_SIZE) * blockWidth(jBlock) +
+            (column - jBlock * BLOCK_SIZE);
+        blocks[iBlock * blockColumns + jBlock][k] += increment;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void multiplyEntry(final int row, final int column, final double factor) {
+        MatrixUtils.checkMatrixIndex(this, row, column);
+        final int iBlock = row / BLOCK_SIZE;
+        final int jBlock = column / BLOCK_SIZE;
+        final int k = (row - iBlock * BLOCK_SIZE) * blockWidth(jBlock) +
+            (column - jBlock * BLOCK_SIZE);
+        blocks[iBlock * blockColumns + jBlock][k] *= factor;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public BlockRealMatrix transpose() {
+        final int nRows = getRowDimension();
+        final int nCols = getColumnDimension();
+        final BlockRealMatrix out = new BlockRealMatrix(nCols, nRows);
+
+        // perform transpose block-wise, to ensure good cache behavior
+        int blockIndex = 0;
+        for (int iBlock = 0; iBlock < blockColumns; ++iBlock) {
+            for (int jBlock = 0; jBlock < blockRows; ++jBlock) {
+                // transpose current block
+                final double[] outBlock = out.blocks[blockIndex];
+                final double[] tBlock = blocks[jBlock * blockColumns + iBlock];
+                final int pStart = iBlock * BLOCK_SIZE;
+                final int pEnd = FastMath.min(pStart + BLOCK_SIZE, columns);
+                final int qStart = jBlock * BLOCK_SIZE;
+                final int qEnd = FastMath.min(qStart + BLOCK_SIZE, rows);
+                int k = 0;
+                for (int p = pStart; p < pEnd; ++p) {
+                    final int lInc = pEnd - pStart;
+                    int l = p - pStart;
+                    for (int q = qStart; q < qEnd; ++q) {
+                        outBlock[k] = tBlock[l];
+                        ++k;
+                        l+= lInc;
+                    }
+                }
+                // go to next block
+                ++blockIndex;
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public int getRowDimension() {
+        return rows;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public int getColumnDimension() {
+        return columns;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double[] operate(final double[] v) {
+        if (v.length != columns) {
+            throw new DimensionMismatchException(v.length, columns);
+        }
+        final double[] out = new double[rows];
+
+        // perform multiplication block-wise, to ensure good cache behavior
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int pStart = iBlock * BLOCK_SIZE;
+            final int pEnd = FastMath.min(pStart + BLOCK_SIZE, rows);
+            for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+                final double[] block  = blocks[iBlock * blockColumns + jBlock];
+                final int qStart = jBlock * BLOCK_SIZE;
+                final int qEnd = FastMath.min(qStart + BLOCK_SIZE, columns);
+                int k = 0;
+                for (int p = pStart; p < pEnd; ++p) {
+                    double sum = 0;
+                    int q = qStart;
+                    while (q < qEnd - 3) {
+                        sum += block[k]     * v[q]     +
+                               block[k + 1] * v[q + 1] +
+                               block[k + 2] * v[q + 2] +
+                               block[k + 3] * v[q + 3];
+                        k += 4;
+                        q += 4;
+                    }
+                    while (q < qEnd) {
+                        sum += block[k++] * v[q++];
+                    }
+                    out[p] += sum;
+                }
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double[] preMultiply(final double[] v) {
+        if (v.length != rows) {
+            throw new DimensionMismatchException(v.length, rows);
+        }
+        final double[] out = new double[columns];
+
+        // perform multiplication block-wise, to ensure good cache behavior
+        for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+            final int jWidth  = blockWidth(jBlock);
+            final int jWidth2 = jWidth  + jWidth;
+            final int jWidth3 = jWidth2 + jWidth;
+            final int jWidth4 = jWidth3 + jWidth;
+            final int qStart = jBlock * BLOCK_SIZE;
+            final int qEnd = FastMath.min(qStart + BLOCK_SIZE, columns);
+            for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+                final double[] block  = blocks[iBlock * blockColumns + jBlock];
+                final int pStart = iBlock * BLOCK_SIZE;
+                final int pEnd = FastMath.min(pStart + BLOCK_SIZE, rows);
+                for (int q = qStart; q < qEnd; ++q) {
+                    int k = q - qStart;
+                    double sum = 0;
+                    int p = pStart;
+                    while (p < pEnd - 3) {
+                        sum += block[k]           * v[p]     +
+                               block[k + jWidth]  * v[p + 1] +
+                               block[k + jWidth2] * v[p + 2] +
+                               block[k + jWidth3] * v[p + 3];
+                        k += jWidth4;
+                        p += 4;
+                    }
+                    while (p < pEnd) {
+                        sum += block[k] * v[p++];
+                        k += jWidth;
+                    }
+                    out[q] += sum;
+                }
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double walkInRowOrder(final RealMatrixChangingVisitor visitor) {
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int pStart = iBlock * BLOCK_SIZE;
+            final int pEnd = FastMath.min(pStart + BLOCK_SIZE, rows);
+            for (int p = pStart; p < pEnd; ++p) {
+                for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+                    final int jWidth = blockWidth(jBlock);
+                    final int qStart = jBlock * BLOCK_SIZE;
+                    final int qEnd = FastMath.min(qStart + BLOCK_SIZE, columns);
+                    final double[] block = blocks[iBlock * blockColumns + jBlock];
+                    int k = (p - pStart) * jWidth;
+                    for (int q = qStart; q < qEnd; ++q) {
+                        block[k] = visitor.visit(p, q, block[k]);
+                        ++k;
+                    }
+                }
+             }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double walkInRowOrder(final RealMatrixPreservingVisitor visitor) {
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int pStart = iBlock * BLOCK_SIZE;
+            final int pEnd = FastMath.min(pStart + BLOCK_SIZE, rows);
+            for (int p = pStart; p < pEnd; ++p) {
+                for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+                    final int jWidth = blockWidth(jBlock);
+                    final int qStart = jBlock * BLOCK_SIZE;
+                    final int qEnd = FastMath.min(qStart + BLOCK_SIZE, columns);
+                    final double[] block = blocks[iBlock * blockColumns + jBlock];
+                    int k = (p - pStart) * jWidth;
+                    for (int q = qStart; q < qEnd; ++q) {
+                        visitor.visit(p, q, block[k]);
+                        ++k;
+                    }
+                }
+             }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double walkInRowOrder(final RealMatrixChangingVisitor visitor,
+                                 final int startRow, final int endRow,
+                                 final int startColumn, final int endColumn) {
+        MatrixUtils.checkSubMatrixIndex(this, startRow, endRow, startColumn, endColumn);
+        visitor.start(rows, columns, startRow, endRow, startColumn, endColumn);
+        for (int iBlock = startRow / BLOCK_SIZE; iBlock < 1 + endRow / BLOCK_SIZE; ++iBlock) {
+            final int p0 = iBlock * BLOCK_SIZE;
+            final int pStart = FastMath.max(startRow, p0);
+            final int pEnd = FastMath.min((iBlock + 1) * BLOCK_SIZE, 1 + endRow);
+            for (int p = pStart; p < pEnd; ++p) {
+                for (int jBlock = startColumn / BLOCK_SIZE; jBlock < 1 + endColumn / BLOCK_SIZE; ++jBlock) {
+                    final int jWidth = blockWidth(jBlock);
+                    final int q0 = jBlock * BLOCK_SIZE;
+                    final int qStart = FastMath.max(startColumn, q0);
+                    final int qEnd = FastMath.min((jBlock + 1) * BLOCK_SIZE, 1 + endColumn);
+                    final double[] block = blocks[iBlock * blockColumns + jBlock];
+                    int k = (p - p0) * jWidth + qStart - q0;
+                    for (int q = qStart; q < qEnd; ++q) {
+                        block[k] = visitor.visit(p, q, block[k]);
+                        ++k;
+                    }
+                }
+             }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double walkInRowOrder(final RealMatrixPreservingVisitor visitor,
+                                 final int startRow, final int endRow,
+                                 final int startColumn, final int endColumn) {
+        MatrixUtils.checkSubMatrixIndex(this, startRow, endRow, startColumn, endColumn);
+        visitor.start(rows, columns, startRow, endRow, startColumn, endColumn);
+        for (int iBlock = startRow / BLOCK_SIZE; iBlock < 1 + endRow / BLOCK_SIZE; ++iBlock) {
+            final int p0 = iBlock * BLOCK_SIZE;
+            final int pStart = FastMath.max(startRow, p0);
+            final int pEnd = FastMath.min((iBlock + 1) * BLOCK_SIZE, 1 + endRow);
+            for (int p = pStart; p < pEnd; ++p) {
+                for (int jBlock = startColumn / BLOCK_SIZE; jBlock < 1 + endColumn / BLOCK_SIZE; ++jBlock) {
+                    final int jWidth = blockWidth(jBlock);
+                    final int q0 = jBlock * BLOCK_SIZE;
+                    final int qStart = FastMath.max(startColumn, q0);
+                    final int qEnd = FastMath.min((jBlock + 1) * BLOCK_SIZE, 1 + endColumn);
+                    final double[] block = blocks[iBlock * blockColumns + jBlock];
+                    int k = (p - p0) * jWidth + qStart - q0;
+                    for (int q = qStart; q < qEnd; ++q) {
+                        visitor.visit(p, q, block[k]);
+                        ++k;
+                    }
+                }
+             }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double walkInOptimizedOrder(final RealMatrixChangingVisitor visitor) {
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        int blockIndex = 0;
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int pStart = iBlock * BLOCK_SIZE;
+            final int pEnd = FastMath.min(pStart + BLOCK_SIZE, rows);
+            for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+                final int qStart = jBlock * BLOCK_SIZE;
+                final int qEnd = FastMath.min(qStart + BLOCK_SIZE, columns);
+                final double[] block = blocks[blockIndex];
+                int k = 0;
+                for (int p = pStart; p < pEnd; ++p) {
+                    for (int q = qStart; q < qEnd; ++q) {
+                        block[k] = visitor.visit(p, q, block[k]);
+                        ++k;
+                    }
+                }
+                ++blockIndex;
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double walkInOptimizedOrder(final RealMatrixPreservingVisitor visitor) {
+        visitor.start(rows, columns, 0, rows - 1, 0, columns - 1);
+        int blockIndex = 0;
+        for (int iBlock = 0; iBlock < blockRows; ++iBlock) {
+            final int pStart = iBlock * BLOCK_SIZE;
+            final int pEnd = FastMath.min(pStart + BLOCK_SIZE, rows);
+            for (int jBlock = 0; jBlock < blockColumns; ++jBlock) {
+                final int qStart = jBlock * BLOCK_SIZE;
+                final int qEnd = FastMath.min(qStart + BLOCK_SIZE, columns);
+                final double[] block = blocks[blockIndex];
+                int k = 0;
+                for (int p = pStart; p < pEnd; ++p) {
+                    for (int q = qStart; q < qEnd; ++q) {
+                        visitor.visit(p, q, block[k]);
+                        ++k;
+                    }
+                }
+                ++blockIndex;
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double walkInOptimizedOrder(final RealMatrixChangingVisitor visitor,
+                                       final int startRow, final int endRow,
+                                       final int startColumn, final int endColumn) {
+        MatrixUtils.checkSubMatrixIndex(this, startRow, endRow, startColumn, endColumn);
+        visitor.start(rows, columns, startRow, endRow, startColumn, endColumn);
+        for (int iBlock = startRow / BLOCK_SIZE; iBlock < 1 + endRow / BLOCK_SIZE; ++iBlock) {
+            final int p0 = iBlock * BLOCK_SIZE;
+            final int pStart = FastMath.max(startRow, p0);
+            final int pEnd = FastMath.min((iBlock + 1) * BLOCK_SIZE, 1 + endRow);
+            for (int jBlock = startColumn / BLOCK_SIZE; jBlock < 1 + endColumn / BLOCK_SIZE; ++jBlock) {
+                final int jWidth = blockWidth(jBlock);
+                final int q0 = jBlock * BLOCK_SIZE;
+                final int qStart = FastMath.max(startColumn, q0);
+                final int qEnd = FastMath.min((jBlock + 1) * BLOCK_SIZE, 1 + endColumn);
+                final double[] block = blocks[iBlock * blockColumns + jBlock];
+                for (int p = pStart; p < pEnd; ++p) {
+                    int k = (p - p0) * jWidth + qStart - q0;
+                    for (int q = qStart; q < qEnd; ++q) {
+                        block[k] = visitor.visit(p, q, block[k]);
+                        ++k;
+                    }
+                }
+            }
+        }
+        return visitor.end();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double walkInOptimizedOrder(final RealMatrixPreservingVisitor visitor,
+                                       final int startRow, final int endRow,
+                                       final int startColumn, final int endColumn) {
+        MatrixUtils.checkSubMatrixIndex(this, startRow, endRow, startColumn, endColumn);
+        visitor.start(rows, columns, startRow, endRow, startColumn, endColumn);
+        for (int iBlock = startRow / BLOCK_SIZE; iBlock < 1 + endRow / BLOCK_SIZE; ++iBlock) {
+            final int p0 = iBlock * BLOCK_SIZE;
+            final int pStart = FastMath.max(startRow, p0);
+            final int pEnd = FastMath.min((iBlock + 1) * BLOCK_SIZE, 1 + endRow);
+            for (int jBlock = startColumn / BLOCK_SIZE; jBlock < 1 + endColumn / BLOCK_SIZE; ++jBlock) {
+                final int jWidth = blockWidth(jBlock);
+                final int q0 = jBlock * BLOCK_SIZE;
+                final int qStart = FastMath.max(startColumn, q0);
+                final int qEnd = FastMath.min((jBlock + 1) * BLOCK_SIZE, 1 + endColumn);
+                final double[] block = blocks[iBlock * blockColumns + jBlock];
+                for (int p = pStart; p < pEnd; ++p) {
+                    int k = (p - p0) * jWidth + qStart - q0;
+                    for (int q = qStart; q < qEnd; ++q) {
+                        visitor.visit(p, q, block[k]);
+                        ++k;
+                    }
+                }
+            }
+        }
+        return visitor.end();
+    }
+
+    /**
+     * Get the height of a block.
+     * @param blockRow row index (in block sense) of the block
+     * @return height (number of rows) of the block
+     */
+    private int blockHeight(final int blockRow) {
+        return (blockRow == blockRows - 1) ? rows - blockRow * BLOCK_SIZE : BLOCK_SIZE;
+    }
+
+    /**
+     * Get the width of a block.
+     * @param blockColumn column index (in block sense) of the block
+     * @return width (number of columns) of the block
+     */
+    private int blockWidth(final int blockColumn) {
+        return (blockColumn == blockColumns - 1) ? columns - blockColumn * BLOCK_SIZE : BLOCK_SIZE;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/CholeskyDecomposition.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/CholeskyDecomposition.java
new file mode 100644
index 0000000000..563f61a845
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/CholeskyDecomposition.java
@@ -0,0 +1,307 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.util.FastMath;
+
+
+/**
+ * Calculates the Cholesky decomposition of a matrix.
+ * <p>The Cholesky decomposition of a real symmetric positive-definite
+ * matrix A consists of a lower triangular matrix L with same size such
+ * that: A = LL<sup>T</sup>. In a sense, this is the square root of A.</p>
+ * <p>This class is based on the class with similar name from the
+ * <a href="http://math.nist.gov/javanumerics/jama/">JAMA</a> library, with the
+ * following changes:</p>
+ * <ul>
+ *   <li>a {@link #getLT() getLT} method has been added,</li>
+ *   <li>the {@code isspd} method has been removed, since the constructor of
+ *   this class throws a {@link NonPositiveDefiniteMatrixException} when a
+ *   matrix cannot be decomposed,</li>
+ *   <li>a {@link #getDeterminant() getDeterminant} method has been added,</li>
+ *   <li>the {@code solve} method has been replaced by a {@link #getSolver()
+ *   getSolver} method and the equivalent method provided by the returned
+ *   {@link DecompositionSolver}.</li>
+ * </ul>
+ *
+ * @see <a href="http://mathworld.wolfram.com/CholeskyDecomposition.html">MathWorld</a>
+ * @see <a href="http://en.wikipedia.org/wiki/Cholesky_decomposition">Wikipedia</a>
+ * @version $Id: CholeskyDecomposition.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0 (changed to concrete class in 3.0)
+ */
+public class CholeskyDecomposition {
+    /**
+     * Default threshold above which off-diagonal elements are considered too different
+     * and matrix not symmetric.
+     */
+    public static final double DEFAULT_RELATIVE_SYMMETRY_THRESHOLD = 1.0e-15;
+    /**
+     * Default threshold below which diagonal elements are considered null
+     * and matrix not positive definite.
+     */
+    public static final double DEFAULT_ABSOLUTE_POSITIVITY_THRESHOLD = 1.0e-10;
+    /** Row-oriented storage for L<sup>T</sup> matrix data. */
+    private double[][] lTData;
+    /** Cached value of L. */
+    private RealMatrix cachedL;
+    /** Cached value of LT. */
+    private RealMatrix cachedLT;
+
+    /**
+     * Calculates the Cholesky decomposition of the given matrix.
+     * <p>
+     * Calling this constructor is equivalent to call {@link
+     * #CholeskyDecomposition(RealMatrix, double, double)} with the
+     * thresholds set to the default values {@link
+     * #DEFAULT_RELATIVE_SYMMETRY_THRESHOLD} and {@link
+     * #DEFAULT_ABSOLUTE_POSITIVITY_THRESHOLD}
+     * </p>
+     * @param matrix the matrix to decompose
+     * @throws NonSquareMatrixException if the matrix is not square.
+     * @throws NonSymmetricMatrixException if the matrix is not symmetric.
+     * @throws NonPositiveDefiniteMatrixException if the matrix is not
+     * strictly positive definite.
+     * @see #CholeskyDecomposition(RealMatrix, double, double)
+     * @see #DEFAULT_RELATIVE_SYMMETRY_THRESHOLD
+     * @see #DEFAULT_ABSOLUTE_POSITIVITY_THRESHOLD
+     */
+    public CholeskyDecomposition(final RealMatrix matrix) {
+        this(matrix, DEFAULT_RELATIVE_SYMMETRY_THRESHOLD,
+             DEFAULT_ABSOLUTE_POSITIVITY_THRESHOLD);
+    }
+
+    /**
+     * Calculates the Cholesky decomposition of the given matrix.
+     * @param matrix the matrix to decompose
+     * @param relativeSymmetryThreshold threshold above which off-diagonal
+     * elements are considered too different and matrix not symmetric
+     * @param absolutePositivityThreshold threshold below which diagonal
+     * elements are considered null and matrix not positive definite
+     * @throws NonSquareMatrixException if the matrix is not square.
+     * @throws NonSymmetricMatrixException if the matrix is not symmetric.
+     * @throws NonPositiveDefiniteMatrixException if the matrix is not
+     * strictly positive definite.
+     * @see #CholeskyDecomposition(RealMatrix)
+     * @see #DEFAULT_RELATIVE_SYMMETRY_THRESHOLD
+     * @see #DEFAULT_ABSOLUTE_POSITIVITY_THRESHOLD
+     */
+    public CholeskyDecomposition(final RealMatrix matrix,
+                                     final double relativeSymmetryThreshold,
+                                     final double absolutePositivityThreshold) {
+        if (!matrix.isSquare()) {
+            throw new NonSquareMatrixException(matrix.getRowDimension(),
+                                               matrix.getColumnDimension());
+        }
+
+        final int order = matrix.getRowDimension();
+        lTData   = matrix.getData();
+        cachedL  = null;
+        cachedLT = null;
+
+        // check the matrix before transformation
+        for (int i = 0; i < order; ++i) {
+            final double[] lI = lTData[i];
+
+            // check off-diagonal elements (and reset them to 0)
+            for (int j = i + 1; j < order; ++j) {
+                final double[] lJ = lTData[j];
+                final double lIJ = lI[j];
+                final double lJI = lJ[i];
+                final double maxDelta =
+                    relativeSymmetryThreshold * FastMath.max(FastMath.abs(lIJ), FastMath.abs(lJI));
+                if (FastMath.abs(lIJ - lJI) > maxDelta) {
+                    throw new NonSymmetricMatrixException(i, j, relativeSymmetryThreshold);
+                }
+                lJ[i] = 0;
+           }
+        }
+
+        // transform the matrix
+        for (int i = 0; i < order; ++i) {
+
+            final double[] ltI = lTData[i];
+
+            // check diagonal element
+            if (ltI[i] <= absolutePositivityThreshold) {
+                throw new NonPositiveDefiniteMatrixException(ltI[i], i, absolutePositivityThreshold);
+            }
+
+            ltI[i] = FastMath.sqrt(ltI[i]);
+            final double inverse = 1.0 / ltI[i];
+
+            for (int q = order - 1; q > i; --q) {
+                ltI[q] *= inverse;
+                final double[] ltQ = lTData[q];
+                for (int p = q; p < order; ++p) {
+                    ltQ[p] -= ltI[q] * ltI[p];
+                }
+            }
+        }
+    }
+
+    /**
+     * Returns the matrix L of the decomposition.
+     * <p>L is an lower-triangular matrix</p>
+     * @return the L matrix
+     */
+    public RealMatrix getL() {
+        if (cachedL == null) {
+            cachedL = getLT().transpose();
+        }
+        return cachedL;
+    }
+
+    /**
+     * Returns the transpose of the matrix L of the decomposition.
+     * <p>L<sup>T</sup> is an upper-triangular matrix</p>
+     * @return the transpose of the matrix L of the decomposition
+     */
+    public RealMatrix getLT() {
+
+        if (cachedLT == null) {
+            cachedLT = MatrixUtils.createRealMatrix(lTData);
+        }
+
+        // return the cached matrix
+        return cachedLT;
+    }
+
+    /**
+     * Return the determinant of the matrix
+     * @return determinant of the matrix
+     */
+    public double getDeterminant() {
+        double determinant = 1.0;
+        for (int i = 0; i < lTData.length; ++i) {
+            double lTii = lTData[i][i];
+            determinant *= lTii * lTii;
+        }
+        return determinant;
+    }
+
+    /**
+     * Get a solver for finding the A &times; X = B solution in least square sense.
+     * @return a solver
+     */
+    public DecompositionSolver getSolver() {
+        return new Solver(lTData);
+    }
+
+    /** Specialized solver. */
+    private static class Solver implements DecompositionSolver {
+        /** Row-oriented storage for L<sup>T</sup> matrix data. */
+        private final double[][] lTData;
+
+        /**
+         * Build a solver from decomposed matrix.
+         * @param lTData row-oriented storage for L<sup>T</sup> matrix data
+         */
+        private Solver(final double[][] lTData) {
+            this.lTData = lTData;
+        }
+
+        /** {@inheritDoc} */
+        public boolean isNonSingular() {
+            // if we get this far, the matrix was positive definite, hence non-singular
+            return true;
+        }
+
+        /** {@inheritDoc} */
+        public RealVector solve(final RealVector b) {
+            final int m = lTData.length;
+            if (b.getDimension() != m) {
+                throw new DimensionMismatchException(b.getDimension(), m);
+            }
+
+            final double[] x = b.toArray();
+
+            // Solve LY = b
+            for (int j = 0; j < m; j++) {
+                final double[] lJ = lTData[j];
+                x[j] /= lJ[j];
+                final double xJ = x[j];
+                for (int i = j + 1; i < m; i++) {
+                    x[i] -= xJ * lJ[i];
+                }
+            }
+
+            // Solve LTX = Y
+            for (int j = m - 1; j >= 0; j--) {
+                x[j] /= lTData[j][j];
+                final double xJ = x[j];
+                for (int i = 0; i < j; i++) {
+                    x[i] -= xJ * lTData[i][j];
+                }
+            }
+
+            return new ArrayRealVector(x, false);
+        }
+
+        /** {@inheritDoc} */
+        public RealMatrix solve(RealMatrix b) {
+            final int m = lTData.length;
+            if (b.getRowDimension() != m) {
+                throw new DimensionMismatchException(b.getRowDimension(), m);
+            }
+
+            final int nColB = b.getColumnDimension();
+            final double[][] x = b.getData();
+
+            // Solve LY = b
+            for (int j = 0; j < m; j++) {
+                final double[] lJ = lTData[j];
+                final double lJJ = lJ[j];
+                final double[] xJ = x[j];
+                for (int k = 0; k < nColB; ++k) {
+                    xJ[k] /= lJJ;
+                }
+                for (int i = j + 1; i < m; i++) {
+                    final double[] xI = x[i];
+                    final double lJI = lJ[i];
+                    for (int k = 0; k < nColB; ++k) {
+                        xI[k] -= xJ[k] * lJI;
+                    }
+                }
+            }
+
+            // Solve LTX = Y
+            for (int j = m - 1; j >= 0; j--) {
+                final double lJJ = lTData[j][j];
+                final double[] xJ = x[j];
+                for (int k = 0; k < nColB; ++k) {
+                    xJ[k] /= lJJ;
+                }
+                for (int i = 0; i < j; i++) {
+                    final double[] xI = x[i];
+                    final double lIJ = lTData[i][j];
+                    for (int k = 0; k < nColB; ++k) {
+                        xI[k] -= xJ[k] * lIJ;
+                    }
+                }
+            }
+
+            return new Array2DRowRealMatrix(x);
+        }
+
+        /** {@inheritDoc} */
+        public RealMatrix getInverse() {
+            return solve(MatrixUtils.createRealIdentityMatrix(lTData.length));
+        }
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/ConjugateGradient.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/ConjugateGradient.java
new file mode 100644
index 0000000000..f1da3bb7fb
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/ConjugateGradient.java
@@ -0,0 +1,226 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.MaxCountExceededException;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.exception.util.ExceptionContext;
+import org.apache.commons.math3.util.IterationManager;
+
+/**
+ * <p>
+ * This is an implementation of the conjugate gradient method for
+ * {@link RealLinearOperator}. It follows closely the template by <a
+ * href="#BARR1994">Barrett et al. (1994)</a> (figure 2.5). The linear system at
+ * hand is A &middot; x = b, and the residual is r = b - A &middot; x.
+ * </p>
+ * <h3><a id="stopcrit">Default stopping criterion</a></h3>
+ * <p>
+ * A default stopping criterion is implemented. The iterations stop when || r ||
+ * &le; &delta; || b ||, where b is the right-hand side vector, r the current
+ * estimate of the residual, and &delta; a user-specified tolerance. It should
+ * be noted that r is the so-called <em>updated</em> residual, which might
+ * differ from the true residual due to rounding-off errors (see e.g. <a
+ * href="#STRA2002">Strakos and Tichy, 2002</a>).
+ * </p>
+ * <h3>Iteration count</h3>
+ * <p>
+ * In the present context, an iteration should be understood as one evaluation
+ * of the matrix-vector product A &middot; x. The initialization phase therefore
+ * counts as one iteration.
+ * </p>
+ * <h3><a id="context">Exception context</a></h3>
+ * <p>
+ * Besides standard {@link DimensionMismatchException}, this class might throw
+ * {@link NonPositiveDefiniteOperatorException} if the linear operator or
+ * the preconditioner are not positive definite. In this case, the
+ * {@link ExceptionContext} provides some more information
+ * <ul>
+ * <li>key {@code "operator"} points to the offending linear operator, say L,</li>
+ * <li>key {@code "vector"} points to the offending vector, say x, such that
+ * x<sup>T</sup> &middot; L &middot; x < 0.</li>
+ * </ul>
+ * </p>
+ * <h3>References</h3>
+ * <dl>
+ * <dt><a id="BARR1994">Barret et al. (1994)</a></dt>
+ * <dd>R. Barrett, M. Berry, T. F. Chan, J. Demmel, J. M. Donato, J. Dongarra,
+ * V. Eijkhout, R. Pozo, C. Romine and H. Van der Vorst,
+ * <a href="http://www.netlib.org/linalg/html_templates/Templates.html"><em>
+ * Templates for the Solution of Linear Systems: Building Blocks for Iterative
+ * Methods</em></a>, SIAM</dd>
+ * <dt><a id="STRA2002">Strakos and Tichy (2002)
+ * <dt>
+ * <dd>Z. Strakos and P. Tichy, <a
+ * href="http://etna.mcs.kent.edu/vol.13.2002/pp56-80.dir/pp56-80.pdf">
+ * <em>On error estimation in the conjugate gradient method and why it works
+ * in finite precision computations</em></a>, Electronic Transactions on
+ * Numerical Analysis 13: 56-80, 2002</dd>
+ * </dl>
+ *
+ * @version $Id: ConjugateGradient.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 3.0
+ */
+public class ConjugateGradient
+    extends PreconditionedIterativeLinearSolver {
+
+    /** Key for the <a href="#context">exception context</a>. */
+    public static final String OPERATOR = "operator";
+
+    /** Key for the <a href="#context">exception context</a>. */
+    public static final String VECTOR = "vector";
+
+    /**
+     * {@code true} if positive-definiteness of matrix and preconditioner should
+     * be checked.
+     */
+    private boolean check;
+
+    /** The value of &delta;, for the default stopping criterion. */
+    private final double delta;
+
+    /**
+     * Creates a new instance of this class, with <a href="#stopcrit">default
+     * stopping criterion</a>.
+     *
+     * @param maxIterations the maximum number of iterations
+     * @param delta the &delta; parameter for the default stopping criterion
+     * @param check {@code true} if positive definiteness of both matrix and
+     * preconditioner should be checked
+     */
+    public ConjugateGradient(final int maxIterations, final double delta,
+                             final boolean check) {
+        super(maxIterations);
+        this.delta = delta;
+        this.check = check;
+    }
+
+    /**
+     * Creates a new instance of this class, with <a href="#stopcrit">default
+     * stopping criterion</a> and custom iteration manager.
+     *
+     * @param manager the custom iteration manager
+     * @param delta the &delta; parameter for the default stopping criterion
+     * @param check {@code true} if positive definiteness of both matrix and
+     * preconditioner should be checked
+     */
+    public ConjugateGradient(final IterationManager manager,
+                             final double delta, final boolean check) {
+        super(manager);
+        this.delta = delta;
+        this.check = check;
+    }
+
+    /**
+     * Returns {@code true} if positive-definiteness should be checked for both
+     * matrix and preconditioner.
+     *
+     * @return {@code true} if the tests are to be performed
+     */
+    public final boolean getCheck() {
+        return check;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector solveInPlace(final RealLinearOperator a,
+        final RealLinearOperator minv, final RealVector b, final RealVector x0)
+        throws NullArgumentException, NonSquareOperatorException,
+        DimensionMismatchException, MaxCountExceededException {
+        checkParameters(a, minv, b, x0);
+        final IterationManager manager = getIterationManager();
+        // Initialization of default stopping criterion
+        manager.resetIterationCount();
+        final double rmax = delta * b.getNorm();
+        final RealVector bro = RealVector.unmodifiableRealVector(b);
+
+        // Initialization phase counts as one iteration.
+        manager.incrementIterationCount();
+        // p and x are constructed as copies of x0, since presumably, the type
+        // of x is optimized for the calculation of the matrix-vector product
+        // A.x.
+        final RealVector x = x0;
+        final RealVector xro = RealVector.unmodifiableRealVector(x);
+        final RealVector p = x.copy();
+        RealVector q = a.operate(p);
+
+        final RealVector r = b.combine(1, -1, q);
+        final RealVector rro = RealVector.unmodifiableRealVector(r);
+        double rnorm = r.getNorm();
+        RealVector z;
+        if (minv == null) {
+            z = r;
+        } else {
+            z = null;
+        }
+        IterativeLinearSolverEvent evt;
+        evt = new DefaultIterativeLinearSolverEvent(this,
+            manager.getIterations(), xro, bro, rro, rnorm);
+        manager.fireInitializationEvent(evt);
+        if (rnorm <= rmax) {
+            manager.fireTerminationEvent(evt);
+            return x;
+        }
+        double rhoPrev = 0.;
+        while (true) {
+            manager.incrementIterationCount();
+            evt = new DefaultIterativeLinearSolverEvent(this,
+                manager.getIterations(), xro, bro, rro, rnorm);
+            manager.fireIterationStartedEvent(evt);
+            if (minv != null) {
+                z = minv.operate(r);
+            }
+            final double rhoNext = r.dotProduct(z);
+            if (check && (rhoNext <= 0.)) {
+                final NonPositiveDefiniteOperatorException e;
+                e = new NonPositiveDefiniteOperatorException();
+                final ExceptionContext context = e.getContext();
+                context.setValue(OPERATOR, minv);
+                context.setValue(VECTOR, r);
+                throw e;
+            }
+            if (manager.getIterations() == 2) {
+                p.setSubVector(0, z);
+            } else {
+                p.combineToSelf(rhoNext / rhoPrev, 1., z);
+            }
+            q = a.operate(p);
+            final double pq = p.dotProduct(q);
+            if (check && (pq <= 0.)) {
+                final NonPositiveDefiniteOperatorException e;
+                e = new NonPositiveDefiniteOperatorException();
+                final ExceptionContext context = e.getContext();
+                context.setValue(OPERATOR, a);
+                context.setValue(VECTOR, p);
+                throw e;
+            }
+            final double alpha = rhoNext / pq;
+            x.combineToSelf(1., alpha, p);
+            r.combineToSelf(1., -alpha, q);
+            rhoPrev = rhoNext;
+            rnorm = r.getNorm();
+            evt = new DefaultIterativeLinearSolverEvent(this,
+                manager.getIterations(), xro, bro, rro, rnorm);
+            manager.fireIterationPerformedEvent(evt);
+            if (rnorm <= rmax) {
+                manager.fireTerminationEvent(evt);
+                return x;
+            }
+        }
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/DecompositionSolver.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/DecompositionSolver.java
new file mode 100644
index 0000000000..4b5cf7944c
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/DecompositionSolver.java
@@ -0,0 +1,74 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+
+
+/**
+ * Interface handling decomposition algorithms that can solve A &times; X = B.
+ * <p>Decomposition algorithms decompose an A matrix has a product of several specific
+ * matrices from which they can solve A &times; X = B in least squares sense: they find X
+ * such that ||A &times; X - B|| is minimal.</p>
+ * <p>Some solvers like {@link LUDecomposition} can only find the solution for
+ * square matrices and when the solution is an exact linear solution, i.e. when
+ * ||A &times; X - B|| is exactly 0. Other solvers can also find solutions
+ * with non-square matrix A and with non-null minimal norm. If an exact linear
+ * solution exists it is also the minimal norm solution.</p>
+ *
+ * @version $Id: DecompositionSolver.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public interface DecompositionSolver {
+
+    /** Solve the linear equation A &times; X = B for matrices A.
+     * <p>The A matrix is implicit, it is provided by the underlying
+     * decomposition algorithm.</p>
+     * @param b right-hand side of the equation A &times; X = B
+     * @return a vector X that minimizes the two norm of A &times; X - B
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if the matrices dimensions do not match.
+     * @throws SingularMatrixException
+     * if the decomposed matrix is singular.
+     */
+    RealVector solve(final RealVector b);
+
+    /** Solve the linear equation A &times; X = B for matrices A.
+     * <p>The A matrix is implicit, it is provided by the underlying
+     * decomposition algorithm.</p>
+     * @param b right-hand side of the equation A &times; X = B
+     * @return a matrix X that minimizes the two norm of A &times; X - B
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if the matrices dimensions do not match.
+     * @throws SingularMatrixException
+     * if the decomposed matrix is singular.
+     */
+    RealMatrix solve(final RealMatrix b);
+
+    /**
+     * Check if the decomposed matrix is non-singular.
+     * @return true if the decomposed matrix is non-singular.
+     */
+    boolean isNonSingular();
+
+    /** Get the inverse (or pseudo-inverse) of the decomposed matrix.
+     * @return inverse matrix
+     * @throws SingularMatrixException
+     * if the decomposed matrix is singular.
+     */
+    RealMatrix getInverse();
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/DefaultFieldMatrixChangingVisitor.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/DefaultFieldMatrixChangingVisitor.java
new file mode 100644
index 0000000000..2ef5225368
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/DefaultFieldMatrixChangingVisitor.java
@@ -0,0 +1,59 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.FieldElement;
+
+/**
+ * Default implementation of the {@link FieldMatrixChangingVisitor} interface.
+ * <p>
+ * This class is a convenience to create custom visitors without defining all
+ * methods. This class provides default implementations that do nothing.
+ * </p>
+ *
+ * @param <T> the type of the field elements
+ * @version $Id: DefaultFieldMatrixChangingVisitor.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public class DefaultFieldMatrixChangingVisitor<T extends FieldElement<T>>
+    implements FieldMatrixChangingVisitor<T> {
+    /** Zero element of the field. */
+    private final T zero;
+
+    /** Build a new instance.
+     * @param zero additive identity of the field
+     */
+    public DefaultFieldMatrixChangingVisitor(final T zero) {
+        this.zero = zero;
+    }
+
+    /** {@inheritDoc} */
+    public void start(int rows, int columns,
+                      int startRow, int endRow, int startColumn, int endColumn) {
+    }
+
+    /** {@inheritDoc} */
+    public T visit(int row, int column, T value) {
+        return value;
+    }
+
+    /** {@inheritDoc} */
+    public T end() {
+        return zero;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/DefaultFieldMatrixPreservingVisitor.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/DefaultFieldMatrixPreservingVisitor.java
new file mode 100644
index 0000000000..0cd0a25567
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/DefaultFieldMatrixPreservingVisitor.java
@@ -0,0 +1,57 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.FieldElement;
+
+/**
+ * Default implementation of the {@link FieldMatrixPreservingVisitor} interface.
+ * <p>
+ * This class is a convenience to create custom visitors without defining all
+ * methods. This class provides default implementations that do nothing.
+ * </p>
+ *
+ * @param <T> the type of the field elements
+ * @version $Id: DefaultFieldMatrixPreservingVisitor.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public class DefaultFieldMatrixPreservingVisitor<T extends FieldElement<T>>
+    implements FieldMatrixPreservingVisitor<T> {
+    /** Zero element of the field. */
+    private final T zero;
+
+    /** Build a new instance.
+     * @param zero additive identity of the field
+     */
+    public DefaultFieldMatrixPreservingVisitor(final T zero) {
+        this.zero = zero;
+    }
+
+    /** {@inheritDoc} */
+    public void start(int rows, int columns,
+                      int startRow, int endRow, int startColumn, int endColumn) {
+    }
+
+    /** {@inheritDoc} */
+    public void visit(int row, int column, T value) {}
+
+    /** {@inheritDoc} */
+    public T end() {
+        return zero;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/DefaultIterativeLinearSolverEvent.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/DefaultIterativeLinearSolverEvent.java
new file mode 100644
index 0000000000..8c8c26ba6f
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/DefaultIterativeLinearSolverEvent.java
@@ -0,0 +1,143 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.exception.MathUnsupportedOperationException;
+
+/**
+ * A default concrete implementation of the abstract class
+ * {@link IterativeLinearSolverEvent}.
+ *
+ * @version $Id: DefaultIterativeLinearSolverEvent.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public class DefaultIterativeLinearSolverEvent extends IterativeLinearSolverEvent {
+
+    /** */
+    private static final long serialVersionUID = 20120129L;
+
+    /** The right-hand side vector. */
+    private final RealVector b;
+
+    /** The current estimate of the residual. */
+    private final RealVector r;
+
+    /** The current estimate of the norm of the residual. */
+    private final double rnorm;
+
+    /** The current estimate of the solution. */
+    private final RealVector x;
+
+    /**
+     * Creates a new instance of this class. This implementation does
+     * <em>not</em> deep copy the specified vectors {@code x}, {@code b},
+     * {@code r}. Therefore the user must make sure that these vectors are
+     * either unmodifiable views or deep copies of the same vectors actually
+     * used by the {@code source}. Failure to do so may compromise subsequent
+     * iterations of the {@code source}. If the residual vector {@code r} is
+     * {@code null}, then {@link #getResidual()} throws a
+     * {@link MathUnsupportedOperationException}, and
+     * {@link #providesResidual()} returns {@code false}.
+     *
+     * @param source the iterative solver which fired this event
+     * @param iterations the number of iterations performed at the time
+     * {@code this} event is created
+     * @param x the current estimate of the solution
+     * @param b the right-hand side vector
+     * @param r the current estimate of the residual (can be {@code null})
+     * @param rnorm the norm of the current estimate of the residual
+     */
+    public DefaultIterativeLinearSolverEvent(final Object source, final int iterations,
+        final RealVector x, final RealVector b, final RealVector r,
+        final double rnorm) {
+        super(source, iterations);
+        this.x = x;
+        this.b = b;
+        this.r = r;
+        this.rnorm = rnorm;
+    }
+
+    /**
+     * Creates a new instance of this class. This implementation does
+     * <em>not</em> deep copy the specified vectors {@code x}, {@code b}.
+     * Therefore the user must make sure that these vectors are either
+     * unmodifiable views or deep copies of the same vectors actually used by
+     * the {@code source}. Failure to do so may compromise subsequent iterations
+     * of the {@code source}. Callling {@link #getResidual()} on instances
+     * returned by this constructor throws a
+     * {@link MathUnsupportedOperationException}, while
+     * {@link #providesResidual()} returns {@code false}.
+     *
+     * @param source the iterative solver which fired this event
+     * @param iterations the number of iterations performed at the time
+     * {@code this} event is created
+     * @param x the current estimate of the solution
+     * @param b the right-hand side vector
+     * @param rnorm the norm of the current estimate of the residual
+     */
+    public DefaultIterativeLinearSolverEvent(final Object source, final int iterations,
+        final RealVector x, final RealVector b, final double rnorm) {
+        super(source, iterations);
+        this.x = x;
+        this.b = b;
+        this.r = null;
+        this.rnorm = rnorm;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double getNormOfResidual() {
+        return rnorm;
+    }
+
+    /**
+     * {@inheritDoc}
+     *
+     * This implementation throws an {@link MathUnsupportedOperationException}
+     * if no residual vector {@code r} was provided at construction time.
+     */
+    public RealVector getResidual() {
+        if (r != null) {
+            return r;
+        }
+        throw new MathUnsupportedOperationException();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector getRightHandSideVector() {
+        return b;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector getSolution() {
+        return x;
+    }
+
+    /**
+     * {@inheritDoc}
+     *
+     * This implementation returns {@code true} if a non-{@code null} value was
+     * specified for the residual vector {@code r} at construction time.
+     *
+     * @return {@code true} if {@code r != null}
+     */
+    @Override
+    public boolean providesResidual() {
+        return r != null;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/DefaultRealMatrixChangingVisitor.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/DefaultRealMatrixChangingVisitor.java
new file mode 100644
index 0000000000..b25da5d98d
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/DefaultRealMatrixChangingVisitor.java
@@ -0,0 +1,45 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+/**
+ * Default implementation of the {@link RealMatrixChangingVisitor} interface.
+ * <p>
+ * This class is a convenience to create custom visitors without defining all
+ * methods. This class provides default implementations that do nothing.
+ * </p>
+ *
+ * @version $Id: DefaultRealMatrixChangingVisitor.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public class DefaultRealMatrixChangingVisitor implements RealMatrixChangingVisitor {
+    /** {@inheritDoc} */
+    public void start(int rows, int columns,
+                      int startRow, int endRow, int startColumn, int endColumn) {
+    }
+
+    /** {@inheritDoc} */
+    public double visit(int row, int column, double value) {
+        return value;
+    }
+
+    /** {@inheritDoc} */
+    public double end() {
+        return 0;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/DefaultRealMatrixPreservingVisitor.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/DefaultRealMatrixPreservingVisitor.java
new file mode 100644
index 0000000000..0d99e7713d
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/DefaultRealMatrixPreservingVisitor.java
@@ -0,0 +1,43 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+/**
+ * Default implementation of the {@link RealMatrixPreservingVisitor} interface.
+ * <p>
+ * This class is a convenience to create custom visitors without defining all
+ * methods. This class provides default implementations that do nothing.
+ * </p>
+ *
+ * @version $Id: DefaultRealMatrixPreservingVisitor.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public class DefaultRealMatrixPreservingVisitor implements RealMatrixPreservingVisitor {
+    /** {@inheritDoc} */
+    public void start(int rows, int columns,
+                      int startRow, int endRow, int startColumn, int endColumn) {
+    }
+
+    /** {@inheritDoc} */
+    public void visit(int row, int column, double value) {}
+
+    /** {@inheritDoc} */
+    public double end() {
+        return 0;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/EigenDecomposition.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/EigenDecomposition.java
new file mode 100644
index 0000000000..239d915a76
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/EigenDecomposition.java
@@ -0,0 +1,635 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.exception.MaxCountExceededException;
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+import org.apache.commons.math3.util.Precision;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Calculates the eigen decomposition of a real <strong>symmetric</strong>
+ * matrix.
+ * <p>The eigen decomposition of matrix A is a set of two matrices:
+ * V and D such that A = V &times; D &times; V<sup>T</sup>.
+ * A, V and D are all m &times; m matrices.</p>
+ * <p>This class is similar in spirit to the <code>EigenvalueDecomposition</code>
+ * class from the <a href="http://math.nist.gov/javanumerics/jama/">JAMA</a>
+ * library, with the following changes:</p>
+ * <ul>
+ *   <li>a {@link #getVT() getVt} method has been added,</li>
+ *   <li>two {@link #getRealEigenvalue(int) getRealEigenvalue} and {@link #getImagEigenvalue(int)
+ *   getImagEigenvalue} methods to pick up a single eigenvalue have been added,</li>
+ *   <li>a {@link #getEigenvector(int) getEigenvector} method to pick up a single
+ *   eigenvector has been added,</li>
+ *   <li>a {@link #getDeterminant() getDeterminant} method has been added.</li>
+ *   <li>a {@link #getSolver() getSolver} method has been added.</li>
+ * </ul>
+ * <p>
+ * As of 2.0, this class supports only <strong>symmetric</strong> matrices, and
+ * hence computes only real realEigenvalues. This implies the D matrix returned
+ * by {@link #getD()} is always diagonal and the imaginary values returned
+ * {@link #getImagEigenvalue(int)} and {@link #getImagEigenvalues()} are always
+ * null.
+ * </p>
+ * <p>
+ * When called with a {@link RealMatrix} argument, this implementation only uses
+ * the upper part of the matrix, the part below the diagonal is not accessed at
+ * all.
+ * </p>
+ * <p>
+ * This implementation is based on the paper by A. Drubrulle, R.S. Martin and
+ * J.H. Wilkinson "The Implicit QL Algorithm" in Wilksinson and Reinsch (1971)
+ * Handbook for automatic computation, vol. 2, Linear algebra, Springer-Verlag,
+ * New-York
+ * </p>
+ * @see <a href="http://mathworld.wolfram.com/EigenDecomposition.html">MathWorld</a>
+ * @see <a href="http://en.wikipedia.org/wiki/Eigendecomposition_of_a_matrix">Wikipedia</a>
+ * @version $Id: EigenDecomposition.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0 (changed to concrete class in 3.0)
+ */
+public class EigenDecomposition{
+    /** Maximum number of iterations accepted in the implicit QL transformation */
+    private byte maxIter = 30;
+    /** Main diagonal of the tridiagonal matrix. */
+    private double[] main;
+    /** Secondary diagonal of the tridiagonal matrix. */
+    private double[] secondary;
+    /**
+     * Transformer to tridiagonal (may be null if matrix is already
+     * tridiagonal).
+     */
+    private TriDiagonalTransformer transformer;
+    /** Real part of the realEigenvalues. */
+    private double[] realEigenvalues;
+    /** Imaginary part of the realEigenvalues. */
+    private double[] imagEigenvalues;
+    /** Eigenvectors. */
+    private ArrayRealVector[] eigenvectors;
+    /** Cached value of V. */
+    private RealMatrix cachedV;
+    /** Cached value of D. */
+    private RealMatrix cachedD;
+    /** Cached value of Vt. */
+    private RealMatrix cachedVt;
+
+    /**
+     * Calculates the eigen decomposition of the given symmetric matrix.
+     *
+     * @param matrix Matrix to decompose. It <em>must</em> be symmetric.
+     * @param splitTolerance Dummy parameter (present for backward
+     * compatibility only).
+     * @throws NonSymmetricMatrixException if the matrix is not symmetric.
+     * @throws MaxCountExceededException if the algorithm fails to converge.
+     */
+    public EigenDecomposition(final RealMatrix matrix,
+                                  final double splitTolerance)  {
+        if (isSymmetric(matrix, true)) {
+            transformToTridiagonal(matrix);
+            findEigenVectors(transformer.getQ().getData());
+        }
+    }
+
+    /**
+     * Calculates the eigen decomposition of the symmetric tridiagonal
+     * matrix.  The Householder matrix is assumed to be the identity matrix.
+     *
+     * @param main Main diagonal of the symmetric tridiagonal form.
+     * @param secondary Secondary of the tridiagonal form.
+     * @param splitTolerance Dummy parameter (present for backward
+     * compatibility only).
+     * @throws MaxCountExceededException if the algorithm fails to converge.
+     */
+    public EigenDecomposition(final double[] main,final double[] secondary,
+                                  final double splitTolerance) {
+        this.main      = main.clone();
+        this.secondary = secondary.clone();
+        transformer    = null;
+        final int size=main.length;
+        double[][] z = new double[size][size];
+        for (int i=0;i<size;i++) {
+            z[i][i]=1.0;
+        }
+        findEigenVectors(z);
+    }
+
+    /**
+     * Check if a matrix is symmetric.
+     *
+     * @param matrix Matrix to check.
+     * @param raiseException If {@code true}, the method will throw an
+     * exception if {@code matrix} is not symmetric.
+     * @return {@code true} if {@code matrix} is symmetric.
+     * @throws NonSymmetricMatrixException if the matrix is not symmetric and
+     * {@code raiseException} is {@code true}.
+     */
+    private boolean isSymmetric(final RealMatrix matrix,
+                                boolean raiseException) {
+        final int rows = matrix.getRowDimension();
+        final int columns = matrix.getColumnDimension();
+        final double eps = 10 * rows * columns * Precision.EPSILON;
+        for (int i = 0; i < rows; ++i) {
+            for (int j = i + 1; j < columns; ++j) {
+                final double mij = matrix.getEntry(i, j);
+                final double mji = matrix.getEntry(j, i);
+                if (FastMath.abs(mij - mji) >
+                    (FastMath.max(FastMath.abs(mij), FastMath.abs(mji)) * eps)) {
+                    if (raiseException) {
+                        throw new NonSymmetricMatrixException(i, j, eps);
+                    }
+                    return false;
+                }
+            }
+        }
+        return true;
+    }
+
+    /**
+     * Gets the matrix V of the decomposition.
+     * V is an orthogonal matrix, i.e. its transpose is also its inverse.
+     * The columns of V are the eigenvectors of the original matrix.
+     * No assumption is made about the orientation of the system axes formed
+     * by the columns of V (e.g. in a 3-dimension space, V can form a left-
+     * or right-handed system).
+     *
+     * @return the V matrix.
+     */
+    public RealMatrix getV() {
+
+        if (cachedV == null) {
+            final int m = eigenvectors.length;
+            cachedV = MatrixUtils.createRealMatrix(m, m);
+            for (int k = 0; k < m; ++k) {
+                cachedV.setColumnVector(k, eigenvectors[k]);
+            }
+        }
+        // return the cached matrix
+        return cachedV;
+
+    }
+
+    /**
+     * Gets the block diagonal matrix D of the decomposition.
+     * D is a block diagonal matrix.
+     * Real eigenvalues are on the diagonal while complex values are on
+     * 2x2 blocks { {real +imaginary}, {-imaginary, real} }.
+     *
+     * @return the D matrix.
+     *
+     * @see #getRealEigenvalues()
+     * @see #getImagEigenvalues()
+     */
+    public RealMatrix getD() {
+        if (cachedD == null) {
+            // cache the matrix for subsequent calls
+            cachedD = MatrixUtils.createRealDiagonalMatrix(realEigenvalues);
+        }
+        return cachedD;
+    }
+
+    /**
+     * Gets the transpose of the matrix V of the decomposition.
+     * V is an orthogonal matrix, i.e. its transpose is also its inverse.
+     * The columns of V are the eigenvectors of the original matrix.
+     * No assumption is made about the orientation of the system axes formed
+     * by the columns of V (e.g. in a 3-dimension space, V can form a left-
+     * or right-handed system).
+     *
+     * @return the transpose of the V matrix.
+     */
+    public RealMatrix getVT() {
+
+        if (cachedVt == null) {
+            final int m = eigenvectors.length;
+            cachedVt = MatrixUtils.createRealMatrix(m, m);
+            for (int k = 0; k < m; ++k) {
+                cachedVt.setRowVector(k, eigenvectors[k]);
+            }
+
+        }
+
+        // return the cached matrix
+        return cachedVt;
+    }
+
+    /**
+     * Gets a copy of the real parts of the eigenvalues of the original matrix.
+     *
+     * @return a copy of the real parts of the eigenvalues of the original matrix.
+     *
+     * @see #getD()
+     * @see #getRealEigenvalue(int)
+     * @see #getImagEigenvalues()
+     */
+    public double[] getRealEigenvalues() {
+        return realEigenvalues.clone();
+    }
+
+    /**
+     * Returns the real part of the i<sup>th</sup> eigenvalue of the original
+     * matrix.
+     *
+     * @param i index of the eigenvalue (counting from 0)
+     * @return real part of the i<sup>th</sup> eigenvalue of the original
+     * matrix.
+     *
+     * @see #getD()
+     * @see #getRealEigenvalues()
+     * @see #getImagEigenvalue(int)
+     */
+    public double getRealEigenvalue(final int i) {
+        return realEigenvalues[i];
+    }
+
+    /**
+     * Gets a copy of the imaginary parts of the eigenvalues of the original
+     * matrix.
+     *
+     * @return a copy of the imaginary parts of the eigenvalues of the original
+     * matrix.
+     *
+     * @see #getD()
+     * @see #getImagEigenvalue(int)
+     * @see #getRealEigenvalues()
+     */
+    public double[] getImagEigenvalues() {
+        return imagEigenvalues.clone();
+    }
+
+    /**
+     * Gets the imaginary part of the i<sup>th</sup> eigenvalue of the original
+     * matrix.
+     *
+     * @param i Index of the eigenvalue (counting from 0).
+     * @return the imaginary part of the i<sup>th</sup> eigenvalue of the original
+     * matrix.
+     *
+     * @see #getD()
+     * @see #getImagEigenvalues()
+     * @see #getRealEigenvalue(int)
+     */
+    public double getImagEigenvalue(final int i) {
+        return imagEigenvalues[i];
+    }
+
+    /**
+     * Gets a copy of the i<sup>th</sup> eigenvector of the original matrix.
+     *
+     * @param i Index of the eigenvector (counting from 0).
+     * @return a copy of the i<sup>th</sup> eigenvector of the original matrix.
+     * @see #getD()
+     */
+    public RealVector getEigenvector(final int i) {
+        return eigenvectors[i].copy();
+    }
+
+    /**
+     * Computes the determinant of the matrix.
+     *
+     * @return the determinant of the matrix.
+     */
+    public double getDeterminant() {
+        double determinant = 1;
+        for (double lambda : realEigenvalues) {
+            determinant *= lambda;
+        }
+        return determinant;
+    }
+
+    /**
+     * Gets a solver for finding the A &times; X = B solution in exact
+     * linear sense.
+     *
+     * @return a solver.
+     */
+    public DecompositionSolver getSolver() {
+        return new Solver(realEigenvalues, imagEigenvalues, eigenvectors);
+    }
+
+    /** Specialized solver. */
+    private static class Solver implements DecompositionSolver {
+        /** Real part of the realEigenvalues. */
+        private double[] realEigenvalues;
+        /** Imaginary part of the realEigenvalues. */
+        private double[] imagEigenvalues;
+        /** Eigenvectors. */
+        private final ArrayRealVector[] eigenvectors;
+
+        /**
+         * Builds a solver from decomposed matrix.
+         *
+         * @param realEigenvalues Real parts of the eigenvalues.
+         * @param imagEigenvalues Imaginary parts of the eigenvalues.
+         * @param eigenvectors Eigenvectors.
+         */
+        private Solver(final double[] realEigenvalues,
+                final double[] imagEigenvalues,
+                final ArrayRealVector[] eigenvectors) {
+            this.realEigenvalues = realEigenvalues;
+            this.imagEigenvalues = imagEigenvalues;
+            this.eigenvectors = eigenvectors;
+        }
+
+        /**
+         * Solves the linear equation A &times; X = B for symmetric matrices A.
+         * <p>
+         * This method only finds exact linear solutions, i.e. solutions for
+         * which ||A &times; X - B|| is exactly 0.
+         * </p>
+         *
+         * @param b Right-hand side of the equation A &times; X = B.
+         * @return a Vector X that minimizes the two norm of A &times; X - B.
+         *
+         * @throws DimensionMismatchException if the matrices dimensions do not match.
+         * @throws SingularMatrixException if the decomposed matrix is singular.
+         */
+        public RealVector solve(final RealVector b) {
+            if (!isNonSingular()) {
+                throw new SingularMatrixException();
+            }
+
+            final int m = realEigenvalues.length;
+            if (b.getDimension() != m) {
+                throw new DimensionMismatchException(b.getDimension(), m);
+            }
+
+            final double[] bp = new double[m];
+            for (int i = 0; i < m; ++i) {
+                final ArrayRealVector v = eigenvectors[i];
+                final double[] vData = v.getDataRef();
+                final double s = v.dotProduct(b) / realEigenvalues[i];
+                for (int j = 0; j < m; ++j) {
+                    bp[j] += s * vData[j];
+                }
+            }
+
+            return new ArrayRealVector(bp, false);
+        }
+
+        /** {@inheritDoc} */
+        public RealMatrix solve(RealMatrix b) {
+
+            if (!isNonSingular()) {
+                throw new SingularMatrixException();
+            }
+
+            final int m = realEigenvalues.length;
+            if (b.getRowDimension() != m) {
+                throw new DimensionMismatchException(b.getRowDimension(), m);
+            }
+
+            final int nColB = b.getColumnDimension();
+            final double[][] bp = new double[m][nColB];
+            final double[] tmpCol = new double[m];
+            for (int k = 0; k < nColB; ++k) {
+                for (int i = 0; i < m; ++i) {
+                    tmpCol[i] = b.getEntry(i, k);
+                    bp[i][k]  = 0;
+                }
+                for (int i = 0; i < m; ++i) {
+                    final ArrayRealVector v = eigenvectors[i];
+                    final double[] vData = v.getDataRef();
+                    double s = 0;
+                    for (int j = 0; j < m; ++j) {
+                        s += v.getEntry(j) * tmpCol[j];
+                    }
+                    s /= realEigenvalues[i];
+                    for (int j = 0; j < m; ++j) {
+                        bp[j][k] += s * vData[j];
+                    }
+                }
+            }
+
+            return new Array2DRowRealMatrix(bp, false);
+
+        }
+
+        /**
+         * Checks whether the decomposed matrix is non-singular.
+         *
+         * @return true if the decomposed matrix is non-singular.
+         */
+        public boolean isNonSingular() {
+            for (int i = 0; i < realEigenvalues.length; ++i) {
+                if (realEigenvalues[i] == 0 &&
+                    imagEigenvalues[i] == 0) {
+                    return false;
+                }
+            }
+            return true;
+        }
+
+        /**
+         * Get the inverse of the decomposed matrix.
+         *
+         * @return the inverse matrix.
+         * @throws SingularMatrixException if the decomposed matrix is singular.
+         */
+        public RealMatrix getInverse() {
+            if (!isNonSingular()) {
+                throw new SingularMatrixException();
+            }
+
+            final int m = realEigenvalues.length;
+            final double[][] invData = new double[m][m];
+
+            for (int i = 0; i < m; ++i) {
+                final double[] invI = invData[i];
+                for (int j = 0; j < m; ++j) {
+                    double invIJ = 0;
+                    for (int k = 0; k < m; ++k) {
+                        final double[] vK = eigenvectors[k].getDataRef();
+                        invIJ += vK[i] * vK[j] / realEigenvalues[k];
+                    }
+                    invI[j] = invIJ;
+                }
+            }
+            return MatrixUtils.createRealMatrix(invData);
+        }
+    }
+
+    /**
+     * Transforms the matrix to tridiagonal form.
+     *
+     * @param matrix Matrix to transform.
+     */
+    private void transformToTridiagonal(final RealMatrix matrix) {
+        // transform the matrix to tridiagonal
+        transformer = new TriDiagonalTransformer(matrix);
+        main = transformer.getMainDiagonalRef();
+        secondary = transformer.getSecondaryDiagonalRef();
+    }
+
+    /**
+     * Find eigenvalues and eigenvectors (Dubrulle et al., 1971)
+     *
+     * @param householderMatrix Householder matrix of the transformation
+     * to tridiagonal form.
+     */
+    private void findEigenVectors(double[][] householderMatrix) {
+        final double[][]z = householderMatrix.clone();
+        final int n = main.length;
+        realEigenvalues = new double[n];
+        imagEigenvalues = new double[n];
+        final double[] e = new double[n];
+        for (int i = 0; i < n - 1; i++) {
+            realEigenvalues[i] = main[i];
+            e[i] = secondary[i];
+        }
+        realEigenvalues[n - 1] = main[n - 1];
+        e[n - 1] = 0;
+
+        // Determine the largest main and secondary value in absolute term.
+        double maxAbsoluteValue = 0;
+        for (int i = 0; i < n; i++) {
+            if (FastMath.abs(realEigenvalues[i]) > maxAbsoluteValue) {
+                maxAbsoluteValue = FastMath.abs(realEigenvalues[i]);
+            }
+            if (FastMath.abs(e[i]) > maxAbsoluteValue) {
+                maxAbsoluteValue = FastMath.abs(e[i]);
+            }
+        }
+        // Make null any main and secondary value too small to be significant
+        if (maxAbsoluteValue != 0) {
+            for (int i=0; i < n; i++) {
+                if (FastMath.abs(realEigenvalues[i]) <= Precision.EPSILON * maxAbsoluteValue) {
+                    realEigenvalues[i] = 0;
+                }
+                if (FastMath.abs(e[i]) <= Precision.EPSILON * maxAbsoluteValue) {
+                    e[i]=0;
+                }
+            }
+        }
+
+        for (int j = 0; j < n; j++) {
+            int its = 0;
+            int m;
+            do {
+                for (m = j; m < n - 1; m++) {
+                    double delta = FastMath.abs(realEigenvalues[m]) +
+                        FastMath.abs(realEigenvalues[m + 1]);
+                    if (FastMath.abs(e[m]) + delta == delta) {
+                        break;
+                    }
+                }
+                if (m != j) {
+                    if (its == maxIter) {
+                        throw new MaxCountExceededException(LocalizedFormats.CONVERGENCE_FAILED,
+                                                            maxIter);
+                    }
+                    its++;
+                    double q = (realEigenvalues[j + 1] - realEigenvalues[j]) / (2 * e[j]);
+                    double t = FastMath.sqrt(1 + q * q);
+                    if (q < 0.0) {
+                        q = realEigenvalues[m] - realEigenvalues[j] + e[j] / (q - t);
+                    } else {
+                        q = realEigenvalues[m] - realEigenvalues[j] + e[j] / (q + t);
+                    }
+                    double u = 0.0;
+                    double s = 1.0;
+                    double c = 1.0;
+                    int i;
+                    for (i = m - 1; i >= j; i--) {
+                        double p = s * e[i];
+                        double h = c * e[i];
+                        if (FastMath.abs(p) >= FastMath.abs(q)) {
+                            c = q / p;
+                            t = FastMath.sqrt(c * c + 1.0);
+                            e[i + 1] = p * t;
+                            s = 1.0 / t;
+                            c = c * s;
+                        } else {
+                            s = p / q;
+                            t = FastMath.sqrt(s * s + 1.0);
+                            e[i + 1] = q * t;
+                            c = 1.0 / t;
+                            s = s * c;
+                        }
+                        if (e[i + 1] == 0.0) {
+                            realEigenvalues[i + 1] -= u;
+                            e[m] = 0.0;
+                            break;
+                        }
+                        q = realEigenvalues[i + 1] - u;
+                        t = (realEigenvalues[i] - q) * s + 2.0 * c * h;
+                        u = s * t;
+                        realEigenvalues[i + 1] = q + u;
+                        q = c * t - h;
+                        for (int ia = 0; ia < n; ia++) {
+                            p = z[ia][i + 1];
+                            z[ia][i + 1] = s * z[ia][i] + c * p;
+                            z[ia][i] = c * z[ia][i] - s * p;
+                        }
+                    }
+                    if (t == 0.0 && i >= j) {
+                        continue;
+                    }
+                    realEigenvalues[j] -= u;
+                    e[j] = q;
+                    e[m] = 0.0;
+                }
+            } while (m != j);
+        }
+
+        //Sort the eigen values (and vectors) in increase order
+        for (int i = 0; i < n; i++) {
+            int k = i;
+            double p = realEigenvalues[i];
+            for (int j = i + 1; j < n; j++) {
+                if (realEigenvalues[j] > p) {
+                    k = j;
+                    p = realEigenvalues[j];
+                }
+            }
+            if (k != i) {
+                realEigenvalues[k] = realEigenvalues[i];
+                realEigenvalues[i] = p;
+                for (int j = 0; j < n; j++) {
+                    p = z[j][i];
+                    z[j][i] = z[j][k];
+                    z[j][k] = p;
+                }
+            }
+        }
+
+        // Determine the largest eigen value in absolute term.
+        maxAbsoluteValue = 0;
+        for (int i = 0; i < n; i++) {
+            if (FastMath.abs(realEigenvalues[i]) > maxAbsoluteValue) {
+                maxAbsoluteValue=FastMath.abs(realEigenvalues[i]);
+            }
+        }
+        // Make null any eigen value too small to be significant
+        if (maxAbsoluteValue!=0.0) {
+            for (int i=0; i < n; i++) {
+                if (FastMath.abs(realEigenvalues[i]) < Precision.EPSILON * maxAbsoluteValue) {
+                    realEigenvalues[i] = 0;
+                }
+            }
+        }
+        eigenvectors = new ArrayRealVector[n];
+        final double[] tmp = new double[n];
+        for (int i = 0; i < n; i++) {
+            for (int j = 0; j < n; j++) {
+                tmp[j] = z[j][i];
+            }
+            eigenvectors[i] = new ArrayRealVector(tmp);
+        }
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/FieldDecompositionSolver.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/FieldDecompositionSolver.java
new file mode 100644
index 0000000000..e37b33b4b0
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/FieldDecompositionSolver.java
@@ -0,0 +1,76 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.FieldElement;
+
+
+/**
+ * Interface handling decomposition algorithms that can solve A &times; X = B.
+ * <p>Decomposition algorithms decompose an A matrix has a product of several specific
+ * matrices from which they can solve A &times; X = B in least squares sense: they find X
+ * such that ||A &times; X - B|| is minimal.</p>
+ * <p>Some solvers like {@link FieldLUDecomposition} can only find the solution for
+ * square matrices and when the solution is an exact linear solution, i.e. when
+ * ||A &times; X - B|| is exactly 0. Other solvers can also find solutions
+ * with non-square matrix A and with non-null minimal norm. If an exact linear
+ * solution exists it is also the minimal norm solution.</p>
+ *
+ * @param <T> the type of the field elements
+ * @version $Id: FieldDecompositionSolver.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public interface FieldDecompositionSolver<T extends FieldElement<T>> {
+
+    /** Solve the linear equation A &times; X = B for matrices A.
+     * <p>The A matrix is implicit, it is provided by the underlying
+     * decomposition algorithm.</p>
+     * @param b right-hand side of the equation A &times; X = B
+     * @return a vector X that minimizes the two norm of A &times; X - B
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if the matrices dimensions do not match.
+     * @throws SingularMatrixException
+     * if the decomposed matrix is singular.
+     */
+    FieldVector<T> solve(final FieldVector<T> b);
+
+    /** Solve the linear equation A &times; X = B for matrices A.
+     * <p>The A matrix is implicit, it is provided by the underlying
+     * decomposition algorithm.</p>
+     * @param b right-hand side of the equation A &times; X = B
+     * @return a matrix X that minimizes the two norm of A &times; X - B
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if the matrices dimensions do not match.
+     * @throws SingularMatrixException
+     * if the decomposed matrix is singular.
+     */
+    FieldMatrix<T> solve(final FieldMatrix<T> b);
+
+    /**
+     * Check if the decomposed matrix is non-singular.
+     * @return true if the decomposed matrix is non-singular
+     */
+    boolean isNonSingular();
+
+    /** Get the inverse (or pseudo-inverse) of the decomposed matrix.
+     * @return inverse matrix
+     * @throws SingularMatrixException
+     * if the decomposed matrix is singular.
+     */
+    FieldMatrix<T> getInverse();
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/FieldLUDecomposition.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/FieldLUDecomposition.java
new file mode 100644
index 0000000000..6fe57c0a72
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/FieldLUDecomposition.java
@@ -0,0 +1,453 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import java.lang.reflect.Array;
+
+import org.apache.commons.math3.Field;
+import org.apache.commons.math3.FieldElement;
+import org.apache.commons.math3.exception.DimensionMismatchException;
+
+/**
+ * Calculates the LUP-decomposition of a square matrix.
+ * <p>The LUP-decomposition of a matrix A consists of three matrices
+ * L, U and P that satisfy: PA = LU, L is lower triangular, and U is
+ * upper triangular and P is a permutation matrix. All matrices are
+ * m&times;m.</p>
+ * <p>Since {@link FieldElement field elements} do not provide an ordering
+ * operator, the permutation matrix is computed here only in order to avoid
+ * a zero pivot element, no attempt is done to get the largest pivot
+ * element.</p>
+ * <p>This class is based on the class with similar name from the
+ * <a href="http://math.nist.gov/javanumerics/jama/">JAMA</a> library.</p>
+ * <ul>
+ *   <li>a {@link #getP() getP} method has been added,</li>
+ *   <li>the {@code det} method has been renamed as {@link #getDeterminant()
+ *   getDeterminant},</li>
+ *   <li>the {@code getDoublePivot} method has been removed (but the int based
+ *   {@link #getPivot() getPivot} method has been kept),</li>
+ *   <li>the {@code solve} and {@code isNonSingular} methods have been replaced
+ *   by a {@link #getSolver() getSolver} method and the equivalent methods
+ *   provided by the returned {@link DecompositionSolver}.</li>
+ * </ul>
+ *
+ * @param <T> the type of the field elements
+ * @see <a href="http://mathworld.wolfram.com/LUDecomposition.html">MathWorld</a>
+ * @see <a href="http://en.wikipedia.org/wiki/LU_decomposition">Wikipedia</a>
+ * @version $Id: FieldLUDecomposition.java 1296611 2012-03-03 11:48:57Z sebb $
+ * @since 2.0 (changed to concrete class in 3.0)
+ */
+public class FieldLUDecomposition<T extends FieldElement<T>> {
+
+    /** Field to which the elements belong. */
+    private final Field<T> field;
+
+    /** Entries of LU decomposition. */
+    private T[][] lu;
+
+    /** Pivot permutation associated with LU decomposition. */
+    private int[] pivot;
+
+    /** Parity of the permutation associated with the LU decomposition. */
+    private boolean even;
+
+    /** Singularity indicator. */
+    private boolean singular;
+
+    /** Cached value of L. */
+    private FieldMatrix<T> cachedL;
+
+    /** Cached value of U. */
+    private FieldMatrix<T> cachedU;
+
+    /** Cached value of P. */
+    private FieldMatrix<T> cachedP;
+
+    /**
+     * Calculates the LU-decomposition of the given matrix.
+     * @param matrix The matrix to decompose.
+     * @throws NonSquareMatrixException if matrix is not square
+     */
+    public FieldLUDecomposition(FieldMatrix<T> matrix) {
+        if (!matrix.isSquare()) {
+            throw new NonSquareMatrixException(matrix.getRowDimension(),
+                                               matrix.getColumnDimension());
+        }
+
+        final int m = matrix.getColumnDimension();
+        field = matrix.getField();
+        lu = matrix.getData();
+        pivot = new int[m];
+        cachedL = null;
+        cachedU = null;
+        cachedP = null;
+
+        // Initialize permutation array and parity
+        for (int row = 0; row < m; row++) {
+            pivot[row] = row;
+        }
+        even     = true;
+        singular = false;
+
+        // Loop over columns
+        for (int col = 0; col < m; col++) {
+
+            T sum = field.getZero();
+
+            // upper
+            for (int row = 0; row < col; row++) {
+                final T[] luRow = lu[row];
+                sum = luRow[col];
+                for (int i = 0; i < row; i++) {
+                    sum = sum.subtract(luRow[i].multiply(lu[i][col]));
+                }
+                luRow[col] = sum;
+            }
+
+            // lower
+            int nonZero = col; // permutation row
+            for (int row = col; row < m; row++) {
+                final T[] luRow = lu[row];
+                sum = luRow[col];
+                for (int i = 0; i < col; i++) {
+                    sum = sum.subtract(luRow[i].multiply(lu[i][col]));
+                }
+                luRow[col] = sum;
+
+                if (lu[nonZero][col].equals(field.getZero())) {
+                    // try to select a better permutation choice
+                    ++nonZero;
+                }
+            }
+
+            // Singularity check
+            if (nonZero >= m) {
+                singular = true;
+                return;
+            }
+
+            // Pivot if necessary
+            if (nonZero != col) {
+                T tmp = field.getZero();
+                for (int i = 0; i < m; i++) {
+                    tmp = lu[nonZero][i];
+                    lu[nonZero][i] = lu[col][i];
+                    lu[col][i] = tmp;
+                }
+                int temp = pivot[nonZero];
+                pivot[nonZero] = pivot[col];
+                pivot[col] = temp;
+                even = !even;
+            }
+
+            // Divide the lower elements by the "winning" diagonal elt.
+            final T luDiag = lu[col][col];
+            for (int row = col + 1; row < m; row++) {
+                final T[] luRow = lu[row];
+                luRow[col] = luRow[col].divide(luDiag);
+            }
+        }
+
+    }
+
+    /**
+     * Returns the matrix L of the decomposition.
+     * <p>L is a lower-triangular matrix</p>
+     * @return the L matrix (or null if decomposed matrix is singular)
+     */
+    public FieldMatrix<T> getL() {
+        if ((cachedL == null) && !singular) {
+            final int m = pivot.length;
+            cachedL = new Array2DRowFieldMatrix<T>(field, m, m);
+            for (int i = 0; i < m; ++i) {
+                final T[] luI = lu[i];
+                for (int j = 0; j < i; ++j) {
+                    cachedL.setEntry(i, j, luI[j]);
+                }
+                cachedL.setEntry(i, i, field.getOne());
+            }
+        }
+        return cachedL;
+    }
+
+    /**
+     * Returns the matrix U of the decomposition.
+     * <p>U is an upper-triangular matrix</p>
+     * @return the U matrix (or null if decomposed matrix is singular)
+     */
+    public FieldMatrix<T> getU() {
+        if ((cachedU == null) && !singular) {
+            final int m = pivot.length;
+            cachedU = new Array2DRowFieldMatrix<T>(field, m, m);
+            for (int i = 0; i < m; ++i) {
+                final T[] luI = lu[i];
+                for (int j = i; j < m; ++j) {
+                    cachedU.setEntry(i, j, luI[j]);
+                }
+            }
+        }
+        return cachedU;
+    }
+
+    /**
+     * Returns the P rows permutation matrix.
+     * <p>P is a sparse matrix with exactly one element set to 1.0 in
+     * each row and each column, all other elements being set to 0.0.</p>
+     * <p>The positions of the 1 elements are given by the {@link #getPivot()
+     * pivot permutation vector}.</p>
+     * @return the P rows permutation matrix (or null if decomposed matrix is singular)
+     * @see #getPivot()
+     */
+    public FieldMatrix<T> getP() {
+        if ((cachedP == null) && !singular) {
+            final int m = pivot.length;
+            cachedP = new Array2DRowFieldMatrix<T>(field, m, m);
+            for (int i = 0; i < m; ++i) {
+                cachedP.setEntry(i, pivot[i], field.getOne());
+            }
+        }
+        return cachedP;
+    }
+
+    /**
+     * Returns the pivot permutation vector.
+     * @return the pivot permutation vector
+     * @see #getP()
+     */
+    public int[] getPivot() {
+        return pivot.clone();
+    }
+
+    /**
+     * Return the determinant of the matrix.
+     * @return determinant of the matrix
+     */
+    public T getDeterminant() {
+        if (singular) {
+            return field.getZero();
+        } else {
+            final int m = pivot.length;
+            T determinant = even ? field.getOne() : field.getZero().subtract(field.getOne());
+            for (int i = 0; i < m; i++) {
+                determinant = determinant.multiply(lu[i][i]);
+            }
+            return determinant;
+        }
+    }
+
+    /**
+     * Get a solver for finding the A &times; X = B solution in exact linear sense.
+     * @return a solver
+     */
+    public FieldDecompositionSolver<T> getSolver() {
+        return new Solver<T>(field, lu, pivot, singular);
+    }
+
+    /** Specialized solver. */
+    private static class Solver<T extends FieldElement<T>> implements FieldDecompositionSolver<T> {
+
+        /** Field to which the elements belong. */
+        private final Field<T> field;
+
+        /** Entries of LU decomposition. */
+        private final T[][] lu;
+
+        /** Pivot permutation associated with LU decomposition. */
+        private final int[] pivot;
+
+        /** Singularity indicator. */
+        private final boolean singular;
+
+        /**
+         * Build a solver from decomposed matrix.
+         * @param field field to which the matrix elements belong
+         * @param lu entries of LU decomposition
+         * @param pivot pivot permutation associated with LU decomposition
+         * @param singular singularity indicator
+         */
+        private Solver(final Field<T> field, final T[][] lu,
+                       final int[] pivot, final boolean singular) {
+            this.field    = field;
+            this.lu       = lu;
+            this.pivot    = pivot;
+            this.singular = singular;
+        }
+
+        /** {@inheritDoc} */
+        public boolean isNonSingular() {
+            return !singular;
+        }
+
+        /** {@inheritDoc} */
+        public FieldVector<T> solve(FieldVector<T> b) {
+            try {
+                return solve((ArrayFieldVector<T>) b);
+            } catch (ClassCastException cce) {
+
+                final int m = pivot.length;
+                if (b.getDimension() != m) {
+                    throw new DimensionMismatchException(b.getDimension(), m);
+                }
+                if (singular) {
+                    throw new SingularMatrixException();
+                }
+
+                @SuppressWarnings("unchecked") // field is of type T
+                final T[] bp = (T[]) Array.newInstance(field.getRuntimeClass(), m);
+
+                // Apply permutations to b
+                for (int row = 0; row < m; row++) {
+                    bp[row] = b.getEntry(pivot[row]);
+                }
+
+                // Solve LY = b
+                for (int col = 0; col < m; col++) {
+                    final T bpCol = bp[col];
+                    for (int i = col + 1; i < m; i++) {
+                        bp[i] = bp[i].subtract(bpCol.multiply(lu[i][col]));
+                    }
+                }
+
+                // Solve UX = Y
+                for (int col = m - 1; col >= 0; col--) {
+                    bp[col] = bp[col].divide(lu[col][col]);
+                    final T bpCol = bp[col];
+                    for (int i = 0; i < col; i++) {
+                        bp[i] = bp[i].subtract(bpCol.multiply(lu[i][col]));
+                    }
+                }
+
+                return new ArrayFieldVector<T>(field, bp, false);
+
+            }
+        }
+
+        /** Solve the linear equation A &times; X = B.
+         * <p>The A matrix is implicit here. It is </p>
+         * @param b right-hand side of the equation A &times; X = B
+         * @return a vector X such that A &times; X = B
+         * @throws DimensionMismatchException if the matrices dimensions do not match.
+         * @throws SingularMatrixException if the decomposed matrix is singular.
+         */
+        public ArrayFieldVector<T> solve(ArrayFieldVector<T> b) {
+            final int m = pivot.length;
+            final int length = b.getDimension();
+            if (length != m) {
+                throw new DimensionMismatchException(length, m);
+            }
+            if (singular) {
+                throw new SingularMatrixException();
+            }
+
+            @SuppressWarnings("unchecked")
+            // field is of type T
+            final T[] bp = (T[]) Array.newInstance(field.getRuntimeClass(),
+                                                   m);
+
+            // Apply permutations to b
+            for (int row = 0; row < m; row++) {
+                bp[row] = b.getEntry(pivot[row]);
+            }
+
+            // Solve LY = b
+            for (int col = 0; col < m; col++) {
+                final T bpCol = bp[col];
+                for (int i = col + 1; i < m; i++) {
+                    bp[i] = bp[i].subtract(bpCol.multiply(lu[i][col]));
+                }
+            }
+
+            // Solve UX = Y
+            for (int col = m - 1; col >= 0; col--) {
+                bp[col] = bp[col].divide(lu[col][col]);
+                final T bpCol = bp[col];
+                for (int i = 0; i < col; i++) {
+                    bp[i] = bp[i].subtract(bpCol.multiply(lu[i][col]));
+                }
+            }
+
+            return new ArrayFieldVector<T>(bp, false);
+        }
+
+        /** {@inheritDoc} */
+        public FieldMatrix<T> solve(FieldMatrix<T> b) {
+            final int m = pivot.length;
+            if (b.getRowDimension() != m) {
+                throw new DimensionMismatchException(b.getRowDimension(), m);
+            }
+            if (singular) {
+                throw new SingularMatrixException();
+            }
+
+            final int nColB = b.getColumnDimension();
+
+            // Apply permutations to b
+            @SuppressWarnings("unchecked") // field is of type T
+            final T[][] bp = (T[][]) Array.newInstance(field.getRuntimeClass(), new int[] { m, nColB });
+            for (int row = 0; row < m; row++) {
+                final T[] bpRow = bp[row];
+                final int pRow = pivot[row];
+                for (int col = 0; col < nColB; col++) {
+                    bpRow[col] = b.getEntry(pRow, col);
+                }
+            }
+
+            // Solve LY = b
+            for (int col = 0; col < m; col++) {
+                final T[] bpCol = bp[col];
+                for (int i = col + 1; i < m; i++) {
+                    final T[] bpI = bp[i];
+                    final T luICol = lu[i][col];
+                    for (int j = 0; j < nColB; j++) {
+                        bpI[j] = bpI[j].subtract(bpCol[j].multiply(luICol));
+                    }
+                }
+            }
+
+            // Solve UX = Y
+            for (int col = m - 1; col >= 0; col--) {
+                final T[] bpCol = bp[col];
+                final T luDiag = lu[col][col];
+                for (int j = 0; j < nColB; j++) {
+                    bpCol[j] = bpCol[j].divide(luDiag);
+                }
+                for (int i = 0; i < col; i++) {
+                    final T[] bpI = bp[i];
+                    final T luICol = lu[i][col];
+                    for (int j = 0; j < nColB; j++) {
+                        bpI[j] = bpI[j].subtract(bpCol[j].multiply(luICol));
+                    }
+                }
+            }
+
+            return new Array2DRowFieldMatrix<T>(field, bp, false);
+
+        }
+
+        /** {@inheritDoc} */
+        public FieldMatrix<T> getInverse() {
+            final int m = pivot.length;
+            final T one = field.getOne();
+            FieldMatrix<T> identity = new Array2DRowFieldMatrix<T>(field, m, m);
+            for (int i = 0; i < m; ++i) {
+                identity.setEntry(i, i, one);
+            }
+            return solve(identity);
+        }
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/FieldMatrix.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/FieldMatrix.java
new file mode 100644
index 0000000000..cc7eaf78c0
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/FieldMatrix.java
@@ -0,0 +1,779 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+
+import org.apache.commons.math3.Field;
+import org.apache.commons.math3.FieldElement;
+
+/**
+ * Interface defining field-valued matrix with basic algebraic operations.
+ * <p>
+ * Matrix element indexing is 0-based -- e.g., <code>getEntry(0, 0)</code>
+ * returns the element in the first row, first column of the matrix.</p>
+ *
+ * @param <T> the type of the field elements
+ * @version $Id: FieldMatrix.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public interface FieldMatrix<T extends FieldElement<T>> extends AnyMatrix {
+    /**
+     * Get the type of field elements of the matrix.
+     *
+     * @return the type of field elements of the matrix.
+     */
+    Field<T> getField();
+
+    /**
+     * Create a new FieldMatrix<T> of the same type as the instance with
+     * the supplied row and column dimensions.
+     *
+     * @param rowDimension  the number of rows in the new matrix
+     * @param columnDimension  the number of columns in the new matrix
+     * @return a new matrix of the same type as the instance
+     * @throws org.apache.commons.math3.exception.NotStrictlyPositiveException
+     * if row or column dimension is not positive.
+     * @since 2.0
+     */
+    FieldMatrix<T> createMatrix(final int rowDimension, final int columnDimension);
+
+    /**
+     * Make a (deep) copy of this.
+     *
+     * @return a copy of this matrix.
+     */
+    FieldMatrix<T> copy();
+
+    /**
+     * Compute the sum of this and m.
+     *
+     * @param m Matrix to be added.
+     * @return {@code this} + {@code m}.
+     * @throws MatrixDimensionMismatchException
+     * if {@code m} is not the same size as this matrix.
+     */
+    FieldMatrix<T> add(FieldMatrix<T> m);
+
+    /**
+     * Subtract {@code m} from this matrix.
+     *
+     * @param m Matrix to be subtracted.
+     * @return {@code this} - {@code m}.
+     * @throws MatrixDimensionMismatchException
+     * if {@code m} is not the same size as this matrix.
+     */
+    FieldMatrix<T> subtract(FieldMatrix<T> m);
+
+     /**
+     * Increment each entry of this matrix.
+     *
+     * @param d Value to be added to each entry.
+     * @return {@code d} + {@code this}.
+     */
+    FieldMatrix<T> scalarAdd(T d);
+
+    /**
+     * Multiply each entry by {@code d}.
+     *
+     * @param d Value to multiply all entries by.
+     * @return {@code d} * {@code this}.
+     */
+    FieldMatrix<T> scalarMultiply(T d);
+
+    /**
+     * Postmultiply this matrix by {@code m}.
+     *
+     * @param m  Matrix to postmultiply by.
+     * @return {@code this} * {@code m}.
+     * @throws IllegalArgumentException
+     *             if columnDimension(this) != rowDimension(m)
+     */
+    FieldMatrix<T> multiply(FieldMatrix<T> m);
+
+    /**
+     * Premultiply this matrix by {@code m}.
+     *
+     * @param m Matrix to premultiply by.
+     * @return {@code m} * {@code this}.
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if the number of columns of {@code m} differ from the number of rows
+     * of this matrix.
+     */
+    FieldMatrix<T> preMultiply(FieldMatrix<T> m);
+
+    /**
+     * Returns the result multiplying this with itself <code>p</code> times.
+     * Depending on the type of the field elements, T,
+     * instability for high powers might occur.
+     * @param      p raise this to power p
+     * @return     this^p
+     * @throws     IllegalArgumentException if p < 0
+     *             NonSquareMatrixException if the matrix is not square
+     */
+    FieldMatrix<T> power(final int p);
+
+    /**
+     * Returns matrix entries as a two-dimensional array.
+     *
+     * @return a 2-dimensional array of entries.
+     */
+    T[][] getData();
+
+    /**
+     * Get a submatrix. Rows and columns are indicated
+     * counting from 0 to n - 1.
+     *
+     * @param startRow Initial row index
+     * @param endRow Final row index (inclusive)
+     * @param startColumn Initial column index
+     * @param endColumn Final column index (inclusive)
+     * @return the matrix containing the data of the
+     * specified rows and columns.
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the indices are not valid.
+     */
+   FieldMatrix<T> getSubMatrix(int startRow, int endRow, int startColumn, int endColumn);
+
+   /**
+    * Get a submatrix. Rows and columns are indicated
+    * counting from 0 to n - 1.
+    *
+    * @param selectedRows Array of row indices.
+    * @param selectedColumns Array of column indices.
+    * @return the matrix containing the data in the
+    * specified rows and columns.
+    * @throws org.apache.commons.math3.exception.OutOfRangeException
+    * if row or column selections are not valid.
+    */
+   FieldMatrix<T> getSubMatrix(int[] selectedRows, int[] selectedColumns);
+
+   /**
+    * Copy a submatrix. Rows and columns are indicated
+    * counting from 0 to n-1.
+    *
+    * @param startRow Initial row index.
+    * @param endRow Final row index (inclusive).
+    * @param startColumn Initial column index.
+    * @param endColumn Final column index (inclusive).
+    * @param destination The arrays where the submatrix data should be copied
+    * (if larger than rows/columns counts, only the upper-left part will be used).
+    * @throws org.apache.commons.math3.exception.OutOfRangeException
+    * if the indices are not valid.
+    * @exception IllegalArgumentException if the destination array is too small.
+    */
+  void copySubMatrix(int startRow, int endRow, int startColumn, int endColumn,
+                     T[][] destination);
+
+  /**
+   * Copy a submatrix. Rows and columns are indicated
+   * counting from 0 to n - 1.
+   *
+   * @param selectedRows Array of row indices.
+   * @param selectedColumns Array of column indices.
+   * @param destination Arrays where the submatrix data should be copied
+   * (if larger than rows/columns counts, only the upper-left part will be used)
+   * @throws org.apache.commons.math3.exception.OutOfRangeException
+   * if the indices are not valid.
+   * @exception IllegalArgumentException if the destination array is too small
+   */
+  void copySubMatrix(int[] selectedRows, int[] selectedColumns, T[][] destination);
+
+   /**
+    * Replace the submatrix starting at {@code (row, column)} using data in
+    * the input {@code subMatrix} array. Indexes are 0-based.
+    * <p>
+    * Example:<br>
+    * Starting with <pre>
+    * 1  2  3  4
+    * 5  6  7  8
+    * 9  0  1  2
+    * </pre>
+    * and <code>subMatrix = {{3, 4} {5,6}}</code>, invoking
+    * <code>setSubMatrix(subMatrix,1,1))</code> will result in <pre>
+    * 1  2  3  4
+    * 5  3  4  8
+    * 9  5  6  2
+    * </pre></p>
+    *
+    * @param subMatrix Array containing the submatrix replacement data.
+    * @param row Row coordinate of the top-left element to be replaced.
+    * @param column Column coordinate of the top-left element to be replaced.
+    * @throws MatrixDimensionMismatchException
+    * if {@code subMatrix} does not fit into this matrix from element in
+    * {@code (row, column)}.
+    * @throws org.apache.commons.math3.exception.ZeroException if a row or column
+    * of {@code subMatrix} is empty.
+    * @throws org.apache.commons.math3.exception.DimensionMismatchException
+    * if {@code subMatrix} is not rectangular (not all rows have the same
+    * length).
+    * @throws org.apache.commons.math3.exception.NullArgumentException
+    * if {@code subMatrix} is {@code null}.
+    * @since 2.0
+    */
+  void setSubMatrix(T[][] subMatrix, int row, int column);
+
+   /**
+    * Get the entries in row number {@code row}
+    * as a row matrix.
+    *
+    * @param row Row to be fetched.
+    * @return a row matrix.
+    * @throws org.apache.commons.math3.exception.OutOfRangeException
+    * if the specified row index is invalid.
+    */
+   FieldMatrix<T> getRowMatrix(int row);
+
+   /**
+    * Set the entries in row number {@code row}
+    * as a row matrix.
+    *
+    * @param row Row to be set.
+    * @param matrix Row matrix (must have one row and the same number
+    * of columns as the instance).
+    * @throws org.apache.commons.math3.exception.OutOfRangeException
+    * if the specified row index is invalid.
+    * @throws MatrixDimensionMismatchException
+    * if the matrix dimensions do not match one instance row.
+    */
+   void setRowMatrix(int row, FieldMatrix<T> matrix);
+
+   /**
+    * Get the entries in column number {@code column}
+    * as a column matrix.
+    *
+    * @param column Column to be fetched.
+    * @return a column matrix.
+    * @throws org.apache.commons.math3.exception.OutOfRangeException
+    * if the specified column index is invalid.
+    */
+   FieldMatrix<T> getColumnMatrix(int column);
+
+   /**
+    * Set the entries in column number {@code column}
+    * as a column matrix.
+    *
+    * @param column Column to be set.
+    * @param matrix column matrix (must have one column and the same
+    * number of rows as the instance).
+    * @throws org.apache.commons.math3.exception.OutOfRangeException
+    * if the specified column index is invalid.
+    * @throws MatrixDimensionMismatchException
+    * if the matrix dimensions do not match one instance column.
+    */
+   void setColumnMatrix(int column, FieldMatrix<T> matrix);
+
+   /**
+    * Get the entries in row number {@code row}
+    * as a vector.
+    *
+    * @param row Row to be fetched
+    * @return a row vector.
+    * @throws org.apache.commons.math3.exception.OutOfRangeException
+    * if the specified row index is invalid.
+    */
+   FieldVector<T> getRowVector(int row);
+
+   /**
+    * Set the entries in row number {@code row}
+    * as a vector.
+    *
+    * @param row Row to be set.
+    * @param vector row vector (must have the same number of columns
+    * as the instance).
+    * @throws org.apache.commons.math3.exception.OutOfRangeException
+    * if the specified row index is invalid.
+    * @throws MatrixDimensionMismatchException
+    * if the vector dimension does not match one instance row.
+    */
+   void setRowVector(int row, FieldVector<T> vector);
+
+   /**
+    * Returns the entries in column number {@code column}
+    * as a vector.
+    *
+    * @param column Column to be fetched.
+    * @return a column vector.
+    * @throws org.apache.commons.math3.exception.OutOfRangeException
+    * if the specified column index is invalid.
+    */
+   FieldVector<T> getColumnVector(int column);
+
+   /**
+    * Set the entries in column number {@code column}
+    * as a vector.
+    *
+    * @param column Column to be set.
+    * @param vector Column vector (must have the same number of rows
+    * as the instance).
+    * @throws org.apache.commons.math3.exception.OutOfRangeException
+    * if the specified column index is invalid.
+    * @throws MatrixDimensionMismatchException
+    * if the vector dimension does not match one instance column.
+    */
+   void setColumnVector(int column, FieldVector<T> vector);
+
+    /**
+     * Get the entries in row number {@code row} as an array.
+     *
+     * @param row Row to be fetched.
+     * @return array of entries in the row.
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the specified row index is not valid.
+     */
+    T[] getRow(int row);
+
+    /**
+     * Set the entries in row number {@code row}
+     * as a row matrix.
+     *
+     * @param row Row to be set.
+     * @param array Row matrix (must have the same number of columns as
+     * the instance).
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the specified row index is invalid.
+     * @throws MatrixDimensionMismatchException
+     * if the array size does not match one instance row.
+     */
+    void setRow(int row, T[] array);
+
+    /**
+     * Get the entries in column number {@code col} as an array.
+     *
+     * @param column the column to be fetched
+     * @return array of entries in the column
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the specified column index is not valid.
+     */
+    T[] getColumn(int column);
+
+    /**
+     * Set the entries in column number {@code column}
+     * as a column matrix.
+     *
+     * @param column the column to be set
+     * @param array column array (must have the same number of rows as the instance)
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the specified column index is invalid.
+     * @throws MatrixDimensionMismatchException
+     * if the array size does not match one instance column.
+     */
+    void setColumn(int column, T[] array);
+
+    /**
+     * Returns the entry in the specified row and column.
+     *
+     * @param row  row location of entry to be fetched
+     * @param column  column location of entry to be fetched
+     * @return matrix entry in row,column
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the row or column index is not valid.
+     */
+    T getEntry(int row, int column);
+
+    /**
+     * Set the entry in the specified row and column.
+     *
+     * @param row  row location of entry to be set
+     * @param column  column location of entry to be set
+     * @param value matrix entry to be set in row,column
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the row or column index is not valid.
+     * @since 2.0
+     */
+    void setEntry(int row, int column, T value);
+
+    /**
+     * Change an entry in the specified row and column.
+     *
+     * @param row Row location of entry to be set.
+     * @param column Column location of entry to be set.
+     * @param increment Value to add to the current matrix entry in
+     * {@code (row, column)}.
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the row or column index is not valid.
+     * @since 2.0
+     */
+    void addToEntry(int row, int column, T increment);
+
+    /**
+     * Change an entry in the specified row and column.
+     *
+     * @param row Row location of entry to be set.
+     * @param column Column location of entry to be set.
+     * @param factor Multiplication factor for the current matrix entry
+     * in {@code (row,column)}
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the row or column index is not valid.
+     * @since 2.0
+     */
+    void multiplyEntry(int row, int column, T factor);
+
+    /**
+     * Returns the transpose of this matrix.
+     *
+     * @return transpose matrix
+     */
+    FieldMatrix<T> transpose();
+
+    /**
+     * Returns the <a href="http://mathworld.wolfram.com/MatrixTrace.html">
+     * trace</a> of the matrix (the sum of the elements on the main diagonal).
+     *
+     * @return trace
+     * @throws NonSquareMatrixException
+     * if the matrix is not square.
+     */
+    T getTrace();
+
+    /**
+     * Returns the result of multiplying this by the vector <code>v</code>.
+     *
+     * @param v the vector to operate on
+     * @return this*v
+     * @throws IllegalArgumentException if columnDimension != v.size()
+     */
+    T[] operate(T[] v);
+
+    /**
+     * Returns the result of multiplying this by the vector <code>v</code>.
+     *
+     * @param v the vector to operate on
+     * @return this*v
+     * @throws IllegalArgumentException if columnDimension != v.size()
+     */
+    FieldVector<T> operate(FieldVector<T> v);
+
+    /**
+     * Returns the (row) vector result of premultiplying this by the vector <code>v</code>.
+     *
+     * @param v the row vector to premultiply by
+     * @return v*this
+     * @throws IllegalArgumentException if rowDimension != v.size()
+     */
+    T[] preMultiply(T[] v);
+
+    /**
+     * Returns the (row) vector result of premultiplying this by the vector <code>v</code>.
+     *
+     * @param v the row vector to premultiply by
+     * @return v*this
+     * @throws IllegalArgumentException if rowDimension != v.size()
+     */
+    FieldVector<T> preMultiply(FieldVector<T> v);
+
+    /**
+     * Visit (and possibly change) all matrix entries in row order.
+     * <p>Row order starts at upper left and iterating through all elements
+     * of a row from left to right before going to the leftmost element
+     * of the next row.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link FieldMatrixChangingVisitor#end()} at the end
+     * of the walk
+     */
+    T walkInRowOrder(FieldMatrixChangingVisitor<T> visitor);
+
+    /**
+     * Visit (but don't change) all matrix entries in row order.
+     * <p>Row order starts at upper left and iterating through all elements
+     * of a row from left to right before going to the leftmost element
+     * of the next row.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor)
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link FieldMatrixPreservingVisitor#end()} at the end
+     * of the walk
+     */
+    T walkInRowOrder(FieldMatrixPreservingVisitor<T> visitor);
+
+    /**
+     * Visit (and possibly change) some matrix entries in row order.
+     * <p>Row order starts at upper left and iterating through all elements
+     * of a row from left to right before going to the leftmost element
+     * of the next row.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @param startRow Initial row index
+     * @param endRow Final row index (inclusive)
+     * @param startColumn Initial column index
+     * @param endColumn Final column index
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the indices are not valid.
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor)
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link FieldMatrixChangingVisitor#end()} at the end
+     * of the walk
+     */
+    T walkInRowOrder(FieldMatrixChangingVisitor<T> visitor,
+                     int startRow, int endRow, int startColumn, int endColumn);
+
+    /**
+     * Visit (but don't change) some matrix entries in row order.
+     * <p>Row order starts at upper left and iterating through all elements
+     * of a row from left to right before going to the leftmost element
+     * of the next row.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @param startRow Initial row index
+     * @param endRow Final row index (inclusive)
+     * @param startColumn Initial column index
+     * @param endColumn Final column index
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the indices are not valid.
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor)
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link FieldMatrixPreservingVisitor#end()} at the end
+     * of the walk
+     */
+    T walkInRowOrder(FieldMatrixPreservingVisitor<T> visitor,
+                     int startRow, int endRow, int startColumn, int endColumn);
+
+    /**
+     * Visit (and possibly change) all matrix entries in column order.
+     * <p>Column order starts at upper left and iterating through all elements
+     * of a column from top to bottom before going to the topmost element
+     * of the next column.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor)
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link FieldMatrixChangingVisitor#end()} at the end
+     * of the walk
+     */
+    T walkInColumnOrder(FieldMatrixChangingVisitor<T> visitor);
+
+    /**
+     * Visit (but don't change) all matrix entries in column order.
+     * <p>Column order starts at upper left and iterating through all elements
+     * of a column from top to bottom before going to the topmost element
+     * of the next column.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor)
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link FieldMatrixPreservingVisitor#end()} at the end
+     * of the walk
+     */
+    T walkInColumnOrder(FieldMatrixPreservingVisitor<T> visitor);
+
+    /**
+     * Visit (and possibly change) some matrix entries in column order.
+     * <p>Column order starts at upper left and iterating through all elements
+     * of a column from top to bottom before going to the topmost element
+     * of the next column.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @param startRow Initial row index
+     * @param endRow Final row index (inclusive)
+     * @param startColumn Initial column index
+     * @param endColumn Final column index
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the indices are not valid.
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor)
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link FieldMatrixChangingVisitor#end()} at the end
+     * of the walk
+     */
+    T walkInColumnOrder(FieldMatrixChangingVisitor<T> visitor,
+                        int startRow, int endRow, int startColumn, int endColumn);
+
+    /**
+     * Visit (but don't change) some matrix entries in column order.
+     * <p>Column order starts at upper left and iterating through all elements
+     * of a column from top to bottom before going to the topmost element
+     * of the next column.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @param startRow Initial row index
+     * @param endRow Final row index (inclusive)
+     * @param startColumn Initial column index
+     * @param endColumn Final column index
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the indices are not valid.
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor)
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link FieldMatrixPreservingVisitor#end()} at the end
+     * of the walk
+     */
+    T walkInColumnOrder(FieldMatrixPreservingVisitor<T> visitor,
+                        int startRow, int endRow, int startColumn, int endColumn);
+
+    /**
+     * Visit (and possibly change) all matrix entries using the fastest possible order.
+     * <p>The fastest walking order depends on the exact matrix class. It may be
+     * different from traditional row or column orders.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor)
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link FieldMatrixChangingVisitor#end()} at the end
+     * of the walk
+     */
+    T walkInOptimizedOrder(FieldMatrixChangingVisitor<T> visitor);
+
+    /**
+     * Visit (but don't change) all matrix entries using the fastest possible order.
+     * <p>The fastest walking order depends on the exact matrix class. It may be
+     * different from traditional row or column orders.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor)
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link FieldMatrixPreservingVisitor#end()} at the end
+     * of the walk
+     */
+    T walkInOptimizedOrder(FieldMatrixPreservingVisitor<T> visitor);
+
+    /**
+     * Visit (and possibly change) some matrix entries using the fastest possible order.
+     * <p>The fastest walking order depends on the exact matrix class. It may be
+     * different from traditional row or column orders.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @param startRow Initial row index
+     * @param endRow Final row index (inclusive)
+     * @param startColumn Initial column index
+     * @param endColumn Final column index (inclusive)
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the indices are not valid.
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor)
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link FieldMatrixChangingVisitor#end()} at the end
+     * of the walk
+     */
+    T walkInOptimizedOrder(FieldMatrixChangingVisitor<T> visitor,
+                           int startRow, int endRow, int startColumn, int endColumn);
+
+    /**
+     * Visit (but don't change) some matrix entries using the fastest possible order.
+     * <p>The fastest walking order depends on the exact matrix class. It may be
+     * different from traditional row or column orders.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @param startRow Initial row index
+     * @param endRow Final row index (inclusive)
+     * @param startColumn Initial column index
+     * @param endColumn Final column index (inclusive)
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the indices are not valid.
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor)
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInRowOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInRowOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(FieldMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(FieldMatrixChangingVisitor, int, int, int, int)
+     * @return the value returned by {@link FieldMatrixPreservingVisitor#end()} at the end
+     * of the walk
+     */
+    T walkInOptimizedOrder(FieldMatrixPreservingVisitor<T> visitor,
+                           int startRow, int endRow, int startColumn, int endColumn);
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/FieldMatrixChangingVisitor.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/FieldMatrixChangingVisitor.java
new file mode 100644
index 0000000000..bdf06f2def
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/FieldMatrixChangingVisitor.java
@@ -0,0 +1,58 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.FieldElement;
+
+/**
+ * Interface defining a visitor for matrix entries.
+ *
+ * @param <T> the type of the field elements
+ * @version $Id: FieldMatrixChangingVisitor.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public interface FieldMatrixChangingVisitor<T extends FieldElement<?>> {
+    /**
+     * Start visiting a matrix.
+     * <p>This method is called once before any entry of the matrix is visited.</p>
+     * @param rows number of rows of the matrix
+     * @param columns number of columns of the matrix
+     * @param startRow Initial row index
+     * @param endRow Final row index (inclusive)
+     * @param startColumn Initial column index
+     * @param endColumn Final column index (inclusive)
+     */
+    void start(int rows, int columns,
+               int startRow, int endRow, int startColumn, int endColumn);
+
+    /**
+     * Visit one matrix entry.
+     * @param row row index of the entry
+     * @param column column index of the entry
+     * @param value current value of the entry
+     * @return the new value to be set for the entry
+     */
+    T visit(int row, int column, T value);
+
+    /**
+     * End visiting a matrix.
+     * <p>This method is called once after all entries of the matrix have been visited.</p>
+     * @return the value that the <code>walkInXxxOrder</code> must return
+     */
+    T end();
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/FieldMatrixPreservingVisitor.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/FieldMatrixPreservingVisitor.java
new file mode 100644
index 0000000000..b083313675
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/FieldMatrixPreservingVisitor.java
@@ -0,0 +1,57 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.FieldElement;
+
+/**
+ * Interface defining a visitor for matrix entries.
+ *
+ * @param <T> the type of the field elements
+ * @version $Id: FieldMatrixPreservingVisitor.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public interface FieldMatrixPreservingVisitor<T extends FieldElement<?>> {
+    /**
+     * Start visiting a matrix.
+     * <p>This method is called once before any entry of the matrix is visited.</p>
+     * @param rows number of rows of the matrix
+     * @param columns number of columns of the matrix
+     * @param startRow Initial row index
+     * @param endRow Final row index (inclusive)
+     * @param startColumn Initial column index
+     * @param endColumn Final column index (inclusive)
+     */
+    void start(int rows, int columns,
+               int startRow, int endRow, int startColumn, int endColumn);
+
+    /**
+     * Visit one matrix entry.
+     * @param row row index of the entry
+     * @param column column index of the entry
+     * @param value current value of the entry
+     */
+    void visit(int row, int column, T value);
+
+    /**
+     * End visiting a matrix.
+     * <p>This method is called once after all entries of the matrix have been visited.</p>
+     * @return the value that the <code>walkInXxxOrder</code> must return
+     */
+    T end();
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/FieldVector.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/FieldVector.java
new file mode 100644
index 0000000000..175ff69612
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/FieldVector.java
@@ -0,0 +1,271 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.Field;
+import org.apache.commons.math3.FieldElement;
+
+/**
+ * Interface defining a field-valued vector with basic algebraic operations.
+ * <p>
+ * vector element indexing is 0-based -- e.g., <code>getEntry(0)</code>
+ * returns the first element of the vector.
+ * </p>
+ * <p>
+ * The various <code>mapXxx</code> and <code>mapXxxToSelf</code> methods operate
+ * on vectors element-wise, i.e. they perform the same operation (adding a scalar,
+ * applying a function ...) on each element in turn. The <code>mapXxx</code>
+ * versions create a new vector to hold the result and do not change the instance.
+ * The <code>mapXxxToSelf</code> versions use the instance itself to store the
+ * results, so the instance is changed by these methods. In both cases, the result
+ * vector is returned by the methods, this allows to use the <i>fluent API</i>
+ * style, like this:
+ * </p>
+ * <pre>
+ *   RealVector result = v.mapAddToSelf(3.0).mapTanToSelf().mapSquareToSelf();
+ * </pre>
+ *
+ * @param <T> the type of the field elements
+ * @version $Id: FieldVector.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public interface FieldVector<T extends FieldElement<T>>  {
+
+    /**
+     * Get the type of field elements of the vector.
+     * @return type of field elements of the vector
+     */
+    Field<T> getField();
+
+    /**
+     * Returns a (deep) copy of this.
+     * @return vector copy
+     */
+    FieldVector<T> copy();
+
+    /**
+     * Compute the sum of this and v.
+     * @param v vector to be added
+     * @return this + v
+     * @throws IllegalArgumentException if v is not the same size as this
+     */
+    FieldVector<T> add(FieldVector<T> v)
+        throws IllegalArgumentException;
+
+    /**
+     * Compute this minus v.
+     * @param v vector to be subtracted
+     * @return this + v
+     * @throws IllegalArgumentException if v is not the same size as this
+     */
+    FieldVector<T> subtract(FieldVector<T> v)
+        throws IllegalArgumentException;
+
+    /**
+     * Map an addition operation to each entry.
+     * @param d value to be added to each entry
+     * @return this + d
+     */
+    FieldVector<T> mapAdd(T d);
+
+    /**
+     * Map an addition operation to each entry.
+     * <p>The instance <strong>is</strong> changed by this method.</p>
+     * @param d value to be added to each entry
+     * @return for convenience, return this
+     */
+    FieldVector<T> mapAddToSelf(T d);
+
+    /**
+     * Map a subtraction operation to each entry.
+     * @param d value to be subtracted to each entry
+     * @return this - d
+     */
+    FieldVector<T> mapSubtract(T d);
+
+    /**
+     * Map a subtraction operation to each entry.
+     * <p>The instance <strong>is</strong> changed by this method.</p>
+     * @param d value to be subtracted to each entry
+     * @return for convenience, return this
+     */
+    FieldVector<T> mapSubtractToSelf(T d);
+
+    /**
+     * Map a multiplication operation to each entry.
+     * @param d value to multiply all entries by
+     * @return this * d
+     */
+    FieldVector<T> mapMultiply(T d);
+
+    /**
+     * Map a multiplication operation to each entry.
+     * <p>The instance <strong>is</strong> changed by this method.</p>
+     * @param d value to multiply all entries by
+     * @return for convenience, return this
+     */
+    FieldVector<T> mapMultiplyToSelf(T d);
+
+    /**
+     * Map a division operation to each entry.
+     * @param d value to divide all entries by
+     * @return this / d
+     */
+    FieldVector<T> mapDivide(T d);
+
+    /**
+     * Map a division operation to each entry.
+     * <p>The instance <strong>is</strong> changed by this method.</p>
+     * @param d value to divide all entries by
+     * @return for convenience, return this
+     */
+    FieldVector<T> mapDivideToSelf(T d);
+
+    /**
+     * Map the 1/x function to each entry.
+     * @return a vector containing the result of applying the function to each entry
+     */
+    FieldVector<T> mapInv();
+
+    /**
+     * Map the 1/x function to each entry.
+     * <p>The instance <strong>is</strong> changed by this method.</p>
+     * @return for convenience, return this
+     */
+    FieldVector<T> mapInvToSelf();
+
+    /**
+     * Element-by-element multiplication.
+     * @param v vector by which instance elements must be multiplied
+     * @return a vector containing this[i] * v[i] for all i
+     * @throws IllegalArgumentException if v is not the same size as this
+     */
+    FieldVector<T> ebeMultiply(FieldVector<T> v) throws IllegalArgumentException;
+
+    /**
+     * Element-by-element division.
+     * @param v vector by which instance elements must be divided
+     * @return a vector containing this[i] / v[i] for all i
+     * @throws IllegalArgumentException if v is not the same size as this
+     */
+    FieldVector<T> ebeDivide(FieldVector<T> v) throws IllegalArgumentException;
+
+    /**
+     * Returns vector entries as a T array.
+     * @return T array of entries
+     */
+     T[] getData();
+
+    /**
+     * Compute the dot product.
+     * @param v vector with which dot product should be computed
+     * @return the scalar dot product between instance and v
+     * @exception IllegalArgumentException if v is not the same size as this
+     */
+    T dotProduct(FieldVector<T> v)
+        throws IllegalArgumentException;
+
+    /** Find the orthogonal projection of this vector onto another vector.
+     * @param v vector onto which instance must be projected
+     * @return projection of the instance onto v
+     * @throws IllegalArgumentException if v is not the same size as this
+     */
+    FieldVector<T> projection(FieldVector<T> v)
+        throws IllegalArgumentException;
+
+    /**
+     * Compute the outer product.
+     * @param v vector with which outer product should be computed
+     * @return the matrix outer product between instance and v
+     */
+    FieldMatrix<T> outerProduct(FieldVector<T> v);
+
+    /**
+     * Returns the entry in the specified index.
+     *
+     * @param index Index location of entry to be fetched.
+     * @return the vector entry at {@code index}.
+     * @throws org.apache.commons.math3.exception.OutOfRangeException if the
+     * index is not valid.
+     * @see #setEntry(int, FieldElement)
+     */
+    T getEntry(int index);
+
+    /**
+     * Set a single element.
+     * @param index element index.
+     * @param value new value for the element.
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the index is inconsistent with vector size.
+     * @see #getEntry(int)
+     */
+    void setEntry(int index, T value);
+
+    /**
+     * Returns the size of the vector.
+     * @return size
+     */
+    int getDimension();
+
+    /**
+     * Construct a vector by appending a vector to this vector.
+     * @param v vector to append to this one.
+     * @return a new vector
+     */
+    FieldVector<T> append(FieldVector<T> v);
+
+    /**
+     * Construct a vector by appending a T to this vector.
+     * @param d T to append.
+     * @return a new vector
+     */
+    FieldVector<T> append(T d);
+
+    /**
+     * Get a subvector from consecutive elements.
+     * @param index index of first element.
+     * @param n number of elements to be retrieved.
+     * @return a vector containing n elements.
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the index is inconsistent with vector size.
+     */
+    FieldVector<T> getSubVector(int index, int n);
+
+    /**
+     * Set a set of consecutive elements.
+     * @param index index of first element to be set.
+     * @param v vector containing the values to set.
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the index is inconsistent with vector size.
+     */
+    void setSubVector(int index, FieldVector<T> v);
+
+    /**
+     * Set all elements to a single value.
+     * @param value single value to set for all elements
+     */
+    void set(T value);
+
+    /**
+     * Convert the vector to a T array.
+     * <p>The array is independent from vector data, it's elements
+     * are copied.</p>
+     * @return array containing a copy of vector elements
+     */
+    T[] toArray();
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/IllConditionedOperatorException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/IllConditionedOperatorException.java
new file mode 100644
index 0000000000..e1b204568c
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/IllConditionedOperatorException.java
@@ -0,0 +1,43 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.exception.MathIllegalArgumentException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * An exception to be thrown when the condition number of a
+ * {@link RealLinearOperator} is too high.
+ *
+ * @version $Id: IllConditionedOperatorException.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 3.0
+ */
+public class IllConditionedOperatorException
+    extends MathIllegalArgumentException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -7883263944530490135L;
+
+    /**
+     * Creates a new instance of this class.
+     *
+     * @param cond An estimate of the condition number of the offending linear
+     * operator.
+     */
+    public IllConditionedOperatorException(final double cond) {
+        super(LocalizedFormats.ILL_CONDITIONED_OPERATOR, cond);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/IterativeLinearSolver.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/IterativeLinearSolver.java
new file mode 100644
index 0000000000..a79c5117b9
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/IterativeLinearSolver.java
@@ -0,0 +1,174 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.MaxCountExceededException;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.util.IterationManager;
+import org.apache.commons.math3.util.MathUtils;
+
+/**
+ * This abstract class defines an iterative solver for the linear system A
+ * &middot; x = b. In what follows, the <em>residual</em> r is defined as r = b
+ * - A &middot; x, where A is the linear operator of the linear system, b is the
+ * right-hand side vector, and x the current estimate of the solution.
+ *
+ * @version $Id: IterativeLinearSolver.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 3.0
+ */
+public abstract class IterativeLinearSolver {
+
+    /** The object in charge of managing the iterations. */
+    private final IterationManager manager;
+
+    /**
+     * Creates a new instance of this class, with default iteration manager.
+     *
+     * @param maxIterations the maximum number of iterations
+     */
+    public IterativeLinearSolver(final int maxIterations) {
+        this.manager = new IterationManager(maxIterations);
+    }
+
+    /**
+     * Creates a new instance of this class, with custom iteration manager.
+     *
+     * @param manager the custom iteration manager
+     * @throws NullArgumentException if {@code manager} is {@code null}
+     */
+    public IterativeLinearSolver(final IterationManager manager)
+        throws NullArgumentException {
+        MathUtils.checkNotNull(manager);
+        this.manager = manager;
+    }
+
+    /**
+     * Performs all dimension checks on the parameters of
+     * {@link #solve(RealLinearOperator, RealVector, RealVector) solve} and
+     * {@link #solveInPlace(RealLinearOperator, RealVector, RealVector) solveInPlace},
+     * and throws an exception if one of the checks fails.
+     *
+     * @param a the linear operator A of the system
+     * @param b the right-hand side vector
+     * @param x0 the initial guess of the solution
+     * @throws NullArgumentException if one of the parameters is {@code null}
+     * @throws NonSquareOperatorException if {@code a} is not square
+     * @throws DimensionMismatchException if {@code b} or {@code x0} have
+     * dimensions inconsistent with {@code a}
+     */
+    protected static void checkParameters(final RealLinearOperator a,
+        final RealVector b, final RealVector x0) throws
+        NullArgumentException, NonSquareOperatorException,
+        DimensionMismatchException {
+        MathUtils.checkNotNull(a);
+        MathUtils.checkNotNull(b);
+        MathUtils.checkNotNull(x0);
+        if (a.getRowDimension() != a.getColumnDimension()) {
+            throw new NonSquareOperatorException(a.getRowDimension(),
+                                                       a.getColumnDimension());
+        }
+        if (b.getDimension() != a.getRowDimension()) {
+            throw new DimensionMismatchException(b.getDimension(),
+                                                 a.getRowDimension());
+        }
+        if (x0.getDimension() != a.getColumnDimension()) {
+            throw new DimensionMismatchException(x0.getDimension(),
+                                                 a.getColumnDimension());
+        }
+    }
+
+    /**
+     * Returns the iteration manager attached to this solver.
+     *
+     * @return the manager
+     */
+    public IterationManager getIterationManager() {
+        return manager;
+    }
+
+    /**
+     * Returns an estimate of the solution to the linear system A &middot; x =
+     * b.
+     *
+     * @param a the linear operator A of the system
+     * @param b the right-hand side vector
+     * @return a new vector containing the solution
+     * @throws NullArgumentException if one of the parameters is {@code null}
+     * @throws NonSquareOperatorException if {@code a} is not square
+     * @throws DimensionMismatchException if {@code b} has dimensions
+     * inconsistent with {@code a}
+     * @throws MaxCountExceededException at exhaustion of the iteration count,
+     * unless a custom
+     * {@link org.apache.commons.math3.util.Incrementor.MaxCountExceededCallback callback}
+     * has been set at construction
+     */
+    public RealVector solve(final RealLinearOperator a, final RealVector b)
+        throws NullArgumentException, NonSquareOperatorException,
+        DimensionMismatchException, MaxCountExceededException {
+        MathUtils.checkNotNull(a);
+        final RealVector x = new ArrayRealVector(a.getColumnDimension());
+        x.set(0.);
+        return solveInPlace(a, b, x);
+    }
+
+    /**
+     * Returns an estimate of the solution to the linear system A &middot; x =
+     * b.
+     *
+     * @param a the linear operator A of the system
+     * @param b the right-hand side vector
+     * @param x0 the initial guess of the solution
+     * @return a new vector containing the solution
+     * @throws NullArgumentException if one of the parameters is {@code null}
+     * @throws NonSquareOperatorException if {@code a} is not square
+     * @throws DimensionMismatchException if {@code b} or {@code x0} have
+     * dimensions inconsistent with {@code a}
+     * @throws MaxCountExceededException at exhaustion of the iteration count,
+     * unless a custom
+     * {@link org.apache.commons.math3.util.Incrementor.MaxCountExceededCallback callback}
+     * has been set at construction
+     */
+    public RealVector solve(RealLinearOperator a, RealVector b, RealVector x0)
+        throws NullArgumentException, NonSquareOperatorException,
+        DimensionMismatchException, MaxCountExceededException {
+        MathUtils.checkNotNull(x0);
+        return solveInPlace(a, b, x0.copy());
+    }
+
+    /**
+     * Returns an estimate of the solution to the linear system A &middot; x =
+     * b. The solution is computed in-place (initial guess is modified).
+     *
+     * @param a the linear operator A of the system
+     * @param b the right-hand side vector
+     * @param x0 initial guess of the solution
+     * @return a reference to {@code x0} (shallow copy) updated with the
+     * solution
+     * @throws NullArgumentException if one of the parameters is {@code null}
+     * @throws NonSquareOperatorException if {@code a} is not square
+     * @throws DimensionMismatchException if {@code b} or {@code x0} have
+     * dimensions inconsistent with {@code a}
+     * @throws MaxCountExceededException at exhaustion of the iteration count,
+     * unless a custom
+     * {@link org.apache.commons.math3.util.Incrementor.MaxCountExceededCallback callback}
+     * has been set at construction
+     */
+    public abstract RealVector solveInPlace(RealLinearOperator a, RealVector b,
+        RealVector x0) throws NullArgumentException, NonSquareOperatorException,
+        DimensionMismatchException, MaxCountExceededException;
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/IterativeLinearSolverEvent.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/IterativeLinearSolverEvent.java
new file mode 100644
index 0000000000..6d1fa898e4
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/IterativeLinearSolverEvent.java
@@ -0,0 +1,116 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.util.IterationEvent;
+import org.apache.commons.math3.exception.MathUnsupportedOperationException;
+
+/**
+ * This is the base class for all events occuring during the iterations of a
+ * {@link IterativeLinearSolver}.
+ *
+ * @version $Id: IterativeLinearSolverEvent.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 3.0
+ */
+public abstract class IterativeLinearSolverEvent
+    extends IterationEvent {
+    /** Serialization identifier. */
+    private static final long serialVersionUID = 20120129L;
+
+    /**
+     * Creates a new instance of this class.
+     *
+     * @param source the iterative algorithm on which the event initially
+     * occurred
+     * @param iterations the number of iterations performed at the time
+     * {@code this} event is created
+     */
+    public IterativeLinearSolverEvent(final Object source, final int iterations) {
+        super(source, iterations);
+    }
+
+    /**
+     * Returns the current right-hand side of the linear system to be solved.
+     * This method should return an unmodifiable view, or a deep copy of the
+     * actual right-hand side vector, in order not to compromise subsequent
+     * iterations of the source {@link IterativeLinearSolver}.
+     *
+     * @return the right-hand side vector, b
+     */
+    public abstract RealVector getRightHandSideVector();
+
+    /**
+     * Returns the norm of the residual. The returned value is not required to
+     * be <em>exact</em>. Instead, the norm of the so-called <em>updated</em>
+     * residual (if available) should be returned. For example, the
+     * {@link ConjugateGradient conjugate gradient} method computes a sequence
+     * of residuals, the norm of which is cheap to compute. However, due to
+     * accumulation of round-off errors, this residual might differ from the
+     * true residual after some iterations. See e.g. A. Greenbaum and
+     * Z. Strakos, <em>Predicting the Behavior of Finite Precision Lanzos and
+     * Conjugate Gradient Computations</em>, Technical Report 538, Department of
+     * Computer Science, New York University, 1991 (available
+     * <a href="http://www.archive.org/details/predictingbehavi00gree">here</a>).
+     *
+     * @return the norm of the residual, ||r||
+     */
+    public abstract double getNormOfResidual();
+
+    /**
+     * <p>
+     * Returns the residual. This is an optional operation, as all iterative
+     * linear solvers do not provide cheap estimate of the updated residual
+     * vector, in which case
+     * </p>
+     * <ul>
+     * <li>this method should throw a
+     * {@link MathUnsupportedOperationException},</li>
+     * <li>{@link #providesResidual()} returns {@code false}.</li>
+     * </ul>
+     * <p>
+     * The default implementation throws a
+     * {@link MathUnsupportedOperationException}. If this method is overriden,
+     * then {@link #providesResidual()} should be overriden as well.
+     * </p>
+     *
+     * @return the updated residual, r
+     */
+    public RealVector getResidual() {
+        throw new MathUnsupportedOperationException();
+    }
+
+    /**
+     * Returns the current estimate of the solution to the linear system to be
+     * solved. This method should return an unmodifiable view, or a deep copy of
+     * the actual current solution, in order not to compromise subsequent
+     * iterations of the source {@link IterativeLinearSolver}.
+     *
+     * @return the solution, x
+     */
+    public abstract RealVector getSolution();
+
+    /**
+     * Returns {@code true} if {@link #getResidual()} is supported. The default
+     * implementation returns {@code false}.
+     *
+     * @return {@code false} if {@link #getResidual()} throws a
+     * {@link MathUnsupportedOperationException}
+     */
+    public boolean providesResidual() {
+        return false;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/JacobiPreconditioner.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/JacobiPreconditioner.java
new file mode 100644
index 0000000000..201703fa11
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/JacobiPreconditioner.java
@@ -0,0 +1,101 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+/**
+ * This class implements the standard Jacobi (diagonal) preconditioner. For a
+ * matrix A<sub>ij</sub>, this preconditioner is
+ * M = diag(A<sub>11</sub>, A<sub>22</sub>, &hellip;).
+ * {@link #create(RealLinearOperator)} returns the <em>inverse</em> of this
+ * preconditioner,
+ * M<sup>-1</sup> = diag(1 / A<sub>11</sub>, 1 / A<sub>22</sub>, &hellip;)
+ *
+ * @version $Id: JacobiPreconditioner.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 3.0
+ */
+public class JacobiPreconditioner extends RealLinearOperator {
+
+    /** The diagonal coefficients of the preconditioner. */
+    private final ArrayRealVector diag;
+
+    /**
+     * Creates a new instance of this class.
+     *
+     * @param diag the diagonal coefficients of the linear operator to be
+     * preconditioned
+     * @param deep {@code true} if a deep copy of the above array should be
+     * performed
+     */
+    public JacobiPreconditioner(final double[] diag, final boolean deep) {
+        this.diag = new ArrayRealVector(diag, deep);
+    }
+
+    /**
+     * Creates a new instance of this class. This method extracts the diagonal
+     * coefficients of the specified linear operator. If {@code a} does not
+     * extend {@link AbstractRealMatrix}, then the coefficients of the
+     * underlying matrix are not accessible, coefficient extraction is made by
+     * matrix-vector products with the basis vectors (and might therefore take
+     * some time). With matrices, direct entry access is carried out.
+     *
+     * @param a the linear operator for which the preconditioner should be built
+     * @return the inverse of the preconditioner made of the inverse of the
+     * diagonal coefficients of the specified linear operator
+     * @throws NonSquareOperatorException if {@code a} is not square
+     */
+    public static JacobiPreconditioner create(final RealLinearOperator a)
+        throws NonSquareOperatorException {
+        final int n = a.getColumnDimension();
+        if (a.getRowDimension() != n) {
+            throw new NonSquareOperatorException(a.getRowDimension(), n);
+        }
+        final double[] diag = new double[n];
+        if (a instanceof AbstractRealMatrix) {
+            final AbstractRealMatrix m = (AbstractRealMatrix) a;
+            for (int i = 0; i < n; i++) {
+                diag[i] = m.getEntry(i, i);
+            }
+        } else {
+            final ArrayRealVector x = new ArrayRealVector(n);
+            for (int i = 0; i < n; i++) {
+                x.set(0.);
+                x.setEntry(i, 1.);
+                diag[i] = a.operate(x).getEntry(i);
+            }
+        }
+        return new JacobiPreconditioner(diag, false);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public int getColumnDimension() {
+        return diag.getDimension();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public int getRowDimension() {
+        return diag.getDimension();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector operate(final RealVector x) {
+        // Dimension check is carried out by ebeMultiply
+        return x.ebeDivide(diag);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/LUDecomposition.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/LUDecomposition.java
new file mode 100644
index 0000000000..4184277975
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/LUDecomposition.java
@@ -0,0 +1,386 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Calculates the LUP-decomposition of a square matrix.
+ * <p>The LUP-decomposition of a matrix A consists of three matrices L, U and
+ * P that satisfy: P&times;A = L&times;U. L is lower triangular (with unit
+ * diagonal terms), U is upper triangular and P is a permutation matrix. All
+ * matrices are m&times;m.</p>
+ * <p>As shown by the presence of the P matrix, this decomposition is
+ * implemented using partial pivoting.</p>
+ * <p>This class is based on the class with similar name from the
+ * <a href="http://math.nist.gov/javanumerics/jama/">JAMA</a> library.</p>
+ * <ul>
+ *   <li>a {@link #getP() getP} method has been added,</li>
+ *   <li>the {@code det} method has been renamed as {@link #getDeterminant()
+ *   getDeterminant},</li>
+ *   <li>the {@code getDoublePivot} method has been removed (but the int based
+ *   {@link #getPivot() getPivot} method has been kept),</li>
+ *   <li>the {@code solve} and {@code isNonSingular} methods have been replaced
+ *   by a {@link #getSolver() getSolver} method and the equivalent methods
+ *   provided by the returned {@link DecompositionSolver}.</li>
+ * </ul>
+ *
+ * @see <a href="http://mathworld.wolfram.com/LUDecomposition.html">MathWorld</a>
+ * @see <a href="http://en.wikipedia.org/wiki/LU_decomposition">Wikipedia</a>
+ * @version $Id: LUDecomposition.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0 (changed to concrete class in 3.0)
+ */
+public class LUDecomposition {
+    /** Default bound to determine effective singularity in LU decomposition. */
+    private static final double DEFAULT_TOO_SMALL = 1e-11;
+    /** Entries of LU decomposition. */
+    private final double[][] lu;
+    /** Pivot permutation associated with LU decomposition. */
+    private final int[] pivot;
+    /** Parity of the permutation associated with the LU decomposition. */
+    private boolean even;
+    /** Singularity indicator. */
+    private boolean singular;
+    /** Cached value of L. */
+    private RealMatrix cachedL;
+    /** Cached value of U. */
+    private RealMatrix cachedU;
+    /** Cached value of P. */
+    private RealMatrix cachedP;
+
+    /**
+     * Calculates the LU-decomposition of the given matrix.
+     * This constructor uses 1e-11 as default value for the singularity
+     * threshold.
+     *
+     * @param matrix Matrix to decompose.
+     * @throws NonSquareMatrixException if matrix is not square.
+     */
+    public LUDecomposition(RealMatrix matrix) {
+        this(matrix, DEFAULT_TOO_SMALL);
+    }
+
+    /**
+     * Calculates the LU-decomposition of the given matrix.
+     * @param matrix The matrix to decompose.
+     * @param singularityThreshold threshold (based on partial row norm)
+     * under which a matrix is considered singular
+     * @throws NonSquareMatrixException if matrix is not square
+     */
+    public LUDecomposition(RealMatrix matrix, double singularityThreshold) {
+        if (!matrix.isSquare()) {
+            throw new NonSquareMatrixException(matrix.getRowDimension(),
+                                               matrix.getColumnDimension());
+        }
+
+        final int m = matrix.getColumnDimension();
+        lu = matrix.getData();
+        pivot = new int[m];
+        cachedL = null;
+        cachedU = null;
+        cachedP = null;
+
+        // Initialize permutation array and parity
+        for (int row = 0; row < m; row++) {
+            pivot[row] = row;
+        }
+        even     = true;
+        singular = false;
+
+        // Loop over columns
+        for (int col = 0; col < m; col++) {
+
+            // upper
+            for (int row = 0; row < col; row++) {
+                final double[] luRow = lu[row];
+                double sum = luRow[col];
+                for (int i = 0; i < row; i++) {
+                    sum -= luRow[i] * lu[i][col];
+                }
+                luRow[col] = sum;
+            }
+
+            // lower
+            int max = col; // permutation row
+            double largest = Double.NEGATIVE_INFINITY;
+            for (int row = col; row < m; row++) {
+                final double[] luRow = lu[row];
+                double sum = luRow[col];
+                for (int i = 0; i < col; i++) {
+                    sum -= luRow[i] * lu[i][col];
+                }
+                luRow[col] = sum;
+
+                // maintain best permutation choice
+                if (FastMath.abs(sum) > largest) {
+                    largest = FastMath.abs(sum);
+                    max = row;
+                }
+            }
+
+            // Singularity check
+            if (FastMath.abs(lu[max][col]) < singularityThreshold) {
+                singular = true;
+                return;
+            }
+
+            // Pivot if necessary
+            if (max != col) {
+                double tmp = 0;
+                final double[] luMax = lu[max];
+                final double[] luCol = lu[col];
+                for (int i = 0; i < m; i++) {
+                    tmp = luMax[i];
+                    luMax[i] = luCol[i];
+                    luCol[i] = tmp;
+                }
+                int temp = pivot[max];
+                pivot[max] = pivot[col];
+                pivot[col] = temp;
+                even = !even;
+            }
+
+            // Divide the lower elements by the "winning" diagonal elt.
+            final double luDiag = lu[col][col];
+            for (int row = col + 1; row < m; row++) {
+                lu[row][col] /= luDiag;
+            }
+        }
+    }
+
+    /**
+     * Returns the matrix L of the decomposition.
+     * <p>L is a lower-triangular matrix</p>
+     * @return the L matrix (or null if decomposed matrix is singular)
+     */
+    public RealMatrix getL() {
+        if ((cachedL == null) && !singular) {
+            final int m = pivot.length;
+            cachedL = MatrixUtils.createRealMatrix(m, m);
+            for (int i = 0; i < m; ++i) {
+                final double[] luI = lu[i];
+                for (int j = 0; j < i; ++j) {
+                    cachedL.setEntry(i, j, luI[j]);
+                }
+                cachedL.setEntry(i, i, 1.0);
+            }
+        }
+        return cachedL;
+    }
+
+    /**
+     * Returns the matrix U of the decomposition.
+     * <p>U is an upper-triangular matrix</p>
+     * @return the U matrix (or null if decomposed matrix is singular)
+     */
+    public RealMatrix getU() {
+        if ((cachedU == null) && !singular) {
+            final int m = pivot.length;
+            cachedU = MatrixUtils.createRealMatrix(m, m);
+            for (int i = 0; i < m; ++i) {
+                final double[] luI = lu[i];
+                for (int j = i; j < m; ++j) {
+                    cachedU.setEntry(i, j, luI[j]);
+                }
+            }
+        }
+        return cachedU;
+    }
+
+    /**
+     * Returns the P rows permutation matrix.
+     * <p>P is a sparse matrix with exactly one element set to 1.0 in
+     * each row and each column, all other elements being set to 0.0.</p>
+     * <p>The positions of the 1 elements are given by the {@link #getPivot()
+     * pivot permutation vector}.</p>
+     * @return the P rows permutation matrix (or null if decomposed matrix is singular)
+     * @see #getPivot()
+     */
+    public RealMatrix getP() {
+        if ((cachedP == null) && !singular) {
+            final int m = pivot.length;
+            cachedP = MatrixUtils.createRealMatrix(m, m);
+            for (int i = 0; i < m; ++i) {
+                cachedP.setEntry(i, pivot[i], 1.0);
+            }
+        }
+        return cachedP;
+    }
+
+    /**
+     * Returns the pivot permutation vector.
+     * @return the pivot permutation vector
+     * @see #getP()
+     */
+    public int[] getPivot() {
+        return pivot.clone();
+    }
+
+    /**
+     * Return the determinant of the matrix
+     * @return determinant of the matrix
+     */
+    public double getDeterminant() {
+        if (singular) {
+            return 0;
+        } else {
+            final int m = pivot.length;
+            double determinant = even ? 1 : -1;
+            for (int i = 0; i < m; i++) {
+                determinant *= lu[i][i];
+            }
+            return determinant;
+        }
+    }
+
+    /**
+     * Get a solver for finding the A &times; X = B solution in exact linear
+     * sense.
+     * @return a solver
+     */
+    public DecompositionSolver getSolver() {
+        return new Solver(lu, pivot, singular);
+    }
+
+    /** Specialized solver. */
+    private static class Solver implements DecompositionSolver {
+
+        /** Entries of LU decomposition. */
+        private final double[][] lu;
+
+        /** Pivot permutation associated with LU decomposition. */
+        private final int[] pivot;
+
+        /** Singularity indicator. */
+        private final boolean singular;
+
+        /**
+         * Build a solver from decomposed matrix.
+         * @param lu entries of LU decomposition
+         * @param pivot pivot permutation associated with LU decomposition
+         * @param singular singularity indicator
+         */
+        private Solver(final double[][] lu, final int[] pivot, final boolean singular) {
+            this.lu       = lu;
+            this.pivot    = pivot;
+            this.singular = singular;
+        }
+
+        /** {@inheritDoc} */
+        public boolean isNonSingular() {
+            return !singular;
+        }
+
+        /** {@inheritDoc} */
+        public RealVector solve(RealVector b) {
+            final int m = pivot.length;
+            if (b.getDimension() != m) {
+                throw new DimensionMismatchException(b.getDimension(), m);
+            }
+            if (singular) {
+                throw new SingularMatrixException();
+            }
+
+            final double[] bp = new double[m];
+
+            // Apply permutations to b
+            for (int row = 0; row < m; row++) {
+                bp[row] = b.getEntry(pivot[row]);
+            }
+
+            // Solve LY = b
+            for (int col = 0; col < m; col++) {
+                final double bpCol = bp[col];
+                for (int i = col + 1; i < m; i++) {
+                    bp[i] -= bpCol * lu[i][col];
+                }
+            }
+
+            // Solve UX = Y
+            for (int col = m - 1; col >= 0; col--) {
+                bp[col] /= lu[col][col];
+                final double bpCol = bp[col];
+                for (int i = 0; i < col; i++) {
+                    bp[i] -= bpCol * lu[i][col];
+                }
+            }
+
+            return new ArrayRealVector(bp, false);
+        }
+
+        /** {@inheritDoc} */
+        public RealMatrix solve(RealMatrix b) {
+
+            final int m = pivot.length;
+            if (b.getRowDimension() != m) {
+                throw new DimensionMismatchException(b.getRowDimension(), m);
+            }
+            if (singular) {
+                throw new SingularMatrixException();
+            }
+
+            final int nColB = b.getColumnDimension();
+
+            // Apply permutations to b
+            final double[][] bp = new double[m][nColB];
+            for (int row = 0; row < m; row++) {
+                final double[] bpRow = bp[row];
+                final int pRow = pivot[row];
+                for (int col = 0; col < nColB; col++) {
+                    bpRow[col] = b.getEntry(pRow, col);
+                }
+            }
+
+            // Solve LY = b
+            for (int col = 0; col < m; col++) {
+                final double[] bpCol = bp[col];
+                for (int i = col + 1; i < m; i++) {
+                    final double[] bpI = bp[i];
+                    final double luICol = lu[i][col];
+                    for (int j = 0; j < nColB; j++) {
+                        bpI[j] -= bpCol[j] * luICol;
+                    }
+                }
+            }
+
+            // Solve UX = Y
+            for (int col = m - 1; col >= 0; col--) {
+                final double[] bpCol = bp[col];
+                final double luDiag = lu[col][col];
+                for (int j = 0; j < nColB; j++) {
+                    bpCol[j] /= luDiag;
+                }
+                for (int i = 0; i < col; i++) {
+                    final double[] bpI = bp[i];
+                    final double luICol = lu[i][col];
+                    for (int j = 0; j < nColB; j++) {
+                        bpI[j] -= bpCol[j] * luICol;
+                    }
+                }
+            }
+
+            return new Array2DRowRealMatrix(bp, false);
+        }
+
+        /** {@inheritDoc} */
+        public RealMatrix getInverse() {
+            return solve(MatrixUtils.createRealIdentityMatrix(pivot.length));
+        }
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/MatrixDimensionMismatchException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/MatrixDimensionMismatchException.java
new file mode 100644
index 0000000000..cc6e83de89
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/MatrixDimensionMismatchException.java
@@ -0,0 +1,74 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.exception.MultiDimensionMismatchException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Exception to be thrown when either the number of rows or the number of
+ * columns of a matrix do not match the expected values.
+ *
+ * @since 3.0
+ * @version $Id: MatrixDimensionMismatchException.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public class MatrixDimensionMismatchException extends MultiDimensionMismatchException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -8415396756375798143L;
+
+    /**
+     * Construct an exception from the mismatched dimensions.
+     *
+     * @param wrongRowDim Wrong row dimension.
+     * @param wrongColDim Wrong column dimension.
+     * @param expectedRowDim Expected row dimension.
+     * @param expectedColDim Expected column dimension.
+     */
+    public MatrixDimensionMismatchException(int wrongRowDim,
+                                            int wrongColDim,
+                                            int expectedRowDim,
+                                            int expectedColDim) {
+        super(LocalizedFormats.DIMENSIONS_MISMATCH_2x2,
+              new Integer[] { wrongRowDim, wrongColDim },
+              new Integer[] { expectedRowDim, expectedColDim });
+    }
+
+    /**
+     * @return the expected row dimension.
+     */
+    public int getWrongRowDimension() {
+        return getWrongDimension(0);
+    }
+    /**
+     * @return the expected row dimension.
+     */
+    public int getExpectedRowDimension() {
+        return getExpectedDimension(0);
+    }
+    /**
+     * @return the wrong column dimension.
+     */
+    public int getWrongColumnDimension() {
+        return getWrongDimension(1);
+    }
+    /**
+     * @return the expected column dimension.
+     */
+    public int getExpectedColumnDimension() {
+        return getExpectedDimension(1);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/MatrixUtils.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/MatrixUtils.java
new file mode 100644
index 0000000000..755e844efc
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/MatrixUtils.java
@@ -0,0 +1,800 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import java.io.IOException;
+import java.io.ObjectInputStream;
+import java.io.ObjectOutputStream;
+import java.lang.reflect.Array;
+import java.util.Arrays;
+
+import org.apache.commons.math3.Field;
+import org.apache.commons.math3.FieldElement;
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.MathArithmeticException;
+import org.apache.commons.math3.exception.MathIllegalArgumentException;
+import org.apache.commons.math3.exception.NoDataException;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.exception.NumberIsTooSmallException;
+import org.apache.commons.math3.exception.OutOfRangeException;
+import org.apache.commons.math3.exception.ZeroException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+import org.apache.commons.math3.util.FastMath;
+import org.apache.commons.math3.util.Precision;
+
+/**
+ * A collection of static methods that operate on or return matrices.
+ *
+ * @version $Id: MatrixUtils.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public class MatrixUtils {
+
+    /**
+     * Private constructor.
+     */
+    private MatrixUtils() {
+        super();
+    }
+
+    /**
+     * Returns a {@link RealMatrix} with specified dimensions.
+     * <p>The type of matrix returned depends on the dimension. Below
+     * 2<sup>12</sup> elements (i.e. 4096 elements or 64&times;64 for a
+     * square matrix) which can be stored in a 32kB array, a {@link
+     * Array2DRowRealMatrix} instance is built. Above this threshold a {@link
+     * BlockRealMatrix} instance is built.</p>
+     * <p>The matrix elements are all set to 0.0.</p>
+     * @param rows number of rows of the matrix
+     * @param columns number of columns of the matrix
+     * @return  RealMatrix with specified dimensions
+     * @see #createRealMatrix(double[][])
+     */
+    public static RealMatrix createRealMatrix(final int rows, final int columns) {
+        return (rows * columns <= 4096) ?
+                new Array2DRowRealMatrix(rows, columns) : new BlockRealMatrix(rows, columns);
+    }
+
+    /**
+     * Returns a {@link FieldMatrix} with specified dimensions.
+     * <p>The type of matrix returned depends on the dimension. Below
+     * 2<sup>12</sup> elements (i.e. 4096 elements or 64&times;64 for a
+     * square matrix), a {@link FieldMatrix} instance is built. Above
+     * this threshold a {@link BlockFieldMatrix} instance is built.</p>
+     * <p>The matrix elements are all set to field.getZero().</p>
+     * @param <T> the type of the field elements
+     * @param field field to which the matrix elements belong
+     * @param rows number of rows of the matrix
+     * @param columns number of columns of the matrix
+     * @return  FieldMatrix with specified dimensions
+     * @see #createFieldMatrix(FieldElement[][])
+     * @since 2.0
+     */
+    public static <T extends FieldElement<T>> FieldMatrix<T> createFieldMatrix(final Field<T> field,
+                                                                               final int rows,
+                                                                               final int columns) {
+        return (rows * columns <= 4096) ?
+                new Array2DRowFieldMatrix<T>(field, rows, columns) : new BlockFieldMatrix<T>(field, rows, columns);
+    }
+
+    /**
+     * Returns a {@link RealMatrix} whose entries are the the values in the
+     * the input array.
+     * <p>The type of matrix returned depends on the dimension. Below
+     * 2<sup>12</sup> elements (i.e. 4096 elements or 64&times;64 for a
+     * square matrix) which can be stored in a 32kB array, a {@link
+     * Array2DRowRealMatrix} instance is built. Above this threshold a {@link
+     * BlockRealMatrix} instance is built.</p>
+     * <p>The input array is copied, not referenced.</p>
+     *
+     * @param data input array
+     * @return  RealMatrix containing the values of the array
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if {@code data} is not rectangular (not all rows have the same length).
+     * @throws NoDataException if a row or column is empty.
+     * @throws NullArgumentException if either {@code data} or {@code data[0]}
+     * is {@code null}.
+     * @see #createRealMatrix(int, int)
+     */
+    public static RealMatrix createRealMatrix(double[][] data) {
+        if (data == null ||
+            data[0] == null) {
+            throw new NullArgumentException();
+        }
+        return (data.length * data[0].length <= 4096) ?
+                new Array2DRowRealMatrix(data) : new BlockRealMatrix(data);
+    }
+
+    /**
+     * Returns a {@link FieldMatrix} whose entries are the the values in the
+     * the input array.
+     * <p>The type of matrix returned depends on the dimension. Below
+     * 2<sup>12</sup> elements (i.e. 4096 elements or 64&times;64 for a
+     * square matrix), a {@link FieldMatrix} instance is built. Above
+     * this threshold a {@link BlockFieldMatrix} instance is built.</p>
+     * <p>The input array is copied, not referenced.</p>
+     * @param <T> the type of the field elements
+     * @param data input array
+     * @return a matrix containing the values of the array.
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if {@code data} is not rectangular (not all rows have the same length).
+     * @throws NoDataException if a row or column is empty.
+     * @throws NullArgumentException if either {@code data} or {@code data[0]}
+     * is {@code null}.
+     * @see #createFieldMatrix(Field, int, int)
+     * @since 2.0
+     */
+    public static <T extends FieldElement<T>> FieldMatrix<T> createFieldMatrix(T[][] data) {
+        if (data == null ||
+            data[0] == null) {
+            throw new NullArgumentException();
+        }
+        return (data.length * data[0].length <= 4096) ?
+                new Array2DRowFieldMatrix<T>(data) : new BlockFieldMatrix<T>(data);
+    }
+
+    /**
+     * Returns <code>dimension x dimension</code> identity matrix.
+     *
+     * @param dimension dimension of identity matrix to generate
+     * @return identity matrix
+     * @throws IllegalArgumentException if dimension is not positive
+     * @since 1.1
+     */
+    public static RealMatrix createRealIdentityMatrix(int dimension) {
+        final RealMatrix m = createRealMatrix(dimension, dimension);
+        for (int i = 0; i < dimension; ++i) {
+            m.setEntry(i, i, 1.0);
+        }
+        return m;
+    }
+
+    /**
+     * Returns <code>dimension x dimension</code> identity matrix.
+     *
+     * @param <T> the type of the field elements
+     * @param field field to which the elements belong
+     * @param dimension dimension of identity matrix to generate
+     * @return identity matrix
+     * @throws IllegalArgumentException if dimension is not positive
+     * @since 2.0
+     */
+    public static <T extends FieldElement<T>> FieldMatrix<T>
+        createFieldIdentityMatrix(final Field<T> field, final int dimension) {
+        final T zero = field.getZero();
+        final T one  = field.getOne();
+        @SuppressWarnings("unchecked")
+        final T[][] d = (T[][]) Array.newInstance(field.getRuntimeClass(), new int[] { dimension, dimension });
+        for (int row = 0; row < dimension; row++) {
+            final T[] dRow = d[row];
+            Arrays.fill(dRow, zero);
+            dRow[row] = one;
+        }
+        return new Array2DRowFieldMatrix<T>(field, d, false);
+    }
+
+    /**
+     * Returns a diagonal matrix with specified elements.
+     *
+     * @param diagonal diagonal elements of the matrix (the array elements
+     * will be copied)
+     * @return diagonal matrix
+     * @since 2.0
+     */
+    public static RealMatrix createRealDiagonalMatrix(final double[] diagonal) {
+        final RealMatrix m = createRealMatrix(diagonal.length, diagonal.length);
+        for (int i = 0; i < diagonal.length; ++i) {
+            m.setEntry(i, i, diagonal[i]);
+        }
+        return m;
+    }
+
+    /**
+     * Returns a diagonal matrix with specified elements.
+     *
+     * @param <T> the type of the field elements
+     * @param diagonal diagonal elements of the matrix (the array elements
+     * will be copied)
+     * @return diagonal matrix
+     * @since 2.0
+     */
+    public static <T extends FieldElement<T>> FieldMatrix<T>
+        createFieldDiagonalMatrix(final T[] diagonal) {
+        final FieldMatrix<T> m =
+            createFieldMatrix(diagonal[0].getField(), diagonal.length, diagonal.length);
+        for (int i = 0; i < diagonal.length; ++i) {
+            m.setEntry(i, i, diagonal[i]);
+        }
+        return m;
+    }
+
+    /**
+     * Creates a {@link RealVector} using the data from the input array.
+     *
+     * @param data the input data
+     * @return a data.length RealVector
+     * @throws NoDataException if {@code data} is empty.
+     * @throws NullArgumentException if {@code data} is {@code null}.
+     */
+    public static RealVector createRealVector(double[] data) {
+        if (data == null) {
+            throw new NullArgumentException();
+        }
+        return new ArrayRealVector(data, true);
+    }
+
+    /**
+     * Creates a {@link FieldVector} using the data from the input array.
+     *
+     * @param <T> the type of the field elements
+     * @param data the input data
+     * @return a data.length FieldVector
+     * @throws NoDataException if {@code data} is empty.
+     * @throws NullArgumentException if {@code data} is {@code null}.
+     * @throws ZeroException if {@code data} has 0 elements
+     */
+    public static <T extends FieldElement<T>> FieldVector<T> createFieldVector(final T[] data) {
+        if (data == null) {
+            throw new NullArgumentException();
+        }
+        if (data.length == 0) {
+            throw new ZeroException(LocalizedFormats.VECTOR_MUST_HAVE_AT_LEAST_ONE_ELEMENT);
+        }
+        return new ArrayFieldVector<T>(data[0].getField(), data, true);
+    }
+
+    /**
+     * Create a row {@link RealMatrix} using the data from the input
+     * array.
+     *
+     * @param rowData the input row data
+     * @return a 1 x rowData.length RealMatrix
+     * @throws NoDataException if {@code rowData} is empty.
+     * @throws NullArgumentException if {@code rowData} is {@code null}.
+     */
+    public static RealMatrix createRowRealMatrix(double[] rowData) {
+        if (rowData == null) {
+            throw new NullArgumentException();
+        }
+        final int nCols = rowData.length;
+        final RealMatrix m = createRealMatrix(1, nCols);
+        for (int i = 0; i < nCols; ++i) {
+            m.setEntry(0, i, rowData[i]);
+        }
+        return m;
+    }
+
+    /**
+     * Create a row {@link FieldMatrix} using the data from the input
+     * array.
+     *
+     * @param <T> the type of the field elements
+     * @param rowData the input row data
+     * @return a 1 x rowData.length FieldMatrix
+     * @throws NoDataException if {@code rowData} is empty.
+     * @throws NullArgumentException if {@code rowData} is {@code null}.
+     */
+    public static <T extends FieldElement<T>> FieldMatrix<T>
+        createRowFieldMatrix(final T[] rowData) {
+        if (rowData == null) {
+            throw new NullArgumentException();
+        }
+        final int nCols = rowData.length;
+        if (nCols == 0) {
+            throw new NoDataException(LocalizedFormats.AT_LEAST_ONE_COLUMN);
+        }
+        final FieldMatrix<T> m = createFieldMatrix(rowData[0].getField(), 1, nCols);
+        for (int i = 0; i < nCols; ++i) {
+            m.setEntry(0, i, rowData[i]);
+        }
+        return m;
+    }
+
+    /**
+     * Creates a column {@link RealMatrix} using the data from the input
+     * array.
+     *
+     * @param columnData  the input column data
+     * @return a columnData x 1 RealMatrix
+     * @throws NoDataException if {@code columnData} is empty.
+     * @throws NullArgumentException if {@code columnData} is {@code null}.
+     */
+    public static RealMatrix createColumnRealMatrix(double[] columnData) {
+        if (columnData == null) {
+            throw new NullArgumentException();
+        }
+        final int nRows = columnData.length;
+        final RealMatrix m = createRealMatrix(nRows, 1);
+        for (int i = 0; i < nRows; ++i) {
+            m.setEntry(i, 0, columnData[i]);
+        }
+        return m;
+    }
+
+    /**
+     * Creates a column {@link FieldMatrix} using the data from the input
+     * array.
+     *
+     * @param <T> the type of the field elements
+     * @param columnData  the input column data
+     * @return a columnData x 1 FieldMatrix
+     * @throws NoDataException if {@code data} is empty.
+     * @throws NullArgumentException if {@code columnData} is {@code null}.
+     */
+    public static <T extends FieldElement<T>> FieldMatrix<T>
+        createColumnFieldMatrix(final T[] columnData) {
+        if (columnData == null) {
+            throw new NullArgumentException();
+        }
+        final int nRows = columnData.length;
+        if (nRows == 0) {
+            throw new NoDataException(LocalizedFormats.AT_LEAST_ONE_ROW);
+        }
+        final FieldMatrix<T> m = createFieldMatrix(columnData[0].getField(), nRows, 1);
+        for (int i = 0; i < nRows; ++i) {
+            m.setEntry(i, 0, columnData[i]);
+        }
+        return m;
+    }
+
+    /**
+     * Check if matrix indices are valid.
+     *
+     * @param m Matrix.
+     * @param row Row index to check.
+     * @param column Column index to check.
+     * @throws OutOfRangeException if {@code row} or {@code column} is not
+     * a valid index.
+     */
+    public static void checkMatrixIndex(final AnyMatrix m,
+                                        final int row, final int column) {
+        checkRowIndex(m, row);
+        checkColumnIndex(m, column);
+    }
+
+    /**
+     * Check if a row index is valid.
+     *
+     * @param m Matrix.
+     * @param row Row index to check.
+     * @throws OutOfRangeException if {@code row} is not a valid index.
+     */
+    public static void checkRowIndex(final AnyMatrix m, final int row) {
+        if (row < 0 ||
+            row >= m.getRowDimension()) {
+            throw new OutOfRangeException(LocalizedFormats.ROW_INDEX,
+                                          row, 0, m.getRowDimension() - 1);
+        }
+    }
+
+    /**
+     * Check if a column index is valid.
+     *
+     * @param m Matrix.
+     * @param column Column index to check.
+     * @throws OutOfRangeException if {@code column} is not a valid index.
+     */
+    public static void checkColumnIndex(final AnyMatrix m, final int column) {
+        if (column < 0 || column >= m.getColumnDimension()) {
+            throw new OutOfRangeException(LocalizedFormats.COLUMN_INDEX,
+                                           column, 0, m.getColumnDimension() - 1);
+        }
+    }
+
+    /**
+     * Check if submatrix ranges indices are valid.
+     * Rows and columns are indicated counting from 0 to {@code n - 1}.
+     *
+     * @param m Matrix.
+     * @param startRow Initial row index.
+     * @param endRow Final row index.
+     * @param startColumn Initial column index.
+     * @param endColumn Final column index.
+     * @throws OutOfRangeException if the indices are invalid.
+     * @throws NumberIsTooSmallException if {@code endRow < startRow} or
+     * {@code endColumn < startColumn}.
+     */
+    public static void checkSubMatrixIndex(final AnyMatrix m,
+                                           final int startRow, final int endRow,
+                                           final int startColumn, final int endColumn) {
+        checkRowIndex(m, startRow);
+        checkRowIndex(m, endRow);
+        if (endRow < startRow) {
+            throw new NumberIsTooSmallException(LocalizedFormats.INITIAL_ROW_AFTER_FINAL_ROW,
+                                                endRow, startRow, false);
+        }
+
+        checkColumnIndex(m, startColumn);
+        checkColumnIndex(m, endColumn);
+        if (endColumn < startColumn) {
+            throw new NumberIsTooSmallException(LocalizedFormats.INITIAL_COLUMN_AFTER_FINAL_COLUMN,
+                                                endColumn, startColumn, false);
+        }
+
+
+    }
+
+    /**
+     * Check if submatrix ranges indices are valid.
+     * Rows and columns are indicated counting from 0 to n-1.
+     *
+     * @param m Matrix.
+     * @param selectedRows Array of row indices.
+     * @param selectedColumns Array of column indices.
+     * @throws NullArgumentException if {@code selectedRows} or
+     * {@code selectedColumns} are {@code null}.
+     * @throws NoDataException if the row or column selections are empty (zero
+     * length).
+     * @throws OutOfRangeException if row or column selections are not valid.
+     */
+    public static void checkSubMatrixIndex(final AnyMatrix m,
+                                           final int[] selectedRows,
+                                           final int[] selectedColumns) {
+        if (selectedRows == null) {
+            throw new NullArgumentException();
+        }
+        if (selectedColumns == null) {
+            throw new NullArgumentException();
+        }
+        if (selectedRows.length == 0) {
+            throw new NoDataException(LocalizedFormats.EMPTY_SELECTED_ROW_INDEX_ARRAY);
+        }
+        if (selectedColumns.length == 0) {
+            throw new NoDataException(LocalizedFormats.EMPTY_SELECTED_COLUMN_INDEX_ARRAY);
+        }
+
+        for (final int row : selectedRows) {
+            checkRowIndex(m, row);
+        }
+        for (final int column : selectedColumns) {
+            checkColumnIndex(m, column);
+        }
+    }
+
+    /**
+     * Check if matrices are addition compatible.
+     *
+     * @param left Left hand side matrix.
+     * @param right Right hand side matrix.
+     * @throws MatrixDimensionMismatchException if the matrices are not addition compatible.
+     */
+    public static void checkAdditionCompatible(final AnyMatrix left, final AnyMatrix right) {
+        if ((left.getRowDimension()    != right.getRowDimension()) ||
+            (left.getColumnDimension() != right.getColumnDimension())) {
+            throw new MatrixDimensionMismatchException(left.getRowDimension(), left.getColumnDimension(),
+                                                       right.getRowDimension(), right.getColumnDimension());
+        }
+    }
+
+    /**
+     * Check if matrices are subtraction compatible
+     *
+     * @param left Left hand side matrix.
+     * @param right Right hand side matrix.
+     * @throws MatrixDimensionMismatchException if the matrices are not addition compatible.
+     */
+    public static void checkSubtractionCompatible(final AnyMatrix left, final AnyMatrix right) {
+        if ((left.getRowDimension()    != right.getRowDimension()) ||
+            (left.getColumnDimension() != right.getColumnDimension())) {
+            throw new MatrixDimensionMismatchException(left.getRowDimension(), left.getColumnDimension(),
+                                                       right.getRowDimension(), right.getColumnDimension());
+        }
+    }
+
+    /**
+     * Check if matrices are multiplication compatible
+     *
+     * @param left Left hand side matrix.
+     * @param right Right hand side matrix.
+     * @throws DimensionMismatchException if matrices are not multiplication compatible.
+     */
+    public static void checkMultiplicationCompatible(final AnyMatrix left, final AnyMatrix right) {
+        if (left.getColumnDimension() != right.getRowDimension()) {
+            throw new DimensionMismatchException(left.getColumnDimension(),
+                                                 right.getRowDimension());
+        }
+    }
+
+    /** Serialize a {@link RealVector}.
+     * <p>
+     * This method is intended to be called from within a private
+     * <code>writeObject</code> method (after a call to
+     * <code>oos.defaultWriteObject()</code>) in a class that has a
+     * {@link RealVector} field, which should be declared <code>transient</code>.
+     * This way, the default handling does not serialize the vector (the {@link
+     * RealVector} interface is not serializable by default) but this method does
+     * serialize it specifically.
+     * </p>
+     * <p>
+     * The following example shows how a simple class with a name and a real vector
+     * should be written:
+     * <pre><code>
+     * public class NamedVector implements Serializable {
+     *
+     *     private final String name;
+     *     private final transient RealVector coefficients;
+     *
+     *     // omitted constructors, getters ...
+     *
+     *     private void writeObject(ObjectOutputStream oos) throws IOException {
+     *         oos.defaultWriteObject();  // takes care of name field
+     *         MatrixUtils.serializeRealVector(coefficients, oos);
+     *     }
+     *
+     *     private void readObject(ObjectInputStream ois) throws ClassNotFoundException, IOException {
+     *         ois.defaultReadObject();  // takes care of name field
+     *         MatrixUtils.deserializeRealVector(this, "coefficients", ois);
+     *     }
+     *
+     * }
+     * </code></pre>
+     * </p>
+     *
+     * @param vector real vector to serialize
+     * @param oos stream where the real vector should be written
+     * @exception IOException if object cannot be written to stream
+     * @see #deserializeRealVector(Object, String, ObjectInputStream)
+     */
+    public static void serializeRealVector(final RealVector vector,
+                                           final ObjectOutputStream oos)
+        throws IOException {
+        final int n = vector.getDimension();
+        oos.writeInt(n);
+        for (int i = 0; i < n; ++i) {
+            oos.writeDouble(vector.getEntry(i));
+        }
+    }
+
+    /** Deserialize  a {@link RealVector} field in a class.
+     * <p>
+     * This method is intended to be called from within a private
+     * <code>readObject</code> method (after a call to
+     * <code>ois.defaultReadObject()</code>) in a class that has a
+     * {@link RealVector} field, which should be declared <code>transient</code>.
+     * This way, the default handling does not deserialize the vector (the {@link
+     * RealVector} interface is not serializable by default) but this method does
+     * deserialize it specifically.
+     * </p>
+     * @param instance instance in which the field must be set up
+     * @param fieldName name of the field within the class (may be private and final)
+     * @param ois stream from which the real vector should be read
+     * @exception ClassNotFoundException if a class in the stream cannot be found
+     * @exception IOException if object cannot be read from the stream
+     * @see #serializeRealVector(RealVector, ObjectOutputStream)
+     */
+    public static void deserializeRealVector(final Object instance,
+                                             final String fieldName,
+                                             final ObjectInputStream ois)
+      throws ClassNotFoundException, IOException {
+        try {
+
+            // read the vector data
+            final int n = ois.readInt();
+            final double[] data = new double[n];
+            for (int i = 0; i < n; ++i) {
+                data[i] = ois.readDouble();
+            }
+
+            // create the instance
+            final RealVector vector = new ArrayRealVector(data, false);
+
+            // set up the field
+            final java.lang.reflect.Field f =
+                instance.getClass().getDeclaredField(fieldName);
+            f.setAccessible(true);
+            f.set(instance, vector);
+
+        } catch (NoSuchFieldException nsfe) {
+            IOException ioe = new IOException();
+            ioe.initCause(nsfe);
+            throw ioe;
+        } catch (IllegalAccessException iae) {
+            IOException ioe = new IOException();
+            ioe.initCause(iae);
+            throw ioe;
+        }
+
+    }
+
+    /** Serialize a {@link RealMatrix}.
+     * <p>
+     * This method is intended to be called from within a private
+     * <code>writeObject</code> method (after a call to
+     * <code>oos.defaultWriteObject()</code>) in a class that has a
+     * {@link RealMatrix} field, which should be declared <code>transient</code>.
+     * This way, the default handling does not serialize the matrix (the {@link
+     * RealMatrix} interface is not serializable by default) but this method does
+     * serialize it specifically.
+     * </p>
+     * <p>
+     * The following example shows how a simple class with a name and a real matrix
+     * should be written:
+     * <pre><code>
+     * public class NamedMatrix implements Serializable {
+     *
+     *     private final String name;
+     *     private final transient RealMatrix coefficients;
+     *
+     *     // omitted constructors, getters ...
+     *
+     *     private void writeObject(ObjectOutputStream oos) throws IOException {
+     *         oos.defaultWriteObject();  // takes care of name field
+     *         MatrixUtils.serializeRealMatrix(coefficients, oos);
+     *     }
+     *
+     *     private void readObject(ObjectInputStream ois) throws ClassNotFoundException, IOException {
+     *         ois.defaultReadObject();  // takes care of name field
+     *         MatrixUtils.deserializeRealMatrix(this, "coefficients", ois);
+     *     }
+     *
+     * }
+     * </code></pre>
+     * </p>
+     *
+     * @param matrix real matrix to serialize
+     * @param oos stream where the real matrix should be written
+     * @exception IOException if object cannot be written to stream
+     * @see #deserializeRealMatrix(Object, String, ObjectInputStream)
+     */
+    public static void serializeRealMatrix(final RealMatrix matrix,
+                                           final ObjectOutputStream oos)
+        throws IOException {
+        final int n = matrix.getRowDimension();
+        final int m = matrix.getColumnDimension();
+        oos.writeInt(n);
+        oos.writeInt(m);
+        for (int i = 0; i < n; ++i) {
+            for (int j = 0; j < m; ++j) {
+                oos.writeDouble(matrix.getEntry(i, j));
+            }
+        }
+    }
+
+    /** Deserialize  a {@link RealMatrix} field in a class.
+     * <p>
+     * This method is intended to be called from within a private
+     * <code>readObject</code> method (after a call to
+     * <code>ois.defaultReadObject()</code>) in a class that has a
+     * {@link RealMatrix} field, which should be declared <code>transient</code>.
+     * This way, the default handling does not deserialize the matrix (the {@link
+     * RealMatrix} interface is not serializable by default) but this method does
+     * deserialize it specifically.
+     * </p>
+     * @param instance instance in which the field must be set up
+     * @param fieldName name of the field within the class (may be private and final)
+     * @param ois stream from which the real matrix should be read
+     * @exception ClassNotFoundException if a class in the stream cannot be found
+     * @exception IOException if object cannot be read from the stream
+     * @see #serializeRealMatrix(RealMatrix, ObjectOutputStream)
+     */
+    public static void deserializeRealMatrix(final Object instance,
+                                             final String fieldName,
+                                             final ObjectInputStream ois)
+      throws ClassNotFoundException, IOException {
+        try {
+
+            // read the matrix data
+            final int n = ois.readInt();
+            final int m = ois.readInt();
+            final double[][] data = new double[n][m];
+            for (int i = 0; i < n; ++i) {
+                final double[] dataI = data[i];
+                for (int j = 0; j < m; ++j) {
+                    dataI[j] = ois.readDouble();
+                }
+            }
+
+            // create the instance
+            final RealMatrix matrix = new Array2DRowRealMatrix(data, false);
+
+            // set up the field
+            final java.lang.reflect.Field f =
+                instance.getClass().getDeclaredField(fieldName);
+            f.setAccessible(true);
+            f.set(instance, matrix);
+
+        } catch (NoSuchFieldException nsfe) {
+            IOException ioe = new IOException();
+            ioe.initCause(nsfe);
+            throw ioe;
+        } catch (IllegalAccessException iae) {
+            IOException ioe = new IOException();
+            ioe.initCause(iae);
+            throw ioe;
+        }
+    }
+
+    /**Solve  a  system of composed of a Lower Triangular Matrix
+     * {@link RealMatrix}.
+     * <p>
+     * This method is called to solve systems of equations which are
+     * of the lower triangular form. The matrix {@link RealMatrix}
+     * is assumed, though not checked, to be in lower triangular form.
+     * The vector {@link RealVector} is overwritten with the solution.
+     * The matrix is checked that it is square and its dimensions match
+     * the length of the vector.
+     * </p>
+     * @param rm RealMatrix which is lower triangular
+     * @param b  RealVector this is overwritten
+     * @exception IllegalArgumentException if the matrix and vector are not conformable
+     * @exception ArithmeticException there is a zero or near zero on the diagonal of rm
+     */
+    public static void solveLowerTriangularSystem( RealMatrix rm, RealVector b){
+        if ((rm == null) || (b == null) || ( rm.getRowDimension() != b.getDimension())) {
+            throw new MathIllegalArgumentException(LocalizedFormats.DIMENSIONS_MISMATCH_SIMPLE,
+                    (rm == null) ? 0 : rm.getRowDimension(),
+                    (b == null) ? 0 : b.getDimension());
+        }
+        if( rm.getColumnDimension() != rm.getRowDimension() ){
+            throw new MathIllegalArgumentException(LocalizedFormats.DIMENSIONS_MISMATCH_2x2,
+                    rm.getRowDimension(),rm.getRowDimension(),
+                    rm.getRowDimension(),rm.getColumnDimension());
+        }
+        int rows = rm.getRowDimension();
+        for( int i = 0 ; i < rows ; i++ ){
+            double diag = rm.getEntry(i, i);
+            if( FastMath.abs(diag) < Precision.SAFE_MIN ){
+                throw new MathArithmeticException(LocalizedFormats.ZERO_DENOMINATOR);
+            }
+            double bi = b.getEntry(i)/diag;
+            b.setEntry(i,  bi );
+            for( int j = i+1; j< rows; j++ ){
+                b.setEntry(j, b.getEntry(j)-bi*rm.getEntry(j,i)  );
+            }
+        }
+    }
+
+    /** Solver a  system composed  of an Upper Triangular Matrix
+     * {@link RealMatrix}.
+     * <p>
+     * This method is called to solve systems of equations which are
+     * of the lower triangular form. The matrix {@link RealMatrix}
+     * is assumed, though not checked, to be in upper triangular form.
+     * The vector {@link RealVector} is overwritten with the solution.
+     * The matrix is checked that it is square and its dimensions match
+     * the length of the vector.
+     * </p>
+     * @param rm RealMatrix which is upper triangular
+     * @param b  RealVector this is overwritten
+     * @exception IllegalArgumentException if the matrix and vector are not conformable
+     * @exception ArithmeticException there is a zero or near zero on the diagonal of rm
+     */
+    public static void solveUpperTriangularSystem( RealMatrix rm, RealVector b){
+        if ((rm == null) || (b == null) || ( rm.getRowDimension() != b.getDimension())) {
+            throw new MathIllegalArgumentException(LocalizedFormats.DIMENSIONS_MISMATCH_SIMPLE,
+                    (rm == null) ? 0 : rm.getRowDimension(),
+                    (b == null) ? 0 : b.getDimension());
+        }
+        if( rm.getColumnDimension() != rm.getRowDimension() ){
+            throw new MathIllegalArgumentException(LocalizedFormats.DIMENSIONS_MISMATCH_2x2,
+                    rm.getRowDimension(),rm.getRowDimension(),
+                    rm.getRowDimension(),rm.getColumnDimension());
+        }
+        int rows = rm.getRowDimension();
+        for( int i = rows-1 ; i >-1 ; i-- ){
+            double diag = rm.getEntry(i, i);
+            if( FastMath.abs(diag) < Precision.SAFE_MIN ){
+                throw new MathArithmeticException(LocalizedFormats.ZERO_DENOMINATOR);
+            }
+            double bi = b.getEntry(i)/diag;
+            b.setEntry(i,  bi );
+            for( int j = i-1; j>-1; j-- ){
+                b.setEntry(j, b.getEntry(j)-bi*rm.getEntry(j,i)  );
+            }
+        }
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/NonPositiveDefiniteMatrixException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/NonPositiveDefiniteMatrixException.java
new file mode 100644
index 0000000000..e0d31a958b
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/NonPositiveDefiniteMatrixException.java
@@ -0,0 +1,74 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.exception.NumberIsTooSmallException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+import org.apache.commons.math3.exception.util.ExceptionContext;
+
+/**
+ * Exception to be thrown when a positive definite matrix is expected.
+ *
+ * @since 3.0
+ * @version $Id: NonPositiveDefiniteMatrixException.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public class NonPositiveDefiniteMatrixException extends NumberIsTooSmallException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = 1641613838113738061L;
+    /** Index (diagonal element). */
+    private final int index;
+    /** Threshold. */
+    private final double threshold;
+
+    /**
+     * Construct an exception.
+     *
+     * @param wrong Value that fails the positivity check.
+     * @param index Row (and column) index.
+     * @param threshold Absolute positivity threshold.
+     */
+    public NonPositiveDefiniteMatrixException(double wrong,
+                                              int index,
+                                              double threshold) {
+        super(wrong, threshold, false);
+        this.index = index;
+        this.threshold = threshold;
+
+        final ExceptionContext context = getContext();
+        context.addMessage(LocalizedFormats.NOT_POSITIVE_DEFINITE_MATRIX);
+        context.addMessage(LocalizedFormats.ARRAY_ELEMENT, wrong, index);
+    }
+
+    /**
+     * @return the row index.
+     */
+    public int getRow() {
+        return index;
+    }
+    /**
+     * @return the column index.
+     */
+    public int getColumn() {
+        return index;
+    }
+    /**
+     * @return the absolute positivity threshold.
+     */
+    public double getThreshold() {
+        return threshold;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/NonPositiveDefiniteOperatorException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/NonPositiveDefiniteOperatorException.java
new file mode 100644
index 0000000000..bd1056c672
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/NonPositiveDefiniteOperatorException.java
@@ -0,0 +1,44 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.exception.MathIllegalArgumentException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Exception to be thrown when a symmetric, definite positive
+ * {@link RealLinearOperator} is expected.
+ * Since the coefficients of the matrix are not accessible, the most
+ * general definition is used to check that {@code A} is not positive
+ * definite, i.e.  there exists {@code x} such that {@code x' A x <= 0}.
+ * In the terminology of this exception, {@code A} is the "offending"
+ * linear operator and {@code x} the "offending" vector.
+ *
+ * @version $Id: NonPositiveDefiniteOperatorException.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 3.0
+ */
+public class NonPositiveDefiniteOperatorException
+    extends MathIllegalArgumentException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = 917034489420549847L;
+
+    /** Creates a new instance of this class. */
+    public NonPositiveDefiniteOperatorException() {
+        super(LocalizedFormats.NON_POSITIVE_DEFINITE_OPERATOR);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/NonSelfAdjointOperatorException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/NonSelfAdjointOperatorException.java
new file mode 100644
index 0000000000..810473e88b
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/NonSelfAdjointOperatorException.java
@@ -0,0 +1,47 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.exception.MathIllegalArgumentException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Exception to be thrown when a self-adjoint {@link RealLinearOperator}
+ * is expected.
+ * Since the coefficients of the matrix are not accessible, the most
+ * general definition is used to check that A is not self-adjoint, i.e.
+ * there exist x and y such as {@code | x' A y - y' A x | >= eps},
+ * where {@code eps} is a user-specified tolerance, and {@code x'}
+ * denotes the transpose of {@code x}.
+ * In the terminology of this exception, {@code A} is the "offending"
+ * linear operator, {@code x} and {@code y} are the first and second
+ * "offending" vectors, respectively.
+ *
+ * @version $Id: NonSelfAdjointOperatorException.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 3.0
+ */
+public class NonSelfAdjointOperatorException
+    extends MathIllegalArgumentException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = 1784999305030258247L;
+
+    /** Creates a new instance of this class. */
+    public NonSelfAdjointOperatorException() {
+        super(LocalizedFormats.NON_SELF_ADJOINT_OPERATOR);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/NonSquareMatrixException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/NonSquareMatrixException.java
new file mode 100644
index 0000000000..276acb53c6
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/NonSquareMatrixException.java
@@ -0,0 +1,42 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Exception to be thrown when a square matrix is expected.
+ *
+ * @since 3.0
+ * @version $Id: NonSquareMatrixException.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public class NonSquareMatrixException extends DimensionMismatchException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -660069396594485772L;
+
+    /**
+     * Construct an exception from the mismatched dimensions.
+     *
+     * @param wrong Row dimension.
+     * @param expected Column dimension.
+     */
+    public NonSquareMatrixException(int wrong,
+                                    int expected) {
+        super(LocalizedFormats.NON_SQUARE_MATRIX, wrong, expected);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/NonSquareOperatorException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/NonSquareOperatorException.java
new file mode 100644
index 0000000000..6a2d85294e
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/NonSquareOperatorException.java
@@ -0,0 +1,41 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Exception to be thrown when a square linear operator is expected.
+ *
+ * @since 3.0
+ * @version $Id: NonSquareOperatorException.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public class NonSquareOperatorException extends DimensionMismatchException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -4145007524150846242L;
+
+    /**
+     * Construct an exception from the mismatched dimensions.
+     *
+     * @param wrong Row dimension.
+     * @param expected Column dimension.
+     */
+    public NonSquareOperatorException(int wrong, int expected) {
+        super(LocalizedFormats.NON_SQUARE_OPERATOR, wrong, expected);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/NonSymmetricMatrixException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/NonSymmetricMatrixException.java
new file mode 100644
index 0000000000..0585e5c149
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/NonSymmetricMatrixException.java
@@ -0,0 +1,72 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.exception.MathIllegalArgumentException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Exception to be thrown when a symmetric matrix is expected.
+ *
+ * @since 3.0
+ * @version $Id: NonSymmetricMatrixException.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public class NonSymmetricMatrixException extends MathIllegalArgumentException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -7518495577824189882L;
+    /** Row. */
+    private final int row;
+    /** Column. */
+    private final int column;
+    /** Threshold. */
+    private final double threshold;
+
+    /**
+     * Construct an exception.
+     *
+     * @param row Row index.
+     * @param column Column index.
+     * @param threshold Relative symmetry threshold.
+     */
+    public NonSymmetricMatrixException(int row,
+                                       int column,
+                                       double threshold) {
+        super(LocalizedFormats.NON_SYMMETRIC_MATRIX, row, column, threshold);
+        this.row = row;
+        this.column = column;
+        this.threshold = threshold;
+    }
+
+    /**
+     * @return the row index of the entry.
+     */
+    public int getRow() {
+        return row;
+    }
+    /**
+     * @return the column index of the entry.
+     */
+    public int getColumn() {
+        return column;
+    }
+    /**
+     * @return the relative symmetry threshold.
+     */
+    public double getThreshold() {
+        return threshold;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/OpenMapRealMatrix.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/OpenMapRealMatrix.java
new file mode 100644
index 0000000000..7b76e02198
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/OpenMapRealMatrix.java
@@ -0,0 +1,278 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import java.io.Serializable;
+
+import org.apache.commons.math3.exception.NumberIsTooLargeException;
+import org.apache.commons.math3.util.OpenIntToDoubleHashMap;
+
+/**
+ * Sparse matrix implementation based on an open addressed map.
+ *
+ * @version $Id: OpenMapRealMatrix.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public class OpenMapRealMatrix extends AbstractRealMatrix
+    implements SparseRealMatrix, Serializable {
+    /** Serializable version identifier. */
+    private static final long serialVersionUID = -5962461716457143437L;
+    /** Number of rows of the matrix. */
+    private final int rows;
+    /** Number of columns of the matrix. */
+    private final int columns;
+    /** Storage for (sparse) matrix elements. */
+    private final OpenIntToDoubleHashMap entries;
+
+    /**
+     * Build a sparse matrix with the supplied row and column dimensions.
+     *
+     * @param rowDimension Number of rows of the matrix.
+     * @param columnDimension Number of columns of the matrix.
+     */
+    public OpenMapRealMatrix(int rowDimension, int columnDimension) {
+        super(rowDimension, columnDimension);
+        long lRow = rowDimension;
+        long lCol = columnDimension;
+        if (lRow * lCol >= Integer.MAX_VALUE) {
+            throw new NumberIsTooLargeException(lRow * lCol, Integer.MAX_VALUE, false);
+        }
+        this.rows = rowDimension;
+        this.columns = columnDimension;
+        this.entries = new OpenIntToDoubleHashMap(0.0);
+    }
+
+    /**
+     * Build a matrix by copying another one.
+     *
+     * @param matrix matrix to copy.
+     */
+    public OpenMapRealMatrix(OpenMapRealMatrix matrix) {
+        this.rows = matrix.rows;
+        this.columns = matrix.columns;
+        this.entries = new OpenIntToDoubleHashMap(matrix.entries);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public OpenMapRealMatrix copy() {
+        return new OpenMapRealMatrix(this);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public OpenMapRealMatrix createMatrix(int rowDimension, int columnDimension) {
+        return new OpenMapRealMatrix(rowDimension, columnDimension);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public int getColumnDimension() {
+        return columns;
+    }
+
+    /**
+     * Compute the sum of this matrix and {@code m}.
+     *
+     * @param m Matrix to be added.
+     * @return {@code this} + {@code m}.
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if {@code m} is not the same size as this matrix.
+     */
+    public OpenMapRealMatrix add(OpenMapRealMatrix m) {
+
+        // safety check
+        MatrixUtils.checkAdditionCompatible(this, m);
+
+        final OpenMapRealMatrix out = new OpenMapRealMatrix(this);
+        for (OpenIntToDoubleHashMap.Iterator iterator = m.entries.iterator(); iterator.hasNext();) {
+            iterator.advance();
+            final int row = iterator.key() / columns;
+            final int col = iterator.key() - row * columns;
+            out.setEntry(row, col, getEntry(row, col) + iterator.value());
+        }
+
+        return out;
+
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public OpenMapRealMatrix subtract(final RealMatrix m) {
+        try {
+            return subtract((OpenMapRealMatrix) m);
+        } catch (ClassCastException cce) {
+            return (OpenMapRealMatrix) super.subtract(m);
+        }
+    }
+
+    /**
+     * Subtract {@code m} from this matrix.
+     *
+     * @param m Matrix to be subtracted.
+     * @return {@code this} - {@code m}.
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if {@code m} is not the same size as this matrix.
+     */
+    public OpenMapRealMatrix subtract(OpenMapRealMatrix m) {
+        // Safety check.
+        MatrixUtils.checkAdditionCompatible(this, m);
+
+        final OpenMapRealMatrix out = new OpenMapRealMatrix(this);
+        for (OpenIntToDoubleHashMap.Iterator iterator = m.entries.iterator(); iterator.hasNext();) {
+            iterator.advance();
+            final int row = iterator.key() / columns;
+            final int col = iterator.key() - row * columns;
+            out.setEntry(row, col, getEntry(row, col) - iterator.value());
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealMatrix multiply(final RealMatrix m) {
+        try {
+            return multiply((OpenMapRealMatrix) m);
+        } catch (ClassCastException cce) {
+
+            // safety check
+            MatrixUtils.checkMultiplicationCompatible(this, m);
+
+            final int outCols = m.getColumnDimension();
+            final BlockRealMatrix out = new BlockRealMatrix(rows, outCols);
+            for (OpenIntToDoubleHashMap.Iterator iterator = entries.iterator(); iterator.hasNext();) {
+                iterator.advance();
+                final double value = iterator.value();
+                final int key      = iterator.key();
+                final int i        = key / columns;
+                final int k        = key % columns;
+                for (int j = 0; j < outCols; ++j) {
+                    out.addToEntry(i, j, value * m.getEntry(k, j));
+                }
+            }
+
+            return out;
+        }
+    }
+
+    /**
+     * Postmultiply this matrix by {@code m}.
+     *
+     * @param m Matrix to postmultiply by.
+     * @return {@code this} * {@code m}.
+     * @throws MatrixDimensionMismatchException
+     * if the number of rows of {@code m} differ from the number of columns
+     * of this matrix.
+     */
+    public OpenMapRealMatrix multiply(OpenMapRealMatrix m) {
+        // Safety check.
+        MatrixUtils.checkMultiplicationCompatible(this, m);
+
+        final int outCols = m.getColumnDimension();
+        OpenMapRealMatrix out = new OpenMapRealMatrix(rows, outCols);
+        for (OpenIntToDoubleHashMap.Iterator iterator = entries.iterator(); iterator.hasNext();) {
+            iterator.advance();
+            final double value = iterator.value();
+            final int key      = iterator.key();
+            final int i        = key / columns;
+            final int k        = key % columns;
+            for (int j = 0; j < outCols; ++j) {
+                final int rightKey = m.computeKey(k, j);
+                if (m.entries.containsKey(rightKey)) {
+                    final int outKey = out.computeKey(i, j);
+                    final double outValue =
+                        out.entries.get(outKey) + value * m.entries.get(rightKey);
+                    if (outValue == 0.0) {
+                        out.entries.remove(outKey);
+                    } else {
+                        out.entries.put(outKey, outValue);
+                    }
+                }
+            }
+        }
+
+        return out;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double getEntry(int row, int column) {
+        MatrixUtils.checkRowIndex(this, row);
+        MatrixUtils.checkColumnIndex(this, column);
+        return entries.get(computeKey(row, column));
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public int getRowDimension() {
+        return rows;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setEntry(int row, int column, double value) {
+        MatrixUtils.checkRowIndex(this, row);
+        MatrixUtils.checkColumnIndex(this, column);
+        if (value == 0.0) {
+            entries.remove(computeKey(row, column));
+        } else {
+            entries.put(computeKey(row, column), value);
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void addToEntry(int row, int column, double increment) {
+        MatrixUtils.checkRowIndex(this, row);
+        MatrixUtils.checkColumnIndex(this, column);
+        final int key = computeKey(row, column);
+        final double value = entries.get(key) + increment;
+        if (value == 0.0) {
+            entries.remove(key);
+        } else {
+            entries.put(key, value);
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void multiplyEntry(int row, int column, double factor) {
+        MatrixUtils.checkRowIndex(this, row);
+        MatrixUtils.checkColumnIndex(this, column);
+        final int key = computeKey(row, column);
+        final double value = entries.get(key) * factor;
+        if (value == 0.0) {
+            entries.remove(key);
+        } else {
+            entries.put(key, value);
+        }
+    }
+
+    /**
+     * Compute the key to access a matrix element
+     * @param row row index of the matrix element
+     * @param column column index of the matrix element
+     * @return key within the map to access the matrix element
+     */
+    private int computeKey(int row, int column) {
+        return row * columns + column;
+    }
+
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/OpenMapRealVector.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/OpenMapRealVector.java
new file mode 100644
index 0000000000..89b3f8e081
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/OpenMapRealVector.java
@@ -0,0 +1,817 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+import java.io.Serializable;
+
+import org.apache.commons.math3.exception.MathArithmeticException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+import org.apache.commons.math3.util.OpenIntToDoubleHashMap;
+import org.apache.commons.math3.util.OpenIntToDoubleHashMap.Iterator;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * This class implements the {@link RealVector} interface with a
+ * {@link OpenIntToDoubleHashMap} backing store.
+ * @version $Id: OpenMapRealVector.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+*/
+public class OpenMapRealVector extends SparseRealVector
+    implements Serializable {
+    /** Default Tolerance for having a value considered zero. */
+    public static final double DEFAULT_ZERO_TOLERANCE = 1.0e-12;
+    /** Serializable version identifier. */
+    private static final long serialVersionUID = 8772222695580707260L;
+    /** Entries of the vector. */
+    private final OpenIntToDoubleHashMap entries;
+    /** Dimension of the vector. */
+    private final int virtualSize;
+    /** Tolerance for having a value considered zero. */
+    private final double epsilon;
+
+    /**
+     * Build a 0-length vector.
+     * Zero-length vectors may be used to initialized construction of vectors
+     * by data gathering. We start with zero-length and use either the {@link
+     * #OpenMapRealVector(OpenMapRealVector, int)} constructor
+     * or one of the {@code append} method ({@link #append(double)},
+     * {@link #append(RealVector)}) to gather data into this vector.
+     */
+    public OpenMapRealVector() {
+        this(0, DEFAULT_ZERO_TOLERANCE);
+    }
+
+    /**
+     * Construct a vector of zeroes.
+     *
+     * @param dimension Size of the vector.
+     */
+    public OpenMapRealVector(int dimension) {
+        this(dimension, DEFAULT_ZERO_TOLERANCE);
+    }
+
+    /**
+     * Construct a vector of zeroes, specifying zero tolerance.
+     *
+     * @param dimension Size of the vector.
+     * @param epsilon Tolerance below which a value considered zero.
+     */
+    public OpenMapRealVector(int dimension, double epsilon) {
+        virtualSize = dimension;
+        entries = new OpenIntToDoubleHashMap(0.0);
+        this.epsilon = epsilon;
+    }
+
+    /**
+     * Build a resized vector, for use with append.
+     *
+     * @param v Original vector.
+     * @param resize Amount to add.
+     */
+    protected OpenMapRealVector(OpenMapRealVector v, int resize) {
+        virtualSize = v.getDimension() + resize;
+        entries = new OpenIntToDoubleHashMap(v.entries);
+        epsilon = v.epsilon;
+    }
+
+    /**
+     * Build a vector with known the sparseness (for advanced use only).
+     *
+     * @param dimension Size of the vector.
+     * @param expectedSize The expected number of non-zero entries.
+     */
+    public OpenMapRealVector(int dimension, int expectedSize) {
+        this(dimension, expectedSize, DEFAULT_ZERO_TOLERANCE);
+    }
+
+    /**
+     * Build a vector with known the sparseness and zero tolerance
+     * setting (for advanced use only).
+     *
+     * @param dimension Size of the vector.
+     * @param expectedSize Expected number of non-zero entries.
+     * @param epsilon Tolerance below which a value is considered zero.
+     */
+    public OpenMapRealVector(int dimension, int expectedSize, double epsilon) {
+        virtualSize = dimension;
+        entries = new OpenIntToDoubleHashMap(expectedSize, 0.0);
+        this.epsilon = epsilon;
+    }
+
+    /**
+     * Create from an array.
+     * Only non-zero entries will be stored.
+     *
+     * @param values Set of values to create from.
+     */
+    public OpenMapRealVector(double[] values) {
+        this(values, DEFAULT_ZERO_TOLERANCE);
+    }
+
+    /**
+     * Create from an array, specifying zero tolerance.
+     * Only non-zero entries will be stored.
+     *
+     * @param values Set of values to create from.
+     * @param epsilon Tolerance below which a value is considered zero.
+     */
+    public OpenMapRealVector(double[] values, double epsilon) {
+        virtualSize = values.length;
+        entries = new OpenIntToDoubleHashMap(0.0);
+        this.epsilon = epsilon;
+        for (int key = 0; key < values.length; key++) {
+            double value = values[key];
+            if (!isDefaultValue(value)) {
+                entries.put(key, value);
+            }
+        }
+    }
+
+    /**
+     * Create from an array.
+     * Only non-zero entries will be stored.
+     *
+     * @param values The set of values to create from
+     */
+    public OpenMapRealVector(Double[] values) {
+        this(values, DEFAULT_ZERO_TOLERANCE);
+    }
+
+    /**
+     * Create from an array.
+     * Only non-zero entries will be stored.
+     *
+     * @param values Set of values to create from.
+     * @param epsilon Tolerance below which a value is considered zero.
+     */
+    public OpenMapRealVector(Double[] values, double epsilon) {
+        virtualSize = values.length;
+        entries = new OpenIntToDoubleHashMap(0.0);
+        this.epsilon = epsilon;
+        for (int key = 0; key < values.length; key++) {
+            double value = values[key].doubleValue();
+            if (!isDefaultValue(value)) {
+                entries.put(key, value);
+            }
+        }
+    }
+
+    /**
+     * Copy constructor.
+     *
+     * @param v Instance to copy from.
+     */
+    public OpenMapRealVector(OpenMapRealVector v) {
+        virtualSize = v.getDimension();
+        entries = new OpenIntToDoubleHashMap(v.getEntries());
+        epsilon = v.epsilon;
+    }
+
+    /**
+     * Generic copy constructor.
+     *
+     * @param v Instance to copy from.
+     */
+    public OpenMapRealVector(RealVector v) {
+        virtualSize = v.getDimension();
+        entries = new OpenIntToDoubleHashMap(0.0);
+        epsilon = DEFAULT_ZERO_TOLERANCE;
+        for (int key = 0; key < virtualSize; key++) {
+            double value = v.getEntry(key);
+            if (!isDefaultValue(value)) {
+                entries.put(key, value);
+            }
+        }
+    }
+
+    /**
+     * Get the entries of this instance.
+     *
+     * @return the entries of this instance.
+     */
+    private OpenIntToDoubleHashMap getEntries() {
+        return entries;
+    }
+
+    /**
+     * Determine if this value is within epsilon of zero.
+     *
+     * @param value Value to test
+     * @return {@code true} if this value is within epsilon to zero,
+     * {@code false} otherwise.
+     * @since 2.1
+     */
+    protected boolean isDefaultValue(double value) {
+        return FastMath.abs(value) < epsilon;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector add(RealVector v) {
+        checkVectorDimensions(v.getDimension());
+        if (v instanceof OpenMapRealVector) {
+            return add((OpenMapRealVector) v);
+        } else {
+            return super.add(v);
+        }
+    }
+
+    /**
+     * Optimized method to add two OpenMapRealVectors.
+     * It copies the larger vector, then iterates over the smaller.
+     *
+     * @param v Vector to add.
+     * @return the sum of {@code this} and {@code v}.
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if the dimensions do not match.
+     */
+    public OpenMapRealVector add(OpenMapRealVector v) {
+        checkVectorDimensions(v.getDimension());
+        boolean copyThis = entries.size() > v.entries.size();
+        OpenMapRealVector res = copyThis ? this.copy() : v.copy();
+        Iterator iter = copyThis ? v.entries.iterator() : entries.iterator();
+        OpenIntToDoubleHashMap randomAccess = copyThis ? entries : v.entries;
+        while (iter.hasNext()) {
+            iter.advance();
+            int key = iter.key();
+            if (randomAccess.containsKey(key)) {
+                res.setEntry(key, randomAccess.get(key) + iter.value());
+            } else {
+                res.setEntry(key, iter.value());
+            }
+        }
+        return res;
+    }
+
+    /**
+     * Optimized method to append a OpenMapRealVector.
+     * @param v vector to append
+     * @return The result of appending {@code v} to self
+     */
+    public OpenMapRealVector append(OpenMapRealVector v) {
+        OpenMapRealVector res = new OpenMapRealVector(this, v.getDimension());
+        Iterator iter = v.entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            res.setEntry(iter.key() + virtualSize, iter.value());
+        }
+        return res;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public OpenMapRealVector append(RealVector v) {
+        if (v instanceof OpenMapRealVector) {
+            return append((OpenMapRealVector) v);
+        } else {
+            final OpenMapRealVector res = new OpenMapRealVector(this, v.getDimension());
+            for (int i = 0; i < v.getDimension(); i++) {
+                res.setEntry(i + virtualSize, v.getEntry(i));
+            }
+            return res;
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public OpenMapRealVector append(double d) {
+        OpenMapRealVector res = new OpenMapRealVector(this, 1);
+        res.setEntry(virtualSize, d);
+        return res;
+    }
+
+    /**
+     * {@inheritDoc}
+     * @since 2.1
+     */
+    @Override
+    public OpenMapRealVector copy() {
+        return new OpenMapRealVector(this);
+    }
+
+    /**
+     * Optimized method to compute the dot product with an OpenMapRealVector.
+     * It iterates over the smallest of the two.
+     *
+     * @param v Cector to compute the dot product with.
+     * @return the dot product of {@code this} and {@code v}.
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if the dimensions do not match.
+     */
+    public double dotProduct(OpenMapRealVector v) {
+        checkVectorDimensions(v.getDimension());
+        boolean thisIsSmaller  = entries.size() < v.entries.size();
+        Iterator iter = thisIsSmaller  ? entries.iterator() : v.entries.iterator();
+        OpenIntToDoubleHashMap larger = thisIsSmaller  ? v.entries : entries;
+        double d = 0;
+        while(iter.hasNext()) {
+            iter.advance();
+            d += iter.value() * larger.get(iter.key());
+        }
+        return d;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double dotProduct(RealVector v) {
+        if(v instanceof OpenMapRealVector) {
+            return dotProduct((OpenMapRealVector)v);
+        } else {
+            return super.dotProduct(v);
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public OpenMapRealVector ebeDivide(RealVector v) {
+        checkVectorDimensions(v.getDimension());
+        OpenMapRealVector res = new OpenMapRealVector(this);
+        Iterator iter = entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            res.setEntry(iter.key(), iter.value() / v.getEntry(iter.key()));
+        }
+        return res;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public OpenMapRealVector ebeMultiply(RealVector v) {
+        checkVectorDimensions(v.getDimension());
+        OpenMapRealVector res = new OpenMapRealVector(this);
+        Iterator iter = entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            res.setEntry(iter.key(), iter.value() * v.getEntry(iter.key()));
+        }
+        return res;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public OpenMapRealVector getSubVector(int index, int n) {
+        checkIndex(index);
+        checkIndex(index + n - 1);
+        OpenMapRealVector res = new OpenMapRealVector(n);
+        int end = index + n;
+        Iterator iter = entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            int key = iter.key();
+            if (key >= index && key < end) {
+                res.setEntry(key - index, iter.value());
+            }
+        }
+        return res;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public int getDimension() {
+        return virtualSize;
+    }
+
+    /**
+     * Optimized method to compute distance.
+     *
+     * @param v Vector to compute distance to.
+     * @return the distance from {@code this} and {@code v}.
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if the dimensions do not match.
+     */
+    public double getDistance(OpenMapRealVector v) {
+        Iterator iter = entries.iterator();
+        double res = 0;
+        while (iter.hasNext()) {
+            iter.advance();
+            int key = iter.key();
+            double delta;
+            delta = iter.value() - v.getEntry(key);
+            res += delta * delta;
+        }
+        iter = v.getEntries().iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            int key = iter.key();
+            if (!entries.containsKey(key)) {
+                final double value = iter.value();
+                res += value * value;
+            }
+        }
+        return FastMath.sqrt(res);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double getDistance(RealVector v) {
+        checkVectorDimensions(v.getDimension());
+        if (v instanceof OpenMapRealVector) {
+            return getDistance((OpenMapRealVector) v);
+        } else {
+            return super.getDistance(v);
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double getEntry(int index) {
+        checkIndex(index);
+        return entries.get(index);
+    }
+
+    /**
+     * Distance between two vectors.
+     * This method computes the distance consistent with
+     * L<sub>1</sub> norm, i.e. the sum of the absolute values of
+     * elements differences.
+     *
+     * @param v Vector to which distance is requested.
+     * @return distance between this vector and {@code v}.
+     */
+    public double getL1Distance(OpenMapRealVector v) {
+        double max = 0;
+        Iterator iter = entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            double delta = FastMath.abs(iter.value() - v.getEntry(iter.key()));
+            max += delta;
+        }
+        iter = v.getEntries().iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            int key = iter.key();
+            if (!entries.containsKey(key)) {
+                double delta = FastMath.abs(iter.value());
+                max +=  FastMath.abs(delta);
+            }
+        }
+        return max;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double getL1Distance(RealVector v) {
+        checkVectorDimensions(v.getDimension());
+        if (v instanceof OpenMapRealVector) {
+            return getL1Distance((OpenMapRealVector) v);
+        } else {
+            return super.getL1Distance(v);
+        }
+    }
+
+    /**
+     * Optimized method to compute LInfDistance.
+     *
+     * @param v Vector to compute distance from.
+     * @return the LInfDistance.
+     */
+    private double getLInfDistance(OpenMapRealVector v) {
+        double max = 0;
+        Iterator iter = entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            double delta = FastMath.abs(iter.value() - v.getEntry(iter.key()));
+            if (delta > max) {
+                max = delta;
+            }
+        }
+        iter = v.getEntries().iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            int key = iter.key();
+            if (!entries.containsKey(key)) {
+                if (iter.value() > max) {
+                    max = iter.value();
+                }
+            }
+        }
+        return max;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double getLInfDistance(RealVector v) {
+        checkVectorDimensions(v.getDimension());
+        if (v instanceof OpenMapRealVector) {
+            return getLInfDistance((OpenMapRealVector) v);
+        } else {
+            return super.getLInfDistance(v);
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public boolean isInfinite() {
+        boolean infiniteFound = false;
+        Iterator iter = entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            final double value = iter.value();
+            if (Double.isNaN(value)) {
+                return false;
+            }
+            if (Double.isInfinite(value)) {
+                infiniteFound = true;
+            }
+        }
+        return infiniteFound;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public boolean isNaN() {
+        Iterator iter = entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            if (Double.isNaN(iter.value())) {
+                return true;
+            }
+        }
+        return false;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public OpenMapRealVector mapAdd(double d) {
+        return copy().mapAddToSelf(d);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public OpenMapRealVector mapAddToSelf(double d) {
+        for (int i = 0; i < virtualSize; i++) {
+            setEntry(i, getEntry(i) + d);
+        }
+        return this;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector projection(RealVector v) {
+        checkVectorDimensions(v.getDimension());
+        return v.mapMultiply(dotProduct(v) / v.dotProduct(v));
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setEntry(int index, double value) {
+        checkIndex(index);
+        if (!isDefaultValue(value)) {
+            entries.put(index, value);
+        } else if (entries.containsKey(index)) {
+            entries.remove(index);
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setSubVector(int index, RealVector v) {
+        checkIndex(index);
+        checkIndex(index + v.getDimension() - 1);
+        for (int i = 0; i < v.getDimension(); i++) {
+            setEntry(i + index, v.getEntry(i));
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void set(double value) {
+        for (int i = 0; i < virtualSize; i++) {
+            setEntry(i, value);
+        }
+    }
+
+    /**
+     * Optimized method to subtract OpenMapRealVectors.
+     *
+     * @param v Vector to subtract from {@code this}.
+     * @return the difference of {@code this} and {@code v}.
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if the dimensions do not match.
+     */
+    public OpenMapRealVector subtract(OpenMapRealVector v) {
+        checkVectorDimensions(v.getDimension());
+        OpenMapRealVector res = copy();
+        Iterator iter = v.getEntries().iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            int key = iter.key();
+            if (entries.containsKey(key)) {
+                res.setEntry(key, entries.get(key) - iter.value());
+            } else {
+                res.setEntry(key, -iter.value());
+            }
+        }
+        return res;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector subtract(RealVector v) {
+        checkVectorDimensions(v.getDimension());
+        if (v instanceof OpenMapRealVector) {
+            return subtract((OpenMapRealVector) v);
+        } else {
+            return super.subtract(v);
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public OpenMapRealVector unitVector() {
+        OpenMapRealVector res = copy();
+        res.unitize();
+        return res;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void unitize() {
+        double norm = getNorm();
+        if (isDefaultValue(norm)) {
+            throw new MathArithmeticException(LocalizedFormats.ZERO_NORM);
+        }
+        Iterator iter = entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            entries.put(iter.key(), iter.value() / norm);
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public double[] toArray() {
+        double[] res = new double[virtualSize];
+        Iterator iter = entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            res[iter.key()] = iter.value();
+        }
+        return res;
+    }
+
+    /**
+     * {@inheritDoc}
+     * Implementation Note: This works on exact values, and as a result
+     * it is possible for {@code a.subtract(b)} to be the zero vector, while
+     * {@code a.hashCode() != b.hashCode()}.
+     */
+    @Override
+    public int hashCode() {
+        final int prime = 31;
+        int result = 1;
+        long temp;
+        temp = Double.doubleToLongBits(epsilon);
+        result = prime * result + (int) (temp ^ (temp >>> 32));
+        result = prime * result + virtualSize;
+        Iterator iter = entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            temp = Double.doubleToLongBits(iter.value());
+            result = prime * result + (int) (temp ^ (temp >>32));
+        }
+        return result;
+    }
+
+    /**
+     * {@inheritDoc}
+     * Implementation Note: This performs an exact comparison, and as a result
+     * it is possible for {@code a.subtract(b}} to be the zero vector, while
+     * {@code  a.equals(b) == false}.
+     */
+    @Override
+    public boolean equals(Object obj) {
+        if (this == obj) {
+            return true;
+        }
+        if (!(obj instanceof OpenMapRealVector)) {
+            return false;
+        }
+        OpenMapRealVector other = (OpenMapRealVector) obj;
+        if (virtualSize != other.virtualSize) {
+            return false;
+        }
+        if (Double.doubleToLongBits(epsilon) !=
+            Double.doubleToLongBits(other.epsilon)) {
+            return false;
+        }
+        Iterator iter = entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            double test = other.getEntry(iter.key());
+            if (Double.doubleToLongBits(test) != Double.doubleToLongBits(iter.value())) {
+                return false;
+            }
+        }
+        iter = other.getEntries().iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            double test = iter.value();
+            if (Double.doubleToLongBits(test) != Double.doubleToLongBits(getEntry(iter.key()))) {
+                return false;
+            }
+        }
+        return true;
+    }
+
+    /**
+     *
+     * @return the percentage of none zero elements as a decimal percent.
+     * @since 2.2
+     */
+    public double getSparsity() {
+        return (double)entries.size()/(double)getDimension();
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public java.util.Iterator<Entry> sparseIterator() {
+        return new OpenMapSparseIterator();
+    }
+
+    /**
+     * Implementation of {@code Entry} optimized for OpenMap.
+     * This implementation does not allow arbitrary calls to {@code setIndex}
+     * since the order in which entries are returned is undefined.
+     */
+    protected class OpenMapEntry extends Entry {
+        /** Iterator pointing to the entry. */
+        private final Iterator iter;
+
+        /**
+         * Build an entry from an iterator point to an element.
+         *
+         * @param iter Iterator pointing to the entry.
+         */
+        protected OpenMapEntry(Iterator iter) {
+            this.iter = iter;
+        }
+
+        /** {@inheritDoc} */
+        @Override
+        public double getValue() {
+            return iter.value();
+        }
+
+        /** {@inheritDoc} */
+        @Override
+        public void setValue(double value) {
+            entries.put(iter.key(), value);
+        }
+
+        /** {@inheritDoc} */
+        @Override
+        public int getIndex() {
+            return iter.key();
+        }
+
+    }
+
+    /**
+     * Iterator class to do iteration over just the non-zero elements.
+     * This implementation is fail-fast, so cannot be used to modify
+     * any zero element.
+     */
+    protected class OpenMapSparseIterator implements java.util.Iterator<Entry> {
+        /** Underlying iterator. */
+        private final Iterator iter;
+        /** Current entry. */
+        private final Entry current;
+
+        /** Simple constructor. */
+        protected OpenMapSparseIterator() {
+            iter = entries.iterator();
+            current = new OpenMapEntry(iter);
+        }
+
+        /** {@inheritDoc} */
+        public boolean hasNext() {
+            return iter.hasNext();
+        }
+
+        /** {@inheritDoc} */
+        public Entry next() {
+            iter.advance();
+            return current;
+        }
+
+        /** {@inheritDoc} */
+        public void remove() {
+            throw new UnsupportedOperationException("Not supported");
+        }
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/PreconditionedIterativeLinearSolver.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/PreconditionedIterativeLinearSolver.java
new file mode 100644
index 0000000000..c8bbcbe562
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/PreconditionedIterativeLinearSolver.java
@@ -0,0 +1,211 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.MaxCountExceededException;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.util.IterationManager;
+import org.apache.commons.math3.util.MathUtils;
+
+/**
+ * <p>
+ * This abstract class defines preconditioned iterative solvers. When A is
+ * ill-conditioned, instead of solving system A &middot; x = b directly, it is
+ * preferable to solve M<sup>-1</sup> &middot; A &middot; x = M<sup>-1</sup>
+ * &middot; b, where M approximates in some way A, while remaining comparatively
+ * easier to invert. M (not M<sup>-1</sup>!) is called the
+ * <em>preconditionner</em>.
+ * </p>
+ * <p>
+ * Concrete implementations of this abstract class must be provided with
+ * M<sup>-1</sup>, the inverse of the preconditioner, as a
+ * {@link RealLinearOperator}.
+ * </p>
+ *
+ * @version $Id: PreconditionedIterativeLinearSolver.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 3.0
+ */
+public abstract class PreconditionedIterativeLinearSolver
+    extends IterativeLinearSolver {
+
+    /**
+     * Creates a new instance of this class, with default iteration manager.
+     *
+     * @param maxIterations the maximum number of iterations
+     */
+    public PreconditionedIterativeLinearSolver(final int maxIterations) {
+        super(maxIterations);
+    }
+
+    /**
+     * Creates a new instance of this class, with custom iteration manager.
+     *
+     * @param manager the custom iteration manager
+     * @throws NullArgumentException if {@code manager} is {@code null}
+     */
+    public PreconditionedIterativeLinearSolver(final IterationManager manager)
+        throws NullArgumentException {
+        super(manager);
+    }
+
+    /**
+     * Returns an estimate of the solution to the linear system A &middot; x =
+     * b.
+     *
+     * @param a the linear operator A of the system
+     * @param minv the inverse of the preconditioner, M<sup>-1</sup>
+     * (can be {@code null})
+     * @param b the right-hand side vector
+     * @param x0 the initial guess of the solution
+     * @return a new vector containing the solution
+     * @throws NullArgumentException if one of the parameters is {@code null}
+     * @throws NonSquareOperatorException if {@code a} or {@code minv} is not
+     * square
+     * @throws DimensionMismatchException if {@code minv}, {@code b} or
+     * {@code x0} have dimensions inconsistent with {@code a}
+     * @throws MaxCountExceededException at exhaustion of the iteration count,
+     * unless a custom
+     * {@link org.apache.commons.math3.util.Incrementor.MaxCountExceededCallback callback}
+     * has been set at construction
+     */
+    public RealVector solve(final RealLinearOperator a,
+        final RealLinearOperator minv, final RealVector b, final RealVector x0)
+        throws NullArgumentException, NonSquareOperatorException,
+        DimensionMismatchException, MaxCountExceededException {
+        MathUtils.checkNotNull(x0);
+        return solveInPlace(a, minv, b, x0.copy());
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector solve(final RealLinearOperator a, final RealVector b)
+        throws NullArgumentException, NonSquareOperatorException,
+        DimensionMismatchException, MaxCountExceededException {
+        MathUtils.checkNotNull(a);
+        final RealVector x = new ArrayRealVector(a.getColumnDimension());
+        x.set(0.);
+        return solveInPlace(a, null, b, x);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector solve(final RealLinearOperator a, final RealVector b,
+                            final RealVector x0)
+        throws NullArgumentException, NonSquareOperatorException,
+        DimensionMismatchException, MaxCountExceededException {
+        MathUtils.checkNotNull(x0);
+        return solveInPlace(a, null, b, x0.copy());
+    }
+
+    /**
+     * Performs all dimension checks on the parameters of
+     * {@link #solve(RealLinearOperator, RealLinearOperator, RealVector, RealVector) solve}
+     * and
+     * {@link #solveInPlace(RealLinearOperator, RealLinearOperator, RealVector, RealVector) solveInPlace},
+     * and throws an exception if one of the checks fails.
+     *
+     * @param a the linear operator A of the system
+     * @param minv the inverse of the preconditioner, M<sup>-1</sup>
+     * (can be {@code null})
+     * @param b the right-hand side vector
+     * @param x0 the initial guess of the solution
+     * @throws NullArgumentException if one of the parameters is {@code null}
+     * @throws NonSquareOperatorException if {@code a} or {@code minv} is not
+     * square
+     * @throws DimensionMismatchException if {@code minv}, {@code b} or
+     * {@code x0} have dimensions inconsistent with {@code a}
+     */
+    protected static void checkParameters(final RealLinearOperator a,
+        final RealLinearOperator minv, final RealVector b, final RealVector x0)
+        throws NullArgumentException, NonSquareOperatorException,
+        DimensionMismatchException {
+        checkParameters(a, b, x0);
+        if (minv != null) {
+            if (minv.getColumnDimension() != minv.getRowDimension()) {
+                throw new NonSquareOperatorException(minv.getColumnDimension(),
+                                                     minv.getRowDimension());
+            }
+            if (minv.getRowDimension() != a.getRowDimension()) {
+                throw new DimensionMismatchException(minv.getRowDimension(),
+                                                     a.getRowDimension());
+            }
+        }
+    }
+
+    /**
+     * Returns an estimate of the solution to the linear system A &middot; x =
+     * b.
+     *
+     * @param a the linear operator A of the system
+     * @param minv the inverse of the preconditioner, M<sup>-1</sup>
+     * (can be {@code null})
+     * @param b the right-hand side vector
+     * @return a new vector containing the solution
+     * @throws NullArgumentException if one of the parameters is {@code null}
+     * @throws NonSquareOperatorException if {@code a} or {@code minv} is not
+     * square
+     * @throws DimensionMismatchException if {@code minv} or {@code b} have
+     * dimensions inconsistent with {@code a}
+     * @throws MaxCountExceededException at exhaustion of the iteration count,
+     * unless a custom
+     * {@link org.apache.commons.math3.util.Incrementor.MaxCountExceededCallback callback}
+     * has been set at construction
+     */
+    public RealVector solve(RealLinearOperator a, RealLinearOperator minv,
+        RealVector b) throws NullArgumentException, NonSquareOperatorException,
+        DimensionMismatchException, MaxCountExceededException {
+        MathUtils.checkNotNull(a);
+        final RealVector x = new ArrayRealVector(a.getColumnDimension());
+        return solveInPlace(a, minv, b, x);
+    }
+
+    /**
+     * Returns an estimate of the solution to the linear system A &middot; x =
+     * b. The solution is computed in-place (initial guess is modified).
+     *
+     * @param a the linear operator A of the system
+     * @param minv the inverse of the preconditioner, M<sup>-1</sup>
+     * (can be {@code null})
+     * @param b the right-hand side vector
+     * @param x0 the initial guess of the solution
+     * @return a reference to {@code x0} (shallow copy) updated with the
+     * solution
+     * @throws NullArgumentException if one of the parameters is {@code null}
+     * @throws NonSquareOperatorException if {@code a} or {@code minv} is not
+     * square
+     * @throws DimensionMismatchException if {@code minv}, {@code b} or
+     * {@code x0} have dimensions inconsistent with {@code a}
+     * @throws MaxCountExceededException at exhaustion of the iteration count,
+     * unless a custom
+     * {@link org.apache.commons.math3.util.Incrementor.MaxCountExceededCallback callback}
+     * has been set at construction.
+     */
+    public abstract RealVector solveInPlace(RealLinearOperator a,
+        RealLinearOperator minv, RealVector b, RealVector x0) throws
+        NullArgumentException, NonSquareOperatorException,
+        DimensionMismatchException, MaxCountExceededException;
+
+    /** {@inheritDoc} */
+    @Override
+    public RealVector solveInPlace(final RealLinearOperator a,
+        final RealVector b, final RealVector x0) throws
+        NullArgumentException, NonSquareOperatorException,
+        DimensionMismatchException, MaxCountExceededException {
+        return solveInPlace(a, null, b, x0);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/QRDecomposition.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/QRDecomposition.java
new file mode 100644
index 0000000000..7ed7e172c5
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/QRDecomposition.java
@@ -0,0 +1,452 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import java.util.Arrays;
+
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.util.FastMath;
+
+
+/**
+ * Calculates the QR-decomposition of a matrix.
+ * <p>The QR-decomposition of a matrix A consists of two matrices Q and R
+ * that satisfy: A = QR, Q is orthogonal (Q<sup>T</sup>Q = I), and R is
+ * upper triangular. If A is m&times;n, Q is m&times;m and R m&times;n.</p>
+ * <p>This class compute the decomposition using Householder reflectors.</p>
+ * <p>For efficiency purposes, the decomposition in packed form is transposed.
+ * This allows inner loop to iterate inside rows, which is much more cache-efficient
+ * in Java.</p>
+ * <p>This class is based on the class with similar name from the
+ * <a href="http://math.nist.gov/javanumerics/jama/">JAMA</a> library, with the
+ * following changes:</p>
+ * <ul>
+ *   <li>a {@link #getQT() getQT} method has been added,</li>
+ *   <li>the {@code solve} and {@code isFullRank} methods have been replaced
+ *   by a {@link #getSolver() getSolver} method and the equivalent methods
+ *   provided by the returned {@link DecompositionSolver}.</li>
+ * </ul>
+ *
+ * @see <a href="http://mathworld.wolfram.com/QRDecomposition.html">MathWorld</a>
+ * @see <a href="http://en.wikipedia.org/wiki/QR_decomposition">Wikipedia</a>
+ *
+ * @version $Id: QRDecomposition.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 1.2 (changed to concrete class in 3.0)
+ */
+public class QRDecomposition {
+    /**
+     * A packed TRANSPOSED representation of the QR decomposition.
+     * <p>The elements BELOW the diagonal are the elements of the UPPER triangular
+     * matrix R, and the rows ABOVE the diagonal are the Householder reflector vectors
+     * from which an explicit form of Q can be recomputed if desired.</p>
+     */
+    private double[][] qrt;
+    /** The diagonal elements of R. */
+    private double[] rDiag;
+    /** Cached value of Q. */
+    private RealMatrix cachedQ;
+    /** Cached value of QT. */
+    private RealMatrix cachedQT;
+    /** Cached value of R. */
+    private RealMatrix cachedR;
+    /** Cached value of H. */
+    private RealMatrix cachedH;
+    /** Singularity threshold. */
+    private final double threshold;
+
+    /**
+     * Calculates the QR-decomposition of the given matrix.
+     * The singularity threshold defaults to zero.
+     *
+     * @param matrix The matrix to decompose.
+     *
+     * @see #QRDecomposition(RealMatrix,double)
+     */
+    public QRDecomposition(RealMatrix matrix) {
+        this(matrix, 0d);
+    }
+
+    /**
+     * Calculates the QR-decomposition of the given matrix.
+     *
+     * @param matrix The matrix to decompose.
+     * @param threshold Singularity threshold.
+     */
+    public QRDecomposition(RealMatrix matrix,
+                           double threshold) {
+        this.threshold = threshold;
+
+        final int m = matrix.getRowDimension();
+        final int n = matrix.getColumnDimension();
+        qrt = matrix.transpose().getData();
+        rDiag = new double[FastMath.min(m, n)];
+        cachedQ  = null;
+        cachedQT = null;
+        cachedR  = null;
+        cachedH  = null;
+
+        /*
+         * The QR decomposition of a matrix A is calculated using Householder
+         * reflectors by repeating the following operations to each minor
+         * A(minor,minor) of A:
+         */
+        for (int minor = 0; minor < FastMath.min(m, n); minor++) {
+
+            final double[] qrtMinor = qrt[minor];
+
+            /*
+             * Let x be the first column of the minor, and a^2 = |x|^2.
+             * x will be in the positions qr[minor][minor] through qr[m][minor].
+             * The first column of the transformed minor will be (a,0,0,..)'
+             * The sign of a is chosen to be opposite to the sign of the first
+             * component of x. Let's find a:
+             */
+            double xNormSqr = 0;
+            for (int row = minor; row < m; row++) {
+                final double c = qrtMinor[row];
+                xNormSqr += c * c;
+            }
+            final double a = (qrtMinor[minor] > 0) ? -FastMath.sqrt(xNormSqr) : FastMath.sqrt(xNormSqr);
+            rDiag[minor] = a;
+
+            if (a != 0.0) {
+
+                /*
+                 * Calculate the normalized reflection vector v and transform
+                 * the first column. We know the norm of v beforehand: v = x-ae
+                 * so |v|^2 = <x-ae,x-ae> = <x,x>-2a<x,e>+a^2<e,e> =
+                 * a^2+a^2-2a<x,e> = 2a*(a - <x,e>).
+                 * Here <x, e> is now qr[minor][minor].
+                 * v = x-ae is stored in the column at qr:
+                 */
+                qrtMinor[minor] -= a; // now |v|^2 = -2a*(qr[minor][minor])
+
+                /*
+                 * Transform the rest of the columns of the minor:
+                 * They will be transformed by the matrix H = I-2vv'/|v|^2.
+                 * If x is a column vector of the minor, then
+                 * Hx = (I-2vv'/|v|^2)x = x-2vv'x/|v|^2 = x - 2<x,v>/|v|^2 v.
+                 * Therefore the transformation is easily calculated by
+                 * subtracting the column vector (2<x,v>/|v|^2)v from x.
+                 *
+                 * Let 2<x,v>/|v|^2 = alpha. From above we have
+                 * |v|^2 = -2a*(qr[minor][minor]), so
+                 * alpha = -<x,v>/(a*qr[minor][minor])
+                 */
+                for (int col = minor+1; col < n; col++) {
+                    final double[] qrtCol = qrt[col];
+                    double alpha = 0;
+                    for (int row = minor; row < m; row++) {
+                        alpha -= qrtCol[row] * qrtMinor[row];
+                    }
+                    alpha /= a * qrtMinor[minor];
+
+                    // Subtract the column vector alpha*v from x.
+                    for (int row = minor; row < m; row++) {
+                        qrtCol[row] -= alpha * qrtMinor[row];
+                    }
+                }
+            }
+        }
+    }
+
+    /**
+     * Returns the matrix R of the decomposition.
+     * <p>R is an upper-triangular matrix</p>
+     * @return the R matrix
+     */
+    public RealMatrix getR() {
+
+        if (cachedR == null) {
+
+            // R is supposed to be m x n
+            final int n = qrt.length;
+            final int m = qrt[0].length;
+            double[][] ra = new double[m][n];
+            // copy the diagonal from rDiag and the upper triangle of qr
+            for (int row = FastMath.min(m, n) - 1; row >= 0; row--) {
+                ra[row][row] = rDiag[row];
+                for (int col = row + 1; col < n; col++) {
+                    ra[row][col] = qrt[col][row];
+                }
+            }
+            cachedR = MatrixUtils.createRealMatrix(ra);
+        }
+
+        // return the cached matrix
+        return cachedR;
+    }
+
+    /**
+     * Returns the matrix Q of the decomposition.
+     * <p>Q is an orthogonal matrix</p>
+     * @return the Q matrix
+     */
+    public RealMatrix getQ() {
+        if (cachedQ == null) {
+            cachedQ = getQT().transpose();
+        }
+        return cachedQ;
+    }
+
+    /**
+     * Returns the transpose of the matrix Q of the decomposition.
+     * <p>Q is an orthogonal matrix</p>
+     * @return the Q matrix
+     */
+    public RealMatrix getQT() {
+        if (cachedQT == null) {
+
+            // QT is supposed to be m x m
+            final int n = qrt.length;
+            final int m = qrt[0].length;
+            double[][] qta = new double[m][m];
+
+            /*
+             * Q = Q1 Q2 ... Q_m, so Q is formed by first constructing Q_m and then
+             * applying the Householder transformations Q_(m-1),Q_(m-2),...,Q1 in
+             * succession to the result
+             */
+            for (int minor = m - 1; minor >= FastMath.min(m, n); minor--) {
+                qta[minor][minor] = 1.0d;
+            }
+
+            for (int minor = FastMath.min(m, n)-1; minor >= 0; minor--){
+                final double[] qrtMinor = qrt[minor];
+                qta[minor][minor] = 1.0d;
+                if (qrtMinor[minor] != 0.0) {
+                    for (int col = minor; col < m; col++) {
+                        double alpha = 0;
+                        for (int row = minor; row < m; row++) {
+                            alpha -= qta[col][row] * qrtMinor[row];
+                        }
+                        alpha /= rDiag[minor] * qrtMinor[minor];
+
+                        for (int row = minor; row < m; row++) {
+                            qta[col][row] += -alpha * qrtMinor[row];
+                        }
+                    }
+                }
+            }
+            cachedQT = MatrixUtils.createRealMatrix(qta);
+        }
+
+        // return the cached matrix
+        return cachedQT;
+    }
+
+    /**
+     * Returns the Householder reflector vectors.
+     * <p>H is a lower trapezoidal matrix whose columns represent
+     * each successive Householder reflector vector. This matrix is used
+     * to compute Q.</p>
+     * @return a matrix containing the Householder reflector vectors
+     */
+    public RealMatrix getH() {
+        if (cachedH == null) {
+
+            final int n = qrt.length;
+            final int m = qrt[0].length;
+            double[][] ha = new double[m][n];
+            for (int i = 0; i < m; ++i) {
+                for (int j = 0; j < FastMath.min(i + 1, n); ++j) {
+                    ha[i][j] = qrt[j][i] / -rDiag[j];
+                }
+            }
+            cachedH = MatrixUtils.createRealMatrix(ha);
+        }
+
+        // return the cached matrix
+        return cachedH;
+    }
+
+    /**
+     * Get a solver for finding the A &times; X = B solution in least square sense.
+     * @return a solver
+     */
+    public DecompositionSolver getSolver() {
+        return new Solver(qrt, rDiag, threshold);
+    }
+
+    /** Specialized solver. */
+    private static class Solver implements DecompositionSolver {
+        /**
+         * A packed TRANSPOSED representation of the QR decomposition.
+         * <p>The elements BELOW the diagonal are the elements of the UPPER triangular
+         * matrix R, and the rows ABOVE the diagonal are the Householder reflector vectors
+         * from which an explicit form of Q can be recomputed if desired.</p>
+         */
+        private final double[][] qrt;
+        /** The diagonal elements of R. */
+        private final double[] rDiag;
+        /** Singularity threshold. */
+        private final double threshold;
+
+        /**
+         * Build a solver from decomposed matrix.
+         *
+         * @param qrt Packed TRANSPOSED representation of the QR decomposition.
+         * @param rDiag Diagonal elements of R.
+         * @param threshold Singularity threshold.
+         */
+        private Solver(final double[][] qrt,
+                       final double[] rDiag,
+                       final double threshold) {
+            this.qrt   = qrt;
+            this.rDiag = rDiag;
+            this.threshold = threshold;
+        }
+
+        /** {@inheritDoc} */
+        public boolean isNonSingular() {
+            for (double diag : rDiag) {
+                if (FastMath.abs(diag) <= threshold) {
+                    return false;
+                }
+            }
+            return true;
+        }
+
+        /** {@inheritDoc} */
+        public RealVector solve(RealVector b) {
+            final int n = qrt.length;
+            final int m = qrt[0].length;
+            if (b.getDimension() != m) {
+                throw new DimensionMismatchException(b.getDimension(), m);
+            }
+            if (!isNonSingular()) {
+                throw new SingularMatrixException();
+            }
+
+            final double[] x = new double[n];
+            final double[] y = b.toArray();
+
+            // apply Householder transforms to solve Q.y = b
+            for (int minor = 0; minor < FastMath.min(m, n); minor++) {
+
+                final double[] qrtMinor = qrt[minor];
+                double dotProduct = 0;
+                for (int row = minor; row < m; row++) {
+                    dotProduct += y[row] * qrtMinor[row];
+                }
+                dotProduct /= rDiag[minor] * qrtMinor[minor];
+
+                for (int row = minor; row < m; row++) {
+                    y[row] += dotProduct * qrtMinor[row];
+                }
+            }
+
+            // solve triangular system R.x = y
+            for (int row = rDiag.length - 1; row >= 0; --row) {
+                y[row] /= rDiag[row];
+                final double yRow = y[row];
+                final double[] qrtRow = qrt[row];
+                x[row] = yRow;
+                for (int i = 0; i < row; i++) {
+                    y[i] -= yRow * qrtRow[i];
+                }
+            }
+
+            return new ArrayRealVector(x, false);
+        }
+
+        /** {@inheritDoc} */
+        public RealMatrix solve(RealMatrix b) {
+            final int n = qrt.length;
+            final int m = qrt[0].length;
+            if (b.getRowDimension() != m) {
+                throw new DimensionMismatchException(b.getRowDimension(), m);
+            }
+            if (!isNonSingular()) {
+                throw new SingularMatrixException();
+            }
+
+            final int columns        = b.getColumnDimension();
+            final int blockSize      = BlockRealMatrix.BLOCK_SIZE;
+            final int cBlocks        = (columns + blockSize - 1) / blockSize;
+            final double[][] xBlocks = BlockRealMatrix.createBlocksLayout(n, columns);
+            final double[][] y       = new double[b.getRowDimension()][blockSize];
+            final double[]   alpha   = new double[blockSize];
+
+            for (int kBlock = 0; kBlock < cBlocks; ++kBlock) {
+                final int kStart = kBlock * blockSize;
+                final int kEnd   = FastMath.min(kStart + blockSize, columns);
+                final int kWidth = kEnd - kStart;
+
+                // get the right hand side vector
+                b.copySubMatrix(0, m - 1, kStart, kEnd - 1, y);
+
+                // apply Householder transforms to solve Q.y = b
+                for (int minor = 0; minor < FastMath.min(m, n); minor++) {
+                    final double[] qrtMinor = qrt[minor];
+                    final double factor     = 1.0 / (rDiag[minor] * qrtMinor[minor]);
+
+                    Arrays.fill(alpha, 0, kWidth, 0.0);
+                    for (int row = minor; row < m; ++row) {
+                        final double   d    = qrtMinor[row];
+                        final double[] yRow = y[row];
+                        for (int k = 0; k < kWidth; ++k) {
+                            alpha[k] += d * yRow[k];
+                        }
+                    }
+                    for (int k = 0; k < kWidth; ++k) {
+                        alpha[k] *= factor;
+                    }
+
+                    for (int row = minor; row < m; ++row) {
+                        final double   d    = qrtMinor[row];
+                        final double[] yRow = y[row];
+                        for (int k = 0; k < kWidth; ++k) {
+                            yRow[k] += alpha[k] * d;
+                        }
+                    }
+                }
+
+                // solve triangular system R.x = y
+                for (int j = rDiag.length - 1; j >= 0; --j) {
+                    final int      jBlock = j / blockSize;
+                    final int      jStart = jBlock * blockSize;
+                    final double   factor = 1.0 / rDiag[j];
+                    final double[] yJ     = y[j];
+                    final double[] xBlock = xBlocks[jBlock * cBlocks + kBlock];
+                    int index = (j - jStart) * kWidth;
+                    for (int k = 0; k < kWidth; ++k) {
+                        yJ[k]          *= factor;
+                        xBlock[index++] = yJ[k];
+                    }
+
+                    final double[] qrtJ = qrt[j];
+                    for (int i = 0; i < j; ++i) {
+                        final double rIJ  = qrtJ[i];
+                        final double[] yI = y[i];
+                        for (int k = 0; k < kWidth; ++k) {
+                            yI[k] -= yJ[k] * rIJ;
+                        }
+                    }
+                }
+            }
+
+            return new BlockRealMatrix(n, columns, xBlocks, false);
+        }
+
+        /** {@inheritDoc} */
+        public RealMatrix getInverse() {
+            return solve(MatrixUtils.createRealIdentityMatrix(rDiag.length));
+        }
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/RealLinearOperator.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/RealLinearOperator.java
new file mode 100644
index 0000000000..c73b2639d1
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/RealLinearOperator.java
@@ -0,0 +1,109 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.exception.DimensionMismatchException;
+
+/**
+ * This class defines a linear operator operating on real ({@code double})
+ * vector spaces. No direct access to the coefficients of the underlying matrix
+ * is provided.
+ *
+ * The motivation for such an interface is well stated by
+ * <a href="#BARR1994">Barrett et al. (1994)</a>:
+ * <blockquote>
+ *  We restrict ourselves to iterative methods, which work by repeatedly
+ *  improving an approximate solution until it is accurate enough. These
+ *  methods access the coefficient matrix A of the linear system only via the
+ *  matrix-vector product y = A &middot; x
+ *  (and perhaps z = A<sup>T</sup> &middot; x). Thus the user need only
+ *  supply a subroutine for computing y (and perhaps z) given x, which permits
+ *  full exploitation of the sparsity or other special structure of A.
+ * </blockquote>
+ * <br/>
+ *
+ * <dl>
+ *  <dt><a name="BARR1994">Barret et al. (1994)</a></dt>
+ *  <dd>
+ *   R. Barrett, M. Berry, T. F. Chan, J. Demmel, J. M. Donato, J. Dongarra,
+ *   V. Eijkhout, R. Pozo, C. Romine and H. Van der Vorst,
+ *   <em>Templates for the Solution of Linear Systems: Building Blocks for
+ *   Iterative Methods</em>, SIAM
+ *  </dd>
+ * </dl>
+ *
+ * @version $Id: RealLinearOperator.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 3.0
+ */
+public abstract class RealLinearOperator {
+    /**
+     * Returns the dimension of the codomain of this operator.
+     *
+     * @return the number of rows of the underlying matrix
+     */
+    public abstract int getRowDimension();
+
+    /**
+     * Returns the dimension of the domain of this operator.
+     *
+     * @return the number of columns of the underlying matrix
+     */
+    public abstract int getColumnDimension();
+
+    /**
+     * Returns the result of multiplying {@code this} by the vector {@code x}.
+     *
+     * @param x the vector to operate on
+     * @return the product of {@code this} instance with {@code x}
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if the column dimension does not match the size of {@code x}
+     */
+    public abstract RealVector operate(final RealVector x);
+
+    /**
+     * Returns the result of multiplying the transpose of {@code this} operator
+     * by the vector {@code x} (optional operation). The default implementation
+     * throws an {@link UnsupportedOperationException}. Users overriding this
+     * method must also override {@link #isTransposable()}.
+     *
+     * @param x the vector to operate on
+     * @return the product of the transpose of {@code this} instance with
+     * {@code x}
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if the row dimension does not match the size of {@code x}
+     * @throws UnsupportedOperationException if this operation is not supported
+     * by {@code this} operator
+     */
+    public RealVector operateTranspose(final RealVector x)
+        throws DimensionMismatchException, UnsupportedOperationException {
+        throw new UnsupportedOperationException();
+    }
+
+    /**
+     * Returns {@code true} if this operator supports
+     * {@link #operateTranspose(RealVector)}. If {@code true} is returned,
+     * {@link #operateTranspose(RealVector)} should not throw
+     * {@code UnsupportedOperationException}. The default implementation returns
+     * {@code false}.
+     *
+     * @return {@code false}
+     */
+    public boolean isTransposable() {
+        return false;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/RealMatrix.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/RealMatrix.java
new file mode 100644
index 0000000000..2ba177c992
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/RealMatrix.java
@@ -0,0 +1,784 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.exception.OutOfRangeException;
+import org.apache.commons.math3.exception.ZeroException;
+
+/**
+ * Interface defining a real-valued matrix with basic algebraic operations.
+ * <p>
+ * Matrix element indexing is 0-based -- e.g., <code>getEntry(0, 0)</code>
+ * returns the element in the first row, first column of the matrix.</p>
+ *
+ * @version $Id: RealMatrix.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public interface RealMatrix extends AnyMatrix {
+    /**
+     * Create a new RealMatrix of the same type as the instance with the supplied
+     * row and column dimensions.
+     *
+     * @param rowDimension  the number of rows in the new matrix
+     * @param columnDimension  the number of columns in the new matrix
+     * @return a new matrix of the same type as the instance
+     * @throws org.apache.commons.math3.exception.NotStrictlyPositiveException
+     * if row or column dimension is not positive.
+     * @since 2.0
+     */
+    RealMatrix createMatrix(final int rowDimension, final int columnDimension);
+
+    /**
+     * Returns a (deep) copy of this.
+     *
+     * @return matrix copy
+     */
+    RealMatrix copy();
+
+    /**
+     * Compute the sum of this and m.
+     *
+     * @param m    matrix to be added
+     * @return     this + m
+     * @throws  IllegalArgumentException if m is not the same size as this
+     */
+    RealMatrix add(RealMatrix m);
+
+    /**
+     * Compute this minus m.
+     *
+     * @param m    matrix to be subtracted
+     * @return     this - m
+     * @throws  IllegalArgumentException if m is not the same size as this
+     */
+    RealMatrix subtract(RealMatrix m);
+
+     /**
+     * Returns the result of adding d to each entry of this.
+     *
+     * @param d    value to be added to each entry
+     * @return     d + this
+     */
+    RealMatrix scalarAdd(double d);
+
+    /**
+     * Returns the result multiplying each entry of this by d.
+     *
+     * @param d    value to multiply all entries by
+     * @return     d * this
+     */
+    RealMatrix scalarMultiply(double d);
+
+    /**
+     * Returns the result of postmultiplying this by m.
+     *
+     * @param m    matrix to postmultiply by
+     * @return     this * m
+     * @throws     IllegalArgumentException
+     *             if columnDimension(this) != rowDimension(m)
+     */
+    RealMatrix multiply(RealMatrix m);
+
+    /**
+     * Returns the result premultiplying this by <code>m</code>.
+     * @param m    matrix to premultiply by
+     * @return     m * this
+     * @throws     IllegalArgumentException
+     *             if rowDimension(this) != columnDimension(m)
+     */
+    RealMatrix preMultiply(RealMatrix m);
+
+    /**
+     * Returns the result multiplying this with itself <code>p</code> times.
+     * Depending on the underlying storage, instability for high powers might occur.
+     * @param      p raise this to power p
+     * @return     this^p
+     * @throws     IllegalArgumentException if p < 0
+     *             NonSquareMatrixException if the matrix is not square
+     */
+    RealMatrix power(final int p);
+
+    /**
+     * Returns matrix entries as a two-dimensional array.
+     *
+     * @return    2-dimensional array of entries
+     */
+    double[][] getData();
+
+    /**
+     * Returns the <a href="http://mathworld.wolfram.com/MaximumAbsoluteRowSumNorm.html">
+     * maximum absolute row sum norm</a> of the matrix.
+     *
+     * @return norm
+     */
+    double getNorm();
+
+    /**
+     * Returns the <a href="http://mathworld.wolfram.com/FrobeniusNorm.html">
+     * Frobenius norm</a> of the matrix.
+     *
+     * @return norm
+     */
+    double getFrobeniusNorm();
+
+    /**
+     * Gets a submatrix. Rows and columns are indicated
+     * counting from 0 to n-1.
+     *
+     * @param startRow Initial row index
+     * @param endRow Final row index (inclusive)
+     * @param startColumn Initial column index
+     * @param endColumn Final column index (inclusive)
+     * @return The subMatrix containing the data of the
+     *         specified rows and columns
+     * @throws org.apache.commons.math3.exception.OutOfRangeException if
+     * the indices are not valid.
+     */
+    RealMatrix getSubMatrix(int startRow, int endRow, int startColumn, int endColumn);
+
+   /**
+    * Gets a submatrix. Rows and columns are indicated
+    * counting from 0 to n-1.
+    *
+    * @param selectedRows Array of row indices.
+    * @param selectedColumns Array of column indices.
+    * @return The subMatrix containing the data in the
+    *         specified rows and columns
+    * @throws org.apache.commons.math3.exception.OutOfRangeException if
+    * the indices are not valid.
+    */
+    RealMatrix getSubMatrix(int[] selectedRows, int[] selectedColumns);
+
+   /**
+    * Copy a submatrix. Rows and columns are indicated
+    * counting from 0 to n-1.
+    *
+    * @param startRow Initial row index
+    * @param endRow Final row index (inclusive)
+    * @param startColumn Initial column index
+    * @param endColumn Final column index (inclusive)
+    * @param destination The arrays where the submatrix data should be copied
+    * (if larger than rows/columns counts, only the upper-left part will be used)
+    * @throws org.apache.commons.math3.exception.OutOfRangeException if the
+    * indices are not valid.
+    * @exception IllegalArgumentException if the destination array is too small
+    */
+    void copySubMatrix(int startRow, int endRow, int startColumn, int endColumn,
+                       double[][] destination);
+    /**
+     * Copy a submatrix. Rows and columns are indicated
+     * counting from 0 to n-1.
+     *
+     * @param selectedRows Array of row indices.
+     * @param selectedColumns Array of column indices.
+     * @param destination The arrays where the submatrix data should be copied
+     * (if larger than rows/columns counts, only the upper-left part will be used)
+     * @throws org.apache.commons.math3.exception.OutOfRangeException if the
+     * indices are not valid.
+     * @exception IllegalArgumentException if the destination array is too small
+     */
+    void copySubMatrix(int[] selectedRows, int[] selectedColumns, double[][] destination);
+
+   /**
+    * Replace the submatrix starting at <code>row, column</code> using data in
+    * the input <code>subMatrix</code> array. Indexes are 0-based.
+    * <p>
+    * Example:<br>
+    * Starting with <pre>
+    * 1  2  3  4
+    * 5  6  7  8
+    * 9  0  1  2
+    * </pre>
+    * and <code>subMatrix = {{3, 4} {5,6}}</code>, invoking
+    * <code>setSubMatrix(subMatrix,1,1))</code> will result in <pre>
+    * 1  2  3  4
+    * 5  3  4  8
+    * 9  5  6  2
+    * </pre></p>
+    *
+    * @param subMatrix  array containing the submatrix replacement data
+    * @param row  row coordinate of the top, left element to be replaced
+    * @param column  column coordinate of the top, left element to be replaced
+    * @throws ZeroException if {@code subMatrix} does not contain at least one column.
+    * @throws OutOfRangeException if {@code subMatrix} does not fit into
+    * this matrix from element in {@code (row, column)}.
+    * @throws DimensionMismatchException if {@code subMatrix} is not rectangular.
+    * (not all rows have the same length) or empty.
+    * @throws NullArgumentException if {@code subMatrix} is {@code null}.
+    * @since 2.0
+    */
+    void setSubMatrix(double[][] subMatrix, int row, int column)
+        throws ZeroException, OutOfRangeException, DimensionMismatchException, NullArgumentException;
+
+   /**
+    * Geet the entries at the given row index
+    * as a row matrix.  Row indices start at 0.
+    *
+    * @param row Row to be fetched.
+    * @return row Matrix.
+    * @throws org.apache.commons.math3.exception.OutOfRangeException if
+    * the specified row index is invalid.
+    */
+   RealMatrix getRowMatrix(int row);
+
+   /**
+    * Set the entries at the given row index
+    * as a row matrix.  Row indices start at 0.
+    *
+    * @param row Row to be set.
+    * @param matrix Row matrix (must have one row and the same number of
+    * columns as the instance).
+    * @throws org.apache.commons.math3.exception.OutOfRangeException if the
+    * specified row index is invalid.
+    * @throws MatrixDimensionMismatchException
+    * if the matrix dimensions do not match one instance row.
+    */
+    void setRowMatrix(int row, RealMatrix matrix);
+
+   /**
+    * Get the entries at the given column index
+    * as a column matrix.  Column indices start at 0.
+    *
+    * @param column Column to be fetched.
+    * @return column Matrix.
+    * @throws org.apache.commons.math3.exception.OutOfRangeException if
+    * the specified column index is invalid.
+    */
+   RealMatrix getColumnMatrix(int column);
+
+   /**
+    * Set the entries at the given column index
+    * as a column matrix.  Column indices start at 0.
+    *
+    * @param column Column to be set.
+    * @param matrix Column matrix (must have one column and the same number
+    * of rows as the instance).
+    * @throws org.apache.commons.math3.exception.OutOfRangeException if
+    * the specified column index is invalid.
+    * @throws MatrixDimensionMismatchException
+    * if the {@code matrix} dimensions do not match one instance column.
+    */
+    void setColumnMatrix(int column, RealMatrix matrix);
+
+   /**
+    * Returns the entries in row number <code>row</code>
+    * as a vector.  Row indices start at 0.
+    *
+    * @param row Row to be fetched.
+    * @return a row vector.
+    * @throws org.apache.commons.math3.exception.OutOfRangeException if
+    * the specified row index is invalid.
+    */
+   RealVector getRowVector(int row);
+
+   /**
+    * Set the entries at the given row index.
+    * as a vector.  Row indices start at 0.
+    *
+    * @param row Row to be set.
+    * @param vector row vector (must have the same number of columns
+    * as the instance).
+    * @throws org.apache.commons.math3.exception.OutOfRangeException if
+    * the specified row index is invalid.
+    * @throws MatrixDimensionMismatchException
+    * if the vector dimension does not match one instance row.
+    */
+    void setRowVector(int row, RealVector vector);
+
+   /**
+    * Get the entries at the given column index
+    * as a vector.  Column indices start at 0.
+    *
+    * @param column Column to be fetched.
+    * @return a column vector.
+    * @throws org.apache.commons.math3.exception.OutOfRangeException if
+    * the specified column index is invalid
+    */
+   RealVector getColumnVector(int column);
+
+   /**
+    * Set the entries at the given column index
+    * as a vector.  Column indices start at 0.
+    *
+    * @param column Column to be set.
+    * @param vector column vector (must have the same number of rows as
+    * the instance).
+    * @throws org.apache.commons.math3.exception.OutOfRangeException if the
+    * specified column index is invalid.
+    * @throws MatrixDimensionMismatchException
+    * if the vector dimension does not match one instance column.
+    */
+    void setColumnVector(int column, RealVector vector);
+
+    /**
+     * Get the entries at the given row index.
+     * Row indices start at 0.
+     *
+     * @param row Row to be fetched.
+     * @return the array of entries in the row.
+     * @throws org.apache.commons.math3.exception.OutOfRangeException if the
+     * specified row index is not valid.
+     */
+    double[] getRow(int row);
+
+    /**
+     * Set the entries at the given row index
+     * as a row matrix.  Row indices start at 0.
+     *
+     * @param row Row to be set.
+     * @param array Row matrix (must have the same number of columns as
+     * the instance)
+     * @throws org.apache.commons.math3.exception.OutOfRangeException if the
+     * specified row index is invalid.
+     * @throws MatrixDimensionMismatchException
+     * if the array size does not match one instance row.
+     */
+    void setRow(int row, double[] array);
+
+    /**
+     * Get the entries at the given column index as an array.
+     * Column indices start at 0.
+     *
+     * @param column Column to be fetched.
+     * @return the array of entries in the column.
+     * @throws org.apache.commons.math3.exception.OutOfRangeException if the
+     * specified column index is not valid.
+     */
+    double[] getColumn(int column);
+
+    /**
+     * Set the entries at the given column index
+     * as a column matrix array.  Column indices start at 0.
+     *
+     * @param column Column to be set.
+     * @param array Column array (must have the same number of rows as
+     * the instance).
+     * @throws org.apache.commons.math3.exception.OutOfRangeException if the
+     * specified column index is invalid.
+     * @throws MatrixDimensionMismatchException
+     * if the array size does not match one instance column.
+     */
+    void setColumn(int column, double[] array);
+
+    /**
+     * Get the entry in the specified row and column.
+     * Row and column indices start at 0.
+     *
+     * @param row Row location of entry to be fetched.
+     * @param column Column location of entry to be fetched.
+     * @return the matrix entry at {@code (row, column)}.
+     * @throws org.apache.commons.math3.exception.OutOfRangeException if the
+     * row or column index is not valid.
+     */
+    double getEntry(int row, int column);
+
+    /**
+     * Set the entry in the specified row and column.
+     * Row and column indices start at 0.
+     *
+     * @param row Row location of entry to be set.
+     * @param column Column location of entry to be set.
+     * @param value matrix entry to be set.
+     * @throws org.apache.commons.math3.exception.OutOfRangeException if
+     * the row or column index is not valid
+     * @since 2.0
+     */
+    void setEntry(int row, int column, double value);
+
+    /**
+     * Change an entry in the specified row and column.
+     * Row and column indices start at 0.
+     *
+     * @param row Row location of entry to be set.
+     * @param column Column location of entry to be set.
+     * @param increment value to add to the matrix entry.
+     * @throws org.apache.commons.math3.exception.OutOfRangeException if
+     * the row or column index is not valid.
+     * @since 2.0
+     */
+    void addToEntry(int row, int column, double increment);
+
+    /**
+     * Change an entry in the specified row and column.
+     * Row and column indices start at 0.
+     *
+     * @param row Row location of entry to be set.
+     * @param column Column location of entry to be set.
+     * @param factor Multiplication factor for the matrix entry.
+     * @throws org.apache.commons.math3.exception.OutOfRangeException if
+     * the row or column index is not valid.
+     * @since 2.0
+     */
+    void multiplyEntry(int row, int column, double factor);
+
+    /**
+     * Returns the transpose of this matrix.
+     *
+     * @return transpose matrix
+     */
+    RealMatrix transpose();
+
+    /**
+     * Returns the <a href="http://mathworld.wolfram.com/MatrixTrace.html">
+     * trace</a> of the matrix (the sum of the elements on the main diagonal).
+     *
+     * @return the trace.
+     * @throws NonSquareMatrixException
+     * if the matrix is not square.
+     */
+    double getTrace();
+
+    /**
+     * Returns the result of multiplying this by the vector <code>v</code>.
+     *
+     * @param v the vector to operate on
+     * @return this*v
+     * @throws IllegalArgumentException if columnDimension != v.size()
+     */
+    double[] operate(double[] v);
+
+    /**
+     * Returns the result of multiplying this by the vector <code>v</code>.
+     *
+     * @param v the vector to operate on
+     * @return this*v
+     * @throws IllegalArgumentException if columnDimension != v.size()
+     */
+    RealVector operate(RealVector v);
+
+    /**
+     * Returns the (row) vector result of premultiplying this by the vector <code>v</code>.
+     *
+     * @param v the row vector to premultiply by
+     * @return v*this
+     * @throws IllegalArgumentException if rowDimension != v.size()
+     */
+    double[] preMultiply(double[] v);
+
+    /**
+     * Returns the (row) vector result of premultiplying this by the vector <code>v</code>.
+     *
+     * @param v the row vector to premultiply by
+     * @return v*this
+     * @throws IllegalArgumentException if rowDimension != v.size()
+     */
+    RealVector preMultiply(RealVector v);
+
+    /**
+     * Visit (and possibly change) all matrix entries in row order.
+     * <p>Row order starts at upper left and iterating through all elements
+     * of a row from left to right before going to the leftmost element
+     * of the next row.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor)
+     * @see #walkInRowOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link RealMatrixChangingVisitor#end()} at the end
+     * of the walk
+     */
+    double walkInRowOrder(RealMatrixChangingVisitor visitor);
+
+    /**
+     * Visit (but don't change) all matrix entries in row order.
+     * <p>Row order starts at upper left and iterating through all elements
+     * of a row from left to right before going to the leftmost element
+     * of the next row.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @see #walkInRowOrder(RealMatrixChangingVisitor)
+     * @see #walkInRowOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link RealMatrixPreservingVisitor#end()} at the end
+     * of the walk
+     */
+    double walkInRowOrder(RealMatrixPreservingVisitor visitor);
+
+    /**
+     * Visit (and possibly change) some matrix entries in row order.
+     * <p>Row order starts at upper left and iterating through all elements
+     * of a row from left to right before going to the leftmost element
+     * of the next row.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @param startRow Initial row index
+     * @param endRow Final row index (inclusive)
+     * @param startColumn Initial column index
+     * @param endColumn Final column index
+     * @throws org.apache.commons.math3.exception.OutOfRangeException if
+     * the indices are not valid.
+     * @see #walkInRowOrder(RealMatrixChangingVisitor)
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor)
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link RealMatrixChangingVisitor#end()} at the end
+     * of the walk
+     */
+    double walkInRowOrder(RealMatrixChangingVisitor visitor,
+                          int startRow, int endRow, int startColumn, int endColumn);
+
+    /**
+     * Visit (but don't change) some matrix entries in row order.
+     * <p>Row order starts at upper left and iterating through all elements
+     * of a row from left to right before going to the leftmost element
+     * of the next row.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @param startRow Initial row index
+     * @param endRow Final row index (inclusive)
+     * @param startColumn Initial column index
+     * @param endColumn Final column index
+     * @throws org.apache.commons.math3.exception.OutOfRangeException if
+     * the indices are not valid.
+     * @see #walkInRowOrder(RealMatrixChangingVisitor)
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor)
+     * @see #walkInRowOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link RealMatrixPreservingVisitor#end()} at the end
+     * of the walk
+     */
+    double walkInRowOrder(RealMatrixPreservingVisitor visitor,
+                          int startRow, int endRow, int startColumn, int endColumn);
+
+    /**
+     * Visit (and possibly change) all matrix entries in column order.
+     * <p>Column order starts at upper left and iterating through all elements
+     * of a column from top to bottom before going to the topmost element
+     * of the next column.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @see #walkInRowOrder(RealMatrixChangingVisitor)
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor)
+     * @see #walkInRowOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link RealMatrixChangingVisitor#end()} at the end
+     * of the walk
+     */
+    double walkInColumnOrder(RealMatrixChangingVisitor visitor);
+
+    /**
+     * Visit (but don't change) all matrix entries in column order.
+     * <p>Column order starts at upper left and iterating through all elements
+     * of a column from top to bottom before going to the topmost element
+     * of the next column.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @see #walkInRowOrder(RealMatrixChangingVisitor)
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor)
+     * @see #walkInRowOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link RealMatrixPreservingVisitor#end()} at the end
+     * of the walk
+     */
+    double walkInColumnOrder(RealMatrixPreservingVisitor visitor);
+
+    /**
+     * Visit (and possibly change) some matrix entries in column order.
+     * <p>Column order starts at upper left and iterating through all elements
+     * of a column from top to bottom before going to the topmost element
+     * of the next column.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @param startRow Initial row index
+     * @param endRow Final row index (inclusive)
+     * @param startColumn Initial column index
+     * @param endColumn Final column index
+     * @throws org.apache.commons.math3.exception.OutOfRangeException if
+     * the indices are not valid.
+     * @see #walkInRowOrder(RealMatrixChangingVisitor)
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor)
+     * @see #walkInRowOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link RealMatrixChangingVisitor#end()} at the end
+     * of the walk
+     */
+    double walkInColumnOrder(RealMatrixChangingVisitor visitor,
+                             int startRow, int endRow, int startColumn, int endColumn);
+
+    /**
+     * Visit (but don't change) some matrix entries in column order.
+     * <p>Column order starts at upper left and iterating through all elements
+     * of a column from top to bottom before going to the topmost element
+     * of the next column.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @param startRow Initial row index
+     * @param endRow Final row index (inclusive)
+     * @param startColumn Initial column index
+     * @param endColumn Final column index
+     * @throws org.apache.commons.math3.exception.OutOfRangeException if
+     * the indices are not valid.
+     * @see #walkInRowOrder(RealMatrixChangingVisitor)
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor)
+     * @see #walkInRowOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link RealMatrixPreservingVisitor#end()} at the end
+     * of the walk
+     */
+    double walkInColumnOrder(RealMatrixPreservingVisitor visitor,
+                             int startRow, int endRow, int startColumn, int endColumn);
+
+    /**
+     * Visit (and possibly change) all matrix entries using the fastest possible order.
+     * <p>The fastest walking order depends on the exact matrix class. It may be
+     * different from traditional row or column orders.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @see #walkInRowOrder(RealMatrixChangingVisitor)
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor)
+     * @see #walkInRowOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link RealMatrixChangingVisitor#end()} at the end
+     * of the walk
+     */
+    double walkInOptimizedOrder(RealMatrixChangingVisitor visitor);
+
+    /**
+     * Visit (but don't change) all matrix entries using the fastest possible order.
+     * <p>The fastest walking order depends on the exact matrix class. It may be
+     * different from traditional row or column orders.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @see #walkInRowOrder(RealMatrixChangingVisitor)
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor)
+     * @see #walkInRowOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link RealMatrixPreservingVisitor#end()} at the end
+     * of the walk
+     */
+    double walkInOptimizedOrder(RealMatrixPreservingVisitor visitor);
+
+    /**
+     * Visit (and possibly change) some matrix entries using the fastest possible order.
+     * <p>The fastest walking order depends on the exact matrix class. It may be
+     * different from traditional row or column orders.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @param startRow Initial row index
+     * @param endRow Final row index (inclusive)
+     * @param startColumn Initial column index
+     * @param endColumn Final column index (inclusive)
+     * @throws org.apache.commons.math3.exception.OutOfRangeException if
+     * the indices are not valid.
+     * @see #walkInRowOrder(RealMatrixChangingVisitor)
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor)
+     * @see #walkInRowOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @return the value returned by {@link RealMatrixChangingVisitor#end()} at the end
+     * of the walk
+     */
+    double walkInOptimizedOrder(RealMatrixChangingVisitor visitor,
+                                int startRow, int endRow, int startColumn, int endColumn);
+
+    /**
+     * Visit (but don't change) some matrix entries using the fastest possible order.
+     * <p>The fastest walking order depends on the exact matrix class. It may be
+     * different from traditional row or column orders.</p>
+     * @param visitor visitor used to process all matrix entries
+     * @param startRow Initial row index
+     * @param endRow Final row index (inclusive)
+     * @param startColumn Initial column index
+     * @param endColumn Final column index (inclusive)
+     * @throws org.apache.commons.math3.exception.OutOfRangeException if the
+     * indices are not valid.
+     * @see #walkInRowOrder(RealMatrixChangingVisitor)
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor)
+     * @see #walkInRowOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInRowOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor)
+     * @see #walkInColumnOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @see #walkInColumnOrder(RealMatrixPreservingVisitor, int, int, int, int)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixPreservingVisitor)
+     * @see #walkInOptimizedOrder(RealMatrixChangingVisitor, int, int, int, int)
+     * @return the value returned by {@link RealMatrixPreservingVisitor#end()} at the end
+     * of the walk
+     */
+    double walkInOptimizedOrder(RealMatrixPreservingVisitor visitor,
+                                int startRow, int endRow, int startColumn, int endColumn);
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/RealMatrixChangingVisitor.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/RealMatrixChangingVisitor.java
new file mode 100644
index 0000000000..7be8e39e1f
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/RealMatrixChangingVisitor.java
@@ -0,0 +1,56 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+/**
+ * Interface defining a visitor for matrix entries.
+ *
+ * @see DefaultRealMatrixChangingVisitor
+ * @version $Id: RealMatrixChangingVisitor.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public interface RealMatrixChangingVisitor {
+    /**
+     * Start visiting a matrix.
+     * <p>This method is called once before any entry of the matrix is visited.</p>
+     * @param rows number of rows of the matrix
+     * @param columns number of columns of the matrix
+     * @param startRow Initial row index
+     * @param endRow Final row index (inclusive)
+     * @param startColumn Initial column index
+     * @param endColumn Final column index (inclusive)
+     */
+    void start(int rows, int columns,
+               int startRow, int endRow, int startColumn, int endColumn);
+
+    /**
+     * Visit one matrix entry.
+     * @param row row index of the entry
+     * @param column column index of the entry
+     * @param value current value of the entry
+     * @return the new value to be set for the entry
+     */
+    double visit(int row, int column, double value);
+
+    /**
+     * End visiting a matrix.
+     * <p>This method is called once after all entries of the matrix have been visited.</p>
+     * @return the value that the <code>walkInXxxOrder</code> must return
+     */
+    double end();
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/RealMatrixPreservingVisitor.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/RealMatrixPreservingVisitor.java
new file mode 100644
index 0000000000..e1fa578623
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/RealMatrixPreservingVisitor.java
@@ -0,0 +1,55 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+/**
+ * Interface defining a visitor for matrix entries.
+ *
+ * @see DefaultRealMatrixPreservingVisitor
+ * @version $Id: RealMatrixPreservingVisitor.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public interface RealMatrixPreservingVisitor {
+    /**
+     * Start visiting a matrix.
+     * <p>This method is called once before any entry of the matrix is visited.</p>
+     * @param rows number of rows of the matrix
+     * @param columns number of columns of the matrix
+     * @param startRow Initial row index
+     * @param endRow Final row index (inclusive)
+     * @param startColumn Initial column index
+     * @param endColumn Final column index (inclusive)
+     */
+    void start(int rows, int columns,
+               int startRow, int endRow, int startColumn, int endColumn);
+
+    /**
+     * Visit one matrix entry.
+     * @param row row index of the entry
+     * @param column column index of the entry
+     * @param value current value of the entry
+     */
+    void visit(int row, int column, double value);
+
+    /**
+     * End visiting a matrix.
+     * <p>This method is called once after all entries of the matrix have been visited.</p>
+     * @return the value that the <code>walkInXxxOrder</code> must return
+     */
+    double end();
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/RealVector.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/RealVector.java
new file mode 100644
index 0000000000..d82e33945a
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/RealVector.java
@@ -0,0 +1,1265 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import java.util.Iterator;
+import java.util.NoSuchElementException;
+
+import org.apache.commons.math3.exception.MathUnsupportedOperationException;
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.OutOfRangeException;
+import org.apache.commons.math3.exception.MathArithmeticException;
+import org.apache.commons.math3.analysis.FunctionUtils;
+import org.apache.commons.math3.analysis.function.Add;
+import org.apache.commons.math3.analysis.function.Multiply;
+import org.apache.commons.math3.analysis.function.Divide;
+import org.apache.commons.math3.analysis.UnivariateFunction;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Class defining a real-valued vector with basic algebraic operations.
+ * <p>
+ * vector element indexing is 0-based -- e.g., {@code getEntry(0)}
+ * returns the first element of the vector.
+ * </p>
+ * <p>
+ * The {@code code map} and {@code mapToSelf} methods operate
+ * on vectors element-wise, i.e. they perform the same operation (adding a scalar,
+ * applying a function ...) on each element in turn. The {@code map}
+ * versions create a new vector to hold the result and do not change the instance.
+ * The {@code mapToSelf} version uses the instance itself to store the
+ * results, so the instance is changed by this method. In all cases, the result
+ * vector is returned by the methods, allowing the <i>fluent API</i>
+ * style, like this:
+ * </p>
+ * <pre>
+ *   RealVector result = v.mapAddToSelf(3.4).mapToSelf(new Tan()).mapToSelf(new Power(2.3));
+ * </pre>
+ *
+ * @version $Id: RealVector.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.1
+ */
+public abstract class RealVector {
+    /**
+     * Returns the size of the vector.
+     *
+     * @return the size of this vector.
+     */
+    public abstract int getDimension();
+
+    /**
+     * Return the entry at the specified index.
+     *
+     * @param index Index location of entry to be fetched.
+     * @return the vector entry at {@code index}.
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the index is not valid.
+     * @see #setEntry(int, double)
+     */
+    public abstract double getEntry(int index);
+
+    /**
+     * Set a single element.
+     *
+     * @param index element index.
+     * @param value new value for the element.
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the index is not valid.
+     * @see #getEntry(int)
+     */
+    public abstract void setEntry(int index, double value);
+
+    /**
+     * Change an entry at the specified index.
+     *
+     * @param index Index location of entry to be set.
+     * @param increment Value to add to the vector entry.
+     * @throws org.apache.commons.math3.exception.OutOfRangeException if
+     * the index is not valid.
+     * @since 3.0
+     */
+    public void addToEntry(int index, double increment) {
+        setEntry(index, getEntry(index) + increment);
+    }
+
+    /**
+     * Construct a new vector by appending a vector to this vector.
+     *
+     * @param v vector to append to this one.
+     * @return a new vector.
+     */
+    public abstract RealVector append(RealVector v);
+
+    /**
+     * Construct a new vector by appending a double to this vector.
+     *
+     * @param d double to append.
+     * @return a new vector.
+     */
+    public abstract RealVector append(double d);
+
+    /**
+     * Get a subvector from consecutive elements.
+     *
+     * @param index index of first element.
+     * @param n number of elements to be retrieved.
+     * @return a vector containing n elements.
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the index is not valid.
+     */
+    public abstract RealVector getSubVector(int index, int n);
+
+    /**
+     * Set a sequence of consecutive elements.
+     *
+     * @param index index of first element to be set.
+     * @param v vector containing the values to set.
+     * @throws org.apache.commons.math3.exception.OutOfRangeException
+     * if the index is not valid.
+     */
+    public abstract void setSubVector(int index, RealVector v);
+
+    /**
+     * Check whether any coordinate of this vector is {@code NaN}.
+     *
+     * @return {@code true} if any coordinate of this vector is {@code NaN},
+     * {@code false} otherwise.
+     */
+    public abstract boolean isNaN();
+
+    /**
+     * Check whether any coordinate of this vector is infinite and none are {@code NaN}.
+     *
+     * @return {@code true} if any coordinate of this vector is infinite and
+     * none are {@code NaN}, {@code false} otherwise.
+     */
+    public abstract boolean isInfinite();
+
+    /**
+     * Check if instance and specified vectors have the same dimension.
+     *
+     * @param v Vector to compare instance with.
+     * @throws DimensionMismatchException if the vectors do not
+     * have the same dimension.
+     */
+    protected void checkVectorDimensions(RealVector v) {
+        checkVectorDimensions(v.getDimension());
+    }
+
+    /**
+     * Check if instance dimension is equal to some expected value.
+     *
+     * @param n Expected dimension.
+     * @throws DimensionMismatchException if the dimension is
+     * inconsistent with the vector size.
+     */
+    protected void checkVectorDimensions(int n) {
+        int d = getDimension();
+        if (d != n) {
+            throw new DimensionMismatchException(d, n);
+        }
+    }
+
+    /**
+     * Check if an index is valid.
+     *
+     * @param index Index to check.
+     * @exception OutOfRangeException if {@code index} is not valid.
+     */
+    protected void checkIndex(final int index) {
+        if (index < 0 ||
+            index >= getDimension()) {
+            throw new OutOfRangeException(LocalizedFormats.INDEX,
+                                          index, 0, getDimension() - 1);
+        }
+    }
+
+    /**
+     * Compute the sum of this vector and {@code v}.
+     * Returns a new vector. Does not change instance data.
+     *
+     * @param v Vector to be added.
+     * @return {@code this} + {@code v}.
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if {@code v} is not the same size as this vector.
+     */
+    public RealVector add(RealVector v) {
+        RealVector result = v.copy();
+        Iterator<Entry> it = sparseIterator();
+        Entry e;
+        while (it.hasNext() && (e = it.next()) != null) {
+            final int index = e.getIndex();
+            result.setEntry(index, e.getValue() + result.getEntry(index));
+        }
+        return result;
+    }
+
+    /**
+     * Subtract {@code v} from this vector.
+     * Returns a new vector. Does not change instance data.
+     *
+     * @param v Vector to be subtracted.
+     * @return {@code this} - {@code v}.
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if {@code v} is not the same size as this vector.
+     */
+    public RealVector subtract(RealVector v) {
+        RealVector result = v.copy();
+        Iterator<Entry> it = sparseIterator();
+        Entry e;
+        while (it.hasNext() && (e = it.next()) != null) {
+            final int index = e.getIndex();
+            result.setEntry(index, e.getValue() - result.getEntry(index));
+        }
+        return result;
+    }
+
+    /**
+     * Add a value to each entry.
+     * Returns a new vector. Does not change instance data.
+     *
+     * @param d Value to be added to each entry.
+     * @return {@code this} + {@code d}.
+     */
+    public RealVector mapAdd(double d) {
+        return copy().mapAddToSelf(d);
+    }
+
+    /**
+     * Add a value to each entry.
+     * The instance is changed in-place.
+     *
+     * @param d Value to be added to each entry.
+     * @return {@code this}.
+     */
+    public RealVector mapAddToSelf(double d) {
+        if (d != 0) {
+            return mapToSelf(FunctionUtils.fix2ndArgument(new Add(), d));
+        }
+        return this;
+    }
+
+    /**
+     * Returns a (deep) copy of this vector.
+     *
+     * @return a vector copy.
+     */
+    public abstract RealVector copy();
+
+    /**
+     * Compute the dot product of this vector with {@code v}.
+     *
+     * @param v Vector with which dot product should be computed
+     * @return the scalar dot product between this instance and {@code v}.
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if {@code v} is not the same size as this vector.
+     */
+    public double dotProduct(RealVector v) {
+        checkVectorDimensions(v);
+        double d = 0;
+        Iterator<Entry> it = sparseIterator();
+        Entry e;
+        while (it.hasNext() && (e = it.next()) != null) {
+            d += e.getValue() * v.getEntry(e.getIndex());
+        }
+        return d;
+    }
+
+    /**
+     * Computes the cosine of the angle between this vector and the
+     * argument.
+     *
+     * @param v Vector.
+     * @return the cosine of the angle between this vector and {@code v}.
+     */
+    public double cosine(RealVector v) {
+        final double norm = getNorm();
+        final double vNorm = v.getNorm();
+
+        if (norm == 0 ||
+            vNorm == 0) {
+            throw new MathArithmeticException(LocalizedFormats.ZERO_NORM);
+        }
+        return dotProduct(v) / (norm * vNorm);
+    }
+
+    /**
+     * Element-by-element division.
+     *
+     * @param v Vector by which instance elements must be divided.
+     * @return a vector containing this[i] / v[i] for all i.
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if {@code v} is not the same size as this vector.
+     */
+    public abstract RealVector ebeDivide(RealVector v);
+
+    /**
+     * Element-by-element multiplication.
+     *
+     * @param v Vector by which instance elements must be multiplied
+     * @return a vector containing this[i] * v[i] for all i.
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if {@code v} is not the same size as this vector.
+     */
+    public abstract RealVector ebeMultiply(RealVector v);
+
+    /**
+     * Distance between two vectors.
+     * <p>This method computes the distance consistent with the
+     * L<sub>2</sub> norm, i.e. the square root of the sum of
+     * element differences, or Euclidian distance.</p>
+     *
+     * @param v Vector to which distance is requested.
+     * @return the distance between two vectors.
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if {@code v} is not the same size as this vector.
+     * @see #getL1Distance(RealVector)
+     * @see #getLInfDistance(RealVector)
+     * @see #getNorm()
+     */
+    public double getDistance(RealVector v) {
+        checkVectorDimensions(v);
+        double d = 0;
+        Iterator<Entry> it = iterator();
+        Entry e;
+        while (it.hasNext() && (e = it.next()) != null) {
+            final double diff = e.getValue() - v.getEntry(e.getIndex());
+            d += diff * diff;
+        }
+        return FastMath.sqrt(d);
+    }
+
+    /**
+     * Returns the L<sub>2</sub> norm of the vector.
+     * <p>The L<sub>2</sub> norm is the root of the sum of
+     * the squared elements.</p>
+     *
+     * @return the norm.
+     * @see #getL1Norm()
+     * @see #getLInfNorm()
+     * @see #getDistance(RealVector)
+     */
+    public double getNorm() {
+        double sum = 0;
+        Iterator<Entry> it = sparseIterator();
+        Entry e;
+        while (it.hasNext() && (e = it.next()) != null) {
+            final double value = e.getValue();
+            sum += value * value;
+        }
+        return FastMath.sqrt(sum);
+    }
+
+    /**
+     * Returns the L<sub>1</sub> norm of the vector.
+     * <p>The L<sub>1</sub> norm is the sum of the absolute
+     * values of the elements.</p>
+     *
+     * @return the norm.
+     * @see #getNorm()
+     * @see #getLInfNorm()
+     * @see #getL1Distance(RealVector)
+     */
+    public double getL1Norm() {
+        double norm = 0;
+        Iterator<Entry> it = sparseIterator();
+        Entry e;
+        while (it.hasNext() && (e = it.next()) != null) {
+            norm += FastMath.abs(e.getValue());
+        }
+        return norm;
+    }
+
+    /**
+     * Returns the L<sub>&infin;</sub> norm of the vector.
+     * <p>The L<sub>&infin;</sub> norm is the max of the absolute
+     * values of the elements.</p>
+     *
+     * @return the norm.
+     * @see #getNorm()
+     * @see #getL1Norm()
+     * @see #getLInfDistance(RealVector)
+     */
+    public double getLInfNorm() {
+        double norm = 0;
+        Iterator<Entry> it = sparseIterator();
+        Entry e;
+        while (it.hasNext() && (e = it.next()) != null) {
+            norm = FastMath.max(norm, FastMath.abs(e.getValue()));
+        }
+        return norm;
+    }
+
+    /**
+     * Distance between two vectors.
+     * <p>This method computes the distance consistent with
+     * L<sub>1</sub> norm, i.e. the sum of the absolute values of
+     * the elements differences.</p>
+     *
+     * @param v Vector to which distance is requested.
+     * @return the distance between two vectors.
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if {@code v} is not the same size as this vector.
+     */
+    public double getL1Distance(RealVector v) {
+        checkVectorDimensions(v);
+        double d = 0;
+        Iterator<Entry> it = iterator();
+        Entry e;
+        while (it.hasNext() && (e = it.next()) != null) {
+            d += FastMath.abs(e.getValue() - v.getEntry(e.getIndex()));
+        }
+        return d;
+    }
+
+    /**
+     * Distance between two vectors.
+     * <p>This method computes the distance consistent with
+     * L<sub>&infin;</sub> norm, i.e. the max of the absolute values of
+     * element differences.</p>
+     *
+     * @param v Vector to which distance is requested.
+     * @return the distance between two vectors.
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if {@code v} is not the same size as this vector.
+     * @see #getDistance(RealVector)
+     * @see #getL1Distance(RealVector)
+     * @see #getLInfNorm()
+     */
+    public double getLInfDistance(RealVector v) {
+        checkVectorDimensions(v);
+        double d = 0;
+        Iterator<Entry> it = iterator();
+        Entry e;
+        while (it.hasNext() && (e = it.next()) != null) {
+            d = FastMath.max(FastMath.abs(e.getValue() - v.getEntry(e.getIndex())), d);
+        }
+        return d;
+    }
+
+    /**
+     * Get the index of the minimum entry.
+     *
+     * @return the index of the minimum entry or -1 if vector length is 0
+     * or all entries are {@code NaN}.
+     */
+    public int getMinIndex() {
+        int minIndex    = -1;
+        double minValue = Double.POSITIVE_INFINITY;
+        Iterator<Entry> iterator = iterator();
+        while (iterator.hasNext()) {
+            final Entry entry = iterator.next();
+            if (entry.getValue() <= minValue) {
+                minIndex = entry.getIndex();
+                minValue = entry.getValue();
+            }
+        }
+        return minIndex;
+    }
+
+    /**
+     * Get the value of the minimum entry.
+     *
+     * @return the value of the minimum entry or {@code NaN} if all
+     * entries are {@code NaN}.
+     */
+    public double getMinValue() {
+        final int minIndex = getMinIndex();
+        return minIndex < 0 ? Double.NaN : getEntry(minIndex);
+    }
+
+    /**
+     * Get the index of the maximum entry.
+     *
+     * @return the index of the maximum entry or -1 if vector length is 0
+     * or all entries are {@code NaN}
+     */
+    public int getMaxIndex() {
+        int maxIndex    = -1;
+        double maxValue = Double.NEGATIVE_INFINITY;
+        Iterator<Entry> iterator = iterator();
+        while (iterator.hasNext()) {
+            final Entry entry = iterator.next();
+            if (entry.getValue() >= maxValue) {
+                maxIndex = entry.getIndex();
+                maxValue = entry.getValue();
+            }
+        }
+        return maxIndex;
+    }
+
+    /**
+     * Get the value of the maximum entry.
+     *
+     * @return the value of the maximum entry or {@code NaN} if all
+     * entries are {@code NaN}.
+     */
+    public double getMaxValue() {
+        final int maxIndex = getMaxIndex();
+        return maxIndex < 0 ? Double.NaN : getEntry(maxIndex);
+    }
+
+
+    /**
+     * Multiply each entry by the argument. Returns a new vector.
+     * Does not change instance data.
+     *
+     * @param d Multiplication factor.
+     * @return {@code this} * {@code d}.
+     */
+    public RealVector mapMultiply(double d) {
+        return copy().mapMultiplyToSelf(d);
+    }
+
+    /**
+     * Multiply each entry.
+     * The instance is changed in-place.
+     *
+     * @param d Multiplication factor.
+     * @return {@code this}.
+     */
+    public RealVector mapMultiplyToSelf(double d){
+        return mapToSelf(FunctionUtils.fix2ndArgument(new Multiply(), d));
+    }
+
+    /**
+     * Subtract a value from each entry. Returns a new vector.
+     * Does not change instance data.
+     *
+     * @param d Value to be subtracted.
+     * @return {@code this} - {@code d}.
+     */
+    public RealVector mapSubtract(double d) {
+        return copy().mapSubtractToSelf(d);
+    }
+
+    /**
+     * Subtract a value from each entry.
+     * The instance is changed in-place.
+     *
+     * @param d Value to be subtracted.
+     * @return {@code this}.
+     */
+    public RealVector mapSubtractToSelf(double d){
+        return mapAddToSelf(-d);
+    }
+
+    /**
+     * Divide each entry by the argument. Returns a new vector.
+     * Does not change instance data.
+     *
+     * @param d Value to divide by.
+     * @return {@code this} / {@code d}.
+     */
+    public RealVector mapDivide(double d) {
+        return copy().mapDivideToSelf(d);
+    }
+
+    /**
+     * Divide each entry by the argument.
+     * The instance is changed in-place.
+     *
+     * @param d Value to divide by.
+     * @return {@code this}.
+     */
+    public RealVector mapDivideToSelf(double d){
+        return mapToSelf(FunctionUtils.fix2ndArgument(new Divide(), d));
+    }
+
+    /**
+     * Compute the outer product.
+     *
+     * @param v Vector with which outer product should be computed.
+     * @return the matrix outer product between this instance and {@code v}.
+     */
+    public RealMatrix outerProduct(RealVector v) {
+        RealMatrix product;
+        if (v instanceof SparseRealVector || this instanceof SparseRealVector) {
+            product = new OpenMapRealMatrix(this.getDimension(),
+                                            v.getDimension());
+        } else {
+            product = new Array2DRowRealMatrix(this.getDimension(),
+                                               v.getDimension());
+        }
+        Iterator<Entry> thisIt = sparseIterator();
+        Entry thisE = null;
+        while (thisIt.hasNext() && (thisE = thisIt.next()) != null) {
+            Iterator<Entry> otherIt = v.sparseIterator();
+            Entry otherE = null;
+            while (otherIt.hasNext() && (otherE = otherIt.next()) != null) {
+                product.setEntry(thisE.getIndex(), otherE.getIndex(),
+                                 thisE.getValue() * otherE.getValue());
+            }
+        }
+
+        return product;
+
+    }
+
+    /**
+     * Find the orthogonal projection of this vector onto another vector.
+     *
+     * @param v vector onto which instance must be projected.
+     * @return projection of the instance onto {@code v}.
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if {@code v} is not the same size as this vector.
+     */
+    public abstract RealVector projection(RealVector v);
+
+    /**
+     * Set all elements to a single value.
+     *
+     * @param value Single value to set for all elements.
+     */
+    public void set(double value) {
+        Iterator<Entry> it = iterator();
+        Entry e = null;
+        while (it.hasNext() && (e = it.next()) != null) {
+            e.setValue(value);
+        }
+    }
+
+    /**
+     * Convert the vector to an array of {@code double}s.
+     * The array is independent from this vector data: the elements
+     * are copied.
+     *
+     * @return an array containing a copy of the vector elements.
+     */
+    public double[] toArray() {
+        int dim = getDimension();
+        double[] values = new double[dim];
+        for (int i = 0; i < dim; i++) {
+            values[i] = getEntry(i);
+        }
+        return values;
+    }
+
+    /**
+     * Creates a unit vector pointing in the direction of this vector.
+     * The instance is not changed by this method.
+     *
+     * @return a unit vector pointing in direction of this vector.
+     * @throws ArithmeticException if the norm is {@code null}.
+     */
+    public RealVector unitVector() {
+        RealVector copy = copy();
+        copy.unitize();
+        return copy;
+    }
+
+    /**
+     * Converts this vector into a unit vector.
+     * The instance itself is changed by this method.
+     *
+     * @throws org.apache.commons.math3.exception.MathArithmeticException
+     * if the norm is zero.
+     */
+    public void unitize() {
+        mapDivideToSelf(getNorm());
+    }
+
+    /**
+     * Create a sparse iterator over the vector, which may omit some entries.
+     * Specialized implementations may choose to not iterate over all
+     * dimensions, either because those values are unset, or are equal
+     * to defaultValue(), or are small enough to be ignored for the
+     * purposes of iteration. No guarantees are made about order of iteration.
+     * In dense implementations, this method will often delegate to
+     * {@link #iterator()}.
+     *
+     * @return a sparse iterator.
+     */
+    public Iterator<Entry> sparseIterator() {
+        return new SparseEntryIterator();
+    }
+
+    /**
+     * Generic dense iterator. Iteration is in increasing order
+     * of the vector index.
+     *
+     * @return a dense iterator.
+     */
+    public Iterator<Entry> iterator() {
+        final int dim = getDimension();
+        return new Iterator<Entry>() {
+
+            /** Current index. */
+            private int i = 0;
+
+            /** Current entry. */
+            private Entry e = new Entry();
+
+            /** {@inheritDoc} */
+            public boolean hasNext() {
+                return i < dim;
+            }
+
+            /** {@inheritDoc} */
+            public Entry next() {
+                e.setIndex(i++);
+                return e;
+            }
+
+            /** {@inheritDoc} */
+            public void remove() {
+                throw new MathUnsupportedOperationException();
+            }
+        };
+    }
+
+    /**
+     * Acts as if implemented as:
+     * <pre>
+     *  return copy().mapToSelf(function);
+     * </pre>
+     * Returns a new vector. Does not change instance data.
+     *
+     * @param function Function to apply to each entry.
+     * @return a new vector.
+     */
+    public RealVector map(UnivariateFunction function) {
+        return copy().mapToSelf(function);
+    }
+
+    /**
+     * Acts as if it is implemented as:
+     * <pre>
+     *  Entry e = null;
+     *  for(Iterator<Entry> it = iterator(); it.hasNext(); e = it.next()) {
+     *      e.setValue(function.value(e.getValue()));
+     *  }
+     * </pre>
+     * Entries of this vector are modified in-place by this method.
+     *
+     * @param function Function to apply to each entry.
+     * @return a reference to this vector.
+     */
+    public RealVector mapToSelf(UnivariateFunction function) {
+        Iterator<Entry> it = (function.value(0) == 0) ? sparseIterator() : iterator();
+        Entry e;
+        while (it.hasNext() && (e = it.next()) != null) {
+            e.setValue(function.value(e.getValue()));
+        }
+        return this;
+    }
+
+    /**
+     * Returns a new vector representing {@code a * this + b * y}, the linear
+     * combination of {@code this} and {@code y}.
+     * Returns a new vector. Does not change instance data.
+     *
+     * @param a Coefficient of {@code this}.
+     * @param b Coefficient of {@code y}.
+     * @param y Vector with which {@code this} is linearly combined.
+     * @return a vector containing {@code a * this[i] + b * y[i]} for all
+     * {@code i}.
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if {@code y} is not the same size as this vector.
+     */
+    public RealVector combine(double a, double b, RealVector y) {
+        return copy().combineToSelf(a, b, y);
+    }
+
+    /**
+     * Updates {@code this} with the linear combination of {@code this} and
+     * {@code y}.
+     *
+     * @param a Weight of {@code this}.
+     * @param b Weight of {@code y}.
+     * @param y Vector with which {@code this} is linearly combined.
+     * @return {@code this}, with components equal to
+     * {@code a * this[i] + b * y[i]} for all {@code i}.
+     * @throws org.apache.commons.math3.exception.DimensionMismatchException
+     * if {@code y} is not the same size as this vector.
+     */
+    public RealVector combineToSelf(double a, double b, RealVector y) {
+        checkVectorDimensions(y);
+        for (int i = 0; i < getDimension(); i++) {
+            final double xi = getEntry(i);
+            final double yi = y.getEntry(i);
+            setEntry(i, a * xi + b * yi);
+        }
+        return this;
+    }
+
+    /**
+     *  An entry in the vector.
+     */
+    protected class Entry {
+        /** Index of this entry. */
+        private int index;
+
+        /** Simple constructor. */
+        public Entry() {
+            setIndex(0);
+        }
+
+        /**
+         * Get the value of the entry.
+         *
+         * @return the value of the entry.
+         */
+        public double getValue() {
+            return getEntry(getIndex());
+        }
+
+        /**
+         * Set the value of the entry.
+         *
+         * @param value New value for the entry.
+         */
+        public void setValue(double value) {
+            setEntry(getIndex(), value);
+        }
+
+        /**
+         * Get the index of the entry.
+         *
+         * @return the index of the entry.
+         */
+        public int getIndex() {
+            return index;
+        }
+
+        /**
+         * Set the index of the entry.
+         *
+         * @param index New index for the entry.
+         */
+        public void setIndex(int index) {
+            this.index = index;
+        }
+    }
+
+    /**
+     * This class should rarely be used, but is here to provide
+     * a default implementation of sparseIterator(), which is implemented
+     * by walking over the entries, skipping those whose values are the default one.
+     *
+     * Concrete subclasses which are SparseVector implementations should
+     * make their own sparse iterator, rather than using this one.
+     *
+     * This implementation might be useful for ArrayRealVector, when expensive
+     * operations which preserve the default value are to be done on the entries,
+     * and the fraction of non-default values is small (i.e. someone took a
+     * SparseVector, and passed it into the copy-constructor of ArrayRealVector)
+     */
+    protected class SparseEntryIterator implements Iterator<Entry> {
+        /** Dimension of the vector. */
+        private final int dim;
+        /** Last entry returned by {@link #next()}. */
+        private Entry current;
+        /** Next entry for {@link #next()} to return. */
+        private Entry next;
+
+        /** Simple constructor. */
+        protected SparseEntryIterator() {
+            dim = getDimension();
+            current = new Entry();
+            next = new Entry();
+            if (next.getValue() == 0) {
+                advance(next);
+            }
+        }
+
+        /**
+         * Advance an entry up to the next nonzero one.
+         *
+         * @param e entry to advance.
+         */
+        protected void advance(Entry e) {
+            if (e == null) {
+                return;
+            }
+            do {
+                e.setIndex(e.getIndex() + 1);
+            } while (e.getIndex() < dim && e.getValue() == 0);
+            if (e.getIndex() >= dim) {
+                e.setIndex(-1);
+            }
+        }
+
+        /** {@inheritDoc} */
+        public boolean hasNext() {
+            return next.getIndex() >= 0;
+        }
+
+        /** {@inheritDoc} */
+        public Entry next() {
+            int index = next.getIndex();
+            if (index < 0) {
+                throw new NoSuchElementException();
+            }
+            current.setIndex(index);
+            advance(next);
+            return current;
+        }
+
+        /** {@inheritDoc} */
+        public void remove() {
+            throw new MathUnsupportedOperationException();
+        }
+    }
+
+    /**
+     * Returns an unmodifiable view of the specified vector.
+     * The returned vector has read-only access. An attempt to modify it will
+     * result in a {@link MathUnsupportedOperationException}. However, the
+     * returned vector is <em>not</em> immutable, since any modification of
+     * {@code v} will also change the returned view.
+     * For example, in the following piece of code
+     * <pre>
+     *     RealVector v = new ArrayRealVector(2);
+     *     RealVector w = RealVector.unmodifiableRealVector(v);
+     *     v.setEntry(0, 1.2);
+     *     v.setEntry(1, -3.4);
+     * </pre>
+     * the changes will be seen in the {@code w} view of {@code v}.
+     *
+     * @param v Vector for which an unmodifiable view is to be returned.
+     * @return an unmodifiable view of {@code v}.
+     */
+    public static RealVector unmodifiableRealVector(final RealVector v) {
+        /**
+         * This anonymous class is an implementation of {@link RealVector}
+         * with read-only access.
+         * It wraps any {@link RealVector}, and exposes all methods which
+         * do not modify it. Invoking methods which should normally result
+         * in the modification of the calling {@link RealVector} results in
+         * a {@link MathUnsupportedOperationException}. It should be noted
+         * that {@link UnmodifiableVector} is <em>not</em> immutable.
+         */
+        return new RealVector() {
+            /** {@inheritDoc} */
+            @Override
+            public RealVector mapToSelf(UnivariateFunction function) {
+                throw new MathUnsupportedOperationException();
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealVector map(UnivariateFunction function) {
+                return v.map(function);
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public Iterator<Entry> iterator() {
+                final Iterator<Entry> i = v.iterator();
+                return new Iterator<Entry>() {
+                    /** The current entry. */
+                    private final UnmodifiableEntry e = new UnmodifiableEntry();
+
+                    /** {@inheritDoc} */
+                    public boolean hasNext() {
+                        return i.hasNext();
+                    }
+
+                    /** {@inheritDoc} */
+                    public Entry next() {
+                        e.setIndex(i.next().getIndex());
+                        return e;
+                    }
+
+                    /** {@inheritDoc} */
+                    public void remove() {
+                        throw new MathUnsupportedOperationException();
+                    }
+                };
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public Iterator<Entry> sparseIterator() {
+                final Iterator<Entry> i = v.sparseIterator();
+
+                return new Iterator<Entry>() {
+                    /** The current entry. */
+                    private final UnmodifiableEntry e = new UnmodifiableEntry();
+
+                    /** {@inheritDoc} */
+                    public boolean hasNext() {
+                        return i.hasNext();
+                    }
+
+                    /** {@inheritDoc} */
+                    public Entry next() {
+                        e.setIndex(i.next().getIndex());
+                        return e;
+                    }
+
+                    /** {@inheritDoc} */
+                    public void remove() {
+                        throw new MathUnsupportedOperationException();
+                    }
+                };
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealVector copy() {
+                return v.copy();
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealVector add(RealVector w) {
+                return v.add(w);
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealVector subtract(RealVector w) {
+                return v.subtract(w);
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealVector mapAdd(double d) {
+                return v.mapAdd(d);
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealVector mapAddToSelf(double d) {
+                throw new MathUnsupportedOperationException();
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealVector mapSubtract(double d) {
+                return v.mapSubtract(d);
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealVector mapSubtractToSelf(double d) {
+                throw new MathUnsupportedOperationException();
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealVector mapMultiply(double d) {
+                return v.mapMultiply(d);
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealVector mapMultiplyToSelf(double d) {
+                throw new MathUnsupportedOperationException();
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealVector mapDivide(double d) {
+                return v.mapDivide(d);
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealVector mapDivideToSelf(double d) {
+                throw new MathUnsupportedOperationException();
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealVector ebeMultiply(RealVector w) {
+                return v.ebeMultiply(w);
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealVector ebeDivide(RealVector w) {
+                return v.ebeDivide(w);
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public double dotProduct(RealVector w) {
+                return v.dotProduct(w);
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public double cosine(RealVector w) {
+                return v.cosine(w);
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public double getNorm() {
+                return v.getNorm();
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public double getL1Norm() {
+                return v.getL1Norm();
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public double getLInfNorm() {
+                return v.getLInfNorm();
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public double getDistance(RealVector w) {
+                return v.getDistance(w);
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public double getL1Distance(RealVector w) {
+                return v.getL1Distance(w);
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public double getLInfDistance(RealVector w) {
+                return v.getLInfDistance(w);
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealVector unitVector() {
+                return v.unitVector();
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public void unitize() {
+                throw new MathUnsupportedOperationException();
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealVector projection(RealVector w) {
+                return v.projection(w);
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealMatrix outerProduct(RealVector w) {
+                return v.outerProduct(w);
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public double getEntry(int index) {
+                return v.getEntry(index);
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public void setEntry(int index, double value) {
+                throw new MathUnsupportedOperationException();
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public void addToEntry(int index, double value) {
+                throw new MathUnsupportedOperationException();
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public int getDimension() {
+                return v.getDimension();
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealVector append(RealVector w) {
+                return v.append(w);
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealVector append(double d) {
+                return v.append(d);
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealVector getSubVector(int index, int n) {
+                return v.getSubVector(index, n);
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public void setSubVector(int index, RealVector w) {
+                throw new MathUnsupportedOperationException();
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public void set(double value) {
+                throw new MathUnsupportedOperationException();
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public double[] toArray() {
+                return v.toArray();
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public boolean isNaN() {
+                return v.isNaN();
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public boolean isInfinite() {
+                return v.isInfinite();
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealVector combine(double a, double b, RealVector y) {
+                return v.combine(a, b, y);
+            }
+
+            /** {@inheritDoc} */
+            @Override
+            public RealVector combineToSelf(double a, double b, RealVector y) {
+                throw new MathUnsupportedOperationException();
+            }
+
+            /** An entry in the vector. */
+            class UnmodifiableEntry extends Entry {
+                /** {@inheritDoc} */
+                @Override
+                    public double getValue() {
+                    return v.getEntry(getIndex());
+                }
+
+                /** {@inheritDoc} */
+                @Override
+                    public void setValue(double value) {
+                    throw new MathUnsupportedOperationException();
+                }
+            }
+        };
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/RealVectorFormat.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/RealVectorFormat.java
new file mode 100644
index 0000000000..4c53422cec
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/RealVectorFormat.java
@@ -0,0 +1,289 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import java.text.FieldPosition;
+import java.text.NumberFormat;
+import java.text.ParsePosition;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Locale;
+
+import org.apache.commons.math3.exception.MathParseException;
+import org.apache.commons.math3.util.CompositeFormat;
+
+/**
+ * Formats a vector in components list format "{v0; v1; ...; vk-1}".
+ * <p>The prefix and suffix "{" and "}" and the separator "; " can be replaced by
+ * any user-defined strings. The number format for components can be configured.</p>
+ * <p>White space is ignored at parse time, even if it is in the prefix, suffix
+ * or separator specifications. So even if the default separator does include a space
+ * character that is used at format time, both input string "{1;1;1}" and
+ * " { 1 ; 1 ; 1 } " will be parsed without error and the same vector will be
+ * returned. In the second case, however, the parse position after parsing will be
+ * just after the closing curly brace, i.e. just before the trailing space.</p>
+ *
+ * @version $Id: RealVectorFormat.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public class RealVectorFormat {
+
+    /** The default prefix: "{". */
+    private static final String DEFAULT_PREFIX = "{";
+    /** The default suffix: "}". */
+    private static final String DEFAULT_SUFFIX = "}";
+    /** The default separator: ", ". */
+    private static final String DEFAULT_SEPARATOR = "; ";
+    /** Prefix. */
+    private final String prefix;
+    /** Suffix. */
+    private final String suffix;
+    /** Separator. */
+    private final String separator;
+    /** Trimmed prefix. */
+    private final String trimmedPrefix;
+    /** Trimmed suffix. */
+    private final String trimmedSuffix;
+    /** Trimmed separator. */
+    private final String trimmedSeparator;
+    /** The format used for components. */
+    private final NumberFormat format;
+
+    /**
+     * Create an instance with default settings.
+     * <p>The instance uses the default prefix, suffix and separator:
+     * "{", "}", and "; " and the default number format for components.</p>
+     */
+    public RealVectorFormat() {
+        this(DEFAULT_PREFIX, DEFAULT_SUFFIX, DEFAULT_SEPARATOR,
+             CompositeFormat.getDefaultNumberFormat());
+    }
+
+    /**
+     * Create an instance with a custom number format for components.
+     * @param format the custom format for components.
+     */
+    public RealVectorFormat(final NumberFormat format) {
+        this(DEFAULT_PREFIX, DEFAULT_SUFFIX, DEFAULT_SEPARATOR, format);
+    }
+
+    /**
+     * Create an instance with custom prefix, suffix and separator.
+     * @param prefix prefix to use instead of the default "{"
+     * @param suffix suffix to use instead of the default "}"
+     * @param separator separator to use instead of the default "; "
+     */
+    public RealVectorFormat(final String prefix, final String suffix,
+                            final String separator) {
+        this(prefix, suffix, separator,
+             CompositeFormat.getDefaultNumberFormat());
+    }
+
+    /**
+     * Create an instance with custom prefix, suffix, separator and format
+     * for components.
+     * @param prefix prefix to use instead of the default "{"
+     * @param suffix suffix to use instead of the default "}"
+     * @param separator separator to use instead of the default "; "
+     * @param format the custom format for components.
+     */
+    public RealVectorFormat(final String prefix, final String suffix,
+                            final String separator, final NumberFormat format) {
+        this.prefix      = prefix;
+        this.suffix      = suffix;
+        this.separator   = separator;
+        trimmedPrefix    = prefix.trim();
+        trimmedSuffix    = suffix.trim();
+        trimmedSeparator = separator.trim();
+        this.format      = format;
+    }
+
+    /**
+     * Get the set of locales for which real vectors formats are available.
+     * <p>This is the same set as the {@link NumberFormat} set.</p>
+     * @return available real vector format locales.
+     */
+    public static Locale[] getAvailableLocales() {
+        return NumberFormat.getAvailableLocales();
+    }
+
+    /**
+     * Get the format prefix.
+     * @return format prefix.
+     */
+    public String getPrefix() {
+        return prefix;
+    }
+
+    /**
+     * Get the format suffix.
+     * @return format suffix.
+     */
+    public String getSuffix() {
+        return suffix;
+    }
+
+    /**
+     * Get the format separator between components.
+     * @return format separator.
+     */
+    public String getSeparator() {
+        return separator;
+    }
+
+    /**
+     * Get the components format.
+     * @return components format.
+     */
+    public NumberFormat getFormat() {
+        return format;
+    }
+
+    /**
+     * Returns the default real vector format for the current locale.
+     * @return the default real vector format.
+     */
+    public static RealVectorFormat getInstance() {
+        return getInstance(Locale.getDefault());
+    }
+
+    /**
+     * Returns the default real vector format for the given locale.
+     * @param locale the specific locale used by the format.
+     * @return the real vector format specific to the given locale.
+     */
+    public static RealVectorFormat getInstance(final Locale locale) {
+        return new RealVectorFormat(CompositeFormat.getDefaultNumberFormat(locale));
+    }
+
+    /**
+     * This method calls {@link #format(RealVector,StringBuffer,FieldPosition)}.
+     *
+     * @param v RealVector object to format.
+     * @return a formatted vector.
+     */
+    public String format(RealVector v) {
+        return format(v, new StringBuffer(), new FieldPosition(0)).toString();
+    }
+
+    /**
+     * Formats a {@link RealVector} object to produce a string.
+     * @param vector the object to format.
+     * @param toAppendTo where the text is to be appended
+     * @param pos On input: an alignment field, if desired. On output: the
+     *            offsets of the alignment field
+     * @return the value passed in as toAppendTo.
+     */
+    public StringBuffer format(RealVector vector, StringBuffer toAppendTo,
+                               FieldPosition pos) {
+
+        pos.setBeginIndex(0);
+        pos.setEndIndex(0);
+
+        // format prefix
+        toAppendTo.append(prefix);
+
+        // format components
+        for (int i = 0; i < vector.getDimension(); ++i) {
+            if (i > 0) {
+                toAppendTo.append(separator);
+            }
+            CompositeFormat.formatDouble(vector.getEntry(i), format, toAppendTo, pos);
+        }
+
+        // format suffix
+        toAppendTo.append(suffix);
+
+        return toAppendTo;
+    }
+
+    /**
+     * Parse a string to produce a {@link RealVector} object.
+     *
+     * @param source String to parse.
+     * @return the parsed {@link RealVector} object.
+     * @throws MathParseException if the beginning of the specified string
+     * cannot be parsed.
+     */
+    public ArrayRealVector parse(String source) {
+        final ParsePosition parsePosition = new ParsePosition(0);
+        final ArrayRealVector result = parse(source, parsePosition);
+        if (parsePosition.getIndex() == 0) {
+            throw new MathParseException(source,
+                                         parsePosition.getErrorIndex(),
+                                         ArrayRealVector.class);
+        }
+        return result;
+    }
+
+    /**
+     * Parse a string to produce a {@link RealVector} object.
+     *
+     * @param source String to parse.
+     * @param pos input/ouput parsing parameter.
+     * @return the parsed {@link RealVector} object.
+     */
+    public ArrayRealVector parse(String source, ParsePosition pos) {
+        int initialIndex = pos.getIndex();
+
+        // parse prefix
+        CompositeFormat.parseAndIgnoreWhitespace(source, pos);
+        if (!CompositeFormat.parseFixedstring(source, trimmedPrefix, pos)) {
+            return null;
+        }
+
+        // parse components
+        List<Number> components = new ArrayList<Number>();
+        for (boolean loop = true; loop;){
+
+            if (!components.isEmpty()) {
+                CompositeFormat.parseAndIgnoreWhitespace(source, pos);
+                if (!CompositeFormat.parseFixedstring(source, trimmedSeparator, pos)) {
+                    loop = false;
+                }
+            }
+
+            if (loop) {
+                CompositeFormat.parseAndIgnoreWhitespace(source, pos);
+                Number component = CompositeFormat.parseNumber(source, format, pos);
+                if (component != null) {
+                    components.add(component);
+                } else {
+                    // invalid component
+                    // set index back to initial, error index should already be set
+                    pos.setIndex(initialIndex);
+                    return null;
+                }
+            }
+
+        }
+
+        // parse suffix
+        CompositeFormat.parseAndIgnoreWhitespace(source, pos);
+        if (!CompositeFormat.parseFixedstring(source, trimmedSuffix, pos)) {
+            return null;
+        }
+
+        // build vector
+        double[] data = new double[components.size()];
+        for (int i = 0; i < data.length; ++i) {
+            data[i] = components.get(i).doubleValue();
+        }
+        return new ArrayRealVector(data, false);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/RectangularCholeskyDecomposition.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/RectangularCholeskyDecomposition.java
new file mode 100644
index 0000000000..55874bbe95
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/RectangularCholeskyDecomposition.java
@@ -0,0 +1,174 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Calculates the rectangular Cholesky decomposition of a matrix.
+ * <p>The rectangular Cholesky decomposition of a real symmetric positive
+ * semidefinite matrix A consists of a rectangular matrix B with the same
+ * number of rows such that: A is almost equal to BB<sup>T</sup>, depending
+ * on a user-defined tolerance. In a sense, this is the square root of A.</p>
+ * <p>The difference with respect to the regular {@link CholeskyDecomposition}
+ * is that rows/columns may be permuted (hence the rectangular shape instead
+ * of the traditional triangular shape) and there is a threshold to ignore
+ * small diagonal elements. This is used for example to generate {@link
+ * org.apache.commons.math3.random.CorrelatedRandomVectorGenerator correlated
+ * random n-dimensions vectors} in a p-dimension subspace (p < n).
+ * In other words, it allows generating random vectors from a covariance
+ * matrix that is only positive semidefinite, and not positive definite.</p>
+ * <p>Rectangular Cholesky decomposition is <em>not</em> suited for solving
+ * linear systems, so it does not provide any {@link DecompositionSolver
+ * decomposition solver}.</p>
+ *
+ * @see <a href="http://mathworld.wolfram.com/CholeskyDecomposition.html">MathWorld</a>
+ * @see <a href="http://en.wikipedia.org/wiki/Cholesky_decomposition">Wikipedia</a>
+ * @version $Id: RectangularCholeskyDecomposition.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0 (changed to concrete class in 3.0)
+ */
+public class RectangularCholeskyDecomposition {
+
+    /** Permutated Cholesky root of the symmetric positive semidefinite matrix. */
+    private final RealMatrix root;
+
+    /** Rank of the symmetric positive semidefinite matrix. */
+    private int rank;
+
+    /**
+     * Decompose a symmetric positive semidefinite matrix.
+     *
+     * @param matrix Symmetric positive semidefinite matrix.
+     * @param small Diagonal elements threshold under which  column are
+     * considered to be dependent on previous ones and are discarded.
+     * @exception NonPositiveDefiniteMatrixException if the matrix is not
+     * positive semidefinite.
+     */
+    public RectangularCholeskyDecomposition(RealMatrix matrix, double small)
+        throws NonPositiveDefiniteMatrixException {
+
+        int order = matrix.getRowDimension();
+        double[][] c = matrix.getData();
+        double[][] b = new double[order][order];
+
+        int[] swap  = new int[order];
+        int[] index = new int[order];
+        for (int i = 0; i < order; ++i) {
+            index[i] = i;
+        }
+
+        int r = 0;
+        for (boolean loop = true; loop;) {
+
+            // find maximal diagonal element
+            swap[r] = r;
+            for (int i = r + 1; i < order; ++i) {
+                int ii  = index[i];
+                int isi = index[swap[i]];
+                if (c[ii][ii] > c[isi][isi]) {
+                    swap[r] = i;
+                }
+            }
+
+
+            // swap elements
+            if (swap[r] != r) {
+                int tmp = index[r];
+                index[r] = index[swap[r]];
+                index[swap[r]] = tmp;
+            }
+
+            // check diagonal element
+            int ir = index[r];
+            if (c[ir][ir] < small) {
+
+                if (r == 0) {
+                    throw new NonPositiveDefiniteMatrixException(c[ir][ir], ir, small);
+                }
+
+                // check remaining diagonal elements
+                for (int i = r; i < order; ++i) {
+                    if (c[index[i]][index[i]] < -small) {
+                        // there is at least one sufficiently negative diagonal element,
+                        // the symmetric positive semidefinite matrix is wrong
+                        throw new NonPositiveDefiniteMatrixException(c[index[i]][index[i]], i, small);
+                    }
+                }
+
+                // all remaining diagonal elements are close to zero, we consider we have
+                // found the rank of the symmetric positive semidefinite matrix
+                ++r;
+                loop = false;
+
+            } else {
+
+                // transform the matrix
+                double sqrt = FastMath.sqrt(c[ir][ir]);
+                b[r][r] = sqrt;
+                double inverse = 1 / sqrt;
+                for (int i = r + 1; i < order; ++i) {
+                    int ii = index[i];
+                    double e = inverse * c[ii][ir];
+                    b[i][r] = e;
+                    c[ii][ii] -= e * e;
+                    for (int j = r + 1; j < i; ++j) {
+                        int ij = index[j];
+                        double f = c[ii][ij] - e * b[j][r];
+                        c[ii][ij] = f;
+                        c[ij][ii] = f;
+                    }
+                }
+
+                // prepare next iteration
+                loop = ++r < order;
+            }
+        }
+
+        // build the root matrix
+        rank = r;
+        root = MatrixUtils.createRealMatrix(order, r);
+        for (int i = 0; i < order; ++i) {
+            for (int j = 0; j < r; ++j) {
+                root.setEntry(index[i], j, b[i][j]);
+            }
+        }
+
+    }
+
+    /** Get the root of the covariance matrix.
+     * The root is the rectangular matrix <code>B</code> such that
+     * the covariance matrix is equal to <code>B.B<sup>T</sup></code>
+     * @return root of the square matrix
+     * @see #getRank()
+     */
+    public RealMatrix getRootMatrix() {
+        return root;
+    }
+
+    /** Get the rank of the symmetric positive semidefinite matrix.
+     * The r is the number of independent rows in the symmetric positive semidefinite
+     * matrix, it is also the number of columns of the rectangular
+     * matrix of the decomposition.
+     * @return r of the square matrix.
+     * @see #getRootMatrix()
+     */
+    public int getRank() {
+        return rank;
+    }
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SingularMatrixException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SingularMatrixException.java
new file mode 100644
index 0000000000..fcbc0a3ef3
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SingularMatrixException.java
@@ -0,0 +1,38 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.exception.MathIllegalArgumentException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Exception to be thrown when a non-singular matrix is expected.
+ *
+ * @since 3.0
+ * @version $Id: SingularMatrixException.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public class SingularMatrixException extends MathIllegalArgumentException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -4206514844735401070L;
+
+    /**
+     * Construct an exception.
+     */
+    public SingularMatrixException() {
+        super(LocalizedFormats.SINGULAR_MATRIX);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SingularOperatorException.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SingularOperatorException.java
new file mode 100644
index 0000000000..4eb3fd7fd3
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SingularOperatorException.java
@@ -0,0 +1,39 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.exception.MathIllegalArgumentException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Exception to be thrown when trying to invert a singular operator.
+ *
+ * @version $Id: SingularOperatorException.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 3.0
+ */
+public class SingularOperatorException
+    extends MathIllegalArgumentException {
+    /** Serializable version Id. */
+    private static final long serialVersionUID = -476049978595245033L;
+
+    /**
+     * Creates a new instance of this class.
+     */
+    public SingularOperatorException() {
+        super(LocalizedFormats.SINGULAR_OPERATOR);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SingularValueDecomposition.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SingularValueDecomposition.java
new file mode 100644
index 0000000000..13cb1f1d78
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SingularValueDecomposition.java
@@ -0,0 +1,736 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.exception.NumberIsTooLargeException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+import org.apache.commons.math3.util.FastMath;
+import org.apache.commons.math3.util.Precision;
+
+/**
+ * Calculates the compact Singular Value Decomposition of a matrix.
+ * <p>
+ * The Singular Value Decomposition of matrix A is a set of three matrices: U,
+ * &Sigma; and V such that A = U &times; &Sigma; &times; V<sup>T</sup>. Let A be
+ * a m &times; n matrix, then U is a m &times; p orthogonal matrix, &Sigma; is a
+ * p &times; p diagonal matrix with positive or null elements, V is a p &times;
+ * n orthogonal matrix (hence V<sup>T</sup> is also orthogonal) where
+ * p=min(m,n).
+ * </p>
+ * <p>This class is similar to the class with similar name from the
+ * <a href="http://math.nist.gov/javanumerics/jama/">JAMA</a> library, with the
+ * following changes:</p>
+ * <ul>
+ *   <li>the {@code norm2} method which has been renamed as {@link #getNorm()
+ *   getNorm},</li>
+ *   <li>the {@code cond} method which has been renamed as {@link
+ *   #getConditionNumber() getConditionNumber},</li>
+ *   <li>the {@code rank} method which has been renamed as {@link #getRank()
+ *   getRank},</li>
+ *   <li>a {@link #getUT() getUT} method has been added,</li>
+ *   <li>a {@link #getVT() getVT} method has been added,</li>
+ *   <li>a {@link #getSolver() getSolver} method has been added,</li>
+ *   <li>a {@link #getCovariance(double) getCovariance} method has been added.</li>
+ * </ul>
+ * @see <a href="http://mathworld.wolfram.com/SingularValueDecomposition.html">MathWorld</a>
+ * @see <a href="http://en.wikipedia.org/wiki/Singular_value_decomposition">Wikipedia</a>
+ * @version $Id: SingularValueDecomposition.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0 (changed to concrete class in 3.0)
+ */
+public class SingularValueDecomposition {
+    /** Relative threshold for small singular values. */
+    private static final double EPS = 0x1.0p-52;
+    /** Absolute threshold for small singular values. */
+    private static final double TINY = 0x1.0p-966;
+    /** Computed singular values. */
+    private final double[] singularValues;
+    /** max(row dimension, column dimension). */
+    private final int m;
+    /** min(row dimension, column dimension). */
+    private final int n;
+    /** Indicator for transposed matrix. */
+    private final boolean transposed;
+    /** Cached value of U matrix. */
+    private final RealMatrix cachedU;
+    /** Cached value of transposed U matrix. */
+    private RealMatrix cachedUt;
+    /** Cached value of S (diagonal) matrix. */
+    private RealMatrix cachedS;
+    /** Cached value of V matrix. */
+    private final RealMatrix cachedV;
+    /** Cached value of transposed V matrix. */
+    private RealMatrix cachedVt;
+    /**
+     * Tolerance value for small singular values, calculated once we have
+     * populated "singularValues".
+     **/
+    private final double tol;
+
+    /**
+     * Calculates the compact Singular Value Decomposition of the given matrix.
+     *
+     * @param matrix Matrix to decompose.
+     */
+    public SingularValueDecomposition(final RealMatrix matrix) {
+        final double[][] A;
+
+         // "m" is always the largest dimension.
+        if (matrix.getRowDimension() < matrix.getColumnDimension()) {
+            transposed = true;
+            A = matrix.transpose().getData();
+            m = matrix.getColumnDimension();
+            n = matrix.getRowDimension();
+        } else {
+            transposed = false;
+            A = matrix.getData();
+            m = matrix.getRowDimension();
+            n = matrix.getColumnDimension();
+        }
+
+        singularValues = new double[n];
+        final double[][] U = new double[m][n];
+        final double[][] V = new double[n][n];
+        final double[] e = new double[n];
+        final double[] work = new double[m];
+        // Reduce A to bidiagonal form, storing the diagonal elements
+        // in s and the super-diagonal elements in e.
+        final int nct = FastMath.min(m - 1, n);
+        final int nrt = FastMath.max(0, n - 2);
+        for (int k = 0; k < FastMath.max(nct, nrt); k++) {
+            if (k < nct) {
+                // Compute the transformation for the k-th column and
+                // place the k-th diagonal in s[k].
+                // Compute 2-norm of k-th column without under/overflow.
+                singularValues[k] = 0;
+                for (int i = k; i < m; i++) {
+                    singularValues[k] = FastMath.hypot(singularValues[k], A[i][k]);
+                }
+                if (singularValues[k] != 0) {
+                    if (A[k][k] < 0) {
+                        singularValues[k] = -singularValues[k];
+                    }
+                    for (int i = k; i < m; i++) {
+                        A[i][k] /= singularValues[k];
+                    }
+                    A[k][k] += 1;
+                }
+                singularValues[k] = -singularValues[k];
+            }
+            for (int j = k + 1; j < n; j++) {
+                if (k < nct &&
+                    singularValues[k] != 0) {
+                    // Apply the transformation.
+                    double t = 0;
+                    for (int i = k; i < m; i++) {
+                        t += A[i][k] * A[i][j];
+                    }
+                    t = -t / A[k][k];
+                    for (int i = k; i < m; i++) {
+                        A[i][j] += t * A[i][k];
+                    }
+                }
+                // Place the k-th row of A into e for the
+                // subsequent calculation of the row transformation.
+                e[j] = A[k][j];
+            }
+            if (k < nct) {
+                // Place the transformation in U for subsequent back
+                // multiplication.
+                for (int i = k; i < m; i++) {
+                    U[i][k] = A[i][k];
+                }
+            }
+            if (k < nrt) {
+                // Compute the k-th row transformation and place the
+                // k-th super-diagonal in e[k].
+                // Compute 2-norm without under/overflow.
+                e[k] = 0;
+                for (int i = k + 1; i < n; i++) {
+                    e[k] = FastMath.hypot(e[k], e[i]);
+                }
+                if (e[k] != 0) {
+                    if (e[k + 1] < 0) {
+                        e[k] = -e[k];
+                    }
+                    for (int i = k + 1; i < n; i++) {
+                        e[i] /= e[k];
+                    }
+                    e[k + 1] += 1;
+                }
+                e[k] = -e[k];
+                if (k + 1 < m &&
+                    e[k] != 0) {
+                    // Apply the transformation.
+                    for (int i = k + 1; i < m; i++) {
+                        work[i] = 0;
+                    }
+                    for (int j = k + 1; j < n; j++) {
+                        for (int i = k + 1; i < m; i++) {
+                            work[i] += e[j] * A[i][j];
+                        }
+                    }
+                    for (int j = k + 1; j < n; j++) {
+                        final double t = -e[j] / e[k + 1];
+                        for (int i = k + 1; i < m; i++) {
+                            A[i][j] += t * work[i];
+                        }
+                    }
+                }
+
+                // Place the transformation in V for subsequent
+                // back multiplication.
+                for (int i = k + 1; i < n; i++) {
+                    V[i][k] = e[i];
+                }
+            }
+        }
+        // Set up the final bidiagonal matrix or order p.
+        int p = n;
+        if (nct < n) {
+            singularValues[nct] = A[nct][nct];
+        }
+        if (m < p) {
+            singularValues[p - 1] = 0;
+        }
+        if (nrt + 1 < p) {
+            e[nrt] = A[nrt][p - 1];
+        }
+        e[p - 1] = 0;
+
+        // Generate U.
+        for (int j = nct; j < n; j++) {
+            for (int i = 0; i < m; i++) {
+                U[i][j] = 0;
+            }
+            U[j][j] = 1;
+        }
+        for (int k = nct - 1; k >= 0; k--) {
+            if (singularValues[k] != 0) {
+                for (int j = k + 1; j < n; j++) {
+                    double t = 0;
+                    for (int i = k; i < m; i++) {
+                        t += U[i][k] * U[i][j];
+                    }
+                    t = -t / U[k][k];
+                    for (int i = k; i < m; i++) {
+                        U[i][j] += t * U[i][k];
+                    }
+                }
+                for (int i = k; i < m; i++) {
+                    U[i][k] = -U[i][k];
+                }
+                U[k][k] = 1 + U[k][k];
+                for (int i = 0; i < k - 1; i++) {
+                    U[i][k] = 0;
+                }
+            } else {
+                for (int i = 0; i < m; i++) {
+                    U[i][k] = 0;
+                }
+                U[k][k] = 1;
+            }
+        }
+
+        // Generate V.
+        for (int k = n - 1; k >= 0; k--) {
+            if (k < nrt &&
+                e[k] != 0) {
+                for (int j = k + 1; j < n; j++) {
+                    double t = 0;
+                    for (int i = k + 1; i < n; i++) {
+                        t += V[i][k] * V[i][j];
+                    }
+                    t = -t / V[k + 1][k];
+                    for (int i = k + 1; i < n; i++) {
+                        V[i][j] += t * V[i][k];
+                    }
+                }
+            }
+            for (int i = 0; i < n; i++) {
+                V[i][k] = 0;
+            }
+            V[k][k] = 1;
+        }
+
+        // Main iteration loop for the singular values.
+        final int pp = p - 1;
+        int iter = 0;
+        while (p > 0) {
+            int k;
+            int kase;
+            // Here is where a test for too many iterations would go.
+            // This section of the program inspects for
+            // negligible elements in the s and e arrays.  On
+            // completion the variables kase and k are set as follows.
+            // kase = 1     if s(p) and e[k-1] are negligible and k<p
+            // kase = 2     if s(k) is negligible and k<p
+            // kase = 3     if e[k-1] is negligible, k<p, and
+            //              s(k), ..., s(p) are not negligible (qr step).
+            // kase = 4     if e(p-1) is negligible (convergence).
+            for (k = p - 2; k >= 0; k--) {
+                final double threshold
+                    = TINY + EPS * (FastMath.abs(singularValues[k]) +
+                                    FastMath.abs(singularValues[k + 1]));
+                if (FastMath.abs(e[k]) <= threshold) {
+                    e[k] = 0;
+                    break;
+                }
+            }
+
+            if (k == p - 2) {
+                kase = 4;
+            } else {
+                int ks;
+                for (ks = p - 1; ks >= k; ks--) {
+                    if (ks == k) {
+                        break;
+                    }
+                    final double t = (ks != p ? FastMath.abs(e[ks]) : 0) +
+                        (ks != k + 1 ? FastMath.abs(e[ks - 1]) : 0);
+                    if (FastMath.abs(singularValues[ks]) <= TINY + EPS * t) {
+                        singularValues[ks] = 0;
+                        break;
+                    }
+                }
+                if (ks == k) {
+                    kase = 3;
+                } else if (ks == p - 1) {
+                    kase = 1;
+                } else {
+                    kase = 2;
+                    k = ks;
+                }
+            }
+            k++;
+            // Perform the task indicated by kase.
+            switch (kase) {
+                // Deflate negligible s(p).
+                case 1: {
+                    double f = e[p - 2];
+                    e[p - 2] = 0;
+                    for (int j = p - 2; j >= k; j--) {
+                        double t = FastMath.hypot(singularValues[j], f);
+                        final double cs = singularValues[j] / t;
+                        final double sn = f / t;
+                        singularValues[j] = t;
+                        if (j != k) {
+                            f = -sn * e[j - 1];
+                            e[j - 1] = cs * e[j - 1];
+                        }
+
+                        for (int i = 0; i < n; i++) {
+                            t = cs * V[i][j] + sn * V[i][p - 1];
+                            V[i][p - 1] = -sn * V[i][j] + cs * V[i][p - 1];
+                            V[i][j] = t;
+                        }
+                    }
+                }
+                break;
+                // Split at negligible s(k).
+                case 2: {
+                    double f = e[k - 1];
+                    e[k - 1] = 0;
+                    for (int j = k; j < p; j++) {
+                        double t = FastMath.hypot(singularValues[j], f);
+                        final double cs = singularValues[j] / t;
+                        final double sn = f / t;
+                        singularValues[j] = t;
+                        f = -sn * e[j];
+                        e[j] = cs * e[j];
+
+                        for (int i = 0; i < m; i++) {
+                            t = cs * U[i][j] + sn * U[i][k - 1];
+                            U[i][k - 1] = -sn * U[i][j] + cs * U[i][k - 1];
+                            U[i][j] = t;
+                        }
+                    }
+                }
+                break;
+                // Perform one qr step.
+                case 3: {
+                    // Calculate the shift.
+                    final double maxPm1Pm2 = FastMath.max(FastMath.abs(singularValues[p - 1]),
+                                                          FastMath.abs(singularValues[p - 2]));
+                    final double scale = FastMath.max(FastMath.max(FastMath.max(maxPm1Pm2,
+                                                                                FastMath.abs(e[p - 2])),
+                                                                   FastMath.abs(singularValues[k])),
+                                                      FastMath.abs(e[k]));
+                    final double sp = singularValues[p - 1] / scale;
+                    final double spm1 = singularValues[p - 2] / scale;
+                    final double epm1 = e[p - 2] / scale;
+                    final double sk = singularValues[k] / scale;
+                    final double ek = e[k] / scale;
+                    final double b = ((spm1 + sp) * (spm1 - sp) + epm1 * epm1) / 2.0;
+                    final double c = (sp * epm1) * (sp * epm1);
+                    double shift = 0;
+                    if (b != 0 ||
+                        c != 0) {
+                        shift = FastMath.sqrt(b * b + c);
+                        if (b < 0) {
+                            shift = -shift;
+                        }
+                        shift = c / (b + shift);
+                    }
+                    double f = (sk + sp) * (sk - sp) + shift;
+                    double g = sk * ek;
+                    // Chase zeros.
+                    for (int j = k; j < p - 1; j++) {
+                        double t = FastMath.hypot(f, g);
+                        double cs = f / t;
+                        double sn = g / t;
+                        if (j != k) {
+                            e[j - 1] = t;
+                        }
+                        f = cs * singularValues[j] + sn * e[j];
+                        e[j] = cs * e[j] - sn * singularValues[j];
+                        g = sn * singularValues[j + 1];
+                        singularValues[j + 1] = cs * singularValues[j + 1];
+
+                        for (int i = 0; i < n; i++) {
+                            t = cs * V[i][j] + sn * V[i][j + 1];
+                            V[i][j + 1] = -sn * V[i][j] + cs * V[i][j + 1];
+                            V[i][j] = t;
+                        }
+                        t = FastMath.hypot(f, g);
+                        cs = f / t;
+                        sn = g / t;
+                        singularValues[j] = t;
+                        f = cs * e[j] + sn * singularValues[j + 1];
+                        singularValues[j + 1] = -sn * e[j] + cs * singularValues[j + 1];
+                        g = sn * e[j + 1];
+                        e[j + 1] = cs * e[j + 1];
+                        if (j < m - 1) {
+                            for (int i = 0; i < m; i++) {
+                                t = cs * U[i][j] + sn * U[i][j + 1];
+                                U[i][j + 1] = -sn * U[i][j] + cs * U[i][j + 1];
+                                U[i][j] = t;
+                            }
+                        }
+                    }
+                    e[p - 2] = f;
+                    iter = iter + 1;
+                }
+                break;
+                // Convergence.
+                default: {
+                    // Make the singular values positive.
+                    if (singularValues[k] <= 0) {
+                        singularValues[k] = singularValues[k] < 0 ? -singularValues[k] : 0;
+
+                        for (int i = 0; i <= pp; i++) {
+                            V[i][k] = -V[i][k];
+                        }
+                    }
+                    // Order the singular values.
+                    while (k < pp) {
+                        if (singularValues[k] >= singularValues[k + 1]) {
+                            break;
+                        }
+                        double t = singularValues[k];
+                        singularValues[k] = singularValues[k + 1];
+                        singularValues[k + 1] = t;
+                        if (k < n - 1) {
+                            for (int i = 0; i < n; i++) {
+                                t = V[i][k + 1];
+                                V[i][k + 1] = V[i][k];
+                                V[i][k] = t;
+                            }
+                        }
+                        if (k < m - 1) {
+                            for (int i = 0; i < m; i++) {
+                                t = U[i][k + 1];
+                                U[i][k + 1] = U[i][k];
+                                U[i][k] = t;
+                            }
+                        }
+                        k++;
+                    }
+                    iter = 0;
+                    p--;
+                }
+                break;
+            }
+        }
+
+        // Set the small value tolerance used to calculate rank and pseudo-inverse
+        tol = FastMath.max(m * singularValues[0] * EPS,
+                           FastMath.sqrt(Precision.SAFE_MIN));
+
+        if (!transposed) {
+            cachedU = MatrixUtils.createRealMatrix(U);
+            cachedV = MatrixUtils.createRealMatrix(V);
+        } else {
+            cachedU = MatrixUtils.createRealMatrix(V);
+            cachedV = MatrixUtils.createRealMatrix(U);
+        }
+    }
+
+    /**
+     * Returns the matrix U of the decomposition.
+     * <p>U is an orthogonal matrix, i.e. its transpose is also its inverse.</p>
+     * @return the U matrix
+     * @see #getUT()
+     */
+    public RealMatrix getU() {
+        // return the cached matrix
+        return cachedU;
+
+    }
+
+    /**
+     * Returns the transpose of the matrix U of the decomposition.
+     * <p>U is an orthogonal matrix, i.e. its transpose is also its inverse.</p>
+     * @return the U matrix (or null if decomposed matrix is singular)
+     * @see #getU()
+     */
+    public RealMatrix getUT() {
+        if (cachedUt == null) {
+            cachedUt = getU().transpose();
+        }
+        // return the cached matrix
+        return cachedUt;
+    }
+
+    /**
+     * Returns the diagonal matrix &Sigma; of the decomposition.
+     * <p>&Sigma; is a diagonal matrix. The singular values are provided in
+     * non-increasing order, for compatibility with Jama.</p>
+     * @return the &Sigma; matrix
+     */
+    public RealMatrix getS() {
+        if (cachedS == null) {
+            // cache the matrix for subsequent calls
+            cachedS = MatrixUtils.createRealDiagonalMatrix(singularValues);
+        }
+        return cachedS;
+    }
+
+    /**
+     * Returns the diagonal elements of the matrix &Sigma; of the decomposition.
+     * <p>The singular values are provided in non-increasing order, for
+     * compatibility with Jama.</p>
+     * @return the diagonal elements of the &Sigma; matrix
+     */
+    public double[] getSingularValues() {
+        return singularValues.clone();
+    }
+
+    /**
+     * Returns the matrix V of the decomposition.
+     * <p>V is an orthogonal matrix, i.e. its transpose is also its inverse.</p>
+     * @return the V matrix (or null if decomposed matrix is singular)
+     * @see #getVT()
+     */
+    public RealMatrix getV() {
+        // return the cached matrix
+        return cachedV;
+    }
+
+    /**
+     * Returns the transpose of the matrix V of the decomposition.
+     * <p>V is an orthogonal matrix, i.e. its transpose is also its inverse.</p>
+     * @return the V matrix (or null if decomposed matrix is singular)
+     * @see #getV()
+     */
+    public RealMatrix getVT() {
+        if (cachedVt == null) {
+            cachedVt = getV().transpose();
+        }
+        // return the cached matrix
+        return cachedVt;
+    }
+
+    /**
+     * Returns the n &times; n covariance matrix.
+     * <p>The covariance matrix is V &times; J &times; V<sup>T</sup>
+     * where J is the diagonal matrix of the inverse of the squares of
+     * the singular values.</p>
+     * @param minSingularValue value below which singular values are ignored
+     * (a 0 or negative value implies all singular value will be used)
+     * @return covariance matrix
+     * @exception IllegalArgumentException if minSingularValue is larger than
+     * the largest singular value, meaning all singular values are ignored
+     */
+    public RealMatrix getCovariance(final double minSingularValue) {
+        // get the number of singular values to consider
+        final int p = singularValues.length;
+        int dimension = 0;
+        while (dimension < p &&
+               singularValues[dimension] >= minSingularValue) {
+            ++dimension;
+        }
+
+        if (dimension == 0) {
+            throw new NumberIsTooLargeException(LocalizedFormats.TOO_LARGE_CUTOFF_SINGULAR_VALUE,
+                                                minSingularValue, singularValues[0], true);
+        }
+
+        final double[][] data = new double[dimension][p];
+        getVT().walkInOptimizedOrder(new DefaultRealMatrixPreservingVisitor() {
+            /** {@inheritDoc} */
+            @Override
+            public void visit(final int row, final int column,
+                    final double value) {
+                data[row][column] = value / singularValues[row];
+            }
+        }, 0, dimension - 1, 0, p - 1);
+
+        RealMatrix jv = new Array2DRowRealMatrix(data, false);
+        return jv.transpose().multiply(jv);
+    }
+
+    /**
+     * Returns the L<sub>2</sub> norm of the matrix.
+     * <p>The L<sub>2</sub> norm is max(|A &times; u|<sub>2</sub> /
+     * |u|<sub>2</sub>), where |.|<sub>2</sub> denotes the vectorial 2-norm
+     * (i.e. the traditional euclidian norm).</p>
+     * @return norm
+     */
+    public double getNorm() {
+        return singularValues[0];
+    }
+
+    /**
+     * Return the condition number of the matrix.
+     * @return condition number of the matrix
+     */
+    public double getConditionNumber() {
+        return singularValues[0] / singularValues[n - 1];
+    }
+
+    /**
+     * Computes the inverse of the condition number.
+     * In cases of rank deficiency, the {@link #getConditionNumber() condition
+     * number} will become undefined.
+     *
+     * @return the inverse of the condition number.
+     */
+    public double getInverseConditionNumber() {
+        return singularValues[n - 1] / singularValues[0];
+    }
+
+    /**
+     * Return the effective numerical matrix rank.
+     * <p>The effective numerical rank is the number of non-negligible
+     * singular values. The threshold used to identify non-negligible
+     * terms is max(m,n) &times; ulp(s<sub>1</sub>) where ulp(s<sub>1</sub>)
+     * is the least significant bit of the largest singular value.</p>
+     * @return effective numerical matrix rank
+     */
+    public int getRank() {
+        int r = 0;
+        for (int i = 0; i < singularValues.length; i++) {
+            if (singularValues[i] > tol) {
+                r++;
+            }
+        }
+        return r;
+    }
+
+    /**
+     * Get a solver for finding the A &times; X = B solution in least square sense.
+     * @return a solver
+     */
+    public DecompositionSolver getSolver() {
+        return new Solver(singularValues, getUT(), getV(), getRank() == m, tol);
+    }
+
+    /** Specialized solver. */
+    private static class Solver implements DecompositionSolver {
+        /** Pseudo-inverse of the initial matrix. */
+        private final RealMatrix pseudoInverse;
+        /** Singularity indicator. */
+        private boolean nonSingular;
+
+        /**
+         * Build a solver from decomposed matrix.
+         *
+         * @param singularValues Singular values.
+         * @param uT U<sup>T</sup> matrix of the decomposition.
+         * @param v V matrix of the decomposition.
+         * @param nonSingular Singularity indicator.
+         * @param tol tolerance for singular values
+         */
+        private Solver(final double[] singularValues, final RealMatrix uT,
+                       final RealMatrix v, final boolean nonSingular, final double tol) {
+            final double[][] suT = uT.getData();
+            for (int i = 0; i < singularValues.length; ++i) {
+                final double a;
+                if (singularValues[i] > tol) {
+                    a = 1 / singularValues[i];
+                } else {
+                    a = 0;
+                }
+                final double[] suTi = suT[i];
+                for (int j = 0; j < suTi.length; ++j) {
+                    suTi[j] *= a;
+                }
+            }
+            pseudoInverse = v.multiply(new Array2DRowRealMatrix(suT, false));
+            this.nonSingular = nonSingular;
+        }
+
+        /**
+         * Solve the linear equation A &times; X = B in least square sense.
+         * <p>
+         * The m&times;n matrix A may not be square, the solution X is such that
+         * ||A &times; X - B|| is minimal.
+         * </p>
+         * @param b Right-hand side of the equation A &times; X = B
+         * @return a vector X that minimizes the two norm of A &times; X - B
+         * @throws org.apache.commons.math3.exception.DimensionMismatchException
+         * if the matrices dimensions do not match.
+         */
+        public RealVector solve(final RealVector b) {
+            return pseudoInverse.operate(b);
+        }
+
+        /**
+         * Solve the linear equation A &times; X = B in least square sense.
+         * <p>
+         * The m&times;n matrix A may not be square, the solution X is such that
+         * ||A &times; X - B|| is minimal.
+         * </p>
+         *
+         * @param b Right-hand side of the equation A &times; X = B
+         * @return a matrix X that minimizes the two norm of A &times; X - B
+         * @throws org.apache.commons.math3.exception.DimensionMismatchException
+         * if the matrices dimensions do not match.
+         */
+        public RealMatrix solve(final RealMatrix b) {
+            return pseudoInverse.multiply(b);
+        }
+
+        /**
+         * Check if the decomposed matrix is non-singular.
+         *
+         * @return {@code true} if the decomposed matrix is non-singular.
+         */
+        public boolean isNonSingular() {
+            return nonSingular;
+        }
+
+        /**
+         * Get the pseudo-inverse of the decomposed matrix.
+         *
+         * @return the inverse matrix.
+         */
+        public RealMatrix getInverse() {
+            return pseudoInverse;
+        }
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SparseFieldMatrix.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SparseFieldMatrix.java
new file mode 100644
index 0000000000..b5204e0160
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SparseFieldMatrix.java
@@ -0,0 +1,181 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.Field;
+import org.apache.commons.math3.FieldElement;
+import org.apache.commons.math3.util.OpenIntToFieldHashMap;
+
+/**
+ * Sparse matrix implementation based on an open addressed map.
+ *
+ * @param <T> the type of the field elements
+ * @version $Id: SparseFieldMatrix.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public class SparseFieldMatrix<T extends FieldElement<T>> extends AbstractFieldMatrix<T> {
+
+    /** Storage for (sparse) matrix elements. */
+    private final OpenIntToFieldHashMap<T> entries;
+    /** Row dimension. */
+    private final int rows;
+    /** Column dimension. */
+    private final int columns;
+
+    /**
+     * Create a matrix with no data.
+     *
+     * @param field Field to which the elements belong.
+     */
+    public SparseFieldMatrix(final Field<T> field) {
+        super(field);
+        rows = 0;
+        columns= 0;
+        entries = new OpenIntToFieldHashMap<T>(field);
+    }
+
+    /**
+     * Create a new SparseFieldMatrix<T> with the supplied row and column
+     * dimensions.
+     *
+     * @param field Field to which the elements belong.
+     * @param rowDimension Number of rows in the new matrix.
+     * @param columnDimension Number of columns in the new matrix.
+     * @throws org.apache.commons.math3.exception.NotStrictlyPositiveException
+     * if row or column dimension is not positive.
+     */
+    public SparseFieldMatrix(final Field<T> field,
+                             final int rowDimension, final int columnDimension) {
+        super(field, rowDimension, columnDimension);
+        this.rows = rowDimension;
+        this.columns = columnDimension;
+        entries = new OpenIntToFieldHashMap<T>(field);
+    }
+
+    /**
+     * Copy constructor.
+     *
+     * @param other Instance to copy.
+     */
+    public SparseFieldMatrix(SparseFieldMatrix<T> other) {
+        super(other.getField(), other.getRowDimension(), other.getColumnDimension());
+        rows = other.getRowDimension();
+        columns = other.getColumnDimension();
+        entries = new OpenIntToFieldHashMap<T>(other.entries);
+    }
+
+    /**
+     * Generic copy constructor.
+     *
+     * @param other Instance to copy.
+     */
+    public SparseFieldMatrix(FieldMatrix<T> other){
+        super(other.getField(), other.getRowDimension(), other.getColumnDimension());
+        rows = other.getRowDimension();
+        columns = other.getColumnDimension();
+        entries = new OpenIntToFieldHashMap<T>(getField());
+        for (int i = 0; i < rows; i++) {
+            for (int j = 0; j < columns; j++) {
+                setEntry(i, j, other.getEntry(i, j));
+            }
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void addToEntry(int row, int column, T increment) {
+        checkRowIndex(row);
+        checkColumnIndex(column);
+        final int key = computeKey(row, column);
+        final T value = entries.get(key).add(increment);
+        if (getField().getZero().equals(value)) {
+            entries.remove(key);
+        } else {
+            entries.put(key, value);
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public FieldMatrix<T> copy() {
+        return new SparseFieldMatrix<T>(this);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public FieldMatrix<T> createMatrix(int rowDimension, int columnDimension) {
+        return new SparseFieldMatrix<T>(getField(), rowDimension, columnDimension);
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public int getColumnDimension() {
+        return columns;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public T getEntry(int row, int column) {
+        checkRowIndex(row);
+        checkColumnIndex(column);
+        return entries.get(computeKey(row, column));
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public int getRowDimension() {
+        return rows;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void multiplyEntry(int row, int column, T factor) {
+        checkRowIndex(row);
+        checkColumnIndex(column);
+        final int key = computeKey(row, column);
+        final T value = entries.get(key).multiply(factor);
+        if (getField().getZero().equals(value)) {
+            entries.remove(key);
+        } else {
+            entries.put(key, value);
+        }
+
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public void setEntry(int row, int column, T value) {
+        checkRowIndex(row);
+        checkColumnIndex(column);
+        if (getField().getZero().equals(value)) {
+            entries.remove(computeKey(row, column));
+        } else {
+            entries.put(computeKey(row, column), value);
+        }
+    }
+
+    /**
+     * Compute the key to access a matrix element.
+     *
+     * @param row Row index of the matrix element.
+     * @param column Column index of the matrix element.
+     * @return the key within the map to access the matrix element.
+     */
+    private int computeKey(int row, int column) {
+        return row * columns + column;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SparseFieldVector.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SparseFieldVector.java
new file mode 100644
index 0000000000..47bdfa7c1b
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SparseFieldVector.java
@@ -0,0 +1,580 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+import java.io.Serializable;
+import java.lang.reflect.Array;
+
+import org.apache.commons.math3.Field;
+import org.apache.commons.math3.FieldElement;
+import org.apache.commons.math3.exception.OutOfRangeException;
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.util.OpenIntToFieldHashMap;
+
+/**
+ * This class implements the {@link FieldVector} interface with a {@link OpenIntToFieldHashMap} backing store.
+ * @param <T> the type of the field elements
+ * @version $Id: SparseFieldVector.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public class SparseFieldVector<T extends FieldElement<T>> implements FieldVector<T>, Serializable {
+    /**  Serialization identifier. */
+    private static final long serialVersionUID = 7841233292190413362L;
+    /** Field to which the elements belong. */
+    private final Field<T> field;
+    /** Entries of the vector. */
+    private final OpenIntToFieldHashMap<T> entries;
+    /** Dimension of the vector. */
+    private final int virtualSize;
+
+    /**
+     * Build a 0-length vector.
+     * Zero-length vectors may be used to initialize construction of vectors
+     * by data gathering. We start with zero-length and use either the {@link
+     * #SparseFieldVector(SparseFieldVector, int)} constructor
+     * or one of the {@code append} method ({@link #append(FieldVector)} or
+     * {@link #append(SparseFieldVector)}) to gather data into this vector.
+     *
+     * @param field Field to which the elements belong.
+     */
+    public SparseFieldVector(Field<T> field) {
+        this(field, 0);
+    }
+
+
+    /**
+     * Construct a vector of zeroes.
+     *
+     * @param field Field to which the elements belong.
+     * @param dimension Size of the vector.
+     */
+    public SparseFieldVector(Field<T> field, int dimension) {
+        this.field = field;
+        virtualSize = dimension;
+        entries = new OpenIntToFieldHashMap<T>(field);
+    }
+
+    /**
+     * Build a resized vector, for use with append.
+     *
+     * @param v Original vector
+     * @param resize Amount to add.
+     */
+    protected SparseFieldVector(SparseFieldVector<T> v, int resize) {
+        field = v.field;
+        virtualSize = v.getDimension() + resize;
+        entries = new OpenIntToFieldHashMap<T>(v.entries);
+    }
+
+
+    /**
+     * Build a vector with known the sparseness (for advanced use only).
+     *
+     * @param field Field to which the elements belong.
+     * @param dimension Size of the vector.
+     * @param expectedSize Expected number of non-zero entries.
+     */
+    public SparseFieldVector(Field<T> field, int dimension, int expectedSize) {
+        this.field = field;
+        virtualSize = dimension;
+        entries = new OpenIntToFieldHashMap<T>(field,expectedSize);
+    }
+
+    /**
+     * Create from a Field array.
+     * Only non-zero entries will be stored.
+     *
+     * @param field Field to which the elements belong.
+     * @param values Set of values to create from.
+     */
+    public SparseFieldVector(Field<T> field, T[] values) {
+        this.field = field;
+        virtualSize = values.length;
+        entries = new OpenIntToFieldHashMap<T>(field);
+        for (int key = 0; key < values.length; key++) {
+            T value = values[key];
+            entries.put(key, value);
+        }
+    }
+
+    /**
+     * Copy constructor.
+     *
+     * @param v Instance to copy.
+     */
+    public SparseFieldVector(SparseFieldVector<T> v) {
+        field = v.field;
+        virtualSize = v.getDimension();
+        entries = new OpenIntToFieldHashMap<T>(v.getEntries());
+    }
+
+    /**
+     * Get the entries of this instance.
+     *
+     * @return the entries of this instance
+     */
+    private OpenIntToFieldHashMap<T> getEntries() {
+        return entries;
+    }
+
+    /**
+     * Optimized method to add sparse vectors.
+     *
+     * @param v Vector to add.
+     * @return the sum of {@code this} and {@code v}.
+     * @throws DimensionMismatchException
+     * if the dimensions do not match.
+     */
+    public FieldVector<T> add(SparseFieldVector<T> v) {
+        checkVectorDimensions(v.getDimension());
+        SparseFieldVector<T> res = (SparseFieldVector<T>)copy();
+        OpenIntToFieldHashMap<T>.Iterator iter = v.getEntries().iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            int key = iter.key();
+            T value = iter.value();
+            if (entries.containsKey(key)) {
+                res.setEntry(key, entries.get(key).add(value));
+            } else {
+                res.setEntry(key, value);
+            }
+        }
+        return res;
+
+    }
+
+    /**
+     * Construct a vector by appending a vector to this vector.
+     *
+     * @param v Vector to append to this one.
+     * @return a new vector.
+     */
+    public FieldVector<T> append(SparseFieldVector<T> v) {
+        SparseFieldVector<T> res = new SparseFieldVector<T>(this, v.getDimension());
+        OpenIntToFieldHashMap<T>.Iterator iter = v.entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            res.setEntry(iter.key() + virtualSize, iter.value());
+        }
+        return res;
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> append(FieldVector<T> v) {
+        if (v instanceof SparseFieldVector<?>) {
+            return append((SparseFieldVector<T>) v);
+        } else {
+            final int n = v.getDimension();
+            FieldVector<T> res = new SparseFieldVector<T>(this, n);
+            for (int i = 0; i < n; i++) {
+                res.setEntry(i + virtualSize, v.getEntry(i));
+            }
+            return res;
+        }
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> append(T d) {
+        FieldVector<T> res = new SparseFieldVector<T>(this, 1);
+        res.setEntry(virtualSize, d);
+        return res;
+     }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> copy() {
+        return new SparseFieldVector<T>(this);
+   }
+
+    /** {@inheritDoc} */
+    public T dotProduct(FieldVector<T> v) {
+        checkVectorDimensions(v.getDimension());
+        T res = field.getZero();
+        OpenIntToFieldHashMap<T>.Iterator iter = entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            res = res.add(v.getEntry(iter.key()).multiply(iter.value()));
+        }
+        return res;
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> ebeDivide(FieldVector<T> v) {
+        checkVectorDimensions(v.getDimension());
+        SparseFieldVector<T> res = new SparseFieldVector<T>(this);
+        OpenIntToFieldHashMap<T>.Iterator iter = res.entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            res.setEntry(iter.key(), iter.value().divide(v.getEntry(iter.key())));
+        }
+        return res;
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> ebeMultiply(FieldVector<T> v) {
+        checkVectorDimensions(v.getDimension());
+        SparseFieldVector<T> res = new SparseFieldVector<T>(this);
+        OpenIntToFieldHashMap<T>.Iterator iter = res.entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            res.setEntry(iter.key(), iter.value().multiply(v.getEntry(iter.key())));
+        }
+        return res;
+    }
+
+     /** {@inheritDoc} */
+     public T[] getData() {
+        T[] res = buildArray(virtualSize);
+        OpenIntToFieldHashMap<T>.Iterator iter = entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            res[iter.key()] = iter.value();
+        }
+        return res;
+     }
+
+     /** {@inheritDoc} */
+     public int getDimension() {
+        return virtualSize;
+    }
+
+     /** {@inheritDoc} */
+     public T getEntry(int index) {
+        checkIndex(index);
+        return entries.get(index);
+   }
+
+     /** {@inheritDoc} */
+     public Field<T> getField() {
+        return field;
+    }
+
+     /** {@inheritDoc} */
+     public FieldVector<T> getSubVector(int index, int n) {
+        checkIndex(index);
+        checkIndex(index + n - 1);
+        SparseFieldVector<T> res = new SparseFieldVector<T>(field,n);
+        int end = index + n;
+        OpenIntToFieldHashMap<T>.Iterator iter = entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            int key = iter.key();
+            if (key >= index && key < end) {
+                res.setEntry(key - index, iter.value());
+            }
+        }
+        return res;
+    }
+
+     /** {@inheritDoc} */
+     public FieldVector<T> mapAdd(T d) {
+        return copy().mapAddToSelf(d);
+   }
+
+     /** {@inheritDoc} */
+     public FieldVector<T> mapAddToSelf(T d) {
+        for (int i = 0; i < virtualSize; i++) {
+            setEntry(i, getEntry(i).add(d));
+        }
+        return this;
+    }
+
+     /** {@inheritDoc} */
+     public FieldVector<T> mapDivide(T d) {
+        return copy().mapDivideToSelf(d);
+    }
+
+     /** {@inheritDoc} */
+     public FieldVector<T> mapDivideToSelf(T d) {
+        OpenIntToFieldHashMap<T>.Iterator iter = entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            entries.put(iter.key(), iter.value().divide(d));
+        }
+        return this;
+   }
+
+     /** {@inheritDoc} */
+     public FieldVector<T> mapInv() {
+        return copy().mapInvToSelf();
+   }
+
+     /** {@inheritDoc} */
+     public FieldVector<T> mapInvToSelf() {
+        for (int i = 0; i < virtualSize; i++) {
+            setEntry(i, field.getOne().divide(getEntry(i)));
+        }
+        return this;
+   }
+
+     /** {@inheritDoc} */
+     public FieldVector<T> mapMultiply(T d) {
+        return copy().mapMultiplyToSelf(d);
+    }
+
+     /** {@inheritDoc} */
+     public FieldVector<T> mapMultiplyToSelf(T d) {
+        OpenIntToFieldHashMap<T>.Iterator iter = entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            entries.put(iter.key(), iter.value().multiply(d));
+        }
+        return this;
+   }
+
+     /** {@inheritDoc} */
+     public FieldVector<T> mapSubtract(T d) {
+        return copy().mapSubtractToSelf(d);
+    }
+
+     /** {@inheritDoc} */
+     public FieldVector<T> mapSubtractToSelf(T d) {
+        return mapAddToSelf(field.getZero().subtract(d));
+    }
+
+    /**
+     * Optimized method to compute outer product when both vectors are sparse.
+     * @param v vector with which outer product should be computed
+     * @return the square matrix outer product between instance and v
+     * @throws DimensionMismatchException
+     * if the dimensions do not match.
+     */
+    public FieldMatrix<T> outerProduct(SparseFieldVector<T> v) {
+        final int n = v.getDimension();
+        SparseFieldMatrix<T> res = new SparseFieldMatrix<T>(field, virtualSize, n);
+        OpenIntToFieldHashMap<T>.Iterator iter = entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            OpenIntToFieldHashMap<T>.Iterator iter2 = v.entries.iterator();
+            while (iter2.hasNext()) {
+                iter2.advance();
+                res.setEntry(iter.key(), iter2.key(), iter.value().multiply(iter2.value()));
+            }
+        }
+        return res;
+    }
+
+    /** {@inheritDoc} */
+    public FieldMatrix<T> outerProduct(FieldVector<T> v) {
+        if (v instanceof SparseFieldVector<?>) {
+            return outerProduct((SparseFieldVector<T>)v);
+        } else {
+            final int n = v.getDimension();
+            FieldMatrix<T> res = new SparseFieldMatrix<T>(field, virtualSize, n);
+            OpenIntToFieldHashMap<T>.Iterator iter = entries.iterator();
+            while (iter.hasNext()) {
+                iter.advance();
+                int row = iter.key();
+                FieldElement<T>value = iter.value();
+                for (int col = 0; col < n; col++) {
+                    res.setEntry(row, col, value.multiply(v.getEntry(col)));
+                }
+            }
+            return res;
+        }
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> projection(FieldVector<T> v) {
+        checkVectorDimensions(v.getDimension());
+        return v.mapMultiply(dotProduct(v).divide(v.dotProduct(v)));
+    }
+
+    /** {@inheritDoc} */
+    public void set(T value) {
+        for (int i = 0; i < virtualSize; i++) {
+            setEntry(i, value);
+        }
+    }
+
+    /** {@inheritDoc} */
+    public void setEntry(int index, T value) {
+        checkIndex(index);
+        entries.put(index, value);
+   }
+
+    /** {@inheritDoc} */
+    public void setSubVector(int index, FieldVector<T> v) {
+        checkIndex(index);
+        checkIndex(index + v.getDimension() - 1);
+        final int n = v.getDimension();
+        for (int i = 0; i < n; i++) {
+            setEntry(i + index, v.getEntry(i));
+        }
+    }
+
+    /**
+     * Optimized method to subtract SparseRealVectors.
+     *
+     * @param v Vector to subtract.
+     * @return the difference between {@code this} and {@code v}.
+     * @throws DimensionMismatchException
+     * if the dimensions do not match.
+     */
+    public SparseFieldVector<T> subtract(SparseFieldVector<T> v){
+        checkVectorDimensions(v.getDimension());
+        SparseFieldVector<T> res = (SparseFieldVector<T>)copy();
+        OpenIntToFieldHashMap<T>.Iterator iter = v.getEntries().iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            int key = iter.key();
+            if (entries.containsKey(key)) {
+                res.setEntry(key, entries.get(key).subtract(iter.value()));
+            } else {
+                res.setEntry(key, field.getZero().subtract(iter.value()));
+            }
+        }
+        return res;
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> subtract(FieldVector<T> v) {
+        if (v instanceof SparseFieldVector<?>) {
+            return subtract((SparseFieldVector<T>)v);
+        } else {
+            final int n = v.getDimension();
+            checkVectorDimensions(n);
+            SparseFieldVector<T> res = new SparseFieldVector<T>(this);
+            for (int i = 0; i < n; i++) {
+                if (entries.containsKey(i)) {
+                    res.setEntry(i, entries.get(i).subtract(v.getEntry(i)));
+                } else {
+                    res.setEntry(i, field.getZero().subtract(v.getEntry(i)));
+                }
+            }
+            return res;
+        }
+    }
+
+    /** {@inheritDoc} */
+    public T[] toArray() {
+        return getData();
+    }
+
+    /**
+     * Check whether an index is valid.
+     *
+     * @param index Index to check.
+     * @throws OutOfRangeException if the dimensions do not match.
+     */
+    private void checkIndex(final int index) {
+        if (index < 0 || index >= getDimension()) {
+            throw new OutOfRangeException(index, 0, getDimension() - 1);
+        }
+    }
+
+    /**
+     * Check if instance dimension is equal to some expected value.
+     *
+     * @param n Expected dimension.
+     * @throws DimensionMismatchException if the dimensions do not match.
+     */
+    protected void checkVectorDimensions(int n) {
+        if (getDimension() != n) {
+            throw new DimensionMismatchException(getDimension(), n);
+        }
+    }
+
+    /** {@inheritDoc} */
+    public FieldVector<T> add(FieldVector<T> v) {
+        if (v instanceof SparseFieldVector<?>) {
+            return add((SparseFieldVector<T>) v);
+        } else {
+            final int n = v.getDimension();
+            checkVectorDimensions(n);
+            SparseFieldVector<T> res = new SparseFieldVector<T>(field,
+                                                                getDimension());
+            for (int i = 0; i < n; i++) {
+                res.setEntry(i, v.getEntry(i).add(getEntry(i)));
+            }
+            return res;
+        }
+    }
+
+    /**
+     * Build an array of elements.
+     *
+     * @param length Size of the array to build.
+     * @return a new array.
+     */
+    @SuppressWarnings("unchecked") // field is type T
+    private T[] buildArray(final int length) {
+        return (T[]) Array.newInstance(field.getRuntimeClass(), length);
+    }
+
+
+    /** {@inheritDoc} */
+    @Override
+    public int hashCode() {
+        final int prime = 31;
+        int result = 1;
+        result = prime * result + ((field == null) ? 0 : field.hashCode());
+        result = prime * result + virtualSize;
+        OpenIntToFieldHashMap<T>.Iterator iter = entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            int temp = iter.value().hashCode();
+            result = prime * result + temp;
+        }
+        return result;
+    }
+
+
+    /** {@inheritDoc} */
+    @Override
+    public boolean equals(Object obj) {
+
+        if (this == obj) {
+            return true;
+        }
+
+        if (!(obj instanceof SparseFieldVector<?>)) {
+            return false;
+        }
+
+        @SuppressWarnings("unchecked") // OK, because "else if" check below ensures that
+                                       // other must be the same type as this
+        SparseFieldVector<T> other = (SparseFieldVector<T>) obj;
+        if (field == null) {
+            if (other.field != null) {
+                return false;
+            }
+        } else if (!field.equals(other.field)) {
+            return false;
+        }
+        if (virtualSize != other.virtualSize) {
+            return false;
+        }
+
+        OpenIntToFieldHashMap<T>.Iterator iter = entries.iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            T test = other.getEntry(iter.key());
+            if (!test.equals(iter.value())) {
+                return false;
+            }
+        }
+        iter = other.getEntries().iterator();
+        while (iter.hasNext()) {
+            iter.advance();
+            T test = iter.value();
+            if (!test.equals(getEntry(iter.key()))) {
+                return false;
+            }
+        }
+        return true;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SparseRealMatrix.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SparseRealMatrix.java
new file mode 100644
index 0000000000..6576aae828
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SparseRealMatrix.java
@@ -0,0 +1,29 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+/**
+ * Marker interface for {@link RealMatrix} implementations that require sparse backing storage
+ *
+ * @version $Id: SparseRealMatrix.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ *
+ */
+public interface SparseRealMatrix extends RealMatrix {
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SparseRealVector.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SparseRealVector.java
new file mode 100644
index 0000000000..1ba429085f
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SparseRealVector.java
@@ -0,0 +1,25 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+/**
+ * Marker class for RealVectors that require sparse backing storage
+ * @version $Id: SparseRealVector.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ *
+ */
+public abstract class SparseRealVector extends RealVector {}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SymmLQ.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SymmLQ.java
new file mode 100644
index 0000000000..10a48ea137
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/SymmLQ.java
@@ -0,0 +1,1185 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.linear;
+
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.MaxCountExceededException;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.exception.util.ExceptionContext;
+import org.apache.commons.math3.util.FastMath;
+import org.apache.commons.math3.util.IterationManager;
+import org.apache.commons.math3.util.MathUtils;
+
+/**
+ * <p>
+ * Implementation of the SYMMLQ iterative linear solver proposed by <a
+ * href="#PAIG1975">Paige and Saunders (1975)</a>. This implementation is
+ * largely based on the FORTRAN code by Pr. Michael A. Saunders, available <a
+ * href="http://www.stanford.edu/group/SOL/software/symmlq/f77/">here</a>.
+ * </p>
+ * <p>
+ * SYMMLQ is designed to solve the system of linear equations A &middot; x = b
+ * where A is an n &times; n self-adjoint linear operator (defined as a
+ * {@link RealLinearOperator}), and b is a given vector. The operator A is not
+ * required to be positive definite. If A is known to be definite, the method of
+ * conjugate gradients might be preferred, since it will require about the same
+ * number of iterations as SYMMLQ but slightly less work per iteration.
+ * </p>
+ * <p>
+ * SYMMLQ is designed to solve the system (A - shift &middot; I) &middot; x = b,
+ * where shift is a specified scalar value. If shift and b are suitably chosen,
+ * the computed vector x may approximate an (unnormalized) eigenvector of A, as
+ * in the methods of inverse iteration and/or Rayleigh-quotient iteration.
+ * Again, the linear operator (A - shift &middot; I) need not be positive
+ * definite (but <em>must</em> be self-adjoint). The work per iteration is very
+ * slightly less if shift = 0.
+ * </p>
+ * <h3>Preconditioning</h3>
+ * <p>
+ * Preconditioning may reduce the number of iterations required. The solver may be
+ * provided with a positive definite preconditioner M = C &middot; C<sup>T</sup>
+ * that is known to approximate (A - shift &middot; I) in some sense, where
+ * systems of the form M &middot; y = x can be solved efficiently. Then SYMMLQ
+ * will implicitly solve the system of equations P &middot; (A - shift &middot;
+ * I) &middot; P<sup>T</sup> &middot; xhat = P &middot; b, i.e. Ahat &middot;
+ * xhat = bhat, where P = C<sup>-1</sup>, Ahat = P &middot; (A - shift &middot;
+ * I) &middot; P<sup>T</sup>, bhat = P &middot; b, and return the solution x =
+ * P<sup>T</sup> &middot; xhat. The associated residual is rhat = bhat - Ahat
+ * &middot; xhat = P &middot; [b - (A - shift &middot; I) &middot; x] = P
+ * &middot; r.
+ * </p>
+ * <h3><a id="stopcrit">Default stopping criterion</a></h3>
+ * <p>
+ * A default stopping criterion is implemented. The iterations stop when || rhat
+ * || &le; &delta; || Ahat || || xhat ||, where xhat is the current estimate of
+ * the solution of the transformed system, rhat the current estimate of the
+ * corresponding residual, and &delta; a user-specified tolerance.
+ * </p>
+ * <h3>Iteration count</h3>
+ * <p>
+ * In the present context, an iteration should be understood as one evaluation
+ * of the matrix-vector product A &middot; x. The initialization phase therefore
+ * counts as one iteration. If the user requires checks on the symmetry of A,
+ * this entails one further matrix-vector product in the initial phase. This
+ * further product is <em>not</em> accounted for in the iteration count. In
+ * other words, the number of iterations required to reach convergence will be
+ * identical, whether checks have been required or not.
+ * </p>
+ * <p>
+ * The present definition of the iteration count differs from that adopted in
+ * the original FOTRAN code, where the initialization phase was <em>not</em>
+ * taken into account.
+ * </p>
+ * <h3><a id="initguess">Initial guess of the solution</a></h3>
+ * <p>
+ * The {@code x} parameter in
+ * <ul>
+ * <li>{@link #solve(RealLinearOperator, RealVector, RealVector)},</li>
+ * <li>{@link #solve(RealLinearOperator, RealLinearOperator, RealVector, RealVector)}},</li>
+ * <li>{@link #solveInPlace(RealLinearOperator, RealVector, RealVector)},</li>
+ * <li>{@link #solveInPlace(RealLinearOperator, RealLinearOperator, RealVector, RealVector)},</li>
+ * <li>{@link #solveInPlace(RealLinearOperator, RealLinearOperator, RealVector, RealVector, boolean, double)},</li>
+ * </ul>
+ * should not be considered as an initial guess, as it is set to zero in the
+ * initial phase. If x<sub>0</sub> is known to be a good approximation to x, one
+ * should compute r<sub>0</sub> = b - A &middot; x, solve A &middot; dx = r0,
+ * and set x = x<sub>0</sub> + dx.
+ * </p>
+ * <h3><a id="context">Exception context</a></h3>
+ * <p>
+ * Besides standard {@link DimensionMismatchException}, this class might throw
+ * {@link NonSelfAdjointOperatorException} if the linear operator or the
+ * preconditioner are not symmetric. In this case, the {@link ExceptionContext}
+ * provides more information
+ * <ul>
+ * <li>key {@code "operator"} points to the offending linear operator, say L,</li>
+ * <li>key {@code "vector1"} points to the first offending vector, say x,
+ * <li>key {@code "vector2"} points to the second offending vector, say y, such
+ * that x<sup>T</sup> &middot; L &middot; y &ne; y<sup>T</sup> &middot; L
+ * &middot; x (within a certain accuracy).</li>
+ * </ul>
+ * </p>
+ * <p>
+ * {@link NonPositiveDefiniteOperatorException} might also be thrown in case the
+ * preconditioner is not positive definite. The relevant keys to the
+ * {@link ExceptionContext} are
+ * <ul>
+ * <li>key {@code "operator"}, which points to the offending linear operator,
+ * say L,</li>
+ * <li>key {@code "vector"}, which points to the offending vector, say x, such
+ * that x<sup>T</sup> &middot; L &middot; x < 0.</li>
+ * </ul>
+ * </p>
+ * <h3>References</h3>
+ * <dl>
+ * <dt><a id="PAIG1975">Paige and Saunders (1975)</a></dt>
+ * <dd>C. C. Paige and M. A. Saunders, <a
+ * href="http://www.stanford.edu/group/SOL/software/symmlq/PS75.pdf"><em>
+ * Solution of Sparse Indefinite Systems of Linear Equations</em></a>, SIAM
+ * Journal on Numerical Analysis 12(4): 617-629, 1975</dd>
+ * </dl>
+ *
+ * @version $Id: SymmLQ.java 1295953 2012-03-01 22:30:26Z erans $
+ * @since 3.0
+ */
+public class SymmLQ
+    extends PreconditionedIterativeLinearSolver {
+
+    /*
+     * IMPLEMENTATION NOTES
+     * --------------------
+     * The implementation follows as closely as possible the notations of Paige
+     * and Saunders (1975). Attention must be paid to the fact that some
+     * quantities which are relevant to iteration k can only be computed in
+     * iteration (k+1). Therefore, minute attention must be paid to the index of
+     * each state variable of this algorithm.
+     *
+     * 1. Preconditioning
+     *    ---------------
+     * The Lanczos iterations associated with Ahat and bhat read
+     *   beta[1] = ||P * b||
+     *   v[1] = P * b / beta[1]
+     *   beta[k+1] * v[k+1] = Ahat * v[k] - alpha[k] * v[k] - beta[k] * v[k-1]
+     *                      = P * (A - shift * I) * P' * v[k] - alpha[k] * v[k]
+     *                        - beta[k] * v[k-1]
+     * Multiplying both sides by P', we get
+     *   beta[k+1] * (P' * v)[k+1] = M^(-1) * (A - shift * I) * (P' * v)[k]
+     *                               - alpha[k] * (P' * v)[k]
+     *                               - beta[k] * (P' * v[k-1]),
+     * and
+     *   alpha[k+1] = v[k+1]' * Ahat * v[k+1]
+     *              = v[k+1]' * P * (A - shift * I) * P' * v[k+1]
+     *              = (P' * v)[k+1]' * (A - shift * I) * (P' * v)[k+1].
+     *
+     * In other words, the Lanczos iterations are unchanged, except for the fact
+     * that we really compute (P' * v) instead of v. It can easily be checked
+     * that all other formulas are unchanged. It must be noted that P is never
+     * explicitly used, only matrix-vector products involving M^(-1) are
+     * invoked.
+     *
+     * 2. Accounting for the shift parameter
+     *    ----------------------------------
+     * Is trivial: each time A.operate(x) is invoked, one must subtract shift * x
+     * to the result.
+     *
+     * 3. Accounting for the goodb flag
+     *    -----------------------------
+     * When goodb is set to true, the component of xL along b is computed
+     * separately. From Paige and Saunders (1975), equation (5.9), we have
+     *   wbar[k+1] = s[k] * wbar[k] - c[k] * v[k+1],
+     *   wbar[1] = v[1].
+     * Introducing wbar2[k] = wbar[k] - s[1] * ... * s[k-1] * v[1], it can
+     * easily be verified by induction that wbar2 follows the same recursive
+     * relation
+     *   wbar2[k+1] = s[k] * wbar2[k] - c[k] * v[k+1],
+     *   wbar2[1] = 0,
+     * and we then have
+     *   w[k] = c[k] * wbar2[k] + s[k] * v[k+1]
+     *          + s[1] * ... * s[k-1] * c[k] * v[1].
+     * Introducing w2[k] = w[k] - s[1] * ... * s[k-1] * c[k] * v[1], we find,
+     * from (5.10)
+     *   xL[k] = zeta[1] * w[1] + ... + zeta[k] * w[k]
+     *         = zeta[1] * w2[1] + ... + zeta[k] * w2[k]
+     *           + (s[1] * c[2] * zeta[2] + ...
+     *           + s[1] * ... * s[k-1] * c[k] * zeta[k]) * v[1]
+     *         = xL2[k] + bstep[k] * v[1],
+     * where xL2[k] is defined by
+     *   xL2[0] = 0,
+     *   xL2[k+1] = xL2[k] + zeta[k+1] * w2[k+1],
+     * and bstep is defined by
+     *   bstep[1] = 0,
+     *   bstep[k] = bstep[k-1] + s[1] * ... * s[k-1] * c[k] * zeta[k].
+     * We also have, from (5.11)
+     *   xC[k] = xL[k-1] + zbar[k] * wbar[k]
+     *         = xL2[k-1] + zbar[k] * wbar2[k]
+     *           + (bstep[k-1] + s[1] * ... * s[k-1] * zbar[k]) * v[1].
+     */
+
+    /**
+     * <p>
+     * A simple container holding the non-final variables used in the
+     * iterations. Making the current state of the solver visible from the
+     * outside is necessary, because during the iterations, {@code x} does not
+     * <em>exactly</em> hold the current estimate of the solution. Indeed,
+     * {@code x} needs in general to be moved from the LQ point to the CG point.
+     * Besides, additional upudates must be carried out in case {@code goodb} is
+     * set to {@code true}.
+     * </p>
+     * <p>
+     * In all subsequent comments, the description of the state variables refer
+     * to their value after a call to {@link #update()}. In these comments, k is
+     * the current number of evaluations of matrix-vector products.
+     * </p>
+     */
+    private class State {
+
+        /** Reference to the linear operator. */
+        private final RealLinearOperator a;
+
+        /** Reference to the right-hand side vector. */
+        private final RealVector b;
+
+        /** The value of beta[k+1]. */
+        private double beta;
+
+        /** The value of beta[1]. */
+        private double beta1;
+
+        /** The value of bstep[k-1]. */
+        private double bstep;
+
+        /** The estimate of the norm of P * rC[k]. */
+        private double cgnorm;
+
+        /** The value of dbar[k+1] = -beta[k+1] * c[k-1]. */
+        private double dbar;
+
+        /**
+         * The value of gamma[k] * zeta[k]. Was called {@code rhs1} in the
+         * initial code.
+         */
+        private double gammaZeta;
+
+        /** The value of gbar[k]. */
+        private double gbar;
+
+        /** The value of max(|alpha[1]|, gamma[1], ..., gamma[k-1]). */
+        private double gmax;
+
+        /** The value of min(|alpha[1]|, gamma[1], ..., gamma[k-1]). */
+        private double gmin;
+
+        /** Copy of the {@code goodb} parameter. */
+        private final boolean goodb;
+
+        /** {@code true} if the default convergence criterion is verified. */
+        private boolean hasConverged;
+
+        /** The estimate of the norm of P * rL[k-1]. */
+        private double lqnorm;
+
+        /** Reference to the inverse of the preconditioner, M<sup>-1</sup>. */
+        private final RealLinearOperator minv;
+
+        /**
+         * The value of (-eps[k+1] * zeta[k-1]). Was called {@code rhs2} in the
+         * initial code.
+         */
+        private double minusEpsZeta;
+
+        /** The value of M^(-1) * b. */
+        private final RealVector minvb;
+
+        /** The value of beta[k]. */
+        private double oldb;
+
+        /** The value of beta[k] * M * P' * v[k]. */
+        private RealVector r1;
+
+        /** The value of beta[k+1] * M * P' * v[k+1]. */
+        private RealVector r2;
+
+        /** Copy of the {@code shift} parameter. */
+        private final double shift;
+
+        /** The value of s[1] * ... * s[k-1]. */
+        private double snprod;
+
+        /**
+         * An estimate of the square of the norm of A * V[k], based on Paige and
+         * Saunders (1975), equation (3.3).
+         */
+        private double tnorm;
+
+        /**
+         * The value of P' * wbar[k] or P' * (wbar[k] - s[1] * ... * s[k-1] *
+         * v[1]) if {@code goodb} is {@code true}. Was called {@code w} in the
+         * initial code.
+         */
+        private RealVector wbar;
+
+        /**
+         * A reference to the vector to be updated with the solution. Contains
+         * the value of xL[k-1] if {@code goodb} is {@code false}, (xL[k-1] -
+         * bstep[k-1] * v[1]) otherwise.
+         */
+        private final RealVector x;
+
+        /** The value of beta[k+1] * P' * v[k+1]. */
+        private RealVector y;
+
+        /** The value of zeta[1]^2 + ... + zeta[k-1]^2. */
+        private double ynorm2;
+
+        /**
+         * Creates and inits to k = 1 a new instance of this class.
+         *
+         * @param a the linear operator A of the system
+         * @param minv the inverse of the preconditioner, M<sup>-1</sup>
+         * (can be {@code null})
+         * @param b the right-hand side vector
+         * @param x the vector to be updated with the solution; {@code x} should
+         * not be considered as an initial guess (<a href="#initguess">more</a>)
+         * @param goodb usually {@code false}, except if {@code x} is expected
+         * to contain a large multiple of {@code b}
+         * @param shift the amount to be subtracted to all diagonal elements of
+         * A
+         */
+        public State(final RealLinearOperator a, final RealLinearOperator minv,
+            final RealVector b, final RealVector x, final boolean goodb,
+            final double shift) {
+            this.a = a;
+            this.minv = minv;
+            this.b = b;
+            this.x = x;
+            this.goodb = goodb;
+            this.shift = shift;
+            this.minvb = minv == null ? b : minv.operate(b);
+            this.hasConverged = false;
+            init();
+        }
+
+        /**
+         * Move to the CG point if it seems better. In this version of SYMMLQ,
+         * the convergence tests involve only cgnorm, so we're unlikely to stop
+         * at an LQ point, except if the iteration limit interferes.
+         *
+         * @param xRefined the vector to be updated with the refined value of x
+         */
+        public void refine(final RealVector xRefined) {
+            final int n = this.x.getDimension();
+            if (lqnorm < cgnorm) {
+                if (!goodb) {
+                    xRefined.setSubVector(0, this.x);
+                } else {
+                    final double step = bstep / beta1;
+                    for (int i = 0; i < n; i++) {
+                        final double bi = minvb.getEntry(i);
+                        final double xi = this.x.getEntry(i);
+                        xRefined.setEntry(i, xi + step * bi);
+                    }
+                }
+            } else {
+                final double anorm = FastMath.sqrt(tnorm);
+                final double diag = gbar == 0. ? anorm * MACH_PREC : gbar;
+                final double zbar = gammaZeta / diag;
+                final double step = (bstep + snprod * zbar) / beta1;
+                // ynorm = FastMath.sqrt(ynorm2 + zbar * zbar);
+                if (!goodb) {
+                    for (int i = 0; i < n; i++) {
+                        final double xi = this.x.getEntry(i);
+                        final double wi = wbar.getEntry(i);
+                        xRefined.setEntry(i, xi + zbar * wi);
+                    }
+                } else {
+                    for (int i = 0; i < n; i++) {
+                        final double xi = this.x.getEntry(i);
+                        final double wi = wbar.getEntry(i);
+                        final double bi = minvb.getEntry(i);
+                        xRefined.setEntry(i, xi + zbar * wi + step * bi);
+                    }
+                }
+            }
+        }
+
+        /**
+         * Performs the initial phase of the SYMMLQ algorithm. On return, the
+         * value of the state variables of {@code this} object correspond to k =
+         * 1.
+         */
+        private void init() {
+            this.x.set(0.);
+            /*
+             * Set up y for the first Lanczos vector. y and beta1 will be zero
+             * if b = 0.
+             */
+            this.r1 = this.b.copy();
+            this.y = this.minv == null ? this.b.copy() : this.minv.operate(this.r1);
+            if ((this.minv != null) && check) {
+                checkSymmetry(this.minv, this.r1, this.y, this.minv.operate(this.y));
+            }
+
+            this.beta1 = this.r1.dotProduct(this.y);
+            if (this.beta1 < 0.) {
+                throwNPDLOException(this.minv, this.y);
+            }
+            if (this.beta1 == 0.) {
+                /* If b = 0 exactly, stop with x = 0. */
+                return;
+            }
+            this.beta1 = FastMath.sqrt(this.beta1);
+            /* At this point
+             *   r1 = b,
+             *   y = M^(-1) * b,
+             *   beta1 = beta[1].
+             */
+            final RealVector v = this.y.mapMultiply(1. / this.beta1);
+            this.y = this.a.operate(v);
+            if (check) {
+                checkSymmetry(this.a, v, this.y, this.a.operate(this.y));
+            }
+            /*
+             * Set up y for the second Lanczos vector. y and beta will be zero
+             * or very small if b is an eigenvector.
+             */
+            daxpy(-this.shift, v, this.y);
+            final double alpha = v.dotProduct(this.y);
+            daxpy(-alpha / this.beta1, this.r1, this.y);
+            /*
+             * At this point
+             *   alpha = alpha[1]
+             *   y     = beta[2] * M * P' * v[2]
+             */
+            /* Make sure r2 will be orthogonal to the first v. */
+            final double vty = v.dotProduct(this.y);
+            final double vtv = v.dotProduct(v);
+            daxpy(-vty / vtv, v, this.y);
+            this.r2 = this.y.copy();
+            if (this.minv != null) {
+                this.y = this.minv.operate(this.r2);
+            }
+            this.oldb = this.beta1;
+            this.beta = this.r2.dotProduct(this.y);
+            if (this.beta < 0.) {
+                throwNPDLOException(this.minv, this.y);
+            }
+            this.beta = FastMath.sqrt(this.beta);
+            /*
+             * At this point
+             *   oldb = beta[1]
+             *   beta = beta[2]
+             *   y  = beta[2] * P' * v[2]
+             *   r2 = beta[2] * M * P' * v[2]
+             */
+            this.cgnorm = this.beta1;
+            this.gbar = alpha;
+            this.dbar = this.beta;
+            this.gammaZeta = this.beta1;
+            this.minusEpsZeta = 0.;
+            this.bstep = 0.;
+            this.snprod = 1.;
+            this.tnorm = alpha * alpha + this.beta * this.beta;
+            this.ynorm2 = 0.;
+            this.gmax = FastMath.abs(alpha) + MACH_PREC;
+            this.gmin = this.gmax;
+
+            if (this.goodb) {
+                this.wbar = new ArrayRealVector(this.a.getRowDimension());
+                this.wbar.set(0.);
+            } else {
+                this.wbar = v;
+            }
+            updateNorms();
+        }
+
+        /**
+         * Performs the next iteration of the algorithm. The iteration count
+         * should be incremented prior to calling this method. On return, the
+         * value of the state variables of {@code this} object correspond to the
+         * current iteration count {@code k}.
+         */
+        private void update() {
+            final RealVector v = y.mapMultiply(1. / beta);
+            y = a.operate(v);
+            daxpbypz(-shift, v, -beta / oldb, r1, y);
+            final double alpha = v.dotProduct(y);
+            /*
+             * At this point
+             *   v     = P' * v[k],
+             *   y     = (A - shift * I) * P' * v[k] - beta[k] * M * P' * v[k-1],
+             *   alpha = v'[k] * P * (A - shift * I) * P' * v[k]
+             *           - beta[k] * v[k]' * P * M * P' * v[k-1]
+             *         = v'[k] * P * (A - shift * I) * P' * v[k]
+             *           - beta[k] * v[k]' * v[k-1]
+             *         = alpha[k].
+             */
+            daxpy(-alpha / beta, r2, y);
+            /*
+             * At this point
+             *   y = (A - shift * I) * P' * v[k] - alpha[k] * M * P' * v[k]
+             *       - beta[k] * M * P' * v[k-1]
+             *     = M * P' * (P * (A - shift * I) * P' * v[k] -alpha[k] * v[k]
+             *       - beta[k] * v[k-1])
+             *     = beta[k+1] * M * P' * v[k+1],
+             * from Paige and Saunders (1975), equation (3.2).
+             *
+             * WATCH-IT: the two following line work only because y is no longer
+             * updated up to the end of the present iteration, and is
+             * reinitialized at the beginning of the next iteration.
+             */
+            r1 = r2;
+            r2 = y;
+            if (minv != null) {
+                y = minv.operate(r2);
+            }
+            oldb = beta;
+            beta = r2.dotProduct(y);
+            if (beta < 0.) {
+                throwNPDLOException(minv, y);
+            }
+            beta = FastMath.sqrt(beta);
+            /*
+             * At this point
+             *   r1 = beta[k] * M * P' * v[k],
+             *   r2 = beta[k+1] * M * P' * v[k+1],
+             *   y  = beta[k+1] * P' * v[k+1],
+             *   oldb = beta[k],
+             *   beta = beta[k+1].
+             */
+            tnorm += alpha * alpha + oldb * oldb + beta * beta;
+            /*
+             * Compute the next plane rotation for Q. See Paige and Saunders
+             * (1975), equation (5.6), with
+             *   gamma = gamma[k-1],
+             *   c     = c[k-1],
+             *   s     = s[k-1].
+             */
+            final double gamma = FastMath.sqrt(gbar * gbar + oldb * oldb);
+            final double c = gbar / gamma;
+            final double s = oldb / gamma;
+            /*
+             * The relations
+             *   gbar[k] = s[k-1] * (-c[k-2] * beta[k]) - c[k-1] * alpha[k]
+             *           = s[k-1] * dbar[k] - c[k-1] * alpha[k],
+             *   delta[k] = c[k-1] * dbar[k] + s[k-1] * alpha[k],
+             * are not stated in Paige and Saunders (1975), but can be retrieved
+             * by expanding the (k, k-1) and (k, k) coefficients of the matrix in
+             * equation (5.5).
+             */
+            final double deltak = c * dbar + s * alpha;
+            gbar = s * dbar - c * alpha;
+            final double eps = s * beta;
+            dbar = -c * beta;
+            final double zeta = gammaZeta / gamma;
+            /*
+             * At this point
+             *   gbar   = gbar[k]
+             *   deltak = delta[k]
+             *   eps    = eps[k+1]
+             *   dbar   = dbar[k+1]
+             *   zeta   = zeta[k-1]
+             */
+            final double zetaC = zeta * c;
+            final double zetaS = zeta * s;
+            final int n = x.getDimension();
+            for (int i = 0; i < n; i++) {
+                final double xi = x.getEntry(i);
+                final double vi = v.getEntry(i);
+                final double wi = wbar.getEntry(i);
+                x.setEntry(i, xi + wi * zetaC + vi * zetaS);
+                wbar.setEntry(i, wi * s - vi * c);
+            }
+            /*
+             * At this point
+             *   x = xL[k-1],
+             *   ptwbar = P' wbar[k],
+             * see Paige and Saunders (1975), equations (5.9) and (5.10).
+             */
+            bstep += snprod * c * zeta;
+            snprod *= s;
+            gmax = FastMath.max(gmax, gamma);
+            gmin = FastMath.min(gmin, gamma);
+            ynorm2 += zeta * zeta;
+            gammaZeta = minusEpsZeta - deltak * zeta;
+            minusEpsZeta = -eps * zeta;
+            /*
+             * At this point
+             *   snprod       = s[1] * ... * s[k-1],
+             *   gmax         = max(|alpha[1]|, gamma[1], ..., gamma[k-1]),
+             *   gmin         = min(|alpha[1]|, gamma[1], ..., gamma[k-1]),
+             *   ynorm2       = zeta[1]^2 + ... + zeta[k-1]^2,
+             *   gammaZeta    = gamma[k] * zeta[k],
+             *   minusEpsZeta = -eps[k+1] * zeta[k-1].
+             * The relation for gammaZeta can be retrieved from Paige and
+             * Saunders (1975), equation (5.4a), last line of the vector
+             * gbar[k] * zbar[k] = -eps[k] * zeta[k-2] - delta[k] * zeta[k-1].
+             */
+            updateNorms();
+        }
+
+        /**
+         * Computes the norms of the residuals, and checks for convergence.
+         * Updates {@link #lqnorm} and {@link #cgnorm}.
+         */
+        private void updateNorms() {
+            final double anorm = FastMath.sqrt(tnorm);
+            final double ynorm = FastMath.sqrt(ynorm2);
+            final double epsa = anorm * MACH_PREC;
+            final double epsx = anorm * ynorm * MACH_PREC;
+            final double epsr = anorm * ynorm * delta;
+            final double diag = gbar == 0. ? epsa : gbar;
+            lqnorm = FastMath.sqrt(gammaZeta * gammaZeta +
+                                   minusEpsZeta * minusEpsZeta);
+            final double qrnorm = snprod * beta1;
+            cgnorm = qrnorm * beta / FastMath.abs(diag);
+
+            /*
+             * Estimate cond(A). In this version we look at the diagonals of L
+             * in the factorization of the tridiagonal matrix, T = L * Q.
+             * Sometimes, T[k] can be misleadingly ill-conditioned when T[k+1]
+             * is not, so we must be careful not to overestimate acond.
+             */
+            final double acond;
+            if (lqnorm <= cgnorm) {
+                acond = gmax / gmin;
+            } else {
+                acond = gmax / FastMath.min(gmin, FastMath.abs(diag));
+            }
+            if (acond * MACH_PREC >= 0.1) {
+                throw new IllConditionedOperatorException(acond);
+            }
+            if (beta1 <= epsx) {
+                /*
+                 * x has converged to an eigenvector of A corresponding to the
+                 * eigenvalue shift.
+                 */
+                throw new SingularOperatorException();
+            }
+            hasConverged = (cgnorm <= epsx) || (cgnorm <= epsr);
+        }
+    }
+
+    /**
+     * The type of all events fired by this implementation of the SYMMLQ method.
+     *
+     * @version $Id: SymmLQ.java 1295953 2012-03-01 22:30:26Z erans $
+     */
+    private static class SymmLQEvent extends IterativeLinearSolverEvent {
+        /*
+         * TODO This class relies dangerously on references being transparently
+         * updated.
+         */
+
+        /** Identifier. */
+        private static final long serialVersionUID = 2012012801L;
+
+        /** A reference to the state of this solver. */
+        private final transient State state;
+
+        /**
+         * Creates a new instance of this class.
+         *
+         * @param source the iterative algorithm on which the event initially
+         * occurred
+         * @param state the state of this solver at the time of creation
+         */
+        public SymmLQEvent(final SymmLQ source, final State state) {
+            super(source, source.getIterationManager().getIterations());
+            this.state = state;
+        }
+
+        /** {@inheritDoc} */
+        @Override
+        public int getIterations() {
+            return ((SymmLQ) getSource()).getIterationManager().getIterations();
+        }
+
+        /** {@inheritDoc} */
+        @Override
+        public double getNormOfResidual() {
+            return FastMath.min(state.cgnorm, state.lqnorm);
+        }
+
+        /** {@inheritDoc} */
+        @Override
+        public RealVector getRightHandSideVector() {
+            return RealVector.unmodifiableRealVector(state.b);
+        }
+
+        /** {@inheritDoc} */
+        @Override
+        public RealVector getSolution() {
+            final int n = state.x.getDimension();
+            final RealVector x = new ArrayRealVector(n);
+            state.refine(x);
+            return x;
+        }
+    }
+
+    /** The cubic root of {@link #MACH_PREC}. */
+    private static final double CBRT_MACH_PREC;
+
+    /** The machine precision. */
+    private static final double MACH_PREC;
+
+    /** Key for the exception context. */
+    private static final String OPERATOR = "operator";
+
+    /** Key for the exception context. */
+    private static final String THRESHOLD = "threshold";
+
+    /** Key for the exception context. */
+    private static final String VECTOR = "vector";
+
+    /** Key for the exception context. */
+    private static final String VECTOR1 = "vector1";
+
+    /** Key for the exception context. */
+    private static final String VECTOR2 = "vector2";
+
+    /** {@code true} if symmetry of matrix and conditioner must be checked. */
+    private final boolean check;
+
+    /**
+     * The value of the custom tolerance &delta; for the default stopping
+     * criterion.
+     */
+    private final double delta;
+
+    /**
+     * Creates a new instance of this class, with <a href="#stopcrit">default
+     * stopping criterion</a>. Note that setting {@code check} to {@code true}
+     * entails an extra matrix-vector product in the initial phase.
+     *
+     * @param maxIterations the maximum number of iterations
+     * @param delta the &delta; parameter for the default stopping criterion
+     * @param check {@code true} if self-adjointedness of both matrix and
+     * preconditioner should be checked
+     */
+    public SymmLQ(final int maxIterations, final double delta,
+                  final boolean check) {
+        super(maxIterations);
+        this.delta = delta;
+        this.check = check;
+    }
+
+    /**
+     * Creates a new instance of this class, with <a href="#stopcrit">default
+     * stopping criterion</a> and custom iteration manager. Note that setting
+     * {@code check} to {@code true} entails an extra matrix-vector product in
+     * the initial phase.
+     *
+     * @param manager the custom iteration manager
+     * @param delta the &delta; parameter for the default stopping criterion
+     * @param check {@code true} if self-adjointedness of both matrix and
+     * preconditioner should be checked
+     */
+    public SymmLQ(final IterationManager manager, final double delta,
+                  final boolean check) {
+        super(manager);
+        this.delta = delta;
+        this.check = check;
+    }
+
+    static {
+        MACH_PREC = Math.ulp(1.);
+        CBRT_MACH_PREC = Math.cbrt(MACH_PREC);
+    }
+
+    /**
+     * Performs a symmetry check on the specified linear operator, and throws an
+     * exception in case this check fails. Given a linear operator L, and a
+     * vector x, this method checks that
+     * x' &middot; L &middot; y = y' &middot; L &middot; x
+     * (within a given accuracy), where y = L &middot; x.
+     *
+     * @param l the linear operator L
+     * @param x the candidate vector x
+     * @param y the candidate vector y = L &middot; x
+     * @param z the vector z = L &middot; y
+     * @throws NonSelfAdjointOperatorException when the test fails
+     */
+    private static void checkSymmetry(final RealLinearOperator l,
+        final RealVector x, final RealVector y, final RealVector z)
+        throws NonSelfAdjointOperatorException {
+        final double s = y.dotProduct(y);
+        final double t = x.dotProduct(z);
+        final double epsa = (s + MACH_PREC) * CBRT_MACH_PREC;
+        if (FastMath.abs(s - t) > epsa) {
+            final NonSelfAdjointOperatorException e;
+            e = new NonSelfAdjointOperatorException();
+            final ExceptionContext context = e.getContext();
+            context.setValue(OPERATOR, l);
+            context.setValue(VECTOR1, x);
+            context.setValue(VECTOR2, y);
+            context.setValue(THRESHOLD, Double.valueOf(epsa));
+            throw e;
+        }
+    }
+
+    /**
+     * A BLAS-like function, for the operation z &larr; a &middot; x + b
+     * &middot; y + z. This is for internal use only: no dimension checks are
+     * provided.
+     *
+     * @param a the scalar by which {@code x} is to be multiplied
+     * @param x the first vector to be added to {@code z}
+     * @param b the scalar by which {@code y} is to be multiplied
+     * @param y the second vector to be added to {@code z}
+     * @param z the vector to be incremented
+     */
+    private static void daxpbypz(final double a, final RealVector x,
+        final double b, final RealVector y, final RealVector z) {
+        final int n = z.getDimension();
+        for (int i = 0; i < n; i++) {
+            final double zi;
+            zi = a * x.getEntry(i) + b * y.getEntry(i) + z.getEntry(i);
+            z.setEntry(i, zi);
+        }
+    }
+
+    /**
+     * A clone of the BLAS {@code DAXPY} function, which carries out the
+     * operation y &larr; a &middot; x + y. This is for internal use only: no
+     * dimension checks are provided.
+     *
+     * @param a the scalar by which {@code x} is to be multiplied
+     * @param x the vector to be added to {@code y}
+     * @param y the vector to be incremented
+     */
+    private static void daxpy(final double a, final RealVector x,
+        final RealVector y) {
+        final int n = x.getDimension();
+        for (int i = 0; i < n; i++) {
+            y.setEntry(i, a * x.getEntry(i) + y.getEntry(i));
+        }
+    }
+
+    /**
+     * Throws a new {@link NonPositiveDefiniteOperatorException} with
+     * appropriate context.
+     *
+     * @param l the offending linear operator
+     * @param v the offending vector
+     * @throws NonPositiveDefiniteOperatorException in any circumstances
+     */
+    private static void throwNPDLOException(final RealLinearOperator l,
+        final RealVector v) throws NonPositiveDefiniteOperatorException {
+        final NonPositiveDefiniteOperatorException e;
+        e = new NonPositiveDefiniteOperatorException();
+        final ExceptionContext context = e.getContext();
+        context.setValue(OPERATOR, l);
+        context.setValue(VECTOR, v);
+        throw e;
+    }
+
+    /**
+     * Returns {@code true} if symmetry of the matrix, and symmetry as well as
+     * positive definiteness of the preconditioner should be checked.
+     *
+     * @return {@code true} if the tests are to be performed
+     */
+    public final boolean getCheck() {
+        return check;
+    }
+
+    /**
+     * {@inheritDoc}
+     *
+     * @throws NonSelfAdjointOperatorException if {@link #getCheck()} is
+     * {@code true}, and {@code a} or {@code minv} is not self-adjoint
+     * @throws NonPositiveDefiniteOperatorException if {@code minv} is not
+     * positive definite
+     * @throws IllConditionedOperatorException if {@code a} is ill-conditioned
+     */
+    @Override
+    public RealVector solve(final RealLinearOperator a,
+        final RealLinearOperator minv, final RealVector b) throws
+        NullArgumentException, NonSquareOperatorException,
+        DimensionMismatchException, MaxCountExceededException,
+        NonSelfAdjointOperatorException, NonPositiveDefiniteOperatorException,
+        IllConditionedOperatorException {
+        MathUtils.checkNotNull(a);
+        final RealVector x = new ArrayRealVector(a.getColumnDimension());
+        return solveInPlace(a, minv, b, x, false, 0.);
+    }
+
+    /**
+     * Returns an estimate of the solution to the linear system (A - shift
+     * &middot; I) &middot; x = b.
+     * <p>
+     * If the solution x is expected to contain a large multiple of {@code b}
+     * (as in Rayleigh-quotient iteration), then better precision may be
+     * achieved with {@code goodb} set to {@code true}; this however requires an
+     * extra call to the preconditioner.
+     * </p>
+     * <p>
+     * {@code shift} should be zero if the system A &middot; x = b is to be
+     * solved. Otherwise, it could be an approximation to an eigenvalue of A,
+     * such as the Rayleigh quotient b<sup>T</sup> &middot; A &middot; b /
+     * (b<sup>T</sup> &middot; b) corresponding to the vector b. If b is
+     * sufficiently like an eigenvector corresponding to an eigenvalue near
+     * shift, then the computed x may have very large components. When
+     * normalized, x may be closer to an eigenvector than b.
+     * </p>
+     *
+     * @param a the linear operator A of the system
+     * @param minv the inverse of the preconditioner, M<sup>-1</sup>
+     * (can be {@code null})
+     * @param b the right-hand side vector
+     * @param goodb usually {@code false}, except if {@code x} is expected to
+     * contain a large multiple of {@code b}
+     * @param shift the amount to be subtracted to all diagonal elements of A
+     * @return a reference to {@code x} (shallow copy)
+     * @throws NullArgumentException if one of the parameters is {@code null}
+     * @throws NonSquareOperatorException if {@code a} or {@code minv} is not
+     * square
+     * @throws DimensionMismatchException if {@code minv} or {@code b} have
+     * dimensions inconsistent with {@code a}
+     * @throws MaxCountExceededException at exhaustion of the iteration count,
+     * unless a custom
+     * {@link org.apache.commons.math3.util.Incrementor.MaxCountExceededCallback callback}
+     * has been set at construction
+     * @throws NonSelfAdjointOperatorException if {@link #getCheck()} is
+     * {@code true}, and {@code a} or {@code minv} is not self-adjoint
+     * @throws NonPositiveDefiniteOperatorException if {@code minv} is not
+     * positive definite
+     * @throws IllConditionedOperatorException if {@code a} is ill-conditioned
+     */
+    public RealVector solve(final RealLinearOperator a,
+        final RealLinearOperator minv, final RealVector b, final boolean goodb,
+        final double shift) throws NullArgumentException,
+        NonSquareOperatorException, DimensionMismatchException,
+        MaxCountExceededException, NonSelfAdjointOperatorException,
+        NonPositiveDefiniteOperatorException, IllConditionedOperatorException {
+        MathUtils.checkNotNull(a);
+        final RealVector x = new ArrayRealVector(a.getColumnDimension());
+        return solveInPlace(a, minv, b, x, goodb, shift);
+    }
+
+    /**
+     * {@inheritDoc}
+     *
+     * @param x not meaningful in this implementation; should not be considered
+     * as an initial guess (<a href="#initguess">more</a>)
+     * @throws NonSelfAdjointOperatorException if {@link #getCheck()} is
+     * {@code true}, and {@code a} or {@code minv} is not self-adjoint
+     * @throws NonPositiveDefiniteOperatorException if {@code minv} is not
+     * positive definite
+     * @throws IllConditionedOperatorException if {@code a} is ill-conditioned
+     */
+    @Override
+    public RealVector solve(final RealLinearOperator a,
+        final RealLinearOperator minv, final RealVector b, final RealVector x)
+        throws NullArgumentException, NonSquareOperatorException,
+        DimensionMismatchException, NonSelfAdjointOperatorException,
+        NonPositiveDefiniteOperatorException, IllConditionedOperatorException,
+        MaxCountExceededException {
+        MathUtils.checkNotNull(x);
+        return solveInPlace(a, minv, b, x.copy(), false, 0.);
+    }
+
+    /**
+     * {@inheritDoc}
+     *
+     * @throws NonSelfAdjointOperatorException if {@link #getCheck()} is
+     * {@code true}, and {@code a} is not self-adjoint
+     * @throws IllConditionedOperatorException if {@code a} is ill-conditioned
+     */
+    @Override
+    public RealVector solve(final RealLinearOperator a, final RealVector b)
+        throws NullArgumentException, NonSquareOperatorException,
+        DimensionMismatchException, NonSelfAdjointOperatorException,
+        IllConditionedOperatorException, MaxCountExceededException {
+        MathUtils.checkNotNull(a);
+        final RealVector x = new ArrayRealVector(a.getColumnDimension());
+        x.set(0.);
+        return solveInPlace(a, null, b, x, false, 0.);
+    }
+
+    /**
+     * Returns the solution to the system (A - shift &middot; I) &middot; x = b.
+     * <p>
+     * If the solution x is expected to contain a large multiple of {@code b}
+     * (as in Rayleigh-quotient iteration), then better precision may be
+     * achieved with {@code goodb} set to {@code true}.
+     * </p>
+     * <p>
+     * {@code shift} should be zero if the system A &middot; x = b is to be
+     * solved. Otherwise, it could be an approximation to an eigenvalue of A,
+     * such as the Rayleigh quotient b<sup>T</sup> &middot; A &middot; b /
+     * (b<sup>T</sup> &middot; b) corresponding to the vector b. If b is
+     * sufficiently like an eigenvector corresponding to an eigenvalue near
+     * shift, then the computed x may have very large components. When
+     * normalized, x may be closer to an eigenvector than b.
+     * </p>
+     *
+     * @param a the linear operator A of the system
+     * @param b the right-hand side vector
+     * @param goodb usually {@code false}, except if {@code x} is expected to
+     * contain a large multiple of {@code b}
+     * @param shift the amount to be subtracted to all diagonal elements of A
+     * @return a reference to {@code x}
+     * @throws NullArgumentException if one of the parameters is {@code null}
+     * @throws NonSquareOperatorException if {@code a} is not square
+     * @throws DimensionMismatchException if {@code b} has dimensions
+     * inconsistent with {@code a}
+     * @throws MaxCountExceededException at exhaustion of the iteration count,
+     * unless a custom
+     * {@link org.apache.commons.math3.util.Incrementor.MaxCountExceededCallback callback}
+     * has been set at construction
+     * @throws NonSelfAdjointOperatorException if {@link #getCheck()} is
+     * {@code true}, and {@code a} is not self-adjoint
+     * @throws IllConditionedOperatorException if {@code a} is ill-conditioned
+     */
+    public RealVector solve(final RealLinearOperator a, final RealVector b,
+        final boolean goodb, final double shift) throws NullArgumentException,
+        NonSquareOperatorException, DimensionMismatchException,
+        NonSelfAdjointOperatorException, IllConditionedOperatorException,
+        MaxCountExceededException {
+        MathUtils.checkNotNull(a);
+        final RealVector x = new ArrayRealVector(a.getColumnDimension());
+        return solveInPlace(a, null, b, x, goodb, shift);
+    }
+
+    /**
+     * {@inheritDoc}
+     *
+     * @param x not meaningful in this implementation; should not be considered
+     * as an initial guess (<a href="#initguess">more</a>)
+     * @throws NonSelfAdjointOperatorException if {@link #getCheck()} is
+     * {@code true}, and {@code a} is not self-adjoint
+     * @throws IllConditionedOperatorException if {@code a} is ill-conditioned
+     */
+    @Override
+    public RealVector solve(final RealLinearOperator a, final RealVector b,
+        final RealVector x) throws NullArgumentException,
+        NonSquareOperatorException, DimensionMismatchException,
+        NonSelfAdjointOperatorException, IllConditionedOperatorException,
+        MaxCountExceededException {
+        MathUtils.checkNotNull(x);
+        return solveInPlace(a, null, b, x.copy(), false, 0.);
+    }
+
+    /**
+     * {@inheritDoc}
+     *
+     * @param x the vector to be updated with the solution; {@code x} should
+     * not be considered as an initial guess (<a href="#initguess">more</a>)
+     * @throws NonSelfAdjointOperatorException if {@link #getCheck()} is
+     * {@code true}, and {@code a} or {@code minv} is not self-adjoint
+     * @throws NonPositiveDefiniteOperatorException if {@code minv} is not
+     * positive definite
+     * @throws IllConditionedOperatorException if {@code a} is ill-conditioned
+     */
+    @Override
+    public RealVector solveInPlace(final RealLinearOperator a,
+        final RealLinearOperator minv, final RealVector b, final RealVector x)
+        throws NullArgumentException, NonSquareOperatorException,
+        DimensionMismatchException, NonSelfAdjointOperatorException,
+        NonPositiveDefiniteOperatorException, IllConditionedOperatorException,
+        MaxCountExceededException {
+        return solveInPlace(a, minv, b, x, false, 0.);
+    }
+
+    /**
+     * Returns an estimate of the solution to the linear system (A - shift
+     * &middot; I) &middot; x = b. The solution is computed in-place.
+     * <p>
+     * If the solution x is expected to contain a large multiple of {@code b}
+     * (as in Rayleigh-quotient iteration), then better precision may be
+     * achieved with {@code goodb} set to {@code true}; this however requires an
+     * extra call to the preconditioner.
+     * </p>
+     * <p>
+     * {@code shift} should be zero if the system A &middot; x = b is to be
+     * solved. Otherwise, it could be an approximation to an eigenvalue of A,
+     * such as the Rayleigh quotient b<sup>T</sup> &middot; A &middot; b /
+     * (b<sup>T</sup> &middot; b) corresponding to the vector b. If b is
+     * sufficiently like an eigenvector corresponding to an eigenvalue near
+     * shift, then the computed x may have very large components. When
+     * normalized, x may be closer to an eigenvector than b.
+     * </p>
+     *
+     * @param a the linear operator A of the system
+     * @param minv the inverse of the preconditioner, M<sup>-1</sup>
+     * (can be {@code null})
+     * @param b the right-hand side vector
+     * @param x the vector to be updated with the solution; {@code x} should
+     * not be considered as an initial guess (<a href="#initguess">more</a>)
+     * @param goodb usually {@code false}, except if {@code x} is expected to
+     * contain a large multiple of {@code b}
+     * @param shift the amount to be subtracted to all diagonal elements of A
+     * @return a reference to {@code x} (shallow copy).
+     * @throws NullArgumentException if one of the parameters is {@code null}
+     * @throws NonSquareOperatorException if {@code a} or {@code minv} is not
+     * square
+     * @throws DimensionMismatchException if {@code minv}, {@code b} or
+     * {@code x} have dimensions inconsistent with {@code a}.
+     * @throws MaxCountExceededException at exhaustion of the iteration count,
+     * unless a custom
+     * {@link org.apache.commons.math3.util.Incrementor.MaxCountExceededCallback callback}
+     * has been set at construction
+     * @throws NonSelfAdjointOperatorException if {@link #getCheck()} is
+     * {@code true}, and {@code a} or {@code minv} is not self-adjoint
+     * @throws NonPositiveDefiniteOperatorException if {@code minv} is not
+     * positive definite
+     * @throws IllConditionedOperatorException if {@code a} is ill-conditioned
+     */
+    public RealVector solveInPlace(final RealLinearOperator a,
+        final RealLinearOperator minv, final RealVector b,
+        final RealVector x, final boolean goodb, final double shift)
+        throws NullArgumentException, NonSquareOperatorException,
+        DimensionMismatchException, NonSelfAdjointOperatorException,
+        NonPositiveDefiniteOperatorException, IllConditionedOperatorException,
+        MaxCountExceededException {
+        checkParameters(a, minv, b, x);
+
+        final IterationManager manager = getIterationManager();
+        /* Initialization counts as an iteration. */
+        manager.resetIterationCount();
+        manager.incrementIterationCount();
+
+        final State state = new State(a, minv, b, x, goodb, shift);
+        final IterativeLinearSolverEvent event = new SymmLQEvent(this, state);
+        if (state.beta1 == 0.) {
+            /* If b = 0 exactly, stop with x = 0. */
+            manager.fireTerminationEvent(event);
+            return x;
+        }
+        /* Cause termination if beta is essentially zero. */
+        final boolean earlyStop;
+        earlyStop = (state.beta < MACH_PREC) || (state.hasConverged);
+        manager.fireInitializationEvent(event);
+        if (!earlyStop) {
+            do {
+                manager.incrementIterationCount();
+                manager.fireIterationStartedEvent(event);
+                state.update();
+                manager.fireIterationPerformedEvent(event);
+            } while (!state.hasConverged);
+        }
+        state.refine(x);
+        /*
+         * The following two lines are a hack because state.x is now refined,
+         * so further calls to state.refine() (via event.getSolution()) should
+         * *not* return an altered value of state.x.
+         */
+        state.bstep = 0.;
+        state.gammaZeta = 0.;
+        manager.fireTerminationEvent(event);
+        return x;
+    }
+
+    /**
+     * {@inheritDoc}
+     *
+     * @param x the vector to be updated with the solution; {@code x} should
+     * not be considered as an initial guess (<a href="#initguess">more</a>)
+     * @throws NonSelfAdjointOperatorException if {@link #getCheck()} is
+     * {@code true}, and {@code a} is not self-adjoint
+     * @throws IllConditionedOperatorException if {@code a} is ill-conditioned
+     */
+    @Override
+    public RealVector solveInPlace(final RealLinearOperator a,
+        final RealVector b, final RealVector x) throws NullArgumentException,
+        NonSquareOperatorException, DimensionMismatchException,
+        NonSelfAdjointOperatorException, IllConditionedOperatorException,
+        MaxCountExceededException {
+        return solveInPlace(a, null, b, x, false, 0.);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/TriDiagonalTransformer.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/TriDiagonalTransformer.java
new file mode 100644
index 0000000000..2cf66b793e
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/TriDiagonalTransformer.java
@@ -0,0 +1,254 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.linear;
+
+import java.util.Arrays;
+
+import org.apache.commons.math3.util.FastMath;
+
+
+/**
+ * Class transforming a symmetrical matrix to tridiagonal shape.
+ * <p>A symmetrical m &times; m matrix A can be written as the product of three matrices:
+ * A = Q &times; T &times; Q<sup>T</sup> with Q an orthogonal matrix and T a symmetrical
+ * tridiagonal matrix. Both Q and T are m &times; m matrices.</p>
+ * <p>This implementation only uses the upper part of the matrix, the part below the
+ * diagonal is not accessed at all.</p>
+ * <p>Transformation to tridiagonal shape is often not a goal by itself, but it is
+ * an intermediate step in more general decomposition algorithms like {@link
+ * EigenDecomposition eigen decomposition}. This class is therefore intended for internal
+ * use by the library and is not public. As a consequence of this explicitly limited scope,
+ * many methods directly returns references to internal arrays, not copies.</p>
+ * @version $Id: TriDiagonalTransformer.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+class TriDiagonalTransformer {
+    /** Householder vectors. */
+    private final double householderVectors[][];
+    /** Main diagonal. */
+    private final double[] main;
+    /** Secondary diagonal. */
+    private final double[] secondary;
+    /** Cached value of Q. */
+    private RealMatrix cachedQ;
+    /** Cached value of Qt. */
+    private RealMatrix cachedQt;
+    /** Cached value of T. */
+    private RealMatrix cachedT;
+
+    /**
+     * Build the transformation to tridiagonal shape of a symmetrical matrix.
+     * <p>The specified matrix is assumed to be symmetrical without any check.
+     * Only the upper triangular part of the matrix is used.</p>
+     *
+     * @param matrix Symmetrical matrix to transform.
+     * @throws NonSquareMatrixException if the matrix is not square.
+     */
+    public TriDiagonalTransformer(RealMatrix matrix) {
+        if (!matrix.isSquare()) {
+            throw new NonSquareMatrixException(matrix.getRowDimension(),
+                                               matrix.getColumnDimension());
+        }
+
+        final int m = matrix.getRowDimension();
+        householderVectors = matrix.getData();
+        main      = new double[m];
+        secondary = new double[m - 1];
+        cachedQ   = null;
+        cachedQt  = null;
+        cachedT   = null;
+
+        // transform matrix
+        transform();
+    }
+
+    /**
+     * Returns the matrix Q of the transform.
+     * <p>Q is an orthogonal matrix, i.e. its transpose is also its inverse.</p>
+     * @return the Q matrix
+     */
+    public RealMatrix getQ() {
+        if (cachedQ == null) {
+            cachedQ = getQT().transpose();
+        }
+        return cachedQ;
+    }
+
+    /**
+     * Returns the transpose of the matrix Q of the transform.
+     * <p>Q is an orthogonal matrix, i.e. its transpose is also its inverse.</p>
+     * @return the Q matrix
+     */
+    public RealMatrix getQT() {
+        if (cachedQt == null) {
+            final int m = householderVectors.length;
+            double[][] qta = new double[m][m];
+
+            // build up first part of the matrix by applying Householder transforms
+            for (int k = m - 1; k >= 1; --k) {
+                final double[] hK = householderVectors[k - 1];
+                qta[k][k] = 1;
+                if (hK[k] != 0.0) {
+                    final double inv = 1.0 / (secondary[k - 1] * hK[k]);
+                    double beta = 1.0 / secondary[k - 1];
+                    qta[k][k] = 1 + beta * hK[k];
+                    for (int i = k + 1; i < m; ++i) {
+                        qta[k][i] = beta * hK[i];
+                    }
+                    for (int j = k + 1; j < m; ++j) {
+                        beta = 0;
+                        for (int i = k + 1; i < m; ++i) {
+                            beta += qta[j][i] * hK[i];
+                        }
+                        beta *= inv;
+                        qta[j][k] = beta * hK[k];
+                        for (int i = k + 1; i < m; ++i) {
+                            qta[j][i] += beta * hK[i];
+                        }
+                    }
+                }
+            }
+            qta[0][0] = 1;
+            cachedQt = MatrixUtils.createRealMatrix(qta);
+        }
+
+        // return the cached matrix
+        return cachedQt;
+    }
+
+    /**
+     * Returns the tridiagonal matrix T of the transform.
+     * @return the T matrix
+     */
+    public RealMatrix getT() {
+        if (cachedT == null) {
+            final int m = main.length;
+            double[][] ta = new double[m][m];
+            for (int i = 0; i < m; ++i) {
+                ta[i][i] = main[i];
+                if (i > 0) {
+                    ta[i][i - 1] = secondary[i - 1];
+                }
+                if (i < main.length - 1) {
+                    ta[i][i + 1] = secondary[i];
+                }
+            }
+            cachedT = MatrixUtils.createRealMatrix(ta);
+        }
+
+        // return the cached matrix
+        return cachedT;
+    }
+
+    /**
+     * Get the Householder vectors of the transform.
+     * <p>Note that since this class is only intended for internal use,
+     * it returns directly a reference to its internal arrays, not a copy.</p>
+     * @return the main diagonal elements of the B matrix
+     */
+    double[][] getHouseholderVectorsRef() {
+        return householderVectors;
+    }
+
+    /**
+     * Get the main diagonal elements of the matrix T of the transform.
+     * <p>Note that since this class is only intended for internal use,
+     * it returns directly a reference to its internal arrays, not a copy.</p>
+     * @return the main diagonal elements of the T matrix
+     */
+    double[] getMainDiagonalRef() {
+        return main;
+    }
+
+    /**
+     * Get the secondary diagonal elements of the matrix T of the transform.
+     * <p>Note that since this class is only intended for internal use,
+     * it returns directly a reference to its internal arrays, not a copy.</p>
+     * @return the secondary diagonal elements of the T matrix
+     */
+    double[] getSecondaryDiagonalRef() {
+        return secondary;
+    }
+
+    /**
+     * Transform original matrix to tridiagonal form.
+     * <p>Transformation is done using Householder transforms.</p>
+     */
+    private void transform() {
+        final int m = householderVectors.length;
+        final double[] z = new double[m];
+        for (int k = 0; k < m - 1; k++) {
+
+            //zero-out a row and a column simultaneously
+            final double[] hK = householderVectors[k];
+            main[k] = hK[k];
+            double xNormSqr = 0;
+            for (int j = k + 1; j < m; ++j) {
+                final double c = hK[j];
+                xNormSqr += c * c;
+            }
+            final double a = (hK[k + 1] > 0) ? -FastMath.sqrt(xNormSqr) : FastMath.sqrt(xNormSqr);
+            secondary[k] = a;
+            if (a != 0.0) {
+                // apply Householder transform from left and right simultaneously
+
+                hK[k + 1] -= a;
+                final double beta = -1 / (a * hK[k + 1]);
+
+                // compute a = beta A v, where v is the Householder vector
+                // this loop is written in such a way
+                //   1) only the upper triangular part of the matrix is accessed
+                //   2) access is cache-friendly for a matrix stored in rows
+                Arrays.fill(z, k + 1, m, 0);
+                for (int i = k + 1; i < m; ++i) {
+                    final double[] hI = householderVectors[i];
+                    final double hKI = hK[i];
+                    double zI = hI[i] * hKI;
+                    for (int j = i + 1; j < m; ++j) {
+                        final double hIJ = hI[j];
+                        zI   += hIJ * hK[j];
+                        z[j] += hIJ * hKI;
+                    }
+                    z[i] = beta * (z[i] + zI);
+                }
+
+                // compute gamma = beta vT z / 2
+                double gamma = 0;
+                for (int i = k + 1; i < m; ++i) {
+                    gamma += z[i] * hK[i];
+                }
+                gamma *= beta / 2;
+
+                // compute z = z - gamma v
+                for (int i = k + 1; i < m; ++i) {
+                    z[i] -= gamma * hK[i];
+                }
+
+                // update matrix: A = A - v zT - z vT
+                // only the upper triangular part of the matrix is updated
+                for (int i = k + 1; i < m; ++i) {
+                    final double[] hI = householderVectors[i];
+                    for (int j = i; j < m; ++j) {
+                        hI[j] -= hK[i] * z[j] + z[i] * hK[j];
+                    }
+                }
+            }
+        }
+        main[m - 1] = householderVectors[m - 1][m - 1];
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/package-info.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/package-info.java
new file mode 100644
index 0000000000..4c989b8b5a
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/linear/package-info.java
@@ -0,0 +1,20 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/**
+ * Linear algebra support.
+ */
+package org.apache.commons.math3.linear;
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/package-info.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/package-info.java
new file mode 100644
index 0000000000..200346dfc2
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/package-info.java
@@ -0,0 +1,20 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/**
+ * Common classes used throughout the commons-math library.
+ */
+package org.apache.commons.math3;
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/ArithmeticUtils.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/ArithmeticUtils.java
new file mode 100644
index 0000000000..c6ad37671c
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/ArithmeticUtils.java
@@ -0,0 +1,958 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.util;
+
+import java.math.BigInteger;
+import org.apache.commons.math3.exception.MathArithmeticException;
+import org.apache.commons.math3.exception.NotPositiveException;
+import org.apache.commons.math3.exception.NumberIsTooLargeException;
+import org.apache.commons.math3.exception.util.Localizable;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Some useful, arithmetics related, additions to the built-in functions in
+ * {@link Math}.
+ *
+ * @version $Id: ArithmeticUtils.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public final class ArithmeticUtils {
+
+    /** All long-representable factorials */
+    static final long[] FACTORIALS = new long[] {
+                       1l,                  1l,                   2l,
+                       6l,                 24l,                 120l,
+                     720l,               5040l,               40320l,
+                  362880l,            3628800l,            39916800l,
+               479001600l,         6227020800l,         87178291200l,
+           1307674368000l,     20922789888000l,     355687428096000l,
+        6402373705728000l, 121645100408832000l, 2432902008176640000l };
+
+    /** Private constructor. */
+    private ArithmeticUtils() {
+        super();
+    }
+
+    /**
+     * Add two integers, checking for overflow.
+     *
+     * @param x an addend
+     * @param y an addend
+     * @return the sum {@code x+y}
+     * @throws MathArithmeticException if the result can not be represented
+     * as an {@code int}.
+     * @since 1.1
+     */
+    public static int addAndCheck(int x, int y) {
+        long s = (long)x + (long)y;
+        if (s < Integer.MIN_VALUE || s > Integer.MAX_VALUE) {
+            throw new MathArithmeticException(LocalizedFormats.OVERFLOW_IN_ADDITION, x, y);
+        }
+        return (int)s;
+    }
+
+    /**
+     * Add two long integers, checking for overflow.
+     *
+     * @param a an addend
+     * @param b an addend
+     * @return the sum {@code a+b}
+     * @throws MathArithmeticException if the result can not be represented as an
+     *         long
+     * @since 1.2
+     */
+    public static long addAndCheck(long a, long b) {
+        return ArithmeticUtils.addAndCheck(a, b, LocalizedFormats.OVERFLOW_IN_ADDITION);
+    }
+
+    /**
+     * Returns an exact representation of the <a
+     * href="http://mathworld.wolfram.com/BinomialCoefficient.html"> Binomial
+     * Coefficient</a>, "{@code n choose k}", the number of
+     * {@code k}-element subsets that can be selected from an
+     * {@code n}-element set.
+     * <p>
+     * <Strong>Preconditions</strong>:
+     * <ul>
+     * <li> {@code 0 <= k <= n } (otherwise
+     * {@code IllegalArgumentException} is thrown)</li>
+     * <li> The result is small enough to fit into a {@code long}. The
+     * largest value of {@code n} for which all coefficients are
+     * {@code  < Long.MAX_VALUE} is 66. If the computed value exceeds
+     * {@code Long.MAX_VALUE} an {@code ArithMeticException} is
+     * thrown.</li>
+     * </ul></p>
+     *
+     * @param n the size of the set
+     * @param k the size of the subsets to be counted
+     * @return {@code n choose k}
+     * @throws NotPositiveException if {@code n < 0}.
+     * @throws NumberIsTooLargeException if {@code k > n}.
+     * @throws MathArithmeticException if the result is too large to be
+     * represented by a long integer.
+     */
+    public static long binomialCoefficient(final int n, final int k) {
+        ArithmeticUtils.checkBinomial(n, k);
+        if ((n == k) || (k == 0)) {
+            return 1;
+        }
+        if ((k == 1) || (k == n - 1)) {
+            return n;
+        }
+        // Use symmetry for large k
+        if (k > n / 2) {
+            return binomialCoefficient(n, n - k);
+        }
+
+        // We use the formula
+        // (n choose k) = n! / (n-k)! / k!
+        // (n choose k) == ((n-k+1)*...*n) / (1*...*k)
+        // which could be written
+        // (n choose k) == (n-1 choose k-1) * n / k
+        long result = 1;
+        if (n <= 61) {
+            // For n <= 61, the naive implementation cannot overflow.
+            int i = n - k + 1;
+            for (int j = 1; j <= k; j++) {
+                result = result * i / j;
+                i++;
+            }
+        } else if (n <= 66) {
+            // For n > 61 but n <= 66, the result cannot overflow,
+            // but we must take care not to overflow intermediate values.
+            int i = n - k + 1;
+            for (int j = 1; j <= k; j++) {
+                // We know that (result * i) is divisible by j,
+                // but (result * i) may overflow, so we split j:
+                // Filter out the gcd, d, so j/d and i/d are integer.
+                // result is divisible by (j/d) because (j/d)
+                // is relative prime to (i/d) and is a divisor of
+                // result * (i/d).
+                final long d = gcd(i, j);
+                result = (result / (j / d)) * (i / d);
+                i++;
+            }
+        } else {
+            // For n > 66, a result overflow might occur, so we check
+            // the multiplication, taking care to not overflow
+            // unnecessary.
+            int i = n - k + 1;
+            for (int j = 1; j <= k; j++) {
+                final long d = gcd(i, j);
+                result = mulAndCheck(result / (j / d), i / d);
+                i++;
+            }
+        }
+        return result;
+    }
+
+    /**
+     * Returns a {@code double} representation of the <a
+     * href="http://mathworld.wolfram.com/BinomialCoefficient.html"> Binomial
+     * Coefficient</a>, "{@code n choose k}", the number of
+     * {@code k}-element subsets that can be selected from an
+     * {@code n}-element set.
+     * <p>
+     * <Strong>Preconditions</strong>:
+     * <ul>
+     * <li> {@code 0 <= k <= n } (otherwise
+     * {@code IllegalArgumentException} is thrown)</li>
+     * <li> The result is small enough to fit into a {@code double}. The
+     * largest value of {@code n} for which all coefficients are <
+     * Double.MAX_VALUE is 1029. If the computed value exceeds Double.MAX_VALUE,
+     * Double.POSITIVE_INFINITY is returned</li>
+     * </ul></p>
+     *
+     * @param n the size of the set
+     * @param k the size of the subsets to be counted
+     * @return {@code n choose k}
+     * @throws NotPositiveException if {@code n < 0}.
+     * @throws NumberIsTooLargeException if {@code k > n}.
+     */
+    public static double binomialCoefficientDouble(final int n, final int k) {
+        ArithmeticUtils.checkBinomial(n, k);
+        if ((n == k) || (k == 0)) {
+            return 1d;
+        }
+        if ((k == 1) || (k == n - 1)) {
+            return n;
+        }
+        if (k > n/2) {
+            return binomialCoefficientDouble(n, n - k);
+        }
+        if (n < 67) {
+            return binomialCoefficient(n,k);
+        }
+
+        double result = 1d;
+        for (int i = 1; i <= k; i++) {
+             result *= (double)(n - k + i) / (double)i;
+        }
+
+        return FastMath.floor(result + 0.5);
+    }
+
+    /**
+     * Returns the natural {@code log} of the <a
+     * href="http://mathworld.wolfram.com/BinomialCoefficient.html"> Binomial
+     * Coefficient</a>, "{@code n choose k}", the number of
+     * {@code k}-element subsets that can be selected from an
+     * {@code n}-element set.
+     * <p>
+     * <Strong>Preconditions</strong>:
+     * <ul>
+     * <li> {@code 0 <= k <= n } (otherwise
+     * {@code IllegalArgumentException} is thrown)</li>
+     * </ul></p>
+     *
+     * @param n the size of the set
+     * @param k the size of the subsets to be counted
+     * @return {@code n choose k}
+     * @throws NotPositiveException if {@code n < 0}.
+     * @throws NumberIsTooLargeException if {@code k > n}.
+     */
+    public static double binomialCoefficientLog(final int n, final int k) {
+        ArithmeticUtils.checkBinomial(n, k);
+        if ((n == k) || (k == 0)) {
+            return 0;
+        }
+        if ((k == 1) || (k == n - 1)) {
+            return FastMath.log(n);
+        }
+
+        /*
+         * For values small enough to do exact integer computation,
+         * return the log of the exact value
+         */
+        if (n < 67) {
+            return FastMath.log(binomialCoefficient(n,k));
+        }
+
+        /*
+         * Return the log of binomialCoefficientDouble for values that will not
+         * overflow binomialCoefficientDouble
+         */
+        if (n < 1030) {
+            return FastMath.log(binomialCoefficientDouble(n, k));
+        }
+
+        if (k > n / 2) {
+            return binomialCoefficientLog(n, n - k);
+        }
+
+        /*
+         * Sum logs for values that could overflow
+         */
+        double logSum = 0;
+
+        // n!/(n-k)!
+        for (int i = n - k + 1; i <= n; i++) {
+            logSum += FastMath.log(i);
+        }
+
+        // divide by k!
+        for (int i = 2; i <= k; i++) {
+            logSum -= FastMath.log(i);
+        }
+
+        return logSum;
+    }
+
+    /**
+     * Returns n!. Shorthand for {@code n} <a
+     * href="http://mathworld.wolfram.com/Factorial.html"> Factorial</a>, the
+     * product of the numbers {@code 1,...,n}.
+     * <p>
+     * <Strong>Preconditions</strong>:
+     * <ul>
+     * <li> {@code n >= 0} (otherwise
+     * {@code IllegalArgumentException} is thrown)</li>
+     * <li> The result is small enough to fit into a {@code long}. The
+     * largest value of {@code n} for which {@code n!} <
+     * Long.MAX_VALUE} is 20. If the computed value exceeds {@code Long.MAX_VALUE}
+     * an {@code ArithMeticException } is thrown.</li>
+     * </ul>
+     * </p>
+     *
+     * @param n argument
+     * @return {@code n!}
+     * @throws MathArithmeticException if the result is too large to be represented
+     * by a {@code long}.
+     * @throws NotPositiveException if {@code n < 0}.
+     * @throws MathArithmeticException if {@code n > 20}: The factorial value is too
+     * large to fit in a {@code long}.
+     */
+    public static long factorial(final int n) {
+        if (n < 0) {
+            throw new NotPositiveException(LocalizedFormats.FACTORIAL_NEGATIVE_PARAMETER,
+                                           n);
+        }
+        if (n > 20) {
+            throw new MathArithmeticException();
+        }
+        return FACTORIALS[n];
+    }
+
+    /**
+     * Compute n!, the<a href="http://mathworld.wolfram.com/Factorial.html">
+     * factorial</a> of {@code n} (the product of the numbers 1 to n), as a
+     * {@code double}.
+     * The result should be small enough to fit into a {@code double}: The
+     * largest {@code n} for which {@code n! < Double.MAX_VALUE} is 170.
+     * If the computed value exceeds {@code Double.MAX_VALUE},
+     * {@code Double.POSITIVE_INFINITY} is returned.
+     *
+     * @param n Argument.
+     * @return {@code n!}
+     * @throws NotPositiveException if {@code n < 0}.
+     */
+    public static double factorialDouble(final int n) {
+        if (n < 0) {
+            throw new NotPositiveException(LocalizedFormats.FACTORIAL_NEGATIVE_PARAMETER,
+                                           n);
+        }
+        if (n < 21) {
+            return factorial(n);
+        }
+        return FastMath.floor(FastMath.exp(ArithmeticUtils.factorialLog(n)) + 0.5);
+    }
+
+    /**
+     * Compute the natural logarithm of the factorial of {@code n}.
+     *
+     * @param n Argument.
+     * @return {@code n!}
+     * @throws NotPositiveException if {@code n < 0}.
+     */
+    public static double factorialLog(final int n) {
+        if (n < 0) {
+            throw new NotPositiveException(LocalizedFormats.FACTORIAL_NEGATIVE_PARAMETER,
+                                           n);
+        }
+        if (n < 21) {
+            return FastMath.log(factorial(n));
+        }
+        double logSum = 0;
+        for (int i = 2; i <= n; i++) {
+            logSum += FastMath.log(i);
+        }
+        return logSum;
+    }
+
+    /**
+     * <p>
+     * Gets the greatest common divisor of the absolute value of two numbers,
+     * using the "binary gcd" method which avoids division and modulo
+     * operations. See Knuth 4.5.2 algorithm B. This algorithm is due to Josef
+     * Stein (1961).
+     * </p>
+     * Special cases:
+     * <ul>
+     * <li>The invocations
+     * {@code gcd(Integer.MIN_VALUE, Integer.MIN_VALUE)},
+     * {@code gcd(Integer.MIN_VALUE, 0)} and
+     * {@code gcd(0, Integer.MIN_VALUE)} throw an
+     * {@code ArithmeticException}, because the result would be 2^31, which
+     * is too large for an int value.</li>
+     * <li>The result of {@code gcd(x, x)}, {@code gcd(0, x)} and
+     * {@code gcd(x, 0)} is the absolute value of {@code x}, except
+     * for the special cases above.
+     * <li>The invocation {@code gcd(0, 0)} is the only one which returns
+     * {@code 0}.</li>
+     * </ul>
+     *
+     * @param p Number.
+     * @param q Number.
+     * @return the greatest common divisor, never negative.
+     * @throws MathArithmeticException if the result cannot be represented as
+     * a non-negative {@code int} value.
+     * @since 1.1
+     */
+    public static int gcd(final int p, final int q) {
+        int u = p;
+        int v = q;
+        if ((u == 0) || (v == 0)) {
+            if ((u == Integer.MIN_VALUE) || (v == Integer.MIN_VALUE)) {
+                throw new MathArithmeticException(LocalizedFormats.GCD_OVERFLOW_32_BITS,
+                                                  p, q);
+            }
+            return FastMath.abs(u) + FastMath.abs(v);
+        }
+        // keep u and v negative, as negative integers range down to
+        // -2^31, while positive numbers can only be as large as 2^31-1
+        // (i.e. we can't necessarily negate a negative number without
+        // overflow)
+        /* assert u!=0 && v!=0; */
+        if (u > 0) {
+            u = -u;
+        } // make u negative
+        if (v > 0) {
+            v = -v;
+        } // make v negative
+        // B1. [Find power of 2]
+        int k = 0;
+        while ((u & 1) == 0 && (v & 1) == 0 && k < 31) { // while u and v are
+                                                            // both even...
+            u /= 2;
+            v /= 2;
+            k++; // cast out twos.
+        }
+        if (k == 31) {
+            throw new MathArithmeticException(LocalizedFormats.GCD_OVERFLOW_32_BITS,
+                                              p, q);
+        }
+        // B2. Initialize: u and v have been divided by 2^k and at least
+        // one is odd.
+        int t = ((u & 1) == 1) ? v : -(u / 2)/* B3 */;
+        // t negative: u was odd, v may be even (t replaces v)
+        // t positive: u was even, v is odd (t replaces u)
+        do {
+            /* assert u<0 && v<0; */
+            // B4/B3: cast out twos from t.
+            while ((t & 1) == 0) { // while t is even..
+                t /= 2; // cast out twos
+            }
+            // B5 [reset max(u,v)]
+            if (t > 0) {
+                u = -t;
+            } else {
+                v = t;
+            }
+            // B6/B3. at this point both u and v should be odd.
+            t = (v - u) / 2;
+            // |u| larger: t positive (replace u)
+            // |v| larger: t negative (replace v)
+        } while (t != 0);
+        return -u * (1 << k); // gcd is u*2^k
+    }
+
+    /**
+     * <p>
+     * Gets the greatest common divisor of the absolute value of two numbers,
+     * using the "binary gcd" method which avoids division and modulo
+     * operations. See Knuth 4.5.2 algorithm B. This algorithm is due to Josef
+     * Stein (1961).
+     * </p>
+     * Special cases:
+     * <ul>
+     * <li>The invocations
+     * {@code gcd(Long.MIN_VALUE, Long.MIN_VALUE)},
+     * {@code gcd(Long.MIN_VALUE, 0L)} and
+     * {@code gcd(0L, Long.MIN_VALUE)} throw an
+     * {@code ArithmeticException}, because the result would be 2^63, which
+     * is too large for a long value.</li>
+     * <li>The result of {@code gcd(x, x)}, {@code gcd(0L, x)} and
+     * {@code gcd(x, 0L)} is the absolute value of {@code x}, except
+     * for the special cases above.
+     * <li>The invocation {@code gcd(0L, 0L)} is the only one which returns
+     * {@code 0L}.</li>
+     * </ul>
+     *
+     * @param p Number.
+     * @param q Number.
+     * @return the greatest common divisor, never negative.
+     * @throws MathArithmeticException if the result cannot be represented as
+     * a non-negative {@code long} value.
+     * @since 2.1
+     */
+    public static long gcd(final long p, final long q) {
+        long u = p;
+        long v = q;
+        if ((u == 0) || (v == 0)) {
+            if ((u == Long.MIN_VALUE) || (v == Long.MIN_VALUE)){
+                throw new MathArithmeticException(LocalizedFormats.GCD_OVERFLOW_64_BITS,
+                                                  p, q);
+            }
+            return FastMath.abs(u) + FastMath.abs(v);
+        }
+        // keep u and v negative, as negative integers range down to
+        // -2^63, while positive numbers can only be as large as 2^63-1
+        // (i.e. we can't necessarily negate a negative number without
+        // overflow)
+        /* assert u!=0 && v!=0; */
+        if (u > 0) {
+            u = -u;
+        } // make u negative
+        if (v > 0) {
+            v = -v;
+        } // make v negative
+        // B1. [Find power of 2]
+        int k = 0;
+        while ((u & 1) == 0 && (v & 1) == 0 && k < 63) { // while u and v are
+                                                            // both even...
+            u /= 2;
+            v /= 2;
+            k++; // cast out twos.
+        }
+        if (k == 63) {
+            throw new MathArithmeticException(LocalizedFormats.GCD_OVERFLOW_64_BITS,
+                                              p, q);
+        }
+        // B2. Initialize: u and v have been divided by 2^k and at least
+        // one is odd.
+        long t = ((u & 1) == 1) ? v : -(u / 2)/* B3 */;
+        // t negative: u was odd, v may be even (t replaces v)
+        // t positive: u was even, v is odd (t replaces u)
+        do {
+            /* assert u<0 && v<0; */
+            // B4/B3: cast out twos from t.
+            while ((t & 1) == 0) { // while t is even..
+                t /= 2; // cast out twos
+            }
+            // B5 [reset max(u,v)]
+            if (t > 0) {
+                u = -t;
+            } else {
+                v = t;
+            }
+            // B6/B3. at this point both u and v should be odd.
+            t = (v - u) / 2;
+            // |u| larger: t positive (replace u)
+            // |v| larger: t negative (replace v)
+        } while (t != 0);
+        return -u * (1L << k); // gcd is u*2^k
+    }
+
+    /**
+     * <p>
+     * Returns the least common multiple of the absolute value of two numbers,
+     * using the formula {@code lcm(a,b) = (a / gcd(a,b)) * b}.
+     * </p>
+     * Special cases:
+     * <ul>
+     * <li>The invocations {@code lcm(Integer.MIN_VALUE, n)} and
+     * {@code lcm(n, Integer.MIN_VALUE)}, where {@code abs(n)} is a
+     * power of 2, throw an {@code ArithmeticException}, because the result
+     * would be 2^31, which is too large for an int value.</li>
+     * <li>The result of {@code lcm(0, x)} and {@code lcm(x, 0)} is
+     * {@code 0} for any {@code x}.
+     * </ul>
+     *
+     * @param a Number.
+     * @param b Number.
+     * @return the least common multiple, never negative.
+     * @throws MathArithmeticException if the result cannot be represented as
+     * a non-negative {@code int} value.
+     * @since 1.1
+     */
+    public static int lcm(int a, int b) {
+        if (a == 0 || b == 0){
+            return 0;
+        }
+        int lcm = FastMath.abs(ArithmeticUtils.mulAndCheck(a / gcd(a, b), b));
+        if (lcm == Integer.MIN_VALUE) {
+            throw new MathArithmeticException(LocalizedFormats.LCM_OVERFLOW_32_BITS,
+                                              a, b);
+        }
+        return lcm;
+    }
+
+    /**
+     * <p>
+     * Returns the least common multiple of the absolute value of two numbers,
+     * using the formula {@code lcm(a,b) = (a / gcd(a,b)) * b}.
+     * </p>
+     * Special cases:
+     * <ul>
+     * <li>The invocations {@code lcm(Long.MIN_VALUE, n)} and
+     * {@code lcm(n, Long.MIN_VALUE)}, where {@code abs(n)} is a
+     * power of 2, throw an {@code ArithmeticException}, because the result
+     * would be 2^63, which is too large for an int value.</li>
+     * <li>The result of {@code lcm(0L, x)} and {@code lcm(x, 0L)} is
+     * {@code 0L} for any {@code x}.
+     * </ul>
+     *
+     * @param a Number.
+     * @param b Number.
+     * @return the least common multiple, never negative.
+     * @throws MathArithmeticException if the result cannot be represented
+     * as a non-negative {@code long} value.
+     * @since 2.1
+     */
+    public static long lcm(long a, long b) {
+        if (a == 0 || b == 0){
+            return 0;
+        }
+        long lcm = FastMath.abs(ArithmeticUtils.mulAndCheck(a / gcd(a, b), b));
+        if (lcm == Long.MIN_VALUE){
+            throw new MathArithmeticException(LocalizedFormats.LCM_OVERFLOW_64_BITS,
+                                              a, b);
+        }
+        return lcm;
+    }
+
+    /**
+     * Multiply two integers, checking for overflow.
+     *
+     * @param x Factor.
+     * @param y Factor.
+     * @return the product {@code x * y}.
+     * @throws MathArithmeticException if the result can not be
+     * represented as an {@code int}.
+     * @since 1.1
+     */
+    public static int mulAndCheck(int x, int y) {
+        long m = ((long)x) * ((long)y);
+        if (m < Integer.MIN_VALUE || m > Integer.MAX_VALUE) {
+            throw new MathArithmeticException();
+        }
+        return (int)m;
+    }
+
+    /**
+     * Multiply two long integers, checking for overflow.
+     *
+     * @param a Factor.
+     * @param b Factor.
+     * @return the product {@code a * b}.
+     * @throws MathArithmeticException if the result can not be represented
+     * as a {@code long}.
+     * @since 1.2
+     */
+    public static long mulAndCheck(long a, long b) {
+        long ret;
+        if (a > b) {
+            // use symmetry to reduce boundary cases
+            ret = mulAndCheck(b, a);
+        } else {
+            if (a < 0) {
+                if (b < 0) {
+                    // check for positive overflow with negative a, negative b
+                    if (a >= Long.MAX_VALUE / b) {
+                        ret = a * b;
+                    } else {
+                        throw new MathArithmeticException();
+                    }
+                } else if (b > 0) {
+                    // check for negative overflow with negative a, positive b
+                    if (Long.MIN_VALUE / b <= a) {
+                        ret = a * b;
+                    } else {
+                        throw new MathArithmeticException();
+
+                    }
+                } else {
+                    // assert b == 0
+                    ret = 0;
+                }
+            } else if (a > 0) {
+                // assert a > 0
+                // assert b > 0
+
+                // check for positive overflow with positive a, positive b
+                if (a <= Long.MAX_VALUE / b) {
+                    ret = a * b;
+                } else {
+                    throw new MathArithmeticException();
+                }
+            } else {
+                // assert a == 0
+                ret = 0;
+            }
+        }
+        return ret;
+    }
+
+    /**
+     * Subtract two integers, checking for overflow.
+     *
+     * @param x Minuend.
+     * @param y Subtrahend.
+     * @return the difference {@code x - y}.
+     * @throws MathArithmeticException if the result can not be represented
+     * as an {@code int}.
+     * @since 1.1
+     */
+    public static int subAndCheck(int x, int y) {
+        long s = (long)x - (long)y;
+        if (s < Integer.MIN_VALUE || s > Integer.MAX_VALUE) {
+            throw new MathArithmeticException(LocalizedFormats.OVERFLOW_IN_SUBTRACTION, x, y);
+        }
+        return (int)s;
+    }
+
+    /**
+     * Subtract two long integers, checking for overflow.
+     *
+     * @param a Value.
+     * @param b Value.
+     * @return the difference {@code a - b}.
+     * @throws MathArithmeticException if the result can not be represented as a
+     * {@code long}.
+     * @since 1.2
+     */
+    public static long subAndCheck(long a, long b) {
+        long ret;
+        if (b == Long.MIN_VALUE) {
+            if (a < 0) {
+                ret = a - b;
+            } else {
+                throw new MathArithmeticException(LocalizedFormats.OVERFLOW_IN_ADDITION, a, -b);
+            }
+        } else {
+            // use additive inverse
+            ret = addAndCheck(a, -b, LocalizedFormats.OVERFLOW_IN_ADDITION);
+        }
+        return ret;
+    }
+
+    /**
+     * Raise an int to an int power.
+     *
+     * @param k Number to raise.
+     * @param e Exponent (must be positive or zero).
+     * @return k<sup>e</sup>
+     * @throws NotPositiveException if {@code e < 0}.
+     */
+    public static int pow(final int k, int e) {
+        if (e < 0) {
+            throw new NotPositiveException(LocalizedFormats.EXPONENT, e);
+        }
+
+        int result = 1;
+        int k2p    = k;
+        while (e != 0) {
+            if ((e & 0x1) != 0) {
+                result *= k2p;
+            }
+            k2p *= k2p;
+            e = e >> 1;
+        }
+
+        return result;
+    }
+
+    /**
+     * Raise an int to a long power.
+     *
+     * @param k Number to raise.
+     * @param e Exponent (must be positive or zero).
+     * @return k<sup>e</sup>
+     * @throws NotPositiveException if {@code e < 0}.
+     */
+    public static int pow(final int k, long e) {
+        if (e < 0) {
+            throw new NotPositiveException(LocalizedFormats.EXPONENT, e);
+        }
+
+        int result = 1;
+        int k2p    = k;
+        while (e != 0) {
+            if ((e & 0x1) != 0) {
+                result *= k2p;
+            }
+            k2p *= k2p;
+            e = e >> 1;
+        }
+
+        return result;
+    }
+
+    /**
+     * Raise a long to an int power.
+     *
+     * @param k Number to raise.
+     * @param e Exponent (must be positive or zero).
+     * @return k<sup>e</sup>
+     * @throws NotPositiveException if {@code e < 0}.
+     */
+    public static long pow(final long k, int e) {
+        if (e < 0) {
+            throw new NotPositiveException(LocalizedFormats.EXPONENT, e);
+        }
+
+        long result = 1l;
+        long k2p    = k;
+        while (e != 0) {
+            if ((e & 0x1) != 0) {
+                result *= k2p;
+            }
+            k2p *= k2p;
+            e = e >> 1;
+        }
+
+        return result;
+    }
+
+    /**
+     * Raise a long to a long power.
+     *
+     * @param k Number to raise.
+     * @param e Exponent (must be positive or zero).
+     * @return k<sup>e</sup>
+     * @throws NotPositiveException if {@code e < 0}.
+     */
+    public static long pow(final long k, long e) {
+        if (e < 0) {
+            throw new NotPositiveException(LocalizedFormats.EXPONENT, e);
+        }
+
+        long result = 1l;
+        long k2p    = k;
+        while (e != 0) {
+            if ((e & 0x1) != 0) {
+                result *= k2p;
+            }
+            k2p *= k2p;
+            e = e >> 1;
+        }
+
+        return result;
+    }
+
+    /**
+     * Raise a BigInteger to an int power.
+     *
+     * @param k Number to raise.
+     * @param e Exponent (must be positive or zero).
+     * @return k<sup>e</sup>
+     * @throws NotPositiveException if {@code e < 0}.
+     */
+    public static BigInteger pow(final BigInteger k, int e) {
+        if (e < 0) {
+            throw new NotPositiveException(LocalizedFormats.EXPONENT, e);
+        }
+
+        return k.pow(e);
+    }
+
+    /**
+     * Raise a BigInteger to a long power.
+     *
+     * @param k Number to raise.
+     * @param e Exponent (must be positive or zero).
+     * @return k<sup>e</sup>
+     * @throws NotPositiveException if {@code e < 0}.
+     */
+    public static BigInteger pow(final BigInteger k, long e) {
+        if (e < 0) {
+            throw new NotPositiveException(LocalizedFormats.EXPONENT, e);
+        }
+
+        BigInteger result = BigInteger.ONE;
+        BigInteger k2p    = k;
+        while (e != 0) {
+            if ((e & 0x1) != 0) {
+                result = result.multiply(k2p);
+            }
+            k2p = k2p.multiply(k2p);
+            e = e >> 1;
+        }
+
+        return result;
+
+    }
+
+    /**
+     * Raise a BigInteger to a BigInteger power.
+     *
+     * @param k Number to raise.
+     * @param e Exponent (must be positive or zero).
+     * @return k<sup>e</sup>
+     * @throws NotPositiveException if {@code e < 0}.
+     */
+    public static BigInteger pow(final BigInteger k, BigInteger e) {
+        if (e.compareTo(BigInteger.ZERO) < 0) {
+            throw new NotPositiveException(LocalizedFormats.EXPONENT, e);
+        }
+
+        BigInteger result = BigInteger.ONE;
+        BigInteger k2p    = k;
+        while (!BigInteger.ZERO.equals(e)) {
+            if (e.testBit(0)) {
+                result = result.multiply(k2p);
+            }
+            k2p = k2p.multiply(k2p);
+            e = e.shiftRight(1);
+        }
+
+        return result;
+    }
+
+    /**
+     * Add two long integers, checking for overflow.
+     *
+     * @param a Addend.
+     * @param b Addend.
+     * @param pattern Pattern to use for any thrown exception.
+     * @return the sum {@code a + b}.
+     * @throws MathArithmeticException if the result cannot be represented
+     * as a {@code long}.
+     * @since 1.2
+     */
+     private static long addAndCheck(long a, long b, Localizable pattern) {
+        long ret;
+        if (a > b) {
+            // use symmetry to reduce boundary cases
+            ret = addAndCheck(b, a, pattern);
+        } else {
+            // assert a <= b
+
+            if (a < 0) {
+                if (b < 0) {
+                    // check for negative overflow
+                    if (Long.MIN_VALUE - b <= a) {
+                        ret = a + b;
+                    } else {
+                        throw new MathArithmeticException(pattern, a, b);
+                    }
+                } else {
+                    // opposite sign addition is always safe
+                    ret = a + b;
+                }
+            } else {
+                // assert a >= 0
+                // assert b >= 0
+
+                // check for positive overflow
+                if (a <= Long.MAX_VALUE - b) {
+                    ret = a + b;
+                } else {
+                    throw new MathArithmeticException(pattern, a, b);
+                }
+            }
+        }
+        return ret;
+    }
+
+    /**
+     * Check binomial preconditions.
+     *
+     * @param n Size of the set.
+     * @param k Size of the subsets to be counted.
+     * @throws NotPositiveException if {@code n < 0}.
+     * @throws NumberIsTooLargeException if {@code k > n}.
+     */
+    private static void checkBinomial(final int n, final int k) {
+        if (n < k) {
+            throw new NumberIsTooLargeException(LocalizedFormats.BINOMIAL_INVALID_PARAMETERS_ORDER,
+                                                k, n, true);
+        }
+        if (n < 0) {
+            throw new NotPositiveException(LocalizedFormats.BINOMIAL_NEGATIVE_PARAMETER, n);
+        }
+    }
+
+    /**
+     * Returns true if the argument is a power of two.
+     *
+     * @param n the number to test
+     * @return true if the argument is a power of two
+     */
+    public static boolean isPowerOfTwo(long n) {
+        return (n > 0) && ((n & (n - 1)) == 0);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/BigReal.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/BigReal.java
new file mode 100644
index 0000000000..9f68a61b4d
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/BigReal.java
@@ -0,0 +1,326 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.util;
+
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+import java.math.BigInteger;
+import java.math.MathContext;
+import java.math.RoundingMode;
+
+import org.apache.commons.math3.Field;
+import org.apache.commons.math3.FieldElement;
+import org.apache.commons.math3.exception.MathArithmeticException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Arbitrary precision decimal number.
+ * <p>
+ * This class is a simple wrapper around the standard <code>BigDecimal</code>
+ * in order to implement the {@link FieldElement} interface.
+ * </p>
+ * @since 2.0
+ * @version $Id: BigReal.java 1294043 2012-02-27 06:32:59Z celestin $
+ */
+public class BigReal implements FieldElement<BigReal>, Comparable<BigReal>, Serializable {
+
+    /** A big real representing 0. */
+    public static final BigReal ZERO = new BigReal(BigDecimal.ZERO);
+
+    /** A big real representing 1. */
+    public static final BigReal ONE = new BigReal(BigDecimal.ONE);
+
+    /** Serializable version identifier. */
+    private static final long serialVersionUID = 4984534880991310382L;
+
+    /** Underlying BigDecimal. */
+    private final BigDecimal d;
+
+    /** Rounding mode for divisions. **/
+    private RoundingMode roundingMode = RoundingMode.HALF_UP;
+
+    /*** BigDecimal scale ***/
+    private int scale = 64;
+
+    /** Build an instance from a BigDecimal.
+     * @param val value of the instance
+     */
+    public BigReal(BigDecimal val) {
+        d =  val;
+    }
+
+    /** Build an instance from a BigInteger.
+     * @param val value of the instance
+     */
+    public BigReal(BigInteger val) {
+        d = new BigDecimal(val);
+    }
+
+    /** Build an instance from an unscaled BigInteger.
+     * @param unscaledVal unscaled value
+     * @param scale scale to use
+     */
+    public BigReal(BigInteger unscaledVal, int scale) {
+        d = new BigDecimal(unscaledVal, scale);
+    }
+
+    /** Build an instance from an unscaled BigInteger.
+     * @param unscaledVal unscaled value
+     * @param scale scale to use
+     * @param mc to used
+     */
+    public BigReal(BigInteger unscaledVal, int scale, MathContext mc) {
+        d = new BigDecimal(unscaledVal, scale, mc);
+    }
+
+    /** Build an instance from a BigInteger.
+     * @param val value of the instance
+     * @param mc context to use
+     */
+    public BigReal(BigInteger val, MathContext mc) {
+        d = new BigDecimal(val, mc);
+    }
+
+    /** Build an instance from a characters representation.
+     * @param in character representation of the value
+     */
+    public BigReal(char[] in) {
+        d = new BigDecimal(in);
+    }
+
+    /** Build an instance from a characters representation.
+     * @param in character representation of the value
+     * @param offset offset of the first character to analyze
+     * @param len length of the array slice to analyze
+     */
+    public BigReal(char[] in, int offset, int len) {
+        d = new BigDecimal(in, offset, len);
+    }
+
+    /** Build an instance from a characters representation.
+     * @param in character representation of the value
+     * @param offset offset of the first character to analyze
+     * @param len length of the array slice to analyze
+     * @param mc context to use
+     */
+    public BigReal(char[] in, int offset, int len, MathContext mc) {
+        d = new BigDecimal(in, offset, len, mc);
+    }
+
+    /** Build an instance from a characters representation.
+     * @param in character representation of the value
+     * @param mc context to use
+     */
+    public BigReal(char[] in, MathContext mc) {
+        d = new BigDecimal(in, mc);
+    }
+
+    /** Build an instance from a double.
+     * @param val value of the instance
+     */
+    public BigReal(double val) {
+        d = new BigDecimal(val);
+    }
+
+    /** Build an instance from a double.
+     * @param val value of the instance
+     * @param mc context to use
+     */
+    public BigReal(double val, MathContext mc) {
+        d = new BigDecimal(val, mc);
+    }
+
+    /** Build an instance from an int.
+     * @param val value of the instance
+     */
+    public BigReal(int val) {
+        d = new BigDecimal(val);
+    }
+
+    /** Build an instance from an int.
+     * @param val value of the instance
+     * @param mc context to use
+     */
+    public BigReal(int val, MathContext mc) {
+        d = new BigDecimal(val, mc);
+    }
+
+    /** Build an instance from a long.
+     * @param val value of the instance
+     */
+    public BigReal(long val) {
+        d = new BigDecimal(val);
+    }
+
+    /** Build an instance from a long.
+     * @param val value of the instance
+     * @param mc context to use
+     */
+    public BigReal(long val, MathContext mc) {
+        d = new BigDecimal(val, mc);
+    }
+
+    /** Build an instance from a String representation.
+     * @param val character representation of the value
+     */
+    public BigReal(String val) {
+        d = new BigDecimal(val);
+    }
+
+    /** Build an instance from a String representation.
+     * @param val character representation of the value
+     * @param mc context to use
+     */
+    public BigReal(String val, MathContext mc)  {
+        d = new BigDecimal(val, mc);
+    }
+
+    /***
+     * Gets the rounding mode for division operations
+     * The default is {@code RoundingMode.HALF_UP}
+     * @return the rounding mode.
+     * @since 2.1
+     */
+    public RoundingMode getRoundingMode() {
+        return roundingMode;
+    }
+
+    /***
+     * Sets the rounding mode for decimal divisions.
+     * @param roundingMode rounding mode for decimal divisions
+     * @since 2.1
+     */
+    public void setRoundingMode(RoundingMode roundingMode) {
+        this.roundingMode = roundingMode;
+    }
+
+    /***
+     * Sets the scale for division operations.
+     * The default is 64
+     * @return the scale
+     * @since 2.1
+     */
+    public int getScale() {
+        return scale;
+    }
+
+    /***
+     * Sets the scale for division operations.
+     * @param scale scale for division operations
+     * @since 2.1
+     */
+    public void setScale(int scale) {
+        this.scale = scale;
+    }
+
+    /** {@inheritDoc} */
+    public BigReal add(BigReal a) {
+        return new BigReal(d.add(a.d));
+    }
+
+    /** {@inheritDoc} */
+    public BigReal subtract(BigReal a) {
+        return new BigReal(d.subtract(a.d));
+    }
+
+    /** {@inheritDoc} */
+    public BigReal negate() {
+        return new BigReal(d.negate());
+    }
+
+    /**
+     * {@inheritDoc}
+     *
+     * @throws MathArithmeticException if {@code a} is zero
+     */
+    public BigReal divide(BigReal a) {
+        try {
+            return new BigReal(d.divide(a.d, scale, roundingMode));
+        } catch (ArithmeticException e) {
+            // Division by zero has occured
+            throw new MathArithmeticException(LocalizedFormats.ZERO_NOT_ALLOWED);
+        }
+    }
+
+    /**
+     * {@inheritDoc}
+     *
+     * @throws MathArithmeticException if {@code this} is zero
+     */
+    public BigReal reciprocal() {
+        try {
+            return new BigReal(BigDecimal.ONE.divide(d, scale, roundingMode));
+        } catch (ArithmeticException e) {
+            // Division by zero has occured
+            throw new MathArithmeticException(LocalizedFormats.ZERO_NOT_ALLOWED);
+        }
+    }
+
+    /** {@inheritDoc} */
+    public BigReal multiply(BigReal a) {
+        return new BigReal(d.multiply(a.d));
+    }
+
+    /** {@inheritDoc} */
+    public BigReal multiply(final int n) {
+        return new BigReal(d.multiply(new BigDecimal(n)));
+    }
+
+    /** {@inheritDoc} */
+    public int compareTo(BigReal a) {
+        return d.compareTo(a.d);
+    }
+
+    /** Get the double value corresponding to the instance.
+     * @return double value corresponding to the instance
+     */
+    public double doubleValue() {
+        return d.doubleValue();
+    }
+
+    /** Get the BigDecimal value corresponding to the instance.
+     * @return BigDecimal value corresponding to the instance
+     */
+    public BigDecimal bigDecimalValue() {
+        return d;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public boolean equals(Object other) {
+        if (this == other){
+            return true;
+        }
+
+        if (other instanceof BigReal){
+            return d.equals(((BigReal) other).d);
+        }
+        return false;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public int hashCode() {
+        return d.hashCode();
+    }
+
+    /** {@inheritDoc} */
+    public Field<BigReal> getField() {
+        return BigRealField.getInstance();
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/BigRealField.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/BigRealField.java
new file mode 100644
index 0000000000..62a1ec7ecf
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/BigRealField.java
@@ -0,0 +1,84 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.util;
+
+import java.io.Serializable;
+
+import org.apache.commons.math3.Field;
+import org.apache.commons.math3.FieldElement;
+
+/**
+ * Representation of real numbers with arbitrary precision field.
+ * <p>
+ * This class is a singleton.
+ * </p>
+ * @see BigReal
+ * @version $Id: BigRealField.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public class BigRealField implements Field<BigReal>, Serializable  {
+
+    /** Serializable version identifier */
+    private static final long serialVersionUID = 4756431066541037559L;
+
+    /** Private constructor for the singleton.
+     */
+    private BigRealField() {
+    }
+
+    /** Get the unique instance.
+     * @return the unique instance
+     */
+    public static BigRealField getInstance() {
+        return LazyHolder.INSTANCE;
+    }
+
+    /** {@inheritDoc} */
+    public BigReal getOne() {
+        return BigReal.ONE;
+    }
+
+    /** {@inheritDoc} */
+    public BigReal getZero() {
+        return BigReal.ZERO;
+    }
+
+    /** {@inheritDoc} */
+    public Class<? extends FieldElement<BigReal>> getRuntimeClass() {
+        return BigReal.class;
+    }
+
+    // CHECKSTYLE: stop HideUtilityClassConstructor
+    /** Holder for the instance.
+     * <p>We use here the Initialization On Demand Holder Idiom.</p>
+     */
+    private static class LazyHolder {
+        /** Cached field instance. */
+        private static final BigRealField INSTANCE = new BigRealField();
+    }
+    // CHECKSTYLE: resume HideUtilityClassConstructor
+
+    /** Handle deserialization of the singleton.
+     * @return the singleton instance
+     */
+    private Object readResolve() {
+        // return the singleton instance
+        return LazyHolder.INSTANCE;
+    }
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/CompositeFormat.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/CompositeFormat.java
new file mode 100644
index 0000000000..561daefb5b
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/CompositeFormat.java
@@ -0,0 +1,220 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.util;
+
+import java.text.FieldPosition;
+import java.text.NumberFormat;
+import java.text.ParsePosition;
+import java.util.Locale;
+
+/**
+ * Base class for formatters of composite objects (complex numbers, vectors ...).
+ *
+ * @version $Id: CompositeFormat.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public class CompositeFormat {
+
+    /**
+     * Class contains only static methods.
+     */
+    private CompositeFormat() {}
+
+    /**
+     * Create a default number format.  The default number format is based on
+     * {@link NumberFormat#getInstance()} with the only customizing that the
+     * maximum number of fraction digits is set to 2.
+     * @return the default number format.
+     */
+    public static NumberFormat getDefaultNumberFormat() {
+        return getDefaultNumberFormat(Locale.getDefault());
+    }
+
+    /**
+     * Create a default number format.  The default number format is based on
+     * {@link NumberFormat#getInstance(java.util.Locale)} with the only
+     * customizing that the maximum number of fraction digits is set to 2.
+     * @param locale the specific locale used by the format.
+     * @return the default number format specific to the given locale.
+     */
+    public static NumberFormat getDefaultNumberFormat(final Locale locale) {
+        final NumberFormat nf = NumberFormat.getInstance(locale);
+        nf.setMaximumFractionDigits(2);
+        return nf;
+    }
+
+    /**
+     * Parses <code>source</code> until a non-whitespace character is found.
+     *
+     * @param source the string to parse
+     * @param pos input/ouput parsing parameter.  On output, <code>pos</code>
+     *        holds the index of the next non-whitespace character.
+     */
+    public static void parseAndIgnoreWhitespace(final String source,
+                                                final ParsePosition pos) {
+        parseNextCharacter(source, pos);
+        pos.setIndex(pos.getIndex() - 1);
+    }
+
+    /**
+     * Parses <code>source</code> until a non-whitespace character is found.
+     *
+     * @param source the string to parse
+     * @param pos input/ouput parsing parameter.
+     * @return the first non-whitespace character.
+     */
+    public static char parseNextCharacter(final String source,
+                                          final ParsePosition pos) {
+         int index = pos.getIndex();
+         final int n = source.length();
+         char ret = 0;
+
+         if (index < n) {
+             char c;
+             do {
+                 c = source.charAt(index++);
+             } while (Character.isWhitespace(c) && index < n);
+             pos.setIndex(index);
+
+             if (index < n) {
+                 ret = c;
+             }
+         }
+
+         return ret;
+    }
+
+    /**
+     * Parses <code>source</code> for special double values.  These values
+     * include Double.NaN, Double.POSITIVE_INFINITY, Double.NEGATIVE_INFINITY.
+     *
+     * @param source the string to parse
+     * @param value the special value to parse.
+     * @param pos input/ouput parsing parameter.
+     * @return the special number.
+     */
+    private static Number parseNumber(final String source, final double value,
+                                      final ParsePosition pos) {
+        Number ret = null;
+
+        StringBuilder sb = new StringBuilder();
+        sb.append('(');
+        sb.append(value);
+        sb.append(')');
+
+        final int n = sb.length();
+        final int startIndex = pos.getIndex();
+        final int endIndex = startIndex + n;
+        if (endIndex < source.length()) {
+            if (source.substring(startIndex, endIndex).compareTo(sb.toString()) == 0) {
+                ret = Double.valueOf(value);
+                pos.setIndex(endIndex);
+            }
+        }
+
+        return ret;
+    }
+
+    /**
+     * Parses <code>source</code> for a number.  This method can parse normal,
+     * numeric values as well as special values.  These special values include
+     * Double.NaN, Double.POSITIVE_INFINITY, Double.NEGATIVE_INFINITY.
+     *
+     * @param source the string to parse
+     * @param format the number format used to parse normal, numeric values.
+     * @param pos input/ouput parsing parameter.
+     * @return the parsed number.
+     */
+    public static Number parseNumber(final String source, final NumberFormat format,
+                                     final ParsePosition pos) {
+        final int startIndex = pos.getIndex();
+        Number number = format.parse(source, pos);
+        final int endIndex = pos.getIndex();
+
+        // check for error parsing number
+        if (startIndex == endIndex) {
+            // try parsing special numbers
+            final double[] special = {
+                Double.NaN, Double.POSITIVE_INFINITY, Double.NEGATIVE_INFINITY
+            };
+            for (int i = 0; i < special.length; ++i) {
+                number = parseNumber(source, special[i], pos);
+                if (number != null) {
+                    break;
+                }
+            }
+        }
+
+        return number;
+    }
+
+    /**
+     * Parse <code>source</code> for an expected fixed string.
+     * @param source the string to parse
+     * @param expected expected string
+     * @param pos input/ouput parsing parameter.
+     * @return true if the expected string was there
+     */
+    public static boolean parseFixedstring(final String source,
+                                           final String expected,
+                                           final ParsePosition pos) {
+
+        final int startIndex = pos.getIndex();
+        final int endIndex = startIndex + expected.length();
+        if ((startIndex >= source.length()) ||
+            (endIndex > source.length()) ||
+            (source.substring(startIndex, endIndex).compareTo(expected) != 0)) {
+            // set index back to start, error index should be the start index
+            pos.setIndex(startIndex);
+            pos.setErrorIndex(startIndex);
+            return false;
+        }
+
+        // the string was here
+        pos.setIndex(endIndex);
+        return true;
+    }
+
+    /**
+     * Formats a double value to produce a string.  In general, the value is
+     * formatted using the formatting rules of <code>format</code>.  There are
+     * three exceptions to this:
+     * <ol>
+     * <li>NaN is formatted as '(NaN)'</li>
+     * <li>Positive infinity is formatted as '(Infinity)'</li>
+     * <li>Negative infinity is formatted as '(-Infinity)'</li>
+     * </ol>
+     *
+     * @param value the double to format.
+     * @param format the format used.
+     * @param toAppendTo where the text is to be appended
+     * @param pos On input: an alignment field, if desired. On output: the
+     *            offsets of the alignment field
+     * @return the value passed in as toAppendTo.
+     */
+    public static StringBuffer formatDouble(final double value, final NumberFormat format,
+                                            final StringBuffer toAppendTo,
+                                            final FieldPosition pos) {
+        if( Double.isNaN(value) || Double.isInfinite(value) ) {
+            toAppendTo.append('(');
+            toAppendTo.append(value);
+            toAppendTo.append(')');
+        } else {
+            format.format(value, toAppendTo, pos);
+        }
+        return toAppendTo;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/ContinuedFraction.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/ContinuedFraction.java
new file mode 100644
index 0000000000..6c9d5d5c47
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/ContinuedFraction.java
@@ -0,0 +1,200 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.util;
+
+import org.apache.commons.math3.exception.ConvergenceException;
+import org.apache.commons.math3.exception.MaxCountExceededException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Provides a generic means to evaluate continued fractions.  Subclasses simply
+ * provided the a and b coefficients to evaluate the continued fraction.
+ *
+ * <p>
+ * References:
+ * <ul>
+ * <li><a href="http://mathworld.wolfram.com/ContinuedFraction.html">
+ * Continued Fraction</a></li>
+ * </ul>
+ * </p>
+ *
+ * @version $Id: ContinuedFraction.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public abstract class ContinuedFraction {
+    /** Maximum allowed numerical error. */
+    private static final double DEFAULT_EPSILON = 10e-9;
+
+    /**
+     * Default constructor.
+     */
+    protected ContinuedFraction() {
+        super();
+    }
+
+    /**
+     * Access the n-th a coefficient of the continued fraction.  Since a can be
+     * a function of the evaluation point, x, that is passed in as well.
+     * @param n the coefficient index to retrieve.
+     * @param x the evaluation point.
+     * @return the n-th a coefficient.
+     */
+    protected abstract double getA(int n, double x);
+
+    /**
+     * Access the n-th b coefficient of the continued fraction.  Since b can be
+     * a function of the evaluation point, x, that is passed in as well.
+     * @param n the coefficient index to retrieve.
+     * @param x the evaluation point.
+     * @return the n-th b coefficient.
+     */
+    protected abstract double getB(int n, double x);
+
+    /**
+     * Evaluates the continued fraction at the value x.
+     * @param x the evaluation point.
+     * @return the value of the continued fraction evaluated at x.
+     * @throws ConvergenceException if the algorithm fails to converge.
+     */
+    public double evaluate(double x) {
+        return evaluate(x, DEFAULT_EPSILON, Integer.MAX_VALUE);
+    }
+
+    /**
+     * Evaluates the continued fraction at the value x.
+     * @param x the evaluation point.
+     * @param epsilon maximum error allowed.
+     * @return the value of the continued fraction evaluated at x.
+     * @throws ConvergenceException if the algorithm fails to converge.
+     */
+    public double evaluate(double x, double epsilon) {
+        return evaluate(x, epsilon, Integer.MAX_VALUE);
+    }
+
+    /**
+     * Evaluates the continued fraction at the value x.
+     * @param x the evaluation point.
+     * @param maxIterations maximum number of convergents
+     * @return the value of the continued fraction evaluated at x.
+     * @throws ConvergenceException if the algorithm fails to converge.
+     */
+    public double evaluate(double x, int maxIterations) {
+        return evaluate(x, DEFAULT_EPSILON, maxIterations);
+    }
+
+    /**
+     * <p>
+     * Evaluates the continued fraction at the value x.
+     * </p>
+     *
+     * <p>
+     * The implementation of this method is based on equations 14-17 of:
+     * <ul>
+     * <li>
+     *   Eric W. Weisstein. "Continued Fraction." From MathWorld--A Wolfram Web
+     *   Resource. <a target="_blank"
+     *   href="http://mathworld.wolfram.com/ContinuedFraction.html">
+     *   http://mathworld.wolfram.com/ContinuedFraction.html</a>
+     * </li>
+     * </ul>
+     * The recurrence relationship defined in those equations can result in
+     * very large intermediate results which can result in numerical overflow.
+     * As a means to combat these overflow conditions, the intermediate results
+     * are scaled whenever they threaten to become numerically unstable.</p>
+     *
+     * @param x the evaluation point.
+     * @param epsilon maximum error allowed.
+     * @param maxIterations maximum number of convergents
+     * @return the value of the continued fraction evaluated at x.
+     * @throws ConvergenceException if the algorithm fails to converge.
+     */
+    public double evaluate(double x, double epsilon, int maxIterations) {
+        double p0 = 1.0;
+        double p1 = getA(0, x);
+        double q0 = 0.0;
+        double q1 = 1.0;
+        double c = p1 / q1;
+        int n = 0;
+        double relativeError = Double.MAX_VALUE;
+        while (n < maxIterations && relativeError > epsilon) {
+            ++n;
+            double a = getA(n, x);
+            double b = getB(n, x);
+            double p2 = a * p1 + b * p0;
+            double q2 = a * q1 + b * q0;
+            boolean infinite = false;
+            if (Double.isInfinite(p2) || Double.isInfinite(q2)) {
+                /*
+                 * Need to scale. Try successive powers of the larger of a or b
+                 * up to 5th power. Throw ConvergenceException if one or both
+                 * of p2, q2 still overflow.
+                 */
+                double scaleFactor = 1d;
+                double lastScaleFactor = 1d;
+                final int maxPower = 5;
+                final double scale = FastMath.max(a,b);
+                if (scale <= 0) {  // Can't scale
+                    throw new ConvergenceException(LocalizedFormats.CONTINUED_FRACTION_INFINITY_DIVERGENCE,
+                                                   x);
+                }
+                infinite = true;
+                for (int i = 0; i < maxPower; i++) {
+                    lastScaleFactor = scaleFactor;
+                    scaleFactor *= scale;
+                    if (a != 0.0 && a > b) {
+                        p2 = p1 / lastScaleFactor + (b / scaleFactor * p0);
+                        q2 = q1 / lastScaleFactor + (b / scaleFactor * q0);
+                    } else if (b != 0) {
+                        p2 = (a / scaleFactor * p1) + p0 / lastScaleFactor;
+                        q2 = (a / scaleFactor * q1) + q0 / lastScaleFactor;
+                    }
+                    infinite = Double.isInfinite(p2) || Double.isInfinite(q2);
+                    if (!infinite) {
+                        break;
+                    }
+                }
+            }
+
+            if (infinite) {
+               // Scaling failed
+               throw new ConvergenceException(LocalizedFormats.CONTINUED_FRACTION_INFINITY_DIVERGENCE,
+                                              x);
+            }
+
+            double r = p2 / q2;
+
+            if (Double.isNaN(r)) {
+                throw new ConvergenceException(LocalizedFormats.CONTINUED_FRACTION_NAN_DIVERGENCE,
+                                               x);
+            }
+            relativeError = FastMath.abs(r / c - 1.0);
+
+            // prepare for next iteration
+            c = p2 / q2;
+            p0 = p1;
+            p1 = p2;
+            q0 = q1;
+            q1 = q2;
+        }
+
+        if (n >= maxIterations) {
+            throw new MaxCountExceededException(LocalizedFormats.NON_CONVERGENT_CONTINUED_FRACTION,
+                                                maxIterations, x);
+        }
+
+        return c;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/DefaultTransformer.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/DefaultTransformer.java
new file mode 100644
index 0000000000..60258dc5a7
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/DefaultTransformer.java
@@ -0,0 +1,85 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.util;
+
+import java.io.Serializable;
+
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+import org.apache.commons.math3.exception.MathIllegalArgumentException;
+import org.apache.commons.math3.exception.NullArgumentException;
+
+/**
+ * A Default NumberTransformer for java.lang.Numbers and Numeric Strings. This
+ * provides some simple conversion capabilities to turn any java.lang.Number
+ * into a primitive double or to turn a String representation of a Number into
+ * a double.
+ *
+ * @version $Id: DefaultTransformer.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public class DefaultTransformer implements NumberTransformer, Serializable {
+
+    /** Serializable version identifier */
+    private static final long serialVersionUID = 4019938025047800455L;
+
+    /**
+     * @param o  the object that gets transformed.
+     * @return a double primitive representation of the Object o.
+     * @throws NullArgumentException if Object <code>o</code> is {@code null}.
+     * @throws MathIllegalArgumentException if Object <code>o</code>
+     * cannot successfully be transformed
+     * @see <a href="http://commons.apache.org/collections/api-release/org/apache/commons/collections/Transformer.html">Commons Collections Transformer</a>
+     */
+    public double transform(Object o)
+        throws NullArgumentException, MathIllegalArgumentException {
+
+        if (o == null) {
+            throw new NullArgumentException(LocalizedFormats.OBJECT_TRANSFORMATION);
+        }
+
+        if (o instanceof Number) {
+            return ((Number)o).doubleValue();
+        }
+
+        try {
+            return Double.valueOf(o.toString()).doubleValue();
+        } catch (NumberFormatException e) {
+            throw new MathIllegalArgumentException(LocalizedFormats.CANNOT_TRANSFORM_TO_DOUBLE,
+                                                   o.toString());
+        }
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public boolean equals(Object other) {
+        if (this == other) {
+            return true;
+        }
+        if (other == null) {
+            return false;
+        }
+        return other instanceof DefaultTransformer;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public int hashCode() {
+        // some arbitrary number ...
+        return 401993047;
+    }
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/DoubleArray.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/DoubleArray.java
new file mode 100644
index 0000000000..9d2dd429ea
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/DoubleArray.java
@@ -0,0 +1,111 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.util;
+
+
+/**
+ * Provides a standard interface for double arrays.  Allows different
+ * array implementations to support various storage mechanisms
+ * such as automatic expansion, contraction, and array "rolling".
+ *
+ * @version $Id: DoubleArray.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public interface DoubleArray {
+
+    /**
+     * Returns the number of elements currently in the array.  Please note
+     * that this may be different from the length of the internal storage array.
+     *
+     * @return number of elements
+     */
+    int getNumElements();
+
+    /**
+     * Returns the element at the specified index.  Note that if an
+     * out of bounds index is supplied a ArrayIndexOutOfBoundsException
+     * will be thrown.
+     *
+     * @param index index to fetch a value from
+     * @return value stored at the specified index
+     * @throws ArrayIndexOutOfBoundsException if <code>index</code> is less than
+     *         zero or is greater than <code>getNumElements() - 1</code>.
+     */
+    double getElement(int index);
+
+    /**
+     * Sets the element at the specified index.  If the specified index is greater than
+     * <code>getNumElements() - 1</code>, the <code>numElements</code> property
+     * is increased to <code>index +1</code> and additional storage is allocated
+     * (if necessary) for the new element and all  (uninitialized) elements
+     * between the new element and the previous end of the array).
+     *
+     * @param index index to store a value in
+     * @param value value to store at the specified index
+     * @throws ArrayIndexOutOfBoundsException if <code>index</code> is less than
+     *         zero.
+     */
+    void setElement(int index, double value);
+
+    /**
+     * Adds an element to the end of this expandable array
+     *
+     * @param value to be added to end of array
+     */
+    void addElement(double value);
+
+    /**
+     * Adds elements to the end of this expandable array
+     *
+     * @param values to be added to end of array
+     */
+    void addElements(double[] values);
+
+    /**
+     * <p>
+     * Adds an element to the end of the array and removes the first
+     * element in the array.  Returns the discarded first element.
+     * The effect is similar to a push operation in a FIFO queue.
+     * </p>
+     * <p>
+     * Example: If the array contains the elements 1, 2, 3, 4 (in that order)
+     * and addElementRolling(5) is invoked, the result is an array containing
+     * the entries 2, 3, 4, 5 and the value returned is 1.
+     * </p>
+     *
+     * @param value the value to be added to the array
+     * @return the value which has been discarded or "pushed" out of the array
+     *         by this rolling insert
+     */
+    double addElementRolling(double value);
+
+    /**
+     * Returns a double[] array containing the elements of this
+     * <code>DoubleArray</code>.  If the underlying implementation is
+     * array-based, this method should always return a copy, rather than a
+     * reference to the underlying array so that changes made to the returned
+     *  array have no effect on the <code>DoubleArray.</code>
+     *
+     * @return all elements added to the array
+     */
+    double[] getElements();
+
+    /**
+     * Clear the double array
+     */
+    void clear();
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/FastMath.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/FastMath.java
new file mode 100644
index 0000000000..96ee5d8fa9
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/FastMath.java
@@ -0,0 +1,3798 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.util;
+
+import java.io.PrintStream;
+
+/**
+ * Faster, more accurate, portable alternative to {@link Math} and
+ * {@link StrictMath} for large scale computation.
+ * <p>
+ * FastMath is a drop-in replacement for both Math and StrictMath. This
+ * means that for any method in Math (say {@code Math.sin(x)} or
+ * {@code Math.cbrt(y)}), user can directly change the class and use the
+ * methods as is (using {@code FastMath.sin(x)} or {@code FastMath.cbrt(y)}
+ * in the previous example).
+ * </p>
+ * <p>
+ * FastMath speed is achieved by relying heavily on optimizing compilers
+ * to native code present in many JVMs today and use of large tables.
+ * The larger tables are lazily initialised on first use, so that the setup
+ * time does not penalise methods that don't need them.
+ * </p>
+ * <p>
+ * Note that FastMath is
+ * extensively used inside Apache Commons Math, so by calling some algorithms,
+ * the overhead when the the tables need to be intialised will occur
+ * regardless of the end-user calling FastMath methods directly or not.
+ * Performance figures for a specific JVM and hardware can be evaluated by
+ * running the FastMathTestPerformance tests in the test directory of the source
+ * distribution.
+ * </p>
+ * <p>
+ * FastMath accuracy should be mostly independent of the JVM as it relies only
+ * on IEEE-754 basic operations and on embedded tables. Almost all operations
+ * are accurate to about 0.5 ulp throughout the domain range. This statement,
+ * of course is only a rough global observed behavior, it is <em>not</em> a
+ * guarantee for <em>every</em> double numbers input (see William Kahan's <a
+ * href="http://en.wikipedia.org/wiki/Rounding#The_table-maker.27s_dilemma">Table
+ * Maker's Dilemma</a>).
+ * </p>
+ * <p>
+ * FastMath additionally implements the following methods not found in Math/StrictMath:
+ * <ul>
+ * <li>{@link #asinh(double)}</li>
+ * <li>{@link #acosh(double)}</li>
+ * <li>{@link #atanh(double)}</li>
+ * </ul>
+ * The following methods are found in Math/StrictMath since 1.6 only, they are provided
+ * by FastMath even in 1.5 Java virtual machines
+ * <ul>
+ * <li>{@link #copySign(double, double)}</li>
+ * <li>{@link #getExponent(double)}</li>
+ * <li>{@link #nextAfter(double,double)}</li>
+ * <li>{@link #nextUp(double)}</li>
+ * <li>{@link #scalb(double, int)}</li>
+ * <li>{@link #copySign(float, float)}</li>
+ * <li>{@link #getExponent(float)}</li>
+ * <li>{@link #nextAfter(float,double)}</li>
+ * <li>{@link #nextUp(float)}</li>
+ * <li>{@link #scalb(float, int)}</li>
+ * </ul>
+ * </p>
+ * @version $Id: FastMath.java 1296518 2012-03-02 23:55:58Z erans $
+ * @since 2.2
+ */
+public class FastMath {
+
+    /** Archimede's constant PI, ratio of circle circumference to diameter. */
+    public static final double PI = 105414357.0 / 33554432.0 + 1.984187159361080883e-9;
+
+    /** Napier's constant e, base of the natural logarithm. */
+    public static final double E = 2850325.0 / 1048576.0 + 8.254840070411028747e-8;
+
+    /** Index of exp(0) in the array of integer exponentials. */
+    static final int EXP_INT_TABLE_MAX_INDEX = 750;
+    /** Length of the array of integer exponentials. */
+    static final int EXP_INT_TABLE_LEN = EXP_INT_TABLE_MAX_INDEX * 2;
+    /** Logarithm table length. */
+    static final int LN_MANT_LEN = 1024;
+    /** Exponential fractions table length. */
+    static final int EXP_FRAC_TABLE_LEN = 1025; // 0, 1/1024, ... 1024/1024
+
+    /** Indicator for tables initialization.
+     * <p>
+     * This compile-time constant should be set to true only if one explicitly
+     * wants to compute the tables at class loading time instead of using the
+     * already computed ones provided as literal arrays below.
+     * </p>
+     */
+    private static final boolean RECOMPUTE_TABLES_AT_RUNTIME = false;
+
+    /** log(2) (high bits). */
+    private static final double LN_2_A = 0.693147063255310059;
+
+    /** log(2) (low bits). */
+    private static final double LN_2_B = 1.17304635250823482e-7;
+
+    /** Coefficients for log, when input 0.99 < x < 1.01. */
+    private static final double LN_QUICK_COEF[][] = {
+        {1.0, 5.669184079525E-24},
+        {-0.25, -0.25},
+        {0.3333333134651184, 1.986821492305628E-8},
+        {-0.25, -6.663542893624021E-14},
+        {0.19999998807907104, 1.1921056801463227E-8},
+        {-0.1666666567325592, -7.800414592973399E-9},
+        {0.1428571343421936, 5.650007086920087E-9},
+        {-0.12502530217170715, -7.44321345601866E-11},
+        {0.11113807559013367, 9.219544613762692E-9},
+    };
+
+    /** Coefficients for log in the range of 1.0 < x < 1.0 + 2^-10. */
+    private static final double LN_HI_PREC_COEF[][] = {
+        {1.0, -6.032174644509064E-23},
+        {-0.25, -0.25},
+        {0.3333333134651184, 1.9868161777724352E-8},
+        {-0.2499999701976776, -2.957007209750105E-8},
+        {0.19999954104423523, 1.5830993332061267E-10},
+        {-0.16624879837036133, -2.6033824355191673E-8}
+    };
+
+    /** Sine, Cosine, Tangent tables are for 0, 1/8, 2/8, ... 13/8 = PI/2 approx. */
+    private static final int SINE_TABLE_LEN = 14;
+
+    /** Sine table (high bits). */
+    private static final double SINE_TABLE_A[] =
+        {
+        +0.0d,
+        +0.1246747374534607d,
+        +0.24740394949913025d,
+        +0.366272509098053d,
+        +0.4794255495071411d,
+        +0.5850973129272461d,
+        +0.6816387176513672d,
+        +0.7675435543060303d,
+        +0.8414709568023682d,
+        +0.902267575263977d,
+        +0.9489846229553223d,
+        +0.9808930158615112d,
+        +0.9974949359893799d,
+        +0.9985313415527344d,
+    };
+
+    /** Sine table (low bits). */
+    private static final double SINE_TABLE_B[] =
+        {
+        +0.0d,
+        -4.068233003401932E-9d,
+        +9.755392680573412E-9d,
+        +1.9987994582857286E-8d,
+        -1.0902938113007961E-8d,
+        -3.9986783938944604E-8d,
+        +4.23719669792332E-8d,
+        -5.207000323380292E-8d,
+        +2.800552834259E-8d,
+        +1.883511811213715E-8d,
+        -3.5997360512765566E-9d,
+        +4.116164446561962E-8d,
+        +5.0614674548127384E-8d,
+        -1.0129027912496858E-9d,
+    };
+
+    /** Cosine table (high bits). */
+    private static final double COSINE_TABLE_A[] =
+        {
+        +1.0d,
+        +0.9921976327896118d,
+        +0.9689123630523682d,
+        +0.9305076599121094d,
+        +0.8775825500488281d,
+        +0.8109631538391113d,
+        +0.7316888570785522d,
+        +0.6409968137741089d,
+        +0.5403022766113281d,
+        +0.4311765432357788d,
+        +0.3153223395347595d,
+        +0.19454771280288696d,
+        +0.07073719799518585d,
+        -0.05417713522911072d,
+    };
+
+    /** Cosine table (low bits). */
+    private static final double COSINE_TABLE_B[] =
+        {
+        +0.0d,
+        +3.4439717236742845E-8d,
+        +5.865827662008209E-8d,
+        -3.7999795083850525E-8d,
+        +1.184154459111628E-8d,
+        -3.43338934259355E-8d,
+        +1.1795268640216787E-8d,
+        +4.438921624363781E-8d,
+        +2.925681159240093E-8d,
+        -2.6437112632041807E-8d,
+        +2.2860509143963117E-8d,
+        -4.813899778443457E-9d,
+        +3.6725170580355583E-9d,
+        +2.0217439756338078E-10d,
+    };
+
+
+    /** Tangent table, used by atan() (high bits). */
+    private static final double TANGENT_TABLE_A[] =
+        {
+        +0.0d,
+        +0.1256551444530487d,
+        +0.25534194707870483d,
+        +0.3936265707015991d,
+        +0.5463024377822876d,
+        +0.7214844226837158d,
+        +0.9315965175628662d,
+        +1.1974215507507324d,
+        +1.5574076175689697d,
+        +2.092571258544922d,
+        +3.0095696449279785d,
+        +5.041914939880371d,
+        +14.101419448852539d,
+        -18.430862426757812d,
+    };
+
+    /** Tangent table, used by atan() (low bits). */
+    private static final double TANGENT_TABLE_B[] =
+        {
+        +0.0d,
+        -7.877917738262007E-9d,
+        -2.5857668567479893E-8d,
+        +5.2240336371356666E-9d,
+        +5.206150291559893E-8d,
+        +1.8307188599677033E-8d,
+        -5.7618793749770706E-8d,
+        +7.848361555046424E-8d,
+        +1.0708593250394448E-7d,
+        +1.7827257129423813E-8d,
+        +2.893485277253286E-8d,
+        +3.1660099222737955E-7d,
+        +4.983191803254889E-7d,
+        -3.356118100840571E-7d,
+    };
+
+    /** Bits of 1/(2*pi), need for reducePayneHanek(). */
+    private static final long RECIP_2PI[] = new long[] {
+        (0x28be60dbL << 32) | 0x9391054aL,
+        (0x7f09d5f4L << 32) | 0x7d4d3770L,
+        (0x36d8a566L << 32) | 0x4f10e410L,
+        (0x7f9458eaL << 32) | 0xf7aef158L,
+        (0x6dc91b8eL << 32) | 0x909374b8L,
+        (0x01924bbaL << 32) | 0x82746487L,
+        (0x3f877ac7L << 32) | 0x2c4a69cfL,
+        (0xba208d7dL << 32) | 0x4baed121L,
+        (0x3a671c09L << 32) | 0xad17df90L,
+        (0x4e64758eL << 32) | 0x60d4ce7dL,
+        (0x272117e2L << 32) | 0xef7e4a0eL,
+        (0xc7fe25ffL << 32) | 0xf7816603L,
+        (0xfbcbc462L << 32) | 0xd6829b47L,
+        (0xdb4d9fb3L << 32) | 0xc9f2c26dL,
+        (0xd3d18fd9L << 32) | 0xa797fa8bL,
+        (0x5d49eeb1L << 32) | 0xfaf97c5eL,
+        (0xcf41ce7dL << 32) | 0xe294a4baL,
+         0x9afed7ecL << 32  };
+
+    /** Bits of pi/4, need for reducePayneHanek(). */
+    private static final long PI_O_4_BITS[] = new long[] {
+        (0xc90fdaa2L << 32) | 0x2168c234L,
+        (0xc4c6628bL << 32) | 0x80dc1cd1L };
+
+    /** Eighths.
+     * This is used by sinQ, because its faster to do a table lookup than
+     * a multiply in this time-critical routine
+     */
+    private static final double EIGHTHS[] = {0, 0.125, 0.25, 0.375, 0.5, 0.625, 0.75, 0.875, 1.0, 1.125, 1.25, 1.375, 1.5, 1.625};
+
+    /** Table of 2^((n+2)/3) */
+    private static final double CBRTTWO[] = { 0.6299605249474366,
+                                            0.7937005259840998,
+                                            1.0,
+                                            1.2599210498948732,
+                                            1.5874010519681994 };
+
+    /*
+     *  There are 52 bits in the mantissa of a double.
+     *  For additional precision, the code splits double numbers into two parts,
+     *  by clearing the low order 30 bits if possible, and then performs the arithmetic
+     *  on each half separately.
+     */
+
+    /**
+     * 0x40000000 - used to split a double into two parts, both with the low order bits cleared.
+     * Equivalent to 2^30.
+     */
+    private static final long HEX_40000000 = 0x40000000L; // 1073741824L
+
+    /** Mask used to clear low order 30 bits */
+    private static final long MASK_30BITS = -1L - (HEX_40000000 -1); // 0xFFFFFFFFC0000000L;
+
+    /** 2^52 - double numbers this large must be integral (no fraction) or NaN or Infinite */
+    private static final double TWO_POWER_52 = 4503599627370496.0;
+
+    /** Constant: {@value}. */
+    private static final double F_1_3 = 1d / 3d;
+    /** Constant: {@value}. */
+    private static final double F_1_5 = 1d / 5d;
+    /** Constant: {@value}. */
+    private static final double F_1_7 = 1d / 7d;
+    /** Constant: {@value}. */
+    private static final double F_1_9 = 1d / 9d;
+    /** Constant: {@value}. */
+    private static final double F_1_11 = 1d / 11d;
+    /** Constant: {@value}. */
+    private static final double F_1_13 = 1d / 13d;
+    /** Constant: {@value}. */
+    private static final double F_1_15 = 1d / 15d;
+    /** Constant: {@value}. */
+    private static final double F_1_17 = 1d / 17d;
+    /** Constant: {@value}. */
+    private static final double F_3_4 = 3d / 4d;
+    /** Constant: {@value}. */
+    private static final double F_15_16 = 15d / 16d;
+    /** Constant: {@value}. */
+    private static final double F_13_14 = 13d / 14d;
+    /** Constant: {@value}. */
+    private static final double F_11_12 = 11d / 12d;
+    /** Constant: {@value}. */
+    private static final double F_9_10 = 9d / 10d;
+    /** Constant: {@value}. */
+    private static final double F_7_8 = 7d / 8d;
+    /** Constant: {@value}. */
+    private static final double F_5_6 = 5d / 6d;
+    /** Constant: {@value}. */
+    private static final double F_1_2 = 1d / 2d;
+    /** Constant: {@value}. */
+    private static final double F_1_4 = 1d / 4d;
+
+    /**
+     * Private Constructor
+     */
+    private FastMath() {}
+
+    // Generic helper methods
+
+    /**
+     * Get the high order bits from the mantissa.
+     * Equivalent to adding and subtracting HEX_40000 but also works for very large numbers
+     *
+     * @param d the value to split
+     * @return the high order part of the mantissa
+     */
+    private static double doubleHighPart(double d) {
+        if (d > -Precision.SAFE_MIN && d < Precision.SAFE_MIN){
+            return d; // These are un-normalised - don't try to convert
+        }
+        long xl = Double.doubleToLongBits(d);
+        xl = xl & MASK_30BITS; // Drop low order bits
+        return Double.longBitsToDouble(xl);
+    }
+
+    /** Compute the square root of a number.
+     * <p><b>Note:</b> this implementation currently delegates to {@link Math#sqrt}
+     * @param a number on which evaluation is done
+     * @return square root of a
+     */
+    public static double sqrt(final double a) {
+        return Math.sqrt(a);
+    }
+
+    /** Compute the hyperbolic cosine of a number.
+     * @param x number on which evaluation is done
+     * @return hyperbolic cosine of x
+     */
+    public static double cosh(double x) {
+      if (x != x) {
+          return x;
+      }
+
+      // cosh[z] = (exp(z) + exp(-z))/2
+
+      // for numbers with magnitude 20 or so,
+      // exp(-z) can be ignored in comparison with exp(z)
+
+      if (x > 20.0) {
+          return exp(x)/2.0;
+      }
+
+      if (x < -20) {
+          return exp(-x)/2.0;
+      }
+
+      double hiPrec[] = new double[2];
+      if (x < 0.0) {
+          x = -x;
+      }
+      exp(x, 0.0, hiPrec);
+
+      double ya = hiPrec[0] + hiPrec[1];
+      double yb = -(ya - hiPrec[0] - hiPrec[1]);
+
+      double temp = ya * HEX_40000000;
+      double yaa = ya + temp - temp;
+      double yab = ya - yaa;
+
+      // recip = 1/y
+      double recip = 1.0/ya;
+      temp = recip * HEX_40000000;
+      double recipa = recip + temp - temp;
+      double recipb = recip - recipa;
+
+      // Correct for rounding in division
+      recipb += (1.0 - yaa*recipa - yaa*recipb - yab*recipa - yab*recipb) * recip;
+      // Account for yb
+      recipb += -yb * recip * recip;
+
+      // y = y + 1/y
+      temp = ya + recipa;
+      yb += -(temp - ya - recipa);
+      ya = temp;
+      temp = ya + recipb;
+      yb += -(temp - ya - recipb);
+      ya = temp;
+
+      double result = ya + yb;
+      result *= 0.5;
+      return result;
+    }
+
+    /** Compute the hyperbolic sine of a number.
+     * @param x number on which evaluation is done
+     * @return hyperbolic sine of x
+     */
+    public static double sinh(double x) {
+      boolean negate = false;
+      if (x != x) {
+          return x;
+      }
+
+      // sinh[z] = (exp(z) - exp(-z) / 2
+
+      // for values of z larger than about 20,
+      // exp(-z) can be ignored in comparison with exp(z)
+
+      if (x > 20.0) {
+          return exp(x)/2.0;
+      }
+
+      if (x < -20) {
+          return -exp(-x)/2.0;
+      }
+
+      if (x == 0) {
+          return x;
+      }
+
+      if (x < 0.0) {
+          x = -x;
+          negate = true;
+      }
+
+      double result;
+
+      if (x > 0.25) {
+          double hiPrec[] = new double[2];
+          exp(x, 0.0, hiPrec);
+
+          double ya = hiPrec[0] + hiPrec[1];
+          double yb = -(ya - hiPrec[0] - hiPrec[1]);
+
+          double temp = ya * HEX_40000000;
+          double yaa = ya + temp - temp;
+          double yab = ya - yaa;
+
+          // recip = 1/y
+          double recip = 1.0/ya;
+          temp = recip * HEX_40000000;
+          double recipa = recip + temp - temp;
+          double recipb = recip - recipa;
+
+          // Correct for rounding in division
+          recipb += (1.0 - yaa*recipa - yaa*recipb - yab*recipa - yab*recipb) * recip;
+          // Account for yb
+          recipb += -yb * recip * recip;
+
+          recipa = -recipa;
+          recipb = -recipb;
+
+          // y = y + 1/y
+          temp = ya + recipa;
+          yb += -(temp - ya - recipa);
+          ya = temp;
+          temp = ya + recipb;
+          yb += -(temp - ya - recipb);
+          ya = temp;
+
+          result = ya + yb;
+          result *= 0.5;
+      }
+      else {
+          double hiPrec[] = new double[2];
+          expm1(x, hiPrec);
+
+          double ya = hiPrec[0] + hiPrec[1];
+          double yb = -(ya - hiPrec[0] - hiPrec[1]);
+
+          /* Compute expm1(-x) = -expm1(x) / (expm1(x) + 1) */
+          double denom = 1.0 + ya;
+          double denomr = 1.0 / denom;
+          double denomb = -(denom - 1.0 - ya) + yb;
+          double ratio = ya * denomr;
+          double temp = ratio * HEX_40000000;
+          double ra = ratio + temp - temp;
+          double rb = ratio - ra;
+
+          temp = denom * HEX_40000000;
+          double za = denom + temp - temp;
+          double zb = denom - za;
+
+          rb += (ya - za*ra - za*rb - zb*ra - zb*rb) * denomr;
+
+          // Adjust for yb
+          rb += yb*denomr;                        // numerator
+          rb += -ya * denomb * denomr * denomr;   // denominator
+
+          // y = y - 1/y
+          temp = ya + ra;
+          yb += -(temp - ya - ra);
+          ya = temp;
+          temp = ya + rb;
+          yb += -(temp - ya - rb);
+          ya = temp;
+
+          result = ya + yb;
+          result *= 0.5;
+      }
+
+      if (negate) {
+          result = -result;
+      }
+
+      return result;
+    }
+
+    /** Compute the hyperbolic tangent of a number.
+     * @param x number on which evaluation is done
+     * @return hyperbolic tangent of x
+     */
+    public static double tanh(double x) {
+      boolean negate = false;
+
+      if (x != x) {
+          return x;
+      }
+
+      // tanh[z] = sinh[z] / cosh[z]
+      // = (exp(z) - exp(-z)) / (exp(z) + exp(-z))
+      // = (exp(2x) - 1) / (exp(2x) + 1)
+
+      // for magnitude > 20, sinh[z] == cosh[z] in double precision
+
+      if (x > 20.0) {
+          return 1.0;
+      }
+
+      if (x < -20) {
+          return -1.0;
+      }
+
+      if (x == 0) {
+          return x;
+      }
+
+      if (x < 0.0) {
+          x = -x;
+          negate = true;
+      }
+
+      double result;
+      if (x >= 0.5) {
+          double hiPrec[] = new double[2];
+          // tanh(x) = (exp(2x) - 1) / (exp(2x) + 1)
+          exp(x*2.0, 0.0, hiPrec);
+
+          double ya = hiPrec[0] + hiPrec[1];
+          double yb = -(ya - hiPrec[0] - hiPrec[1]);
+
+          /* Numerator */
+          double na = -1.0 + ya;
+          double nb = -(na + 1.0 - ya);
+          double temp = na + yb;
+          nb += -(temp - na - yb);
+          na = temp;
+
+          /* Denominator */
+          double da = 1.0 + ya;
+          double db = -(da - 1.0 - ya);
+          temp = da + yb;
+          db += -(temp - da - yb);
+          da = temp;
+
+          temp = da * HEX_40000000;
+          double daa = da + temp - temp;
+          double dab = da - daa;
+
+          // ratio = na/da
+          double ratio = na/da;
+          temp = ratio * HEX_40000000;
+          double ratioa = ratio + temp - temp;
+          double ratiob = ratio - ratioa;
+
+          // Correct for rounding in division
+          ratiob += (na - daa*ratioa - daa*ratiob - dab*ratioa - dab*ratiob) / da;
+
+          // Account for nb
+          ratiob += nb / da;
+          // Account for db
+          ratiob += -db * na / da / da;
+
+          result = ratioa + ratiob;
+      }
+      else {
+          double hiPrec[] = new double[2];
+          // tanh(x) = expm1(2x) / (expm1(2x) + 2)
+          expm1(x*2.0, hiPrec);
+
+          double ya = hiPrec[0] + hiPrec[1];
+          double yb = -(ya - hiPrec[0] - hiPrec[1]);
+
+          /* Numerator */
+          double na = ya;
+          double nb = yb;
+
+          /* Denominator */
+          double da = 2.0 + ya;
+          double db = -(da - 2.0 - ya);
+          double temp = da + yb;
+          db += -(temp - da - yb);
+          da = temp;
+
+          temp = da * HEX_40000000;
+          double daa = da + temp - temp;
+          double dab = da - daa;
+
+          // ratio = na/da
+          double ratio = na/da;
+          temp = ratio * HEX_40000000;
+          double ratioa = ratio + temp - temp;
+          double ratiob = ratio - ratioa;
+
+          // Correct for rounding in division
+          ratiob += (na - daa*ratioa - daa*ratiob - dab*ratioa - dab*ratiob) / da;
+
+          // Account for nb
+          ratiob += nb / da;
+          // Account for db
+          ratiob += -db * na / da / da;
+
+          result = ratioa + ratiob;
+      }
+
+      if (negate) {
+          result = -result;
+      }
+
+      return result;
+    }
+
+    /** Compute the inverse hyperbolic cosine of a number.
+     * @param a number on which evaluation is done
+     * @return inverse hyperbolic cosine of a
+     */
+    public static double acosh(final double a) {
+        return FastMath.log(a + FastMath.sqrt(a * a - 1));
+    }
+
+    /** Compute the inverse hyperbolic sine of a number.
+     * @param a number on which evaluation is done
+     * @return inverse hyperbolic sine of a
+     */
+    public static double asinh(double a) {
+        boolean negative = false;
+        if (a < 0) {
+            negative = true;
+            a = -a;
+        }
+
+        double absAsinh;
+        if (a > 0.167) {
+            absAsinh = FastMath.log(FastMath.sqrt(a * a + 1) + a);
+        } else {
+            final double a2 = a * a;
+            if (a > 0.097) {
+                absAsinh = a * (1 - a2 * (F_1_3 - a2 * (F_1_5 - a2 * (F_1_7 - a2 * (F_1_9 - a2 * (F_1_11 - a2 * (F_1_13 - a2 * (F_1_15 - a2 * F_1_17 * F_15_16) * F_13_14) * F_11_12) * F_9_10) * F_7_8) * F_5_6) * F_3_4) * F_1_2);
+            } else if (a > 0.036) {
+                absAsinh = a * (1 - a2 * (F_1_3 - a2 * (F_1_5 - a2 * (F_1_7 - a2 * (F_1_9 - a2 * (F_1_11 - a2 * F_1_13 * F_11_12) * F_9_10) * F_7_8) * F_5_6) * F_3_4) * F_1_2);
+            } else if (a > 0.0036) {
+                absAsinh = a * (1 - a2 * (F_1_3 - a2 * (F_1_5 - a2 * (F_1_7 - a2 * F_1_9 * F_7_8) * F_5_6) * F_3_4) * F_1_2);
+            } else {
+                absAsinh = a * (1 - a2 * (F_1_3 - a2 * F_1_5 * F_3_4) * F_1_2);
+            }
+        }
+
+        return negative ? -absAsinh : absAsinh;
+    }
+
+    /** Compute the inverse hyperbolic tangent of a number.
+     * @param a number on which evaluation is done
+     * @return inverse hyperbolic tangent of a
+     */
+    public static double atanh(double a) {
+        boolean negative = false;
+        if (a < 0) {
+            negative = true;
+            a = -a;
+        }
+
+        double absAtanh;
+        if (a > 0.15) {
+            absAtanh = 0.5 * FastMath.log((1 + a) / (1 - a));
+        } else {
+            final double a2 = a * a;
+            if (a > 0.087) {
+                absAtanh = a * (1 + a2 * (F_1_3 + a2 * (F_1_5 + a2 * (F_1_7 + a2 * (F_1_9 + a2 * (F_1_11 + a2 * (F_1_13 + a2 * (F_1_15 + a2 * F_1_17))))))));
+            } else if (a > 0.031) {
+                absAtanh = a * (1 + a2 * (F_1_3 + a2 * (F_1_5 + a2 * (F_1_7 + a2 * (F_1_9 + a2 * (F_1_11 + a2 * F_1_13))))));
+            } else if (a > 0.003) {
+                absAtanh = a * (1 + a2 * (F_1_3 + a2 * (F_1_5 + a2 * (F_1_7 + a2 * F_1_9))));
+            } else {
+                absAtanh = a * (1 + a2 * (F_1_3 + a2 * F_1_5));
+            }
+        }
+
+        return negative ? -absAtanh : absAtanh;
+    }
+
+    /** Compute the signum of a number.
+     * The signum is -1 for negative numbers, +1 for positive numbers and 0 otherwise
+     * @param a number on which evaluation is done
+     * @return -1.0, -0.0, +0.0, +1.0 or NaN depending on sign of a
+     */
+    public static double signum(final double a) {
+        return (a < 0.0) ? -1.0 : ((a > 0.0) ? 1.0 : a); // return +0.0/-0.0/NaN depending on a
+    }
+
+    /** Compute the signum of a number.
+     * The signum is -1 for negative numbers, +1 for positive numbers and 0 otherwise
+     * @param a number on which evaluation is done
+     * @return -1.0, -0.0, +0.0, +1.0 or NaN depending on sign of a
+     */
+    public static float signum(final float a) {
+        return (a < 0.0f) ? -1.0f : ((a > 0.0f) ? 1.0f : a); // return +0.0/-0.0/NaN depending on a
+    }
+
+    /** Compute next number towards positive infinity.
+     * @param a number to which neighbor should be computed
+     * @return neighbor of a towards positive infinity
+     */
+    public static double nextUp(final double a) {
+        return nextAfter(a, Double.POSITIVE_INFINITY);
+    }
+
+    /** Compute next number towards positive infinity.
+     * @param a number to which neighbor should be computed
+     * @return neighbor of a towards positive infinity
+     */
+    public static float nextUp(final float a) {
+        return nextAfter(a, Float.POSITIVE_INFINITY);
+    }
+
+    /** Returns a pseudo-random number between 0.0 and 1.0.
+     * <p><b>Note:</b> this implementation currently delegates to {@link Math#random}
+     * @return a random number between 0.0 and 1.0
+     */
+    public static double random() {
+        return Math.random();
+    }
+
+    /**
+     * Exponential function.
+     *
+     * Computes exp(x), function result is nearly rounded.   It will be correctly
+     * rounded to the theoretical value for 99.9% of input values, otherwise it will
+     * have a 1 UPL error.
+     *
+     * Method:
+     *    Lookup intVal = exp(int(x))
+     *    Lookup fracVal = exp(int(x-int(x) / 1024.0) * 1024.0 );
+     *    Compute z as the exponential of the remaining bits by a polynomial minus one
+     *    exp(x) = intVal * fracVal * (1 + z)
+     *
+     * Accuracy:
+     *    Calculation is done with 63 bits of precision, so result should be correctly
+     *    rounded for 99.9% of input values, with less than 1 ULP error otherwise.
+     *
+     * @param x   a double
+     * @return double e<sup>x</sup>
+     */
+    public static double exp(double x) {
+        return exp(x, 0.0, null);
+    }
+
+    /**
+     * Internal helper method for exponential function.
+     * @param x original argument of the exponential function
+     * @param extra extra bits of precision on input (To Be Confirmed)
+     * @param hiPrec extra bits of precision on output (To Be Confirmed)
+     * @return exp(x)
+     */
+    private static double exp(double x, double extra, double[] hiPrec) {
+        double intPartA;
+        double intPartB;
+        int intVal;
+
+        /* Lookup exp(floor(x)).
+         * intPartA will have the upper 22 bits, intPartB will have the lower
+         * 52 bits.
+         */
+        if (x < 0.0) {
+            intVal = (int) -x;
+
+            if (intVal > 746) {
+                if (hiPrec != null) {
+                    hiPrec[0] = 0.0;
+                    hiPrec[1] = 0.0;
+                }
+                return 0.0;
+            }
+
+            if (intVal > 709) {
+                /* This will produce a subnormal output */
+                final double result = exp(x+40.19140625, extra, hiPrec) / 285040095144011776.0;
+                if (hiPrec != null) {
+                    hiPrec[0] /= 285040095144011776.0;
+                    hiPrec[1] /= 285040095144011776.0;
+                }
+                return result;
+            }
+
+            if (intVal == 709) {
+                /* exp(1.494140625) is nearly a machine number... */
+                final double result = exp(x+1.494140625, extra, hiPrec) / 4.455505956692756620;
+                if (hiPrec != null) {
+                    hiPrec[0] /= 4.455505956692756620;
+                    hiPrec[1] /= 4.455505956692756620;
+                }
+                return result;
+            }
+
+            intVal++;
+
+            intPartA = ExpIntTable.EXP_INT_TABLE_A[EXP_INT_TABLE_MAX_INDEX-intVal];
+            intPartB = ExpIntTable.EXP_INT_TABLE_B[EXP_INT_TABLE_MAX_INDEX-intVal];
+
+            intVal = -intVal;
+        } else {
+            intVal = (int) x;
+
+            if (intVal > 709) {
+                if (hiPrec != null) {
+                    hiPrec[0] = Double.POSITIVE_INFINITY;
+                    hiPrec[1] = 0.0;
+                }
+                return Double.POSITIVE_INFINITY;
+            }
+
+            intPartA = ExpIntTable.EXP_INT_TABLE_A[EXP_INT_TABLE_MAX_INDEX+intVal];
+            intPartB = ExpIntTable.EXP_INT_TABLE_B[EXP_INT_TABLE_MAX_INDEX+intVal];
+        }
+
+        /* Get the fractional part of x, find the greatest multiple of 2^-10 less than
+         * x and look up the exp function of it.
+         * fracPartA will have the upper 22 bits, fracPartB the lower 52 bits.
+         */
+        final int intFrac = (int) ((x - intVal) * 1024.0);
+        final double fracPartA = ExpFracTable.EXP_FRAC_TABLE_A[intFrac];
+        final double fracPartB = ExpFracTable.EXP_FRAC_TABLE_B[intFrac];
+
+        /* epsilon is the difference in x from the nearest multiple of 2^-10.  It
+         * has a value in the range 0 <= epsilon < 2^-10.
+         * Do the subtraction from x as the last step to avoid possible loss of percison.
+         */
+        final double epsilon = x - (intVal + intFrac / 1024.0);
+
+        /* Compute z = exp(epsilon) - 1.0 via a minimax polynomial.  z has
+       full double precision (52 bits).  Since z < 2^-10, we will have
+       62 bits of precision when combined with the contant 1.  This will be
+       used in the last addition below to get proper rounding. */
+
+        /* Remez generated polynomial.  Converges on the interval [0, 2^-10], error
+       is less than 0.5 ULP */
+        double z = 0.04168701738764507;
+        z = z * epsilon + 0.1666666505023083;
+        z = z * epsilon + 0.5000000000042687;
+        z = z * epsilon + 1.0;
+        z = z * epsilon + -3.940510424527919E-20;
+
+        /* Compute (intPartA+intPartB) * (fracPartA+fracPartB) by binomial
+       expansion.
+       tempA is exact since intPartA and intPartB only have 22 bits each.
+       tempB will have 52 bits of precision.
+         */
+        double tempA = intPartA * fracPartA;
+        double tempB = intPartA * fracPartB + intPartB * fracPartA + intPartB * fracPartB;
+
+        /* Compute the result.  (1+z)(tempA+tempB).  Order of operations is
+       important.  For accuracy add by increasing size.  tempA is exact and
+       much larger than the others.  If there are extra bits specified from the
+       pow() function, use them. */
+        final double tempC = tempB + tempA;
+        final double result;
+        if (extra != 0.0) {
+            result = tempC*extra*z + tempC*extra + tempC*z + tempB + tempA;
+        } else {
+            result = tempC*z + tempB + tempA;
+        }
+
+        if (hiPrec != null) {
+            // If requesting high precision
+            hiPrec[0] = tempA;
+            hiPrec[1] = tempC*extra*z + tempC*extra + tempC*z + tempB;
+        }
+
+        return result;
+    }
+
+    /** Compute exp(x) - 1
+     * @param x number to compute shifted exponential
+     * @return exp(x) - 1
+     */
+    public static double expm1(double x) {
+      return expm1(x, null);
+    }
+
+    /** Internal helper method for expm1
+     * @param x number to compute shifted exponential
+     * @param hiPrecOut receive high precision result for -1.0 < x < 1.0
+     * @return exp(x) - 1
+     */
+    private static double expm1(double x, double hiPrecOut[]) {
+        if (x != x || x == 0.0) { // NaN or zero
+            return x;
+        }
+
+        if (x <= -1.0 || x >= 1.0) {
+            // If not between +/- 1.0
+            //return exp(x) - 1.0;
+            double hiPrec[] = new double[2];
+            exp(x, 0.0, hiPrec);
+            if (x > 0.0) {
+                return -1.0 + hiPrec[0] + hiPrec[1];
+            } else {
+                final double ra = -1.0 + hiPrec[0];
+                double rb = -(ra + 1.0 - hiPrec[0]);
+                rb += hiPrec[1];
+                return ra + rb;
+            }
+        }
+
+        double baseA;
+        double baseB;
+        double epsilon;
+        boolean negative = false;
+
+        if (x < 0.0) {
+            x = -x;
+            negative = true;
+        }
+
+        {
+            int intFrac = (int) (x * 1024.0);
+            double tempA = ExpFracTable.EXP_FRAC_TABLE_A[intFrac] - 1.0;
+            double tempB = ExpFracTable.EXP_FRAC_TABLE_B[intFrac];
+
+            double temp = tempA + tempB;
+            tempB = -(temp - tempA - tempB);
+            tempA = temp;
+
+            temp = tempA * HEX_40000000;
+            baseA = tempA + temp - temp;
+            baseB = tempB + (tempA - baseA);
+
+            epsilon = x - intFrac/1024.0;
+        }
+
+
+        /* Compute expm1(epsilon) */
+        double zb = 0.008336750013465571;
+        zb = zb * epsilon + 0.041666663879186654;
+        zb = zb * epsilon + 0.16666666666745392;
+        zb = zb * epsilon + 0.49999999999999994;
+        zb = zb * epsilon;
+        zb = zb * epsilon;
+
+        double za = epsilon;
+        double temp = za + zb;
+        zb = -(temp - za - zb);
+        za = temp;
+
+        temp = za * HEX_40000000;
+        temp = za + temp - temp;
+        zb += za - temp;
+        za = temp;
+
+        /* Combine the parts.   expm1(a+b) = expm1(a) + expm1(b) + expm1(a)*expm1(b) */
+        double ya = za * baseA;
+        //double yb = za*baseB + zb*baseA + zb*baseB;
+        temp = ya + za * baseB;
+        double yb = -(temp - ya - za * baseB);
+        ya = temp;
+
+        temp = ya + zb * baseA;
+        yb += -(temp - ya - zb * baseA);
+        ya = temp;
+
+        temp = ya + zb * baseB;
+        yb += -(temp - ya - zb*baseB);
+        ya = temp;
+
+        //ya = ya + za + baseA;
+        //yb = yb + zb + baseB;
+        temp = ya + baseA;
+        yb += -(temp - baseA - ya);
+        ya = temp;
+
+        temp = ya + za;
+        //yb += (ya > za) ? -(temp - ya - za) : -(temp - za - ya);
+        yb += -(temp - ya - za);
+        ya = temp;
+
+        temp = ya + baseB;
+        //yb += (ya > baseB) ? -(temp - ya - baseB) : -(temp - baseB - ya);
+        yb += -(temp - ya - baseB);
+        ya = temp;
+
+        temp = ya + zb;
+        //yb += (ya > zb) ? -(temp - ya - zb) : -(temp - zb - ya);
+        yb += -(temp - ya - zb);
+        ya = temp;
+
+        if (negative) {
+            /* Compute expm1(-x) = -expm1(x) / (expm1(x) + 1) */
+            double denom = 1.0 + ya;
+            double denomr = 1.0 / denom;
+            double denomb = -(denom - 1.0 - ya) + yb;
+            double ratio = ya * denomr;
+            temp = ratio * HEX_40000000;
+            final double ra = ratio + temp - temp;
+            double rb = ratio - ra;
+
+            temp = denom * HEX_40000000;
+            za = denom + temp - temp;
+            zb = denom - za;
+
+            rb += (ya - za * ra - za * rb - zb * ra - zb * rb) * denomr;
+
+            // f(x) = x/1+x
+            // Compute f'(x)
+            // Product rule:  d(uv) = du*v + u*dv
+            // Chain rule:  d(f(g(x)) = f'(g(x))*f(g'(x))
+            // d(1/x) = -1/(x*x)
+            // d(1/1+x) = -1/( (1+x)^2) *  1 =  -1/((1+x)*(1+x))
+            // d(x/1+x) = -x/((1+x)(1+x)) + 1/1+x = 1 / ((1+x)(1+x))
+
+            // Adjust for yb
+            rb += yb * denomr;                      // numerator
+            rb += -ya * denomb * denomr * denomr;   // denominator
+
+            // negate
+            ya = -ra;
+            yb = -rb;
+        }
+
+        if (hiPrecOut != null) {
+            hiPrecOut[0] = ya;
+            hiPrecOut[1] = yb;
+        }
+
+        return ya + yb;
+    }
+
+    /**
+     * Natural logarithm.
+     *
+     * @param x   a double
+     * @return log(x)
+     */
+    public static double log(final double x) {
+        return log(x, null);
+    }
+
+    /**
+     * Internal helper method for natural logarithm function.
+     * @param x original argument of the natural logarithm function
+     * @param hiPrec extra bits of precision on output (To Be Confirmed)
+     * @return log(x)
+     */
+    private static double log(final double x, final double[] hiPrec) {
+        if (x==0) { // Handle special case of +0/-0
+            return Double.NEGATIVE_INFINITY;
+        }
+        long bits = Double.doubleToLongBits(x);
+
+        /* Handle special cases of negative input, and NaN */
+        if ((bits & 0x8000000000000000L) != 0 || x != x) {
+            if (x != 0.0) {
+                if (hiPrec != null) {
+                    hiPrec[0] = Double.NaN;
+                }
+
+                return Double.NaN;
+            }
+        }
+
+        /* Handle special cases of Positive infinity. */
+        if (x == Double.POSITIVE_INFINITY) {
+            if (hiPrec != null) {
+                hiPrec[0] = Double.POSITIVE_INFINITY;
+            }
+
+            return Double.POSITIVE_INFINITY;
+        }
+
+        /* Extract the exponent */
+        int exp = (int)(bits >> 52)-1023;
+
+        if ((bits & 0x7ff0000000000000L) == 0) {
+            // Subnormal!
+            if (x == 0) {
+                // Zero
+                if (hiPrec != null) {
+                    hiPrec[0] = Double.NEGATIVE_INFINITY;
+                }
+
+                return Double.NEGATIVE_INFINITY;
+            }
+
+            /* Normalize the subnormal number. */
+            bits <<= 1;
+            while ( (bits & 0x0010000000000000L) == 0) {
+                exp--;
+                bits <<= 1;
+            }
+        }
+
+
+        if (exp == -1 || exp == 0) {
+            if (x < 1.01 && x > 0.99 && hiPrec == null) {
+                /* The normal method doesn't work well in the range [0.99, 1.01], so call do a straight
+           polynomial expansion in higer precision. */
+
+               /* Compute x - 1.0 and split it */
+                double xa = x - 1.0;
+                double xb = xa - x + 1.0;
+                double tmp = xa * HEX_40000000;
+                double aa = xa + tmp - tmp;
+                double ab = xa - aa;
+                xa = aa;
+                xb = ab;
+
+                double ya = LN_QUICK_COEF[LN_QUICK_COEF.length-1][0];
+                double yb = LN_QUICK_COEF[LN_QUICK_COEF.length-1][1];
+
+                for (int i = LN_QUICK_COEF.length - 2; i >= 0; i--) {
+                    /* Multiply a = y * x */
+                    aa = ya * xa;
+                    ab = ya * xb + yb * xa + yb * xb;
+                    /* split, so now y = a */
+                    tmp = aa * HEX_40000000;
+                    ya = aa + tmp - tmp;
+                    yb = aa - ya + ab;
+
+                    /* Add  a = y + lnQuickCoef */
+                    aa = ya + LN_QUICK_COEF[i][0];
+                    ab = yb + LN_QUICK_COEF[i][1];
+                    /* Split y = a */
+                    tmp = aa * HEX_40000000;
+                    ya = aa + tmp - tmp;
+                    yb = aa - ya + ab;
+                }
+
+                /* Multiply a = y * x */
+                aa = ya * xa;
+                ab = ya * xb + yb * xa + yb * xb;
+                /* split, so now y = a */
+                tmp = aa * HEX_40000000;
+                ya = aa + tmp - tmp;
+                yb = aa - ya + ab;
+
+                return ya + yb;
+            }
+        }
+
+        // lnm is a log of a number in the range of 1.0 - 2.0, so 0 <= lnm < ln(2)
+        double lnm[] = lnMant.LN_MANT[(int)((bits & 0x000ffc0000000000L) >> 42)];
+
+        /*
+    double epsilon = x / Double.longBitsToDouble(bits & 0xfffffc0000000000L);
+
+    epsilon -= 1.0;
+         */
+
+        // y is the most significant 10 bits of the mantissa
+        //double y = Double.longBitsToDouble(bits & 0xfffffc0000000000L);
+        //double epsilon = (x - y) / y;
+        double epsilon = (bits & 0x3ffffffffffL) / (TWO_POWER_52 + (bits & 0x000ffc0000000000L));
+
+        double lnza = 0.0;
+        double lnzb = 0.0;
+
+        if (hiPrec != null) {
+            /* split epsilon -> x */
+            double tmp = epsilon * HEX_40000000;
+            double aa = epsilon + tmp - tmp;
+            double ab = epsilon - aa;
+            double xa = aa;
+            double xb = ab;
+
+            /* Need a more accurate epsilon, so adjust the division. */
+            double numer = bits & 0x3ffffffffffL;
+            double denom = TWO_POWER_52 + (bits & 0x000ffc0000000000L);
+            aa = numer - xa*denom - xb * denom;
+            xb += aa / denom;
+
+            /* Remez polynomial evaluation */
+            double ya = LN_HI_PREC_COEF[LN_HI_PREC_COEF.length-1][0];
+            double yb = LN_HI_PREC_COEF[LN_HI_PREC_COEF.length-1][1];
+
+            for (int i = LN_HI_PREC_COEF.length - 2; i >= 0; i--) {
+                /* Multiply a = y * x */
+                aa = ya * xa;
+                ab = ya * xb + yb * xa + yb * xb;
+                /* split, so now y = a */
+                tmp = aa * HEX_40000000;
+                ya = aa + tmp - tmp;
+                yb = aa - ya + ab;
+
+                /* Add  a = y + lnHiPrecCoef */
+                aa = ya + LN_HI_PREC_COEF[i][0];
+                ab = yb + LN_HI_PREC_COEF[i][1];
+                /* Split y = a */
+                tmp = aa * HEX_40000000;
+                ya = aa + tmp - tmp;
+                yb = aa - ya + ab;
+            }
+
+            /* Multiply a = y * x */
+            aa = ya * xa;
+            ab = ya * xb + yb * xa + yb * xb;
+
+            /* split, so now lnz = a */
+            /*
+      tmp = aa * 1073741824.0;
+      lnza = aa + tmp - tmp;
+      lnzb = aa - lnza + ab;
+             */
+            lnza = aa + ab;
+            lnzb = -(lnza - aa - ab);
+        } else {
+            /* High precision not required.  Eval Remez polynomial
+         using standard double precision */
+            lnza = -0.16624882440418567;
+            lnza = lnza * epsilon + 0.19999954120254515;
+            lnza = lnza * epsilon + -0.2499999997677497;
+            lnza = lnza * epsilon + 0.3333333333332802;
+            lnza = lnza * epsilon + -0.5;
+            lnza = lnza * epsilon + 1.0;
+            lnza = lnza * epsilon;
+        }
+
+        /* Relative sizes:
+         * lnzb     [0, 2.33E-10]
+         * lnm[1]   [0, 1.17E-7]
+         * ln2B*exp [0, 1.12E-4]
+         * lnza      [0, 9.7E-4]
+         * lnm[0]   [0, 0.692]
+         * ln2A*exp [0, 709]
+         */
+
+        /* Compute the following sum:
+         * lnzb + lnm[1] + ln2B*exp + lnza + lnm[0] + ln2A*exp;
+         */
+
+        //return lnzb + lnm[1] + ln2B*exp + lnza + lnm[0] + ln2A*exp;
+        double a = LN_2_A*exp;
+        double b = 0.0;
+        double c = a+lnm[0];
+        double d = -(c-a-lnm[0]);
+        a = c;
+        b = b + d;
+
+        c = a + lnza;
+        d = -(c - a - lnza);
+        a = c;
+        b = b + d;
+
+        c = a + LN_2_B*exp;
+        d = -(c - a - LN_2_B*exp);
+        a = c;
+        b = b + d;
+
+        c = a + lnm[1];
+        d = -(c - a - lnm[1]);
+        a = c;
+        b = b + d;
+
+        c = a + lnzb;
+        d = -(c - a - lnzb);
+        a = c;
+        b = b + d;
+
+        if (hiPrec != null) {
+            hiPrec[0] = a;
+            hiPrec[1] = b;
+        }
+
+        return a + b;
+    }
+
+    /** Compute log(1 + x).
+     * @param x a number
+     * @return log(1 + x)
+     */
+    public static double log1p(final double x) {
+
+        if (x == -1) {
+            return x/0.0;   // -Infinity
+        }
+
+        if (x > 0 && 1/x == 0) { // x = Infinity
+            return x;
+        }
+
+        if (x>1e-6 || x<-1e-6) {
+            double xpa = 1.0 + x;
+            double xpb = -(xpa - 1.0 - x);
+
+            double hiPrec[] = new double[2];
+
+            final double lores = log(xpa, hiPrec);
+            if (Double.isInfinite(lores)){ // don't allow this to be converted to NaN
+                return lores;
+            }
+
+            /* Do a taylor series expansion around xpa */
+            /* f(x+y) = f(x) + f'(x)*y + f''(x)/2 y^2 */
+            double fx1 = xpb/xpa;
+
+            double epsilon = 0.5 * fx1 + 1.0;
+            epsilon = epsilon * fx1;
+
+            return epsilon + hiPrec[1] + hiPrec[0];
+        }
+
+        /* Value is small |x| < 1e6, do a Taylor series centered on 1.0 */
+        double y = x * F_1_3 - F_1_2;
+        y = y * x + 1.0;
+        y = y * x;
+
+        return y;
+    }
+
+    /** Compute the base 10 logarithm.
+     * @param x a number
+     * @return log10(x)
+     */
+    public static double log10(final double x) {
+        final double hiPrec[] = new double[2];
+
+        final double lores = log(x, hiPrec);
+        if (Double.isInfinite(lores)){ // don't allow this to be converted to NaN
+            return lores;
+        }
+
+        final double tmp = hiPrec[0] * HEX_40000000;
+        final double lna = hiPrec[0] + tmp - tmp;
+        final double lnb = hiPrec[0] - lna + hiPrec[1];
+
+        final double rln10a = 0.4342944622039795;
+        final double rln10b = 1.9699272335463627E-8;
+
+        return rln10b * lnb + rln10b * lna + rln10a * lnb + rln10a * lna;
+    }
+
+    /**
+     * Computes the <a href="http://mathworld.wolfram.com/Logarithm.html">
+     * logarithm</a> in a given base.
+     *
+     * Returns {@code NaN} if either argument is negative.
+     * If {@code base} is 0 and {@code x} is positive, 0 is returned.
+     * If {@code base} is positive and {@code x} is 0,
+     * {@code Double.NEGATIVE_INFINITY} is returned.
+     * If both arguments are 0, the result is {@code NaN}.
+     *
+     * @param base Base of the logarithm, must be greater than 0.
+     * @param x Argument, must be greater than 0.
+     * @return the value of the logarithm, i.e. the number {@code y} such that
+     * <code>base<sup>y</sup> = x</code>.
+     * @since 1.2 (previously in {@code MathUtils}, moved as of version 3.0)
+     */
+    public static double log(double base, double x) {
+        return log(x) / log(base);
+    }
+
+    /**
+     * Power function.  Compute x^y.
+     *
+     * @param x   a double
+     * @param y   a double
+     * @return double
+     */
+    public static double pow(double x, double y) {
+        final double lns[] = new double[2];
+
+        if (y == 0.0) {
+            return 1.0;
+        }
+
+        if (x != x) { // X is NaN
+            return x;
+        }
+
+
+        if (x == 0) {
+            long bits = Double.doubleToLongBits(x);
+            if ((bits & 0x8000000000000000L) != 0) {
+                // -zero
+                long yi = (long) y;
+
+                if (y < 0 && y == yi && (yi & 1) == 1) {
+                    return Double.NEGATIVE_INFINITY;
+                }
+
+                if (y > 0 && y == yi && (yi & 1) == 1) {
+                    return -0.0;
+                }
+            }
+
+            if (y < 0) {
+                return Double.POSITIVE_INFINITY;
+            }
+            if (y > 0) {
+                return 0.0;
+            }
+
+            return Double.NaN;
+        }
+
+        if (x == Double.POSITIVE_INFINITY) {
+            if (y != y) { // y is NaN
+                return y;
+            }
+            if (y < 0.0) {
+                return 0.0;
+            } else {
+                return Double.POSITIVE_INFINITY;
+            }
+        }
+
+        if (y == Double.POSITIVE_INFINITY) {
+            if (x * x == 1.0) {
+                return Double.NaN;
+            }
+
+            if (x * x > 1.0) {
+                return Double.POSITIVE_INFINITY;
+            } else {
+                return 0.0;
+            }
+        }
+
+        if (x == Double.NEGATIVE_INFINITY) {
+            if (y != y) { // y is NaN
+                return y;
+            }
+
+            if (y < 0) {
+                long yi = (long) y;
+                if (y == yi && (yi & 1) == 1) {
+                    return -0.0;
+                }
+
+                return 0.0;
+            }
+
+            if (y > 0)  {
+                long yi = (long) y;
+                if (y == yi && (yi & 1) == 1) {
+                    return Double.NEGATIVE_INFINITY;
+                }
+
+                return Double.POSITIVE_INFINITY;
+            }
+        }
+
+        if (y == Double.NEGATIVE_INFINITY) {
+
+            if (x * x == 1.0) {
+                return Double.NaN;
+            }
+
+            if (x * x < 1.0) {
+                return Double.POSITIVE_INFINITY;
+            } else {
+                return 0.0;
+            }
+        }
+
+        /* Handle special case x<0 */
+        if (x < 0) {
+            // y is an even integer in this case
+            if (y >= TWO_POWER_52 || y <= -TWO_POWER_52) {
+                return pow(-x, y);
+            }
+
+            if (y == (long) y) {
+                // If y is an integer
+                return ((long)y & 1) == 0 ? pow(-x, y) : -pow(-x, y);
+            } else {
+                return Double.NaN;
+            }
+        }
+
+        /* Split y into ya and yb such that y = ya+yb */
+        double ya;
+        double yb;
+        if (y < 8e298 && y > -8e298) {
+            double tmp1 = y * HEX_40000000;
+            ya = y + tmp1 - tmp1;
+            yb = y - ya;
+        } else {
+            double tmp1 = y * 9.31322574615478515625E-10;
+            double tmp2 = tmp1 * 9.31322574615478515625E-10;
+            ya = (tmp1 + tmp2 - tmp1) * HEX_40000000 * HEX_40000000;
+            yb = y - ya;
+        }
+
+        /* Compute ln(x) */
+        final double lores = log(x, lns);
+        if (Double.isInfinite(lores)){ // don't allow this to be converted to NaN
+            return lores;
+        }
+
+        double lna = lns[0];
+        double lnb = lns[1];
+
+        /* resplit lns */
+        double tmp1 = lna * HEX_40000000;
+        double tmp2 = lna + tmp1 - tmp1;
+        lnb += lna - tmp2;
+        lna = tmp2;
+
+        // y*ln(x) = (aa+ab)
+        final double aa = lna * ya;
+        final double ab = lna * yb + lnb * ya + lnb * yb;
+
+        lna = aa+ab;
+        lnb = -(lna - aa - ab);
+
+        double z = 1.0 / 120.0;
+        z = z * lnb + (1.0 / 24.0);
+        z = z * lnb + (1.0 / 6.0);
+        z = z * lnb + 0.5;
+        z = z * lnb + 1.0;
+        z = z * lnb;
+
+        final double result = exp(lna, z, null);
+        //result = result + result * z;
+        return result;
+    }
+
+
+    /**
+     *  Computes sin(x) - x, where |x| < 1/16.
+     *  Use a Remez polynomial approximation.
+     *  @param x a number smaller than 1/16
+     *  @return sin(x) - x
+     */
+    private static double polySine(final double x)
+    {
+        double x2 = x*x;
+
+        double p = 2.7553817452272217E-6;
+        p = p * x2 + -1.9841269659586505E-4;
+        p = p * x2 + 0.008333333333329196;
+        p = p * x2 + -0.16666666666666666;
+        //p *= x2;
+        //p *= x;
+        p = p * x2 * x;
+
+        return p;
+    }
+
+    /**
+     *  Computes cos(x) - 1, where |x| < 1/16.
+     *  Use a Remez polynomial approximation.
+     *  @param x a number smaller than 1/16
+     *  @return cos(x) - 1
+     */
+    private static double polyCosine(double x) {
+        double x2 = x*x;
+
+        double p = 2.479773539153719E-5;
+        p = p * x2 + -0.0013888888689039883;
+        p = p * x2 + 0.041666666666621166;
+        p = p * x2 + -0.49999999999999994;
+        p *= x2;
+
+        return p;
+    }
+
+    /**
+     *  Compute sine over the first quadrant (0 < x < pi/2).
+     *  Use combination of table lookup and rational polynomial expansion.
+     *  @param xa number from which sine is requested
+     *  @param xb extra bits for x (may be 0.0)
+     *  @return sin(xa + xb)
+     */
+    private static double sinQ(double xa, double xb) {
+        int idx = (int) ((xa * 8.0) + 0.5);
+        final double epsilon = xa - EIGHTHS[idx]; //idx*0.125;
+
+        // Table lookups
+        final double sintA = SINE_TABLE_A[idx];
+        final double sintB = SINE_TABLE_B[idx];
+        final double costA = COSINE_TABLE_A[idx];
+        final double costB = COSINE_TABLE_B[idx];
+
+        // Polynomial eval of sin(epsilon), cos(epsilon)
+        double sinEpsA = epsilon;
+        double sinEpsB = polySine(epsilon);
+        final double cosEpsA = 1.0;
+        final double cosEpsB = polyCosine(epsilon);
+
+        // Split epsilon   xa + xb = x
+        final double temp = sinEpsA * HEX_40000000;
+        double temp2 = (sinEpsA + temp) - temp;
+        sinEpsB +=  sinEpsA - temp2;
+        sinEpsA = temp2;
+
+        /* Compute sin(x) by angle addition formula */
+        double result;
+
+        /* Compute the following sum:
+         *
+         * result = sintA + costA*sinEpsA + sintA*cosEpsB + costA*sinEpsB +
+         *          sintB + costB*sinEpsA + sintB*cosEpsB + costB*sinEpsB;
+         *
+         * Ranges of elements
+         *
+         * xxxtA   0            PI/2
+         * xxxtB   -1.5e-9      1.5e-9
+         * sinEpsA -0.0625      0.0625
+         * sinEpsB -6e-11       6e-11
+         * cosEpsA  1.0
+         * cosEpsB  0           -0.0625
+         *
+         */
+
+        //result = sintA + costA*sinEpsA + sintA*cosEpsB + costA*sinEpsB +
+        //          sintB + costB*sinEpsA + sintB*cosEpsB + costB*sinEpsB;
+
+        //result = sintA + sintA*cosEpsB + sintB + sintB * cosEpsB;
+        //result += costA*sinEpsA + costA*sinEpsB + costB*sinEpsA + costB * sinEpsB;
+        double a = 0;
+        double b = 0;
+
+        double t = sintA;
+        double c = a + t;
+        double d = -(c - a - t);
+        a = c;
+        b = b + d;
+
+        t = costA * sinEpsA;
+        c = a + t;
+        d = -(c - a - t);
+        a = c;
+        b = b + d;
+
+        b = b + sintA * cosEpsB + costA * sinEpsB;
+        /*
+    t = sintA*cosEpsB;
+    c = a + t;
+    d = -(c - a - t);
+    a = c;
+    b = b + d;
+
+    t = costA*sinEpsB;
+    c = a + t;
+    d = -(c - a - t);
+    a = c;
+    b = b + d;
+         */
+
+        b = b + sintB + costB * sinEpsA + sintB * cosEpsB + costB * sinEpsB;
+        /*
+    t = sintB;
+    c = a + t;
+    d = -(c - a - t);
+    a = c;
+    b = b + d;
+
+    t = costB*sinEpsA;
+    c = a + t;
+    d = -(c - a - t);
+    a = c;
+    b = b + d;
+
+    t = sintB*cosEpsB;
+    c = a + t;
+    d = -(c - a - t);
+    a = c;
+    b = b + d;
+
+    t = costB*sinEpsB;
+    c = a + t;
+    d = -(c - a - t);
+    a = c;
+    b = b + d;
+         */
+
+        if (xb != 0.0) {
+            t = ((costA + costB) * (cosEpsA + cosEpsB) -
+                 (sintA + sintB) * (sinEpsA + sinEpsB)) * xb;  // approximate cosine*xb
+            c = a + t;
+            d = -(c - a - t);
+            a = c;
+            b = b + d;
+        }
+
+        result = a + b;
+
+        return result;
+    }
+
+    /**
+     * Compute cosine in the first quadrant by subtracting input from PI/2 and
+     * then calling sinQ.  This is more accurate as the input approaches PI/2.
+     *  @param xa number from which cosine is requested
+     *  @param xb extra bits for x (may be 0.0)
+     *  @return cos(xa + xb)
+     */
+    private static double cosQ(double xa, double xb) {
+        final double pi2a = 1.5707963267948966;
+        final double pi2b = 6.123233995736766E-17;
+
+        final double a = pi2a - xa;
+        double b = -(a - pi2a + xa);
+        b += pi2b - xb;
+
+        return sinQ(a, b);
+    }
+
+    /**
+     *  Compute tangent (or cotangent) over the first quadrant.   0 < x < pi/2
+     *  Use combination of table lookup and rational polynomial expansion.
+     *  @param xa number from which sine is requested
+     *  @param xb extra bits for x (may be 0.0)
+     *  @param cotanFlag if true, compute the cotangent instead of the tangent
+     *  @return tan(xa+xb) (or cotangent, depending on cotanFlag)
+     */
+    private static double tanQ(double xa, double xb, boolean cotanFlag) {
+
+        int idx = (int) ((xa * 8.0) + 0.5);
+        final double epsilon = xa - EIGHTHS[idx]; //idx*0.125;
+
+        // Table lookups
+        final double sintA = SINE_TABLE_A[idx];
+        final double sintB = SINE_TABLE_B[idx];
+        final double costA = COSINE_TABLE_A[idx];
+        final double costB = COSINE_TABLE_B[idx];
+
+        // Polynomial eval of sin(epsilon), cos(epsilon)
+        double sinEpsA = epsilon;
+        double sinEpsB = polySine(epsilon);
+        final double cosEpsA = 1.0;
+        final double cosEpsB = polyCosine(epsilon);
+
+        // Split epsilon   xa + xb = x
+        double temp = sinEpsA * HEX_40000000;
+        double temp2 = (sinEpsA + temp) - temp;
+        sinEpsB +=  sinEpsA - temp2;
+        sinEpsA = temp2;
+
+        /* Compute sin(x) by angle addition formula */
+
+        /* Compute the following sum:
+         *
+         * result = sintA + costA*sinEpsA + sintA*cosEpsB + costA*sinEpsB +
+         *          sintB + costB*sinEpsA + sintB*cosEpsB + costB*sinEpsB;
+         *
+         * Ranges of elements
+         *
+         * xxxtA   0            PI/2
+         * xxxtB   -1.5e-9      1.5e-9
+         * sinEpsA -0.0625      0.0625
+         * sinEpsB -6e-11       6e-11
+         * cosEpsA  1.0
+         * cosEpsB  0           -0.0625
+         *
+         */
+
+        //result = sintA + costA*sinEpsA + sintA*cosEpsB + costA*sinEpsB +
+        //          sintB + costB*sinEpsA + sintB*cosEpsB + costB*sinEpsB;
+
+        //result = sintA + sintA*cosEpsB + sintB + sintB * cosEpsB;
+        //result += costA*sinEpsA + costA*sinEpsB + costB*sinEpsA + costB * sinEpsB;
+        double a = 0;
+        double b = 0;
+
+        // Compute sine
+        double t = sintA;
+        double c = a + t;
+        double d = -(c - a - t);
+        a = c;
+        b = b + d;
+
+        t = costA*sinEpsA;
+        c = a + t;
+        d = -(c - a - t);
+        a = c;
+        b = b + d;
+
+        b = b + sintA*cosEpsB + costA*sinEpsB;
+        b = b + sintB + costB*sinEpsA + sintB*cosEpsB + costB*sinEpsB;
+
+        double sina = a + b;
+        double sinb = -(sina - a - b);
+
+        // Compute cosine
+
+        a = b = c = d = 0.0;
+
+        t = costA*cosEpsA;
+        c = a + t;
+        d = -(c - a - t);
+        a = c;
+        b = b + d;
+
+        t = -sintA*sinEpsA;
+        c = a + t;
+        d = -(c - a - t);
+        a = c;
+        b = b + d;
+
+        b = b + costB*cosEpsA + costA*cosEpsB + costB*cosEpsB;
+        b = b - (sintB*sinEpsA + sintA*sinEpsB + sintB*sinEpsB);
+
+        double cosa = a + b;
+        double cosb = -(cosa - a - b);
+
+        if (cotanFlag) {
+            double tmp;
+            tmp = cosa; cosa = sina; sina = tmp;
+            tmp = cosb; cosb = sinb; sinb = tmp;
+        }
+
+
+        /* estimate and correct, compute 1.0/(cosa+cosb) */
+        /*
+    double est = (sina+sinb)/(cosa+cosb);
+    double err = (sina - cosa*est) + (sinb - cosb*est);
+    est += err/(cosa+cosb);
+    err = (sina - cosa*est) + (sinb - cosb*est);
+         */
+
+        // f(x) = 1/x,   f'(x) = -1/x^2
+
+        double est = sina/cosa;
+
+        /* Split the estimate to get more accurate read on division rounding */
+        temp = est * HEX_40000000;
+        double esta = (est + temp) - temp;
+        double estb =  est - esta;
+
+        temp = cosa * HEX_40000000;
+        double cosaa = (cosa + temp) - temp;
+        double cosab =  cosa - cosaa;
+
+        //double err = (sina - est*cosa)/cosa;  // Correction for division rounding
+        double err = (sina - esta*cosaa - esta*cosab - estb*cosaa - estb*cosab)/cosa;  // Correction for division rounding
+        err += sinb/cosa;                     // Change in est due to sinb
+        err += -sina * cosb / cosa / cosa;    // Change in est due to cosb
+
+        if (xb != 0.0) {
+            // tan' = 1 + tan^2      cot' = -(1 + cot^2)
+            // Approximate impact of xb
+            double xbadj = xb + est*est*xb;
+            if (cotanFlag) {
+                xbadj = -xbadj;
+            }
+
+            err += xbadj;
+        }
+
+        return est+err;
+    }
+
+    /** Reduce the input argument using the Payne and Hanek method.
+     *  This is good for all inputs 0.0 < x < inf
+     *  Output is remainder after dividing by PI/2
+     *  The result array should contain 3 numbers.
+     *  result[0] is the integer portion, so mod 4 this gives the quadrant.
+     *  result[1] is the upper bits of the remainder
+     *  result[2] is the lower bits of the remainder
+     *
+     * @param x number to reduce
+     * @param result placeholder where to put the result
+     */
+    private static void reducePayneHanek(double x, double result[])
+    {
+        /* Convert input double to bits */
+        long inbits = Double.doubleToLongBits(x);
+        int exponent = (int) ((inbits >> 52) & 0x7ff) - 1023;
+
+        /* Convert to fixed point representation */
+        inbits &= 0x000fffffffffffffL;
+        inbits |= 0x0010000000000000L;
+
+        /* Normalize input to be between 0.5 and 1.0 */
+        exponent++;
+        inbits <<= 11;
+
+        /* Based on the exponent, get a shifted copy of recip2pi */
+        long shpi0;
+        long shpiA;
+        long shpiB;
+        int idx = exponent >> 6;
+        int shift = exponent - (idx << 6);
+
+        if (shift != 0) {
+            shpi0 = (idx == 0) ? 0 : (RECIP_2PI[idx-1] << shift);
+            shpi0 |= RECIP_2PI[idx] >>> (64-shift);
+            shpiA = (RECIP_2PI[idx] << shift) | (RECIP_2PI[idx+1] >>> (64-shift));
+            shpiB = (RECIP_2PI[idx+1] << shift) | (RECIP_2PI[idx+2] >>> (64-shift));
+        } else {
+            shpi0 = (idx == 0) ? 0 : RECIP_2PI[idx-1];
+            shpiA = RECIP_2PI[idx];
+            shpiB = RECIP_2PI[idx+1];
+        }
+
+        /* Multiply input by shpiA */
+        long a = inbits >>> 32;
+        long b = inbits & 0xffffffffL;
+
+        long c = shpiA >>> 32;
+        long d = shpiA & 0xffffffffL;
+
+        long ac = a * c;
+        long bd = b * d;
+        long bc = b * c;
+        long ad = a * d;
+
+        long prodB = bd + (ad << 32);
+        long prodA = ac + (ad >>> 32);
+
+        boolean bita = (bd & 0x8000000000000000L) != 0;
+        boolean bitb = (ad & 0x80000000L ) != 0;
+        boolean bitsum = (prodB & 0x8000000000000000L) != 0;
+
+        /* Carry */
+        if ( (bita && bitb) ||
+                ((bita || bitb) && !bitsum) ) {
+            prodA++;
+        }
+
+        bita = (prodB & 0x8000000000000000L) != 0;
+        bitb = (bc & 0x80000000L ) != 0;
+
+        prodB = prodB + (bc << 32);
+        prodA = prodA + (bc >>> 32);
+
+        bitsum = (prodB & 0x8000000000000000L) != 0;
+
+        /* Carry */
+        if ( (bita && bitb) ||
+                ((bita || bitb) && !bitsum) ) {
+            prodA++;
+        }
+
+        /* Multiply input by shpiB */
+        c = shpiB >>> 32;
+        d = shpiB & 0xffffffffL;
+        ac = a * c;
+        bc = b * c;
+        ad = a * d;
+
+        /* Collect terms */
+        ac = ac + ((bc + ad) >>> 32);
+
+        bita = (prodB & 0x8000000000000000L) != 0;
+        bitb = (ac & 0x8000000000000000L ) != 0;
+        prodB += ac;
+        bitsum = (prodB & 0x8000000000000000L) != 0;
+        /* Carry */
+        if ( (bita && bitb) ||
+                ((bita || bitb) && !bitsum) ) {
+            prodA++;
+        }
+
+        /* Multiply by shpi0 */
+        c = shpi0 >>> 32;
+        d = shpi0 & 0xffffffffL;
+
+        bd = b * d;
+        bc = b * c;
+        ad = a * d;
+
+        prodA += bd + ((bc + ad) << 32);
+
+        /*
+         * prodA, prodB now contain the remainder as a fraction of PI.  We want this as a fraction of
+         * PI/2, so use the following steps:
+         * 1.) multiply by 4.
+         * 2.) do a fixed point muliply by PI/4.
+         * 3.) Convert to floating point.
+         * 4.) Multiply by 2
+         */
+
+        /* This identifies the quadrant */
+        int intPart = (int)(prodA >>> 62);
+
+        /* Multiply by 4 */
+        prodA <<= 2;
+        prodA |= prodB >>> 62;
+        prodB <<= 2;
+
+        /* Multiply by PI/4 */
+        a = prodA >>> 32;
+        b = prodA & 0xffffffffL;
+
+        c = PI_O_4_BITS[0] >>> 32;
+        d = PI_O_4_BITS[0] & 0xffffffffL;
+
+        ac = a * c;
+        bd = b * d;
+        bc = b * c;
+        ad = a * d;
+
+        long prod2B = bd + (ad << 32);
+        long prod2A = ac + (ad >>> 32);
+
+        bita = (bd & 0x8000000000000000L) != 0;
+        bitb = (ad & 0x80000000L ) != 0;
+        bitsum = (prod2B & 0x8000000000000000L) != 0;
+
+        /* Carry */
+        if ( (bita && bitb) ||
+                ((bita || bitb) && !bitsum) ) {
+            prod2A++;
+        }
+
+        bita = (prod2B & 0x8000000000000000L) != 0;
+        bitb = (bc & 0x80000000L ) != 0;
+
+        prod2B = prod2B + (bc << 32);
+        prod2A = prod2A + (bc >>> 32);
+
+        bitsum = (prod2B & 0x8000000000000000L) != 0;
+
+        /* Carry */
+        if ( (bita && bitb) ||
+                ((bita || bitb) && !bitsum) ) {
+            prod2A++;
+        }
+
+        /* Multiply input by pio4bits[1] */
+        c = PI_O_4_BITS[1] >>> 32;
+        d = PI_O_4_BITS[1] & 0xffffffffL;
+        ac = a * c;
+        bc = b * c;
+        ad = a * d;
+
+        /* Collect terms */
+        ac = ac + ((bc + ad) >>> 32);
+
+        bita = (prod2B & 0x8000000000000000L) != 0;
+        bitb = (ac & 0x8000000000000000L ) != 0;
+        prod2B += ac;
+        bitsum = (prod2B & 0x8000000000000000L) != 0;
+        /* Carry */
+        if ( (bita && bitb) ||
+                ((bita || bitb) && !bitsum) ) {
+            prod2A++;
+        }
+
+        /* Multiply inputB by pio4bits[0] */
+        a = prodB >>> 32;
+        b = prodB & 0xffffffffL;
+        c = PI_O_4_BITS[0] >>> 32;
+        d = PI_O_4_BITS[0] & 0xffffffffL;
+        ac = a * c;
+        bc = b * c;
+        ad = a * d;
+
+        /* Collect terms */
+        ac = ac + ((bc + ad) >>> 32);
+
+        bita = (prod2B & 0x8000000000000000L) != 0;
+        bitb = (ac & 0x8000000000000000L ) != 0;
+        prod2B += ac;
+        bitsum = (prod2B & 0x8000000000000000L) != 0;
+        /* Carry */
+        if ( (bita && bitb) ||
+                ((bita || bitb) && !bitsum) ) {
+            prod2A++;
+        }
+
+        /* Convert to double */
+        double tmpA = (prod2A >>> 12) / TWO_POWER_52;  // High order 52 bits
+        double tmpB = (((prod2A & 0xfffL) << 40) + (prod2B >>> 24)) / TWO_POWER_52 / TWO_POWER_52; // Low bits
+
+        double sumA = tmpA + tmpB;
+        double sumB = -(sumA - tmpA - tmpB);
+
+        /* Multiply by PI/2 and return */
+        result[0] = intPart;
+        result[1] = sumA * 2.0;
+        result[2] = sumB * 2.0;
+    }
+
+    /**
+     *  Sine function.
+     *  @param x a number
+     *  @return sin(x)
+     */
+    public static double sin(double x) {
+        boolean negative = false;
+        int quadrant = 0;
+        double xa;
+        double xb = 0.0;
+
+        /* Take absolute value of the input */
+        xa = x;
+        if (x < 0) {
+            negative = true;
+            xa = -xa;
+        }
+
+        /* Check for zero and negative zero */
+        if (xa == 0.0) {
+            long bits = Double.doubleToLongBits(x);
+            if (bits < 0) {
+                return -0.0;
+            }
+            return 0.0;
+        }
+
+        if (xa != xa || xa == Double.POSITIVE_INFINITY) {
+            return Double.NaN;
+        }
+
+        /* Perform any argument reduction */
+        if (xa > 3294198.0) {
+            // PI * (2**20)
+            // Argument too big for CodyWaite reduction.  Must use
+            // PayneHanek.
+            double reduceResults[] = new double[3];
+            reducePayneHanek(xa, reduceResults);
+            quadrant = ((int) reduceResults[0]) & 3;
+            xa = reduceResults[1];
+            xb = reduceResults[2];
+        } else if (xa > 1.5707963267948966) {
+            /* Inline the Cody/Waite reduction for performance */
+
+            // Estimate k
+            //k = (int)(xa / 1.5707963267948966);
+            int k = (int)(xa * 0.6366197723675814);
+
+            // Compute remainder
+            double remA;
+            double remB;
+            while (true) {
+                double a = -k * 1.570796251296997;
+                remA = xa + a;
+                remB = -(remA - xa - a);
+
+                a = -k * 7.549789948768648E-8;
+                double b = remA;
+                remA = a + b;
+                remB += -(remA - b - a);
+
+                a = -k * 6.123233995736766E-17;
+                b = remA;
+                remA = a + b;
+                remB += -(remA - b - a);
+
+                if (remA > 0.0) {
+                    break;
+                }
+
+                // Remainder is negative, so decrement k and try again.
+                // This should only happen if the input is very close
+                // to an even multiple of pi/2
+                k--;
+            }
+            quadrant = k & 3;
+            xa = remA;
+            xb = remB;
+        }
+
+        if (negative) {
+            quadrant ^= 2;  // Flip bit 1
+        }
+
+        switch (quadrant) {
+            case 0:
+                return sinQ(xa, xb);
+            case 1:
+                return cosQ(xa, xb);
+            case 2:
+                return -sinQ(xa, xb);
+            case 3:
+                return -cosQ(xa, xb);
+            default:
+                return Double.NaN;
+        }
+    }
+
+    /**
+     *  Cosine function
+     *  @param x a number
+     *  @return cos(x)
+     */
+    public static double cos(double x) {
+        int quadrant = 0;
+
+        /* Take absolute value of the input */
+        double xa = x;
+        if (x < 0) {
+            xa = -xa;
+        }
+
+        if (xa != xa || xa == Double.POSITIVE_INFINITY) {
+            return Double.NaN;
+        }
+
+        /* Perform any argument reduction */
+        double xb = 0;
+        if (xa > 3294198.0) {
+            // PI * (2**20)
+            // Argument too big for CodyWaite reduction.  Must use
+            // PayneHanek.
+            double reduceResults[] = new double[3];
+            reducePayneHanek(xa, reduceResults);
+            quadrant = ((int) reduceResults[0]) & 3;
+            xa = reduceResults[1];
+            xb = reduceResults[2];
+        } else if (xa > 1.5707963267948966) {
+            /* Inline the Cody/Waite reduction for performance */
+
+            // Estimate k
+            //k = (int)(xa / 1.5707963267948966);
+            int k = (int)(xa * 0.6366197723675814);
+
+            // Compute remainder
+            double remA;
+            double remB;
+            while (true) {
+                double a = -k * 1.570796251296997;
+                remA = xa + a;
+                remB = -(remA - xa - a);
+
+                a = -k * 7.549789948768648E-8;
+                double b = remA;
+                remA = a + b;
+                remB += -(remA - b - a);
+
+                a = -k * 6.123233995736766E-17;
+                b = remA;
+                remA = a + b;
+                remB += -(remA - b - a);
+
+                if (remA > 0.0) {
+                    break;
+                }
+
+                // Remainder is negative, so decrement k and try again.
+                // This should only happen if the input is very close
+                // to an even multiple of pi/2
+                k--;
+            }
+            quadrant = k & 3;
+            xa = remA;
+            xb = remB;
+        }
+
+        //if (negative)
+        //  quadrant = (quadrant + 2) % 4;
+
+        switch (quadrant) {
+            case 0:
+                return cosQ(xa, xb);
+            case 1:
+                return -sinQ(xa, xb);
+            case 2:
+                return -cosQ(xa, xb);
+            case 3:
+                return sinQ(xa, xb);
+            default:
+                return Double.NaN;
+        }
+    }
+
+    /**
+     *   Tangent function
+     *  @param x a number
+     *  @return tan(x)
+     */
+    public static double tan(double x) {
+        boolean negative = false;
+        int quadrant = 0;
+
+        /* Take absolute value of the input */
+        double xa = x;
+        if (x < 0) {
+            negative = true;
+            xa = -xa;
+        }
+
+        /* Check for zero and negative zero */
+        if (xa == 0.0) {
+            long bits = Double.doubleToLongBits(x);
+            if (bits < 0) {
+                return -0.0;
+            }
+            return 0.0;
+        }
+
+        if (xa != xa || xa == Double.POSITIVE_INFINITY) {
+            return Double.NaN;
+        }
+
+        /* Perform any argument reduction */
+        double xb = 0;
+        if (xa > 3294198.0) {
+            // PI * (2**20)
+            // Argument too big for CodyWaite reduction.  Must use
+            // PayneHanek.
+            double reduceResults[] = new double[3];
+            reducePayneHanek(xa, reduceResults);
+            quadrant = ((int) reduceResults[0]) & 3;
+            xa = reduceResults[1];
+            xb = reduceResults[2];
+        } else if (xa > 1.5707963267948966) {
+            /* Inline the Cody/Waite reduction for performance */
+
+            // Estimate k
+            //k = (int)(xa / 1.5707963267948966);
+            int k = (int)(xa * 0.6366197723675814);
+
+            // Compute remainder
+            double remA;
+            double remB;
+            while (true) {
+                double a = -k * 1.570796251296997;
+                remA = xa + a;
+                remB = -(remA - xa - a);
+
+                a = -k * 7.549789948768648E-8;
+                double b = remA;
+                remA = a + b;
+                remB += -(remA - b - a);
+
+                a = -k * 6.123233995736766E-17;
+                b = remA;
+                remA = a + b;
+                remB += -(remA - b - a);
+
+                if (remA > 0.0) {
+                    break;
+                }
+
+                // Remainder is negative, so decrement k and try again.
+                // This should only happen if the input is very close
+                // to an even multiple of pi/2
+                k--;
+            }
+            quadrant = k & 3;
+            xa = remA;
+            xb = remB;
+        }
+
+        if (xa > 1.5) {
+            // Accurracy suffers between 1.5 and PI/2
+            final double pi2a = 1.5707963267948966;
+            final double pi2b = 6.123233995736766E-17;
+
+            final double a = pi2a - xa;
+            double b = -(a - pi2a + xa);
+            b += pi2b - xb;
+
+            xa = a + b;
+            xb = -(xa - a - b);
+            quadrant ^= 1;
+            negative ^= true;
+        }
+
+        double result;
+        if ((quadrant & 1) == 0) {
+            result = tanQ(xa, xb, false);
+        } else {
+            result = -tanQ(xa, xb, true);
+        }
+
+        if (negative) {
+            result = -result;
+        }
+
+        return result;
+    }
+
+    /**
+     * Arctangent function
+     *  @param x a number
+     *  @return atan(x)
+     */
+    public static double atan(double x) {
+        return atan(x, 0.0, false);
+    }
+
+    /** Internal helper function to compute arctangent.
+     * @param xa number from which arctangent is requested
+     * @param xb extra bits for x (may be 0.0)
+     * @param leftPlane if true, result angle must be put in the left half plane
+     * @return atan(xa + xb) (or angle shifted by {@code PI} if leftPlane is true)
+     */
+    private static double atan(double xa, double xb, boolean leftPlane) {
+        boolean negate = false;
+        int idx;
+
+        if (xa == 0.0) { // Matches +/- 0.0; return correct sign
+            return leftPlane ? copySign(Math.PI, xa) : xa;
+        }
+
+        if (xa < 0) {
+            // negative
+            xa = -xa;
+            xb = -xb;
+            negate = true;
+        }
+
+        if (xa > 1.633123935319537E16) { // Very large input
+            return (negate ^ leftPlane) ? (-Math.PI * F_1_2) : (Math.PI * F_1_2);
+        }
+
+        /* Estimate the closest tabulated arctan value, compute eps = xa-tangentTable */
+        if (xa < 1) {
+            idx = (int) (((-1.7168146928204136 * xa * xa + 8.0) * xa) + 0.5);
+        } else {
+            final double oneOverXa = 1 / xa;
+            idx = (int) (-((-1.7168146928204136 * oneOverXa * oneOverXa + 8.0) * oneOverXa) + 13.07);
+        }
+        double epsA = xa - TANGENT_TABLE_A[idx];
+        double epsB = -(epsA - xa + TANGENT_TABLE_A[idx]);
+        epsB += xb - TANGENT_TABLE_B[idx];
+
+        double temp = epsA + epsB;
+        epsB = -(temp - epsA - epsB);
+        epsA = temp;
+
+        /* Compute eps = eps / (1.0 + xa*tangent) */
+        temp = xa * HEX_40000000;
+        double ya = xa + temp - temp;
+        double yb = xb + xa - ya;
+        xa = ya;
+        xb += yb;
+
+        //if (idx > 8 || idx == 0)
+        if (idx == 0) {
+            /* If the slope of the arctan is gentle enough (< 0.45), this approximation will suffice */
+            //double denom = 1.0 / (1.0 + xa*tangentTableA[idx] + xb*tangentTableA[idx] + xa*tangentTableB[idx] + xb*tangentTableB[idx]);
+            final double denom = 1d / (1d + (xa + xb) * (TANGENT_TABLE_A[idx] + TANGENT_TABLE_B[idx]));
+            //double denom = 1.0 / (1.0 + xa*tangentTableA[idx]);
+            ya = epsA * denom;
+            yb = epsB * denom;
+        } else {
+            double temp2 = xa * TANGENT_TABLE_A[idx];
+            double za = 1d + temp2;
+            double zb = -(za - 1d - temp2);
+            temp2 = xb * TANGENT_TABLE_A[idx] + xa * TANGENT_TABLE_B[idx];
+            temp = za + temp2;
+            zb += -(temp - za - temp2);
+            za = temp;
+
+            zb += xb * TANGENT_TABLE_B[idx];
+            ya = epsA / za;
+
+            temp = ya * HEX_40000000;
+            final double yaa = (ya + temp) - temp;
+            final double yab = ya - yaa;
+
+            temp = za * HEX_40000000;
+            final double zaa = (za + temp) - temp;
+            final double zab = za - zaa;
+
+            /* Correct for rounding in division */
+            yb = (epsA - yaa * zaa - yaa * zab - yab * zaa - yab * zab) / za;
+
+            yb += -epsA * zb / za / za;
+            yb += epsB / za;
+        }
+
+
+        epsA = ya;
+        epsB = yb;
+
+        /* Evaluate polynomial */
+        final double epsA2 = epsA * epsA;
+
+        /*
+    yb = -0.09001346640161823;
+    yb = yb * epsA2 + 0.11110718400605211;
+    yb = yb * epsA2 + -0.1428571349122913;
+    yb = yb * epsA2 + 0.19999999999273194;
+    yb = yb * epsA2 + -0.33333333333333093;
+    yb = yb * epsA2 * epsA;
+         */
+
+        yb = 0.07490822288864472;
+        yb = yb * epsA2 + -0.09088450866185192;
+        yb = yb * epsA2 + 0.11111095942313305;
+        yb = yb * epsA2 + -0.1428571423679182;
+        yb = yb * epsA2 + 0.19999999999923582;
+        yb = yb * epsA2 + -0.33333333333333287;
+        yb = yb * epsA2 * epsA;
+
+
+        ya = epsA;
+
+        temp = ya + yb;
+        yb = -(temp - ya - yb);
+        ya = temp;
+
+        /* Add in effect of epsB.   atan'(x) = 1/(1+x^2) */
+        yb += epsB / (1d + epsA * epsA);
+
+        //result = yb + eighths[idx] + ya;
+        double za = EIGHTHS[idx] + ya;
+        double zb = -(za - EIGHTHS[idx] - ya);
+        temp = za + yb;
+        zb += -(temp - za - yb);
+        za = temp;
+
+        double result = za + zb;
+        double resultb = -(result - za - zb);
+
+        if (leftPlane) {
+            // Result is in the left plane
+            final double pia = 1.5707963267948966 * 2;
+            final double pib = 6.123233995736766E-17 * 2;
+
+            za = pia - result;
+            zb = -(za - pia + result);
+            zb += pib - resultb;
+
+            result = za + zb;
+            resultb = -(result - za - zb);
+        }
+
+
+        if (negate ^ leftPlane) {
+            result = -result;
+        }
+
+        return result;
+    }
+
+    /**
+     * Two arguments arctangent function
+     * @param y ordinate
+     * @param x abscissa
+     * @return phase angle of point (x,y) between {@code -PI} and {@code PI}
+     */
+    public static double atan2(double y, double x) {
+        if (x != x || y != y) {
+            return Double.NaN;
+        }
+
+        if (y == 0) {
+            final double result = x * y;
+            final double invx = 1d / x;
+            final double invy = 1d / y;
+
+            if (invx == 0) { // X is infinite
+                if (x > 0) {
+                    return y; // return +/- 0.0
+                } else {
+                    return copySign(Math.PI, y);
+                }
+            }
+
+            if (x < 0 || invx < 0) {
+                if (y < 0 || invy < 0) {
+                    return -Math.PI;
+                } else {
+                    return Math.PI;
+                }
+            } else {
+                return result;
+            }
+        }
+
+        // y cannot now be zero
+
+        if (y == Double.POSITIVE_INFINITY) {
+            if (x == Double.POSITIVE_INFINITY) {
+                return Math.PI * F_1_4;
+            }
+
+            if (x == Double.NEGATIVE_INFINITY) {
+                return Math.PI * F_3_4;
+            }
+
+            return Math.PI * F_1_2;
+        }
+
+        if (y == Double.NEGATIVE_INFINITY) {
+            if (x == Double.POSITIVE_INFINITY) {
+                return -Math.PI * F_1_4;
+            }
+
+            if (x == Double.NEGATIVE_INFINITY) {
+                return -Math.PI * F_3_4;
+            }
+
+            return -Math.PI * F_1_2;
+        }
+
+        if (x == Double.POSITIVE_INFINITY) {
+            if (y > 0 || 1 / y > 0) {
+                return 0d;
+            }
+
+            if (y < 0 || 1 / y < 0) {
+                return -0d;
+            }
+        }
+
+        if (x == Double.NEGATIVE_INFINITY)
+        {
+            if (y > 0.0 || 1 / y > 0.0) {
+                return Math.PI;
+            }
+
+            if (y < 0 || 1 / y < 0) {
+                return -Math.PI;
+            }
+        }
+
+        // Neither y nor x can be infinite or NAN here
+
+        if (x == 0) {
+            if (y > 0 || 1 / y > 0) {
+                return Math.PI * F_1_2;
+            }
+
+            if (y < 0 || 1 / y < 0) {
+                return -Math.PI * F_1_2;
+            }
+        }
+
+        // Compute ratio r = y/x
+        final double r = y / x;
+        if (Double.isInfinite(r)) { // bypass calculations that can create NaN
+            return atan(r, 0, x < 0);
+        }
+
+        double ra = doubleHighPart(r);
+        double rb = r - ra;
+
+        // Split x
+        final double xa = doubleHighPart(x);
+        final double xb = x - xa;
+
+        rb += (y - ra * xa - ra * xb - rb * xa - rb * xb) / x;
+
+        final double temp = ra + rb;
+        rb = -(temp - ra - rb);
+        ra = temp;
+
+        if (ra == 0) { // Fix up the sign so atan works correctly
+            ra = copySign(0d, y);
+        }
+
+        // Call atan
+        final double result = atan(ra, rb, x < 0);
+
+        return result;
+    }
+
+    /** Compute the arc sine of a number.
+     * @param x number on which evaluation is done
+     * @return arc sine of x
+     */
+    public static double asin(double x) {
+      if (x != x) {
+          return Double.NaN;
+      }
+
+      if (x > 1.0 || x < -1.0) {
+          return Double.NaN;
+      }
+
+      if (x == 1.0) {
+          return Math.PI/2.0;
+      }
+
+      if (x == -1.0) {
+          return -Math.PI/2.0;
+      }
+
+      if (x == 0.0) { // Matches +/- 0.0; return correct sign
+          return x;
+      }
+
+      /* Compute asin(x) = atan(x/sqrt(1-x*x)) */
+
+      /* Split x */
+      double temp = x * HEX_40000000;
+      final double xa = x + temp - temp;
+      final double xb = x - xa;
+
+      /* Square it */
+      double ya = xa*xa;
+      double yb = xa*xb*2.0 + xb*xb;
+
+      /* Subtract from 1 */
+      ya = -ya;
+      yb = -yb;
+
+      double za = 1.0 + ya;
+      double zb = -(za - 1.0 - ya);
+
+      temp = za + yb;
+      zb += -(temp - za - yb);
+      za = temp;
+
+      /* Square root */
+      double y;
+      y = sqrt(za);
+      temp = y * HEX_40000000;
+      ya = y + temp - temp;
+      yb = y - ya;
+
+      /* Extend precision of sqrt */
+      yb += (za - ya*ya - 2*ya*yb - yb*yb) / (2.0*y);
+
+      /* Contribution of zb to sqrt */
+      double dx = zb / (2.0*y);
+
+      // Compute ratio r = x/y
+      double r = x/y;
+      temp = r * HEX_40000000;
+      double ra = r + temp - temp;
+      double rb = r - ra;
+
+      rb += (x - ra*ya - ra*yb - rb*ya - rb*yb) / y;  // Correct for rounding in division
+      rb += -x * dx / y / y;  // Add in effect additional bits of sqrt.
+
+      temp = ra + rb;
+      rb = -(temp - ra - rb);
+      ra = temp;
+
+      return atan(ra, rb, false);
+    }
+
+    /** Compute the arc cosine of a number.
+     * @param x number on which evaluation is done
+     * @return arc cosine of x
+     */
+    public static double acos(double x) {
+      if (x != x) {
+          return Double.NaN;
+      }
+
+      if (x > 1.0 || x < -1.0) {
+          return Double.NaN;
+      }
+
+      if (x == -1.0) {
+          return Math.PI;
+      }
+
+      if (x == 1.0) {
+          return 0.0;
+      }
+
+      if (x == 0) {
+          return Math.PI/2.0;
+      }
+
+      /* Compute acos(x) = atan(sqrt(1-x*x)/x) */
+
+      /* Split x */
+      double temp = x * HEX_40000000;
+      final double xa = x + temp - temp;
+      final double xb = x - xa;
+
+      /* Square it */
+      double ya = xa*xa;
+      double yb = xa*xb*2.0 + xb*xb;
+
+      /* Subtract from 1 */
+      ya = -ya;
+      yb = -yb;
+
+      double za = 1.0 + ya;
+      double zb = -(za - 1.0 - ya);
+
+      temp = za + yb;
+      zb += -(temp - za - yb);
+      za = temp;
+
+      /* Square root */
+      double y = sqrt(za);
+      temp = y * HEX_40000000;
+      ya = y + temp - temp;
+      yb = y - ya;
+
+      /* Extend precision of sqrt */
+      yb += (za - ya*ya - 2*ya*yb - yb*yb) / (2.0*y);
+
+      /* Contribution of zb to sqrt */
+      yb += zb / (2.0*y);
+      y = ya+yb;
+      yb = -(y - ya - yb);
+
+      // Compute ratio r = y/x
+      double r = y/x;
+
+      // Did r overflow?
+      if (Double.isInfinite(r)) { // x is effectively zero
+          return Math.PI/2; // so return the appropriate value
+      }
+
+      double ra = doubleHighPart(r);
+      double rb = r - ra;
+
+      rb += (y - ra*xa - ra*xb - rb*xa - rb*xb) / x;  // Correct for rounding in division
+      rb += yb / x;  // Add in effect additional bits of sqrt.
+
+      temp = ra + rb;
+      rb = -(temp - ra - rb);
+      ra = temp;
+
+      return atan(ra, rb, x<0);
+    }
+
+    /** Compute the cubic root of a number.
+     * @param x number on which evaluation is done
+     * @return cubic root of x
+     */
+    public static double cbrt(double x) {
+      /* Convert input double to bits */
+      long inbits = Double.doubleToLongBits(x);
+      int exponent = (int) ((inbits >> 52) & 0x7ff) - 1023;
+      boolean subnormal = false;
+
+      if (exponent == -1023) {
+          if (x == 0) {
+              return x;
+          }
+
+          /* Subnormal, so normalize */
+          subnormal = true;
+          x *= 1.8014398509481984E16;  // 2^54
+          inbits = Double.doubleToLongBits(x);
+          exponent = (int) ((inbits >> 52) & 0x7ff) - 1023;
+      }
+
+      if (exponent == 1024) {
+          // Nan or infinity.  Don't care which.
+          return x;
+      }
+
+      /* Divide the exponent by 3 */
+      int exp3 = exponent / 3;
+
+      /* p2 will be the nearest power of 2 to x with its exponent divided by 3 */
+      double p2 = Double.longBitsToDouble((inbits & 0x8000000000000000L) |
+                                          (long)(((exp3 + 1023) & 0x7ff)) << 52);
+
+      /* This will be a number between 1 and 2 */
+      final double mant = Double.longBitsToDouble((inbits & 0x000fffffffffffffL) | 0x3ff0000000000000L);
+
+      /* Estimate the cube root of mant by polynomial */
+      double est = -0.010714690733195933;
+      est = est * mant + 0.0875862700108075;
+      est = est * mant + -0.3058015757857271;
+      est = est * mant + 0.7249995199969751;
+      est = est * mant + 0.5039018405998233;
+
+      est *= CBRTTWO[exponent % 3 + 2];
+
+      // est should now be good to about 15 bits of precision.   Do 2 rounds of
+      // Newton's method to get closer,  this should get us full double precision
+      // Scale down x for the purpose of doing newtons method.  This avoids over/under flows.
+      final double xs = x / (p2*p2*p2);
+      est += (xs - est*est*est) / (3*est*est);
+      est += (xs - est*est*est) / (3*est*est);
+
+      // Do one round of Newton's method in extended precision to get the last bit right.
+      double temp = est * HEX_40000000;
+      double ya = est + temp - temp;
+      double yb = est - ya;
+
+      double za = ya * ya;
+      double zb = ya * yb * 2.0 + yb * yb;
+      temp = za * HEX_40000000;
+      double temp2 = za + temp - temp;
+      zb += za - temp2;
+      za = temp2;
+
+      zb = za * yb + ya * zb + zb * yb;
+      za = za * ya;
+
+      double na = xs - za;
+      double nb = -(na - xs + za);
+      nb -= zb;
+
+      est += (na+nb)/(3*est*est);
+
+      /* Scale by a power of two, so this is exact. */
+      est *= p2;
+
+      if (subnormal) {
+          est *= 3.814697265625E-6;  // 2^-18
+      }
+
+      return est;
+    }
+
+    /**
+     *  Convert degrees to radians, with error of less than 0.5 ULP
+     *  @param x angle in degrees
+     *  @return x converted into radians
+     */
+    public static double toRadians(double x)
+    {
+        if (Double.isInfinite(x) || x == 0.0) { // Matches +/- 0.0; return correct sign
+            return x;
+        }
+
+        // These are PI/180 split into high and low order bits
+        final double facta = 0.01745329052209854;
+        final double factb = 1.997844754509471E-9;
+
+        double xa = doubleHighPart(x);
+        double xb = x - xa;
+
+        double result = xb * factb + xb * facta + xa * factb + xa * facta;
+        if (result == 0) {
+            result = result * x; // ensure correct sign if calculation underflows
+        }
+        return result;
+    }
+
+    /**
+     *  Convert radians to degrees, with error of less than 0.5 ULP
+     *  @param x angle in radians
+     *  @return x converted into degrees
+     */
+    public static double toDegrees(double x)
+    {
+        if (Double.isInfinite(x) || x == 0.0) { // Matches +/- 0.0; return correct sign
+            return x;
+        }
+
+        // These are 180/PI split into high and low order bits
+        final double facta = 57.2957763671875;
+        final double factb = 3.145894820876798E-6;
+
+        double xa = doubleHighPart(x);
+        double xb = x - xa;
+
+        return xb * factb + xb * facta + xa * factb + xa * facta;
+    }
+
+    /**
+     * Absolute value.
+     * @param x number from which absolute value is requested
+     * @return abs(x)
+     */
+    public static int abs(final int x) {
+        return (x < 0) ? -x : x;
+    }
+
+    /**
+     * Absolute value.
+     * @param x number from which absolute value is requested
+     * @return abs(x)
+     */
+    public static long abs(final long x) {
+        return (x < 0l) ? -x : x;
+    }
+
+    /**
+     * Absolute value.
+     * @param x number from which absolute value is requested
+     * @return abs(x)
+     */
+    public static float abs(final float x) {
+        return (x < 0.0f) ? -x : (x == 0.0f) ? 0.0f : x; // -0.0 => +0.0
+    }
+
+    /**
+     * Absolute value.
+     * @param x number from which absolute value is requested
+     * @return abs(x)
+     */
+    public static double abs(double x) {
+        return (x < 0.0) ? -x : (x == 0.0) ? 0.0 : x; // -0.0 => +0.0
+    }
+
+    /**
+     * Compute least significant bit (Unit in Last Position) for a number.
+     * @param x number from which ulp is requested
+     * @return ulp(x)
+     */
+    public static double ulp(double x) {
+        if (Double.isInfinite(x)) {
+            return Double.POSITIVE_INFINITY;
+        }
+        return abs(x - Double.longBitsToDouble(Double.doubleToLongBits(x) ^ 1));
+    }
+
+    /**
+     * Compute least significant bit (Unit in Last Position) for a number.
+     * @param x number from which ulp is requested
+     * @return ulp(x)
+     */
+    public static float ulp(float x) {
+        if (Float.isInfinite(x)) {
+            return Float.POSITIVE_INFINITY;
+        }
+        return abs(x - Float.intBitsToFloat(Float.floatToIntBits(x) ^ 1));
+    }
+
+    /**
+     * Multiply a double number by a power of 2.
+     * @param d number to multiply
+     * @param n power of 2
+     * @return d &times; 2<sup>n</sup>
+     */
+    public static double scalb(final double d, final int n) {
+
+        // first simple and fast handling when 2^n can be represented using normal numbers
+        if ((n > -1023) && (n < 1024)) {
+            return d * Double.longBitsToDouble(((long) (n + 1023)) << 52);
+        }
+
+        // handle special cases
+        if (Double.isNaN(d) || Double.isInfinite(d) || (d == 0)) {
+            return d;
+        }
+        if (n < -2098) {
+            return (d > 0) ? 0.0 : -0.0;
+        }
+        if (n > 2097) {
+            return (d > 0) ? Double.POSITIVE_INFINITY : Double.NEGATIVE_INFINITY;
+        }
+
+        // decompose d
+        final long bits = Double.doubleToLongBits(d);
+        final long sign = bits & 0x8000000000000000L;
+        int  exponent   = ((int) (bits >>> 52)) & 0x7ff;
+        long mantissa   = bits & 0x000fffffffffffffL;
+
+        // compute scaled exponent
+        int scaledExponent = exponent + n;
+
+        if (n < 0) {
+            // we are really in the case n <= -1023
+            if (scaledExponent > 0) {
+                // both the input and the result are normal numbers, we only adjust the exponent
+                return Double.longBitsToDouble(sign | (((long) scaledExponent) << 52) | mantissa);
+            } else if (scaledExponent > -53) {
+                // the input is a normal number and the result is a subnormal number
+
+                // recover the hidden mantissa bit
+                mantissa = mantissa | (1L << 52);
+
+                // scales down complete mantissa, hence losing least significant bits
+                final long mostSignificantLostBit = mantissa & (1L << (-scaledExponent));
+                mantissa = mantissa >>> (1 - scaledExponent);
+                if (mostSignificantLostBit != 0) {
+                    // we need to add 1 bit to round up the result
+                    mantissa++;
+                }
+                return Double.longBitsToDouble(sign | mantissa);
+
+            } else {
+                // no need to compute the mantissa, the number scales down to 0
+                return (sign == 0L) ? 0.0 : -0.0;
+            }
+        } else {
+            // we are really in the case n >= 1024
+            if (exponent == 0) {
+
+                // the input number is subnormal, normalize it
+                while ((mantissa >>> 52) != 1) {
+                    mantissa = mantissa << 1;
+                    --scaledExponent;
+                }
+                ++scaledExponent;
+                mantissa = mantissa & 0x000fffffffffffffL;
+
+                if (scaledExponent < 2047) {
+                    return Double.longBitsToDouble(sign | (((long) scaledExponent) << 52) | mantissa);
+                } else {
+                    return (sign == 0L) ? Double.POSITIVE_INFINITY : Double.NEGATIVE_INFINITY;
+                }
+
+            } else if (scaledExponent < 2047) {
+                return Double.longBitsToDouble(sign | (((long) scaledExponent) << 52) | mantissa);
+            } else {
+                return (sign == 0L) ? Double.POSITIVE_INFINITY : Double.NEGATIVE_INFINITY;
+            }
+        }
+
+    }
+
+    /**
+     * Multiply a float number by a power of 2.
+     * @param f number to multiply
+     * @param n power of 2
+     * @return f &times; 2<sup>n</sup>
+     */
+    public static float scalb(final float f, final int n) {
+
+        // first simple and fast handling when 2^n can be represented using normal numbers
+        if ((n > -127) && (n < 128)) {
+            return f * Float.intBitsToFloat((n + 127) << 23);
+        }
+
+        // handle special cases
+        if (Float.isNaN(f) || Float.isInfinite(f) || (f == 0f)) {
+            return f;
+        }
+        if (n < -277) {
+            return (f > 0) ? 0.0f : -0.0f;
+        }
+        if (n > 276) {
+            return (f > 0) ? Float.POSITIVE_INFINITY : Float.NEGATIVE_INFINITY;
+        }
+
+        // decompose f
+        final int bits = Float.floatToIntBits(f);
+        final int sign = bits & 0x80000000;
+        int  exponent  = (bits >>> 23) & 0xff;
+        int mantissa   = bits & 0x007fffff;
+
+        // compute scaled exponent
+        int scaledExponent = exponent + n;
+
+        if (n < 0) {
+            // we are really in the case n <= -127
+            if (scaledExponent > 0) {
+                // both the input and the result are normal numbers, we only adjust the exponent
+                return Float.intBitsToFloat(sign | (scaledExponent << 23) | mantissa);
+            } else if (scaledExponent > -24) {
+                // the input is a normal number and the result is a subnormal number
+
+                // recover the hidden mantissa bit
+                mantissa = mantissa | (1 << 23);
+
+                // scales down complete mantissa, hence losing least significant bits
+                final int mostSignificantLostBit = mantissa & (1 << (-scaledExponent));
+                mantissa = mantissa >>> (1 - scaledExponent);
+                if (mostSignificantLostBit != 0) {
+                    // we need to add 1 bit to round up the result
+                    mantissa++;
+                }
+                return Float.intBitsToFloat(sign | mantissa);
+
+            } else {
+                // no need to compute the mantissa, the number scales down to 0
+                return (sign == 0) ? 0.0f : -0.0f;
+            }
+        } else {
+            // we are really in the case n >= 128
+            if (exponent == 0) {
+
+                // the input number is subnormal, normalize it
+                while ((mantissa >>> 23) != 1) {
+                    mantissa = mantissa << 1;
+                    --scaledExponent;
+                }
+                ++scaledExponent;
+                mantissa = mantissa & 0x007fffff;
+
+                if (scaledExponent < 255) {
+                    return Float.intBitsToFloat(sign | (scaledExponent << 23) | mantissa);
+                } else {
+                    return (sign == 0) ? Float.POSITIVE_INFINITY : Float.NEGATIVE_INFINITY;
+                }
+
+            } else if (scaledExponent < 255) {
+                return Float.intBitsToFloat(sign | (scaledExponent << 23) | mantissa);
+            } else {
+                return (sign == 0) ? Float.POSITIVE_INFINITY : Float.NEGATIVE_INFINITY;
+            }
+        }
+
+    }
+
+    /**
+     * Get the next machine representable number after a number, moving
+     * in the direction of another number.
+     * <p>
+     * The ordering is as follows (increasing):
+     * <ul>
+     * <li>-INFINITY</li>
+     * <li>-MAX_VALUE</li>
+     * <li>-MIN_VALUE</li>
+     * <li>-0.0</li>
+     * <li>+0.0</li>
+     * <li>+MIN_VALUE</li>
+     * <li>+MAX_VALUE</li>
+     * <li>+INFINITY</li>
+     * <li></li>
+     * <p>
+     * If arguments compare equal, then the second argument is returned.
+     * <p>
+     * If {@code direction} is greater than {@code d},
+     * the smallest machine representable number strictly greater than
+     * {@code d} is returned; if less, then the largest representable number
+     * strictly less than {@code d} is returned.</p>
+     * <p>
+     * If {@code d} is infinite and direction does not
+     * bring it back to finite numbers, it is returned unchanged.</p>
+     *
+     * @param d base number
+     * @param direction (the only important thing is whether
+     * {@code direction} is greater or smaller than {@code d})
+     * @return the next machine representable number in the specified direction
+     */
+    public static double nextAfter(double d, double direction) {
+
+        // handling of some important special cases
+        if (Double.isNaN(d) || Double.isNaN(direction)) {
+            return Double.NaN;
+        } else if (d == direction) {
+            return direction;
+        } else if (Double.isInfinite(d)) {
+            return (d < 0) ? -Double.MAX_VALUE : Double.MAX_VALUE;
+        } else if (d == 0) {
+            return (direction < 0) ? -Double.MIN_VALUE : Double.MIN_VALUE;
+        }
+        // special cases MAX_VALUE to infinity and  MIN_VALUE to 0
+        // are handled just as normal numbers
+
+        final long bits = Double.doubleToLongBits(d);
+        final long sign = bits & 0x8000000000000000L;
+        if ((direction < d) ^ (sign == 0L)) {
+            return Double.longBitsToDouble(sign | ((bits & 0x7fffffffffffffffL) + 1));
+        } else {
+            return Double.longBitsToDouble(sign | ((bits & 0x7fffffffffffffffL) - 1));
+        }
+
+    }
+
+    /**
+     * Get the next machine representable number after a number, moving
+     * in the direction of another number.
+     * <p>
+     * The ordering is as follows (increasing):
+     * <ul>
+     * <li>-INFINITY</li>
+     * <li>-MAX_VALUE</li>
+     * <li>-MIN_VALUE</li>
+     * <li>-0.0</li>
+     * <li>+0.0</li>
+     * <li>+MIN_VALUE</li>
+     * <li>+MAX_VALUE</li>
+     * <li>+INFINITY</li>
+     * <li></li>
+     * <p>
+     * If arguments compare equal, then the second argument is returned.
+     * <p>
+     * If {@code direction} is greater than {@code f},
+     * the smallest machine representable number strictly greater than
+     * {@code f} is returned; if less, then the largest representable number
+     * strictly less than {@code f} is returned.</p>
+     * <p>
+     * If {@code f} is infinite and direction does not
+     * bring it back to finite numbers, it is returned unchanged.</p>
+     *
+     * @param f base number
+     * @param direction (the only important thing is whether
+     * {@code direction} is greater or smaller than {@code f})
+     * @return the next machine representable number in the specified direction
+     */
+    public static float nextAfter(final float f, final double direction) {
+
+        // handling of some important special cases
+        if (Double.isNaN(f) || Double.isNaN(direction)) {
+            return Float.NaN;
+        } else if (f == direction) {
+            return (float) direction;
+        } else if (Float.isInfinite(f)) {
+            return (f < 0f) ? -Float.MAX_VALUE : Float.MAX_VALUE;
+        } else if (f == 0f) {
+            return (direction < 0) ? -Float.MIN_VALUE : Float.MIN_VALUE;
+        }
+        // special cases MAX_VALUE to infinity and  MIN_VALUE to 0
+        // are handled just as normal numbers
+
+        final int bits = Float.floatToIntBits(f);
+        final int sign = bits & 0x80000000;
+        if ((direction < f) ^ (sign == 0)) {
+            return Float.intBitsToFloat(sign | ((bits & 0x7fffffff) + 1));
+        } else {
+            return Float.intBitsToFloat(sign | ((bits & 0x7fffffff) - 1));
+        }
+
+    }
+
+    /** Get the largest whole number smaller than x.
+     * @param x number from which floor is requested
+     * @return a double number f such that f is an integer f <= x < f + 1.0
+     */
+    public static double floor(double x) {
+        long y;
+
+        if (x != x) { // NaN
+            return x;
+        }
+
+        if (x >= TWO_POWER_52 || x <= -TWO_POWER_52) {
+            return x;
+        }
+
+        y = (long) x;
+        if (x < 0 && y != x) {
+            y--;
+        }
+
+        if (y == 0) {
+            return x*y;
+        }
+
+        return y;
+    }
+
+    /** Get the smallest whole number larger than x.
+     * @param x number from which ceil is requested
+     * @return a double number c such that c is an integer c - 1.0 < x <= c
+     */
+    public static double ceil(double x) {
+        double y;
+
+        if (x != x) { // NaN
+            return x;
+        }
+
+        y = floor(x);
+        if (y == x) {
+            return y;
+        }
+
+        y += 1.0;
+
+        if (y == 0) {
+            return x*y;
+        }
+
+        return y;
+    }
+
+    /** Get the whole number that is the nearest to x, or the even one if x is exactly half way between two integers.
+     * @param x number from which nearest whole number is requested
+     * @return a double number r such that r is an integer r - 0.5 <= x <= r + 0.5
+     */
+    public static double rint(double x) {
+        double y = floor(x);
+        double d = x - y;
+
+        if (d > 0.5) {
+            if (y == -1.0) {
+                return -0.0; // Preserve sign of operand
+            }
+            return y+1.0;
+        }
+        if (d < 0.5) {
+            return y;
+        }
+
+        /* half way, round to even */
+        long z = (long) y;
+        return (z & 1) == 0 ? y : y + 1.0;
+    }
+
+    /** Get the closest long to x.
+     * @param x number from which closest long is requested
+     * @return closest long to x
+     */
+    public static long round(double x) {
+        return (long) floor(x + 0.5);
+    }
+
+    /** Get the closest int to x.
+     * @param x number from which closest int is requested
+     * @return closest int to x
+     */
+    public static int round(final float x) {
+        return (int) floor(x + 0.5f);
+    }
+
+    /** Compute the minimum of two values
+     * @param a first value
+     * @param b second value
+     * @return a if a is lesser or equal to b, b otherwise
+     */
+    public static int min(final int a, final int b) {
+        return (a <= b) ? a : b;
+    }
+
+    /** Compute the minimum of two values
+     * @param a first value
+     * @param b second value
+     * @return a if a is lesser or equal to b, b otherwise
+     */
+    public static long min(final long a, final long b) {
+        return (a <= b) ? a : b;
+    }
+
+    /** Compute the minimum of two values
+     * @param a first value
+     * @param b second value
+     * @return a if a is lesser or equal to b, b otherwise
+     */
+    public static float min(final float a, final float b) {
+        if (a > b) {
+            return b;
+        }
+        if (a < b) {
+            return a;
+        }
+        /* if either arg is NaN, return NaN */
+        if (a != b) {
+            return Float.NaN;
+        }
+        /* min(+0.0,-0.0) == -0.0 */
+        /* 0x80000000 == Float.floatToRawIntBits(-0.0d) */
+        int bits = Float.floatToRawIntBits(a);
+        if (bits == 0x80000000) {
+            return a;
+        }
+        return b;
+    }
+
+    /** Compute the minimum of two values
+     * @param a first value
+     * @param b second value
+     * @return a if a is lesser or equal to b, b otherwise
+     */
+    public static double min(final double a, final double b) {
+        if (a > b) {
+            return b;
+        }
+        if (a < b) {
+            return a;
+        }
+        /* if either arg is NaN, return NaN */
+        if (a != b) {
+            return Double.NaN;
+        }
+        /* min(+0.0,-0.0) == -0.0 */
+        /* 0x8000000000000000L == Double.doubleToRawLongBits(-0.0d) */
+        long bits = Double.doubleToRawLongBits(a);
+        if (bits == 0x8000000000000000L) {
+            return a;
+        }
+        return b;
+    }
+
+    /** Compute the maximum of two values
+     * @param a first value
+     * @param b second value
+     * @return b if a is lesser or equal to b, a otherwise
+     */
+    public static int max(final int a, final int b) {
+        return (a <= b) ? b : a;
+    }
+
+    /** Compute the maximum of two values
+     * @param a first value
+     * @param b second value
+     * @return b if a is lesser or equal to b, a otherwise
+     */
+    public static long max(final long a, final long b) {
+        return (a <= b) ? b : a;
+    }
+
+    /** Compute the maximum of two values
+     * @param a first value
+     * @param b second value
+     * @return b if a is lesser or equal to b, a otherwise
+     */
+    public static float max(final float a, final float b) {
+        if (a > b) {
+            return a;
+        }
+        if (a < b) {
+            return b;
+        }
+        /* if either arg is NaN, return NaN */
+        if (a != b) {
+            return Float.NaN;
+        }
+        /* min(+0.0,-0.0) == -0.0 */
+        /* 0x80000000 == Float.floatToRawIntBits(-0.0d) */
+        int bits = Float.floatToRawIntBits(a);
+        if (bits == 0x80000000) {
+            return b;
+        }
+        return a;
+    }
+
+    /** Compute the maximum of two values
+     * @param a first value
+     * @param b second value
+     * @return b if a is lesser or equal to b, a otherwise
+     */
+    public static double max(final double a, final double b) {
+        if (a > b) {
+            return a;
+        }
+        if (a < b) {
+            return b;
+        }
+        /* if either arg is NaN, return NaN */
+        if (a != b) {
+            return Double.NaN;
+        }
+        /* min(+0.0,-0.0) == -0.0 */
+        /* 0x8000000000000000L == Double.doubleToRawLongBits(-0.0d) */
+        long bits = Double.doubleToRawLongBits(a);
+        if (bits == 0x8000000000000000L) {
+            return b;
+        }
+        return a;
+    }
+
+    /**
+     * Returns the hypotenuse of a triangle with sides {@code x} and {@code y}
+     * - sqrt(<i>x</i><sup>2</sup>&nbsp;+<i>y</i><sup>2</sup>)<br/>
+     * avoiding intermediate overflow or underflow.
+     *
+     * <ul>
+     * <li> If either argument is infinite, then the result is positive infinity.</li>
+     * <li> else, if either argument is NaN then the result is NaN.</li>
+     * </ul>
+     *
+     * @param x a value
+     * @param y a value
+     * @return sqrt(<i>x</i><sup>2</sup>&nbsp;+<i>y</i><sup>2</sup>)
+     */
+    public static double hypot(final double x, final double y) {
+        if (Double.isInfinite(x) || Double.isInfinite(y)) {
+            return Double.POSITIVE_INFINITY;
+        } else if (Double.isNaN(x) || Double.isNaN(y)) {
+            return Double.NaN;
+        } else {
+
+            final int expX = getExponent(x);
+            final int expY = getExponent(y);
+            if (expX > expY + 27) {
+                // y is neglectible with respect to x
+                return abs(x);
+            } else if (expY > expX + 27) {
+                // x is neglectible with respect to y
+                return abs(y);
+            } else {
+
+                // find an intermediate scale to avoid both overflow and underflow
+                final int middleExp = (expX + expY) / 2;
+
+                // scale parameters without losing precision
+                final double scaledX = scalb(x, -middleExp);
+                final double scaledY = scalb(y, -middleExp);
+
+                // compute scaled hypotenuse
+                final double scaledH = sqrt(scaledX * scaledX + scaledY * scaledY);
+
+                // remove scaling
+                return scalb(scaledH, middleExp);
+
+            }
+
+        }
+    }
+
+    /**
+     * Computes the remainder as prescribed by the IEEE 754 standard.
+     * The remainder value is mathematically equal to {@code x - y*n}
+     * where {@code n} is the mathematical integer closest to the exact mathematical value
+     * of the quotient {@code x/y}.
+     * If two mathematical integers are equally close to {@code x/y} then
+     * {@code n} is the integer that is even.
+     * <p>
+     * <ul>
+     * <li>If either operand is NaN, the result is NaN.</li>
+     * <li>If the result is not NaN, the sign of the result equals the sign of the dividend.</li>
+     * <li>If the dividend is an infinity, or the divisor is a zero, or both, the result is NaN.</li>
+     * <li>If the dividend is finite and the divisor is an infinity, the result equals the dividend.</li>
+     * <li>If the dividend is a zero and the divisor is finite, the result equals the dividend.</li>
+     * </ul>
+     * <p><b>Note:</b> this implementation currently delegates to {@link StrictMath#IEEEremainder}
+     * @param dividend the number to be divided
+     * @param divisor the number by which to divide
+     * @return the remainder, rounded
+     */
+    public static double IEEEremainder(double dividend, double divisor) {
+        return StrictMath.IEEEremainder(dividend, divisor); // TODO provide our own implementation
+    }
+
+    /**
+     * Returns the first argument with the sign of the second argument.
+     * A NaN {@code sign} argument is treated as positive.
+     *
+     * @param magnitude the value to return
+     * @param sign the sign for the returned value
+     * @return the magnitude with the same sign as the {@code sign} argument
+     */
+    public static double copySign(double magnitude, double sign){
+        long m = Double.doubleToLongBits(magnitude);
+        long s = Double.doubleToLongBits(sign);
+        if ((m >= 0 && s >= 0) || (m < 0 && s < 0)) { // Sign is currently OK
+            return magnitude;
+        }
+        return -magnitude; // flip sign
+    }
+
+    /**
+     * Returns the first argument with the sign of the second argument.
+     * A NaN {@code sign} argument is treated as positive.
+     *
+     * @param magnitude the value to return
+     * @param sign the sign for the returned value
+     * @return the magnitude with the same sign as the {@code sign} argument
+     */
+    public static float copySign(float magnitude, float sign){
+        int m = Float.floatToIntBits(magnitude);
+        int s = Float.floatToIntBits(sign);
+        if ((m >= 0 && s >= 0) || (m < 0 && s < 0)) { // Sign is currently OK
+            return magnitude;
+        }
+        return -magnitude; // flip sign
+    }
+
+    /**
+     * Return the exponent of a double number, removing the bias.
+     * <p>
+     * For double numbers of the form 2<sup>x</sup>, the unbiased
+     * exponent is exactly x.
+     * </p>
+     * @param d number from which exponent is requested
+     * @return exponent for d in IEEE754 representation, without bias
+     */
+    public static int getExponent(final double d) {
+        return (int) ((Double.doubleToLongBits(d) >>> 52) & 0x7ff) - 1023;
+    }
+
+    /**
+     * Return the exponent of a float number, removing the bias.
+     * <p>
+     * For float numbers of the form 2<sup>x</sup>, the unbiased
+     * exponent is exactly x.
+     * </p>
+     * @param f number from which exponent is requested
+     * @return exponent for d in IEEE754 representation, without bias
+     */
+    public static int getExponent(final float f) {
+        return ((Float.floatToIntBits(f) >>> 23) & 0xff) - 127;
+    }
+
+    /**
+     * Print out contents of arrays, and check the length.
+     * <p>used to generate the preset arrays originally.</p>
+     * @param a unused
+     */
+    public static void main(String[] a) {
+        PrintStream out = System.out;
+        FastMathCalc.printarray(out, "EXP_INT_TABLE_A", EXP_INT_TABLE_LEN, ExpIntTable.EXP_INT_TABLE_A);
+        FastMathCalc.printarray(out, "EXP_INT_TABLE_B", EXP_INT_TABLE_LEN, ExpIntTable.EXP_INT_TABLE_B);
+        FastMathCalc.printarray(out, "EXP_FRAC_TABLE_A", EXP_FRAC_TABLE_LEN, ExpFracTable.EXP_FRAC_TABLE_A);
+        FastMathCalc.printarray(out, "EXP_FRAC_TABLE_B", EXP_FRAC_TABLE_LEN, ExpFracTable.EXP_FRAC_TABLE_B);
+        FastMathCalc.printarray(out, "LN_MANT",LN_MANT_LEN, lnMant.LN_MANT);
+        FastMathCalc.printarray(out, "SINE_TABLE_A", SINE_TABLE_LEN, SINE_TABLE_A);
+        FastMathCalc.printarray(out, "SINE_TABLE_B", SINE_TABLE_LEN, SINE_TABLE_B);
+        FastMathCalc.printarray(out, "COSINE_TABLE_A", SINE_TABLE_LEN, COSINE_TABLE_A);
+        FastMathCalc.printarray(out, "COSINE_TABLE_B", SINE_TABLE_LEN, COSINE_TABLE_B);
+        FastMathCalc.printarray(out, "TANGENT_TABLE_A", SINE_TABLE_LEN, TANGENT_TABLE_A);
+        FastMathCalc.printarray(out, "TANGENT_TABLE_B", SINE_TABLE_LEN, TANGENT_TABLE_B);
+    }
+
+    /** Enclose large data table in nested static class so it's only loaded on first access. */
+    private static class ExpIntTable {
+        /** Exponential evaluated at integer values,
+         * exp(x) =  expIntTableA[x + EXP_INT_TABLE_MAX_INDEX] + expIntTableB[x+EXP_INT_TABLE_MAX_INDEX].
+         */
+        private static final double[] EXP_INT_TABLE_A;
+        /** Exponential evaluated at integer values,
+         * exp(x) =  expIntTableA[x + EXP_INT_TABLE_MAX_INDEX] + expIntTableB[x+EXP_INT_TABLE_MAX_INDEX]
+         */
+        private static final double[] EXP_INT_TABLE_B;
+
+        static {
+            if (RECOMPUTE_TABLES_AT_RUNTIME) {
+                EXP_INT_TABLE_A = new double[FastMath.EXP_INT_TABLE_LEN];
+                EXP_INT_TABLE_B = new double[FastMath.EXP_INT_TABLE_LEN];
+
+                final double tmp[] = new double[2];
+                final double recip[] = new double[2];
+
+                // Populate expIntTable
+                for (int i = 0; i < FastMath.EXP_INT_TABLE_MAX_INDEX; i++) {
+                    FastMathCalc.expint(i, tmp);
+                    EXP_INT_TABLE_A[i + FastMath.EXP_INT_TABLE_MAX_INDEX] = tmp[0];
+                    EXP_INT_TABLE_B[i + FastMath.EXP_INT_TABLE_MAX_INDEX] = tmp[1];
+
+                    if (i != 0) {
+                        // Negative integer powers
+                        FastMathCalc.splitReciprocal(tmp, recip);
+                        EXP_INT_TABLE_A[FastMath.EXP_INT_TABLE_MAX_INDEX - i] = recip[0];
+                        EXP_INT_TABLE_B[FastMath.EXP_INT_TABLE_MAX_INDEX - i] = recip[1];
+                    }
+                }
+            } else {
+                EXP_INT_TABLE_A = FastMathLiteralArrays.loadExpIntA();
+                EXP_INT_TABLE_B = FastMathLiteralArrays.loadExpIntB();
+            }
+        }
+    }
+
+    /** Enclose large data table in nested static class so it's only loaded on first access. */
+    private static class ExpFracTable {
+        /** Exponential over the range of 0 - 1 in increments of 2^-10
+         * exp(x/1024) =  expFracTableA[x] + expFracTableB[x].
+         * 1024 = 2^10
+         */
+        private static final double[] EXP_FRAC_TABLE_A;
+        /** Exponential over the range of 0 - 1 in increments of 2^-10
+         * exp(x/1024) =  expFracTableA[x] + expFracTableB[x].
+         */
+        private static final double[] EXP_FRAC_TABLE_B;
+
+        static {
+            if (RECOMPUTE_TABLES_AT_RUNTIME) {
+                EXP_FRAC_TABLE_A = new double[FastMath.EXP_FRAC_TABLE_LEN];
+                EXP_FRAC_TABLE_B = new double[FastMath.EXP_FRAC_TABLE_LEN];
+
+                final double tmp[] = new double[2];
+
+                // Populate expFracTable
+                final double factor = 1d / (EXP_FRAC_TABLE_LEN - 1);
+                for (int i = 0; i < EXP_FRAC_TABLE_A.length; i++) {
+                    FastMathCalc.slowexp(i * factor, tmp);
+                    EXP_FRAC_TABLE_A[i] = tmp[0];
+                    EXP_FRAC_TABLE_B[i] = tmp[1];
+                }
+            } else {
+                EXP_FRAC_TABLE_A = FastMathLiteralArrays.loadExpFracA();
+                EXP_FRAC_TABLE_B = FastMathLiteralArrays.loadExpFracB();
+            }
+        }
+    }
+
+    /** Enclose large data table in nested static class so it's only loaded on first access. */
+    private static class lnMant {
+        /** Extended precision logarithm table over the range 1 - 2 in increments of 2^-10. */
+        private static final double[][] LN_MANT;
+
+        static {
+            if (RECOMPUTE_TABLES_AT_RUNTIME) {
+                LN_MANT = new double[FastMath.LN_MANT_LEN][];
+
+                // Populate lnMant table
+                for (int i = 0; i < LN_MANT.length; i++) {
+                    final double d = Double.longBitsToDouble( (((long) i) << 42) | 0x3ff0000000000000L );
+                    LN_MANT[i] = FastMathCalc.slowLog(d);
+                }
+            } else {
+                LN_MANT = FastMathLiteralArrays.loadLnMant();
+            }
+        }
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/FastMathCalc.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/FastMathCalc.java
new file mode 100644
index 0000000000..aa90a578f9
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/FastMathCalc.java
@@ -0,0 +1,659 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.util;
+
+import java.io.PrintStream;
+
+import org.apache.commons.math3.exception.DimensionMismatchException;
+
+/** Class used to compute the classical functions tables.
+ * @version $Id: FastMathCalc.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 3.0
+ */
+class FastMathCalc {
+
+    /**
+     * 0x40000000 - used to split a double into two parts, both with the low order bits cleared.
+     * Equivalent to 2^30.
+     */
+    private static final long HEX_40000000 = 0x40000000L; // 1073741824L
+
+    /** Factorial table, for Taylor series expansions. 0!, 1!, 2!, ... 19! */
+    private static final double FACT[] = new double[]
+        {
+        +1.0d,                        // 0
+        +1.0d,                        // 1
+        +2.0d,                        // 2
+        +6.0d,                        // 3
+        +24.0d,                       // 4
+        +120.0d,                      // 5
+        +720.0d,                      // 6
+        +5040.0d,                     // 7
+        +40320.0d,                    // 8
+        +362880.0d,                   // 9
+        +3628800.0d,                  // 10
+        +39916800.0d,                 // 11
+        +479001600.0d,                // 12
+        +6227020800.0d,               // 13
+        +87178291200.0d,              // 14
+        +1307674368000.0d,            // 15
+        +20922789888000.0d,           // 16
+        +355687428096000.0d,          // 17
+        +6402373705728000.0d,         // 18
+        +121645100408832000.0d,       // 19
+        };
+
+    /** Coefficients for slowLog. */
+    private static final double LN_SPLIT_COEF[][] = {
+        {2.0, 0.0},
+        {0.6666666269302368, 3.9736429850260626E-8},
+        {0.3999999761581421, 2.3841857910019882E-8},
+        {0.2857142686843872, 1.7029898543501842E-8},
+        {0.2222222089767456, 1.3245471311735498E-8},
+        {0.1818181574344635, 2.4384203044354907E-8},
+        {0.1538461446762085, 9.140260083262505E-9},
+        {0.13333332538604736, 9.220590270857665E-9},
+        {0.11764700710773468, 1.2393345855018391E-8},
+        {0.10526403784751892, 8.251545029714408E-9},
+        {0.0952233225107193, 1.2675934823758863E-8},
+        {0.08713622391223907, 1.1430250008909141E-8},
+        {0.07842259109020233, 2.404307984052299E-9},
+        {0.08371849358081818, 1.176342548272881E-8},
+        {0.030589580535888672, 1.2958646899018938E-9},
+        {0.14982303977012634, 1.225743062930824E-8},
+    };
+
+    /** Table start declaration. */
+    private static final String TABLE_START_DECL = "    {";
+
+    /** Table end declaration. */
+    private static final String TABLE_END_DECL   = "    };";
+
+    /**
+     * Private Constructor.
+     */
+    private FastMathCalc() {
+    }
+
+    /** Build the sine and cosine tables.
+     * @param SINE_TABLE_A table of the most significant part of the sines
+     * @param SINE_TABLE_B table of the least significant part of the sines
+     * @param COSINE_TABLE_A table of the most significant part of the cosines
+     * @param COSINE_TABLE_B table of the most significant part of the cosines
+     * @param SINE_TABLE_LEN length of the tables
+     * @param TANGENT_TABLE_A table of the most significant part of the tangents
+     * @param TANGENT_TABLE_B table of the most significant part of the tangents
+     */
+    @SuppressWarnings("unused")
+    private static void buildSinCosTables(double[] SINE_TABLE_A, double[] SINE_TABLE_B,
+                                          double[] COSINE_TABLE_A, double[] COSINE_TABLE_B,
+                                          int SINE_TABLE_LEN, double[] TANGENT_TABLE_A, double[] TANGENT_TABLE_B) {
+        final double result[] = new double[2];
+
+        /* Use taylor series for 0 <= x <= 6/8 */
+        for (int i = 0; i < 7; i++) {
+            double x = i / 8.0;
+
+            slowSin(x, result);
+            SINE_TABLE_A[i] = result[0];
+            SINE_TABLE_B[i] = result[1];
+
+            slowCos(x, result);
+            COSINE_TABLE_A[i] = result[0];
+            COSINE_TABLE_B[i] = result[1];
+        }
+
+        /* Use angle addition formula to complete table to 13/8, just beyond pi/2 */
+        for (int i = 7; i < SINE_TABLE_LEN; i++) {
+            double xs[] = new double[2];
+            double ys[] = new double[2];
+            double as[] = new double[2];
+            double bs[] = new double[2];
+            double temps[] = new double[2];
+
+            if ( (i & 1) == 0) {
+                // Even, use double angle
+                xs[0] = SINE_TABLE_A[i/2];
+                xs[1] = SINE_TABLE_B[i/2];
+                ys[0] = COSINE_TABLE_A[i/2];
+                ys[1] = COSINE_TABLE_B[i/2];
+
+                /* compute sine */
+                splitMult(xs, ys, result);
+                SINE_TABLE_A[i] = result[0] * 2.0;
+                SINE_TABLE_B[i] = result[1] * 2.0;
+
+                /* Compute cosine */
+                splitMult(ys, ys, as);
+                splitMult(xs, xs, temps);
+                temps[0] = -temps[0];
+                temps[1] = -temps[1];
+                splitAdd(as, temps, result);
+                COSINE_TABLE_A[i] = result[0];
+                COSINE_TABLE_B[i] = result[1];
+            } else {
+                xs[0] = SINE_TABLE_A[i/2];
+                xs[1] = SINE_TABLE_B[i/2];
+                ys[0] = COSINE_TABLE_A[i/2];
+                ys[1] = COSINE_TABLE_B[i/2];
+                as[0] = SINE_TABLE_A[i/2+1];
+                as[1] = SINE_TABLE_B[i/2+1];
+                bs[0] = COSINE_TABLE_A[i/2+1];
+                bs[1] = COSINE_TABLE_B[i/2+1];
+
+                /* compute sine */
+                splitMult(xs, bs, temps);
+                splitMult(ys, as, result);
+                splitAdd(result, temps, result);
+                SINE_TABLE_A[i] = result[0];
+                SINE_TABLE_B[i] = result[1];
+
+                /* Compute cosine */
+                splitMult(ys, bs, result);
+                splitMult(xs, as, temps);
+                temps[0] = -temps[0];
+                temps[1] = -temps[1];
+                splitAdd(result, temps, result);
+                COSINE_TABLE_A[i] = result[0];
+                COSINE_TABLE_B[i] = result[1];
+            }
+        }
+
+        /* Compute tangent = sine/cosine */
+        for (int i = 0; i < SINE_TABLE_LEN; i++) {
+            double xs[] = new double[2];
+            double ys[] = new double[2];
+            double as[] = new double[2];
+
+            as[0] = COSINE_TABLE_A[i];
+            as[1] = COSINE_TABLE_B[i];
+
+            splitReciprocal(as, ys);
+
+            xs[0] = SINE_TABLE_A[i];
+            xs[1] = SINE_TABLE_B[i];
+
+            splitMult(xs, ys, as);
+
+            TANGENT_TABLE_A[i] = as[0];
+            TANGENT_TABLE_B[i] = as[1];
+        }
+
+    }
+
+    /**
+     *  For x between 0 and pi/4 compute cosine using Talor series
+     *  cos(x) = 1 - x^2/2! + x^4/4! ...
+     * @param x number from which cosine is requested
+     * @param result placeholder where to put the result in extended precision
+     * (may be null)
+     * @return cos(x)
+     */
+    static double slowCos(final double x, final double result[]) {
+
+        final double xs[] = new double[2];
+        final double ys[] = new double[2];
+        final double facts[] = new double[2];
+        final double as[] = new double[2];
+        split(x, xs);
+        ys[0] = ys[1] = 0.0;
+
+        for (int i = FACT.length-1; i >= 0; i--) {
+            splitMult(xs, ys, as);
+            ys[0] = as[0]; ys[1] = as[1];
+
+            if ( (i & 1) != 0) { // skip odd entries
+                continue;
+            }
+
+            split(FACT[i], as);
+            splitReciprocal(as, facts);
+
+            if ( (i & 2) != 0 ) { // alternate terms are negative
+                facts[0] = -facts[0];
+                facts[1] = -facts[1];
+            }
+
+            splitAdd(ys, facts, as);
+            ys[0] = as[0]; ys[1] = as[1];
+        }
+
+        if (result != null) {
+            result[0] = ys[0];
+            result[1] = ys[1];
+        }
+
+        return ys[0] + ys[1];
+    }
+
+    /**
+     * For x between 0 and pi/4 compute sine using Taylor expansion:
+     * sin(x) = x - x^3/3! + x^5/5! - x^7/7! ...
+     * @param x number from which sine is requested
+     * @param result placeholder where to put the result in extended precision
+     * (may be null)
+     * @return sin(x)
+     */
+    static double slowSin(final double x, final double result[]) {
+        final double xs[] = new double[2];
+        final double ys[] = new double[2];
+        final double facts[] = new double[2];
+        final double as[] = new double[2];
+        split(x, xs);
+        ys[0] = ys[1] = 0.0;
+
+        for (int i = FACT.length-1; i >= 0; i--) {
+            splitMult(xs, ys, as);
+            ys[0] = as[0]; ys[1] = as[1];
+
+            if ( (i & 1) == 0) { // Ignore even numbers
+                continue;
+            }
+
+            split(FACT[i], as);
+            splitReciprocal(as, facts);
+
+            if ( (i & 2) != 0 ) { // alternate terms are negative
+                facts[0] = -facts[0];
+                facts[1] = -facts[1];
+            }
+
+            splitAdd(ys, facts, as);
+            ys[0] = as[0]; ys[1] = as[1];
+        }
+
+        if (result != null) {
+            result[0] = ys[0];
+            result[1] = ys[1];
+        }
+
+        return ys[0] + ys[1];
+    }
+
+
+    /**
+     *  For x between 0 and 1, returns exp(x), uses extended precision
+     *  @param x argument of exponential
+     *  @param result placeholder where to place exp(x) split in two terms
+     *  for extra precision (i.e. exp(x) = result[0] + result[1]
+     *  @return exp(x)
+     */
+    static double slowexp(final double x, final double result[]) {
+        final double xs[] = new double[2];
+        final double ys[] = new double[2];
+        final double facts[] = new double[2];
+        final double as[] = new double[2];
+        split(x, xs);
+        ys[0] = ys[1] = 0.0;
+
+        for (int i = FACT.length-1; i >= 0; i--) {
+            splitMult(xs, ys, as);
+            ys[0] = as[0];
+            ys[1] = as[1];
+
+            split(FACT[i], as);
+            splitReciprocal(as, facts);
+
+            splitAdd(ys, facts, as);
+            ys[0] = as[0];
+            ys[1] = as[1];
+        }
+
+        if (result != null) {
+            result[0] = ys[0];
+            result[1] = ys[1];
+        }
+
+        return ys[0] + ys[1];
+    }
+
+    /** Compute split[0], split[1] such that their sum is equal to d,
+     * and split[0] has its 30 least significant bits as zero.
+     * @param d number to split
+     * @param split placeholder where to place the result
+     */
+    private static void split(final double d, final double split[]) {
+        if (d < 8e298 && d > -8e298) {
+            final double a = d * HEX_40000000;
+            split[0] = (d + a) - a;
+            split[1] = d - split[0];
+        } else {
+            final double a = d * 9.31322574615478515625E-10;
+            split[0] = (d + a - d) * HEX_40000000;
+            split[1] = d - split[0];
+        }
+    }
+
+    /** Recompute a split.
+     * @param a input/out array containing the split, changed
+     * on output
+     */
+    private static void resplit(final double a[]) {
+        final double c = a[0] + a[1];
+        final double d = -(c - a[0] - a[1]);
+
+        if (c < 8e298 && c > -8e298) { // MAGIC NUMBER
+            double z = c * HEX_40000000;
+            a[0] = (c + z) - z;
+            a[1] = c - a[0] + d;
+        } else {
+            double z = c * 9.31322574615478515625E-10;
+            a[0] = (c + z - c) * HEX_40000000;
+            a[1] = c - a[0] + d;
+        }
+    }
+
+    /** Multiply two numbers in split form.
+     * @param a first term of multiplication
+     * @param b second term of multiplication
+     * @param ans placeholder where to put the result
+     */
+    private static void splitMult(double a[], double b[], double ans[]) {
+        ans[0] = a[0] * b[0];
+        ans[1] = a[0] * b[1] + a[1] * b[0] + a[1] * b[1];
+
+        /* Resplit */
+        resplit(ans);
+    }
+
+    /** Add two numbers in split form.
+     * @param a first term of addition
+     * @param b second term of addition
+     * @param ans placeholder where to put the result
+     */
+    private static void splitAdd(final double a[], final double b[], final double ans[]) {
+        ans[0] = a[0] + b[0];
+        ans[1] = a[1] + b[1];
+
+        resplit(ans);
+    }
+
+    /** Compute the reciprocal of in.  Use the following algorithm.
+     *  in = c + d.
+     *  want to find x + y such that x+y = 1/(c+d) and x is much
+     *  larger than y and x has several zero bits on the right.
+     *
+     *  Set b = 1/(2^22),  a = 1 - b.  Thus (a+b) = 1.
+     *  Use following identity to compute (a+b)/(c+d)
+     *
+     *  (a+b)/(c+d)  =   a/c   +    (bc - ad) / (c^2 + cd)
+     *  set x = a/c  and y = (bc - ad) / (c^2 + cd)
+     *  This will be close to the right answer, but there will be
+     *  some rounding in the calculation of X.  So by carefully
+     *  computing 1 - (c+d)(x+y) we can compute an error and
+     *  add that back in.   This is done carefully so that terms
+     *  of similar size are subtracted first.
+     *  @param in initial number, in split form
+     *  @param result placeholder where to put the result
+     */
+    static void splitReciprocal(final double in[], final double result[]) {
+        final double b = 1.0/4194304.0;
+        final double a = 1.0 - b;
+
+        if (in[0] == 0.0) {
+            in[0] = in[1];
+            in[1] = 0.0;
+        }
+
+        result[0] = a / in[0];
+        result[1] = (b*in[0]-a*in[1]) / (in[0]*in[0] + in[0]*in[1]);
+
+        if (result[1] != result[1]) { // can happen if result[1] is NAN
+            result[1] = 0.0;
+        }
+
+        /* Resplit */
+        resplit(result);
+
+        for (int i = 0; i < 2; i++) {
+            /* this may be overkill, probably once is enough */
+            double err = 1.0 - result[0] * in[0] - result[0] * in[1] -
+            result[1] * in[0] - result[1] * in[1];
+            /*err = 1.0 - err; */
+            err = err * (result[0] + result[1]);
+            /*printf("err = %16e\n", err); */
+            result[1] += err;
+        }
+    }
+
+    /** Compute (a[0] + a[1]) * (b[0] + b[1]) in extended precision.
+     * @param a first term of the multiplication
+     * @param b second term of the multiplication
+     * @param result placeholder where to put the result
+     */
+    private static void quadMult(final double a[], final double b[], final double result[]) {
+        final double xs[] = new double[2];
+        final double ys[] = new double[2];
+        final double zs[] = new double[2];
+
+        /* a[0] * b[0] */
+        split(a[0], xs);
+        split(b[0], ys);
+        splitMult(xs, ys, zs);
+
+        result[0] = zs[0];
+        result[1] = zs[1];
+
+        /* a[0] * b[1] */
+        split(b[1], ys);
+        splitMult(xs, ys, zs);
+
+        double tmp = result[0] + zs[0];
+        result[1] = result[1] - (tmp - result[0] - zs[0]);
+        result[0] = tmp;
+        tmp = result[0] + zs[1];
+        result[1] = result[1] - (tmp - result[0] - zs[1]);
+        result[0] = tmp;
+
+        /* a[1] * b[0] */
+        split(a[1], xs);
+        split(b[0], ys);
+        splitMult(xs, ys, zs);
+
+        tmp = result[0] + zs[0];
+        result[1] = result[1] - (tmp - result[0] - zs[0]);
+        result[0] = tmp;
+        tmp = result[0] + zs[1];
+        result[1] = result[1] - (tmp - result[0] - zs[1]);
+        result[0] = tmp;
+
+        /* a[1] * b[0] */
+        split(a[1], xs);
+        split(b[1], ys);
+        splitMult(xs, ys, zs);
+
+        tmp = result[0] + zs[0];
+        result[1] = result[1] - (tmp - result[0] - zs[0]);
+        result[0] = tmp;
+        tmp = result[0] + zs[1];
+        result[1] = result[1] - (tmp - result[0] - zs[1]);
+        result[0] = tmp;
+    }
+
+    /** Compute exp(p) for a integer p in extended precision.
+     * @param p integer whose exponential is requested
+     * @param result placeholder where to put the result in extended precision
+     * @return exp(p) in standard precision (equal to result[0] + result[1])
+     */
+    static double expint(int p, final double result[]) {
+        //double x = M_E;
+        final double xs[] = new double[2];
+        final double as[] = new double[2];
+        final double ys[] = new double[2];
+        //split(x, xs);
+        //xs[1] = (double)(2.7182818284590452353602874713526625L - xs[0]);
+        //xs[0] = 2.71827697753906250000;
+        //xs[1] = 4.85091998273542816811e-06;
+        //xs[0] = Double.longBitsToDouble(0x4005bf0800000000L);
+        //xs[1] = Double.longBitsToDouble(0x3ed458a2bb4a9b00L);
+
+        /* E */
+        xs[0] = 2.718281828459045;
+        xs[1] = 1.4456468917292502E-16;
+
+        split(1.0, ys);
+
+        while (p > 0) {
+            if ((p & 1) != 0) {
+                quadMult(ys, xs, as);
+                ys[0] = as[0]; ys[1] = as[1];
+            }
+
+            quadMult(xs, xs, as);
+            xs[0] = as[0]; xs[1] = as[1];
+
+            p >>= 1;
+        }
+
+        if (result != null) {
+            result[0] = ys[0];
+            result[1] = ys[1];
+
+            resplit(result);
+        }
+
+        return ys[0] + ys[1];
+    }
+    /** xi in the range of [1, 2].
+     *                                3        5        7
+     *      x+1           /          x        x        x          \
+     *  ln ----- =   2 *  |  x  +   ----  +  ----  +  ---- + ...  |
+     *      1-x           \          3        5        7          /
+     *
+     * So, compute a Remez approximation of the following function
+     *
+     *  ln ((sqrt(x)+1)/(1-sqrt(x)))  /  x
+     *
+     * This will be an even function with only positive coefficents.
+     * x is in the range [0 - 1/3].
+     *
+     * Transform xi for input to the above function by setting
+     * x = (xi-1)/(xi+1).   Input to the polynomial is x^2, then
+     * the result is multiplied by x.
+     * @param xi number from which log is requested
+     * @return log(xi)
+     */
+    static double[] slowLog(double xi) {
+        double x[] = new double[2];
+        double x2[] = new double[2];
+        double y[] = new double[2];
+        double a[] = new double[2];
+
+        split(xi, x);
+
+        /* Set X = (x-1)/(x+1) */
+        x[0] += 1.0;
+        resplit(x);
+        splitReciprocal(x, a);
+        x[0] -= 2.0;
+        resplit(x);
+        splitMult(x, a, y);
+        x[0] = y[0];
+        x[1] = y[1];
+
+        /* Square X -> X2*/
+        splitMult(x, x, x2);
+
+
+        //x[0] -= 1.0;
+        //resplit(x);
+
+        y[0] = LN_SPLIT_COEF[LN_SPLIT_COEF.length-1][0];
+        y[1] = LN_SPLIT_COEF[LN_SPLIT_COEF.length-1][1];
+
+        for (int i = LN_SPLIT_COEF.length-2; i >= 0; i--) {
+            splitMult(y, x2, a);
+            y[0] = a[0];
+            y[1] = a[1];
+            splitAdd(y, LN_SPLIT_COEF[i], a);
+            y[0] = a[0];
+            y[1] = a[1];
+        }
+
+        splitMult(y, x, a);
+        y[0] = a[0];
+        y[1] = a[1];
+
+        return y;
+    }
+
+
+    /**
+     * Print an array.
+     * @param out text output stream where output should be printed
+     * @param name array name
+     * @param expectedLen expected length of the array
+     * @param array2d array data
+     */
+    static void printarray(PrintStream out, String name, int expectedLen, double[][] array2d) {
+        out.println(name);
+        checkLen(expectedLen, array2d.length);
+        out.println(TABLE_START_DECL + " ");
+        int i = 0;
+        for(double array[] : array2d) {
+            out.print("        {");
+            for(double d : array) { // assume inner array has very few entries
+                out.printf("%-25.25s", format(d)); // multiple entries per line
+            }
+            out.println("}, // " + i++);
+        }
+        out.println(TABLE_END_DECL);
+    }
+
+    /**
+     * Print an array.
+     * @param out text output stream where output should be printed
+     * @param name array name
+     * @param expectedLen expected length of the array
+     * @param array array data
+     */
+    static void printarray(PrintStream out, String name, int expectedLen, double[] array) {
+        out.println(name + "=");
+        checkLen(expectedLen, array.length);
+        out.println(TABLE_START_DECL);
+        for(double d : array){
+            out.printf("        %s%n", format(d)); // one entry per line
+        }
+        out.println(TABLE_END_DECL);
+    }
+
+    /** Format a double.
+     * @param d double number to format
+     * @return formatted number
+     */
+    static String format(double d) {
+        if (d != d) {
+            return "Double.NaN,";
+        } else {
+            return ((d >= 0) ? "+" : "") + Double.toString(d) + "d,";
+        }
+    }
+
+    /**
+     * Check two lengths are equal.
+     * @param expectedLen expected length
+     * @param actual actual length
+     * @exception DimensionMismatchException if the two lengths are not equal
+     */
+    private static void checkLen(int expectedLen, int actual)
+        throws DimensionMismatchException {
+        if (expectedLen != actual) {
+            throw new DimensionMismatchException(actual, expectedLen);
+        }
+    }
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/FastMathLiteralArrays.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/FastMathLiteralArrays.java
new file mode 100644
index 0000000000..00ce86b027
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/FastMathLiteralArrays.java
@@ -0,0 +1,6176 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.util;
+
+/**
+ * Utility class for loading tabulated data used by {@link FastMath}.
+ *
+ * @version $Id$
+ */
+class FastMathLiteralArrays {
+    /** Exponential evaluated at integer values,
+     * exp(x) =  expIntTableA[x + EXP_INT_TABLE_MAX_INDEX] + expIntTableB[x+EXP_INT_TABLE_MAX_INDEX].
+     */
+    private static final double[] EXP_INT_A = new double[] {
+        +0.0d,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        +1.2167807682331913E-308d,
+        +3.3075532478807267E-308d,
+        +8.990862214387203E-308d,
+        +2.4439696075216986E-307d,
+        +6.64339758024534E-307d,
+        +1.8058628951432254E-306d,
+        +4.908843759498681E-306d,
+        +1.334362017065677E-305d,
+        +3.627172425759641E-305d,
+        +9.85967600992008E-305d,
+        +2.680137967689915E-304d,
+        +7.285370725133842E-304d,
+        +1.9803689272433392E-303d,
+        +5.3832011494782624E-303d,
+        +1.463305638201413E-302d,
+        +3.9776772027043775E-302d,
+        +1.0812448255518705E-301d,
+        +2.9391280956327795E-301d,
+        +7.989378677301346E-301d,
+        +2.1717383041010577E-300d,
+        +5.903396499766243E-300d,
+        +1.604709595901607E-299d,
+        +4.3620527352131126E-299d,
+        +1.1857289715706991E-298d,
+        +3.2231452986239366E-298d,
+        +8.761416875971053E-298d,
+        +2.381600167287677E-297d,
+        +6.473860152384321E-297d,
+        +1.7597776278732318E-296d,
+        +4.7835721669653157E-296d,
+        +1.3003096668152053E-295d,
+        +3.5346080979652066E-295d,
+        +9.608060944124859E-295d,
+        +2.6117415961302846E-294d,
+        +7.099449830809996E-294d,
+        +1.9298305829106006E-293d,
+        +5.245823134132673E-293d,
+        +1.4259627797225802E-292d,
+        +3.8761686729764145E-292d,
+        +1.0536518897078156E-291d,
+        +2.864122672853628E-291d,
+        +7.785491934690374E-291d,
+        +2.116316283183901E-290d,
+        +5.7527436249968E-290d,
+        +1.5637579898345352E-289d,
+        +4.250734424415339E-289d,
+        +1.1554696041977512E-288d,
+        +3.1408919441362495E-288d,
+        +8.537829238438662E-288d,
+        +2.320822576772103E-287d,
+        +6.308649765138419E-287d,
+        +1.7148689119310826E-286d,
+        +4.66149719271323E-286d,
+        +1.267126226441217E-285d,
+        +3.444406231880653E-285d,
+        +9.362866914115166E-285d,
+        +2.5450911557068313E-284d,
+        +6.918275021321188E-284d,
+        +1.880582039589629E-283d,
+        +5.111952261540649E-283d,
+        +1.3895726688907995E-282d,
+        +3.7772500667438066E-282d,
+        +1.026763015362553E-281d,
+        +2.791031173360063E-281d,
+        +7.586808748646825E-281d,
+        +2.0623086887184633E-280d,
+        +5.605936171588964E-280d,
+        +1.5238514098804918E-279d,
+        +4.1422578754033235E-279d,
+        +1.1259823210174452E-278d,
+        +3.060737220976933E-278d,
+        +8.319947089683576E-278d,
+        +2.2615958035357106E-277d,
+        +6.147655179898435E-277d,
+        +1.6711060014400145E-276d,
+        +4.542536646012133E-276d,
+        +1.2347896500246374E-275d,
+        +3.3565057475434694E-275d,
+        +9.123929070778758E-275d,
+        +2.4801413921885483E-274d,
+        +6.741722283079056E-274d,
+        +1.8325902719086093E-273d,
+        +4.981496462621207E-273d,
+        +1.3541112064618357E-272d,
+        +3.68085620656127E-272d,
+        +1.0005602916630382E-271d,
+        +2.719805132368625E-271d,
+        +7.393196131284108E-271d,
+        +2.0096791226867E-270d,
+        +5.462874707256208E-270d,
+        +1.4849631831943512E-269d,
+        +4.036548930895323E-269d,
+        +1.0972476870931676E-268d,
+        +2.9826282194717127E-268d,
+        +8.107624153838987E-268d,
+        +2.2038806519542315E-267d,
+        +5.990769236615968E-267d,
+        +1.628459873440512E-266d,
+        +4.4266130556431266E-266d,
+        +1.203278237867575E-265d,
+        +3.270849446965521E-265d,
+        +8.891090288030614E-265d,
+        +2.4168487931443637E-264d,
+        +6.569676185250389E-264d,
+        +1.7858231429575898E-263d,
+        +4.85437090269903E-263d,
+        +1.3195548295785448E-262d,
+        +3.5869215528816054E-262d,
+        +9.750264097807267E-262d,
+        +2.650396454019762E-261d,
+        +7.204525142098426E-261d,
+        +1.958392846081373E-260d,
+        +5.32346341339996E-260d,
+        +1.4470673509275515E-259d,
+        +3.9335373658569176E-259d,
+        +1.0692462289051038E-258d,
+        +2.9065128598079075E-258d,
+        +7.900720862969045E-258d,
+        +2.147638465376883E-257d,
+        +5.8378869339035456E-257d,
+        +1.5869022483809747E-256d,
+        +4.3136475849391444E-256d,
+        +1.1725710340687719E-255d,
+        +3.1873780814410126E-255d,
+        +8.66419234315257E-255d,
+        +2.35517168886351E-254d,
+        +6.402020300783889E-254d,
+        +1.740249660600677E-253d,
+        +4.7304887145310405E-253d,
+        +1.2858802448614707E-252d,
+        +3.495384792953975E-252d,
+        +9.501439740542955E-252d,
+        +2.582759362004277E-251d,
+        +7.020668578160457E-251d,
+        +1.908415302517694E-250d,
+        +5.1876107490791666E-250d,
+        +1.4101386971763257E-249d,
+        +3.8331545111676784E-249d,
+        +1.0419594359065132E-248d,
+        +2.8323395451363237E-248d,
+        +7.699097067385825E-248d,
+        +2.0928317096428755E-247d,
+        +5.688906371296133E-247d,
+        +1.5464049837965422E-246d,
+        +4.2035646586788297E-246d,
+        +1.1426473877336358E-245d,
+        +3.106037603716254E-245d,
+        +8.443084996839363E-245d,
+        +2.2950686306677644E-244d,
+        +6.238642390386363E-244d,
+        +1.695838923802857E-243d,
+        +4.6097680405580995E-243d,
+        +1.2530649392922358E-242d,
+        +3.4061835424180075E-242d,
+        +9.25896798127602E-242d,
+        +2.5168480541429286E-241d,
+        +6.841502859109196E-241d,
+        +1.8597132378953187E-240d,
+        +5.055224959032211E-240d,
+        +1.374152583940637E-239d,
+        +3.735333866258403E-239d,
+        +1.0153690688015855E-238d,
+        +2.7600590782738726E-238d,
+        +7.502618487550056E-238d,
+        +2.0394233446495043E-237d,
+        +5.543727690168612E-237d,
+        +1.5069412868172555E-236d,
+        +4.0962906236847E-236d,
+        +1.1134873918971586E-235d,
+        +3.026772467749944E-235d,
+        +8.227620163729258E-235d,
+        +2.2364990583200056E-234d,
+        +6.079434951446575E-234d,
+        +1.6525617499662284E-233d,
+        +4.4921289690525345E-233d,
+        +1.2210872189854344E-232d,
+        +3.3192593301633E-232d,
+        +9.02268127425393E-232d,
+        +2.4526190464373087E-231d,
+        +6.666909874218774E-231d,
+        +1.8122539547625083E-230d,
+        +4.926216840507529E-230d,
+        +1.3390847149416908E-229d,
+        +3.6400093808551196E-229d,
+        +9.894571625944288E-229d,
+        +2.689623698321582E-228d,
+        +7.31115423069187E-228d,
+        +1.9873779569310022E-227d,
+        +5.402252865260326E-227d,
+        +1.4684846983789053E-226d,
+        +3.991755413823315E-226d,
+        +1.0850715739509136E-225d,
+        +2.9495302004590423E-225d,
+        +8.017654713159388E-225d,
+        +2.179424521221378E-224d,
+        +5.924290380648597E-224d,
+        +1.6103890140790331E-223d,
+        +4.377491272857675E-223d,
+        +1.1899254154663847E-222d,
+        +3.2345523990372546E-222d,
+        +8.792425221770645E-222d,
+        +2.3900289095512176E-221d,
+        +6.496772856703278E-221d,
+        +1.7660059778220905E-220d,
+        +4.800501435803201E-220d,
+        +1.3049116216750674E-219d,
+        +3.5471180281159325E-219d,
+        +9.642065709892252E-219d,
+        +2.6209850274990846E-218d,
+        +7.124574366530717E-218d,
+        +1.9366601417010147E-217d,
+        +5.264388476949737E-217d,
+        +1.431009021985696E-216d,
+        +3.889885799962507E-216d,
+        +1.057380684430436E-215d,
+        +2.8742587656021775E-215d,
+        +7.813044552050569E-215d,
+        +2.1238058974550874E-214d,
+        +5.773102661099307E-214d,
+        +1.5692921723471877E-213d,
+        +4.2657777816050375E-213d,
+        +1.1595585743839232E-212d,
+        +3.1520070828798975E-212d,
+        +8.568043768122183E-212d,
+        +2.329035966595791E-211d,
+        +6.33097561889469E-211d,
+        +1.720937714565362E-210d,
+        +4.677993239821998E-210d,
+        +1.2716105485691878E-209d,
+        +3.456595573934475E-209d,
+        +9.396000024637834E-209d,
+        +2.55409795397022E-208d,
+        +6.942757623821567E-208d,
+        +1.887237361505784E-207d,
+        +5.13004286606108E-207d,
+        +1.3944901709366118E-206d,
+        +3.7906173667738715E-206d,
+        +1.0303966192973381E-205d,
+        +2.8009086220877197E-205d,
+        +7.613657850210907E-205d,
+        +2.0696069842597556E-204d,
+        +5.6257755605305175E-204d,
+        +1.5292444435954893E-203d,
+        +4.156916476922876E-203d,
+        +1.12996721591364E-202d,
+        +3.071569248856111E-202d,
+        +8.349390727162016E-202d,
+        +2.2695999828608633E-201d,
+        +6.1694117899971836E-201d,
+        +1.677020107827128E-200d,
+        +4.558612479525779E-200d,
+        +1.2391595516612638E-199d,
+        +3.3683846288580648E-199d,
+        +9.156218120779494E-199d,
+        +2.4889182184335247E-198d,
+        +6.765580431441772E-198d,
+        +1.839075686473352E-197d,
+        +4.999126524757713E-197d,
+        +1.3589033107846643E-196d,
+        +3.6938826366068014E-196d,
+        +1.0041012794280992E-195d,
+        +2.7294301888986675E-195d,
+        +7.419361045185406E-195d,
+        +2.016791373353671E-194d,
+        +5.482208065983983E-194d,
+        +1.490218341008089E-193d,
+        +4.050833763855709E-193d,
+        +1.101130773265179E-192d,
+        +2.993183789477209E-192d,
+        +8.136316299122392E-192d,
+        +2.2116799789922265E-191d,
+        +6.011969568315371E-191d,
+        +1.6342228966392253E-190d,
+        +4.4422779589171113E-190d,
+        +1.2075364784547675E-189d,
+        +3.282424571107068E-189d,
+        +8.92255448602772E-189d,
+        +2.425402115319395E-188d,
+        +6.592926904915355E-188d,
+        +1.79214305133496E-187d,
+        +4.871550528055661E-187d,
+        +1.3242245776666673E-186d,
+        +3.599615946028287E-186d,
+        +9.78476998200719E-186d,
+        +2.659776075359514E-185d,
+        +7.230020851688713E-185d,
+        +1.9653234116333892E-184d,
+        +5.34230278107224E-184d,
+        +1.4521887058451231E-183d,
+        +3.947457923821984E-183d,
+        +1.0730302255093144E-182d,
+        +2.9167986204137332E-182d,
+        +7.928680793406766E-182d,
+        +2.1552386987482013E-181d,
+        +5.858546779607288E-181d,
+        +1.5925182066949723E-180d,
+        +4.328913614497258E-180d,
+        +1.1767205227552116E-179d,
+        +3.198658219194836E-179d,
+        +8.694853785564504E-179d,
+        +2.363506255864984E-178d,
+        +6.42467573615509E-178d,
+        +1.746408207555959E-177d,
+        +4.747229597770176E-177d,
+        +1.2904307529671472E-176d,
+        +3.507754341050756E-176d,
+        +9.535066345267336E-176d,
+        +2.591899541396432E-175d,
+        +7.045512786902009E-175d,
+        +1.9151693415969248E-174d,
+        +5.205969622575851E-174d,
+        +1.4151292367806538E-173d,
+        +3.846720258072078E-173d,
+        +1.045647032279984E-172d,
+        +2.8423629805010285E-172d,
+        +7.726344058192276E-172d,
+        +2.1002377128928765E-171d,
+        +5.709039546124285E-171d,
+        +1.5518778128928824E-170d,
+        +4.218440703602533E-170d,
+        +1.1466910691560932E-169d,
+        +3.1170298734336303E-169d,
+        +8.472965161251656E-169d,
+        +2.303190374523956E-168d,
+        +6.260720440258473E-168d,
+        +1.701840523821621E-167d,
+        +4.62608152166211E-167d,
+        +1.2574995962791943E-166d,
+        +3.418237608335161E-166d,
+        +9.29173407843235E-166d,
+        +2.5257552661512635E-165d,
+        +6.865714679174435E-165d,
+        +1.866294830116931E-164d,
+        +5.073114566291778E-164d,
+        +1.3790154522394582E-163d,
+        +3.7485528226129495E-163d,
+        +1.0189624503698769E-162d,
+        +2.7698267293941856E-162d,
+        +7.529170882336924E-162d,
+        +2.0466404088178596E-161d,
+        +5.56334611651382E-161d,
+        +1.512274346576166E-160d,
+        +4.110787043867721E-160d,
+        +1.1174279267498045E-159d,
+        +3.0374839443564585E-159d,
+        +8.25673801176584E-159d,
+        +2.244414150254963E-158d,
+        +6.1009492034592176E-158d,
+        +1.6584100275603453E-157d,
+        +4.50802633729044E-157d,
+        +1.2254085656601853E-156d,
+        +3.3310057014599044E-156d,
+        +9.054612259832416E-156d,
+        +2.4612985502035675E-155d,
+        +6.690503835950083E-155d,
+        +1.8186679660152888E-154d,
+        +4.9436516047443576E-154d,
+        +1.3438240331106108E-153d,
+        +3.652892398145774E-153d,
+        +9.92958982547828E-153d,
+        +2.6991427376823027E-152d,
+        +7.3370297995122135E-152d,
+        +1.994411660450821E-151d,
+        +5.421372463189529E-151d,
+        +1.4736818914204564E-150d,
+        +4.005882964287806E-150d,
+        +1.088911919926534E-149d,
+        +2.9599693109692324E-149d,
+        +8.046030012041041E-149d,
+        +2.18713790898745E-148d,
+        +5.945256705384597E-148d,
+        +1.6160884846515524E-147d,
+        +4.392983574030969E-147d,
+        +1.1941366764543551E-146d,
+        +3.2460001983475855E-146d,
+        +8.8235440586675E-146d,
+        +2.3984878190403553E-145d,
+        +6.519765758635405E-145d,
+        +1.772256261139753E-144d,
+        +4.817491674217065E-144d,
+        +1.3095299991573769E-143d,
+        +3.559671483107555E-143d,
+        +9.676190774054103E-143d,
+        +2.630261301303634E-142d,
+        +7.149792225695347E-142d,
+        +1.943514969662872E-141d,
+        +5.283020542151163E-141d,
+        +1.4360739330834996E-140d,
+        +3.9036541111764032E-140d,
+        +1.0611230602364477E-139d,
+        +2.8844319473099593E-139d,
+        +7.84069876400596E-139d,
+        +2.1313228444765414E-138d,
+        +5.793536445518422E-138d,
+        +1.5748463788034308E-137d,
+        +4.2808762411845363E-137d,
+        +1.1636629220608724E-136d,
+        +3.163163464591171E-136d,
+        +8.598369704466743E-136d,
+        +2.337279322276433E-135d,
+        +6.353384093665193E-135d,
+        +1.7270287031459572E-134d,
+        +4.694550492773212E-134d,
+        +1.2761111606368036E-133d,
+        +3.4688299108856403E-133d,
+        +9.429257929713919E-133d,
+        +2.5631381141873417E-132d,
+        +6.967331001069377E-132d,
+        +1.8939170679975288E-131d,
+        +5.148199748336684E-131d,
+        +1.3994258162094293E-130d,
+        +3.804034213613942E-130d,
+        +1.0340436948077763E-129d,
+        +2.8108219632627907E-129d,
+        +7.640606938467665E-129d,
+        +2.0769322678328357E-128d,
+        +5.645687086879944E-128d,
+        +1.5346568127351796E-127d,
+        +4.171630237420918E-127d,
+        +1.1339665711932977E-126d,
+        +3.0824406750909563E-126d,
+        +8.37894218404787E-126d,
+        +2.2776327994966818E-125d,
+        +6.191247522703296E-125d,
+        +1.6829556040859853E-124d,
+        +4.5747479502862494E-124d,
+        +1.2435453481209945E-123d,
+        +3.3803067202247166E-123d,
+        +9.188625696750548E-123d,
+        +2.4977273040076145E-122d,
+        +6.789527378582775E-122d,
+        +1.845584943222965E-121d,
+        +5.016820182185716E-121d,
+        +1.3637129731022491E-120d,
+        +3.706956710275979E-120d,
+        +1.0076552294433743E-119d,
+        +2.739090595934893E-119d,
+        +7.445620503219039E-119d,
+        +2.023929422267303E-118d,
+        +5.501611507503037E-118d,
+        +1.4954928881576769E-117d,
+        +4.0651709187617596E-117d,
+        +1.1050280679513555E-116d,
+        +3.003777734030334E-116d,
+        +8.165114384910189E-116d,
+        +2.219508285637377E-115d,
+        +6.033249389304709E-115d,
+        +1.6400070480930697E-114d,
+        +4.458001565878111E-114d,
+        +1.2118105325725891E-113d,
+        +3.2940421731384895E-113d,
+        +8.954135150208654E-113d,
+        +2.433986351722258E-112d,
+        +6.616260705434716E-112d,
+        +1.7984863104885375E-111d,
+        +4.888792154132158E-111d,
+        +1.3289115531074511E-110d,
+        +3.612356038181234E-110d,
+        +9.819402293160495E-110d,
+        +2.6691899766673256E-109d,
+        +7.255611264437603E-109d,
+        +1.9722796756250217E-108d,
+        +5.361211684173837E-108d,
+        +1.4573285967670963E-107d,
+        +3.961429477016909E-107d,
+        +1.0768281419102595E-106d,
+        +2.9271223293841774E-106d,
+        +7.956744351476403E-106d,
+        +2.1628672925745152E-105d,
+        +5.879282834821692E-105d,
+        +1.5981547034872092E-104d,
+        +4.344234755347641E-104d,
+        +1.1808855501885005E-103d,
+        +3.2099795870407646E-103d,
+        +8.725629524586503E-103d,
+        +2.3718718327094683E-102d,
+        +6.44741641521183E-102d,
+        +1.7525895549820557E-101d,
+        +4.7640323331013947E-101d,
+        +1.2949980563724296E-100d,
+        +3.5201699899499525E-100d,
+        +9.56881327374431E-100d,
+        +2.6010732940533088E-99d,
+        +7.070450309820548E-99d,
+        +1.9219478787856753E-98d,
+        +5.2243955659975294E-98d,
+        +1.4201378353978042E-97d,
+        +3.8603349913851996E-97d,
+        +1.0493479260117497E-96d,
+        +2.8524232604238555E-96d,
+        +7.753690709912764E-96d,
+        +2.1076716069929933E-95d,
+        +5.72924572981599E-95d,
+        +1.5573703263204683E-94d,
+        +4.233371554108682E-94d,
+        +1.1507496472539512E-93d,
+        +3.1280620563875923E-93d,
+        +8.5029538631631E-93d,
+        +2.3113425190436427E-92d,
+        +6.28287989314225E-92d,
+        +1.7078641226055994E-91d,
+        +4.6424556110307644E-91d,
+        +1.261950308999819E-90d,
+        +3.430336362898836E-90d,
+        +9.324622137237299E-90d,
+        +2.5346947846365435E-89d,
+        +6.890014851450124E-89d,
+        +1.8729003560057785E-88d,
+        +5.091070300111434E-88d,
+        +1.3838964592430477E-87d,
+        +3.761820584522275E-87d,
+        +1.0225689628581036E-86d,
+        +2.7796303536272215E-86d,
+        +7.555818934379333E-86d,
+        +2.053884626293416E-85d,
+        +5.583037134407759E-85d,
+        +1.5176268538776042E-84d,
+        +4.125337057189083E-84d,
+        +1.121383042095528E-83d,
+        +3.0482348236054953E-83d,
+        +8.285962249116636E-83d,
+        +2.2523580600947705E-82d,
+        +6.122543452787843E-82d,
+        +1.664279766968299E-81d,
+        +4.523982262003404E-81d,
+        +1.2297456769063303E-80d,
+        +3.342795345742034E-80d,
+        +9.086660081726823E-80d,
+        +2.4700104681773258E-79d,
+        +6.714184569587689E-79d,
+        +1.8251046352720517E-78d,
+        +4.961148056969105E-78d,
+        +1.3485799924445315E-77d,
+        +3.665820371396835E-77d,
+        +9.964732578705785E-77d,
+        +2.708695208461993E-76d,
+        +7.362996533913695E-76d,
+        +2.0014700145557332E-75d,
+        +5.440559532453721E-75d,
+        +1.4788974793889734E-74d,
+        +4.020060558571273E-74d,
+        +1.092765612182012E-73d,
+        +2.970445258959489E-73d,
+        +8.074507236705857E-73d,
+        +2.1948784599535102E-72d,
+        +5.966298125808066E-72d,
+        +1.6218081151910012E-71d,
+        +4.408531734441582E-71d,
+        +1.198363039426718E-70d,
+        +3.257488853378793E-70d,
+        +8.854771398921902E-70d,
+        +2.406976727302894E-69d,
+        +6.542840888268955E-69d,
+        +1.778528517418201E-68d,
+        +4.834541417183388E-68d,
+        +1.3141647465063647E-67d,
+        +3.572270133517001E-67d,
+        +9.710435805122717E-67d,
+        +2.63957027915428E-66d,
+        +7.175096392165733E-66d,
+        +1.9503931430716318E-65d,
+        +5.3017188565638215E-65d,
+        +1.4411566290936352E-64d,
+        +3.9174693825966044E-64d,
+        +1.0648786018364265E-63d,
+        +2.8946401383311E-63d,
+        +7.868447965383903E-63d,
+        +2.1388659707647114E-62d,
+        +5.814040618670345E-62d,
+        +1.5804200403673568E-61d,
+        +4.296027044486766E-61d,
+        +1.1677812418806031E-60d,
+        +3.174358801839755E-60d,
+        +8.62880163941313E-60d,
+        +2.345551464945955E-59d,
+        +6.3758692300917355E-59d,
+        +1.733140900346534E-58d,
+        +4.711165925070571E-58d,
+        +1.2806275683797178E-57d,
+        +3.481106736845E-57d,
+        +9.462629520363307E-57d,
+        +2.5722094667974783E-56d,
+        +6.9919903587080315E-56d,
+        +1.9006201022568844E-55d,
+        +5.166420404109835E-55d,
+        +1.4043786616805493E-54d,
+        +3.8174968984748894E-54d,
+        +1.03770335512154E-53d,
+        +2.820769858672565E-53d,
+        +7.667647949477605E-53d,
+        +2.0842827711783212E-52d,
+        +5.6656680900216754E-52d,
+        +1.5400881501571645E-51d,
+        +4.1863938339341257E-51d,
+        +1.1379799629071911E-50d,
+        +3.093350150840571E-50d,
+        +8.408597060399334E-50d,
+        +2.2856938448387544E-49d,
+        +6.2131591878042886E-49d,
+        +1.688911928929718E-48d,
+        +4.5909386437919143E-48d,
+        +1.2479464696643861E-47d,
+        +3.3922703599272275E-47d,
+        +9.221146830884422E-47d,
+        +2.5065676066043174E-46d,
+        +6.8135571305481364E-46d,
+        +1.8521166948363666E-45d,
+        +5.0345752964740226E-45d,
+        +1.368539456379101E-44d,
+        +3.720075801577098E-44d,
+        +1.0112214979786464E-43d,
+        +2.7487849807248755E-43d,
+        +7.47197247068667E-43d,
+        +2.0310928323153876E-42d,
+        +5.521082422279256E-42d,
+        +1.5007857288519654E-41d,
+        +4.0795586181406803E-41d,
+        +1.108938997126179E-40d,
+        +3.0144088843073416E-40d,
+        +8.194012195477669E-40d,
+        +2.2273635587196807E-39d,
+        +6.054601485195952E-39d,
+        +1.6458113136245473E-38d,
+        +4.473779311490168E-38d,
+        +1.2160992719555806E-37d,
+        +3.3057007442449645E-37d,
+        +8.985825281444118E-37d,
+        +2.442600707513088E-36d,
+        +6.639677673630215E-36d,
+        +1.8048513285848406E-35d,
+        +4.906094420881007E-35d,
+        +1.3336148713971936E-34d,
+        +3.625141007634431E-34d,
+        +9.854154449263851E-34d,
+        +2.6786368134431636E-33d,
+        +7.28128971953363E-33d,
+        +1.9792597720953414E-32d,
+        +5.380185921962174E-32d,
+        +1.4624861244004054E-31d,
+        +3.975449484028966E-31d,
+        +1.080639291795678E-30d,
+        +2.9374821418009058E-30d,
+        +7.984904044796711E-30d,
+        +2.1705221445447534E-29d,
+        +5.900089995748943E-29d,
+        +1.6038109389511792E-28d,
+        +4.359610133382778E-28d,
+        +1.185064946717304E-27d,
+        +3.221340469489223E-27d,
+        +8.756510122348782E-27d,
+        +2.380266370880709E-26d,
+        +6.47023467943241E-26d,
+        +1.75879225876483E-25d,
+        +4.780892502168074E-25d,
+        +1.2995814853898995E-24d,
+        +3.5326287852455166E-24d,
+        +9.602680736954162E-24d,
+        +2.6102792042257208E-23d,
+        +7.095474414148981E-23d,
+        +1.9287497671359936E-22d,
+        +5.242885191553114E-22d,
+        +1.4251641388208515E-21d,
+        +3.873997809109103E-21d,
+        +1.0530616658562386E-20d,
+        +2.862518609581133E-20d,
+        +7.78113163345177E-20d,
+        +2.1151310700892382E-19d,
+        +5.74952254077566E-19d,
+        +1.5628822871880503E-18d,
+        +4.24835413113866E-18d,
+        +1.1548223864099742E-17d,
+        +3.139132557537509E-17d,
+        +8.533046968331264E-17d,
+        +2.3195229636950566E-16d,
+        +6.305116324200775E-16d,
+        +1.71390848833098E-15d,
+        +4.6588861918718874E-15d,
+        +1.2664165777252073E-14d,
+        +3.442477422913037E-14d,
+        +9.357622912219837E-14d,
+        +2.5436656904062604E-13d,
+        +6.914399608426436E-13d,
+        +1.879528650772233E-12d,
+        +5.1090893668503945E-12d,
+        +1.3887944613766301E-11d,
+        +3.775134371775124E-11d,
+        +1.0261880234452292E-10d,
+        +2.789468100949932E-10d,
+        +7.582560135332983E-10d,
+        +2.061153470123145E-9d,
+        +5.602796449011294E-9d,
+        +1.5229979055675358E-8d,
+        +4.139937459513021E-8d,
+        +1.1253517584464134E-7d,
+        +3.059023470086686E-7d,
+        +8.315287232107949E-7d,
+        +2.260329438286135E-6d,
+        +6.1442124206223525E-6d,
+        +1.670170240686275E-5d,
+        +4.539993096841499E-5d,
+        +1.2340981629677117E-4d,
+        +3.35462624207139E-4d,
+        +9.118819143623114E-4d,
+        +0.0024787522852420807d,
+        +0.006737947463989258d,
+        +0.018315639346837997d,
+        +0.049787066876888275d,
+        +0.1353352963924408d,
+        +0.3678794503211975d,
+        +1.0d,
+        +2.7182817459106445d,
+        +7.389056205749512d,
+        +20.08553695678711d,
+        +54.59815216064453d,
+        +148.41314697265625d,
+        +403.42877197265625d,
+        +1096.633056640625d,
+        +2980.9580078125d,
+        +8103.083984375d,
+        +22026.46484375d,
+        +59874.140625d,
+        +162754.78125d,
+        +442413.375d,
+        +1202604.25d,
+        +3269017.5d,
+        +8886110.0d,
+        +2.4154952E7d,
+        +6.5659968E7d,
+        +1.78482304E8d,
+        +4.85165184E8d,
+        +1.318815744E9d,
+        +3.584912896E9d,
+        +9.74480384E9d,
+        +2.6489122816E10d,
+        +7.200489472E10d,
+        +1.95729620992E11d,
+        +5.32048248832E11d,
+        +1.446257098752E12d,
+        +3.9313342464E12d,
+        +1.0686474223616E13d,
+        +2.904884772864E13d,
+        +7.8962956959744E13d,
+        +2.14643574308864E14d,
+        +5.83461777702912E14d,
+        +1.586013579247616E15d,
+        +4.31123180027904E15d,
+        +1.1719142537166848E16d,
+        +3.1855931348221952E16d,
+        +8.6593395455164416E16d,
+        +2.35385270340419584E17d,
+        +6.3984347447610573E17d,
+        +1.73927483790327808E18d,
+        +4.7278395262972723E18d,
+        +1.285159987981792E19d,
+        +3.493427277593156E19d,
+        +9.496119530068797E19d,
+        +2.581312717296228E20d,
+        +7.016736290557636E20d,
+        +1.907346499785443E21d,
+        +5.1847060206155E21d,
+        +1.4093490364499379E22d,
+        +3.831007739580998E22d,
+        +1.0413759887481643E23d,
+        +2.8307533984544136E23d,
+        +7.694785471490595E23d,
+        +2.0916595931561093E24d,
+        +5.685720022003016E24d,
+        +1.545539007875769E25d,
+        +4.201209991636407E25d,
+        +1.142007304008196E26d,
+        +3.104297782658242E26d,
+        +8.43835682327257E26d,
+        +2.2937832658080656E27d,
+        +6.23514943204966E27d,
+        +1.694889206675675E28d,
+        +4.607187019879158E28d,
+        +1.2523630909973607E29d,
+        +3.4042761729010895E29d,
+        +9.253781621373885E29d,
+        +2.5154385492401904E30d,
+        +6.837671137556327E30d,
+        +1.8586717056324128E31d,
+        +5.05239404378821E31d,
+        +1.3733830589835937E32d,
+        +3.733241849647479E32d,
+        +1.014800418749161E33d,
+        +2.758513549969986E33d,
+        +7.498416981578345E33d,
+        +2.0382811492597872E34d,
+        +5.540622484676759E34d,
+        +1.5060972626944096E35d,
+        +4.0939972479624634E35d,
+        +1.1128638067747114E36d,
+        +3.0250770246136387E36d,
+        +8.223012393018281E36d,
+        +2.2352467822017166E37d,
+        +6.076029840339376E37d,
+        +1.6516361647240826E38d,
+        +4.4896127778163155E38d,
+        +1.2204032949639917E39d,
+        +3.3174000012927697E39d,
+        +9.017628107716908E39d,
+        +2.451245443147225E40d,
+        +6.663175904917432E40d,
+        +1.8112388823726723E41d,
+        +4.923458004084836E41d,
+        +1.3383347029375378E42d,
+        +3.637970747803715E42d,
+        +9.889030935681123E42d,
+        +2.6881169167589747E43d,
+        +7.307059786371152E43d,
+        +1.986264756071962E44d,
+        +5.399227989109673E44d,
+        +1.467662348860426E45d,
+        +3.989519470441919E45d,
+        +1.0844638420493122E46d,
+        +2.9478781225754055E46d,
+        +8.013164089994031E46d,
+        +2.1782039447564253E47d,
+        +5.920972420778763E47d,
+        +1.609486943324346E48d,
+        +4.3750396394525074E48d,
+        +1.1892591576149107E49d,
+        +3.2327411123173475E49d,
+        +8.787501601904039E49d,
+        +2.3886908001521312E50d,
+        +6.493134033643613E50d,
+        +1.7650169203544438E51d,
+        +4.7978130078372714E51d,
+        +1.3041809768060802E52d,
+        +3.5451314095271004E52d,
+        +9.636666808527841E52d,
+        +2.6195174357581655E53d,
+        +7.120586694432509E53d,
+        +1.9355758655647052E54d,
+        +5.2614409704305464E54d,
+        +1.4302079642723736E55d,
+        +3.8877083524279136E55d,
+        +1.0567886837680406E56d,
+        +2.872649515690124E56d,
+        +7.808670894670738E56d,
+        +2.1226166967029073E57d,
+        +5.769871153180574E57d,
+        +1.568413405104933E58d,
+        +4.263390023436419E58d,
+        +1.1589095247718807E59d,
+        +3.150242850860434E59d,
+        +8.563247933339596E59d,
+        +2.3277319969498524E60d,
+        +6.327431953939798E60d,
+        +1.719974302355042E61d,
+        +4.675374788964851E61d,
+        +1.2708985520400816E62d,
+        +3.454660807101683E62d,
+        +9.390740355567705E62d,
+        +2.5526681615684215E63d,
+        +6.938871462941557E63d,
+        +1.8861808782043154E64d,
+        +5.1271712215233855E64d,
+        +1.3937096689052236E65d,
+        +3.7884955399150257E65d,
+        +1.0298199046367501E66d,
+        +2.799340708992666E66d,
+        +7.609396391563323E66d,
+        +2.0684484008569103E67d,
+        +5.622626080395226E67d,
+        +1.528388084444653E68d,
+        +4.1545899609113734E68d,
+        +1.1293346659459732E69d,
+        +3.069849599753188E69d,
+        +8.344717266683004E69d,
+        +2.268329019570017E70d,
+        +6.165958325782564E70d,
+        +1.676081191364984E71d,
+        +4.556060380835955E71d,
+        +1.2384658100355657E72d,
+        +3.3664990715562672E72d,
+        +9.15109220707761E72d,
+        +2.4875248571153216E73d,
+        +6.761793219649385E73d,
+        +1.8380461271305958E74d,
+        +4.996327312938759E74d,
+        +1.3581426848077408E75d,
+        +3.691814001080034E75d,
+        +1.0035391101975138E76d,
+        +2.7279024753382288E76d,
+        +7.415207287657125E76d,
+        +2.0156621983963848E77d,
+        +5.479138512760614E77d,
+        +1.4893842728520671E78d,
+        +4.048565732162643E78d,
+        +1.1005142643914475E79d,
+        +2.991508131437659E79d,
+        +8.131762373533769E79d,
+        +2.210442148596269E80d,
+        +6.008604166110734E80d,
+        +1.633308028614055E81d,
+        +4.439791652732591E81d,
+        +1.206860599814453E82d,
+        +3.280586734644871E82d,
+        +8.917559854082513E82d,
+        +2.4240442814945802E83d,
+        +6.589235682116406E83d,
+        +1.7911398904871E84d,
+        +4.86882298924053E84d,
+        +1.3234832005748183E85d,
+        +3.597600556519039E85d,
+        +9.77929222446451E85d,
+        +2.658286976862848E86d,
+        +7.225974166887662E86d,
+        +1.9642232209552433E87d,
+        +5.3393125705958075E87d,
+        +1.4513757076459615E88d,
+        +3.945247871835613E88d,
+        +1.0724295693252266E89d,
+        +2.915165904253785E89d,
+        +7.924242330665303E89d,
+        +2.1540322390343345E90d,
+        +5.855267177907345E90d,
+        +1.5916266807316476E91d,
+        +4.326489915443873E91d,
+        +1.1760619079592718E92d,
+        +3.1968677404735245E92d,
+        +8.689987517871135E92d,
+        +2.3621834216830225E93d,
+        +6.421080550439423E93d,
+        +1.7454306955949023E94d,
+        +4.744571892885607E94d,
+        +1.2897084285532175E95d,
+        +3.505791114318544E95d,
+        +9.529727908157224E95d,
+        +2.5904487437231458E96d,
+        +7.041568925985714E96d,
+        +1.9140971884979424E97d,
+        +5.203055142575272E97d,
+        +1.4143368931719686E98d,
+        +3.8445667684706366E98d,
+        +1.0450615121235744E99d,
+        +2.8407720200442806E99d,
+        +7.722018663521402E99d,
+        +2.0990624115923312E100d,
+        +5.705842978547001E100d,
+        +1.5510089388648915E101d,
+        +4.216079296087462E101d,
+        +1.1460491592124923E102d,
+        +3.1152847602082673E102d,
+        +8.468222063292654E102d,
+        +2.3019011105282883E103d,
+        +6.257216813084462E103d,
+        +1.7008878437355237E104d,
+        +4.62349260394851E104d,
+        +1.2567956334920216E105d,
+        +3.416324322370112E105d,
+        +9.286532888251822E105d,
+        +2.5243410574836706E106d,
+        +6.861870970598542E106d,
+        +1.8652499723625443E107d,
+        +5.070274654122399E107d,
+        +1.3782437251846782E108d,
+        +3.746454626411946E108d,
+        +1.0183920005400422E109d,
+        +2.768276122845335E109d,
+        +7.524954624697075E109d,
+        +2.0454950851007314E110d,
+        +5.56023190218245E110d,
+        +1.511427628805191E111d,
+        +4.1084862677372065E111d,
+        +1.1168024085164686E112d,
+        +3.0357834799588566E112d,
+        +8.252116273466952E112d,
+        +2.2431576057283144E113d,
+        +6.097534318207731E113d,
+        +1.65748157925005E114d,
+        +4.5055022172222453E114d,
+        +1.2247224482958058E115d,
+        +3.329140840363789E115d,
+        +9.049543313665034E115d,
+        +2.4599209935197392E116d,
+        +6.686758417135634E116d,
+        +1.817649308779104E117d,
+        +4.940883275207154E117d,
+        +1.3430713954289087E118d,
+        +3.6508464654683645E118d,
+        +9.924030156169606E118d,
+        +2.697631034485758E119d,
+        +7.332921137166064E119d,
+        +1.9932945470297703E120d,
+        +5.418336099279846E120d,
+        +1.472856595860236E121d,
+        +4.0036393271908754E121d,
+        +1.0883019300873278E122d,
+        +2.9583112936666607E122d,
+        +8.041523923017192E122d,
+        +2.1859129781586158E123d,
+        +5.941927186144745E123d,
+        +1.6151834292371802E124d,
+        +4.390523815859274E124d,
+        +1.1934680816813702E125d,
+        +3.2441826014060764E125d,
+        +8.81860282490643E125d,
+        +2.3971445233885962E126d,
+        +6.516115189736396E126d,
+        +1.7712635751001657E127d,
+        +4.814793918384117E127d,
+        +1.3087966177291396E128d,
+        +3.557678449715009E128d,
+        +9.670771210463886E128d,
+        +2.628788218289742E129d,
+        +7.145787619369324E129d,
+        +1.9424264981694277E130d,
+        +5.280062387569078E130d,
+        +1.4352697002457768E131d,
+        +3.901467289560222E131d,
+        +1.0605288965077546E132d,
+        +2.882816299252225E132d,
+        +7.836307815186044E132d,
+        +2.1301292155181736E133d,
+        +5.790291758828013E133d,
+        +1.573964437869041E134d,
+        +4.278478878300888E134d,
+        +1.1630112062985817E135d,
+        +3.1613917467297413E135d,
+        +8.593554223894477E135d,
+        +2.335970335559215E136d,
+        +6.349826172787151E136d,
+        +1.7260616357651607E137d,
+        +4.691921416188566E137d,
+        +1.2753966504932798E138d,
+        +3.466887271843006E138d,
+        +9.423976538577447E138d,
+        +2.561702766944378E139d,
+        +6.963429563637273E139d,
+        +1.892856346657855E140d,
+        +5.1453167686439515E140d,
+        +1.3986421289359558E141d,
+        +3.8019036618832785E141d,
+        +1.033464507572145E142d,
+        +2.809247950589945E142d,
+        +7.636326960498012E142d,
+        +2.075769060297565E143d,
+        +5.64252553828769E143d,
+        +1.5337974510118784E144d,
+        +4.169293918423203E144d,
+        +1.1333315586787883E145d,
+        +3.080714152600695E145d,
+        +8.374250298636991E145d,
+        +2.276357074042286E146d,
+        +6.187780443461367E146d,
+        +1.6820131331794073E147d,
+        +4.572185635487065E147d,
+        +1.2428488853188662E148d,
+        +3.378413594504258E148d,
+        +9.183480622172801E148d,
+        +2.4963286658278886E149d,
+        +6.785725312893433E149d,
+        +1.8445514681108982E150d,
+        +5.014010481958507E150d,
+        +1.3629491735708616E151d,
+        +3.7048805655699485E151d,
+        +1.0070909418550386E152d,
+        +2.7375567044077912E152d,
+        +7.441451374243517E152d,
+        +2.022795961737854E153d,
+        +5.4985298195094216E153d,
+        +1.494655405262451E154d,
+        +4.062894701808608E154d,
+        +1.1044092571980793E155d,
+        +3.002095574584687E155d,
+        +8.160542326793782E155d,
+        +2.218265110516721E156d,
+        +6.02987028472758E156d,
+        +1.6390888071605646E157d,
+        +4.455504920700703E157d,
+        +1.2111317421229415E158d,
+        +3.2921976772303727E158d,
+        +8.94912101169977E158d,
+        +2.432623425087251E159d,
+        +6.612555731556604E159d,
+        +1.7974788874847574E160d,
+        +4.8860545948985793E160d,
+        +1.328167263606087E161d,
+        +3.610333312791256E161d,
+        +9.813901863427107E161d,
+        +2.667695552814763E162d,
+        +7.251548346906463E162d,
+        +1.9711751621240536E163d,
+        +5.3582093498119173E163d,
+        +1.4565123573071036E164d,
+        +3.959211091077107E164d,
+        +1.0762251933089556E165d,
+        +2.9254832789181E165d,
+        +7.952287052787358E165d,
+        +2.161656025361765E166d,
+        +5.8759898326913254E166d,
+        +1.597259768214821E167d,
+        +4.3418021646459346E167d,
+        +1.1802241249113175E168d,
+        +3.2081817253680657E168d,
+        +8.720743087611513E168d,
+        +2.3705435424427623E169d,
+        +6.443805025317327E169d,
+        +1.7516078165936552E170d,
+        +4.7613641572445654E170d,
+        +1.2942728582966776E171d,
+        +3.518198614137319E171d,
+        +9.563454814394247E171d,
+        +2.5996166206245285E172d,
+        +7.066491077377918E172d,
+        +1.920871394985668E173d,
+        +5.221469250951617E173d,
+        +1.4193426880442385E174d,
+        +3.8581732071331E174d,
+        +1.0487601931965087E175d,
+        +2.850825930161946E175d,
+        +7.749348772180658E175d,
+        +2.1064911705560668E176d,
+        +5.726036941135634E176d,
+        +1.5564982816556894E177d,
+        +4.231000988846797E177d,
+        +1.1501053030837989E178d,
+        +3.1263099916916113E178d,
+        +8.498192212235393E178d,
+        +2.3100480183046895E179d,
+        +6.279361500971995E179d,
+        +1.7069074829463731E180d,
+        +4.63985600437427E180d,
+        +1.2612435745231905E181d,
+        +3.4284156709489884E181d,
+        +9.319400030019162E181d,
+        +2.5332752658571312E182d,
+        +6.88615578404537E182d,
+        +1.8718514371423056E183d,
+        +5.088219872370737E183d,
+        +1.3831214731781958E184d,
+        +3.759713966511158E184d,
+        +1.021996184153141E185d,
+        +2.778073442169904E185d,
+        +7.55158797540476E185d,
+        +2.0527342305586606E186d,
+        +5.579910641313343E186d,
+        +1.5167767828844167E187d,
+        +4.123026721295484E187d,
+        +1.1207549425651513E188d,
+        +3.0465278560980536E188d,
+        +8.281321669236493E188d,
+        +2.251096660331649E189d,
+        +6.119114404399683E189d,
+        +1.6633478556884994E190d,
+        +4.521448560089285E190d,
+        +1.2290570545894685E191d,
+        +3.340923580982338E191d,
+        +9.081571104550255E191d,
+        +2.468626868232408E192d,
+        +6.710424255583952E192d,
+        +1.8240823171621646E193d,
+        +4.958369974640573E193d,
+        +1.3478247120462365E194d,
+        +3.6637673548790206E194d,
+        +9.959152908532152E194d,
+        +2.707178052117959E195d,
+        +7.358873642076596E195d,
+        +2.0003490682463053E196d,
+        +5.4375131636754E196d,
+        +1.4780692924846082E197d,
+        +4.01780853635105E197d,
+        +1.0921536132159379E198d,
+        +2.968781250496917E198d,
+        +8.069984512111955E198d,
+        +2.193649279840519E199d,
+        +5.962956589227457E199d,
+        +1.620899738203635E200d,
+        +4.406062052965071E200d,
+        +1.1976919074588434E201d,
+        +3.2556641859513496E201d,
+        +8.849812639395597E201d,
+        +2.40562867677584E202d,
+        +6.539175932653188E202d,
+        +1.7775323307944624E203d,
+        +4.831833881898182E203d,
+        +1.3134287685114547E204d,
+        +3.5702693195009266E204d,
+        +9.704997606668411E204d,
+        +2.63809219778715E205d,
+        +7.171077244202293E205d,
+        +1.949300880034352E206d,
+        +5.298749302736127E206d,
+        +1.4403494631058154E207d,
+        +3.91527572177694E207d,
+        +1.0642823992403076E208d,
+        +2.8930193727937684E208d,
+        +7.8640411896421955E208d,
+        +2.1376680994038112E209d,
+        +5.8107841809216616E209d,
+        +1.5795351101531684E210d,
+        +4.293620869258453E210d,
+        +1.1671272667059652E211d,
+        +3.172580666390786E211d,
+        +8.623968972387222E211d,
+        +2.3442378838418366E212d,
+        +6.372298757235201E212d,
+        +1.7321703934464356E213d,
+        +4.708527306855985E213d,
+        +1.279910496643312E214d,
+        +3.479157135998568E214d,
+        +9.45732984079136E214d,
+        +2.5707689593428096E215d,
+        +6.988074107282322E215d,
+        +1.8995553996578656E216d,
+        +5.1635269305465607E216d,
+        +1.4035923083915864E217d,
+        +3.815359096108819E217d,
+        +1.0371220592190472E218d,
+        +2.819190456167585E218d,
+        +7.663353127378024E218d,
+        +2.083115484919861E219d,
+        +5.662495731848751E219d,
+        +1.5392257142577226E220d,
+        +4.184049381430498E220d,
+        +1.1373425785132867E221d,
+        +3.091617462831603E221d,
+        +8.403887374207366E221d,
+        +2.2844135610697528E222d,
+        +6.209679892802781E222d,
+        +1.6879660933816274E223d,
+        +4.588367423411997E223d,
+        +1.2472476068464461E224d,
+        +3.3903703993793316E224d,
+        +9.215982463319503E224d,
+        +2.5051637206758385E225d,
+        +6.809741127603255E225d,
+        +1.8510795864289367E226d,
+        +5.031755776868959E226d,
+        +1.3677729802316034E227d,
+        +3.7179924024793253E227d,
+        +1.0106552237522032E228d,
+        +2.7472456017809066E228d,
+        +7.467788172398272E228d,
+        +2.029955237703202E229d,
+        +5.517990469846618E229d,
+        +1.4999452522236406E230d,
+        +4.0772734783595525E230d,
+        +1.1083180046837618E231d,
+        +3.012720614547867E231d,
+        +8.18942426109357E231d,
+        +2.2261161215322043E232d,
+        +6.051211457626543E232d,
+        +1.6448897917725177E233d,
+        +4.471273900208441E233d,
+        +1.2154183152078517E234d,
+        +3.3038494682728794E234d,
+        +8.98079409878202E234d,
+        +2.4412328161430576E235d,
+        +6.63595840453991E235d,
+        +1.8038406914061554E236d,
+        +4.90334700062756E236d,
+        +1.3328680266667662E237d,
+        +3.623110695743118E237d,
+        +9.848636053777669E237d,
+        +2.677136737066629E238d,
+        +7.277212447141125E238d,
+        +1.978151484427976E239d,
+        +5.377173488599035E239d,
+        +1.4616672175682191E240d,
+        +3.973222981713661E240d,
+        +1.0800340064859439E241d,
+        +2.935837009891444E241d,
+        +7.980432566722885E241d,
+        +2.169306470354036E242d,
+        +5.896786161387733E242d,
+        +1.6029126916635028E243d,
+        +4.357168123448786E243d,
+        +1.1844011798406507E244d,
+        +3.2195361624179725E244d,
+        +8.751606149833694E244d,
+        +2.3789334438756013E245d,
+        +6.466611224443739E245d,
+        +1.7578073785142153E246d,
+        +4.7782149589194885E246d,
+        +1.2988535295611824E247d,
+        +3.5306502960727705E247d,
+        +9.597302512507479E247d,
+        +2.608817438130718E248d,
+        +7.091500562953208E248d,
+        +1.9276698418065647E249d,
+        +5.239949786641934E249d,
+        +1.42436589329759E250d,
+        +3.8718282216768776E250d,
+        +1.0524719896550007E251d,
+        +2.860915548426704E251d,
+        +7.77677492833005E251d,
+        +2.113946677051906E252d,
+        +5.7463023795153145E252d,
+        +1.56200679236425E253d,
+        +4.2459748085663055E253d,
+        +1.1541756557557508E254d,
+        +3.137374584307575E254d,
+        +8.528268445871411E254d,
+        +2.3182239583484444E255d,
+        +6.301585387776819E255d,
+        +1.7129486892266285E256d,
+        +4.6562769567905925E256d,
+        +1.26570724146049E257d,
+        +3.4405490416979487E257d,
+        +9.352382323649647E257d,
+        +2.54224113415832E258d,
+        +6.910528108396216E258d,
+        +1.8784760208391767E259d,
+        +5.106228040084293E259d,
+        +1.3880166914480165E260d,
+        +3.7730204737910044E260d,
+        +1.0256131352582533E261d,
+        +2.787906051540986E261d,
+        +7.578313650939932E261d,
+        +2.0599991793068063E262d,
+        +5.5996586041611455E262d,
+        +1.522145133131402E263d,
+        +4.137618951061827E263d,
+        +1.1247213964487372E264d,
+        +3.0573102223682595E264d,
+        +8.310629417537063E264d,
+        +2.2590636576955473E265d,
+        +6.1407711078356886E265d,
+        +1.6692346202615142E266d,
+        +4.5374504961394207E266d,
+        +1.2334070098307164E267d,
+        +3.3527476928456816E267d,
+        +9.113713162029408E267d,
+        +2.4773638527240193E268d,
+        +6.734172833429278E268d,
+        +1.8305382378470305E269d,
+        +4.9759187284770303E269d,
+        +1.352594940263854E270d,
+        +3.6767339705169146E270d,
+        +9.994400500679653E270d,
+        +2.716759624268743E271d,
+        +7.384918458508588E271d,
+        +2.007428933605617E272d,
+        +5.456757565532369E272d,
+        +1.4833003969415539E273d,
+        +4.0320284712983994E273d,
+        +1.096019026243815E274d,
+        +2.979288529962515E274d,
+        +8.098545495417704E274d,
+        +2.201412886580694E275d,
+        +5.984060832462728E275d,
+        +1.6266362950862408E276d,
+        +4.4216561713555547E276d,
+        +1.2019307065458128E277d,
+        +3.2671863888979078E277d,
+        +8.881133159512924E277d,
+        +2.4141423627760256E278d,
+        +6.562319473965767E278d,
+        +1.7838233889223407E279d,
+        +4.848934634563382E279d,
+        +1.3180771991576186E280d,
+        +3.5829049382293792E280d,
+        +9.739345931419228E280d,
+        +2.6474285478041252E281d,
+        +7.196457718729758E281d,
+        +1.956199868121249E282d,
+        +5.31750271790054E282d,
+        +1.4454470027638629E283d,
+        +3.929132560365955E283d,
+        +1.0680488848057261E284d,
+        +2.9032581477488686E284d,
+        +7.89187408872514E284d,
+        +2.1452336456259667E285d,
+        +5.831349876080173E285d,
+        +1.5851251724785243E286d,
+        +4.308816643345461E286d,
+        +1.1712579802975851E287d,
+        +3.1838092090922606E287d,
+        +8.654490685278886E287d,
+        +2.3525345191912968E288d,
+        +6.39485115791896E288d,
+        +1.7383009254496851E289d,
+        +4.725191397657393E289d,
+        +1.2844402232816276E290d,
+        +3.491470347090126E290d,
+        +9.490800658395667E290d,
+        +2.579867270991543E291d,
+        +7.012806239173502E291d,
+        +1.906278351789277E292d,
+        +5.181801397059486E292d,
+        +1.408559707497606E293d,
+        +3.8288623079292884E293d,
+        +1.0407926842436056E294d,
+        +2.829168201470791E294d,
+        +7.690475570840264E294d,
+        +2.0904882610105383E295d,
+        +5.68253547942899E295d,
+        +1.544673396032028E296d,
+        +4.1988574190754736E296d,
+        +1.1413677466646359E297d,
+        +3.102559332875688E297d,
+        +8.433630296371073E297d,
+        +2.292498520423419E298d,
+        +6.23165710486722E298d,
+        +1.6939399242810123E299d,
+        +4.604606371472047E299d,
+        +1.2516618713553432E300d,
+        +3.402369329874797E300d,
+        +9.248598815279678E300d,
+        +2.51402968559859E301d,
+        +6.833842035076675E301d,
+        +1.8576309291617257E302d,
+        +5.049564425991982E302d,
+        +1.3726137091534984E303d,
+        +3.7311513682845094E303d,
+        +1.0142320772726397E304d,
+        +2.7569686255975333E304d,
+        +7.494218049456063E304d,
+        +2.037139607241041E305d,
+        +5.5375196488302575E305d,
+        +1.5052539519895093E306d,
+        +4.091704288360009E306d,
+        +1.1122405335641184E307d,
+        +3.023383151402969E307d,
+        +8.218407798110846E307d,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+    };
+
+    /** Exponential evaluated at integer values,
+     * exp(x) =  expIntTableA[x + EXP_INT_TABLE_MAX_INDEX] + expIntTableB[x+EXP_INT_TABLE_MAX_INDEX]
+     */
+    private static final double[] EXP_INT_B = new double[] {
+        +0.0d,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        -1.76097684E-316d,
+        -2.44242319E-315d,
+        -9.879317845E-315d,
+        -1.3811462167E-314d,
+        +2.1775261204E-314d,
+        -1.4379095864E-313d,
+        +1.4219324087E-313d,
+        +1.00605438061E-312d,
+        -1.287101187097E-312d,
+        +5.33839690397E-312d,
+        -9.35130825405E-313d,
+        -4.15218681073E-311d,
+        +4.546040329134E-311d,
+        -1.57333572310673E-310d,
+        +1.05387548454467E-309d,
+        +2.095732474644446E-309d,
+        -2.62524392470767E-310d,
+        +5.86440876259637E-309d,
+        -2.401816502004675E-309d,
+        -2.2711230715729753E-308d,
+        +2.0670460065057715E-307d,
+        +3.436860020483706E-308d,
+        +2.0862243734177337E-306d,
+        -4.637025318037353E-306d,
+        +9.222671009756424E-306d,
+        +6.704597874020559E-305d,
+        +4.351284159444109E-305d,
+        +4.232889602759328E-304d,
+        +1.2840977763293412E-303d,
+        -2.6993478083348727E-303d,
+        -1.053265874779237E-303d,
+        +1.207746682843556E-303d,
+        +5.21281096513035E-303d,
+        +1.6515377082609677E-301d,
+        +3.3951607353932444E-301d,
+        +5.609418227003629E-301d,
+        +4.238775357914848E-300d,
+        -9.441842771290538E-300d,
+        -2.1745347282493023E-299d,
+        -6.203839803215248E-299d,
+        -5.617718879466363E-299d,
+        +5.2869976233132615E-298d,
+        -1.4300075619643524E-298d,
+        +4.3198234936686506E-297d,
+        -2.6448316331572387E-297d,
+        +4.315655444002347E-296d,
+        -7.253671992213344E-296d,
+        -1.1288398461391523E-295d,
+        -4.83901764243093E-296d,
+        +1.7407497662694827E-295d,
+        +1.1969717029666017E-294d,
+        -7.752519943329177E-294d,
+        -4.019569741253664E-293d,
+        -2.4467928392518484E-293d,
+        -1.0269233640424235E-292d,
+        -3.2330960700986594E-292d,
+        -1.440995270758115E-291d,
+        -3.726946038150935E-291d,
+        -1.3424576100819801E-291d,
+        -3.128894928199484E-290d,
+        -5.989337506920005E-290d,
+        -9.438168176533759E-290d,
+        -1.9220613500411237E-289d,
+        +2.1186736024949195E-289d,
+        +6.3015208029537436E-288d,
+        -8.168129112703755E-288d,
+        -1.6040513288090055E-287d,
+        -1.0809972724404233E-287d,
+        -3.080380385962424E-286d,
+        +2.6399157174374624E-286d,
+        +1.3317127674213423E-285d,
+        -3.5821668044872306E-285d,
+        +1.978536584535392E-284d,
+        +1.3399392455370071E-284d,
+        -2.870168560029448E-284d,
+        +3.5311184272663063E-283d,
+        -7.204247881190918E-283d,
+        +3.2425604548983798E-282d,
+        +3.913063150326019E-282d,
+        -2.260957518848075E-281d,
+        +3.807242187736102E-281d,
+        -5.095591405025083E-281d,
+        +2.3400625068490396E-280d,
+        -1.1564717694090882E-280d,
+        -3.517594695450786E-279d,
+        +6.666544384808297E-279d,
+        -9.204784113858607E-279d,
+        +4.8677119923665573E-278d,
+        +7.942176091555472E-278d,
+        -2.5113270522478854E-277d,
+        +5.332900939354667E-277d,
+        -3.491241408725929E-276d,
+        -2.1141094074221325E-276d,
+        +1.722049095222509E-275d,
+        +4.0430160253378594E-275d,
+        +1.9888195459082551E-274d,
+        +3.230089643550739E-275d,
+        +5.077824728028163E-274d,
+        -3.526547961682877E-274d,
+        -6.4376298274983765E-273d,
+        -2.5338279333399964E-272d,
+        -3.614847626733713E-272d,
+        +2.510812179067931E-272d,
+        +3.953806005373127E-272d,
+        +7.112596406315374E-272d,
+        -2.850217520533226E-270d,
+        -8.571477929711754E-270d,
+        +1.2902019831221148E-269d,
+        -6.978783784755863E-270d,
+        +9.89845486618531E-269d,
+        -3.538563171970534E-268d,
+        +3.537475449241181E-268d,
+        +3.6924578046381256E-267d,
+        +1.3555502536444713E-266d,
+        -1.1279742372661484E-266d,
+        +5.475072932318336E-266d,
+        -1.1679889049814275E-265d,
+        -8.946297908979776E-266d,
+        +1.0565816011650582E-264d,
+        -3.2161237736296753E-265d,
+        -6.022045553485609E-264d,
+        -2.0332050860436034E-263d,
+        -1.0488538406930105E-262d,
+        +1.6793752843984384E-262d,
+        +3.2558720916543104E-263d,
+        -1.9546569053899882E-262d,
+        +5.082190670014963E-262d,
+        -1.0188117475357564E-260d,
+        +3.7920054509691455E-261d,
+        -8.330969967504819E-260d,
+        -1.1623181434592597E-259d,
+        +9.09665088462258E-259d,
+        -1.56400149127482E-259d,
+        -7.796557225750673E-258d,
+        +6.751460509863465E-258d,
+        +7.243157658226935E-258d,
+        +1.2574668958946027E-256d,
+        +2.2678858131411216E-256d,
+        +5.1079306249351287E-256d,
+        -5.672261759108003E-257d,
+        +3.476539491009769E-256d,
+        -1.3481093992496937E-254d,
+        -3.314051560952014E-254d,
+        +7.408112967339146E-255d,
+        -7.164884605413269E-254d,
+        -6.456588023278983E-253d,
+        -1.4881197370811587E-252d,
+        +1.7534012237555307E-252d,
+        -1.3070101381473173E-251d,
+        +6.081420141954215E-251d,
+        +6.591143677421159E-251d,
+        +2.6917461073773043E-250d,
+        +3.683043641790553E-251d,
+        +1.2195076420741757E-249d,
+        -8.220283439582378E-249d,
+        +1.637852737426943E-248d,
+        -8.332543237340988E-249d,
+        +2.9581193516975647E-248d,
+        -1.7790661150204172E-247d,
+        -1.7809679916043692E-247d,
+        +8.378574405736031E-247d,
+        -2.883847036065813E-246d,
+        +1.3223776943337897E-245d,
+        +3.098547586845664E-245d,
+        -1.1036542789147287E-244d,
+        -5.7187703271582225E-244d,
+        -1.8058492822440396E-244d,
+        +4.4373726292703545E-243d,
+        -3.4631935816990754E-243d,
+        -1.82770041073856E-243d,
+        +3.845535085273936E-242d,
+        +8.446532344375812E-242d,
+        +2.7751016140238277E-242d,
+        +1.3158882241538003E-241d,
+        -3.579433051074272E-240d,
+        -6.151751570213211E-240d,
+        -2.990535475079021E-239d,
+        +2.3396028616528764E-239d,
+        +7.233790684263346E-239d,
+        +1.0847913100494912E-238d,
+        +7.103148400942551E-238d,
+        +3.463600299750966E-237d,
+        -4.873121855093712E-237d,
+        +1.3407295326570417E-236d,
+        +9.390271617387205E-237d,
+        -2.4767709454727603E-235d,
+        +3.205923535388443E-235d,
+        -1.0074984709952582E-234d,
+        +2.4747880175747574E-234d,
+        -5.146939682310558E-234d,
+        -2.827581009333298E-233d,
+        -3.0307641004671077E-233d,
+        +5.92044714050651E-233d,
+        -2.0582596893119236E-232d,
+        -6.58066591313112E-232d,
+        -4.869955151949929E-231d,
+        -5.763495903609913E-231d,
+        -2.3580462372762525E-230d,
+        +1.8559980428862584E-230d,
+        +2.854978560542175E-229d,
+        +5.637945686485334E-229d,
+        +2.1454644909004582E-228d,
+        -1.1918070206953359E-228d,
+        -5.021851606912854E-228d,
+        +3.861525553653117E-227d,
+        +6.533561982617909E-227d,
+        -3.015709444206057E-226d,
+        -5.042005018212734E-227d,
+        +1.5959614205422845E-225d,
+        +2.0402105689098835E-224d,
+        +5.164902728917601E-224d,
+        +9.981031744879876E-224d,
+        +4.0281104210095145E-223d,
+        +1.1158160971176672E-222d,
+        +2.0736172194624895E-222d,
+        +4.983162653734032E-222d,
+        +2.1753390051977871E-221d,
+        +3.969413618002761E-221d,
+        +1.3961255018698695E-220d,
+        +2.1290855095314206E-220d,
+        +1.1927747883417406E-219d,
+        +3.7264401117998796E-219d,
+        +9.318532410862293E-219d,
+        +2.3414841777613345E-218d,
+        +4.3791842770430786E-218d,
+        +1.7173159016511951E-217d,
+        +3.5037536832675478E-217d,
+        +1.4300098613455884E-216d,
+        +2.4189403362149483E-216d,
+        +9.306541421999056E-216d,
+        +3.442100456607687E-215d,
+        +5.94407068841904E-215d,
+        +2.0483260435783403E-214d,
+        +3.8410992889527954E-214d,
+        +1.2038281262953917E-213d,
+        +3.865007795216205E-213d,
+        +9.754659138599756E-213d,
+        +2.7653605770745684E-212d,
+        +5.359568079675375E-212d,
+        +2.61726605666378E-211d,
+        +5.054202073556894E-211d,
+        +8.707092668016246E-211d,
+        +1.4080573899148006E-210d,
+        +1.288124387778789E-209d,
+        +1.8639901642011898E-209d,
+        +6.076014540574561E-209d,
+        +1.798489141298457E-208d,
+        +2.1525406805994896E-208d,
+        +1.1864056832305874E-207d,
+        +2.1077440662171152E-207d,
+        +1.3784853708457332E-206d,
+        +1.6965806532093783E-206d,
+        +7.241626420445137E-206d,
+        +2.575584299085016E-205d,
+        +6.151951078101721E-205d,
+        +2.40652042118887E-204d,
+        +4.022633486003565E-204d,
+        +5.8840879519086286E-204d,
+        +3.2820308007277566E-203d,
+        +4.31880454864738E-203d,
+        +2.427240455243201E-202d,
+        +7.326955749884755E-202d,
+        +1.4310184489676175E-201d,
+        +4.464279133463661E-201d,
+        +4.895131474682867E-201d,
+        +4.48614966943544E-200d,
+        +8.924048768324976E-200d,
+        +2.5035535029701945E-199d,
+        +6.627829836338812E-199d,
+        +2.6066826304502746E-198d,
+        +8.042275310036546E-198d,
+        +2.115062964308555E-197d,
+        +4.413745413236018E-197d,
+        +1.644449394585716E-196d,
+        +3.138217752973845E-196d,
+        +7.48533983136081E-196d,
+        +2.613626422028823E-195d,
+        +3.6741841454219095E-195d,
+        +5.906102862953403E-195d,
+        +4.4940857547850743E-194d,
+        +5.840064709376958E-194d,
+        +3.087661273836024E-193d,
+        +4.995552216100365E-193d,
+        +1.991444798915497E-192d,
+        +7.097454751809522E-192d,
+        +2.0510193986749737E-191d,
+        +5.759440286608551E-191d,
+        +1.7013941257113314E-190d,
+        +2.1383323934483528E-190d,
+        +8.280292810015406E-190d,
+        +3.138655772049104E-189d,
+        +7.961506427685701E-189d,
+        +2.0579001228504997E-188d,
+        +7.530840351477639E-188d,
+        +1.4582863136475673E-187d,
+        +3.149267215638608E-187d,
+        +5.443114553057336E-187d,
+        +3.4672966834277804E-186d,
+        +7.374944406615125E-186d,
+        +2.7318417252599104E-185d,
+        +7.913674211949961E-185d,
+        +2.5217716516462005E-184d,
+        +4.0866585874353075E-184d,
+        +1.2087698972768686E-183d,
+        +3.7072473866919033E-183d,
+        +1.1333588840402273E-182d,
+        +1.61949812578045E-182d,
+        +6.567779607147072E-182d,
+        +2.422974840736314E-181d,
+        +2.551170809294396E-181d,
+        +1.0905890688083124E-180d,
+        +3.221279639653057E-180d,
+        +7.068244813489027E-180d,
+        +1.3752309224575428E-179d,
+        +7.20154303462761E-179d,
+        +1.5391707185581056E-178d,
+        +7.708777608683431E-178d,
+        +5.597398155472547E-178d,
+        +1.8487854656676722E-177d,
+        +1.0577249492414076E-176d,
+        +2.8926683313922764E-176d,
+        +4.090184282164232E-176d,
+        +1.6142943398013813E-175d,
+        +7.873864351702525E-175d,
+        +2.242630017261011E-174d,
+        +3.4637009373878283E-174d,
+        +1.5907089565090164E-173d,
+        +1.6985075903314236E-173d,
+        +1.1552273904608563E-172d,
+        +2.237894048535414E-172d,
+        +5.321990399912051E-172d,
+        +1.4106062639738257E-171d,
+        +2.9850404523368767E-171d,
+        +1.5683802588004895E-170d,
+        +4.880146806045633E-170d,
+        +1.1489352403441815E-169d,
+        +1.6401586605693734E-169d,
+        +8.29169700697816E-169d,
+        +1.0380723705441457E-168d,
+        +7.126414081261746E-168d,
+        +1.253325949455206E-167d,
+        +2.595079206183114E-167d,
+        +1.537490712803659E-166d,
+        +2.6338455225993276E-166d,
+        +7.994936425058567E-166d,
+        +1.5716634677516025E-165d,
+        +3.669404761339415E-165d,
+        +1.9941628263579332E-164d,
+        +4.5012079983352374E-164d,
+        +7.283163019991001E-164d,
+        +2.398038505188316E-163d,
+        +7.868666894503849E-163d,
+        +2.1478649410390003E-162d,
+        +8.306111510463843E-162d,
+        +1.5453160659068463E-161d,
+        -4.590496588813841E-162d,
+        +3.5449293983801232E-161d,
+        -1.0440854056870505E-160d,
+        -2.321064927632431E-160d,
+        +5.707867001443433E-160d,
+        -2.238614484037969E-159d,
+        +2.482282821883242E-159d,
+        -1.1508772192025259E-158d,
+        +1.9903990578876104E-158d,
+        -1.2116165315442256E-158d,
+        -2.9084557554502667E-157d,
+        -1.1211083853006645E-156d,
+        -1.309893394818129E-156d,
+        +4.2269712317468864E-156d,
+        -7.678973146281339E-156d,
+        +3.2021376921211934E-155d,
+        -7.08313012515209E-155d,
+        +1.944398214330544E-154d,
+        +1.1860061363751161E-153d,
+        +1.5234465914578058E-153d,
+        -2.9020908354550263E-153d,
+        +4.980100072851796E-153d,
+        +2.3101551448625578E-152d,
+        -1.1959241322537072E-151d,
+        -9.27398924154364E-153d,
+        +5.999390491704392E-152d,
+        +1.3373196561281372E-150d,
+        -1.0271780540759147E-150d,
+        +2.575620466387945E-150d,
+        -6.56250013356227E-149d,
+        -1.1961357917482867E-148d,
+        +5.5807813570926636E-148d,
+        +9.252840189663807E-148d,
+        -1.830335419852293E-147d,
+        +9.350990339947455E-147d,
+        -1.6072409939877762E-146d,
+        -2.5309995887229526E-146d,
+        -1.6014373376410622E-146d,
+        -3.303297758377758E-145d,
+        +1.5640419864850202E-145d,
+        +9.544642884951585E-145d,
+        -8.64864445321803E-144d,
+        +7.580392204597681E-144d,
+        +2.678334184447568E-143d,
+        -3.7269289985326055E-143d,
+        -2.851965258161176E-142d,
+        +7.243267286265823E-142d,
+        +4.4510805312036926E-141d,
+        +9.008499734799015E-141d,
+        +1.130435759928337E-140d,
+        -3.096539751496479E-140d,
+        -1.497405487919762E-139d,
+        +3.51519845948652E-139d,
+        -4.713790209541894E-139d,
+        +4.740753295616865E-138d,
+        +9.517570994930463E-138d,
+        -1.8842098029339485E-137d,
+        -3.825558165008403E-137d,
+        +1.1817638600528107E-136d,
+        -3.514601201473235E-136d,
+        -6.344612631552417E-136d,
+        -1.6754164785291923E-136d,
+        +4.445372986583078E-135d,
+        -3.89604237755475E-134d,
+        -1.0155552195374609E-134d,
+        +2.1858142063550155E-134d,
+        +3.497714990137842E-133d,
+        -7.635830383612894E-133d,
+        +1.2050744860079718E-132d,
+        -7.683019590615251E-133d,
+        -3.344806129021162E-131d,
+        -1.6737914131474577E-131d,
+        -4.30610076666344E-131d,
+        +5.184023388254773E-130d,
+        +2.6290763595212492E-129d,
+        +7.90041744728452E-130d,
+        -3.204473056113754E-129d,
+        -2.552517201762272E-128d,
+        +7.130134251490065E-128d,
+        -3.2244113258340395E-127d,
+        -1.064920993515727E-127d,
+        +2.7466520735457463E-126d,
+        +4.368312797746065E-126d,
+        +1.8802599072446818E-125d,
+        -4.257625799463564E-125d,
+        +5.491672256552995E-125d,
+        +3.7298611779671127E-124d,
+        +5.724180836308973E-124d,
+        +1.3861841053630075E-123d,
+        +4.2303826056297614E-123d,
+        +3.5335436928899096E-123d,
+        -2.522906629540626E-122d,
+        +1.0147808005267102E-121d,
+        +6.734406065735473E-122d,
+        -4.948973160958133E-121d,
+        +2.4256181927024344E-120d,
+        +4.9056283164780554E-120d,
+        +6.846440394397547E-120d,
+        +3.512747689569002E-119d,
+        -9.020907406701404E-119d,
+        +2.5718749916003624E-118d,
+        +4.3724191002977524E-119d,
+        +1.001455050575191E-117d,
+        -2.4442443105031435E-117d,
+        +2.38873950760028E-116d,
+        -4.831068747037129E-118d,
+        -5.148989321866988E-116d,
+        +1.7875271881514469E-115d,
+        -1.1821586412088555E-114d,
+        +4.43247726423679E-115d,
+        +4.634817120492781E-114d,
+        +1.671311907037975E-113d,
+        -4.595250028278979E-113d,
+        -5.905511605694905E-113d,
+        -1.3657642265608213E-112d,
+        +2.881416869529271E-112d,
+        +2.1253302469985373E-111d,
+        -5.301386276260592E-111d,
+        +1.4198782892306878E-112d,
+        -3.395494928605007E-110d,
+        +9.284633292147283E-110d,
+        -6.054133004896379E-110d,
+        -8.324100783330331E-109d,
+        -2.193190669794277E-108d,
+        +1.3613655394659198E-107d,
+        +6.463452607647978E-108d,
+        +1.0187183636134904E-106d,
+        +1.0705673935006142E-106d,
+        +2.509050608571019E-106d,
+        -1.5096182622106617E-105d,
+        +1.7794190449526737E-106d,
+        +1.2261246749706581E-104d,
+        +2.1377905661197194E-104d,
+        -2.2015877944429946E-104d,
+        +7.873970951802825E-104d,
+        -1.7999197335480384E-103d,
+        +1.0487383011058756E-105d,
+        -2.9988278531841556E-102d,
+        +4.7976477743232285E-102d,
+        +3.452316818502442E-102d,
+        +5.89953246760617E-101d,
+        -4.0785601577267006E-101d,
+        +2.7214076662438963E-100d,
+        +5.237807655758373E-100d,
+        +6.180972117932364E-99d,
+        -1.3019742873005683E-98d,
+        +4.501188264957416E-99d,
+        -2.4075054705261798E-98d,
+        +1.6503086546628772E-97d,
+        -6.878666975101243E-97d,
+        +1.196718116616528E-96d,
+        +2.476190162339265E-96d,
+        -7.1844969234484515E-96d,
+        +5.088386759261555E-95d,
+        +6.749368983223726E-95d,
+        +1.965737856765605E-94d,
+        -5.574080023496771E-94d,
+        +1.2493696959436675E-93d,
+        +8.533262777516794E-94d,
+        -7.225259028588793E-93d,
+        -7.340587186324432E-93d,
+        -3.482412195764625E-92d,
+        +3.4742610108480497E-91d,
+        -7.177274244758699E-91d,
+        +1.2736636153072213E-90d,
+        -5.730160886217076E-90d,
+        -1.545495535488274E-89d,
+        +1.1304179460367007E-89d,
+        +1.249260560756154E-88d,
+        -4.7439719382414206E-88d,
+        +7.164663249266942E-88d,
+        +1.7617425105337704E-87d,
+        +2.4175248449172035E-87d,
+        -1.043079666926483E-86d,
+        -2.8137609614326677E-86d,
+        -1.2091497144395591E-85d,
+        +3.7944631664558904E-85d,
+        -2.8144926807308225E-85d,
+        +3.9782728352520784E-85d,
+        +4.313978872469646E-84d,
+        +5.82190887044604E-84d,
+        +5.883385169571802E-83d,
+        +1.134857098306787E-82d,
+        +3.468049324128309E-82d,
+        +2.625423995658143E-82d,
+        -3.42827917465521E-81d,
+        +5.119461911618321E-81d,
+        -2.134387988350615E-80d,
+        -4.4703076268400615E-80d,
+        +4.806078883451016E-80d,
+        +2.3820250362443495E-79d,
+        -7.258551497833573E-79d,
+        -4.0297835558876335E-78d,
+        +2.1424166787650852E-78d,
+        -3.2117127164185917E-77d,
+        +4.8459153070935316E-77d,
+        -1.766924303914492E-76d,
+        -2.6921749814579492E-76d,
+        -4.1291070428848755E-76d,
+        +2.2086994756104319E-75d,
+        -7.814146377574201E-75d,
+        -1.9589778310104216E-74d,
+        +6.52658129486538E-74d,
+        +1.7804909509998055E-74d,
+        -4.1900132227036916E-73d,
+        +1.5705861683841123E-72d,
+        -1.904714978998808E-72d,
+        -7.81295459930537E-72d,
+        +2.818537910881676E-71d,
+        +5.840507984320445E-71d,
+        +1.7331720051707087E-70d,
+        +1.936946987935961E-70d,
+        -5.86517231340979E-71d,
+        -1.3277440528416646E-69d,
+        +1.9906256185827793E-69d,
+        +8.668714514280051E-69d,
+        +6.643105496829061E-69d,
+        -2.5436254170647032E-67d,
+        -4.8279217213630774E-67d,
+        -1.2640304072937576E-66d,
+        +3.51187258511716E-66d,
+        +1.4199501303738373E-65d,
+        -1.2351697477129173E-65d,
+        +7.0542365522414836E-65d,
+        +1.030593104122615E-64d,
+        -5.452692909894593E-65d,
+        -9.415506349675128E-64d,
+        -3.6206211446779087E-63d,
+        -1.6699188275658641E-62d,
+        +2.287280262665656E-62d,
+        +7.076135457313529E-62d,
+        +2.9019628518165404E-61d,
+        -3.1305705497720186E-61d,
+        +2.2978757040142953E-60d,
+        +1.2424439441817321E-60d,
+        +7.140343013236265E-60d,
+        +8.633726388939636E-60d,
+        +1.3483035574114863E-58d,
+        +1.653701058949654E-58d,
+        -8.939932297357388E-58d,
+        -1.395320103272191E-57d,
+        +6.440430933947252E-58d,
+        -1.681200826841738E-56d,
+        +3.9904382022898837E-56d,
+        -4.870518577546228E-56d,
+        -1.6990896855901115E-55d,
+        -6.751434891261518E-56d,
+        -1.669012123121194E-54d,
+        -4.079585475491198E-54d,
+        -1.3070436427679952E-53d,
+        -3.090028378908628E-53d,
+        +7.468160889798606E-53d,
+        +6.229095980733463E-53d,
+        +1.4794751934479566E-52d,
+        +1.7444373785853918E-51d,
+        -5.3681978363391484E-52d,
+        +2.71853394036182E-51d,
+        -1.3334367969274016E-50d,
+        -1.6958057665854177E-49d,
+        -1.452507231312146E-49d,
+        +3.3855429446520427E-49d,
+        +4.903687986212687E-49d,
+        +2.2185957416622524E-48d,
+        -9.924196700842429E-48d,
+        +4.285128462851149E-47d,
+        +3.076063086193525E-48d,
+        +4.102052341676543E-46d,
+        +1.1745772638457318E-45d,
+        -5.309047216809048E-47d,
+        +2.72972449891179E-45d,
+        -1.1748423022293739E-44d,
+        +6.626052626622228E-44d,
+        +3.0227439688367925E-44d,
+        -4.740494808228372E-43d,
+        +5.926057457356852E-43d,
+        +3.09768273342776E-42d,
+        -5.589493227475577E-42d,
+        -8.84908716783327E-42d,
+        +2.3684740712822874E-41d,
+        +1.4836491430755657E-40d,
+        +4.5878801324451396E-40d,
+        +1.0585156316103144E-39d,
+        +2.3805896467049493E-39d,
+        +1.0285082556185196E-38d,
+        +2.5187968110874885E-38d,
+        -1.4088399542613178E-38d,
+        -3.00901028043488E-38d,
+        +2.0089026801414973E-37d,
+        -1.3324111396289096E-36d,
+        +5.458481186294964E-36d,
+        -4.8402541351522003E-36d,
+        -1.3331969720555312E-35d,
+        -8.248332290732976E-35d,
+        -1.8349670703969982E-34d,
+        +6.403477383195494E-34d,
+        +3.7813691654412385E-34d,
+        +2.4621305031382827E-33d,
+        -5.634051826192439E-33d,
+        +3.817173955083142E-32d,
+        -6.038239639506472E-32d,
+        -2.130447095555397E-31d,
+        -6.824454861992054E-31d,
+        -1.3455801602048414E-30d,
+        -2.518642767561659E-30d,
+        +8.082792416221215E-30d,
+        +4.718103502869148E-29d,
+        -5.607991635038776E-29d,
+        -1.8042191582018579E-28d,
+        +6.989914264479507E-28d,
+        -2.9031739430339586E-28d,
+        +6.076820259849921E-27d,
+        -3.24981577480893E-27d,
+        -2.7648210023059463E-26d,
+        -9.785306155980342E-26d,
+        +1.241529292737115E-25d,
+        +3.0891604448087654E-25d,
+        +2.3451052074796954E-24d,
+        +6.574128018028633E-24d,
+        -1.3345148716925826E-23d,
+        +4.3594621428644293E-23d,
+        -5.678896695157704E-23d,
+        -4.676849004137386E-23d,
+        -2.281578975407609E-22d,
+        -3.144430608076357E-21d,
+        +5.662033727488754E-22d,
+        -4.30293375386492E-21d,
+        +4.985137671479376E-20d,
+        +1.657668502165438E-19d,
+        -3.3878706977811337E-19d,
+        -7.488022803661722E-19d,
+        +1.725039737424264E-18d,
+        -6.0275040161173166E-18d,
+        -8.081007442213538E-19d,
+        +2.9257892371894816E-17d,
+        +1.5231541295722552E-16d,
+        -1.1474026049124666E-17d,
+        +6.890372706231206E-16d,
+        +2.592721454922832E-15d,
+        -1.1253822296423454E-15d,
+        -2.650684279637763E-14d,
+        -4.107226967119929E-15d,
+        -3.130508064738312E-14d,
+        -6.729414275200856E-14d,
+        -1.6166170913368169E-12d,
+        -1.2059301405584488E-12d,
+        -1.2210091619211167E-11d,
+        +3.695372823623631E-12d,
+        +5.119220484478292E-11d,
+        -1.0857572226543142E-10d,
+        -4.6490379071586397E-10d,
+        -4.5810381714280557E-10d,
+        +1.4909756678328582E-9d,
+        -1.3155828104004438E-8d,
+        -9.149755188170102E-9d,
+        +0.0d,
+        +8.254840070411029E-8d,
+        -1.0681886149151956E-7d,
+        -3.359944163407147E-8d,
+        -2.1275002921718894E-6d,
+        +1.2129920353421116E-5d,
+        +2.1520078872608393E-5d,
+        +1.0178783359926372E-4d,
+        -2.077077172525637E-5d,
+        -5.67996159922899E-5d,
+        +9.510567165169581E-4d,
+        +0.0010901978184553272d,
+        +0.010169003920808009d,
+        +0.017008920503326107d,
+        +0.03416477677774927d,
+        -0.1275278893606981d,
+        +0.5205078726367633d,
+        +0.7535752982147762d,
+        +1.1373305111387886d,
+        -3.036812739155085d,
+        +11.409790277969124d,
+        -9.516785302789955d,
+        -49.86840843831867d,
+        -393.7510973999651d,
+        -686.1565277058598d,
+        +4617.385872524165d,
+        -11563.161235730215d,
+        -8230.201383316231d,
+        -34460.52482632287d,
+        +50744.04207438878d,
+        +357908.46214699093d,
+        +1936607.425231087d,
+        +3222936.695160983d,
+        +5477052.0646243105d,
+        -3.517545711859706E7d,
+        -1.2693418527187027E8d,
+        -2.5316384477288628E8d,
+        -1.6436423669122624E8d,
+        +4.0889180422033095E8d,
+        +4.968829330953611E9d,
+        -3.503399598592085E9d,
+        +1.905394922122271E10d,
+        +1.0361722296739479E11d,
+        -5.806792575852521E10d,
+        +2.3454138776381036E11d,
+        -1.718446464587963E12d,
+        -1.0946634815588584E12d,
+        +1.6889383928999305E13d,
+        -3.784600043778247E13d,
+        +7.270965670658928E13d,
+        -4.9202842786896806E14d,
+        +4.597700093952774E14d,
+        +2.6113557852262235E15d,
+        -4.544525556171388E15d,
+        -9.517971970450354E15d,
+        -2.0634857819227416E16d,
+        -9.7143113104549808E16d,
+        -2.2667083759873216E16d,
+        -7.2285665164439578E17d,
+        +4.1215410760803866E18d,
+        +8.5807488300972206E18d,
+        +1.530436781375042E19d,
+        -1.5453111533064765E19d,
+        -1.0633845571643594E20d,
+        -3.512380426745336E20d,
+        +3.7734658676841284E20d,
+        -3.855478664503271E21d,
+        +7.984485303520287E21d,
+        -1.2296934902142301E22d,
+        +1.042139023692827E22d,
+        +1.2167897656061312E23d,
+        +9.22064170155394E22d,
+        +3.965171513035854E23d,
+        -4.135121057126514E24d,
+        -7.944341754299148E24d,
+        +1.4715152230577016E25d,
+        -3.0635272288480756E25d,
+        -9.54468158713835E25d,
+        +1.5411775738825048E25d,
+        -8.274711842374368E26d,
+        -1.0028324930788433E27d,
+        +5.189062091114782E27d,
+        -2.8583500869462184E28d,
+        -5.198295198128238E28d,
+        +2.9758750368256437E29d,
+        +3.216046320616945E29d,
+        -1.7846700158234043E30d,
+        +3.847174961282827E30d,
+        +9.026991921214922E30d,
+        +4.1358029739592175E30d,
+        -6.461509354879894E29d,
+        +9.704297297526684E31d,
+        +2.9731739067444943E32d,
+        +9.97728609663656E32d,
+        +3.1149346370027763E33d,
+        +2.0051635097366476E34d,
+        +2.819272221032373E34d,
+        +1.6266731695798413E34d,
+        +1.998050894021586E35d,
+        -6.1633417615076335E35d,
+        +2.2505716077585116E36d,
+        +1.9299691540987203E36d,
+        +8.006569251375383E36d,
+        -3.785295042408568E37d,
+        -1.1870498357197593E38d,
+        +1.0010529668998112E38d,
+        +1.3240710866573994E38d,
+        +2.6888010385137123E39d,
+        +1.7400655988987023E39d,
+        -6.402740469853475E39d,
+        -3.93114092562274E40d,
+        +1.2363717201084252E41d,
+        -1.9219116633978794E41d,
+        -1.347867098583136E42d,
+        +7.87675118338788E41d,
+        +3.3932984011177642E41d,
+        -1.9872713979884691E43d,
+        +2.220208491349658E43d,
+        -3.466267817480825E43d,
+        +3.19462030745197E44d,
+        -9.841244788104406E44d,
+        -2.2676593395522725E45d,
+        -1.1349246400274207E46d,
+        -1.1700910284427406E46d,
+        -3.6754317105801715E46d,
+        +1.7647101734915075E47d,
+        +2.122358392979746E47d,
+        +3.156243682143956E47d,
+        +5.356668151937413E47d,
+        +2.7668218233914262E48d,
+        +3.5127708120698784E48d,
+        +1.7884841356632925E49d,
+        +1.716531820904728E50d,
+        -2.9114757102866277E50d,
+        +1.0657703081219677E51d,
+        -7.512169809356372E50d,
+        +1.764200470879736E51d,
+        -1.0088898215431471E52d,
+        -3.1085734725176E52d,
+        +4.3529009584292495E52d,
+        -2.467842129213774E53d,
+        -3.9317379627195146E53d,
+        -4.332335454045836E52d,
+        +7.979013724931926E54d,
+        -1.5038413653121357E55d,
+        +9.310799925566843E55d,
+        -2.2042966348036592E55d,
+        -4.518315366841937E55d,
+        -6.971366338144781E56d,
+        -2.0461505570781806E57d,
+        -8.823884392655312E57d,
+        -1.1264032993918548E58d,
+        -7.692065092509875E58d,
+        -1.8472516879728875E59d,
+        +8.72220314694275E58d,
+        +1.6525336989036362E59d,
+        -3.343201925128334E60d,
+        +5.493352163155986E60d,
+        -2.548073509300398E61d,
+        -9.566541624209933E61d,
+        +4.0891054447206644E61d,
+        -7.724182294653349E62d,
+        +1.0143022354947225E63d,
+        -4.952031310451961E63d,
+        -7.877410133454722E63d,
+        +4.505432606253564E64d,
+        -7.330635250808021E64d,
+        -1.642361029990822E65d,
+        +5.982180242124184E65d,
+        +7.120242132370469E65d,
+        +5.908356249789671E66d,
+        -2.8477710945673134E65d,
+        +6.65688196961235E66d,
+        -9.233295580238604E67d,
+        +3.2850043261803593E68d,
+        +7.041681569694413E68d,
+        -1.5652761725518397E69d,
+        +1.5377053215489084E68d,
+        +1.282130763903269E70d,
+        -2.380286345847567E70d,
+        -7.207022875977515E70d,
+        +2.7641662602473095E71d,
+        +7.685235201534525E71d,
+        +4.3239378585884645E70d,
+        -1.6840562544109314E72d,
+        -5.04128025464686E71d,
+        +5.4557485189210095E73d,
+        +7.160277784358221E73d,
+        +7.636179075087608E73d,
+        -8.18804507680012E74d,
+        +2.807397988979441E75d,
+        +2.165163304600171E75d,
+        -1.3208450062862734E76d,
+        -5.1939252391404724E76d,
+        -6.985952908805853E76d,
+        -1.6259920998287064E77d,
+        +6.098975200926637E77d,
+        -5.63383579957466E77d,
+        -1.5876819186852907E78d,
+        +2.1487475413123092E79d,
+        -3.987619123706934E79d,
+        +9.772655251656639E79d,
+        -1.638756156057952E79d,
+        -7.83892088580041E80d,
+        +1.274413296252691E81d,
+        +2.51946651720982E81d,
+        -2.516866097506943E81d,
+        +1.053956282234684E82d,
+        +1.8279051206232177E83d,
+        +1.2250764591564252E82d,
+        -4.0353723442917463E83d,
+        -1.4121324224340735E84d,
+        -5.45287716696021E84d,
+        -1.7514953095665195E85d,
+        -5.0706081370522526E85d,
+        -4.35799392139009E85d,
+        -3.982538093450217E86d,
+        -1.4591838284752642E87d,
+        +2.5313735821872488E87d,
+        -3.718501227185903E86d,
+        -1.3907979640327008E88d,
+        -5.79002114093961E86d,
+        -1.2500675565781447E89d,
+        +4.8182788286170926E89d,
+        -1.7198866036687559E90d,
+        -4.690417668647599E88d,
+        +1.3020631859056421E91d,
+        -1.3850458263351744E91d,
+        +4.87301010703588E91d,
+        -1.695546877943826E92d,
+        -1.6353756659909833E92d,
+        -1.5483926773679628E93d,
+        -1.8921091400297595E93d,
+        -6.183525570536406E93d,
+        -4.987913342551977E93d,
+        +1.0186485886120274E93d,
+        -1.5343120819745468E95d,
+        -5.262123923229857E95d,
+        +1.618327917706804E96d,
+        -4.135185828158998E96d,
+        -8.016793741945299E96d,
+        -3.0399439534134115E97d,
+        -1.2319346292749103E98d,
+        +7.536337311795176E97d,
+        -3.577715974851322E98d,
+        +2.0521614818695524E99d,
+        +1.2627736197958951E98d,
+        -5.206910481915062E99d,
+        +3.0974593993948837E100d,
+        -9.522726334561169E100d,
+        -1.1909272509710985E100d,
+        -5.056512677995137E101d,
+        +2.0902045062932175E102d,
+        +6.243669516810509E102d,
+        -1.7375090618655787E103d,
+        -2.5445477450140954E103d,
+        +3.619891246849381E103d,
+        +8.90737333900943E103d,
+        -2.7897360297480367E104d,
+        +1.3725786770437066E105d,
+        -8.316530604593264E105d,
+        -6.054541568735673E105d,
+        +7.523374196797555E105d,
+        +1.1475955030427985E107d,
+        +1.5260756679495707E107d,
+        +7.370294848920685E107d,
+        +1.3608995799112174E108d,
+        +1.0700758858011432E108d,
+        -4.989318918773146E108d,
+        -1.6629755787634093E108d,
+        +7.635999584053557E109d,
+        +1.892621828736983E109d,
+        -6.793094743406533E110d,
+        -8.160628910742724E110d,
+        -7.724219106106896E111d,
+        -1.6059226011778748E112d,
+        -1.5277127454062126E112d,
+        +3.911086668967361E112d,
+        +3.529920406834134E113d,
+        -4.3991443996021166E113d,
+        -1.2631909085915044E114d,
+        +3.8656278695544835E114d,
+        +1.71845288713123E115d,
+        +3.7660598745907915E115d,
+        -4.048086182363988E115d,
+        +2.3093822298965837E116d,
+        -9.684925795536813E116d,
+        -3.137992585221854E117d,
+        -5.637415935329794E117d,
+        -1.5536658521931418E118d,
+        -6.336314643222911E118d,
+        +8.550658957115427E118d,
+        -5.591880480212007E119d,
+        +2.4137404318673354E119d,
+        -2.631656656397244E120d,
+        -7.653117429165879E119d,
+        -4.073965591445897E121d,
+        +3.634781057940233E121d,
+        +4.537273754534966E121d,
+        -2.5138919966097735E122d,
+        -1.0292817180691822E123d,
+        -1.4265564976097062E122d,
+        +6.000235114895513E123d,
+        +4.186590347846346E124d,
+        -1.8950538406321535E124d,
+        +7.716762345695022E124d,
+        -4.443798187035849E125d,
+        -2.268994961992292E125d,
+        -2.8169291774231604E126d,
+        -2.749127978087685E126d,
+        -2.2929764629585683E126d,
+        -7.369842361872221E127d,
+        +2.81312841469177E128d,
+        +2.7856896414497757E128d,
+        -3.096733638475319E128d,
+        -5.4199510725063615E129d,
+        -7.315860999413894E129d,
+        +3.6424644535156437E130d,
+        -7.886250961456327E130d,
+        +5.289988151341401E130d,
+        +2.7758613753516344E131d,
+        -2.738246981762776E132d,
+        -2.2667181460478093E132d,
+        -3.614672661225457E131d,
+        +2.325337720526947E133d,
+        +4.16603235883392E133d,
+        -6.50348962894948E133d,
+        +3.851445905038431E134d,
+        -5.46060534001412E134d,
+        +5.4679180659102885E135d,
+        -3.037477806841494E135d,
+        -3.0417051809209134E136d,
+        -6.995964550587914E136d,
+        -3.6897084415718804E137d,
+        -6.938000231893302E137d,
+        +2.403806217004454E138d,
+        -3.4552363953199905E138d,
+        +7.3409917428393E138d,
+        -1.7445917446236717E139d,
+        -6.680679913078676E139d,
+        -8.193572619487537E139d,
+        +5.337290292186291E139d,
+        -3.951314467739045E140d,
+        -4.4662073456574476E141d,
+        +6.249381778908997E141d,
+        -2.928362616578011E142d,
+        -1.6661676835672304E143d,
+        -1.974465323891493E143d,
+        +1.3083870531380308E144d,
+        -2.382825271750576E144d,
+        -5.4826958838142734E144d,
+        +1.5340733916570804E145d,
+        -3.1327120557842516E145d,
+        +1.5790297768522832E146d,
+        +1.1518771984292262E146d,
+        -4.789917000227385E145d,
+        -8.689594184775204E146d,
+        +3.0680417869552433E146d,
+        +4.877860620031438E147d,
+        -3.4650891244084597E148d,
+        +1.8702183451052442E149d,
+        -3.5727227900139915E148d,
+        -1.3457821696677932E150d,
+        +3.3212950284273017E149d,
+        +7.316033240396569E150d,
+        -7.187723217018267E150d,
+        -8.537194547485455E150d,
+        -1.4561530066010593E152d,
+        -7.548155147049997E151d,
+        +1.0047353208353007E153d,
+        -1.2489460589853119E153d,
+        +4.426120229279107E153d,
+        -2.5466223330961086E154d,
+        +8.831699889789037E154d,
+        -2.0258084311749475E155d,
+        -5.525009099476396E155d,
+        -1.0235056525096769E156d,
+        -4.117971654572494E154d,
+        -4.7559175309753334E156d,
+        -1.4656240137098836E157d,
+        -7.675790582869644E157d,
+        -1.0126616322947826E158d,
+        +7.084865265284368E158d,
+        -9.374695893307895E158d,
+        +2.05597910889115E159d,
+        -7.368602086210704E159d,
+        -1.6167825196198978E160d,
+        +2.3832096207000712E160d,
+        +1.3166970112139726E161d,
+        -6.432337568761393E161d,
+        +2.9279594746502846E161d,
+        +4.8926595743317624E162d,
+        +1.2704793774453618E163d,
+        -1.1345910784680524E163d,
+        +7.75933511025868E163d,
+        -1.1441115218462356E163d,
+        +5.162248481759758E164d,
+        +6.362563919556132E164d,
+        -2.8362173224732088E165d,
+        -4.342161053332263E165d,
+        +4.388125271425036E166d,
+        -7.049068240916723E166d,
+        +3.8520227881415595E166d,
+        +2.9274120974020826E167d,
+        -7.500936767542933E167d,
+        -6.540181860667302E168d,
+        +4.664436780622191E168d,
+        -1.436111169285268E169d,
+        -1.0407581736224179E170d,
+        -2.7670181051374297E170d,
+        -6.788169932297778E170d,
+        +1.6997387217850427E171d,
+        -1.0965324942770584E171d,
+        +9.841563119484623E171d,
+        +3.175748919314254E172d,
+        +2.9621181706527444E172d,
+        -3.30101656090905E173d,
+        -3.791840683760427E173d,
+        -2.841347842666459E174d,
+        -7.836327226971707E174d,
+        +9.650358667643114E174d,
+        +5.9994277301267294E175d,
+        -6.0490084078440215E175d,
+        -2.8964095485948707E176d,
+        +9.916187343252014E175d,
+        +2.7535627955313556E176d,
+        +3.886891475472745E177d,
+        +3.1962472803616787E178d,
+        -5.50599549115449E178d,
+        +5.672812341879918E178d,
+        -3.295268490032475E179d,
+        +9.761163062156018E179d,
+        +3.107837179570674E180d,
+        +3.3894811576571423E179d,
+        -5.235397688850367E180d,
+        -5.004237248003625E181d,
+        -1.7544995191195304E182d,
+        +2.645622651144787E182d,
+        -3.459885432869825E182d,
+        -4.0361435606199565E183d,
+        -1.8382923511801317E183d,
+        -1.7332235571505177E184d,
+        +2.847653455671381E184d,
+        +1.7991060813894693E185d,
+        -2.0937429891059164E185d,
+        +5.744446753652847E185d,
+        -2.1349396267483754E184d,
+        -1.2542332720182776E186d,
+        +3.3730714236579374E186d,
+        -5.923734606208998E187d,
+        +2.24669039465627E188d,
+        -1.2588742703536392E188d,
+        +1.474522484905093E189d,
+        -2.4006971787803736E189d,
+        -3.52597540499141E189d,
+        +2.6676722922838097E190d,
+        +5.27579825970359E190d,
+        +2.1360492104281465E191d,
+        +1.9442210982008953E191d,
+        -1.4691239161932232E190d,
+        +3.8218180377739526E192d,
+        +1.9722862688653467E192d,
+        +3.047601928063002E193d,
+        +1.6747356805175311E193d,
+        +7.710512446969693E192d,
+        +1.7780021277684035E194d,
+        -1.4015110811648513E195d,
+        +4.0447634595724164E195d,
+        +9.023639664212642E195d,
+        +1.976868146639626E196d,
+        -9.084495133765657E196d,
+        -1.2023077889892748E196d,
+        +5.7455368446308694E197d,
+        -1.7766273910482863E198d,
+        +3.5590470673352285E198d,
+        +1.1304970373249033E199d,
+        +1.6496143246803731E199d,
+        -2.394588390685223E199d,
+        -1.4677321100833294E199d,
+        -1.1843870433971731E201d,
+        -1.8853982316037226E201d,
+        +2.8829871423339434E201d,
+        +5.369687677705385E200d,
+        +1.8356062677502141E202d,
+        -1.5544655377217875E203d,
+        +2.955364187248884E203d,
+        -2.7651059253677425E203d,
+        +9.903174064539538E203d,
+        -3.284204788892967E204d,
+        -1.5843229740595697E205d,
+        +5.333371443528904E204d,
+        +1.2781631468016048E205d,
+        +3.2188292385399854E205d,
+        -6.619064395428225E206d,
+        +1.291561142865928E207d,
+        +1.3142988156905172E207d,
+        -1.3841980097978606E208d,
+        +6.380177790989479E207d,
+        +1.0386032577072378E209d,
+        +2.7681631086098026E209d,
+        -9.053874899534375E209d,
+        +1.2424707839848734E210d,
+        +1.045546633850141E211d,
+        -1.2448938139338362E211d,
+        +7.221902646057552E211d,
+        +6.651345415954053E211d,
+        -5.8180712702152444E212d,
+        +5.275183961165903E212d,
+        +5.092753117288608E212d,
+        -2.437796532151255E213d,
+        +1.3480763914637323E214d,
+        +5.619995933180841E214d,
+        +2.547000388735681E214d,
+        +4.817319356453926E214d,
+        -7.897146442236022E215d,
+        -7.93844120619577E215d,
+        -4.9489938500591624E216d,
+        -2.862720607805682E216d,
+        -2.9275804461593914E217d,
+        -3.411186219855533E217d,
+        -2.0110092718356274E218d,
+        -8.472642266772353E218d,
+        -4.357990742470246E217d,
+        +4.793444363780116E219d,
+        +1.6544084224626834E220d,
+        -6.017988576347111E220d,
+        -3.580397221598409E220d,
+        -4.7208848667217906E221d,
+        -7.724899660259369E221d,
+        -2.4459728627968634E222d,
+        +3.667348665023154E221d,
+        +4.544122762558404E223d,
+        -4.0573420909530794E223d,
+        -3.2552002992257195E223d,
+        -6.488296536838142E224d,
+        +1.7544839352461719E224d,
+        -4.0873400635183405E225d,
+        -8.833499967268279E225d,
+        -1.0953484767704112E226d,
+        -8.56825295972308E226d,
+        -1.8097633115378247E227d,
+        -6.171564449018882E227d,
+        -4.351843341274115E227d,
+        +2.8032429752543687E228d,
+        -1.0065901934522996E229d,
+        +9.863720960170636E228d,
+        -9.481088691357648E229d,
+        -1.6843492713373762E229d,
+        -1.3282890219894906E230d,
+        +6.883577595238845E230d,
+        -1.153577281189635E231d,
+        -8.009548754642203E231d,
+        -4.722612904888278E232d,
+        -4.768909872963015E232d,
+        +3.2542391242036633E233d,
+        +6.513425781583774E233d,
+        -1.8889614379831606E233d,
+        -2.227647301474917E234d,
+        -4.7971208532986115E234d,
+        +6.693500938105557E234d,
+        -6.587776621471115E234d,
+        +3.0099905634916516E236d,
+        -4.6694407626686244E235d,
+        +2.965546585110978E236d,
+        +5.771457643937893E237d,
+        -9.029878114318277E237d,
+        +8.169926810324408E237d,
+        -1.779945804977441E239d,
+        +4.1218749988429474E239d,
+        +7.201319954099161E239d,
+        -1.530845432304069E240d,
+        -3.861762510530086E240d,
+        -2.4090696463777446E241d,
+        -1.8196842273916379E241d,
+        -1.7959243076374794E242d,
+        -3.7257346819782323E242d,
+        +3.413310324247329E242d,
+        -2.0406580894051073E243d,
+        -1.5335923091350053E243d,
+        -1.056727406551016E244d,
+        -4.6753408714233723E244d,
+        -2.0697130057384643E245d,
+        -1.0356006160554071E245d,
+        +1.1339195187304043E246d,
+        +1.792783182582235E246d,
+        +9.599214853681978E245d,
+        +1.5367645598839362E247d,
+        +2.934570385464815E247d,
+        -1.6411525886171892E248d,
+        +2.2638862982382794E248d,
+        -1.2268014119628852E249d,
+        +4.737693450915584E247d,
+        +6.3818993714899675E249d,
+        +1.2639113706171572E250d,
+        -4.011320021817099E249d,
+        -5.2744376732859406E250d,
+        -3.732266217624991E251d,
+        +1.7591819833844019E252d,
+        -3.292458622014749E252d,
+        -9.161340309319204E252d,
+        -1.728610646009749E253d,
+        +1.1698424008604891E254d,
+        -1.8494343291160577E254d,
+        +2.0568656302182574E254d,
+        +1.0537591246531136E255d,
+        +1.803052068234866E254d,
+        -1.053036399720808E256d,
+        +2.1836166619192508E256d,
+        +1.0368403169781264E257d,
+        -2.0648015610276362E257d,
+        +8.426174035728768E257d,
+        -1.3577357192972777E258d,
+        +2.1313950901331177E258d,
+        +8.919141843592823E258d,
+        -1.1800039972549816E259d,
+        -1.1878772398311421E260d,
+        -1.538273497873993E260d,
+        -4.51305093266001E260d,
+        +1.1241179396053055E261d,
+        +6.154786508667658E261d,
+        -1.0626125049032536E262d,
+        -1.8908603201210102E262d,
+        -4.571195152299358E262d,
+        +1.526100002923062E263d,
+        -9.457084582570225E263d,
+        -1.5460500618825853E264d,
+        -5.598276199126451E264d,
+        -1.2074097381167957E265d,
+        -3.015972957475025E265d,
+        +1.4345106852061226E265d,
+        +8.28479585346867E265d,
+        -3.118741081244705E266d,
+        -1.2054747399765794E266d,
+        +3.4454766202661184E267d,
+        +1.1279135096919439E268d,
+        +1.2066382528772518E268d,
+        +1.1984128162292276E269d,
+        +3.685169705587367E268d,
+        +6.570047690198998E269d,
+        +1.8836492887460383E270d,
+        +7.4364594917181125E270d,
+        +1.2773080633674971E271d,
+        +1.8928981707279692E271d,
+        +4.039437286589528E271d,
+        +1.785277385538302E272d,
+        -6.017681359527226E272d,
+        +1.9716943051755635E273d,
+        -8.772048092842086E271d,
+        +1.5645672698520312E274d,
+        -3.7979660725865874E274d,
+        +5.324902289537048E274d,
+        -1.8806716685063293E274d,
+        +9.320900373401115E275d,
+        +1.4615985810260016E275d,
+        +8.321226457219046E276d,
+        -4.608112855795952E276d,
+        -3.476352191116455E277d,
+        +5.266381689434054E277d,
+        -9.622106063561645E277d,
+        +4.1719443712336026E278d,
+        +4.222411269063919E279d,
+        -6.714376022102489E279d,
+        -1.0732735585199074E280d,
+        -2.5866883048437488E280d,
+        -1.1306860837934988E281d,
+        +3.690690354793168E281d,
+        -5.5299180508885456E281d,
+        +2.7006726968568243E282d,
+        +4.135457669031131E282d,
+        +2.8401159516008676E283d,
+        +5.127265762024798E283d,
+        -3.4893601256685762E283d,
+        -1.145160459652136E283d,
+        +2.1742808735341656E284d,
+        +4.656972469326391E285d,
+        +7.672307991205681E285d,
+        +1.5781599575584034E286d,
+        +4.218682431618625E286d,
+        -2.4602260687026867E287d,
+        +2.7211316452521414E287d,
+        -1.8740018211089393E288d,
+        +2.6367639658206183E288d,
+        -3.102678910525039E288d,
+        +1.1992295328636466E289d,
+        +6.8190133180135345E289d,
+        +5.783203879030497E289d,
+        +5.171047077293295E290d,
+        +1.8396930096213817E290d,
+        +1.4977047507315718E290d,
+        +1.0672499803427623E292d,
+        +3.3310942289102464E291d,
+        -7.962256961838823E292d,
+        +1.7396889119023863E293d,
+        +3.8072183820435085E293d,
+        +2.2772059538865722E294d,
+        -2.0549866377878678E294d,
+        -1.2277120342804144E295d,
+        -3.609949022969024E295d,
+        +1.1479863663699871E296d,
+        -1.5314373779304356E296d,
+        -2.2537635160762597E296d,
+        -6.1370690793508674E296d,
+        -4.996854125490041E297d,
+        -6.883499809714189E297d,
+        -2.595456638706416E298d,
+        -1.1892631528580186E299d,
+        -1.4672600326020399E299d,
+        -3.200068509818696E299d,
+        -7.126913872617518E298d,
+        -3.3655587417265094E300d,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+        Double.NaN,
+    };
+
+
+    /** Exponential over the range of 0 - 1 in increments of 2^-10
+     * exp(x/1024) =  expFracTableA[x] + expFracTableB[x].
+     * 1024 = 2^10
+     */
+    private static final double[] EXP_FRAC_A = new double[] {
+      +1.0d,
+      +1.0009770393371582d,
+      +1.0019550323486328d,
+      +1.0029339790344238d,
+      +1.0039138793945312d,
+      +1.004894733428955d,
+      +1.0058765411376953d,
+      +1.006859302520752d,
+      +1.007843017578125d,
+      +1.0088276863098145d,
+      +1.0098135471343994d,
+      +1.0108001232147217d,
+      +1.0117876529693604d,
+      +1.0127761363983154d,
+      +1.013765811920166d,
+      +1.014756202697754d,
+      +1.0157477855682373d,
+      +1.016740083694458d,
+      +1.0177335739135742d,
+      +1.0187277793884277d,
+      +1.0197231769561768d,
+      +1.0207195281982422d,
+      +1.021716833114624d,
+      +1.0227150917053223d,
+      +1.023714303970337d,
+      +1.024714469909668d,
+      +1.0257158279418945d,
+      +1.0267179012298584d,
+      +1.0277209281921387d,
+      +1.0287251472473145d,
+      +1.0297303199768066d,
+      +1.0307364463806152d,
+      +1.0317435264587402d,
+      +1.0327515602111816d,
+      +1.0337605476379395d,
+      +1.0347704887390137d,
+      +1.0357816219329834d,
+      +1.0367934703826904d,
+      +1.037806510925293d,
+      +1.038820505142212d,
+      +1.0398354530334473d,
+      +1.040851354598999d,
+      +1.0418684482574463d,
+      +1.0428862571716309d,
+      +1.043905258178711d,
+      +1.0449252128601074d,
+      +1.0459461212158203d,
+      +1.0469679832458496d,
+      +1.0479910373687744d,
+      +1.0490150451660156d,
+      +1.0500397682189941d,
+      +1.0510656833648682d,
+      +1.0520927906036377d,
+      +1.0531206130981445d,
+      +1.0541496276855469d,
+      +1.0551795959472656d,
+      +1.0562105178833008d,
+      +1.0572423934936523d,
+      +1.0582754611968994d,
+      +1.059309482574463d,
+      +1.0603444576263428d,
+      +1.061380386352539d,
+      +1.0624175071716309d,
+      +1.06345534324646d,
+      +1.0644943714141846d,
+      +1.0655345916748047d,
+      +1.066575527191162d,
+      +1.067617654800415d,
+      +1.0686607360839844d,
+      +1.0697050094604492d,
+      +1.0707499980926514d,
+      +1.071796178817749d,
+      +1.072843313217163d,
+      +1.0738916397094727d,
+      +1.0749409198760986d,
+      +1.075991153717041d,
+      +1.0770423412322998d,
+      +1.078094720840454d,
+      +1.0791480541229248d,
+      +1.080202341079712d,
+      +1.0812578201293945d,
+      +1.0823142528533936d,
+      +1.083371639251709d,
+      +1.08443021774292d,
+      +1.0854897499084473d,
+      +1.086550235748291d,
+      +1.0876119136810303d,
+      +1.088674545288086d,
+      +1.089738130569458d,
+      +1.0908029079437256d,
+      +1.0918686389923096d,
+      +1.092935562133789d,
+      +1.094003438949585d,
+      +1.0950722694396973d,
+      +1.096142053604126d,
+      +1.0972130298614502d,
+      +1.09828519821167d,
+      +1.099358320236206d,
+      +1.1004323959350586d,
+      +1.1015074253082275d,
+      +1.102583646774292d,
+      +1.103661060333252d,
+      +1.1047391891479492d,
+      +1.105818748474121d,
+      +1.1068990230560303d,
+      +1.107980489730835d,
+      +1.1090631484985352d,
+      +1.1101467609405518d,
+      +1.1112313270568848d,
+      +1.1123170852661133d,
+      +1.1134037971496582d,
+      +1.1144917011260986d,
+      +1.1155805587768555d,
+      +1.1166706085205078d,
+      +1.1177616119384766d,
+      +1.1188538074493408d,
+      +1.1199469566345215d,
+      +1.1210410594940186d,
+      +1.1221363544464111d,
+      +1.1232328414916992d,
+      +1.1243302822113037d,
+      +1.1254286766052246d,
+      +1.126528263092041d,
+      +1.127629041671753d,
+      +1.1287307739257812d,
+      +1.129833459854126d,
+      +1.1309373378753662d,
+      +1.132042407989502d,
+      +1.133148431777954d,
+      +1.1342556476593018d,
+      +1.1353638172149658d,
+      +1.1364731788635254d,
+      +1.1375834941864014d,
+      +1.1386950016021729d,
+      +1.1398074626922607d,
+      +1.1409211158752441d,
+      +1.142035961151123d,
+      +1.1431517601013184d,
+      +1.14426851272583d,
+      +1.1453864574432373d,
+      +1.14650559425354d,
+      +1.1476259231567383d,
+      +1.148747205734253d,
+      +1.149869441986084d,
+      +1.1509928703308105d,
+      +1.1521174907684326d,
+      +1.153243064880371d,
+      +1.154369831085205d,
+      +1.1554977893829346d,
+      +1.1566267013549805d,
+      +1.1577568054199219d,
+      +1.1588881015777588d,
+      +1.160020351409912d,
+      +1.161153793334961d,
+      +1.1622881889343262d,
+      +1.163423776626587d,
+      +1.1645605564117432d,
+      +1.1656982898712158d,
+      +1.166837215423584d,
+      +1.1679773330688477d,
+      +1.1691184043884277d,
+      +1.1702606678009033d,
+      +1.1714041233062744d,
+      +1.172548532485962d,
+      +1.173694133758545d,
+      +1.1748409271240234d,
+      +1.1759889125823975d,
+      +1.177137851715088d,
+      +1.1782879829406738d,
+      +1.1794393062591553d,
+      +1.1805915832519531d,
+      +1.1817450523376465d,
+      +1.1828997135162354d,
+      +1.1840553283691406d,
+      +1.1852121353149414d,
+      +1.1863701343536377d,
+      +1.1875293254852295d,
+      +1.1886897087097168d,
+      +1.1898510456085205d,
+      +1.1910135746002197d,
+      +1.1921772956848145d,
+      +1.1933419704437256d,
+      +1.1945080757141113d,
+      +1.1956751346588135d,
+      +1.1968433856964111d,
+      +1.1980125904083252d,
+      +1.1991832256317139d,
+      +1.200354814529419d,
+      +1.2015275955200195d,
+      +1.2027015686035156d,
+      +1.2038767337799072d,
+      +1.2050528526306152d,
+      +1.2062301635742188d,
+      +1.2074086666107178d,
+      +1.2085883617401123d,
+      +1.2097692489624023d,
+      +1.210951328277588d,
+      +1.2121343612670898d,
+      +1.2133188247680664d,
+      +1.2145042419433594d,
+      +1.2156908512115479d,
+      +1.2168786525726318d,
+      +1.2180676460266113d,
+      +1.2192575931549072d,
+      +1.2204489707946777d,
+      +1.2216413021087646d,
+      +1.222834825515747d,
+      +1.224029779434204d,
+      +1.2252256870269775d,
+      +1.2264227867126465d,
+      +1.227621078491211d,
+      +1.2288203239440918d,
+      +1.2300209999084473d,
+      +1.2312228679656982d,
+      +1.2324256896972656d,
+      +1.2336299419403076d,
+      +1.234835147857666d,
+      +1.23604154586792d,
+      +1.2372493743896484d,
+      +1.2384581565856934d,
+      +1.2396681308746338d,
+      +1.2408792972564697d,
+      +1.2420918941497803d,
+      +1.2433054447174072d,
+      +1.2445201873779297d,
+      +1.2457361221313477d,
+      +1.2469532489776611d,
+      +1.2481715679168701d,
+      +1.2493910789489746d,
+      +1.2506117820739746d,
+      +1.2518336772918701d,
+      +1.2530567646026611d,
+      +1.2542810440063477d,
+      +1.2555065155029297d,
+      +1.2567331790924072d,
+      +1.2579610347747803d,
+      +1.2591900825500488d,
+      +1.260420322418213d,
+      +1.2616519927978516d,
+      +1.2628846168518066d,
+      +1.2641184329986572d,
+      +1.2653534412384033d,
+      +1.266589879989624d,
+      +1.2678272724151611d,
+      +1.2690660953521729d,
+      +1.27030611038208d,
+      +1.2715470790863037d,
+      +1.272789478302002d,
+      +1.2740330696105957d,
+      +1.275277853012085d,
+      +1.2765238285064697d,
+      +1.27777099609375d,
+      +1.2790195941925049d,
+      +1.2802691459655762d,
+      +1.281519889831543d,
+      +1.2827720642089844d,
+      +1.2840254306793213d,
+      +1.2852799892425537d,
+      +1.2865357398986816d,
+      +1.287792682647705d,
+      +1.2890510559082031d,
+      +1.2903103828430176d,
+      +1.2915711402893066d,
+      +1.2928330898284912d,
+      +1.2940962314605713d,
+      +1.2953605651855469d,
+      +1.296626091003418d,
+      +1.2978930473327637d,
+      +1.2991611957550049d,
+      +1.3004305362701416d,
+      +1.3017010688781738d,
+      +1.3029727935791016d,
+      +1.304245948791504d,
+      +1.3055200576782227d,
+      +1.3067958354949951d,
+      +1.308072566986084d,
+      +1.3093504905700684d,
+      +1.3106298446655273d,
+      +1.3119103908538818d,
+      +1.3131921291351318d,
+      +1.3144752979278564d,
+      +1.3157594203948975d,
+      +1.317044973373413d,
+      +1.3183319568634033d,
+      +1.31961989402771d,
+      +1.3209092617034912d,
+      +1.322199821472168d,
+      +1.3234915733337402d,
+      +1.324784755706787d,
+      +1.3260791301727295d,
+      +1.3273746967315674d,
+      +1.3286716938018799d,
+      +1.329969882965088d,
+      +1.3312692642211914d,
+      +1.3325698375701904d,
+      +1.333871841430664d,
+      +1.3351752758026123d,
+      +1.336479663848877d,
+      +1.3377854824066162d,
+      +1.339092493057251d,
+      +1.3404009342193604d,
+      +1.3417105674743652d,
+      +1.3430213928222656d,
+      +1.3443336486816406d,
+      +1.3456470966339111d,
+      +1.3469617366790771d,
+      +1.3482778072357178d,
+      +1.349595069885254d,
+      +1.3509137630462646d,
+      +1.352233648300171d,
+      +1.3535549640655518d,
+      +1.3548774719238281d,
+      +1.356201171875d,
+      +1.3575263023376465d,
+      +1.3588526248931885d,
+      +1.360180139541626d,
+      +1.361509084701538d,
+      +1.3628394603729248d,
+      +1.364171028137207d,
+      +1.3655037879943848d,
+      +1.366837978363037d,
+      +1.368173360824585d,
+      +1.3695101737976074d,
+      +1.3708481788635254d,
+      +1.372187614440918d,
+      +1.373528242111206d,
+      +1.3748703002929688d,
+      +1.376213550567627d,
+      +1.3775582313537598d,
+      +1.378904104232788d,
+      +1.380251407623291d,
+      +1.3815999031066895d,
+      +1.3829498291015625d,
+      +1.384300947189331d,
+      +1.3856534957885742d,
+      +1.387007236480713d,
+      +1.3883624076843262d,
+      +1.389719009399414d,
+      +1.3910768032073975d,
+      +1.3924360275268555d,
+      +1.393796443939209d,
+      +1.395158290863037d,
+      +1.3965213298797607d,
+      +1.397885799407959d,
+      +1.3992514610290527d,
+      +1.4006187915802002d,
+      +1.401987075805664d,
+      +1.4033570289611816d,
+      +1.4047281742095947d,
+      +1.4061005115509033d,
+      +1.4074742794036865d,
+      +1.4088494777679443d,
+      +1.4102261066436768d,
+      +1.4116039276123047d,
+      +1.4129831790924072d,
+      +1.4143636226654053d,
+      +1.415745496749878d,
+      +1.4171288013458252d,
+      +1.418513298034668d,
+      +1.4198992252349854d,
+      +1.4212865829467773d,
+      +1.4226751327514648d,
+      +1.424065351486206d,
+      +1.4254565238952637d,
+      +1.426849365234375d,
+      +1.4282433986663818d,
+      +1.4296388626098633d,
+      +1.4310357570648193d,
+      +1.432433843612671d,
+      +1.433833360671997d,
+      +1.4352343082427979d,
+      +1.4366366863250732d,
+      +1.4380402565002441d,
+      +1.4394452571868896d,
+      +1.4408516883850098d,
+      +1.4422595500946045d,
+      +1.4436686038970947d,
+      +1.4450790882110596d,
+      +1.446491003036499d,
+      +1.447904348373413d,
+      +1.4493188858032227d,
+      +1.450735092163086d,
+      +1.4521524906158447d,
+      +1.4535713195800781d,
+      +1.454991340637207d,
+      +1.4564130306243896d,
+      +1.4578359127044678d,
+      +1.4592602252960205d,
+      +1.460686206817627d,
+      +1.4621131420135498d,
+      +1.4635417461395264d,
+      +1.4649717807769775d,
+      +1.4664030075073242d,
+      +1.4678359031677246d,
+      +1.4692699909210205d,
+      +1.470705509185791d,
+      +1.4721424579620361d,
+      +1.4735808372497559d,
+      +1.475020408630371d,
+      +1.47646164894104d,
+      +1.4779040813446045d,
+      +1.4793481826782227d,
+      +1.4807934761047363d,
+      +1.4822404384613037d,
+      +1.4836885929107666d,
+      +1.485138177871704d,
+      +1.4865891933441162d,
+      +1.488041639328003d,
+      +1.4894955158233643d,
+      +1.4909508228302002d,
+      +1.4924075603485107d,
+      +1.493865728378296d,
+      +1.4953253269195557d,
+      +1.49678635597229d,
+      +1.49824857711792d,
+      +1.4997124671936035d,
+      +1.5011777877807617d,
+      +1.5026445388793945d,
+      +1.504112720489502d,
+      +1.505582332611084d,
+      +1.5070531368255615d,
+      +1.5085256099700928d,
+      +1.5099995136260986d,
+      +1.511474847793579d,
+      +1.5129516124725342d,
+      +1.5144298076629639d,
+      +1.5159096717834473d,
+      +1.5173907279968262d,
+      +1.5188732147216797d,
+      +1.5203571319580078d,
+      +1.5218427181243896d,
+      +1.523329496383667d,
+      +1.524817943572998d,
+      +1.5263078212738037d,
+      +1.5277988910675049d,
+      +1.5292916297912598d,
+      +1.5307857990264893d,
+      +1.5322813987731934d,
+      +1.5337786674499512d,
+      +1.5352771282196045d,
+      +1.5367772579193115d,
+      +1.538278579711914d,
+      +1.5397815704345703d,
+      +1.5412859916687012d,
+      +1.5427920818328857d,
+      +1.5442993640899658d,
+      +1.5458080768585205d,
+      +1.547318458557129d,
+      +1.548830270767212d,
+      +1.5503435134887695d,
+      +1.5518584251403809d,
+      +1.5533745288848877d,
+      +1.5548923015594482d,
+      +1.5564115047454834d,
+      +1.5579321384429932d,
+      +1.5594542026519775d,
+      +1.5609779357910156d,
+      +1.5625030994415283d,
+      +1.5640296936035156d,
+      +1.5655577182769775d,
+      +1.5670874118804932d,
+      +1.5686185359954834d,
+      +1.5701510906219482d,
+      +1.5716853141784668d,
+      +1.5732207298278809d,
+      +1.5747578144073486d,
+      +1.5762965679168701d,
+      +1.577836513519287d,
+      +1.5793781280517578d,
+      +1.5809214115142822d,
+      +1.5824658870697021d,
+      +1.5840120315551758d,
+      +1.5855598449707031d,
+      +1.587108850479126d,
+      +1.5886595249176025d,
+      +1.5902118682861328d,
+      +1.5917654037475586d,
+      +1.593320608139038d,
+      +1.5948774814605713d,
+      +1.596435785293579d,
+      +1.5979955196380615d,
+      +1.5995566844940186d,
+      +1.6011195182800293d,
+      +1.6026840209960938d,
+      +1.6042497158050537d,
+      +1.6058173179626465d,
+      +1.6073861122131348d,
+      +1.6089565753936768d,
+      +1.6105287075042725d,
+      +1.6121022701263428d,
+      +1.6136772632598877d,
+      +1.6152539253234863d,
+      +1.6168320178985596d,
+      +1.6184117794036865d,
+      +1.619992971420288d,
+      +1.6215758323669434d,
+      +1.6231601238250732d,
+      +1.6247460842132568d,
+      +1.626333475112915d,
+      +1.627922534942627d,
+      +1.6295130252838135d,
+      +1.6311051845550537d,
+      +1.6326987743377686d,
+      +1.634294033050537d,
+      +1.6358907222747803d,
+      +1.6374890804290771d,
+      +1.6390891075134277d,
+      +1.640690565109253d,
+      +1.6422934532165527d,
+      +1.6438980102539062d,
+      +1.6455042362213135d,
+      +1.6471118927001953d,
+      +1.6487212181091309d,
+      +1.6503322124481201d,
+      +1.651944637298584d,
+      +1.6535584926605225d,
+      +1.6551742553710938d,
+      +1.6567914485931396d,
+      +1.6584100723266602d,
+      +1.6600303649902344d,
+      +1.6616523265838623d,
+      +1.663275957107544d,
+      +1.6649010181427002d,
+      +1.666527509689331d,
+      +1.6681559085845947d,
+      +1.669785737991333d,
+      +1.671417236328125d,
+      +1.6730501651763916d,
+      +1.674684762954712d,
+      +1.676321029663086d,
+      +1.6779589653015137d,
+      +1.679598331451416d,
+      +1.681239366531372d,
+      +1.6828820705413818d,
+      +1.6845262050628662d,
+      +1.6861720085144043d,
+      +1.687819480895996d,
+      +1.6894686222076416d,
+      +1.6911191940307617d,
+      +1.6927716732025146d,
+      +1.6944255828857422d,
+      +1.6960809230804443d,
+      +1.6977381706237793d,
+      +1.6993968486785889d,
+      +1.7010571956634521d,
+      +1.7027192115783691d,
+      +1.7043828964233398d,
+      +1.7060482501983643d,
+      +1.7077150344848633d,
+      +1.709383487701416d,
+      +1.7110536098480225d,
+      +1.7127254009246826d,
+      +1.7143988609313965d,
+      +1.716073989868164d,
+      +1.7177505493164062d,
+      +1.7194287776947021d,
+      +1.7211089134216309d,
+      +1.7227904796600342d,
+      +1.7244737148284912d,
+      +1.726158618927002d,
+      +1.7278449535369873d,
+      +1.7295331954956055d,
+      +1.7312231063842773d,
+      +1.7329144477844238d,
+      +1.7346076965332031d,
+      +1.736302375793457d,
+      +1.7379989624023438d,
+      +1.739696979522705d,
+      +1.7413966655731201d,
+      +1.7430980205535889d,
+      +1.7448012828826904d,
+      +1.7465059757232666d,
+      +1.7482123374938965d,
+      +1.74992036819458d,
+      +1.7516300678253174d,
+      +1.7533416748046875d,
+      +1.7550547122955322d,
+      +1.7567694187164307d,
+      +1.7584857940673828d,
+      +1.7602040767669678d,
+      +1.7619237899780273d,
+      +1.7636451721191406d,
+      +1.7653684616088867d,
+      +1.7670931816101074d,
+      +1.768819808959961d,
+      +1.770547866821289d,
+      +1.77227783203125d,
+      +1.7740094661712646d,
+      +1.775742769241333d,
+      +1.777477741241455d,
+      +1.7792143821716309d,
+      +1.7809526920318604d,
+      +1.7826926708221436d,
+      +1.7844345569610596d,
+      +1.7861778736114502d,
+      +1.7879230976104736d,
+      +1.7896699905395508d,
+      +1.7914185523986816d,
+      +1.7931687831878662d,
+      +1.7949209213256836d,
+      +1.7966744899749756d,
+      +1.7984299659729004d,
+      +1.800187110900879d,
+      +1.8019459247589111d,
+      +1.8037066459655762d,
+      +1.8054687976837158d,
+      +1.8072328567504883d,
+      +1.8089985847473145d,
+      +1.8107659816741943d,
+      +1.812535285949707d,
+      +1.8143062591552734d,
+      +1.8160789012908936d,
+      +1.8178532123565674d,
+      +1.819629430770874d,
+      +1.8214070796966553d,
+      +1.8231868743896484d,
+      +1.8249680995941162d,
+      +1.8267512321472168d,
+      +1.828536033630371d,
+      +1.830322504043579d,
+      +1.83211088180542d,
+      +1.8339009284973145d,
+      +1.8356926441192627d,
+      +1.8374862670898438d,
+      +1.8392815589904785d,
+      +1.841078519821167d,
+      +1.8428773880004883d,
+      +1.8446779251098633d,
+      +1.846480131149292d,
+      +1.8482842445373535d,
+      +1.8500902652740479d,
+      +1.8518977165222168d,
+      +1.8537070751190186d,
+      +1.8555183410644531d,
+      +1.8573312759399414d,
+      +1.8591458797454834d,
+      +1.8609623908996582d,
+      +1.8627805709838867d,
+      +1.864600658416748d,
+      +1.866422414779663d,
+      +1.8682458400726318d,
+      +1.8700714111328125d,
+      +1.8718984127044678d,
+      +1.8737273216247559d,
+      +1.8755581378936768d,
+      +1.8773906230926514d,
+      +1.8792247772216797d,
+      +1.8810608386993408d,
+      +1.8828988075256348d,
+      +1.8847384452819824d,
+      +1.886579990386963d,
+      +1.888423204421997d,
+      +1.890268325805664d,
+      +1.8921151161193848d,
+      +1.8939638137817383d,
+      +1.8958141803741455d,
+      +1.8976664543151855d,
+      +1.8995206356048584d,
+      +1.901376485824585d,
+      +1.9032342433929443d,
+      +1.9050939083099365d,
+      +1.9069552421569824d,
+      +1.908818244934082d,
+      +1.9106833934783936d,
+      +1.9125502109527588d,
+      +1.9144186973571777d,
+      +1.9162893295288086d,
+      +1.9181616306304932d,
+      +1.9200356006622314d,
+      +1.9219114780426025d,
+      +1.9237892627716064d,
+      +1.9256689548492432d,
+      +1.9275505542755127d,
+      +1.929433822631836d,
+      +1.931318759918213d,
+      +1.9332058429718018d,
+      +1.9350945949554443d,
+      +1.9369852542877197d,
+      +1.938877820968628d,
+      +1.940772294998169d,
+      +1.9426684379577637d,
+      +1.9445664882659912d,
+      +1.9464664459228516d,
+      +1.9483680725097656d,
+      +1.9502718448638916d,
+      +1.9521772861480713d,
+      +1.9540846347808838d,
+      +1.955993890762329d,
+      +1.9579050540924072d,
+      +1.959817886352539d,
+      +1.9617326259613037d,
+      +1.9636495113372803d,
+      +1.9655680656433105d,
+      +1.9674885272979736d,
+      +1.9694106578826904d,
+      +1.9713349342346191d,
+      +1.9732608795166016d,
+      +1.975188970565796d,
+      +1.977118730545044d,
+      +1.9790503978729248d,
+      +1.9809842109680176d,
+      +1.982919692993164d,
+      +1.9848570823669434d,
+      +1.9867963790893555d,
+      +1.9887375831604004d,
+      +1.990680456161499d,
+      +1.9926254749298096d,
+      +1.994572401046753d,
+      +1.996521234512329d,
+      +1.998471736907959d,
+      +2.000424385070801d,
+      +2.0023789405822754d,
+      +2.004335403442383d,
+      +2.006293773651123d,
+      +2.008254051208496d,
+      +2.010216236114502d,
+      +2.0121798515319824d,
+      +2.014145851135254d,
+      +2.016113758087158d,
+      +2.0180835723876953d,
+      +2.0200552940368652d,
+      +2.022029399871826d,
+      +2.0240049362182617d,
+      +2.02598237991333d,
+      +2.0279617309570312d,
+      +2.0299429893493652d,
+      +2.0319266319274902d,
+      +2.03391170501709d,
+      +2.0358991622924805d,
+      +2.0378880500793457d,
+      +2.039879322052002d,
+      +2.041872501373291d,
+      +2.0438671112060547d,
+      +2.0458641052246094d,
+      +2.047863006591797d,
+      +2.049863815307617d,
+      +2.0518670082092285d,
+      +2.0538716316223145d,
+      +2.055878162384033d,
+      +2.057887077331543d,
+      +2.0598974227905273d,
+      +2.0619101524353027d,
+      +2.063924789428711d,
+      +2.065941333770752d,
+      +2.067959785461426d,
+      +2.0699801445007324d,
+      +2.07200288772583d,
+      +2.0740270614624023d,
+      +2.0760536193847656d,
+      +2.0780820846557617d,
+      +2.0801124572753906d,
+      +2.0821447372436523d,
+      +2.084178924560547d,
+      +2.0862154960632324d,
+      +2.0882534980773926d,
+      +2.0902938842773438d,
+      +2.0923361778259277d,
+      +2.0943803787231445d,
+      +2.0964269638061523d,
+      +2.0984749794006348d,
+      +2.100525379180908d,
+      +2.1025776863098145d,
+      +2.1046319007873535d,
+      +2.1066884994506836d,
+      +2.1087465286254883d,
+      +2.110806941986084d,
+      +2.1128692626953125d,
+      +2.114933490753174d,
+      +2.117000102996826d,
+      +2.1190686225891113d,
+      +2.1211390495300293d,
+      +2.12321138381958d,
+      +2.1252856254577637d,
+      +2.1273622512817383d,
+      +2.1294407844543457d,
+      +2.131521224975586d,
+      +2.133604049682617d,
+      +2.135688304901123d,
+      +2.13777494430542d,
+      +2.139863967895508d,
+      +2.1419544219970703d,
+      +2.144047260284424d,
+      +2.14614200592041d,
+      +2.1482391357421875d,
+      +2.1503376960754395d,
+      +2.1524391174316406d,
+      +2.1545419692993164d,
+      +2.156647205352783d,
+      +2.1587538719177246d,
+      +2.1608633995056152d,
+      +2.1629743576049805d,
+      +2.1650876998901367d,
+      +2.167203426361084d,
+      +2.169320583343506d,
+      +2.1714401245117188d,
+      +2.1735615730285645d,
+      +2.175685405731201d,
+      +2.1778111457824707d,
+      +2.179938793182373d,
+      +2.1820688247680664d,
+      +2.1842007637023926d,
+      +2.1863350868225098d,
+      +2.1884708404541016d,
+      +2.1906094551086426d,
+      +2.192749500274658d,
+      +2.194891929626465d,
+      +2.1970362663269043d,
+      +2.1991829872131348d,
+      +2.201331615447998d,
+      +2.2034826278686523d,
+      +2.2056355476379395d,
+      +2.2077903747558594d,
+      +2.2099475860595703d,
+      +2.212106704711914d,
+      +2.214268207550049d,
+      +2.2164316177368164d,
+      +2.218596935272217d,
+      +2.220764636993408d,
+      +2.2229342460632324d,
+      +2.2251062393188477d,
+      +2.2272801399230957d,
+      +2.2294564247131348d,
+      +2.2316346168518066d,
+      +2.2338151931762695d,
+      +2.2359976768493652d,
+      +2.2381820678710938d,
+      +2.2403693199157715d,
+      +2.242558002471924d,
+      +2.244749069213867d,
+      +2.2469425201416016d,
+      +2.2491378784179688d,
+      +2.2513351440429688d,
+      +2.2535347938537598d,
+      +2.2557363510131836d,
+      +2.2579402923583984d,
+      +2.2601466178894043d,
+      +2.262354850769043d,
+      +2.2645654678344727d,
+      +2.266777992248535d,
+      +2.2689924240112305d,
+      +2.271209716796875d,
+      +2.273428440093994d,
+      +2.2756495475769043d,
+      +2.2778730392456055d,
+      +2.2800989151000977d,
+      +2.2823266983032227d,
+      +2.2845563888549805d,
+      +2.2867884635925293d,
+      +2.289022922515869d,
+      +2.291259288787842d,
+      +2.2934980392456055d,
+      +2.295738697052002d,
+      +2.2979817390441895d,
+      +2.300227165222168d,
+      +2.3024744987487793d,
+      +2.3047242164611816d,
+      +2.306975841522217d,
+      +2.309229850769043d,
+      +2.31148624420166d,
+      +2.31374454498291d,
+      +2.316005229949951d,
+      +2.318267822265625d,
+      +2.32053279876709d,
+      +2.3228001594543457d,
+      +2.3250694274902344d,
+      +2.3273415565490723d,
+      +2.3296151161193848d,
+      +2.3318915367126465d,
+      +2.334169864654541d,
+      +2.3364500999450684d,
+      +2.338733196258545d,
+      +2.3410181999206543d,
+      +2.3433055877685547d,
+      +2.345594882965088d,
+      +2.347886562347412d,
+      +2.3501806259155273d,
+      +2.3524770736694336d,
+      +2.3547754287719727d,
+      +2.3570761680603027d,
+      +2.3593788146972656d,
+      +2.3616843223571777d,
+      +2.3639917373657227d,
+      +2.3663015365600586d,
+      +2.3686132431030273d,
+      +2.370927333831787d,
+      +2.373243808746338d,
+      +2.3755626678466797d,
+      +2.3778839111328125d,
+      +2.380207061767578d,
+      +2.3825325965881348d,
+      +2.3848605155944824d,
+      +2.387190818786621d,
+      +2.3895230293273926d,
+      +2.391857624053955d,
+      +2.3941946029663086d,
+      +2.396533966064453d,
+      +2.3988752365112305d,
+      +2.401218891143799d,
+      +2.4035654067993164d,
+      +2.4059133529663086d,
+      +2.40826416015625d,
+      +2.4106173515319824d,
+      +2.4129724502563477d,
+      +2.415329933166504d,
+      +2.417689800262451d,
+      +2.4200520515441895d,
+      +2.4224166870117188d,
+      +2.424783229827881d,
+      +2.427152633666992d,
+      +2.4295239448547363d,
+      +2.4318976402282715d,
+      +2.4342737197875977d,
+      +2.436652183532715d,
+      +2.439032554626465d,
+      +2.441415786743164d,
+      +2.4438014030456543d,
+      +2.4461889266967773d,
+      +2.4485788345336914d,
+      +2.4509711265563965d,
+      +2.4533658027648926d,
+      +2.4557628631591797d,
+      +2.458162307739258d,
+      +2.460564136505127d,
+      +2.462968349456787d,
+      +2.46537446975708d,
+      +2.4677834510803223d,
+      +2.4701943397521973d,
+      +2.4726080894470215d,
+      +2.4750237464904785d,
+      +2.4774417877197266d,
+      +2.479862689971924d,
+      +2.482285499572754d,
+      +2.484710693359375d,
+      +2.487138271331787d,
+      +2.4895682334899902d,
+      +2.4920010566711426d,
+      +2.4944357872009277d,
+      +2.496872901916504d,
+      +2.499312400817871d,
+      +2.5017542839050293d,
+      +2.5041985511779785d,
+      +2.5066452026367188d,
+      +2.50909423828125d,
+      +2.5115456581115723d,
+      +2.5139999389648438d,
+      +2.516456127166748d,
+      +2.5189146995544434d,
+      +2.5213756561279297d,
+      +2.5238394737243652d,
+      +2.5263051986694336d,
+      +2.528773307800293d,
+      +2.5312442779541016d,
+      +2.533717155456543d,
+      +2.5361928939819336d,
+      +2.538670539855957d,
+      +2.5411510467529297d,
+      +2.5436339378356934d,
+      +2.546119213104248d,
+      +2.5486068725585938d,
+      +2.5510969161987305d,
+      +2.553589344024658d,
+      +2.556084632873535d,
+      +2.558581829071045d,
+      +2.5610814094543457d,
+      +2.5635838508605957d,
+      +2.5660886764526367d,
+      +2.5685958862304688d,
+      +2.571105480194092d,
+      +2.573617458343506d,
+      +2.576131820678711d,
+      +2.5786490440368652d,
+      +2.5811686515808105d,
+      +2.5836901664733887d,
+      +2.586214542388916d,
+      +2.5887417793273926d,
+      +2.591270923614502d,
+      +2.5938024520874023d,
+      +2.596336841583252d,
+      +2.5988736152648926d,
+      +2.601412773132324d,
+      +2.603954315185547d,
+      +2.6064987182617188d,
+      +2.6090455055236816d,
+      +2.6115946769714355d,
+      +2.6141462326049805d,
+      +2.6167001724243164d,
+      +2.6192569732666016d,
+      +2.6218161582946777d,
+      +2.624377727508545d,
+      +2.626941680908203d,
+      +2.6295084953308105d,
+      +2.632077217102051d,
+      +2.6346492767333984d,
+      +2.637223243713379d,
+      +2.6398000717163086d,
+      +2.6423792839050293d,
+      +2.644960880279541d,
+      +2.6475448608398438d,
+      +2.6501317024230957d,
+      +2.6527209281921387d,
+      +2.655313014984131d,
+      +2.657907009124756d,
+      +2.6605043411254883d,
+      +2.6631035804748535d,
+      +2.665705680847168d,
+      +2.6683101654052734d,
+      +2.67091703414917d,
+      +2.6735267639160156d,
+      +2.6761388778686523d,
+      +2.67875337600708d,
+      +2.681370735168457d,
+      +2.683990478515625d,
+      +2.686613082885742d,
+      +2.689237594604492d,
+      +2.6918654441833496d,
+      +2.69449520111084d,
+      +2.6971278190612793d,
+      +2.699763298034668d,
+      +2.7024011611938477d,
+      +2.7050414085388184d,
+      +2.70768404006958d,
+      +2.710329532623291d,
+      +2.712977886199951d,
+      +2.7156286239624023d,
+      +2.7182817459106445d,
+    };
+
+    /** Exponential over the range of 0 - 1 in increments of 2^-10
+     * exp(x/1024) =  expFracTableA[x] + expFracTableB[x].
+     */
+    private static final double[] EXP_FRAC_B = new double[] {
+      +0.0d,
+      +1.552583321178453E-10d,
+      +1.2423699995465188E-9d,
+      +4.194022929828008E-9d,
+      +9.94381632344361E-9d,
+      +1.9426261544163577E-8d,
+      +3.3576783010266685E-8d,
+      +5.3331719086630523E-8d,
+      +7.962832297769345E-8d,
+      +1.1340476362128895E-7d,
+      -8.281845251820919E-8d,
+      -3.126416414805498E-8d,
+      +3.058997113995161E-8d,
+      +1.0368579417304741E-7d,
+      -4.9452513107409435E-8d,
+      +4.8955889659397494E-8d,
+      -7.698155155722897E-8d,
+      +5.051784853384516E-8d,
+      -4.443661736519001E-8d,
+      +1.1593958457401774E-7d,
+      +5.575759739697068E-8d,
+      +1.4385227981629147E-8d,
+      -7.227368462584163E-9d,
+      -8.129108387083023E-9d,
+      +1.263202100290635E-8d,
+      +5.600896265625552E-8d,
+      -1.154629885168314E-7d,
+      -2.399186832888246E-8d,
+      +9.295948298604103E-8d,
+      -2.070841011504222E-9d,
+      -6.97066538508643E-8d,
+      -1.0898941254272996E-7d,
+      -1.1895963756343625E-7d,
+      -9.865691193993138E-8d,
+      -4.711988033385175E-8d,
+      +3.6613751875298095E-8d,
+      -8.491135959370133E-8d,
+      +6.610611940107793E-8d,
+      +1.3794148633283659E-8d,
+      -2.462631860370667E-9d,
+      +1.830278273495162E-8d,
+      +7.705834203598065E-8d,
+      -6.364563771711373E-8d,
+      +7.39978436695387E-8d,
+      +1.4122417557484554E-8d,
+      -3.881598887298574E-9d,
+      +2.0958481826069642E-8d,
+      +8.96162975425619E-8d,
+      -3.535214171178576E-8d,
+      -1.1455271549574576E-7d,
+      +9.140964977432485E-8d,
+      +1.0667524445105459E-7d,
+      -6.777752790396222E-8d,
+      +4.586785041291296E-8d,
+      -2.8245462428022094E-8d,
+      -5.071761314397018E-8d,
+      -2.0566368810068663E-8d,
+      +6.319146317890346E-8d,
+      -3.687854305539139E-8d,
+      -8.137269363160008E-8d,
+      -6.930491127388755E-8d,
+      +3.1184473002226595E-10d,
+      -1.0995299963140049E-7d,
+      +7.772668425499348E-8d,
+      +8.750367485925089E-8d,
+      -7.963112393823186E-8d,
+      +5.415131809829094E-8d,
+      +1.3006683896462346E-8d,
+      +3.634736373360733E-8d,
+      -1.132504393233074E-7d,
+      +4.2046187038837375E-8d,
+      +2.6396811618001066E-8d,
+      +7.92177143584738E-8d,
+      -3.691100820545433E-8d,
+      -8.257112559083188E-8d,
+      -5.676200971739166E-8d,
+      +4.151794514828518E-8d,
+      -2.5147255753587636E-8d,
+      -1.7335469415174996E-8d,
+      +6.595784859136531E-8d,
+      -1.2680354928109105E-8d,
+      -1.3824992526093461E-8d,
+      +6.353142754175797E-8d,
+      -1.8021197722549054E-8d,
+      -1.9054827792903468E-8d,
+      +6.144098503892116E-8d,
+      -1.3940903373095247E-8d,
+      -5.7694907599522404E-9d,
+      +8.696863522320578E-8d,
+      +2.6869297963554945E-8d,
+      +5.3366470162689076E-8d,
+      -7.094204160127543E-8d,
+      -1.0662027949814858E-7d,
+      -5.26498707801063E-8d,
+      +9.198855229106814E-8d,
+      +8.989677431456647E-8d,
+      -5.790384407322479E-8d,
+      -1.1197236522467887E-7d,
+      -7.12854317090566E-8d,
+      +6.51813137650059E-8d,
+      +6.003465022483798E-8d,
+      -8.569906238528267E-8d,
+      +1.0584469687624562E-7d,
+      -7.956144278281947E-8d,
+      +7.43676272093501E-8d,
+      +9.182512565315022E-8d,
+      -2.6157563728873715E-8d,
+      -4.012947040998503E-8d,
+      +5.094280572218447E-8d,
+      +9.675095351161728E-9d,
+      +7.552139802281006E-8d,
+      +1.1099566726533146E-8d,
+      +5.58656252899437E-8d,
+      -2.756054703800197E-8d,
+      +2.791018095971047E-10d,
+      -9.799351869734466E-8d,
+      -8.291832428736212E-8d,
+      +4.654720780112994E-8d,
+      +5.302803981406403E-8d,
+      -6.243126731995636E-8d,
+      -6.036655299348577E-8d,
+      +6.026878587378257E-8d,
+      +6.210379583313526E-8d,
+      -5.381287389094251E-8d,
+      -4.8012970400697E-8d,
+      +8.055420567281602E-8d,
+      +9.452180117175641E-8d,
+      -5.057430382371206E-9d,
+      +2.1288872215266507E-8d,
+      -6.380305844689076E-8d,
+      -2.0858800984600168E-8d,
+      -8.724006061713588E-8d,
+      -2.3470351753125604E-8d,
+      -6.690931338790221E-8d,
+      +2.192160831263035E-8d,
+      +5.6648446166177225E-9d,
+      -1.1461755745719884E-7d,
+      -9.944393412663547E-8d,
+      +5.2249837964645906E-8d,
+      +1.0311034276196487E-7d,
+      +5.4203784018566126E-8d,
+      -9.340259278913173E-8d,
+      -1.0022192034216903E-7d,
+      +3.481513333662908E-8d,
+      +7.436036590244714E-8d,
+      +1.9485199912395296E-8d,
+      +1.0968068384729757E-7d,
+      +1.0760175582979094E-7d,
+      +1.4322981952798675E-8d,
+      +6.933855730431659E-8d,
+      +3.530656968851287E-8d,
+      -8.669526204279467E-8d,
+      -5.7169586962345785E-8d,
+      -1.1345515834332824E-7d,
+      -1.605251622332555E-8d,
+      -2.298302779758532E-9d,
+      -7.110952399338234E-8d,
+      +1.70164513845372E-8d,
+      +2.4746155561368937E-8d,
+      -4.6834239957353325E-8d,
+      +4.1781076667923185E-8d,
+      +5.326182134294869E-8d,
+      -1.1302647617762544E-8d,
+      +8.759667154796094E-8d,
+      +1.126326877851684E-7d,
+      +6.48979555673987E-8d,
+      -5.451390316294111E-8d,
+      -6.0896188500539086E-9d,
+      -2.7152010585461855E-8d,
+      -1.1660424775832058E-7d,
+      -3.492984900939992E-8d,
+      -1.944841848873016E-8d,
+      -6.905990750285027E-8d,
+      +5.575538653428039E-8d,
+      +1.1768108384670781E-7d,
+      +1.178204606523101E-7d,
+      +5.727787111340131E-8d,
+      -6.284125161007433E-8d,
+      -3.0118152047565877E-9d,
+      -5.448044533034374E-10d,
+      -5.433154287341921E-8d,
+      +7.515630833946181E-8d,
+      -8.780756503572527E-8d,
+      -6.527407547535494E-8d,
+      -9.45487863616303E-8d,
+      +6.390098458668406E-8d,
+      -6.564672913105876E-8d,
+      -5.238488022920792E-9d,
+      +7.824500749252316E-9d,
+      -2.5339299158309795E-8d,
+      -1.036103313062145E-7d,
+      +1.2550633697348567E-8d,
+      +8.584676196065558E-8d,
+      +1.1740089468291563E-7d,
+      +1.0833697012353316E-7d,
+      +5.978002467397905E-8d,
+      -2.7143806069290897E-8d,
+      +8.711129287069315E-8d,
+      -7.316349947981893E-8d,
+      -3.00015852582934E-8d,
+      -2.0691000399732483E-8d,
+      -4.4100097152254264E-8d,
+      -9.909612209943178E-8d,
+      +5.38733640215475E-8d,
+      -6.0893829005035E-8d,
+      +3.457553391989844E-8d,
+      +1.0300006058273187E-7d,
+      -9.290053015365092E-8d,
+      -7.514966995961323E-8d,
+      -8.10254145615142E-8d,
+      -1.0938612624777085E-7d,
+      +7.932952721989251E-8d,
+      +9.428257290008738E-9d,
+      -7.952636967837795E-8d,
+      +5.203033137154554E-8d,
+      -7.159157201731446E-8d,
+      +2.7593424989059015E-8d,
+      +1.1231621190000476E-7d,
+      -5.469119869891027E-8d,
+      +4.560067256086347E-9d,
+      +5.280427179595944E-8d,
+      +9.119538242455128E-8d,
+      -1.1753008498403413E-7d,
+      -9.537874867759656E-8d,
+      -7.96118345325538E-8d,
+      -6.907085854395348E-8d,
+      -6.259620482221904E-8d,
+      -5.902712448725381E-8d,
+      -5.720173456146447E-8d,
+      -5.5957016861703E-8d,
+      -5.412881689012608E-8d,
+      -5.0551842723970724E-8d,
+      -4.405966390424518E-8d,
+      -3.348471032333413E-8d,
+      -1.7658271111516935E-8d,
+      +4.589506477601956E-9d,
+      +3.4429618182751655E-8d,
+      +7.303420385174346E-8d,
+      -1.168420305422519E-7d,
+      -5.718749537552229E-8d,
+      +1.4754809136835937E-8d,
+      +1.001616104682875E-7d,
+      -3.8207793300052055E-8d,
+      +7.766278405014509E-8d,
+      -2.7883635712109803E-8d,
+      -1.1524714043067699E-7d,
+      +5.517333625963128E-8d,
+      +7.724278756071081E-9d,
+      -1.7990934773848504E-8d,
+      -2.0786347668702902E-8d,
+      +5.251554594269693E-10d,
+      +4.7131849857076246E-8d,
+      -1.1819540733893871E-7d,
+      -1.742885956093543E-8d,
+      +1.1220467571570283E-7d,
+      +3.347954541376715E-8d,
+      -1.399157980498908E-8d,
+      -2.9013441705763093E-8d,
+      -1.0389614239253089E-8d,
+      +4.307749759934266E-8d,
+      -1.0583192018912101E-7d,
+      +2.0919226941745448E-8d,
+      -5.2305110482722706E-8d,
+      -8.588407110184028E-8d,
+      -7.861419797923639E-8d,
+      -2.929085835358592E-8d,
+      +6.329175751021792E-8d,
+      -3.807794163054899E-8d,
+      -9.377320954068088E-8d,
+      -1.0258469865953145E-7d,
+      -6.330187984612758E-8d,
+      +2.5286958775281306E-8d,
+      -7.40238661307607E-8d,
+      +1.1681688445204168E-7d,
+      -1.1623125976292733E-7d,
+      -5.6696107089038004E-8d,
+      +5.822140627806124E-8d,
+      -8.678466172071259E-9d,
+      -1.7757121899175995E-8d,
+      +3.220665454652531E-8d,
+      -9.598330731102836E-8d,
+      +7.573375369829243E-8d,
+      +7.174547784678893E-8d,
+      -1.0672213971363184E-7d,
+      +1.8395252217743006E-8d,
+      -2.8511112548600118E-8d,
+      -7.79306270997787E-9d,
+      +8.178019529487065E-8d,
+      +3.0220784595602374E-9d,
+      -4.4156343103298585E-9d,
+      +6.07014616741277E-8d,
+      -3.8809601937571554E-8d,
+      -6.329342805230603E-8d,
+      -1.1511990258493999E-8d,
+      +1.177739474561431E-7d,
+      +8.738625278484571E-8d,
+      -1.0143341551207646E-7d,
+      +2.9394972678456236E-8d,
+      +4.278345398213486E-9d,
+      +6.28805835150457E-8d,
+      -3.197037359731606E-8d,
+      -4.060821046423735E-8d,
+      +3.82160283750664E-8d,
+      -3.2666060441373307E-8d,
+      -1.3584500601329896E-8d,
+      +9.671332777035621E-8d,
+      +6.10626893063691E-8d,
+      +1.1913723189736356E-7d,
+      +3.3774671482641995E-8d,
+      +4.4651109654500895E-8d,
+      -8.539328154875224E-8d,
+      -1.166799420361101E-7d,
+      -4.794765976694151E-8d,
+      -1.1635256954820579E-7d,
+      -8.221241452580445E-8d,
+      +5.5737717715868425E-8d,
+      +6.034539636024073E-8d,
+      -6.712199323081945E-8d,
+      -8.697724830833087E-8d,
+      +2.0494942705297694E-9d,
+      -3.718924074653624E-8d,
+      +3.499747150995707E-8d,
+      -1.8535359161566028E-8d,
+      +4.1905679587096103E-8d,
+      -2.0821912536551675E-8d,
+      +3.297776915751238E-8d,
+      -3.3835280846270374E-8d,
+      +1.8437339356553904E-8d,
+      -4.734187609526424E-8d,
+      +8.527976799299225E-9d,
+      -5.1088103279787804E-8d,
+      +1.3513294656751725E-8d,
+      -3.480032127343472E-8d,
+      +4.367697180842916E-8d,
+      +1.1815196363705356E-8d,
+      +1.0932279207149782E-7d,
+      +9.907230065250944E-8d,
+      -1.764389559496152E-8d,
+      -1.1135725625095859E-9d,
+      -8.846040040259342E-8d,
+      -3.996962588736431E-8d,
+      -9.276238757878814E-8d,
+      -7.12139818505956E-9d,
+      -2.016525972830718E-8d,
+      +1.0782585410141121E-7d,
+      -9.868269632073771E-8d,
+      +7.686861750031585E-8d,
+      -7.947087669425045E-8d,
+      -8.955768055535647E-8d,
+      +4.791582240886607E-8d,
+      +9.583994718167641E-8d,
+      +5.5524866689108584E-8d,
+      -7.171796605211277E-8d,
+      -4.6157237582310713E-8d,
+      -1.0489751005162237E-7d,
+      -8.204903560604627E-9d,
+      +6.818588687884566E-9d,
+      -5.850916105103205E-8d,
+      +3.5549586192569994E-8d,
+      +5.1896700056778354E-8d,
+      -8.146080588190463E-9d,
+      +9.516285362051742E-8d,
+      -1.1368933260611668E-7d,
+      +8.187871486648885E-8d,
+      -3.206182925646474E-8d,
+      +2.265440168347286E-8d,
+      +8.938334752179552E-9d,
+      -7.187922490287331E-8d,
+      +1.9952407216533937E-8d,
+      +4.734805892507655E-8d,
+      +1.1642439930208906E-8d,
+      -8.582843599651953E-8d,
+      -5.3086706437795354E-9d,
+      +1.6121782610217253E-8d,
+      -2.0197142620980974E-8d,
+      -1.129242035557684E-7d,
+      -2.2298267863810133E-8d,
+      +1.4605950309628873E-8d,
+      -8.663710700190489E-10d,
+      -6.736873974532501E-8d,
+      +5.486523121881414E-8d,
+      -1.0965249168570443E-7d,
+      -8.27343074126263E-8d,
+      -1.0144703278439455E-7d,
+      +7.39809943048038E-8d,
+      -3.193297932837415E-8d,
+      +5.900393284617182E-8d,
+      +1.0973020465397083E-7d,
+      -1.1681436418514489E-7d,
+      +9.5985669644661E-8d,
+      +3.423560333632085E-8d,
+      -6.22836197265283E-8d,
+      +4.621027492345726E-8d,
+      -1.1575484316683829E-7d,
+      -6.997545435826076E-8d,
+      -5.3502441327259514E-8d,
+      -6.49667713553005E-8d,
+      -1.029980741248172E-7d,
+      +7.219393868923887E-8d,
+      -1.4854841678687828E-8d,
+      +1.1406713393562271E-7d,
+      -1.650155887561251E-8d,
+      +7.165331603232264E-8d,
+      -9.692697614257269E-8d,
+      -4.402550702194912E-8d,
+      -6.679737442193143E-9d,
+      +1.6492800268960003E-8d,
+      +2.68759245092879E-8d,
+      +2.5854805721793077E-8d,
+      +1.4815967715704613E-8d,
+      -4.852711011229633E-9d,
+      -3.176199594915881E-8d,
+      -6.452129525125173E-8d,
+      -1.01738658407525E-7d,
+      +9.639780418418697E-8d,
+      +5.4445606140746644E-8d,
+      +1.2219361033150988E-8d,
+      -2.8883532688356087E-8d,
+      -6.746431126005811E-8d,
+      -1.0212284427080097E-7d,
+      +1.0696094577483825E-7d,
+      +8.43527683868743E-8d,
+      +6.987544103716777E-8d,
+      +6.493457409236137E-8d,
+      +7.093715125593688E-8d,
+      +8.929153091001965E-8d,
+      -1.1701113164306871E-7d,
+      -6.972256643013266E-8d,
+      -5.848862070736576E-9d,
+      +7.602385197610123E-8d,
+      -6.110775144284437E-8d,
+      +6.101012058093429E-8d,
+      -3.304167134225169E-8d,
+      -1.0342514383702196E-7d,
+      +8.969907328603505E-8d,
+      +7.091600108064668E-8d,
+      +8.006778743052707E-8d,
+      +1.1857939200074815E-7d,
+      -5.0541412403312774E-8d,
+      +5.0970277930552287E-8d,
+      -5.229355472795119E-8d,
+      +1.1793478462381443E-7d,
+      +8.625007227318527E-8d,
+      +9.250422086873268E-8d,
+      -1.0028661472061573E-7d,
+      -1.384914052949463E-8d,
+      +1.1483560326413004E-7d,
+      +4.878798101459259E-8d,
+      +2.7866921183936055E-8d,
+      +5.3514180410849046E-8d,
+      -1.1124565511436785E-7d,
+      +1.186914813275767E-8d,
+      -5.253258132241335E-8d,
+      -6.458486486369316E-8d,
+      -2.2838888809969377E-8d,
+      +7.415557606805398E-8d,
+      -1.0568403170659571E-8d,
+      -3.7139182948393606E-8d,
+      -4.1022790876160215E-9d,
+      +8.999821367768787E-8d,
+      +8.201043988912348E-9d,
+      -9.616457442665051E-9d,
+      +3.8005886250603055E-8d,
+      -8.588890051473289E-8d,
+      +9.699937202692456E-8d,
+      +1.11298006674538E-7d,
+      -4.1527104733570825E-8d,
+      +1.1682852007826251E-7d,
+      +1.1099648061301941E-7d,
+      -5.755303038890997E-8d,
+      +8.948877445235827E-8d,
+      +7.675780395028194E-8d,
+      -9.427143563390596E-8d,
+      +5.471416081500162E-8d,
+      +4.8354824064383506E-8d,
+      -1.118706134478866E-7d,
+      +5.235528379688445E-8d,
+      +6.567708120053687E-8d,
+      -7.042204992948526E-8d,
+      -1.1603891006723397E-7d,
+      -6.968742825553785E-8d,
+      +7.01199184127881E-8d,
+      +6.645352711199266E-8d,
+      -7.919617109348822E-8d,
+      +1.1149986927391714E-7d,
+      -7.522074418324674E-8d,
+      +7.739252980388984E-8d,
+      +9.39987974788905E-8d,
+      -2.390421480210064E-8d,
+      -3.639873824357815E-8d,
+      +5.8015881615938497E-8d,
+      +2.2423186335040668E-8d,
+      +9.674534330665206E-8d,
+      +4.4068830785712375E-8d,
+      +1.0431875573076199E-7d,
+      +4.0584538834428926E-8d,
+      +9.279423236781974E-8d,
+      +2.404020521381534E-8d,
+      +7.425346071427343E-8d,
+      +6.529321706138789E-9d,
+      +6.080174837146273E-8d,
+      +1.6902327633329284E-10d,
+      +6.456806922371733E-8d,
+      +1.7100134295216033E-8d,
+      +9.770510970673519E-8d,
+      +6.94872148530716E-8d,
+      -6.602926393514549E-8d,
+      -6.889997193778161E-8d,
+      +6.240235720677117E-8d,
+      +9.098790295810902E-8d,
+      +1.8386917534879182E-8d,
+      +8.454972737414241E-8d,
+      +5.259099728747365E-8d,
+      -7.595453077213505E-8d,
+      -6.113203624663034E-8d,
+      +9.859622328905143E-8d,
+      -7.206766550807255E-8d,
+      -9.474579567171831E-8d,
+      +3.210408693366267E-8d,
+      +7.160716418525417E-8d,
+      +2.530870537724554E-8d,
+      -1.0524451040704701E-7d,
+      -8.008561371849434E-8d,
+      +1.0233519853128553E-7d,
+      -3.326791455362767E-8d,
+      -8.504961764629757E-9d,
+      -6.024017201863256E-8d,
+      +5.1500902632092514E-8d,
+      +8.98570720774568E-8d,
+      +5.638724693948384E-8d,
+      -4.734813904255994E-8d,
+      +1.8631451577542948E-8d,
+      +1.7470924137873214E-8d,
+      -4.926470933588261E-8d,
+      +5.84096713620797E-8d,
+      +1.0364355880696472E-7d,
+      +8.800655674349468E-8d,
+      +1.3069802481237792E-8d,
+      +1.1882454749452428E-7d,
+      -6.999215748398631E-8d,
+      -7.49674072510849E-8d,
+      +1.054760847603618E-7d,
+      -3.920012014371067E-9d,
+      +7.526183084319617E-8d,
+      +1.0618494853096868E-7d,
+      +9.043280094115832E-8d,
+      +2.9590395068826316E-8d,
+      -7.475571347653619E-8d,
+      +1.7401160143611842E-8d,
+      +6.923209420670962E-8d,
+      +8.232829924979753E-8d,
+      +5.82825404854514E-8d,
+      -1.3108606792380822E-9d,
+      -9.485602512220194E-8d,
+      +1.7663064617118723E-8d,
+      +9.942682855652123E-8d,
+      -8.638275100090915E-8d,
+      -6.132639063569726E-8d,
+      -6.221897889344726E-8d,
+      -8.745525834919404E-8d,
+      +1.029901759234897E-7d,
+      +3.3888561478632076E-8d,
+      -5.47315553588771E-8d,
+      +7.715994473741065E-8d,
+      -4.566098167230033E-8d,
+      +5.5257514455273825E-8d,
+      -9.530545662611411E-8d,
+      -1.889488909834863E-8d,
+      +4.769006625301079E-8d,
+      +1.0607041998938709E-7d,
+      -8.054981263802322E-8d,
+      -3.370929373457322E-8d,
+      +9.799164177397836E-9d,
+      +5.160291611526656E-8d,
+      +9.333090708652975E-8d,
+      -1.0180490545927503E-7d,
+      -5.533523366931846E-8d,
+      -4.044932340334176E-9d,
+      +5.370131904567218E-8d,
+      -1.1887814032213867E-7d,
+      -4.3307634616102625E-8d,
+      +4.363437558318513E-8d,
+      -9.482896784430338E-8d,
+      +1.9782818312325887E-8d,
+      -8.77224935488516E-8d,
+      +6.113879253864931E-8d,
+      -8.822335132515693E-9d,
+      -5.753754066078771E-8d,
+      -8.335545536862392E-8d,
+      -8.462309712606694E-8d,
+      -5.968586877433824E-8d,
+      -6.887556547891059E-9d,
+      +7.542967150507818E-8d,
+      -4.949331199790077E-8d,
+      +9.684172421525468E-8d,
+      +3.9260317944365246E-8d,
+      +1.784536881359796E-8d,
+      +3.426282345243592E-8d,
+      +9.018025618601154E-8d,
+      -5.1151708476133135E-8d,
+      +8.877492215808044E-8d,
+      +3.479545684576179E-8d,
+      +2.7002575714977818E-8d,
+      +6.707201545505014E-8d,
+      -8.173742908533777E-8d,
+      +5.909041310777802E-8d,
+      +1.439903710393587E-8d,
+      +2.4289317341982113E-8d,
+      +9.044519282818302E-8d,
+      -2.3866331257845713E-8d,
+      -7.853944465095286E-8d,
+      -7.188526769607005E-8d,
+      -2.2132706360079843E-9d,
+      -1.0624985110080394E-7d,
+      +9.453598391231829E-8d,
+      -1.134160131581847E-7d,
+      -1.315295870404327E-8d,
+      -7.981320644583728E-8d,
+      -7.327771300038971E-8d,
+      +8.155647334672472E-9d,
+      -7.222791579580787E-8d,
+      -7.430436987497092E-8d,
+      +3.633404807819848E-9d,
+      -7.512438321498593E-8d,
+      -7.044869765481105E-8d,
+      +1.9372589859580955E-8d,
+      -4.2365298585101096E-8d,
+      -1.552830824758035E-8d,
+      +1.0160071259930585E-7d,
+      +7.232201430620959E-8d,
+      -1.0164389431039905E-7d,
+      +5.826233477413577E-8d,
+      +7.6927415825689E-8d,
+      -4.392309439525734E-8d,
+      -6.414337408955734E-8d,
+      +1.799550702470095E-8d,
+      -3.4194410638967946E-8d,
+      +1.9437762419688045E-8d,
+      -5.7792549966531335E-8d,
+      -2.5731071572354522E-8d,
+      +1.173595905705643E-7d,
+      -1.0361863127101014E-7d,
+      +2.8330789837569332E-8d,
+      +3.81131861433539E-8d,
+      -7.252724942149532E-8d,
+      -6.342604067787756E-8d,
+      +6.716441526213986E-8d,
+      +8.257484966196574E-8d,
+      -1.5443717968117592E-8d,
+      +1.3280021798948244E-8d,
+      -6.79180673261558E-8d,
+      -1.8863249269709046E-8d,
+      -7.62162303263991E-8d,
+      +2.011589233663723E-10d,
+      -2.62683511147141E-8d,
+      +8.455684903712996E-8d,
+      +9.602293320384794E-8d,
+      +9.896378545255258E-9d,
+      +6.636396724067746E-8d,
+      +2.8777050870552646E-8d,
+      -1.0109271059094341E-7d,
+      -8.305334708631055E-8d,
+      +8.467026501338835E-8d,
+      -7.29821745001452E-8d,
+      -7.739491336852633E-8d,
+      +7.321238022013781E-8d,
+      -9.621538067089515E-8d,
+      -1.0705722541811197E-7d,
+      +4.247240125405735E-8d,
+      +1.1574222007764044E-7d,
+      +1.145412771487496E-7d,
+      +4.066036653218687E-8d,
+      -1.0410796803072171E-7d,
+      -7.955085231106037E-8d,
+      +1.1612776191572459E-7d,
+      +7.888519481107568E-9d,
+      +7.436813814737735E-8d,
+      +7.894935661289349E-8d,
+      +2.343525263620692E-8d,
+      -9.036933434595339E-8d,
+      -2.2239222395888823E-8d,
+      -8.784622656707742E-9d,
+      -4.819540032304379E-8d,
+      +9.975892708522332E-8d,
+      -3.9945124955316294E-8d,
+      +1.1345047468988893E-8d,
+      +1.702808472925844E-8d,
+      -2.10770182066344E-8d,
+      -1.0114948914089626E-7d,
+      +1.70518021921727E-8d,
+      +9.693260855961159E-8d,
+      -9.809953482725758E-8d,
+      -8.937957126662392E-8d,
+      -1.134963954323427E-7d,
+      +6.980004387880031E-8d,
+      -1.4494150014095534E-8d,
+      +1.122932337832262E-7d,
+      -2.483811732227808E-8d,
+      +5.278759515330048E-8d,
+      +1.0859222881334994E-7d,
+      -9.400056055939758E-8d,
+      -7.630957994128623E-8d,
+      -7.490757191850264E-8d,
+      -8.794689652049879E-8d,
+      -1.1357810855950775E-7d,
+      +8.846862323478745E-8d,
+      +4.32092015744956E-8d,
+      -9.082923009890997E-9d,
+      -6.655106680680314E-8d,
+      +1.1108184705020206E-7d,
+      +4.8838973948592766E-8d,
+      -1.2998975819628988E-8d,
+      -7.25680516883106E-8d,
+      -1.280024819379844E-7d,
+      -1.7743467191652895E-7d,
+      -2.1899520225809197E-7d,
+      +2.2602433110285232E-7d,
+      +2.0582268590356215E-7d,
+      +1.9911192455808124E-7d,
+      +2.0776878313278689E-7d,
+      +2.3367183133931002E-7d,
+      -1.9813568387704588E-7d,
+      -1.320972037315105E-7d,
+      -4.316580502355056E-8d,
+      +7.054443447243064E-8d,
+      +2.109212796025238E-7d,
+      -9.698281856949837E-8d,
+      +1.0239791185239086E-7d,
+      -1.4271754202157014E-7d,
+      +1.232402895636637E-7d,
+      -5.150590480969644E-8d,
+      -1.882201085012735E-7d,
+      +1.918355503889933E-7d,
+      +1.368893262241355E-7d,
+      +1.256828068633383E-7d,
+      +1.601222826656464E-7d,
+      -2.3472125169205568E-7d,
+      -1.032634625827871E-7d,
+      +7.957037517331382E-8d,
+      -1.6114314525832115E-7d,
+      +1.3018591370778052E-7d,
+      +1.8007284821359149E-9d,
+      -6.75421764491544E-8d,
+      -7.592155950645605E-8d,
+      -2.1414301981236817E-8d,
+      +9.79045937979623E-8d,
+      -1.9287515190177685E-7d,
+      +6.184953843236509E-8d,
+      -8.966500602352001E-8d,
+      -1.686490951669855E-7d,
+      -1.7316830893872364E-7d,
+      -1.0128633727463388E-7d,
+      +4.8935021740786486E-8d,
+      -1.9740129448026905E-7d,
+      +1.1532102163380318E-7d,
+      +3.5371542244169364E-8d,
+      +4.153321337726989E-8d,
+      +1.3575372396796738E-7d,
+      -1.5685449228299222E-7d,
+      +1.1933437776279623E-7d,
+      +1.2599421120614435E-8d,
+      +1.7331079674066365E-9d,
+      +8.869266069401045E-8d,
+      -2.013999442282902E-7d,
+      +8.709065843311144E-8d,
+      +2.453117120472083E-9d,
+      +2.3489472779602617E-8d,
+      +1.5216652792122652E-7d,
+      -8.638415150333099E-8d,
+      -2.1335475961524608E-7d,
+      -2.2677272333821516E-7d,
+      -1.246635423141374E-7d,
+      +9.494921297991565E-8d,
+      -4.27932550865546E-8d,
+      -5.907349480138712E-8d,
+      +4.809072216941908E-8d,
+      -1.9615359732789476E-7d,
+      +1.6385396676990034E-7d,
+      +1.7642714221524228E-7d,
+      -1.564440844355254E-7d,
+      +1.2090653407564583E-7d,
+      +5.679855838941285E-8d,
+      +1.3006497185242537E-7d,
+      -1.341336085949317E-7d,
+      +2.1987686050231372E-7d,
+      -2.3641341460419062E-7d,
+      -7.048932272279454E-8d,
+      -2.3401958604540354E-7d,
+      +2.2867766559333004E-7d,
+      -1.1089952719756529E-7d,
+      +1.7977178878541792E-7d,
+      +1.4903074102418675E-7d,
+      -2.011072593789072E-7d,
+      +8.504948422097802E-8d,
+      +5.5846006716348844E-8d,
+      +1.9014079059505456E-7d,
+      +1.3119976852347583E-8d,
+      +3.645999732952202E-9d,
+      +1.6374611405314333E-7d,
+      +1.8612397134087598E-8d,
+      +4.7113225346448296E-8d,
+      -2.2555535676499395E-7d,
+      +1.5631615647329739E-7d,
+      -2.3574653182047758E-7d,
+      +3.08072210937242E-8d,
+      +4.344259288116142E-9d,
+      +1.6374489573868447E-7d,
+      +3.42171232580676E-8d,
+      +9.46452492584643E-8d,
+      -1.297587351085525E-7d,
+      -1.601065201853145E-7d,
+      +5.6550495386976275E-9d,
+      -1.0725602261510391E-7d,
+      -1.9945408945084193E-8d,
+      -2.071910882200156E-7d,
+      -1.900947109027913E-7d,
+      +3.34069282059055E-8d,
+      -1.145810806477298E-8d,
+      +1.5421457732308477E-7d,
+      +5.5657084775121975E-8d,
+      +1.7177785285061278E-7d,
+      +2.7813027425289027E-8d,
+      +1.0267509648109748E-7d,
+      -7.839574072711142E-8d,
+      -3.648293887796095E-8d,
+      +2.3049492079013518E-7d,
+      -2.290530257391564E-7d,
+      +1.747018414872141E-8d,
+      +1.8477759656842807E-8d,
+      -2.2394073401050633E-7d,
+      -2.3085653185818848E-7d,
+      -1.7598351175286083E-10d,
+      -6.640551220774385E-9d,
+      +2.2868466674913266E-7d,
+      +2.3106230530437902E-7d,
+      +2.594209135294356E-9d,
+      +2.2221434720602702E-8d,
+      -1.847872222755186E-7d,
+      -1.3948659218254467E-7d,
+      +1.6023339607737848E-7d,
+      -2.3718944120137026E-7d,
+      +1.0087056692827474E-7d,
+      +2.228553660510707E-7d,
+      +1.3088328582956644E-7d,
+      -1.7292527438195104E-7d,
+      -2.0961068531216087E-7d,
+      +2.2951597845188004E-8d,
+      +5.005103745740068E-8d,
+      -1.2618366811281002E-7d,
+      -2.6784582477238417E-8d,
+      -1.2645600379949252E-7d,
+      +5.3774170051560117E-8d,
+      +3.9205810725333715E-8d,
+      -1.6802196396307013E-7d,
+      -8.893078799284047E-8d,
+      -1.9821451970481713E-7d,
+      -1.689060694498032E-8d,
+      -1.9648717830943396E-8d,
+      -2.0433926409457167E-7d,
+      -9.1973399031975E-8d,
+      -1.5723449006087263E-7d,
+      +7.887051614592191E-8d,
+      +1.4166246290402286E-7d,
+      +3.330146018487787E-8d,
+      +2.3278688667580978E-7d,
+      -2.1139124097042925E-7d,
+      +1.334449995534113E-7d,
+      -1.6104730195920897E-7d,
+      -1.3902314592614197E-7d,
+      +2.0169027167169864E-7d,
+      -9.040643863751471E-8d,
+      -5.946190852360168E-8d,
+      -1.8013411720005014E-7d,
+      +2.6595401669835947E-8d,
+      +8.607292924069425E-8d,
+      +4.84038176769263E-10d,
+      -2.2798356346688802E-7d,
+      -1.203028719549339E-7d,
+      -1.5111906039270745E-7d,
+      +1.5859915617670956E-7d,
+      -1.426262681506497E-7d,
+      -9.892260062323546E-8d,
+      -1.8492643515928268E-7d,
+      +7.840210076743552E-8d,
+      +2.1643071541578027E-7d,
+      +2.313664294893465E-7d,
+      +1.2541842003811723E-7d,
+      -9.920197743470107E-8d,
+      +3.655589133934081E-8d,
+      +5.807052689551411E-8d,
+      -3.244024724169575E-8d,
+      -2.327564406466327E-7d,
+      -6.38187356721971E-8d,
+      -2.3995994000400915E-10d,
+      -3.9793609609721186E-8d,
+      -1.802510054588344E-7d,
+      +5.745586744591196E-8d,
+      +1.987228872666507E-7d,
+      -2.3105188606976847E-7d,
+      +2.0088042407239129E-7d,
+      +6.624793114025702E-8d,
+      -1.5587043044056635E-7d,
+      +1.3606464059428694E-8d,
+      +1.0008761540741556E-7d,
+      +1.058213771597129E-7d,
+      +3.3058299602856804E-8d,
+      -1.1594886810010702E-7d,
+      +1.378919824418909E-7d,
+      -1.5683631181406778E-7d,
+      -4.4200075770425176E-8d,
+      +1.2250985436706623E-9d,
+      -1.8297013058336644E-8d,
+      -1.005004229646318E-7d,
+      +2.337202285991116E-7d,
+      +3.296104292035678E-8d,
+      -2.23668185816307E-7d,
+      -5.7055442971184756E-8d,
+      +5.82391923137467E-8d,
+      +1.244950238958056E-7d,
+      +1.4399358260219398E-7d,
+      +1.1901862840583523E-7d,
+      +5.1856152603337505E-8d,
+      -5.520562000491495E-8d,
+      -1.9987622893254038E-7d,
+      +9.697418238031897E-8d,
+      -1.1603376405901542E-7d,
+      +1.170714288147407E-7d,
+      -1.550851303094034E-7d,
+      +2.3472546699189522E-8d,
+      +1.78211222185955E-7d,
+      -1.6540009048230807E-7d,
+      -5.137865010872577E-8d,
+      +4.57490653163866E-8d,
+      +1.2829599363166098E-7d,
+      +1.985773325073412E-7d,
+      -2.1792661654989742E-7d,
+      -1.652218131743459E-7d,
+      -1.178234251477505E-7d,
+      -7.34071933723896E-8d,
+      -2.9646587857612632E-8d,
+      +1.5787194498912167E-8d,
+      +6.52252321321176E-8d,
+      +1.2100088103262734E-7d,
+      +1.8544977697201776E-7d,
+      -2.159273204728711E-7d,
+      -1.2711589287782304E-7d,
+      -2.2610609958205195E-8d,
+      +9.993330547750349E-8d,
+      -2.33974236642384E-7d,
+      -6.830955860192377E-8d,
+      +1.2244183812423448E-7d,
+      -1.3620325027706252E-7d,
+      +1.1178574689680927E-7d,
+      -8.490693031052439E-8d,
+      +2.2975389535985893E-7d,
+      +1.0445707500867073E-7d,
+      +1.8405243253979117E-8d,
+      -2.6033812325397097E-8d,
+      -2.6489990728664908E-8d,
+      +1.9409124727247465E-8d,
+      +1.1403826867020365E-7d,
+      -2.1706266226554237E-7d,
+      -1.7839974359909697E-8d,
+      +2.3725087624341041E-7d,
+      +7.37567604176979E-8d,
+      -2.9098805266958403E-8d,
+      -6.892713087722722E-8d,
+      -4.333719263537725E-8d,
+      +5.006436936098099E-8d,
+      +2.1367325342138113E-7d,
+      -2.6949659655907758E-8d,
+      -1.9256682968755803E-7d,
+      +1.960616287777496E-7d,
+      +1.876664741413704E-7d,
+      -2.1534486893602122E-7d,
+      -5.688830723853217E-8d,
+      +1.8861113228746644E-7d,
+      +4.6730779443102234E-8d,
+      -3.275360514112964E-9d,
+      +4.1011920825226876E-8d,
+      +1.820141955326842E-7d,
+      -5.468175655175594E-8d,
+      -1.8981247089866317E-7d,
+      -2.209492705846306E-7d,
+      -1.4566110577298295E-7d,
+      +3.848544860465368E-8d,
+      -1.429109630340783E-7d,
+      -2.105749999899302E-7d,
+      -1.6206609756618993E-7d,
+      +5.058693461947143E-9d,
+      -1.8359244902596882E-7d,
+      +2.2810251664891242E-7d,
+      -1.8791776732592608E-7d,
+      +1.3106843166204263E-9d,
+      -1.5543153797220025E-7d,
+      -1.7884997059081524E-7d,
+      -6.648490725635754E-8d,
+      +1.8412576154421806E-7d,
+      +9.860939269906055E-8d,
+      +1.5627006743114285E-7d,
+      -1.17260039161597E-7d,
+      +2.3416513526430908E-7d,
+      -2.1749172296989992E-7d,
+      -3.9242560971295217E-8d,
+      -1.822826971477839E-7d,
+      -1.6729355321895212E-7d,
+      +8.208715337901827E-9d,
+      -1.301267783434537E-7d,
+      -1.029741755377153E-7d,
+      +9.215765583599035E-8d,
+      -1.907487641016455E-8d,
+      +4.2661388254716074E-8d,
+      -1.9697226735187428E-7d,
+      +2.1819935527247946E-7d,
+      -1.398318929248588E-7d,
+      +1.6195123407015624E-7d,
+      +1.723826394935661E-7d,
+      -1.0602700638269148E-7d,
+      -1.9392742205954563E-7d,
+      -8.880302882034106E-8d,
+      +2.1186420987133E-7d,
+      +2.3375763256988976E-7d,
+      -2.0599801342241997E-8d,
+      -7.184550924856607E-8d,
+      +8.254840070367875E-8d,
+    };
+
+    /** Extended precision logarithm table over the range 1 - 2 in increments of 2^-10. */
+    private static final double[][] LN_MANT = new double[][] {
+      {+0.0d,                   +0.0d,                   }, // 0
+      {+9.760860120877624E-4d,  -3.903230345984362E-11d, }, // 1
+      {+0.0019512202125042677d, -8.124251825289188E-11d, }, // 2
+      {+0.0029254043474793434d, -1.8374207360194882E-11d,}, // 3
+      {+0.0038986406289041042d, -2.1324678121885073E-10d,}, // 4
+      {+0.004870930686593056d,  -4.5199654318611534E-10d,}, // 5
+      {+0.00584227591753006d,   -2.933016992001806E-10d, }, // 6
+      {+0.006812678650021553d,  -2.325147219074669E-10d, }, // 7
+      {+0.007782140746712685d,  -3.046577356838847E-10d, }, // 8
+      {+0.008750664070248604d,  -5.500631513861575E-10d, }, // 9
+      {+0.00971824862062931d,   +8.48292035519895E-10d,  }, // 10
+      {+0.010684899985790253d,  +1.1422610134013436E-10d,}, // 11
+      {+0.01165061630308628d,   +9.168889933128375E-10d, }, // 12
+      {+0.012615403160452843d,  -5.303786078838E-10d,    }, // 13
+      {+0.013579258695244789d,  -5.688639355498786E-10d, }, // 14
+      {+0.01454218477010727d,   +7.296670293275653E-10d, }, // 15
+      {+0.015504186972975731d,  -4.370104767451421E-10d, }, // 16
+      {+0.016465261578559875d,  +1.43695591408832E-9d,   }, // 17
+      {+0.01742541790008545d,   -1.1862263158849434E-9d, }, // 18
+      {+0.018384650349617004d,  -9.482976524690715E-10d, }, // 19
+      {+0.01934296265244484d,   +1.9068609515836638E-10d,}, // 20
+      {+0.020300358533859253d,  +2.655990315697216E-10d, }, // 21
+      {+0.021256837993860245d,  +1.0315548713040775E-9d, }, // 22
+      {+0.022212404757738113d,  +5.13345647019085E-10d,  }, // 23
+      {+0.02316705882549286d,   +4.5604151934208014E-10d,}, // 24
+      {+0.02412080392241478d,   -1.1255706987475148E-9d, }, // 25
+      {+0.025073636323213577d,  +1.2289023836765196E-9d, }, // 26
+      {+0.02602556347846985d,   +1.7990281828096504E-9d, }, // 27
+      {+0.026976589113473892d,  -1.4152718164638451E-9d, }, // 28
+      {+0.02792670577764511d,   +7.568772963781632E-10d, }, // 29
+      {+0.0288759246468544d,    -1.1449998592111558E-9d, }, // 30
+      {+0.029824241995811462d,  -1.6850976862319495E-9d, }, // 31
+      {+0.030771657824516296d,  +8.422373919843096E-10d, }, // 32
+      {+0.0317181795835495d,    +6.872350402175489E-10d, }, // 33
+      {+0.03266380727291107d,   -4.541194749189272E-10d, }, // 34
+      {+0.03360854089260101d,   -8.9064764856495E-10d,   }, // 35
+      {+0.034552380442619324d,  +1.0640404096769032E-9d, }, // 36
+      {+0.0354953333735466d,    -3.5901655945224663E-10d,}, // 37
+      {+0.03643739968538284d,   -3.4829517943661266E-9d, }, // 38
+      {+0.037378571927547455d,  +8.149473794244232E-10d, }, // 39
+      {+0.03831886500120163d,   -6.990650304449166E-10d, }, // 40
+      {+0.03925827145576477d,   +1.0883076226453258E-9d, }, // 41
+      {+0.040196798741817474d,  +3.845192807999274E-10d, }, // 42
+      {+0.04113444685935974d,   -1.1570594692045927E-9d, }, // 43
+      {+0.04207121580839157d,   -1.8877045166697178E-9d, }, // 44
+      {+0.043007105588912964d,  -1.6332083257987747E-10d,}, // 45
+      {+0.04394212365150452d,   -1.7950057534514933E-9d, }, // 46
+      {+0.04487626254558563d,   +2.302710041648838E-9d,  }, // 47
+      {+0.045809537172317505d,  -1.1410233017161343E-9d, }, // 48
+      {+0.04674194008111954d,   -3.0498741599744685E-9d, }, // 49
+      {+0.04767347127199173d,   -1.8026348269183678E-9d, }, // 50
+      {+0.04860413819551468d,   -3.233204600453039E-9d,  }, // 51
+      {+0.04953393340110779d,   +1.7211688427961583E-9d, }, // 52
+      {+0.05046287178993225d,   -2.329967807055457E-10d, }, // 53
+      {+0.05139094591140747d,   -4.191810118556531E-11d, }, // 54
+      {+0.052318163216114044d,  -3.5574324788328143E-9d, }, // 55
+      {+0.053244516253471375d,  -1.7346590916458485E-9d, }, // 56
+      {+0.05417001247406006d,   -4.343048751383674E-10d, }, // 57
+      {+0.055094651877880096d,  +1.92909364037955E-9d,   }, // 58
+      {+0.056018441915512085d,  -5.139745677199588E-10d, }, // 59
+      {+0.05694137513637543d,   +1.2637629975129189E-9d, }, // 60
+      {+0.05786345899105072d,   +1.3840561112481119E-9d, }, // 61
+      {+0.058784693479537964d,  +1.414889689612056E-9d,  }, // 62
+      {+0.05970507860183716d,   +2.9199191907666474E-9d, }, // 63
+      {+0.0606246218085289d,    +7.90594243412116E-12d,  }, // 64
+      {+0.06154331564903259d,   +1.6844747839686189E-9d, }, // 65
+      {+0.06246116757392883d,   +2.0498074572151747E-9d, }, // 66
+      {+0.06337818503379822d,   -4.800180493433863E-9d,  }, // 67
+      {+0.06429435312747955d,   -2.4220822960064277E-9d, }, // 68
+      {+0.06520968675613403d,   -4.179048566709334E-9d,  }, // 69
+      {+0.06612417101860046d,   +6.363872957010456E-9d,  }, // 70
+      {+0.06703783571720123d,   +9.339468680056365E-10d, }, // 71
+      {+0.06795066595077515d,   -4.04226739708981E-9d,   }, // 72
+      {+0.0688626617193222d,    -7.043545052852817E-9d,  }, // 73
+      {+0.06977382302284241d,   -6.552819560439773E-9d,  }, // 74
+      {+0.07068414986133575d,   -1.0571674860370546E-9d, }, // 75
+      {+0.07159365713596344d,   -3.948954622015801E-9d,  }, // 76
+      {+0.07250232994556427d,   +1.1776625988228244E-9d, }, // 77
+      {+0.07341018319129944d,   +9.221072639606492E-10d, }, // 78
+      {+0.07431721687316895d,   -3.219119568928366E-9d,  }, // 79
+      {+0.0752234160900116d,    +5.147575929018918E-9d,  }, // 80
+      {+0.07612881064414978d,   -2.291749683541979E-9d,  }, // 81
+      {+0.07703337073326111d,   +5.749565906124772E-9d,  }, // 82
+      {+0.07793712615966797d,   +9.495158151301779E-10d, }, // 83
+      {+0.07884006202220917d,   -3.144331429489291E-10d, }, // 84
+      {+0.0797421783208847d,    +3.430029236134205E-9d,  }, // 85
+      {+0.08064348995685577d,   -1.2499290483167703E-9d, }, // 86
+      {+0.08154398202896118d,   +2.011215719133196E-9d,  }, // 87
+      {+0.08244366943836212d,   -2.2728753031387152E-10d,}, // 88
+      {+0.0833425521850586d,    -6.508966857277253E-9d,  }, // 89
+      {+0.0842406153678894d,    -4.801131671405377E-10d, }, // 90
+      {+0.08513787388801575d,   +4.406750291994231E-9d,  }, // 91
+      {+0.08603434264659882d,   -5.304795662536171E-9d,  }, // 92
+      {+0.08692999184131622d,   +1.6284313912612293E-9d, }, // 93
+      {+0.08782485127449036d,   -3.158898981674071E-9d,  }, // 94
+      {+0.08871890604496002d,   -3.3324878834139977E-9d, }, // 95
+      {+0.08961215615272522d,   +2.536961912893389E-9d,  }, // 96
+      {+0.09050461649894714d,   +9.737596728980696E-10d, }, // 97
+      {+0.0913962870836258d,    -6.600437262505396E-9d,  }, // 98
+      {+0.09228715300559998d,   -3.866609889222889E-9d,  }, // 99
+      {+0.09317722916603088d,   -4.311847594020281E-9d,  }, // 100
+      {+0.09406651556491852d,   -6.525851105645959E-9d,  }, // 101
+      {+0.09495499730110168d,   +5.799080912675435E-9d,  }, // 102
+      {+0.09584270417690277d,   +4.2634204358490415E-9d, }, // 103
+      {+0.09672962129116058d,   +5.167390528799477E-9d,  }, // 104
+      {+0.09761576354503632d,   -4.994827392841906E-9d,  }, // 105
+      {+0.09850110113620758d,   +4.970725577861395E-9d,  }, // 106
+      {+0.09938566386699677d,   +6.6496705953229645E-9d, }, // 107
+      {+0.10026945173740387d,   +1.4262712796792241E-9d, }, // 108
+      {+0.1011524498462677d,    +5.5822855204629114E-9d, }, // 109
+      {+0.10203467309474945d,   +5.593494835247651E-9d,  }, // 110
+      {+0.10291612148284912d,   +2.8332008343480686E-9d, }, // 111
+      {+0.10379679501056671d,   -1.3289231465997192E-9d, }, // 112
+      {+0.10467669367790222d,   -5.526819276639527E-9d,  }, // 113
+      {+0.10555580258369446d,   +6.503128678219282E-9d,  }, // 114
+      {+0.10643415153026581d,   +6.317463237641817E-9d,  }, // 115
+      {+0.10731174051761627d,   -4.728528221305482E-9d,  }, // 116
+      {+0.10818853974342346d,   +4.519199083083901E-9d,  }, // 117
+      {+0.10906457901000977d,   +5.606492666349878E-9d,  }, // 118
+      {+0.10993985831737518d,   -1.220176214398581E-10d, }, // 119
+      {+0.11081436276435852d,   +3.5759315936869937E-9d, }, // 120
+      {+0.11168810725212097d,   +3.1367659571899855E-9d, }, // 121
+      {+0.11256109178066254d,   -1.0543075713098835E-10d,}, // 122
+      {+0.11343331634998322d,   -4.820065619207094E-9d,  }, // 123
+      {+0.11430476605892181d,   +5.221136819669415E-9d,  }, // 124
+      {+0.11517547070980072d,   +1.5395018670011342E-9d, }, // 125
+      {+0.11604541540145874d,   +3.5638391501880846E-10d,}, // 126
+      {+0.11691460013389587d,   +2.9885336757136527E-9d, }, // 127
+      {+0.11778303980827332d,   -4.151889860890893E-9d,  }, // 128
+      {+0.11865071952342987d,   -4.853823938804204E-9d,  }, // 129
+      {+0.11951763927936554d,   +2.189226237170704E-9d,  }, // 130
+      {+0.12038381397724152d,   +3.3791993048776982E-9d, }, // 131
+      {+0.1212492436170578d,    +1.5811884868243975E-11d,}, // 132
+      {+0.12211392819881439d,   -6.6045909118908625E-9d, }, // 133
+      {+0.1229778528213501d,    -2.8786263916116364E-10d,}, // 134
+      {+0.12384103238582611d,   +5.354472503748251E-9d,  }, // 135
+      {+0.12470348179340363d,   -3.2924463896248744E-9d, }, // 136
+      {+0.12556517124176025d,   +4.856678149580005E-9d,  }, // 137
+      {+0.12642613053321838d,   +1.2791850600366742E-9d, }, // 138
+      {+0.12728634476661682d,   +2.1525945093362843E-9d, }, // 139
+      {+0.12814581394195557d,   +8.749974471767862E-9d,  }, // 140
+      {+0.129004567861557d,     -7.461209161105275E-9d,  }, // 141
+      {+0.12986254692077637d,   +1.4390208226263824E-8d, }, // 142
+      {+0.1307198405265808d,    -1.3839477920475328E-8d, }, // 143
+      {+0.13157635927200317d,   -1.483283901239408E-9d,  }, // 144
+      {+0.13243216276168823d,   -6.889072914229094E-9d,  }, // 145
+      {+0.1332872211933136d,    +9.990351100568362E-10d, }, // 146
+      {+0.13414156436920166d,   -6.370937412495338E-9d,  }, // 147
+      {+0.13499516248703003d,   +2.05047480130511E-9d,   }, // 148
+      {+0.1358480453491211d,    -2.29509872547079E-9d,   }, // 149
+      {+0.13670018315315247d,   +1.16354361977249E-8d,   }, // 150
+      {+0.13755163550376892d,   -1.452496267904829E-8d,  }, // 151
+      {+0.1384023129940033d,    +9.865115839786888E-9d,  }, // 152
+      {+0.13925230503082275d,   -3.369999130712228E-9d,  }, // 153
+      {+0.14010155200958252d,   +6.602496401651853E-9d,  }, // 154
+      {+0.14095008373260498d,   +1.1205312852298845E-8d, }, // 155
+      {+0.14179790019989014d,   +1.1660367213160203E-8d, }, // 156
+      {+0.142645001411438d,     +9.186471222585239E-9d,  }, // 157
+      {+0.14349138736724854d,   +4.999341878263704E-9d,  }, // 158
+      {+0.14433705806732178d,   +3.11611905696257E-10d,  }, // 159
+      {+0.14518201351165771d,   -3.6671598175618173E-9d, }, // 160
+      {+0.14602625370025635d,   -5.730477881659618E-9d,  }, // 161
+      {+0.14686977863311768d,   -4.674900007989718E-9d,  }, // 162
+      {+0.1477125883102417d,    +6.999732437141968E-10d, }, // 163
+      {+0.14855468273162842d,   +1.159150872494107E-8d,  }, // 164
+      {+0.14939609169960022d,   -6.082714828488485E-10d, }, // 165
+      {+0.15023678541183472d,   -4.905712741596318E-9d,  }, // 166
+      {+0.1510767638683319d,    -1.124848988733307E-10d, }, // 167
+      {+0.15191605687141418d,   -1.484557220949851E-8d,  }, // 168
+      {+0.15275460481643677d,   +1.1682026251371384E-8d, }, // 169
+      {+0.15359249711036682d,   -8.757272519238786E-9d,  }, // 170
+      {+0.15442964434623718d,   +1.4419920764774415E-8d, }, // 171
+      {+0.15526613593101501d,   -7.019891063126053E-9d,  }, // 172
+      {+0.15610191226005554d,   -1.230153548825964E-8d,  }, // 173
+      {+0.15693697333335876d,   -2.574172005933276E-10d, }, // 174
+      {+0.15777134895324707d,   +4.748140799544371E-10d, }, // 175
+      {+0.15860503911972046d,   -8.943081874891003E-9d,  }, // 176
+      {+0.15943801403045654d,   +2.4500739038517657E-9d, }, // 177
+      {+0.1602703034877777d,    +6.007922084557054E-9d,  }, // 178
+      {+0.16110190749168396d,   +2.8835418231126645E-9d, }, // 179
+      {+0.1619328260421753d,    -5.772862039728412E-9d,  }, // 180
+      {+0.16276302933692932d,   +1.0988372954605789E-8d, }, // 181
+      {+0.16359257698059082d,   -5.292913162607026E-9d,  }, // 182
+      {+0.16442140936851501d,   +6.12956339275823E-9d,   }, // 183
+      {+0.16524958610534668d,   -1.3210039516811888E-8d, }, // 184
+      {+0.16607704758644104d,   -2.5711014608334873E-9d, }, // 185
+      {+0.16690382361412048d,   +9.37721319457112E-9d,   }, // 186
+      {+0.1677299439907074d,    -6.0370682395944045E-9d, }, // 187
+      {+0.168555349111557d,     +1.1918249660105651E-8d, }, // 188
+      {+0.1693800985813141d,    +4.763282949656017E-9d,  }, // 189
+      {+0.17020416259765625d,   +3.4223342273948817E-9d, }, // 190
+      {+0.1710275411605835d,    +9.014612241310916E-9d,  }, // 191
+      {+0.1718502640724182d,    -7.145758990550526E-9d,  }, // 192
+      {+0.172672301530838d,     -1.4142763934081504E-8d, }, // 193
+      {+0.1734936535358429d,    -1.0865453656579032E-8d, }, // 194
+      {+0.17431432008743286d,   +3.794385569450774E-9d,  }, // 195
+      {+0.1751343309879303d,    +1.1399188501627291E-9d, }, // 196
+      {+0.17595365643501282d,   +1.2076238768270153E-8d, }, // 197
+      {+0.1767723262310028d,    +7.901084730502162E-9d,  }, // 198
+      {+0.17759034037590027d,   -1.0288181007465474E-8d, }, // 199
+      {+0.1784076690673828d,    -1.15945645153806E-8d,   }, // 200
+      {+0.17922431230545044d,   +5.073923825786778E-9d,  }, // 201
+      {+0.18004029989242554d,   +1.1004278077575267E-8d, }, // 202
+      {+0.1808556318283081d,    +7.2831502374676964E-9d, }, // 203
+      {+0.18167030811309814d,   -5.0054634662706464E-9d, }, // 204
+      {+0.18248429894447327d,   +5.022108460298934E-9d,  }, // 205
+      {+0.18329763412475586d,   +8.642254225732676E-9d,  }, // 206
+      {+0.18411031365394592d,   +6.931054493326395E-9d,  }, // 207
+      {+0.18492233753204346d,   +9.619685356326533E-10d, }, // 208
+      {+0.18573370575904846d,   -8.194157257980706E-9d,  }, // 209
+      {+0.18654438853263855d,   +1.0333241479437797E-8d, }, // 210
+      {+0.1873544454574585d,    -1.9948340196027965E-9d, }, // 211
+      {+0.1881638467311859d,    -1.4313002926259948E-8d, }, // 212
+      {+0.1889725625514984d,    +4.241536392174967E-9d,  }, // 213
+      {+0.18978065252304077d,   -4.877952454011428E-9d,  }, // 214
+      {+0.1905880868434906d,    -1.0813801247641613E-8d, }, // 215
+      {+0.1913948655128479d,    -1.2513218445781325E-8d, }, // 216
+      {+0.19220098853111267d,   -8.925958555729115E-9d,  }, // 217
+      {+0.1930064558982849d,    +9.956860681280245E-10d, }, // 218
+      {+0.193811297416687d,     -1.1505428993246996E-8d, }, // 219
+      {+0.1946154534816742d,    +1.4217997464522202E-8d, }, // 220
+      {+0.19541901350021362d,   -1.0200858727747717E-8d, }, // 221
+      {+0.19622188806533813d,   +5.682607223902455E-9d,  }, // 222
+      {+0.1970241367816925d,    +3.2988908516009827E-9d, }, // 223
+      {+0.19782572984695435d,   +1.3482965534659446E-8d, }, // 224
+      {+0.19862669706344604d,   +7.462678536479685E-9d,  }, // 225
+      {+0.1994270384311676d,    -1.3734273888891115E-8d, }, // 226
+      {+0.20022669434547424d,   +1.0521983802642893E-8d, }, // 227
+      {+0.20102575421333313d,   -8.152742388541905E-9d,  }, // 228
+      {+0.2018241584300995d,    -9.133484280193855E-9d,  }, // 229
+      {+0.20262190699577332d,   +8.59763959528144E-9d,   }, // 230
+      {+0.2034190595149994d,    -1.3548568223001414E-8d, }, // 231
+      {+0.20421552658081055d,   +1.4847880344628818E-8d, }, // 232
+      {+0.20501139760017395d,   +5.390620378060543E-9d,  }, // 233
+      {+0.2058066427707672d,    -1.1109834472051523E-8d, }, // 234
+      {+0.20660123229026794d,   -3.845373872038116E-9d,  }, // 235
+      {+0.20739519596099854d,   -1.6149279479975042E-9d, }, // 236
+      {+0.20818853378295898d,   -3.4174925203771133E-9d, }, // 237
+      {+0.2089812457561493d,    -8.254443919468538E-9d,  }, // 238
+      {+0.20977330207824707d,   +1.4672790944499144E-8d, }, // 239
+      {+0.2105647623538971d,    +6.753452542942992E-9d,  }, // 240
+      {+0.21135559678077698d,   -1.218609462241927E-9d,  }, // 241
+      {+0.21214580535888672d,   -8.254218316367887E-9d,  }, // 242
+      {+0.21293538808822632d,   -1.3366540360587255E-8d, }, // 243
+      {+0.2137243151664734d,    +1.4231244750190031E-8d, }, // 244
+      {+0.2145126760005951d,    -1.3885660525939072E-8d, }, // 245
+      {+0.21530038118362427d,   -7.3304404046850136E-9d, }, // 246
+      {+0.2160874605178833d,    +5.072117654842356E-9d,  }, // 247
+      {+0.21687394380569458d,   -5.505080220459036E-9d,  }, // 248
+      {+0.21765980124473572d,   -8.286782292266659E-9d,  }, // 249
+      {+0.2184450328350067d,    -2.302351152358085E-9d,  }, // 250
+      {+0.21922963857650757d,   +1.3416565858314603E-8d, }, // 251
+      {+0.22001364827156067d,   +1.0033721426962048E-8d, }, // 252
+      {+0.22079706192016602d,   -1.1487079818684332E-8d, }, // 253
+      {+0.22157981991767883d,   +9.420348186357043E-9d,  }, // 254
+      {+0.2223619818687439d,    +1.4110645699377834E-8d, }, // 255
+      {+0.2231435477733612d,    +3.5408485497116107E-9d, }, // 256
+      {+0.22392448782920837d,   +8.468072777056227E-9d,  }, // 257
+      {+0.2247048318386078d,    +4.255446699237779E-11d, }, // 258
+      {+0.22548454999923706d,   +9.016946273084244E-9d,  }, // 259
+      {+0.22626367211341858d,   +6.537034810260226E-9d,  }, // 260
+      {+0.22704219818115234d,   -6.451285264969768E-9d,  }, // 261
+      {+0.22782009840011597d,   +7.979956357126066E-10d, }, // 262
+      {+0.22859740257263184d,   -5.759582672039005E-10d, }, // 263
+      {+0.22937411069869995d,   -9.633854121180397E-9d,  }, // 264
+      {+0.23015019297599792d,   +4.363736368635843E-9d,  }, // 265
+      {+0.23092567920684814d,   +1.2549416560182509E-8d, }, // 266
+      {+0.231700599193573d,     -1.3946383592553814E-8d, }, // 267
+      {+0.2324748933315277d,    -1.458843364504023E-8d,  }, // 268
+      {+0.23324856162071228d,   +1.1551692104697154E-8d, }, // 269
+      {+0.23402166366577148d,   +5.795621295524984E-9d,  }, // 270
+      {+0.23479416966438293d,   -1.1301979046684263E-9d, }, // 271
+      {+0.23556607961654663d,   -8.303779721781787E-9d,  }, // 272
+      {+0.23633739352226257d,   -1.4805271785394075E-8d, }, // 273
+      {+0.23710808157920837d,   +1.0085373835899469E-8d, }, // 274
+      {+0.2378782033920288d,    +7.679117635349454E-9d,  }, // 275
+      {+0.2386477291584015d,    +8.69177352065934E-9d,   }, // 276
+      {+0.23941665887832642d,   +1.4034725764547136E-8d, }, // 277
+      {+0.24018502235412598d,   -5.185064518887831E-9d,  }, // 278
+      {+0.2409527599811554d,    +1.1544236628121676E-8d, }, // 279
+      {+0.24171993136405945d,   +5.523085719902123E-9d,  }, // 280
+      {+0.24248650670051575d,   +7.456824943331887E-9d,  }, // 281
+      {+0.24325251579284668d,   -1.1555923403029638E-8d, }, // 282
+      {+0.24401789903640747d,   +8.988361382732908E-9d,  }, // 283
+      {+0.2447827160358429d,    +1.0381848020926893E-8d, }, // 284
+      {+0.24554696679115295d,   -6.480706118857055E-9d,  }, // 285
+      {+0.24631062150001526d,   -1.0904271124793968E-8d, }, // 286
+      {+0.2470736801624298d,    -1.998183061531611E-9d,  }, // 287
+      {+0.247836172580719d,     -8.676137737360023E-9d,  }, // 288
+      {+0.24859806895256042d,   -2.4921733203932487E-10d,}, // 289
+      {+0.2493593990802765d,    -5.635173762130303E-9d,  }, // 290
+      {+0.2501201629638672d,    -2.3951455355985637E-8d, }, // 291
+      {+0.25088030099868774d,   +5.287121672447825E-9d,  }, // 292
+      {+0.2516399025917053d,    -6.447877375049486E-9d,  }, // 293
+      {+0.25239890813827515d,   +1.32472428796441E-9d,   }, // 294
+      {+0.2531573176383972d,    +2.9479464287605006E-8d, }, // 295
+      {+0.2539151906967163d,    +1.9284247135543574E-8d, }, // 296
+      {+0.2546725273132324d,    -2.8390360197221716E-8d, }, // 297
+      {+0.255429208278656d,     +6.533522495226226E-9d,  }, // 298
+      {+0.2561853528022766d,    +5.713225978895991E-9d,  }, // 299
+      {+0.25694090127944946d,   +2.9618050962556135E-8d, }, // 300
+      {+0.25769591331481934d,   +1.950605015323617E-8d,  }, // 301
+      {+0.25845038890838623d,   -2.3762031507525576E-8d, }, // 302
+      {+0.2592042088508606d,    +1.98818938195077E-8d,   }, // 303
+      {+0.25995755195617676d,   -2.751925069084042E-8d,  }, // 304
+      {+0.2607102394104004d,    +1.3703391844683932E-8d, }, // 305
+      {+0.26146239042282104d,   +2.5193525310038174E-8d, }, // 306
+      {+0.2622140049934387d,    +7.802219817310385E-9d,  }, // 307
+      {+0.26296502351760864d,   +2.1983272709242607E-8d, }, // 308
+      {+0.2637155055999756d,    +8.979279989292184E-9d,  }, // 309
+      {+0.2644653916358948d,    +2.9240221157844312E-8d, }, // 310
+      {+0.265214741230011d,     +2.4004885823813374E-8d, }, // 311
+      {+0.2659635543823242d,    -5.885186277410878E-9d,  }, // 312
+      {+0.2667117714881897d,    +1.4300386517357162E-11d,}, // 313
+      {+0.2674594521522522d,    -1.7063531531989365E-8d, }, // 314
+      {+0.26820653676986694d,   +3.3218524692903896E-9d, }, // 315
+      {+0.2689530849456787d,    +2.3998252479954764E-9d, }, // 316
+      {+0.2696990966796875d,    -1.8997462070389404E-8d, }, // 317
+      {+0.27044451236724854d,   -4.350745270980051E-10d, }, // 318
+      {+0.2711893916130066d,    -6.892221115467135E-10d, }, // 319
+      {+0.27193373441696167d,   -1.89333199110902E-8d,   }, // 320
+      {+0.272677481174469d,     +5.262017392507765E-9d,  }, // 321
+      {+0.27342069149017334d,   +1.3115046679980076E-8d, }, // 322
+      {+0.2741633653640747d,    +5.4468361834451975E-9d, }, // 323
+      {+0.2749055027961731d,    -1.692337384653611E-8d,  }, // 324
+      {+0.27564704418182373d,   +6.426479056697412E-9d,  }, // 325
+      {+0.2763880491256714d,    +1.670735065191342E-8d,  }, // 326
+      {+0.27712851762771606d,   +1.4733029698334834E-8d, }, // 327
+      {+0.27786844968795776d,   +1.315498542514467E-9d,  }, // 328
+      {+0.2786078453063965d,    -2.2735061539223372E-8d, }, // 329
+      {+0.27934664487838745d,   +2.994379757313727E-9d,  }, // 330
+      {+0.28008490800857544d,   +1.970577274107218E-8d,  }, // 331
+      {+0.28082263469696045d,   +2.820392733542077E-8d,  }, // 332
+      {+0.2815598249435425d,    +2.929187356678173E-8d,  }, // 333
+      {+0.28229647874832153d,   +2.377086680926386E-8d,  }, // 334
+      {+0.2830325961112976d,    +1.2440393009992529E-8d, }, // 335
+      {+0.2837681770324707d,    -3.901826104778096E-9d,  }, // 336
+      {+0.2845032215118408d,    -2.4459827842685974E-8d, }, // 337
+      {+0.2852376699447632d,    +1.1165241398059789E-8d, }, // 338
+      {+0.28597164154052734d,   -1.54434478239181E-8d,   }, // 339
+      {+0.28670501708984375d,   +1.5714110564653245E-8d, }, // 340
+      {+0.28743791580200195d,   -1.3782394940142479E-8d, }, // 341
+      {+0.2881702184677124d,    +1.6063569876284005E-8d, }, // 342
+      {+0.28890204429626465d,   -1.317176818216125E-8d,  }, // 343
+      {+0.28963327407836914d,   +1.8504673536253893E-8d, }, // 344
+      {+0.29036402702331543d,   -7.334319635123628E-9d,  }, // 345
+      {+0.29109418392181396d,   +2.9300903540317107E-8d, }, // 346
+      {+0.2918238639831543d,    +9.979706999541057E-9d,  }, // 347
+      {+0.29255300760269165d,   -4.916314210412424E-9d,  }, // 348
+      {+0.293281614780426d,     -1.4611908070155308E-8d, }, // 349
+      {+0.2940096855163574d,    -1.833351586679361E-8d,  }, // 350
+      {+0.29473721981048584d,   -1.530926726615185E-8d,  }, // 351
+      {+0.2954642176628113d,    -4.7689754029101934E-9d, }, // 352
+      {+0.29619067907333374d,   +1.4055868011423819E-8d, }, // 353
+      {+0.296916663646698d,     -1.7672547212604003E-8d, }, // 354
+      {+0.2976420521736145d,    +2.0020234215759705E-8d, }, // 355
+      {+0.2983669638633728d,    +8.688424478730524E-9d,  }, // 356
+      {+0.2990913391113281d,    +8.69851089918337E-9d,   }, // 357
+      {+0.29981517791748047d,   +2.0810681643102672E-8d, }, // 358
+      {+0.3005385398864746d,    -1.3821169493779352E-8d, }, // 359
+      {+0.301261305809021d,     +2.4769140784919128E-8d, }, // 360
+      {+0.3019835948944092d,    +1.8127576600610336E-8d, }, // 361
+      {+0.3027053475379944d,    +2.6612401062437074E-8d, }, // 362
+      {+0.3034266233444214d,    -8.629042891789934E-9d,  }, // 363
+      {+0.3041473627090454d,    -2.724174869314043E-8d,  }, // 364
+      {+0.30486756563186646d,   -2.8476975783775358E-8d, }, // 365
+      {+0.3055872321128845d,    -1.1587600174449919E-8d, }, // 366
+      {+0.3063063621520996d,    +2.417189020581056E-8d,  }, // 367
+      {+0.3070250153541565d,    +1.99407553679345E-8d,   }, // 368
+      {+0.3077431917190552d,    -2.35387025694381E-8d,   }, // 369
+      {+0.3084607720375061d,    +1.3683509995845583E-8d, }, // 370
+      {+0.30917787551879883d,   +1.3137214081023085E-8d, }, // 371
+      {+0.30989450216293335d,   -2.444006866174775E-8d,  }, // 372
+      {+0.3106105327606201d,    +2.0896888605749563E-8d, }, // 373
+      {+0.31132614612579346d,   -2.893149098508887E-8d,  }, // 374
+      {+0.31204116344451904d,   +5.621509038251498E-9d,  }, // 375
+      {+0.3127557039260864d,    +6.0778104626050015E-9d, }, // 376
+      {+0.3134697675704956d,    -2.6832941696716294E-8d, }, // 377
+      {+0.31418323516845703d,   +2.6826625274495256E-8d, }, // 378
+      {+0.31489628553390503d,   -1.1030897183911054E-8d, }, // 379
+      {+0.31560879945755005d,   -2.047124671392676E-8d,  }, // 380
+      {+0.3163207769393921d,    -7.709990443086711E-10d, }, // 381
+      {+0.3170322775840759d,    -1.0812918808112342E-8d, }, // 382
+      {+0.3177432417869568d,    +9.727979174888975E-9d,  }, // 383
+      {+0.31845372915267944d,   +1.9658551724508715E-9d, }, // 384
+      {+0.3191636800765991d,    +2.6222628001695826E-8d, }, // 385
+      {+0.3198731541633606d,    +2.3609400272358744E-8d, }, // 386
+      {+0.32058215141296387d,   -5.159602957634814E-9d,  }, // 387
+      {+0.32129061222076416d,   +2.329701319016099E-10d, }, // 388
+      {+0.32199859619140625d,   -1.910633190395738E-8d,  }, // 389
+      {+0.32270604372024536d,   -2.863180390093667E-9d,  }, // 390
+      {+0.32341301441192627d,   -9.934041364456825E-9d,  }, // 391
+      {+0.3241194486618042d,    +1.999240777687192E-8d,  }, // 392
+      {+0.3248254060745239d,    +2.801670341647724E-8d,  }, // 393
+      {+0.32553088665008545d,   +1.4842534265191358E-8d, }, // 394
+      {+0.32623589038848877d,   -1.882789920477354E-8d,  }, // 395
+      {+0.3269403576850891d,    -1.268923579073577E-8d,  }, // 396
+      {+0.32764434814453125d,   -2.564688370677835E-8d,  }, // 397
+      {+0.3283478021621704d,    +2.6015626820520968E-9d, }, // 398
+      {+0.32905077934265137d,   +1.3147747907784344E-8d, }, // 399
+      {+0.3297532796859741d,    +6.686493860720675E-9d,  }, // 400
+      {+0.33045530319213867d,   -1.608884086544153E-8d,  }, // 401
+      {+0.33115679025650024d,   +5.118287907840204E-9d,  }, // 402
+      {+0.3318578004837036d,    +1.139367970944884E-8d,  }, // 403
+      {+0.3325583338737488d,    +3.426327822115399E-9d,  }, // 404
+      {+0.33325839042663574d,   -1.809622142990733E-8d,  }, // 405
+      {+0.3339579105377197d,    +7.116780143398601E-9d,  }, // 406
+      {+0.3346569538116455d,    +2.0145352306345386E-8d, }, // 407
+      {+0.3353555202484131d,    +2.167272474431968E-8d,  }, // 408
+      {+0.33605360984802246d,   +1.2380696294966822E-8d, }, // 409
+      {+0.33675122261047363d,   -7.050361059209181E-9d,  }, // 410
+      {+0.3374482989311218d,    +2.366314656322868E-8d,  }, // 411
+      {+0.3381449580192566d,    -1.4010540194086646E-8d, }, // 412
+      {+0.3388410806655884d,    -1.860165465666482E-10d, }, // 413
+      {+0.33953672647476196d,   +6.206776940880773E-9d,  }, // 414
+      {+0.34023189544677734d,   +5.841137379010982E-9d,  }, // 415
+      {+0.3409265875816345d,    -6.11041311179286E-10d,  }, // 416
+      {+0.3416208028793335d,    -1.2479264502054702E-8d, }, // 417
+      {+0.34231454133987427d,   -2.909443297645926E-8d,  }, // 418
+      {+0.34300774335861206d,   +9.815805717097634E-9d,  }, // 419
+      {+0.3437005281448364d,    -1.4291517981101049E-8d, }, // 420
+      {+0.3443927764892578d,    +1.8457821628427503E-8d, }, // 421
+      {+0.34508460760116577d,   -1.0481908869377813E-8d, }, // 422
+      {+0.34577590227127075d,   +1.876076001514746E-8d,  }, // 423
+      {+0.3464667797088623d,    -1.2362653723769037E-8d, }, // 424
+      {+0.3471571207046509d,    +1.6016578405624026E-8d, }, // 425
+      {+0.347847044467926d,     -1.4652759033760925E-8d, }, // 426
+      {+0.3485364317893982d,    +1.549533655901835E-8d,  }, // 427
+      {+0.34922540187835693d,   -1.2093068629412478E-8d, }, // 428
+      {+0.3499138355255127d,    +2.244531711424792E-8d,  }, // 429
+      {+0.35060185194015503d,   +5.538565518604807E-10d, }, // 430
+      {+0.35128939151763916d,   -1.7511499366215853E-8d, }, // 431
+      {+0.3519763946533203d,    +2.850385787215544E-8d,  }, // 432
+      {+0.35266298055648804d,   +2.003926370146842E-8d,  }, // 433
+      {+0.35334908962249756d,   +1.734665280502264E-8d,  }, // 434
+      {+0.3540347218513489d,    +2.1071983674869414E-8d, }, // 435
+      {+0.35471993684768677d,   -2.774475773922311E-8d,  }, // 436
+      {+0.3554046154022217d,    -9.250975291734664E-9d,  }, // 437
+      {+0.3560888171195984d,    +1.7590672330295415E-8d, }, // 438
+      {+0.35677260160446167d,   -6.1837904549178745E-9d, }, // 439
+      {+0.35745590925216675d,   -2.0330362973820856E-8d, }, // 440
+      {+0.3581387400627136d,    -2.42109990366786E-8d,   }, // 441
+      {+0.3588210940361023d,    -1.7188958587407816E-8d, }, // 442
+      {+0.35950297117233276d,   +1.3711958590112228E-9d, }, // 443
+      {+0.3601844310760498d,    -2.7501042008405925E-8d, }, // 444
+      {+0.36086535453796387d,   +1.6036460343275798E-8d, }, // 445
+      {+0.3615458607673645d,    +1.3405964389498495E-8d, }, // 446
+      {+0.36222589015960693d,   +2.484237749027735E-8d,  }, // 447
+      {+0.36290550231933594d,   -8.629967484362177E-9d,  }, // 448
+      {+0.36358463764190674d,   -2.6778729562324134E-8d, }, // 449
+      {+0.36426329612731934d,   -2.8977490516960565E-8d, }, // 450
+      {+0.36494147777557373d,   -1.4601106624823502E-8d, }, // 451
+      {+0.3656191825866699d,    +1.69742947894444E-8d,   }, // 452
+      {+0.3662964701652527d,    +6.7666740211281175E-9d, }, // 453
+      {+0.36697328090667725d,   +1.500201674336832E-8d,  }, // 454
+      {+0.3676496744155884d,    -1.730424167425052E-8d,  }, // 455
+      {+0.36832553148269653d,   +2.9676011119845104E-8d, }, // 456
+      {+0.36900103092193604d,   -2.2253590346826743E-8d, }, // 457
+      {+0.36967599391937256d,   +6.3372065441089185E-9d, }, // 458
+      {+0.37035053968429565d,   -3.145816653215968E-9d,  }, // 459
+      {+0.37102460861206055d,   +9.515812117036965E-9d,  }, // 460
+      {+0.371698260307312d,     -1.4669965113042639E-8d, }, // 461
+      {+0.3723714351654053d,    -1.548715389333397E-8d,  }, // 462
+      {+0.37304413318634033d,   +7.674361647125109E-9d,  }, // 463
+      {+0.37371641397476196d,   -4.181177882069608E-9d,  }, // 464
+      {+0.3743882179260254d,    +9.158530500130718E-9d,  }, // 465
+      {+0.3750596046447754d,    -1.13047236597869E-8d,   }, // 466
+      {+0.3757305145263672d,    -5.36108186384227E-9d,   }, // 467
+      {+0.3764009475708008d,    +2.7593452284747873E-8d, }, // 468
+      {+0.37707096338272095d,   +2.8557016344085205E-8d, }, // 469
+      {+0.3777405619621277d,    -1.868818164036E-9d,     }, // 470
+      {+0.3784096837043762d,    -3.479042513414447E-9d,  }, // 471
+      {+0.37907832860946655d,   +2.432550290565648E-8d,  }, // 472
+      {+0.37974655628204346d,   +2.2538131805476768E-8d, }, // 473
+      {+0.38041436672210693d,   -8.244395239939089E-9d,  }, // 474
+      {+0.3810817003250122d,    -7.821867597227376E-9d,  }, // 475
+      {+0.3817485570907593d,    +2.4400089062515914E-8d, }, // 476
+      {+0.3824149966239929d,    +2.9410015940087773E-8d, }, // 477
+      {+0.38308101892471313d,   +7.799913824734797E-9d,  }, // 478
+      {+0.38374656438827515d,   +1.976524624939355E-8d,  }, // 479
+      {+0.38441169261932373d,   +6.291008309266035E-9d,  }, // 480
+      {+0.3850763440132141d,    +2.757030889767851E-8d,  }, // 481
+      {+0.38574057817459106d,   +2.4585794728405612E-8d, }, // 482
+      {+0.3864043951034546d,    -2.0764122246389383E-9d, }, // 483
+      {+0.3870677351951599d,    +7.77328837578952E-9d,   }, // 484
+      {+0.3877306580543518d,    -4.8859560029989374E-9d, }, // 485
+      {+0.3883931040763855d,    +2.0133131420595028E-8d, }, // 486
+      {+0.38905513286590576d,   +2.380738071335498E-8d,  }, // 487
+      {+0.3897167444229126d,    +6.7171126157142075E-9d, }, // 488
+      {+0.39037787914276123d,   +2.9046141593926277E-8d, }, // 489
+      {+0.3910386562347412d,    -2.7836800219410262E-8d, }, // 490
+      {+0.3916988968849182d,    +1.545909820981726E-8d,  }, // 491
+      {+0.39235877990722656d,   -1.930436269002062E-8d,  }, // 492
+      {+0.3930181860923767d,    -1.2343297554921835E-8d, }, // 493
+      {+0.3936771750450134d,    -2.268889128622553E-8d,  }, // 494
+      {+0.39433568716049194d,   +9.835827818608177E-9d,  }, // 495
+      {+0.39499378204345703d,   +2.6197411946856397E-8d, }, // 496
+      {+0.3956514596939087d,    +2.6965931069318893E-8d, }, // 497
+      {+0.3963087201118469d,    +1.2710331127772166E-8d, }, // 498
+      {+0.39696556329727173d,   -1.6001563011916016E-8d, }, // 499
+      {+0.39762192964553833d,   +1.0016001590267064E-9d, }, // 500
+      {+0.3982778787612915d,    +4.680767399874334E-9d,  }, // 501
+      {+0.39893341064453125d,   -4.399582029272418E-9d,  }, // 502
+      {+0.39958852529525757d,   -2.5676078228301587E-8d, }, // 503
+      {+0.4002431631088257d,    +1.0181870233355787E-9d, }, // 504
+      {+0.40089738368988037d,   +1.6639728835984655E-8d, }, // 505
+      {+0.40155118703842163d,   +2.174860642202632E-8d,  }, // 506
+      {+0.40220457315444946d,   +1.6903781197123503E-8d, }, // 507
+      {+0.40285754203796387d,   +2.663119647467697E-9d,  }, // 508
+      {+0.40351009368896484d,   -2.0416603812329616E-8d, }, // 509
+      {+0.4041621685028076d,    +7.82494078472695E-9d,   }, // 510
+      {+0.40481382608413696d,   +2.833770747113627E-8d,  }, // 511
+      {+0.40546512603759766d,   -1.7929433274271985E-8d, }, // 512
+      {+0.40611594915390015d,   -1.1214757379328965E-8d, }, // 513
+      {+0.4067663550376892d,    -1.0571553019207106E-8d, }, // 514
+      {+0.40741634368896484d,   -1.5449538712332313E-8d, }, // 515
+      {+0.40806591510772705d,   -2.529950530235105E-8d,  }, // 516
+      {+0.40871500968933105d,   +2.0031331601617008E-8d, }, // 517
+      {+0.4093637466430664d,    +1.880755298741952E-9d,  }, // 518
+      {+0.41001206636428833d,   -1.9600580584843318E-8d, }, // 519
+      {+0.41065990924835205d,   +1.573691633515306E-8d,  }, // 520
+      {+0.4113073945045471d,    -1.0772154376548336E-8d, }, // 521
+      {+0.411954402923584d,     +2.0624330192486066E-8d, }, // 522
+      {+0.4126010537147522d,    -8.741139170029572E-9d,  }, // 523
+      {+0.4132472276687622d,    +2.0881457123894216E-8d, }, // 524
+      {+0.41389304399490356d,   -9.177488027521808E-9d,  }, // 525
+      {+0.4145383834838867d,    +2.0829952491625585E-8d, }, // 526
+      {+0.4151833653450012d,    -7.767915492597301E-9d,  }, // 527
+      {+0.4158278703689575d,    +2.4774753446082082E-8d, }, // 528
+      {+0.41647201776504517d,   -2.1581119071750435E-10d,}, // 529
+      {+0.4171157479286194d,    -2.260047972865202E-8d,  }, // 530
+      {+0.4177590012550354d,    +1.775884601423381E-8d,  }, // 531
+      {+0.41840189695358276d,   +2.185301053838889E-9d,  }, // 532
+      {+0.4190443754196167d,    -9.185071463667081E-9d,  }, // 533
+      {+0.4196864366531372d,    -1.5821896727910552E-8d, }, // 534
+      {+0.4203280806541443d,    -1.719582086188318E-8d,  }, // 535
+      {+0.42096930742263794d,   -1.2778508303324259E-8d, }, // 536
+      {+0.42161011695861816d,   -2.042639194493364E-9d,  }, // 537
+      {+0.42225050926208496d,   +1.5538093219698803E-8d, }, // 538
+      {+0.4228905439376831d,    -1.9115659590156936E-8d, }, // 539
+      {+0.42353010177612305d,   +1.3729680248843432E-8d, }, // 540
+      {+0.42416930198669434d,   -4.611893838830296E-9d,  }, // 541
+      {+0.4248080849647522d,    -1.4013456880651706E-8d, }, // 542
+      {+0.42544645071029663d,   -1.3953728897042917E-8d, }, // 543
+      {+0.42608439922332764d,   -3.912427573594197E-9d,  }, // 544
+      {+0.4267219305038452d,    +1.6629734283189315E-8d, }, // 545
+      {+0.42735910415649414d,   -1.1413593493354881E-8d, }, // 546
+      {+0.42799586057662964d,   -2.792046157580119E-8d,  }, // 547
+      {+0.42863214015960693d,   +2.723009182661306E-8d,  }, // 548
+      {+0.42926812171936035d,   -2.4260535621557444E-8d, }, // 549
+      {+0.42990362644195557d,   -3.064060124024764E-9d,  }, // 550
+      {+0.43053877353668213d,   -2.787640178598121E-8d,  }, // 551
+      {+0.4311734437942505d,    +2.102412085257792E-8d,  }, // 552
+      {+0.4318077564239502d,    +2.4939635093999683E-8d, }, // 553
+      {+0.43244171142578125d,   -1.5619414792273914E-8d, }, // 554
+      {+0.4330751895904541d,    +1.9065734894871523E-8d, }, // 555
+      {+0.4337083101272583d,    +1.0294301092654604E-8d, }, // 556
+      {+0.4343410134315491d,    +1.8178469851136E-8d,    }, // 557
+      {+0.4349733591079712d,    -1.6379825102473853E-8d, }, // 558
+      {+0.4356052279472351d,    +2.6334323946685834E-8d, }, // 559
+      {+0.43623673915863037d,   +2.761628769925529E-8d,  }, // 560
+      {+0.436867892742157d,     -1.2030229087793677E-8d, }, // 561
+      {+0.4374985694885254d,    +2.7106814809424793E-8d, }, // 562
+      {+0.43812888860702515d,   +2.631993083235205E-8d,  }, // 563
+      {+0.43875885009765625d,   -1.3890028312254422E-8d, }, // 564
+      {+0.43938833475112915d,   +2.6186133735555794E-8d, }, // 565
+      {+0.4400174617767334d,    +2.783809071694788E-8d,  }, // 566
+      {+0.440646231174469d,     -8.436135220472006E-9d,  }, // 567
+      {+0.44127458333969116d,   -2.2534815932619883E-8d, }, // 568
+      {+0.4419025182723999d,    -1.3961804471714283E-8d, }, // 569
+      {+0.4425300359725952d,    +1.7778112039716255E-8d, }, // 570
+      {+0.4431571960449219d,    +1.3574569976673652E-8d, }, // 571
+      {+0.4437839984893799d,    -2.607907890164073E-8d,  }, // 572
+      {+0.4444103240966797d,    +1.8518879652136628E-8d, }, // 573
+      {+0.44503629207611084d,   +2.865065604247164E-8d,  }, // 574
+      {+0.44566190242767334d,   +4.806827797299427E-9d,  }, // 575
+      {+0.4462870955467224d,    +7.0816970994232115E-9d, }, // 576
+      {+0.44691193103790283d,   -2.3640641240074437E-8d, }, // 577
+      {+0.4475363492965698d,    -2.7267718387865538E-8d, }, // 578
+      {+0.4481603503227234d,    -3.3126235292976077E-9d, }, // 579
+      {+0.4487839937210083d,    -1.0894001590268427E-8d, }, // 580
+      {+0.4494072198867798d,    +1.0077883359971829E-8d, }, // 581
+      {+0.4500300884246826d,    +4.825712712114668E-10d, }, // 582
+      {+0.450652539730072d,     +2.0407987470746858E-8d, }, // 583
+      {+0.4512746334075928d,    +1.073186581170719E-8d,  }, // 584
+      {+0.4518963694572449d,    -2.8064314757880205E-8d, }, // 585
+      {+0.45251762866973877d,   +2.3709316816226527E-8d, }, // 586
+      {+0.4531385898590088d,    -1.2281487504266522E-8d, }, // 587
+      {+0.4537591338157654d,    -1.634864487421458E-8d,  }, // 588
+      {+0.45437926054000854d,   +1.1985747222409522E-8d, }, // 589
+      {+0.45499902963638306d,   +1.3594057956219485E-8d, }, // 590
+      {+0.4556184411048889d,    -1.1047585095328619E-8d, }, // 591
+      {+0.45623743534088135d,   -1.8592937532754405E-9d, }, // 592
+      {+0.4568560719490051d,    -1.797135137545755E-8d,  }, // 593
+      {+0.4574742913246155d,    +6.943684261645378E-10d, }, // 594
+      {+0.4580921530723572d,    -4.994175141684681E-9d,  }, // 595
+      {+0.45870959758758545d,   +2.5039391215625133E-8d, }, // 596
+      {+0.45932674407958984d,   -2.7943366835352838E-8d, }, // 597
+      {+0.45994341373443604d,   +1.534146910128904E-8d,  }, // 598
+      {+0.46055978536605835d,   -2.3450920230816267E-8d, }, // 599
+      {+0.46117573976516724d,   -2.4642997069960124E-8d, }, // 600
+      {+0.4617912769317627d,    +1.2232622070370946E-8d, }, // 601
+      {+0.4624064564704895d,    +2.80378133047839E-8d,   }, // 602
+      {+0.46302127838134766d,   +2.3238237048117092E-8d, }, // 603
+      {+0.46363574266433716d,   -1.7013046451109475E-9d, }, // 604
+      {+0.46424978971481323d,   +1.3287778803035383E-8d, }, // 605
+      {+0.46486347913742065d,   +9.06393426961373E-9d,   }, // 606
+      {+0.4654768109321594d,    -1.3910598647592876E-8d, }, // 607
+      {+0.46608972549438477d,   +4.430214458933614E-9d,  }, // 608
+      {+0.46670228242874146d,   +4.942270562885745E-9d,  }, // 609
+      {+0.4673144817352295d,    -1.1914734393460718E-8d, }, // 610
+      {+0.4679262638092041d,    +1.3922696570638494E-8d, }, // 611
+      {+0.46853768825531006d,   +2.3307929211781914E-8d, }, // 612
+      {+0.46914875507354736d,   +1.669813444584674E-8d,  }, // 613
+      {+0.469759464263916d,     -5.450354376430758E-9d,  }, // 614
+      {+0.47036975622177124d,   +1.6922605350647674E-8d, }, // 615
+      {+0.4709796905517578d,    +2.4667033200046904E-8d, }, // 616
+      {+0.47158926725387573d,   +1.8236762070433784E-8d, }, // 617
+      {+0.472198486328125d,     -1.915204563140137E-9d,  }, // 618
+      {+0.47280728816986084d,   +2.426795414605756E-8d,  }, // 619
+      {+0.4734157919883728d,    -2.19717006713618E-8d,   }, // 620
+      {+0.47402387857437134d,   -2.0974352165535873E-8d, }, // 621
+      {+0.47463154792785645d,   +2.770970558184228E-8d,  }, // 622
+      {+0.4752389192581177d,    +5.32006955298355E-9d,   }, // 623
+      {+0.47584593296051025d,   -2.809054633964104E-8d,  }, // 624
+      {+0.4764525294303894d,    -1.2470243596102937E-8d, }, // 625
+      {+0.4770587682723999d,    -6.977226702440138E-9d,  }, // 626
+      {+0.47766464948654175d,   -1.1165866833118273E-8d, }, // 627
+      {+0.47827017307281494d,   -2.4591344661022708E-8d, }, // 628
+      {+0.4788752794265747d,    +1.2794996377383974E-8d, }, // 629
+      {+0.4794800877571106d,    -1.7772927065973874E-8d, }, // 630
+      {+0.48008447885513306d,   +3.35657712457243E-9d,   }, // 631
+      {+0.48068851232528687d,   +1.7020465042442242E-8d, }, // 632
+      {+0.481292188167572d,     +2.365953779624783E-8d,  }, // 633
+      {+0.4818955063819885d,    +2.3713798664443718E-8d, }, // 634
+      {+0.4824984669685364d,    +1.7622455019548098E-8d, }, // 635
+      {+0.4831010699272156d,    +5.823920246566496E-9d,  }, // 636
+      {+0.4837033152580261d,    -1.1244184344361017E-8d, }, // 637
+      {+0.48430514335632324d,   +2.645961716432205E-8d,  }, // 638
+      {+0.4849066734313965d,    +1.6207809718247905E-10d,}, // 639
+      {+0.4855077862739563d,    +2.9507744508973654E-8d, }, // 640
+      {+0.48610860109329224d,   -4.278201128741098E-9d,  }, // 641
+      {+0.48670899868011475d,   +1.844722015961139E-8d,  }, // 642
+      {+0.4873090982437134d,    -2.1092372471088425E-8d, }, // 643
+      {+0.4879087805747986d,    -3.2555596107382053E-9d, }, // 644
+      {+0.48850810527801514d,   +1.2784366845429667E-8d, }, // 645
+      {+0.48910707235336304d,   +2.7457984659996047E-8d, }, // 646
+      {+0.48970574140548706d,   -1.8409546441412518E-8d, }, // 647
+      {+0.49030399322509766d,   -5.179903818099661E-9d,  }, // 648
+      {+0.4909018874168396d,    +7.97053127828682E-9d,   }, // 649
+      {+0.4914994239807129d,    +2.146925464473481E-8d,  }, // 650
+      {+0.4920966625213623d,    -2.3861648589988232E-8d, }, // 651
+      {+0.4926934838294983d,    -8.386923035320549E-9d,  }, // 652
+      {+0.4932899475097656d,    +8.713990131749256E-9d,  }, // 653
+      {+0.4938860535621643d,    +2.7865534085810115E-8d, }, // 654
+      {+0.4944818615913391d,    -1.011325138560159E-8d,  }, // 655
+      {+0.4950772523880005d,    +1.4409851026316708E-8d, }, // 656
+      {+0.495672345161438d,     -1.735227547472004E-8d,  }, // 657
+      {+0.49626702070236206d,   +1.4231078209064581E-8d, }, // 658
+      {+0.49686139822006226d,   -9.628709342929729E-9d,  }, // 659
+      {+0.4974554181098938d,    -2.8907074856577267E-8d, }, // 660
+      {+0.4980490207672119d,    +1.6419797090870802E-8d, }, // 661
+      {+0.49864232540130615d,   +7.561041519403049E-9d,  }, // 662
+      {+0.49923527240753174d,   +4.538983468118194E-9d,  }, // 663
+      {+0.49982786178588867d,   +7.770560657946324E-9d,  }, // 664
+      {+0.500420093536377d,     +1.767197002609876E-8d,  }, // 665
+      {+0.5010119676589966d,    +3.46586694799214E-8d,   }, // 666
+      {+0.5016034841537476d,    +5.914537964556077E-8d,  }, // 667
+      {+0.5021947622299194d,    -2.7663203939320167E-8d, }, // 668
+      {+0.5027855634689331d,    +1.3064749115929298E-8d, }, // 669
+      {+0.5033761262893677d,    -5.667682106730711E-8d,  }, // 670
+      {+0.503966212272644d,     +1.9424534974370594E-9d, }, // 671
+      {+0.5045560598373413d,    -4.908494602153544E-8d,  }, // 672
+      {+0.5051454305648804d,    +2.906989285008994E-8d,  }, // 673
+      {+0.5057345628738403d,    -1.602000800745108E-9d,  }, // 674
+      {+0.5063233375549316d,    -2.148245271118002E-8d,  }, // 675
+      {+0.5069117546081543d,    -3.016329994276181E-8d,  }, // 676
+      {+0.5074998140335083d,    -2.7237099632871992E-8d, }, // 677
+      {+0.5080875158309937d,    -1.2297127301923986E-8d, }, // 678
+      {+0.5086748600006104d,    +1.5062624834468093E-8d, }, // 679
+      {+0.5092618465423584d,    +5.524744954836658E-8d,  }, // 680
+      {+0.5098485946655273d,    -1.054736327333046E-8d,  }, // 681
+      {+0.5104348659515381d,    +5.650063324725722E-8d,  }, // 682
+      {+0.5110208988189697d,    +1.8376017791642605E-8d, }, // 683
+      {+0.5116065740585327d,    -5.309470636324855E-9d,  }, // 684
+      {+0.512191891670227d,     -1.4154089255217218E-8d, }, // 685
+      {+0.5127768516540527d,    -7.756800301729815E-9d,  }, // 686
+      {+0.5133614540100098d,    +1.4282730618002001E-8d, }, // 687
+      {+0.5139456987380981d,    +5.2364136172269755E-8d, }, // 688
+      {+0.5145297050476074d,    -1.2322940607922115E-8d, }, // 689
+      {+0.5151132345199585d,    +5.903831350855322E-8d,  }, // 690
+      {+0.5156965255737305d,    +2.8426856726994483E-8d, }, // 691
+      {+0.5162794589996338d,    +1.544882070711032E-8d,  }, // 692
+      {+0.5168620347976685d,    +2.0500353979930155E-8d, }, // 693
+      {+0.5174442529678345d,    +4.397691311390564E-8d,  }, // 694
+      {+0.5180262327194214d,    -3.2936025225250634E-8d, }, // 695
+      {+0.5186077356338501d,    +2.857419553449673E-8d,  }, // 696
+      {+0.5191890001296997d,    -9.51761338269325E-9d,   }, // 697
+      {+0.5197699069976807d,    -2.7609457648450225E-8d, }, // 698
+      {+0.520350456237793d,     -2.5309316441333305E-8d, }, // 699
+      {+0.5209306478500366d,    -2.2258513086839407E-9d, }, // 700
+      {+0.5215104818344116d,    +4.203159541613745E-8d,  }, // 701
+      {+0.5220900774002075d,    -1.1356287358852729E-8d, }, // 702
+      {+0.5226693153381348d,    -4.279090925831093E-8d,  }, // 703
+      {+0.5232481956481934d,    -5.188364552285819E-8d,  }, // 704
+      {+0.5238267183303833d,    -3.82465458937857E-8d,   }, // 705
+      {+0.5244048833847046d,    -1.4923330530645769E-9d, }, // 706
+      {+0.5249826908111572d,    +5.8765598932137004E-8d, }, // 707
+      {+0.5255602598190308d,    +2.3703896609663678E-8d, }, // 708
+      {+0.5261374711990356d,    +1.2917117341231647E-8d, }, // 709
+      {+0.5267143249511719d,    +2.6789862192139226E-8d, }, // 710
+      {+0.527290940284729d,     -5.350322253112414E-8d,  }, // 711
+      {+0.5278670787811279d,    +1.0839714455426386E-8d, }, // 712
+      {+0.5284429788589478d,    -1.821729591343314E-8d,  }, // 713
+      {+0.5290185213088989d,    -2.1083014672301448E-8d, }, // 714
+      {+0.5295937061309814d,    +2.623848491704216E-9d,  }, // 715
+      {+0.5301685333251953d,    +5.328392630534142E-8d,  }, // 716
+      {+0.5307431221008301d,    +1.206790586971942E-8d,  }, // 717
+      {+0.5313173532485962d,    -1.4356011804377797E-9d, }, // 718
+      {+0.5318912267684937d,    +1.3152074173459994E-8d, }, // 719
+      {+0.5324647426605225d,    +5.6208949382936426E-8d, }, // 720
+      {+0.5330380201339722d,    +8.90310227565917E-9d,   }, // 721
+      {+0.5336109399795532d,    -9.179458802504127E-9d,  }, // 722
+      {+0.5341835021972656d,    +2.337337845617735E-9d,  }, // 723
+      {+0.5347557067871094d,    +4.3828918300477925E-8d, }, // 724
+      {+0.535327672958374d,     -3.5392250480081715E-9d, }, // 725
+      {+0.53589928150177d,      -2.0183663375378704E-8d, }, // 726
+      {+0.5364705324172974d,    -5.730898606435436E-9d,  }, // 727
+      {+0.537041425704956d,     +4.0191927599879235E-8d, }, // 728
+      {+0.5376120805740356d,    -1.2522542401353875E-9d, }, // 729
+      {+0.5381823778152466d,    -1.0482571326594316E-8d, }, // 730
+      {+0.5387523174285889d,    +1.2871924223480165E-8d, }, // 731
+      {+0.539322018623352d,     -5.002774317612589E-8d,  }, // 732
+      {+0.539891242980957d,     +3.960668706590162E-8d,  }, // 733
+      {+0.5404602289199829d,    +4.372568630242375E-8d,  }, // 734
+      {+0.5410289764404297d,    -3.730232461206926E-8d,  }, // 735
+      {+0.5415972471237183d,    +3.5309026109857795E-8d, }, // 736
+      {+0.5421652793884277d,    +2.3508325311148225E-8d, }, // 737
+      {+0.5427329540252686d,    +4.6871403168921666E-8d, }, // 738
+      {+0.5433003902435303d,    -1.3445113140270216E-8d, }, // 739
+      {+0.5438674688339233d,    -3.786663982218041E-8d,  }, // 740
+      {+0.5444341897964478d,    -2.602850370608209E-8d,  }, // 741
+      {+0.5450005531311035d,    +2.2433348713144506E-8d, }, // 742
+      {+0.5455666780471802d,    -1.1326936872620137E-8d, }, // 743
+      {+0.5461324453353882d,    -7.737252533211342E-9d,  }, // 744
+      {+0.5466978549957275d,    +3.3564604642699844E-8d, }, // 745
+      {+0.5472630262374878d,    -6.269066061111782E-9d,  }, // 746
+      {+0.5478278398513794d,    -7.667998948729528E-9d,  }, // 747
+      {+0.5483922958374023d,    +2.9728170818998143E-8d, }, // 748
+      {+0.5489565134048462d,    -1.2930091396008281E-8d, }, // 749
+      {+0.5495203733444214d,    -1.607434968107079E-8d,  }, // 750
+      {+0.5500838756561279d,    +2.0653935146671156E-8d, }, // 751
+      {+0.5506471395492554d,    -2.1596593091833788E-8d, }, // 752
+      {+0.5512100458145142d,    -2.3259315921149476E-8d, }, // 753
+      {+0.5517725944519043d,    +1.6022492496522704E-8d, }, // 754
+      {+0.5523349046707153d,    -2.260433328226171E-8d,  }, // 755
+      {+0.5528968572616577d,    -1.957497997726303E-8d,  }, // 756
+      {+0.5534584522247314d,    +2.5465477111883854E-8d, }, // 757
+      {+0.5540198087692261d,    -6.33792454933092E-9d,   }, // 758
+      {+0.554580807685852d,     +4.577835263278281E-9d,  }, // 759
+      {+0.5551414489746094d,    +5.856589221771548E-8d,  }, // 760
+      {+0.5557018518447876d,    +3.6769498759522324E-8d, }, // 761
+      {+0.5562618970870972d,    +5.874989409410614E-8d,  }, // 762
+      {+0.5568217039108276d,    +5.649147309876989E-9d,  }, // 763
+      {+0.5573811531066895d,    -2.9726830960751796E-9d, }, // 764
+      {+0.5579402446746826d,    +3.323458344853057E-8d,  }, // 765
+      {+0.5584990978240967d,    -4.588749093664028E-9d,  }, // 766
+      {+0.5590575933456421d,    +3.115616594184543E-9d,  }, // 767
+      {+0.5596157312393188d,    +5.6696103838614634E-8d, }, // 768
+      {+0.5601736307144165d,    +3.7291263280048303E-8d, }, // 769
+      {+0.5607312917709351d,    -5.4751646725093355E-8d, }, // 770
+      {+0.5612884759902954d,    +1.9332630743320287E-8d, }, // 771
+      {+0.5618454217910767d,    +2.147161515775941E-8d,  }, // 772
+      {+0.5624021291732788d,    -4.7989172862560625E-8d, }, // 773
+      {+0.5629583597183228d,    +4.971378973445109E-8d,  }, // 774
+      {+0.5635144710540771d,    -4.2702997139152675E-8d, }, // 775
+      {+0.5640701055526733d,    +3.273212962622764E-8d,  }, // 776
+      {+0.5646255016326904d,    +3.79438125545842E-8d,   }, // 777
+      {+0.5651806592941284d,    -2.6725298288329835E-8d, }, // 778
+      {+0.5657354593276978d,    -4.1723833577410244E-8d, }, // 779
+      {+0.5662899017333984d,    -6.71028256490915E-9d,   }, // 780
+      {+0.56684410572052d,      -4.055299181908475E-8d,  }, // 781
+      {+0.567397952079773d,     -2.3702295314000405E-8d, }, // 782
+      {+0.5679514408111572d,    +4.4181618172507453E-8d, }, // 783
+      {+0.5685046911239624d,    +4.4228706309734985E-8d, }, // 784
+      {+0.5690577030181885d,    -2.3222346436879016E-8d, }, // 785
+      {+0.5696103572845459d,    -3.862412756175274E-8d,  }, // 786
+      {+0.5701626539230347d,    -1.6390743801589046E-9d, }, // 787
+      {+0.5707147121429443d,    -3.1139472791083883E-8d, }, // 788
+      {+0.5712664127349854d,    -7.579587391156013E-9d,  }, // 789
+      {+0.5718178749084473d,    -4.983281844744412E-8d,  }, // 790
+      {+0.5723689794540405d,    -3.835454246739619E-8d,  }, // 791
+      {+0.5729197263717651d,    +2.7190020372374008E-8d, }, // 792
+      {+0.5734702348709106d,    +2.7925807446276126E-8d, }, // 793
+      {+0.574020504951477d,     -3.5813506001861646E-8d, }, // 794
+      {+0.5745704174041748d,    -4.448550564530588E-8d,  }, // 795
+      {+0.5751199722290039d,    +2.2423840341717488E-9d, }, // 796
+      {+0.5756692886352539d,    -1.450709904687712E-8d,  }, // 797
+      {+0.5762182474136353d,    +2.4806815282282017E-8d, }, // 798
+      {+0.5767669677734375d,    +1.3057724436551892E-9d, }, // 799
+      {+0.5773153305053711d,    +3.4529452510568104E-8d, }, // 800
+      {+0.5778634548187256d,    +5.598413198183808E-9d,  }, // 801
+      {+0.5784112215042114d,    +3.405124925700107E-8d,  }, // 802
+      {+0.5789587497711182d,    +1.0074354568442952E-9d, }, // 803
+      {+0.5795059204101562d,    +2.600448597385527E-8d,  }, // 804
+      {+0.5800528526306152d,    -9.83920263200211E-9d,   }, // 805
+      {+0.5805994272232056d,    +1.3012807963586057E-8d, }, // 806
+      {+0.5811457633972168d,    -2.432215917965441E-8d,  }, // 807
+      {+0.5816917419433594d,    -2.308736892479391E-9d,  }, // 808
+      {+0.5822374820709229d,    -3.983067093146514E-8d,  }, // 809
+      {+0.5827828645706177d,    -1.735366061128156E-8d,  }, // 810
+      {+0.5833280086517334d,    -5.376251584638963E-8d,  }, // 811
+      {+0.5838727951049805d,    -2.952399778965259E-8d,  }, // 812
+      {+0.5844172239303589d,    +5.5685313670430624E-8d, }, // 813
+      {+0.5849615335464478d,    -3.6230268489088716E-8d, }, // 814
+      {+0.5855053663253784d,    +5.267948957869391E-8d,  }, // 815
+      {+0.5860490798950195d,    -3.489144132234588E-8d,  }, // 816
+      {+0.5865923166275024d,    +5.9006122320612716E-8d, }, // 817
+      {+0.5871354341506958d,    -2.2934896740542648E-8d, }, // 818
+      {+0.5876781940460205d,    -4.1975650319859075E-8d, }, // 819
+      {+0.5882205963134766d,    +2.2036094805348692E-9d, }, // 820
+      {+0.5887627601623535d,    -9.287179048539306E-9d,  }, // 821
+      {+0.5893045663833618d,    +4.3079982556221595E-8d, }, // 822
+      {+0.589846134185791d,     +4.041399585161321E-8d,  }, // 823
+      {+0.5903874635696411d,    -1.696746473863933E-8d,  }, // 824
+      {+0.5909284353256226d,    -9.53795080582038E-9d,   }, // 825
+      {+0.5914691686630249d,    -5.619010749352923E-8d,  }, // 826
+      {+0.5920095443725586d,    -3.7398514182529506E-8d, }, // 827
+      {+0.5925495624542236d,    +4.71524479659295E-8d,   }, // 828
+      {+0.5930894613265991d,    -4.0640692434639215E-8d, }, // 829
+      {+0.5936288833618164d,    +5.716453096255401E-8d,  }, // 830
+      {+0.5941681861877441d,    -1.6745661720946737E-8d, }, // 831
+      {+0.5947071313858032d,    -2.3639110433141897E-8d, }, // 832
+      {+0.5952457189559937d,    +3.67972590471072E-8d,   }, // 833
+      {+0.595784068107605d,     +4.566672575206695E-8d,  }, // 834
+      {+0.5963221788406372d,    +3.2813537149653483E-9d, }, // 835
+      {+0.5968599319458008d,    +2.916199305533732E-8d,  }, // 836
+      {+0.5973974466323853d,    +4.410412409109416E-9d,  }, // 837
+      {+0.5979346036911011d,    +4.85464582112459E-8d,   }, // 838
+      {+0.5984715223312378d,    +4.267089756924666E-8d,  }, // 839
+      {+0.5990082025527954d,    -1.2906712010774655E-8d, }, // 840
+      {+0.5995445251464844d,    +1.3319784467641742E-9d, }, // 841
+      {+0.6000806093215942d,    -3.35137581974451E-8d,   }, // 842
+      {+0.6006163358688354d,    +2.0734340706476473E-9d, }, // 843
+      {+0.6011518239974976d,    -1.0808162722402073E-8d, }, // 844
+      {+0.601686954498291d,     +4.735781872502109E-8d,  }, // 845
+      {+0.6022218465805054d,    +5.76686738430634E-8d,   }, // 846
+      {+0.6027565002441406d,    +2.043049589651736E-8d,  }, // 847
+      {+0.6032907962799072d,    +5.515817703577808E-8d,  }, // 848
+      {+0.6038248538970947d,    +4.2947540692649586E-8d, }, // 849
+      {+0.6043586730957031d,    -1.589678872195875E-8d,  }, // 850
+      {+0.6048921346664429d,    -1.8613847754677912E-9d, }, // 851
+      {+0.6054253578186035d,    -3.3851886626187444E-8d, }, // 852
+      {+0.6059582233428955d,    +7.64416021682279E-9d,   }, // 853
+      {+0.6064908504486084d,    +3.7201467248814224E-9d, }, // 854
+      {+0.6070232391357422d,    -4.532172996647129E-8d,  }, // 855
+      {+0.6075552701950073d,    -1.997046552871766E-8d,  }, // 856
+      {+0.6080870628356934d,    -3.913411606668587E-8d,  }, // 857
+      {+0.6086184978485107d,    +1.6697361107868944E-8d, }, // 858
+      {+0.609149694442749d,     +2.8614950293715483E-8d, }, // 859
+      {+0.6096806526184082d,    -3.081552929643174E-9d,  }, // 860
+      {+0.6102112531661987d,    +4.111645931319645E-8d,  }, // 861
+      {+0.6107416152954102d,    +4.2298539553668435E-8d, }, // 862
+      {+0.6112717390060425d,    +7.630546413718035E-10d, }, // 863
+      {+0.6118015050888062d,    +3.601718675118614E-8d,  }, // 864
+      {+0.6123310327529907d,    +2.914906573537692E-8d,  }, // 865
+      {+0.6128603219985962d,    -1.9544361222269494E-8d, }, // 866
+      {+0.613389253616333d,     +9.442671392695732E-9d,  }, // 867
+      {+0.6139179468154907d,    -2.8031202304593286E-9d, }, // 868
+      {+0.6144464015960693d,    -5.598619958143586E-8d,  }, // 869
+      {+0.6149744987487793d,    -3.060220883766096E-8d,  }, // 870
+      {+0.6155023574829102d,    -4.556583652800433E-8d,  }, // 871
+      {+0.6160298585891724d,    +1.8626341656366314E-8d, }, // 872
+      {+0.6165571212768555d,    +4.305870564227991E-8d,  }, // 873
+      {+0.6170841455459595d,    +2.8024460607734262E-8d, }, // 874
+      {+0.6176109313964844d,    -2.6183651590639875E-8d, }, // 875
+      {+0.6181373596191406d,    -6.406189112730307E-11d, }, // 876
+      {+0.6186635494232178d,    -1.2534241706168776E-8d, }, // 877
+      {+0.6191893815994263d,    +5.5906456251308664E-8d, }, // 878
+      {+0.6197150945663452d,    -3.286964881802063E-8d,  }, // 879
+      {+0.6202404499053955d,    -4.0153537978961E-8d,    }, // 880
+      {+0.6207654476165771d,    +3.434477109643361E-8d,  }, // 881
+      {+0.6212903261184692d,    -4.750377491075032E-8d,  }, // 882
+      {+0.6218148469924927d,    -4.699152670372743E-8d,  }, // 883
+      {+0.6223390102386475d,    +3.617013128065961E-8d,  }, // 884
+      {+0.6228630542755127d,    -3.6149218175202596E-8d, }, // 885
+      {+0.6233867406845093d,    -2.5243286814648133E-8d, }, // 886
+      {+0.6239101886749268d,    -5.003410681432538E-8d,  }, // 887
+      {+0.6244332790374756d,    +8.974417915105033E-9d,  }, // 888
+      {+0.6249561309814453d,    +3.285935446876949E-8d,  }, // 889
+      {+0.6254787445068359d,    +2.190661054038537E-8d,  }, // 890
+      {+0.6260011196136475d,    -2.3598354190515998E-8d, }, // 891
+      {+0.6265231370925903d,    +1.5838762427747586E-8d, }, // 892
+      {+0.6270449161529541d,    +2.129323729978037E-8d,  }, // 893
+      {+0.6275664567947388d,    -6.950808333865794E-9d,  }, // 894
+      {+0.6280876398086548d,    +5.059959203156465E-8d,  }, // 895
+      {+0.6286087036132812d,    -4.41909071122557E-8d,   }, // 896
+      {+0.6291294097900391d,    -5.262093550784066E-8d,  }, // 897
+      {+0.6296497583389282d,    +2.559185648444699E-8d,  }, // 898
+      {+0.6301699876785278d,    -4.768920119497491E-8d,  }, // 899
+      {+0.6306898593902588d,    -3.376406008397877E-8d,  }, // 900
+      {+0.6312094926834106d,    -5.156097914033476E-8d,  }, // 901
+      {+0.6317287683486938d,    +1.840992392368355E-8d,  }, // 902
+      {+0.632247805595398d,     +5.721951534729663E-8d,  }, // 903
+      {+0.6327667236328125d,    -5.406177467045421E-8d,  }, // 904
+      {+0.6332851648330688d,    +4.247320713683124E-8d,  }, // 905
+      {+0.6338034868240356d,    -1.0524557502830645E-8d, }, // 906
+      {+0.6343214511871338d,    +2.5641927558519502E-8d, }, // 907
+      {+0.6348391771316528d,    +3.204135737993823E-8d,  }, // 908
+      {+0.6353566646575928d,    +8.951285029786536E-9d,  }, // 909
+      {+0.6358739137649536d,    -4.335116707228395E-8d,  }, // 910
+      {+0.6363908052444458d,    -5.380016714089483E-9d,  }, // 911
+      {+0.6369074583053589d,    +3.931710344901743E-9d,  }, // 912
+      {+0.6374238729476929d,    -1.5140150088220166E-8d, }, // 913
+      {+0.6379399299621582d,    +5.688910024377372E-8d,  }, // 914
+      {+0.638455867767334d,     -1.8124135273572568E-8d, }, // 915
+      {+0.6389714479446411d,    -1.486720391901626E-9d,  }, // 916
+      {+0.6394867897033691d,    -1.2133811978747018E-8d, }, // 917
+      {+0.6400018930435181d,    -4.9791700939901716E-8d, }, // 918
+      {+0.6405166387557983d,    +5.022188652837274E-9d,  }, // 919
+      {+0.6410311460494995d,    +3.337143177933685E-8d,  }, // 920
+      {+0.6415454149246216d,    +3.55284719912458E-8d,   }, // 921
+      {+0.6420594453811646d,    +1.1765332726757802E-8d, }, // 922
+      {+0.6425732374191284d,    -3.7646381826067834E-8d, }, // 923
+      {+0.6430866718292236d,    +6.773803682579552E-9d,  }, // 924
+      {+0.6435998678207397d,    +2.608736797081283E-8d,  }, // 925
+      {+0.6441128253936768d,    +2.056466263408266E-8d,  }, // 926
+      {+0.6446255445480347d,    -9.524376551107945E-9d,  }, // 927
+      {+0.6451379060745239d,    +5.5299060775883977E-8d, }, // 928
+      {+0.6456501483917236d,    -2.3114497793159813E-8d, }, // 929
+      {+0.6461620330810547d,    -6.077779731902102E-9d,  }, // 930
+      {+0.6466736793518066d,    -1.2531793589140273E-8d, }, // 931
+      {+0.6471850872039795d,    -4.220866994206517E-8d,  }, // 932
+      {+0.6476961374282837d,    +2.4368339445199057E-8d, }, // 933
+      {+0.6482070684432983d,    -5.095229574221907E-8d,  }, // 934
+      {+0.6487176418304443d,    -2.9485356677301627E-8d, }, // 935
+      {+0.6492279767990112d,    -3.0173901411577916E-8d, }, // 936
+      {+0.649738073348999d,     -5.275210583909726E-8d,  }, // 937
+      {+0.6502478122711182d,    +2.2254737134350224E-8d, }, // 938
+      {+0.6507574319839478d,    -4.330693978322885E-8d,  }, // 939
+      {+0.6512666940689087d,    -1.0753950588009912E-8d, }, // 940
+      {+0.6517757177352905d,    +9.686179886293545E-10d, }, // 941
+      {+0.6522845029830933d,    -7.875434494414498E-9d,  }, // 942
+      {+0.6527930498123169d,    -3.702271091849158E-8d,  }, // 943
+      {+0.6533012390136719d,    +3.2999073763758614E-8d, }, // 944
+      {+0.6538093090057373d,    -3.5966064858620067E-8d, }, // 945
+      {+0.6543170213699341d,    -5.23735298540578E-9d,   }, // 946
+      {+0.6548244953155518d,    +6.237715351293023E-9d,  }, // 947
+      {+0.6553317308425903d,    -1.279462699936282E-9d,  }, // 948
+      {+0.6558387279510498d,    -2.7527887552743672E-8d, }, // 949
+      {+0.6563453674316406d,    +4.696233317356646E-8d,  }, // 950
+      {+0.6568518877029419d,    -1.5967172745329108E-8d, }, // 951
+      {+0.6573580503463745d,    +2.2361985518423144E-8d, }, // 952
+      {+0.657863974571228d,     +4.2999935789083046E-8d, }, // 953
+      {+0.6583696603775024d,    +4.620570188811826E-8d,  }, // 954
+      {+0.6588751077651978d,    +3.223791487908353E-8d,  }, // 955
+      {+0.659380316734314d,     +1.3548138612715822E-9d, }, // 956
+      {+0.6598852872848511d,    -4.618575323863973E-8d,  }, // 957
+      {+0.6603899002075195d,    +9.082960673843353E-9d,  }, // 958
+      {+0.6608942747116089d,    +4.820873399634487E-8d,  }, // 959
+      {+0.6613985300064087d,    -4.776104368314602E-8d,  }, // 960
+      {+0.6619024276733398d,    -4.0151502150238136E-8d, }, // 961
+      {+0.6624060869216919d,    -4.791602708710648E-8d,  }, // 962
+      {+0.6629093885421753d,    +4.8410188461165925E-8d, }, // 963
+      {+0.6634125709533691d,    +1.0663697110471944E-8d, }, // 964
+      {+0.6639155149459839d,    -4.1691464781797555E-8d, }, // 965
+      {+0.66441810131073d,      +1.080835500478704E-8d,  }, // 966
+      {+0.664920449256897d,     +4.920784622407246E-8d,  }, // 967
+      {+0.6654226779937744d,    -4.544868396511241E-8d,  }, // 968
+      {+0.6659245491027832d,    -3.448944157854234E-8d,  }, // 969
+      {+0.6664261817932129d,    -3.6870882345139385E-8d, }, // 970
+      {+0.6669275760650635d,    -5.234055273962444E-8d,  }, // 971
+      {+0.6674286127090454d,    +3.856291077979099E-8d,  }, // 972
+      {+0.6679295301437378d,    -2.327375671320742E-9d,  }, // 973
+      {+0.6684302091598511d,    -5.555080534042001E-8d,  }, // 974
+      {+0.6689305305480957d,    -1.6471487337453832E-9d, }, // 975
+      {+0.6694306135177612d,    +4.042486803683015E-8d,  }, // 976
+      {+0.6699305772781372d,    -4.8293856891818295E-8d, }, // 977
+      {+0.6704301834106445d,    -2.9134931730784303E-8d, }, // 978
+      {+0.6709295511245728d,    -2.1058207594753368E-8d, }, // 979
+      {+0.6714286804199219d,    -2.3814619551682855E-8d, }, // 980
+      {+0.6719275712966919d,    -3.7155475428252136E-8d, }, // 981
+      {+0.6724261045455933d,    +5.8376834484391746E-8d, }, // 982
+      {+0.6729245185852051d,    +2.4611679969129262E-8d, }, // 983
+      {+0.6734226942062378d,    -1.899407107267079E-8d,  }, // 984
+      {+0.6739205121994019d,    +4.7016079464436395E-8d, }, // 985
+      {+0.6744182109832764d,    -1.5529608026276525E-8d, }, // 986
+      {+0.6749155521392822d,    +3.203391672602453E-8d,  }, // 987
+      {+0.6754127740859985d,    -4.8465821804075345E-8d, }, // 988
+      {+0.6759096384048462d,    -1.8364507801369988E-8d, }, // 989
+      {+0.6764062643051147d,    +3.3739397633046517E-9d, }, // 990
+      {+0.6769026517868042d,    +1.6994526063192333E-8d, }, // 991
+      {+0.6773988008499146d,    +2.2741891590028428E-8d, }, // 992
+      {+0.6778947114944458d,    +2.0860312877435047E-8d, }, // 993
+      {+0.678390383720398d,     +1.1593703222523284E-8d, }, // 994
+      {+0.678885817527771d,     -4.814386594291911E-9d,  }, // 995
+      {+0.6793810129165649d,    -2.812076759125914E-8d,  }, // 996
+      {+0.6798759698867798d,    -5.808261186903479E-8d,  }, // 997
+      {+0.680370569229126d,     +2.4751837654582522E-8d, }, // 998
+      {+0.6808650493621826d,    -1.7793890245755405E-8d, }, // 999
+      {+0.6813591718673706d,    +5.294053246347931E-8d,  }, // 1000
+      {+0.681853175163269d,     -1.2220826223585654E-9d, }, // 1001
+      {+0.6823468208312988d,    +5.8377876767612725E-8d, }, // 1002
+      {+0.6828403472900391d,    -6.437492120743254E-9d,  }, // 1003
+      {+0.6833335161209106d,    +4.2990710043633113E-8d, }, // 1004
+      {+0.6838265657424927d,    -3.1516131027023284E-8d, }, // 1005
+      {+0.684319257736206d,     +8.70017386744679E-9d,   }, // 1006
+      {+0.6848117113113403d,    +4.466959125843237E-8d,  }, // 1007
+      {+0.6853040456771851d,    -4.25782656420497E-8d,   }, // 1008
+      {+0.6857960224151611d,    -1.4386267593671393E-8d, }, // 1009
+      {+0.6862877607345581d,    +1.0274494061148778E-8d, }, // 1010
+      {+0.686779260635376d,     +3.164186629229597E-8d,  }, // 1011
+      {+0.6872705221176147d,    +4.995334552140326E-8d,  }, // 1012
+      {+0.687761664390564d,     -5.3763211240398744E-8d, }, // 1013
+      {+0.6882524490356445d,    -4.0852427502515625E-8d, }, // 1014
+      {+0.688742995262146d,     -3.0287143914420064E-8d, }, // 1015
+      {+0.6892333030700684d,    -2.183125937905008E-8d,  }, // 1016
+      {+0.6897233724594116d,    -1.524901992178814E-8d,  }, // 1017
+      {+0.6902132034301758d,    -1.0305018010328949E-8d, }, // 1018
+      {+0.6907027959823608d,    -6.764191876212205E-9d,  }, // 1019
+      {+0.6911921501159668d,    -4.391824838015402E-9d,  }, // 1020
+      {+0.6916812658309937d,    -2.9535446262017846E-9d, }, // 1021
+      {+0.6921701431274414d,    -2.2153227096187463E-9d, }, // 1022
+      {+0.6926587820053101d,    -1.943473623641502E-9d,  }, // 1023
+    };
+
+
+    /**
+     * Class contains only static methods.
+     */
+    private FastMathLiteralArrays() {}
+
+    /**
+     * Load "EXP_INT_A".
+     *
+     * @return a clone of the data array.
+     */
+    static double[] loadExpIntA() {
+        return EXP_INT_A.clone();
+    }
+    /**
+     * Load "EXP_INT_B".
+     *
+     * @return a clone of the data array.
+     */
+    static double[] loadExpIntB() {
+        return EXP_INT_B.clone();
+    }
+    /**
+     * Load "EXP_FRAC_A".
+     *
+     * @return a clone of the data array.
+     */
+    static double[] loadExpFracA() {
+        return EXP_FRAC_A.clone();
+    }
+    /**
+     * Load "EXP_FRAC_B".
+     *
+     * @return a clone of the data array.
+     */
+    static double[] loadExpFracB() {
+        return EXP_FRAC_B.clone();
+    }
+    /**
+     * Load "LN_MANT".
+     *
+     * @return a clone of the data array.
+     */
+    static double[][] loadLnMant() {
+        return LN_MANT.clone();
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/Incrementor.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/Incrementor.java
new file mode 100644
index 0000000000..63ea7f9dee
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/Incrementor.java
@@ -0,0 +1,174 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.util;
+
+import org.apache.commons.math3.exception.MaxCountExceededException;
+
+/**
+ * Utility that increments a counter until a maximum is reached, at
+ * which point, the instance will by default throw a
+ * {@link MaxCountExceededException}.
+ * However, the user is able to override this behaviour by defining a
+ * custom {@link MaxCountExceededCallback callback}, in order to e.g.
+ * select which exception must be thrown.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Incrementor {
+    /**
+     * Upper limit for the counter.
+     */
+    private int maximalCount;
+    /**
+     * Current count.
+     */
+    private int count = 0;
+    /**
+     * Function called at counter exhaustion.
+     */
+    private final MaxCountExceededCallback maxCountCallback;
+
+    /**
+     * Default constructor.
+     * For the new instance to be useful, the maximal count must be set
+     * by calling {@link #setMaximalCount(int) setMaximalCount}.
+     */
+    public Incrementor() {
+        this(0);
+    }
+
+    /**
+     * Defines a maximal count.
+     *
+     * @param max Maximal count.
+     */
+    public Incrementor(int max) {
+        this(max,
+             new MaxCountExceededCallback() {
+                 /** {@inheritDoc} */
+                 public void trigger(int max) {
+                     throw new MaxCountExceededException(max);
+                 }
+             });
+    }
+
+    /**
+     * Defines a maximal count and a callback method to be triggered at
+     * counter exhaustion.
+     *
+     * @param max Maximal count.
+     * @param cb Function to be called when the maximal count has been reached.
+     */
+    public Incrementor(int max,
+                       MaxCountExceededCallback cb) {
+        maximalCount = max;
+        maxCountCallback = cb;
+    }
+
+    /**
+     * Sets the upper limit for the counter.
+     * This does not automatically reset the current count to zero (see
+     * {@link #resetCount()}).
+     *
+     * @param max Upper limit of the counter.
+     */
+    public void setMaximalCount(int max) {
+        maximalCount = max;
+    }
+
+    /**
+     * Gets the upper limit of the counter.
+     *
+     * @return the counter upper limit.
+     */
+    public int getMaximalCount() {
+        return maximalCount;
+    }
+
+    /**
+     * Gets the current count.
+     *
+     * @return the current count.
+     */
+    public int getCount() {
+        return count;
+    }
+
+    /**
+     * Checks whether a single increment is allowed.
+     *
+     * @return {@code false} if the next call to {@link #incrementCount(int)
+     * incrementCount} will trigger a {@code MaxCountExceededException},
+     * {@code true} otherwise.
+     */
+    public boolean canIncrement() {
+        return count < maximalCount;
+    }
+
+    /**
+     * Performs multiple increments.
+     * See the other {@link #incrementCount() incrementCount} method).
+     *
+     * @param value Number of increments.
+     * @throws MaxCountExceededException at counter exhaustion.
+     */
+    public void incrementCount(int value) {
+        for (int i = 0; i < value; i++) {
+            incrementCount();
+        }
+    }
+
+    /**
+     * Adds one to the current iteration count.
+     * At counter exhaustion, this method will call the
+     * {@link MaxCountExceededCallback#trigger(int) trigger} method of the
+     * callback object passed to the
+     * {@link #Incrementor(int,MaxCountExceededCallback) constructor}.
+     * If not explictly set, a default callback is used that will throw
+     * a {@code MaxCountExceededException}.
+     *
+     * @throws MaxCountExceededException at counter exhaustion, unless a
+     * custom {@link MaxCountExceededCallback callback} has been set at
+     * construction.
+     */
+    public void incrementCount() {
+        if (++count > maximalCount) {
+            maxCountCallback.trigger(maximalCount);
+        }
+    }
+
+    /**
+     * Resets the counter to 0.
+     */
+    public void resetCount() {
+        count = 0;
+    }
+
+    /**
+     * Defines a method to be called at counter exhaustion.
+     * The {@link #trigger(int) trigger} method should usually throw an exception.
+     */
+    public interface MaxCountExceededCallback {
+        /**
+         * Function called when the maximal count has been reached.
+         *
+         * @param maximalCount Maximal count.
+         */
+        void trigger(int maximalCount);
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/IterationEvent.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/IterationEvent.java
new file mode 100644
index 0000000000..76532204e4
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/IterationEvent.java
@@ -0,0 +1,56 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.util;
+
+import java.util.EventObject;
+
+/**
+ * The root class from which all events occurring while running an
+ * {@link IterationManager} should be derived.
+ *
+ * @version $Id: IterationEvent.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public class IterationEvent extends EventObject {
+    /** */
+    private static final long serialVersionUID = 20120128L;
+
+    /** The number of iterations performed so far. */
+    private final int iterations;
+
+    /**
+     * Creates a new instance of this class.
+     *
+     * @param source the iterative algorithm on which the event initially
+     * occurred
+     * @param iterations the number of iterations performed at the time
+     * {@code this} event is created
+     */
+    public IterationEvent(final Object source, final int iterations) {
+        super(source);
+        this.iterations = iterations;
+    }
+
+    /**
+     * Returns the number of iterations performed at the time {@code this} event
+     * is created.
+     *
+     * @return the number of iterations performed
+     */
+    public int getIterations() {
+        return iterations;
+    }
+ }
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/IterationListener.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/IterationListener.java
new file mode 100644
index 0000000000..da92594489
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/IterationListener.java
@@ -0,0 +1,58 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.util;
+
+import java.util.EventListener;
+
+/**
+ * The listener interface for receiving events occurring in an iterative
+ * algorithm.
+ *
+ * @version $Id: IterationListener.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public interface IterationListener extends EventListener {
+    /**
+     * Invoked after completion of the initial phase of the iterative algorithm
+     * (prior to the main iteration loop).
+     *
+     * @param e The {@link IterationEvent} object.
+     */
+    void initializationPerformed(IterationEvent e);
+
+    /**
+     * Invoked each time an iteration is completed (in the main iteration loop).
+     *
+     * @param e The {@link IterationEvent} object.
+     */
+    void iterationPerformed(IterationEvent e);
+
+    /**
+     * Invoked each time a new iteration is completed (in the main iteration
+     * loop).
+     *
+     * @param e The {@link IterationEvent} object.
+     */
+    void iterationStarted(IterationEvent e);
+
+    /**
+     * Invoked after completion of the operations which occur after breaking out
+     * of the main iteration loop.
+     *
+     * @param e The {@link IterationEvent} object.
+     */
+    void terminationPerformed(IterationEvent e);
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/IterationManager.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/IterationManager.java
new file mode 100644
index 0000000000..a88bb29bf6
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/IterationManager.java
@@ -0,0 +1,159 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.util;
+
+import java.util.Collection;
+import java.util.concurrent.CopyOnWriteArrayList;
+
+import org.apache.commons.math3.exception.MaxCountExceededException;
+
+/**
+ * This abstract class provides a general framework for managing iterative
+ * algorithms. The maximum number of iterations can be set, and methods are
+ * provided to monitor the current iteration count. A lightweight event
+ * framework is also provided.
+ *
+ * @version $Id: IterationManager.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public class IterationManager {
+
+    /** Keeps a count of the number of iterations. */
+    private final Incrementor iterations;
+
+    /** The collection of all listeners attached to this iterative algorithm. */
+    private final Collection<IterationListener> listeners;
+
+    /**
+     * Creates a new instance of this class.
+     *
+     * @param maxIterations Maximum number of iterations.
+     */
+    public IterationManager(final int maxIterations) {
+        this.iterations = new Incrementor();
+        this.iterations.setMaximalCount(maxIterations);
+        this.listeners = new CopyOnWriteArrayList<IterationListener>();
+    }
+
+    /**
+     * Attaches a listener to this manager.
+     *
+     * @param listener A {@code IterationListener} object.
+     */
+    public void addIterationListener(final IterationListener listener) {
+        listeners.add(listener);
+    }
+
+    /**
+     * Informs all registered listeners that the initial phase (prior to the
+     * main iteration loop) has been completed.
+     *
+     * @param e The {@link IterationEvent} object.
+     */
+    public void fireInitializationEvent(final IterationEvent e) {
+        for (IterationListener l : listeners) {
+            l.initializationPerformed(e);
+        }
+    }
+
+    /**
+     * Informs all registered listeners that a new iteration (in the main
+     * iteration loop) has been performed.
+     *
+     * @param e The {@link IterationEvent} object.
+     */
+    public void fireIterationPerformedEvent(final IterationEvent e) {
+        for (IterationListener l : listeners) {
+            l.iterationPerformed(e);
+        }
+    }
+
+    /**
+     * Informs all registered listeners that a new iteration (in the main
+     * iteration loop) has been started.
+     *
+     * @param e The {@link IterationEvent} object.
+     */
+    public void fireIterationStartedEvent(final IterationEvent e) {
+        for (IterationListener l : listeners) {
+            l.iterationStarted(e);
+        }
+    }
+
+    /**
+     * Informs all registered listeners that the final phase (post-iterations)
+     * has been completed.
+     *
+     * @param e The {@link IterationEvent} object.
+     */
+    public void fireTerminationEvent(final IterationEvent e) {
+        for (IterationListener l : listeners) {
+            l.terminationPerformed(e);
+        }
+    }
+
+    /**
+     * Returns the number of iterations of this solver, 0 if no iterations has
+     * been performed yet.
+     *
+     * @return the number of iterations.
+     */
+    public int getIterations() {
+        return iterations.getCount();
+    }
+
+    /**
+     * Returns the maximum number of iterations.
+     *
+     * @return the maximum number of iterations.
+     */
+    public int getMaxIterations() {
+        return iterations.getMaximalCount();
+    }
+
+    /**
+     * Increments the iteration count by one, and throws an exception if the
+     * maximum number of iterations is reached. This method should be called at
+     * the beginning of a new iteration.
+     *
+     * @throws MaxCountExceededException if the maximum number of iterations is
+     * reached.
+     */
+    public void incrementIterationCount()
+        throws MaxCountExceededException {
+        iterations.incrementCount();
+    }
+
+    /**
+     * Removes the specified iteration listener from the list of listeners
+     * currently attached to {@code this} object. Attempting to remove a
+     * listener which was <em>not</em> previously registered does not cause any
+     * error.
+     *
+     * @param listener The {@link IterationListener} to be removed.
+     */
+    public void removeIterationListener(final IterationListener listener) {
+        listeners.remove(listener);
+    }
+
+    /**
+     * Sets the iteration count to 0. This method must be called during the
+     * initial phase.
+     */
+    public void resetIterationCount() {
+        iterations.resetCount();
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/MathArrays.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/MathArrays.java
new file mode 100644
index 0000000000..bf54501303
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/MathArrays.java
@@ -0,0 +1,1084 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.util;
+
+import java.util.List;
+import java.util.ArrayList;
+import java.util.Comparator;
+import java.util.Collections;
+
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.MathInternalError;
+import org.apache.commons.math3.exception.NonMonotonicSequenceException;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.exception.MathIllegalArgumentException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+import org.apache.commons.math3.exception.MathArithmeticException;
+
+/**
+ * Arrays utilities.
+ *
+ * @since 3.0
+ * @version $Id$
+ */
+public class MathArrays {
+    /** Factor used for splitting double numbers: n = 2^27 + 1 (i.e. {@value}). */
+    private static final int SPLIT_FACTOR = 0x8000001;
+
+    /**
+     * Private constructor.
+     */
+    private MathArrays() {}
+
+    /**
+     * Calculates the L<sub>1</sub> (sum of abs) distance between two points.
+     *
+     * @param p1 the first point
+     * @param p2 the second point
+     * @return the L<sub>1</sub> distance between the two points
+     */
+    public static double distance1(double[] p1, double[] p2) {
+        double sum = 0;
+        for (int i = 0; i < p1.length; i++) {
+            sum += FastMath.abs(p1[i] - p2[i]);
+        }
+        return sum;
+    }
+
+    /**
+     * Calculates the L<sub>1</sub> (sum of abs) distance between two points.
+     *
+     * @param p1 the first point
+     * @param p2 the second point
+     * @return the L<sub>1</sub> distance between the two points
+     */
+    public static int distance1(int[] p1, int[] p2) {
+      int sum = 0;
+      for (int i = 0; i < p1.length; i++) {
+          sum += FastMath.abs(p1[i] - p2[i]);
+      }
+      return sum;
+    }
+
+    /**
+     * Calculates the L<sub>2</sub> (Euclidean) distance between two points.
+     *
+     * @param p1 the first point
+     * @param p2 the second point
+     * @return the L<sub>2</sub> distance between the two points
+     */
+    public static double distance(double[] p1, double[] p2) {
+        double sum = 0;
+        for (int i = 0; i < p1.length; i++) {
+            final double dp = p1[i] - p2[i];
+            sum += dp * dp;
+        }
+        return FastMath.sqrt(sum);
+    }
+
+    /**
+     * Calculates the L<sub>2</sub> (Euclidean) distance between two points.
+     *
+     * @param p1 the first point
+     * @param p2 the second point
+     * @return the L<sub>2</sub> distance between the two points
+     */
+    public static double distance(int[] p1, int[] p2) {
+      double sum = 0;
+      for (int i = 0; i < p1.length; i++) {
+          final double dp = p1[i] - p2[i];
+          sum += dp * dp;
+      }
+      return FastMath.sqrt(sum);
+    }
+
+    /**
+     * Calculates the L<sub>&infin;</sub> (max of abs) distance between two points.
+     *
+     * @param p1 the first point
+     * @param p2 the second point
+     * @return the L<sub>&infin;</sub> distance between the two points
+     */
+    public static double distanceInf(double[] p1, double[] p2) {
+        double max = 0;
+        for (int i = 0; i < p1.length; i++) {
+            max = FastMath.max(max, FastMath.abs(p1[i] - p2[i]));
+        }
+        return max;
+    }
+
+    /**
+     * Calculates the L<sub>&infin;</sub> (max of abs) distance between two points.
+     *
+     * @param p1 the first point
+     * @param p2 the second point
+     * @return the L<sub>&infin;</sub> distance between the two points
+     */
+    public static int distanceInf(int[] p1, int[] p2) {
+        int max = 0;
+        for (int i = 0; i < p1.length; i++) {
+            max = FastMath.max(max, FastMath.abs(p1[i] - p2[i]));
+        }
+        return max;
+    }
+
+    /**
+     * Specification of ordering direction.
+     */
+    public static enum OrderDirection {
+        /** Constant for increasing direction. */
+        INCREASING,
+        /** Constant for decreasing direction. */
+        DECREASING
+    }
+
+    /**
+     * Check that an array is monotonically increasing or decreasing.
+     *
+     * @param val Values.
+     * @param dir Ordering direction.
+     * @param strict Whether the order should be strict.
+     * @return {@code true} if sorted, {@code false} otherwise.
+     */
+    public static boolean isMonotonic(Comparable[] val,
+                                      OrderDirection dir,
+                                      boolean strict) {
+        Comparable previous = val[0];
+        final int max = val.length;
+        for (int i = 1; i < max; i++) {
+            final int comp;
+            switch (dir) {
+            case INCREASING:
+                comp = previous.compareTo(val[i]);
+                if (strict) {
+                    if (comp >= 0) {
+                        return false;
+                    }
+                } else {
+                    if (comp > 0) {
+                        return false;
+                    }
+                }
+                break;
+            case DECREASING:
+                comp = val[i].compareTo(previous);
+                if (strict) {
+                    if (comp >= 0) {
+                        return false;
+                    }
+                } else {
+                    if (comp > 0) {
+                       return false;
+                    }
+                }
+                break;
+            default:
+                // Should never happen.
+                throw new MathInternalError();
+            }
+
+            previous = val[i];
+        }
+        return true;
+    }
+
+    /**
+     * Check that an array is monotonically increasing or decreasing.
+     *
+     * @param val Values.
+     * @param dir Ordering direction.
+     * @param strict Whether the order should be strict.
+     * @return {@code true} if sorted, {@code false} otherwise.
+     */
+    public static boolean isMonotonic(double[] val,
+                                      OrderDirection dir,
+                                      boolean strict) {
+        return checkOrder(val, dir, strict, false);
+    }
+
+    /**
+     * Check that the given array is sorted.
+     *
+     * @param val Values.
+     * @param dir Ordering direction.
+     * @param strict Whether the order should be strict.
+     * @param abort Whether to throw an exception if the check fails.
+     * @return {@code true} if the array is sorted.
+     * @throws NonMonotonicSequenceException if the array is not sorted
+     * and {@code abort} is {@code true}.
+     */
+    public static boolean checkOrder(double[] val, OrderDirection dir,
+                                     boolean strict, boolean abort) {
+        double previous = val[0];
+        final int max = val.length;
+
+        int index;
+        ITEM:
+        for (index = 1; index < max; index++) {
+            switch (dir) {
+            case INCREASING:
+                if (strict) {
+                    if (val[index] <= previous) {
+                        break ITEM;
+                    }
+                } else {
+                    if (val[index] < previous) {
+                        break ITEM;
+                    }
+                }
+                break;
+            case DECREASING:
+                if (strict) {
+                    if (val[index] >= previous) {
+                        break ITEM;
+                    }
+                } else {
+                    if (val[index] > previous) {
+                        break ITEM;
+                    }
+                }
+                break;
+            default:
+                // Should never happen.
+                throw new MathInternalError();
+            }
+
+            previous = val[index];
+        }
+
+        if (index == max) {
+            // Loop completed.
+            return true;
+        }
+
+        // Loop early exit means wrong ordering.
+        if (abort) {
+            throw new NonMonotonicSequenceException(val[index], previous, index, dir, strict);
+        } else {
+            return false;
+        }
+    }
+
+    /**
+     * Check that the given array is sorted.
+     *
+     * @param val Values.
+     * @param dir Ordering direction.
+     * @param strict Whether the order should be strict.
+     * @throws NonMonotonicSequenceException if the array is not sorted.
+     * @since 2.2
+     */
+    public static void checkOrder(double[] val, OrderDirection dir,
+                                  boolean strict) {
+        checkOrder(val, dir, strict, true);
+    }
+
+    /**
+     * Check that the given array is sorted in strictly increasing order.
+     *
+     * @param val Values.
+     * @throws NonMonotonicSequenceException if the array is not sorted.
+     * @since 2.2
+     */
+    public static void checkOrder(double[] val) {
+        checkOrder(val, OrderDirection.INCREASING, true);
+    }
+
+    /**
+     * Returns the Cartesian norm (2-norm), handling both overflow and underflow.
+     * Translation of the minpack enorm subroutine.
+     *
+     * The redistribution policy for MINPACK is available
+     * <a href="http://www.netlib.org/minpack/disclaimer">here</a>, for
+     * convenience, it is reproduced below.</p>
+     *
+     * <table border="0" width="80%" cellpadding="10" align="center" bgcolor="#E0E0E0">
+     * <tr><td>
+     *    Minpack Copyright Notice (1999) University of Chicago.
+     *    All rights reserved
+     * </td></tr>
+     * <tr><td>
+     * Redistribution and use in source and binary forms, with or without
+     * modification, are permitted provided that the following conditions
+     * are met:
+     * <ol>
+     *  <li>Redistributions of source code must retain the above copyright
+     *      notice, this list of conditions and the following disclaimer.</li>
+     * <li>Redistributions in binary form must reproduce the above
+     *     copyright notice, this list of conditions and the following
+     *     disclaimer in the documentation and/or other materials provided
+     *     with the distribution.</li>
+     * <li>The end-user documentation included with the redistribution, if any,
+     *     must include the following acknowledgment:
+     *     {@code This product includes software developed by the University of
+     *           Chicago, as Operator of Argonne National Laboratory.}
+     *     Alternately, this acknowledgment may appear in the software itself,
+     *     if and wherever such third-party acknowledgments normally appear.</li>
+     * <li><strong>WARRANTY DISCLAIMER. THE SOFTWARE IS SUPPLIED "AS IS"
+     *     WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT HOLDER, THE
+     *     UNITED STATES, THE UNITED STATES DEPARTMENT OF ENERGY, AND
+     *     THEIR EMPLOYEES: (1) DISCLAIM ANY WARRANTIES, EXPRESS OR
+     *     IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES
+     *     OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE
+     *     OR NON-INFRINGEMENT, (2) DO NOT ASSUME ANY LEGAL LIABILITY
+     *     OR RESPONSIBILITY FOR THE ACCURACY, COMPLETENESS, OR
+     *     USEFULNESS OF THE SOFTWARE, (3) DO NOT REPRESENT THAT USE OF
+     *     THE SOFTWARE WOULD NOT INFRINGE PRIVATELY OWNED RIGHTS, (4)
+     *     DO NOT WARRANT THAT THE SOFTWARE WILL FUNCTION
+     *     UNINTERRUPTED, THAT IT IS ERROR-FREE OR THAT ANY ERRORS WILL
+     *     BE CORRECTED.</strong></li>
+     * <li><strong>LIMITATION OF LIABILITY. IN NO EVENT WILL THE COPYRIGHT
+     *     HOLDER, THE UNITED STATES, THE UNITED STATES DEPARTMENT OF
+     *     ENERGY, OR THEIR EMPLOYEES: BE LIABLE FOR ANY INDIRECT,
+     *     INCIDENTAL, CONSEQUENTIAL, SPECIAL OR PUNITIVE DAMAGES OF
+     *     ANY KIND OR NATURE, INCLUDING BUT NOT LIMITED TO LOSS OF
+     *     PROFITS OR LOSS OF DATA, FOR ANY REASON WHATSOEVER, WHETHER
+     *     SUCH LIABILITY IS ASSERTED ON THE BASIS OF CONTRACT, TORT
+     *     (INCLUDING NEGLIGENCE OR STRICT LIABILITY), OR OTHERWISE,
+     *     EVEN IF ANY OF SAID PARTIES HAS BEEN WARNED OF THE
+     *     POSSIBILITY OF SUCH LOSS OR DAMAGES.</strong></li>
+     * <ol></td></tr>
+     * </table>
+     *
+     * @param v Vector of doubles.
+     * @return the 2-norm of the vector.
+     * @since 2.2
+     */
+    public static double safeNorm(double[] v) {
+        double rdwarf = 3.834e-20;
+        double rgiant = 1.304e+19;
+        double s1 = 0;
+        double s2 = 0;
+        double s3 = 0;
+        double x1max = 0;
+        double x3max = 0;
+        double floatn = v.length;
+        double agiant = rgiant / floatn;
+        for (int i = 0; i < v.length; i++) {
+            double xabs = Math.abs(v[i]);
+            if (xabs < rdwarf || xabs > agiant) {
+                if (xabs > rdwarf) {
+                    if (xabs > x1max) {
+                        double r = x1max / xabs;
+                        s1= 1 + s1 * r * r;
+                        x1max = xabs;
+                    } else {
+                        double r = xabs / x1max;
+                        s1 += r * r;
+                    }
+                } else {
+                    if (xabs > x3max) {
+                        double r = x3max / xabs;
+                        s3= 1 + s3 * r * r;
+                        x3max = xabs;
+                    } else {
+                        if (xabs != 0) {
+                            double r = xabs / x3max;
+                            s3 += r * r;
+                        }
+                    }
+                }
+            } else {
+                s2 += xabs * xabs;
+            }
+        }
+        double norm;
+        if (s1 != 0) {
+            norm = x1max * Math.sqrt(s1 + (s2 / x1max) / x1max);
+        } else {
+            if (s2 == 0) {
+                norm = x3max * Math.sqrt(s3);
+            } else {
+                if (s2 >= x3max) {
+                    norm = Math.sqrt(s2 * (1 + (x3max / s2) * (x3max * s3)));
+                } else {
+                    norm = Math.sqrt(x3max * ((s2 / x3max) + (x3max * s3)));
+                }
+            }
+        }
+        return norm;
+    }
+
+    /**
+     * Sort an array in ascending order in place and perform the same reordering
+     * of entries on other arrays. For example, if
+     * {@code x = [3, 1, 2], y = [1, 2, 3]} and {@code z = [0, 5, 7]}, then
+     * {@code sortInPlace(x, y, z)} will update {@code x} to {@code [1, 2, 3]},
+     * {@code y} to {@code [2, 3, 1]} and {@code z} to {@code [5, 7, 0]}.
+     *
+     * @param x Array to be sorted and used as a pattern for permutation
+     * of the other arrays.
+     * @param yList Set of arrays whose permutations of entries will follow
+     * those performed on {@code x}.
+     * @throws DimensionMismatchException if any {@code y} is not the same
+     * size as {@code x}.
+     * @throws NullArgumentException if {@code x} or any {@code y} is null.
+     * @since 3.0
+     */
+    public static void sortInPlace(double[] x,
+                                   double[] ... yList) {
+        sortInPlace(x, OrderDirection.INCREASING, yList);
+    }
+
+    /**
+     * Sort an array in place and perform the same reordering of entries on
+     * other arrays.  This method works the same as the other
+     * {@link #sortInPlace(double[], double[][]) sortInPlace} method, but
+     * allows the order of the sort to be provided in the {@code dir}
+     * parameter.
+     *
+     * @param x Array to be sorted and used as a pattern for permutation
+     * of the other arrays.
+     * @param dir Order direction.
+     * @param yList Set of arrays whose permutations of entries will follow
+     * those performed on {@code x}.
+     * @throws DimensionMismatchException if any {@code y} is not the same
+     * size as {@code x}.
+     * @throws NullArgumentException if {@code x} or any {@code y} is null
+     * @since 3.0
+     */
+    public static void sortInPlace(double[] x,
+                                   final OrderDirection dir,
+                                   double[] ... yList) {
+        if (x == null) {
+            throw new NullArgumentException();
+        }
+
+        final int len = x.length;
+        final List<Pair<Double, double[]>> list
+            = new ArrayList<Pair<Double, double[]>>(len);
+
+        final int yListLen = yList.length;
+        for (int i = 0; i < len; i++) {
+            final double[] yValues = new double[yListLen];
+            for (int j = 0; j < yListLen; j++) {
+                double[] y = yList[j];
+                if (y == null) {
+                    throw new NullArgumentException();
+                }
+                if (y.length != len) {
+                    throw new DimensionMismatchException(y.length, len);
+                }
+                yValues[j] = y[i];
+            }
+            list.add(new Pair<Double, double[]>(x[i], yValues));
+        }
+
+        final Comparator<Pair<Double, double[]>> comp
+            = new Comparator<Pair<Double, double[]>>() {
+            public int compare(Pair<Double, double[]> o1,
+                               Pair<Double, double[]> o2) {
+                int val;
+                switch (dir) {
+                case INCREASING:
+                    val = o1.getKey().compareTo(o2.getKey());
+                break;
+                case DECREASING:
+                    val = o2.getKey().compareTo(o1.getKey());
+                break;
+                default:
+                    // Should never happen.
+                    throw new MathInternalError();
+                }
+                return val;
+            }
+        };
+
+        Collections.sort(list, comp);
+
+        for (int i = 0; i < len; i++) {
+            final Pair<Double, double[]> e = list.get(i);
+            x[i] = e.getKey();
+            final double[] yValues = e.getValue();
+            for (int j = 0; j < yListLen; j++) {
+                yList[j][i] = yValues[j];
+            }
+        }
+    }
+
+    /**
+     * Creates a copy of the {@code source} array.
+     *
+     * @param source Array to be copied.
+     * @return the copied array.
+     */
+     public static int[] copyOf(int[] source) {
+         return copyOf(source, source.length);
+     }
+
+    /**
+     * Creates a copy of the {@code source} array.
+     *
+     * @param source Array to be copied.
+     * @return the copied array.
+     */
+     public static double[] copyOf(double[] source) {
+         return copyOf(source, source.length);
+     }
+
+    /**
+     * Creates a copy of the {@code source} array.
+     *
+     * @param source Array to be copied.
+     * @param len Number of entries to copy. If smaller then the source
+     * length, the copy will be truncated, if larger it will padded with
+     * zeroes.
+     * @return the copied array.
+     */
+    public static int[] copyOf(int[] source, int len) {
+         final int[] output = new int[len];
+         System.arraycopy(source, 0, output, 0, FastMath.min(len, source.length));
+         return output;
+     }
+
+    /**
+     * Creates a copy of the {@code source} array.
+     *
+     * @param source Array to be copied.
+     * @param len Number of entries to copy. If smaller then the source
+     * length, the copy will be truncated, if larger it will padded with
+     * zeroes.
+     * @return the copied array.
+     */
+    public static double[] copyOf(double[] source, int len) {
+         final double[] output = new double[len];
+         System.arraycopy(source, 0, output, 0, FastMath.min(len, source.length));
+         return output;
+     }
+
+    /**
+     * Compute a linear combination accurately.
+     * This method computes the sum of the products
+     * <code>a<sub>i</sub> b<sub>i</sub></code> to high accuracy.
+     * It does so by using specific multiplication and addition algorithms to
+     * preserve accuracy and reduce cancellation effects.
+     * <br/>
+     * It is based on the 2005 paper
+     * <a href="http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.2.1547">
+     * Accurate Sum and Dot Product</a> by Takeshi Ogita, Siegfried M. Rump,
+     * and Shin'ichi Oishi published in SIAM J. Sci. Comput.
+     *
+     * @param a Factors.
+     * @param b Factors.
+     * @return <code>&Sigma;<sub>i</sub> a<sub>i</sub> b<sub>i</sub></code>.
+     */
+    public static double linearCombination(final double[] a, final double[] b) {
+        final int len = a.length;
+        if (len != b.length) {
+            throw new DimensionMismatchException(len, b.length);
+        }
+
+        final double[] prodHigh = new double[len];
+        double prodLowSum = 0;
+
+        for (int i = 0; i < len; i++) {
+            final double ai = a[i];
+            final double ca = SPLIT_FACTOR * ai;
+            final double aHigh = ca - (ca - ai);
+            final double aLow = ai - aHigh;
+
+            final double bi = b[i];
+            final double cb = SPLIT_FACTOR * bi;
+            final double bHigh = cb - (cb - bi);
+            final double bLow = bi - bHigh;
+            prodHigh[i] = ai * bi;
+            final double prodLow = aLow * bLow - (((prodHigh[i] -
+                                                    aHigh * bHigh) -
+                                                   aLow * bHigh) -
+                                                  aHigh * bLow);
+            prodLowSum += prodLow;
+        }
+
+
+        final double prodHighCur = prodHigh[0];
+        double prodHighNext = prodHigh[1];
+        double sHighPrev = prodHighCur + prodHighNext;
+        double sPrime = sHighPrev - prodHighNext;
+        double sLowSum = (prodHighNext - (sHighPrev - sPrime)) + (prodHighCur - sPrime);
+
+        final int lenMinusOne = len - 1;
+        for (int i = 1; i < lenMinusOne; i++) {
+            prodHighNext = prodHigh[i + 1];
+            final double sHighCur = sHighPrev + prodHighNext;
+            sPrime = sHighCur - prodHighNext;
+            sLowSum += (prodHighNext - (sHighCur - sPrime)) + (sHighPrev - sPrime);
+            sHighPrev = sHighCur;
+        }
+
+        double result = sHighPrev + (prodLowSum + sLowSum);
+
+        if (Double.isNaN(result)) {
+            // either we have split infinite numbers or some coefficients were NaNs,
+            // just rely on the naive implementation and let IEEE754 handle this
+            result = 0;
+            for (int i = 0; i < len; ++i) {
+                result += a[i] * b[i];
+            }
+        }
+
+        return result;
+    }
+
+    /**
+     * Compute a linear combination accurately.
+     * <p>
+     * This method computes a<sub>1</sub>&times;b<sub>1</sub> +
+     * a<sub>2</sub>&times;b<sub>2</sub> to high accuracy. It does
+     * so by using specific multiplication and addition algorithms to
+     * preserve accuracy and reduce cancellation effects. It is based
+     * on the 2005 paper <a
+     * href="http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.2.1547">
+     * Accurate Sum and Dot Product</a> by Takeshi Ogita,
+     * Siegfried M. Rump, and Shin'ichi Oishi published in SIAM J. Sci. Comput.
+     * </p>
+     * @param a1 first factor of the first term
+     * @param b1 second factor of the first term
+     * @param a2 first factor of the second term
+     * @param b2 second factor of the second term
+     * @return a<sub>1</sub>&times;b<sub>1</sub> +
+     * a<sub>2</sub>&times;b<sub>2</sub>
+     * @see #linearCombination(double, double, double, double, double, double)
+     * @see #linearCombination(double, double, double, double, double, double, double, double)
+     */
+    public static double linearCombination(final double a1, final double b1,
+                                           final double a2, final double b2) {
+
+        // the code below is split in many additions/subtractions that may
+        // appear redundant. However, they should NOT be simplified, as they
+        // use IEEE754 floating point arithmetic rounding properties.
+        // as an example, the expression "ca1 - (ca1 - a1)" is NOT the same as "a1"
+        // The variable naming conventions are that xyzHigh contains the most significant
+        // bits of xyz and xyzLow contains its least significant bits. So theoretically
+        // xyz is the sum xyzHigh + xyzLow, but in many cases below, this sum cannot
+        // be represented in only one double precision number so we preserve two numbers
+        // to hold it as long as we can, combining the high and low order bits together
+        // only at the end, after cancellation may have occurred on high order bits
+
+        // split a1 and b1 as two 26 bits numbers
+        final double ca1        = SPLIT_FACTOR * a1;
+        final double a1High     = ca1 - (ca1 - a1);
+        final double a1Low      = a1 - a1High;
+        final double cb1        = SPLIT_FACTOR * b1;
+        final double b1High     = cb1 - (cb1 - b1);
+        final double b1Low      = b1 - b1High;
+
+        // accurate multiplication a1 * b1
+        final double prod1High  = a1 * b1;
+        final double prod1Low   = a1Low * b1Low - (((prod1High - a1High * b1High) - a1Low * b1High) - a1High * b1Low);
+
+        // split a2 and b2 as two 26 bits numbers
+        final double ca2        = SPLIT_FACTOR * a2;
+        final double a2High     = ca2 - (ca2 - a2);
+        final double a2Low      = a2 - a2High;
+        final double cb2        = SPLIT_FACTOR * b2;
+        final double b2High     = cb2 - (cb2 - b2);
+        final double b2Low      = b2 - b2High;
+
+        // accurate multiplication a2 * b2
+        final double prod2High  = a2 * b2;
+        final double prod2Low   = a2Low * b2Low - (((prod2High - a2High * b2High) - a2Low * b2High) - a2High * b2Low);
+
+        // accurate addition a1 * b1 + a2 * b2
+        final double s12High    = prod1High + prod2High;
+        final double s12Prime   = s12High - prod2High;
+        final double s12Low     = (prod2High - (s12High - s12Prime)) + (prod1High - s12Prime);
+
+        // final rounding, s12 may have suffered many cancellations, we try
+        // to recover some bits from the extra words we have saved up to now
+        double result = s12High + (prod1Low + prod2Low + s12Low);
+
+        if (Double.isNaN(result)) {
+            // either we have split infinite numbers or some coefficients were NaNs,
+            // just rely on the naive implementation and let IEEE754 handle this
+            result = a1 * b1 + a2 * b2;
+        }
+
+        return result;
+    }
+
+    /**
+     * Compute a linear combination accurately.
+     * <p>
+     * This method computes a<sub>1</sub>&times;b<sub>1</sub> +
+     * a<sub>2</sub>&times;b<sub>2</sub> + a<sub>3</sub>&times;b<sub>3</sub>
+     * to high accuracy. It does so by using specific multiplication and
+     * addition algorithms to preserve accuracy and reduce cancellation effects.
+     * It is based on the 2005 paper <a
+     * href="http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.2.1547">
+     * Accurate Sum and Dot Product</a> by Takeshi Ogita,
+     * Siegfried M. Rump, and Shin'ichi Oishi published in SIAM J. Sci. Comput.
+     * </p>
+     * @param a1 first factor of the first term
+     * @param b1 second factor of the first term
+     * @param a2 first factor of the second term
+     * @param b2 second factor of the second term
+     * @param a3 first factor of the third term
+     * @param b3 second factor of the third term
+     * @return a<sub>1</sub>&times;b<sub>1</sub> +
+     * a<sub>2</sub>&times;b<sub>2</sub> + a<sub>3</sub>&times;b<sub>3</sub>
+     * @see #linearCombination(double, double, double, double)
+     * @see #linearCombination(double, double, double, double, double, double, double, double)
+     */
+    public static double linearCombination(final double a1, final double b1,
+                                           final double a2, final double b2,
+                                           final double a3, final double b3) {
+
+        // the code below is split in many additions/subtractions that may
+        // appear redundant. However, they should NOT be simplified, as they
+        // do use IEEE754 floating point arithmetic rounding properties.
+        // as an example, the expression "ca1 - (ca1 - a1)" is NOT the same as "a1"
+        // The variables naming conventions are that xyzHigh contains the most significant
+        // bits of xyz and xyzLow contains its least significant bits. So theoretically
+        // xyz is the sum xyzHigh + xyzLow, but in many cases below, this sum cannot
+        // be represented in only one double precision number so we preserve two numbers
+        // to hold it as long as we can, combining the high and low order bits together
+        // only at the end, after cancellation may have occurred on high order bits
+
+        // split a1 and b1 as two 26 bits numbers
+        final double ca1        = SPLIT_FACTOR * a1;
+        final double a1High     = ca1 - (ca1 - a1);
+        final double a1Low      = a1 - a1High;
+        final double cb1        = SPLIT_FACTOR * b1;
+        final double b1High     = cb1 - (cb1 - b1);
+        final double b1Low      = b1 - b1High;
+
+        // accurate multiplication a1 * b1
+        final double prod1High  = a1 * b1;
+        final double prod1Low   = a1Low * b1Low - (((prod1High - a1High * b1High) - a1Low * b1High) - a1High * b1Low);
+
+        // split a2 and b2 as two 26 bits numbers
+        final double ca2        = SPLIT_FACTOR * a2;
+        final double a2High     = ca2 - (ca2 - a2);
+        final double a2Low      = a2 - a2High;
+        final double cb2        = SPLIT_FACTOR * b2;
+        final double b2High     = cb2 - (cb2 - b2);
+        final double b2Low      = b2 - b2High;
+
+        // accurate multiplication a2 * b2
+        final double prod2High  = a2 * b2;
+        final double prod2Low   = a2Low * b2Low - (((prod2High - a2High * b2High) - a2Low * b2High) - a2High * b2Low);
+
+        // split a3 and b3 as two 26 bits numbers
+        final double ca3        = SPLIT_FACTOR * a3;
+        final double a3High     = ca3 - (ca3 - a3);
+        final double a3Low      = a3 - a3High;
+        final double cb3        = SPLIT_FACTOR * b3;
+        final double b3High     = cb3 - (cb3 - b3);
+        final double b3Low      = b3 - b3High;
+
+        // accurate multiplication a3 * b3
+        final double prod3High  = a3 * b3;
+        final double prod3Low   = a3Low * b3Low - (((prod3High - a3High * b3High) - a3Low * b3High) - a3High * b3Low);
+
+        // accurate addition a1 * b1 + a2 * b2
+        final double s12High    = prod1High + prod2High;
+        final double s12Prime   = s12High - prod2High;
+        final double s12Low     = (prod2High - (s12High - s12Prime)) + (prod1High - s12Prime);
+
+        // accurate addition a1 * b1 + a2 * b2 + a3 * b3
+        final double s123High   = s12High + prod3High;
+        final double s123Prime  = s123High - prod3High;
+        final double s123Low    = (prod3High - (s123High - s123Prime)) + (s12High - s123Prime);
+
+        // final rounding, s123 may have suffered many cancellations, we try
+        // to recover some bits from the extra words we have saved up to now
+        double result = s123High + (prod1Low + prod2Low + prod3Low + s12Low + s123Low);
+
+        if (Double.isNaN(result)) {
+            // either we have split infinite numbers or some coefficients were NaNs,
+            // just rely on the naive implementation and let IEEE754 handle this
+            result = a1 * b1 + a2 * b2 + a3 * b3;
+        }
+
+        return result;
+    }
+
+    /**
+     * Compute a linear combination accurately.
+     * <p>
+     * This method computes a<sub>1</sub>&times;b<sub>1</sub> +
+     * a<sub>2</sub>&times;b<sub>2</sub> + a<sub>3</sub>&times;b<sub>3</sub> +
+     * a<sub>4</sub>&times;b<sub>4</sub>
+     * to high accuracy. It does so by using specific multiplication and
+     * addition algorithms to preserve accuracy and reduce cancellation effects.
+     * It is based on the 2005 paper <a
+     * href="http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.2.1547">
+     * Accurate Sum and Dot Product</a> by Takeshi Ogita,
+     * Siegfried M. Rump, and Shin'ichi Oishi published in SIAM J. Sci. Comput.
+     * </p>
+     * @param a1 first factor of the first term
+     * @param b1 second factor of the first term
+     * @param a2 first factor of the second term
+     * @param b2 second factor of the second term
+     * @param a3 first factor of the third term
+     * @param b3 second factor of the third term
+     * @param a4 first factor of the third term
+     * @param b4 second factor of the third term
+     * @return a<sub>1</sub>&times;b<sub>1</sub> +
+     * a<sub>2</sub>&times;b<sub>2</sub> + a<sub>3</sub>&times;b<sub>3</sub> +
+     * a<sub>4</sub>&times;b<sub>4</sub>
+     * @see #linearCombination(double, double, double, double)
+     * @see #linearCombination(double, double, double, double, double, double)
+     */
+    public static double linearCombination(final double a1, final double b1,
+                                           final double a2, final double b2,
+                                           final double a3, final double b3,
+                                           final double a4, final double b4) {
+
+        // the code below is split in many additions/subtractions that may
+        // appear redundant. However, they should NOT be simplified, as they
+        // do use IEEE754 floating point arithmetic rounding properties.
+        // as an example, the expression "ca1 - (ca1 - a1)" is NOT the same as "a1"
+        // The variables naming conventions are that xyzHigh contains the most significant
+        // bits of xyz and xyzLow contains its least significant bits. So theoretically
+        // xyz is the sum xyzHigh + xyzLow, but in many cases below, this sum cannot
+        // be represented in only one double precision number so we preserve two numbers
+        // to hold it as long as we can, combining the high and low order bits together
+        // only at the end, after cancellation may have occurred on high order bits
+
+        // split a1 and b1 as two 26 bits numbers
+        final double ca1        = SPLIT_FACTOR * a1;
+        final double a1High     = ca1 - (ca1 - a1);
+        final double a1Low      = a1 - a1High;
+        final double cb1        = SPLIT_FACTOR * b1;
+        final double b1High     = cb1 - (cb1 - b1);
+        final double b1Low      = b1 - b1High;
+
+        // accurate multiplication a1 * b1
+        final double prod1High  = a1 * b1;
+        final double prod1Low   = a1Low * b1Low - (((prod1High - a1High * b1High) - a1Low * b1High) - a1High * b1Low);
+
+        // split a2 and b2 as two 26 bits numbers
+        final double ca2        = SPLIT_FACTOR * a2;
+        final double a2High     = ca2 - (ca2 - a2);
+        final double a2Low      = a2 - a2High;
+        final double cb2        = SPLIT_FACTOR * b2;
+        final double b2High     = cb2 - (cb2 - b2);
+        final double b2Low      = b2 - b2High;
+
+        // accurate multiplication a2 * b2
+        final double prod2High  = a2 * b2;
+        final double prod2Low   = a2Low * b2Low - (((prod2High - a2High * b2High) - a2Low * b2High) - a2High * b2Low);
+
+        // split a3 and b3 as two 26 bits numbers
+        final double ca3        = SPLIT_FACTOR * a3;
+        final double a3High     = ca3 - (ca3 - a3);
+        final double a3Low      = a3 - a3High;
+        final double cb3        = SPLIT_FACTOR * b3;
+        final double b3High     = cb3 - (cb3 - b3);
+        final double b3Low      = b3 - b3High;
+
+        // accurate multiplication a3 * b3
+        final double prod3High  = a3 * b3;
+        final double prod3Low   = a3Low * b3Low - (((prod3High - a3High * b3High) - a3Low * b3High) - a3High * b3Low);
+
+        // split a4 and b4 as two 26 bits numbers
+        final double ca4        = SPLIT_FACTOR * a4;
+        final double a4High     = ca4 - (ca4 - a4);
+        final double a4Low      = a4 - a4High;
+        final double cb4        = SPLIT_FACTOR * b4;
+        final double b4High     = cb4 - (cb4 - b4);
+        final double b4Low      = b4 - b4High;
+
+        // accurate multiplication a4 * b4
+        final double prod4High  = a4 * b4;
+        final double prod4Low   = a4Low * b4Low - (((prod4High - a4High * b4High) - a4Low * b4High) - a4High * b4Low);
+
+        // accurate addition a1 * b1 + a2 * b2
+        final double s12High    = prod1High + prod2High;
+        final double s12Prime   = s12High - prod2High;
+        final double s12Low     = (prod2High - (s12High - s12Prime)) + (prod1High - s12Prime);
+
+        // accurate addition a1 * b1 + a2 * b2 + a3 * b3
+        final double s123High   = s12High + prod3High;
+        final double s123Prime  = s123High - prod3High;
+        final double s123Low    = (prod3High - (s123High - s123Prime)) + (s12High - s123Prime);
+
+        // accurate addition a1 * b1 + a2 * b2 + a3 * b3 + a4 * b4
+        final double s1234High  = s123High + prod4High;
+        final double s1234Prime = s1234High - prod4High;
+        final double s1234Low   = (prod4High - (s1234High - s1234Prime)) + (s123High - s1234Prime);
+
+        // final rounding, s1234 may have suffered many cancellations, we try
+        // to recover some bits from the extra words we have saved up to now
+        double result = s1234High + (prod1Low + prod2Low + prod3Low + prod4Low + s12Low + s123Low + s1234Low);
+
+        if (Double.isNaN(result)) {
+            // either we have split infinite numbers or some coefficients were NaNs,
+            // just rely on the naive implementation and let IEEE754 handle this
+            result = a1 * b1 + a2 * b2 + a3 * b3 + a4 * b4;
+        }
+
+        return result;
+    }
+
+    /**
+     * Returns true iff both arguments are null or have same dimensions and all
+     * their elements are equal as defined by
+     * {@link Precision#equals(float,float)}.
+     *
+     * @param x first array
+     * @param y second array
+     * @return true if the values are both null or have same dimension
+     * and equal elements.
+     */
+    public static boolean equals(float[] x, float[] y) {
+        if ((x == null) || (y == null)) {
+            return !((x == null) ^ (y == null));
+        }
+        if (x.length != y.length) {
+            return false;
+        }
+        for (int i = 0; i < x.length; ++i) {
+            if (!Precision.equals(x[i], y[i])) {
+                return false;
+            }
+        }
+        return true;
+    }
+
+    /**
+     * Returns true iff both arguments are null or have same dimensions and all
+     * their elements are equal as defined by
+     * {@link Precision#equalsIncludingNaN(double,double) this method}.
+     *
+     * @param x first array
+     * @param y second array
+     * @return true if the values are both null or have same dimension and
+     * equal elements
+     * @since 2.2
+     */
+    public static boolean equalsIncludingNaN(float[] x, float[] y) {
+        if ((x == null) || (y == null)) {
+            return !((x == null) ^ (y == null));
+        }
+        if (x.length != y.length) {
+            return false;
+        }
+        for (int i = 0; i < x.length; ++i) {
+            if (!Precision.equalsIncludingNaN(x[i], y[i])) {
+                return false;
+            }
+        }
+        return true;
+    }
+
+    /**
+     * Returns {@code true} iff both arguments are {@code null} or have same
+     * dimensions and all their elements are equal as defined by
+     * {@link Precision#equals(double,double)}.
+     *
+     * @param x First array.
+     * @param y Second array.
+     * @return {@code true} if the values are both {@code null} or have same
+     * dimension and equal elements.
+     */
+    public static boolean equals(double[] x, double[] y) {
+        if ((x == null) || (y == null)) {
+            return !((x == null) ^ (y == null));
+        }
+        if (x.length != y.length) {
+            return false;
+        }
+        for (int i = 0; i < x.length; ++i) {
+            if (!Precision.equals(x[i], y[i])) {
+                return false;
+            }
+        }
+        return true;
+    }
+
+    /**
+     * Returns {@code true} iff both arguments are {@code null} or have same
+     * dimensions and all their elements are equal as defined by
+     * {@link Precision#equalsIncludingNaN(double,double) this method}.
+     *
+     * @param x First array.
+     * @param y Second array.
+     * @return {@code true} if the values are both {@code null} or have same
+     * dimension and equal elements.
+     * @since 2.2
+     */
+    public static boolean equalsIncludingNaN(double[] x, double[] y) {
+        if ((x == null) || (y == null)) {
+            return !((x == null) ^ (y == null));
+        }
+        if (x.length != y.length) {
+            return false;
+        }
+        for (int i = 0; i < x.length; ++i) {
+            if (!Precision.equalsIncludingNaN(x[i], y[i])) {
+                return false;
+            }
+        }
+        return true;
+    }
+
+     /**
+      * Normalizes an array to make it sum to a specified value.
+      * Returns the result of the transformation <pre>
+      *    x |-> x * normalizedSum / sum
+      * </pre>
+      * applied to each non-NaN element x of the input array, where sum is the
+      * sum of the non-NaN entries in the input array.</p>
+      *
+      * <p>Throws IllegalArgumentException if {@code normalizedSum} is infinite
+      * or NaN and ArithmeticException if the input array contains any infinite elements
+      * or sums to 0.</p>
+      *
+      * <p>Ignores (i.e., copies unchanged to the output array) NaNs in the input array.</p>
+      *
+      * @param values Input array to be normalized
+      * @param normalizedSum Target sum for the normalized array
+      * @return the normalized array.
+      * @throws MathArithmeticException if the input array contains infinite
+      * elements or sums to zero.
+      * @throws MathIllegalArgumentException if the target sum is infinite or {@code NaN}.
+      * @since 2.1
+      */
+     public static double[] normalizeArray(double[] values, double normalizedSum) {
+         if (Double.isInfinite(normalizedSum)) {
+             throw new MathIllegalArgumentException(LocalizedFormats.NORMALIZE_INFINITE);
+         }
+         if (Double.isNaN(normalizedSum)) {
+             throw new MathIllegalArgumentException(LocalizedFormats.NORMALIZE_NAN);
+         }
+         double sum = 0d;
+         final int len = values.length;
+         double[] out = new double[len];
+         for (int i = 0; i < len; i++) {
+             if (Double.isInfinite(values[i])) {
+                 throw new MathIllegalArgumentException(LocalizedFormats.INFINITE_ARRAY_ELEMENT, values[i], i);
+             }
+             if (!Double.isNaN(values[i])) {
+                 sum += values[i];
+             }
+         }
+         if (sum == 0) {
+             throw new MathArithmeticException(LocalizedFormats.ARRAY_SUMS_TO_ZERO);
+         }
+         for (int i = 0; i < len; i++) {
+             if (Double.isNaN(values[i])) {
+                 out[i] = Double.NaN;
+             } else {
+                 out[i] = values[i] * normalizedSum / sum;
+             }
+         }
+         return out;
+     }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/MathUtils.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/MathUtils.java
new file mode 100644
index 0000000000..24780142ea
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/MathUtils.java
@@ -0,0 +1,261 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.util;
+
+import java.util.Arrays;
+
+import org.apache.commons.math3.exception.MathArithmeticException;
+import org.apache.commons.math3.exception.NotFiniteNumberException;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.exception.util.Localizable;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * Miscellaneous utility functions.
+ *
+ * @see ArithmeticUtils
+ * @see Precision
+ * @see MathArrays
+ *
+ * @version $Id: MathUtils.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public final class MathUtils {
+    /**
+     * 2 &pi;.
+     * @since 2.1
+     */
+    public static final double TWO_PI = 2 * FastMath.PI;
+
+    /**
+     * Class contains only static methods.
+     */
+    private MathUtils() {}
+
+
+    /**
+     * Returns an integer hash code representing the given double value.
+     *
+     * @param value the value to be hashed
+     * @return the hash code
+     */
+    public static int hash(double value) {
+        return new Double(value).hashCode();
+    }
+
+    /**
+     * Returns an integer hash code representing the given double array.
+     *
+     * @param value the value to be hashed (may be null)
+     * @return the hash code
+     * @since 1.2
+     */
+    public static int hash(double[] value) {
+        return Arrays.hashCode(value);
+    }
+
+    /**
+     * Normalize an angle in a 2&pi wide interval around a center value.
+     * <p>This method has three main uses:</p>
+     * <ul>
+     *   <li>normalize an angle between 0 and 2&pi;:<br/>
+     *       {@code a = MathUtils.normalizeAngle(a, FastMath.PI);}</li>
+     *   <li>normalize an angle between -&pi; and +&pi;<br/>
+     *       {@code a = MathUtils.normalizeAngle(a, 0.0);}</li>
+     *   <li>compute the angle between two defining angular positions:<br>
+     *       {@code angle = MathUtils.normalizeAngle(end, start) - start;}</li>
+     * </ul>
+     * <p>Note that due to numerical accuracy and since &pi; cannot be represented
+     * exactly, the result interval is <em>closed</em>, it cannot be half-closed
+     * as would be more satisfactory in a purely mathematical view.</p>
+     * @param a angle to normalize
+     * @param center center of the desired 2&pi; interval for the result
+     * @return a-2k&pi; with integer k and center-&pi; &lt;= a-2k&pi; &lt;= center+&pi;
+     * @since 1.2
+     */
+     public static double normalizeAngle(double a, double center) {
+         return a - TWO_PI * FastMath.floor((a + FastMath.PI - center) / TWO_PI);
+     }
+
+    /**
+     * <p>Reduce {@code |a - offset|} to the primary interval
+     * {@code [0, |period|)}.</p>
+     *
+     * <p>Specifically, the value returned is <br/>
+     * {@code a - |period| * floor((a - offset) / |period|) - offset}.</p>
+     *
+     * <p>If any of the parameters are {@code NaN} or infinite, the result is
+     * {@code NaN}.</p>
+     *
+     * @param a Value to reduce.
+     * @param period Period.
+     * @param offset Value that will be mapped to {@code 0}.
+     * @return the value, within the interval {@code [0 |period|)},
+     * that corresponds to {@code a}.
+     */
+    public static double reduce(double a,
+                                double period,
+                                double offset) {
+        final double p = FastMath.abs(period);
+        return a - p * FastMath.floor((a - offset) / p) - offset;
+    }
+
+    /**
+     * Returns the first argument with the sign of the second argument.
+     *
+     * @param magnitude Magnitude of the returned value.
+     * @param sign Sign of the returned value.
+     * @return a value with magnitude equal to {@code magnitude} and with the
+     * same sign as the {@code sign} argument.
+     * @throws MathArithmeticException if {@code magnitude == Byte.MIN_VALUE}
+     * and {@code sign >= 0}.
+     */
+    public static byte copySign(byte magnitude, byte sign) {
+        if ((magnitude >= 0 && sign >= 0) ||
+            (magnitude < 0 && sign < 0)) { // Sign is OK.
+            return magnitude;
+        } else if (sign >= 0 &&
+                   magnitude == Byte.MIN_VALUE) {
+            throw new MathArithmeticException(LocalizedFormats.OVERFLOW);
+        } else {
+            return (byte) -magnitude; // Flip sign.
+        }
+    }
+
+    /**
+     * Returns the first argument with the sign of the second argument.
+     *
+     * @param magnitude Magnitude of the returned value.
+     * @param sign Sign of the returned value.
+     * @return a value with magnitude equal to {@code magnitude} and with the
+     * same sign as the {@code sign} argument.
+     * @throws MathArithmeticException if {@code magnitude == Short.MIN_VALUE}
+     * and {@code sign >= 0}.
+     */
+    public static short copySign(short magnitude, short sign) {
+        if ((magnitude >= 0 && sign >= 0) ||
+            (magnitude < 0 && sign < 0)) { // Sign is OK.
+            return magnitude;
+        } else if (sign >= 0 &&
+                   magnitude == Short.MIN_VALUE) {
+            throw new MathArithmeticException(LocalizedFormats.OVERFLOW);
+        } else {
+            return (short) -magnitude; // Flip sign.
+        }
+    }
+
+    /**
+     * Returns the first argument with the sign of the second argument.
+     *
+     * @param magnitude Magnitude of the returned value.
+     * @param sign Sign of the returned value.
+     * @return a value with magnitude equal to {@code magnitude} and with the
+     * same sign as the {@code sign} argument.
+     * @throws MathArithmeticException if {@code magnitude == Integer.MIN_VALUE}
+     * and {@code sign >= 0}.
+     */
+    public static int copySign(int magnitude, int sign) {
+        if ((magnitude >= 0 && sign >= 0) ||
+            (magnitude < 0 && sign < 0)) { // Sign is OK.
+            return magnitude;
+        } else if (sign >= 0 &&
+                   magnitude == Integer.MIN_VALUE) {
+            throw new MathArithmeticException(LocalizedFormats.OVERFLOW);
+        } else {
+            return -magnitude; // Flip sign.
+        }
+    }
+
+    /**
+     * Returns the first argument with the sign of the second argument.
+     *
+     * @param magnitude Magnitude of the returned value.
+     * @param sign Sign of the returned value.
+     * @return a value with magnitude equal to {@code magnitude} and with the
+     * same sign as the {@code sign} argument.
+     * @throws MathArithmeticException if {@code magnitude == Long.MIN_VALUE}
+     * and {@code sign >= 0}.
+     */
+    public static long copySign(long magnitude, long sign) {
+        if ((magnitude >= 0 && sign >= 0) ||
+            (magnitude < 0 && sign < 0)) { // Sign is OK.
+            return magnitude;
+        } else if (sign >= 0 &&
+                   magnitude == Long.MIN_VALUE) {
+            throw new MathArithmeticException(LocalizedFormats.OVERFLOW);
+        } else {
+            return -magnitude; // Flip sign.
+        }
+    }
+    /**
+     * Check that the argument is a real number.
+     *
+     * @param x Argument.
+     * @throws NotFiniteNumberException if {@code x} is not a
+     * finite real number.
+     */
+    public static void checkFinite(final double x) {
+        if (Double.isInfinite(x) || Double.isNaN(x)) {
+            throw new NotFiniteNumberException(x);
+        }
+    }
+
+    /**
+     * Check that all the elements are real numbers.
+     *
+     * @param val Arguments.
+     * @throws NotFiniteNumberException if any values of the array is not a
+     * finite real number.
+     */
+    public static void checkFinite(final double[] val) {
+        for (int i = 0; i < val.length; i++) {
+            final double x = val[i];
+            if (Double.isInfinite(x) || Double.isNaN(x)) {
+                throw new NotFiniteNumberException(LocalizedFormats.ARRAY_ELEMENT, x, i);
+            }
+        }
+    }
+
+    /**
+     * Checks that an object is not null.
+     *
+     * @param o Object to be checked.
+     * @param pattern Message pattern.
+     * @param args Arguments to replace the placeholders in {@code pattern}.
+     * @throws NullArgumentException if {@code o} is {@code null}.
+     */
+    public static void checkNotNull(Object o,
+                                    Localizable pattern,
+                                    Object ... args) {
+        if (o == null) {
+            throw new NullArgumentException(pattern, args);
+        }
+    }
+
+    /**
+     * Checks that an object is not null.
+     *
+     * @param o Object to be checked.
+     * @throws NullArgumentException if {@code o} is {@code null}.
+     */
+    public static void checkNotNull(Object o)
+        throws NullArgumentException {
+        if (o == null) {
+            throw new NullArgumentException();
+        }
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/MultidimensionalCounter.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/MultidimensionalCounter.java
new file mode 100644
index 0000000000..314a895371
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/MultidimensionalCounter.java
@@ -0,0 +1,296 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.util;
+
+import org.apache.commons.math3.exception.DimensionMismatchException;
+import org.apache.commons.math3.exception.OutOfRangeException;
+import org.apache.commons.math3.exception.NotStrictlyPositiveException;
+
+/**
+ * Converter between unidimensional storage structure and multidimensional
+ * conceptual structure.
+ * This utility will convert from indices in a multidimensional structure
+ * to the corresponding index in a one-dimensional array. For example,
+ * assuming that the ranges (in 3 dimensions) of indices are 2, 4 and 3,
+ * the following correspondences, between 3-tuples indices and unidimensional
+ * indices, will hold:
+ * <ul>
+ *  <li>(0, 0, 0) corresponds to 0</li>
+ *  <li>(0, 0, 1) corresponds to 1</li>
+ *  <li>(0, 0, 2) corresponds to 2</li>
+ *  <li>(0, 1, 0) corresponds to 3</li>
+ *  <li>...</li>
+ *  <li>(1, 0, 0) corresponds to 12</li>
+ *  <li>...</li>
+ *  <li>(1, 3, 2) corresponds to 23</li>
+ * </ul>
+ * @version $Id$
+ * @since 2.2
+ */
+public class MultidimensionalCounter implements Iterable<Integer> {
+    /**
+     * Number of dimensions.
+     */
+    private final int dimension;
+    /**
+     * Offset for each dimension.
+     */
+    private final int[] uniCounterOffset;
+    /**
+     * Counter sizes.
+     */
+    private final int[] size;
+    /**
+     * Total number of (one-dimensional) slots.
+     */
+    private final int totalSize;
+    /**
+     * Index of last dimension.
+     */
+    private final int last;
+
+    /**
+     * Perform iteration over the multidimensional counter.
+     */
+    public class Iterator implements java.util.Iterator<Integer> {
+        /**
+         * Multidimensional counter.
+         */
+        private final int[] counter = new int[dimension];
+        /**
+         * Unidimensional counter.
+         */
+        private int count = -1;
+
+        /**
+         * Create an iterator
+         * @see #iterator()
+         */
+        Iterator() {
+            counter[last] = -1;
+        }
+
+        /**
+         * {@inheritDoc}
+         */
+        public boolean hasNext() {
+            for (int i = 0; i < dimension; i++) {
+                if (counter[i] != size[i] - 1) {
+                    return true;
+                }
+            }
+            return false;
+        }
+
+        /**
+         * @return the unidimensional count after the counter has been
+         * incremented by {@code 1}.
+         */
+        public Integer next() {
+            for (int i = last; i >= 0; i--) {
+                if (counter[i] == size[i] - 1) {
+                    counter[i] = 0;
+                } else {
+                    ++counter[i];
+                    break;
+                }
+            }
+
+            return ++count;
+        }
+
+        /**
+         * Get the current unidimensional counter slot.
+         *
+         * @return the index within the unidimensionl counter.
+         */
+        public int getCount() {
+            return count;
+        }
+        /**
+         * Get the current multidimensional counter slots.
+         *
+         * @return the indices within the multidimensional counter.
+         */
+        public int[] getCounts() {
+            return MathArrays.copyOf(counter);
+        }
+
+        /**
+         * Get the current count in the selected dimension.
+         *
+         * @param dim Dimension index.
+         * @return the count at the corresponding index for the current state
+         * of the iterator.
+         * @throws IndexOutOfBoundsException if {@code index} is not in the
+         * correct interval (as defined by the length of the argument in the
+         * {@link MultidimensionalCounter#MultidimensionalCounter(int[])
+         * constructor of the enclosing class}).
+         */
+        public int getCount(int dim) {
+            return counter[dim];
+        }
+
+        /**
+         * @throws UnsupportedOperationException
+         */
+        public void remove() {
+            throw new UnsupportedOperationException();
+        }
+    }
+
+    /**
+     * Create a counter.
+     *
+     * @param size Counter sizes (number of slots in each dimension).
+     * @throws NotStrictlyPositiveException if one of the sizes is
+     * negative or zero.
+     */
+    public MultidimensionalCounter(int ... size) {
+        dimension = size.length;
+        this.size = MathArrays.copyOf(size);
+
+        uniCounterOffset = new int[dimension];
+
+        last = dimension - 1;
+        int tS = size[last];
+        for (int i = 0; i < last; i++) {
+            int count = 1;
+            for (int j = i + 1; j < dimension; j++) {
+                count *= size[j];
+            }
+            uniCounterOffset[i] = count;
+            tS *= size[i];
+        }
+        uniCounterOffset[last] = 0;
+
+        if (tS <= 0) {
+            throw new NotStrictlyPositiveException(tS);
+        }
+
+        totalSize = tS;
+    }
+
+    /**
+     * Create an iterator over this counter.
+     *
+     * @return the iterator.
+     */
+    public Iterator iterator() {
+        return new Iterator();
+    }
+
+    /**
+     * Get the number of dimensions of the multidimensional counter.
+     *
+     * @return the number of dimensions.
+     */
+    public int getDimension() {
+        return dimension;
+    }
+
+    /**
+     * Convert to multidimensional counter.
+     *
+     * @param index Index in unidimensional counter.
+     * @return the multidimensional counts.
+     * @throws OutOfRangeException if {@code index} is not between
+     * {@code 0} and the value returned by {@link #getSize()} (excluded).
+     */
+    public int[] getCounts(int index) {
+        if (index < 0 ||
+            index >= totalSize) {
+            throw new OutOfRangeException(index, 0, totalSize);
+        }
+
+        final int[] indices = new int[dimension];
+
+        int count = 0;
+        for (int i = 0; i < last; i++) {
+            int idx = 0;
+            final int offset = uniCounterOffset[i];
+            while (count <= index) {
+                count += offset;
+                ++idx;
+            }
+            --idx;
+            count -= offset;
+            indices[i] = idx;
+        }
+
+        indices[last] = index - count;
+
+        return indices;
+    }
+
+    /**
+     * Convert to unidimensional counter.
+     *
+     * @param c Indices in multidimensional counter.
+     * @return the index within the unidimensionl counter.
+     * @throws DimensionMismatchException if the size of {@code c}
+     * does not match the size of the array given in the constructor.
+     * @throws OutOfRangeException if a value of {@code c} is not in
+     * the range of the corresponding dimension, as defined in the
+     * {@link MultidimensionalCounter#MultidimensionalCounter(int...) constructor}.
+     */
+    public int getCount(int ... c) throws OutOfRangeException {
+        if (c.length != dimension) {
+            throw new DimensionMismatchException(c.length, dimension);
+        }
+        int count = 0;
+        for (int i = 0; i < dimension; i++) {
+            final int index = c[i];
+            if (index < 0 ||
+                index >= size[i]) {
+                throw new OutOfRangeException(index, 0, size[i] - 1);
+            }
+            count += uniCounterOffset[i] * c[i];
+        }
+        return count + c[last];
+    }
+
+    /**
+     * Get the total number of elements.
+     *
+     * @return the total size of the unidimensional counter.
+     */
+    public int getSize() {
+        return totalSize;
+    }
+    /**
+     * Get the number of multidimensional counter slots in each dimension.
+     *
+     * @return the sizes of the multidimensional counter in each dimension.
+     */
+    public int[] getSizes() {
+        return MathArrays.copyOf(size);
+    }
+
+    /**
+     * {@inheritDoc}
+     */
+    @Override
+    public String toString() {
+        final StringBuilder sb = new StringBuilder();
+        for (int i = 0; i < dimension; i++) {
+            sb.append("[").append(getCount(i)).append("]");
+        }
+        return sb.toString();
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/NumberTransformer.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/NumberTransformer.java
new file mode 100644
index 0000000000..7a6c4c5fb0
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/NumberTransformer.java
@@ -0,0 +1,39 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.util;
+
+import org.apache.commons.math3.exception.MathIllegalArgumentException;
+
+/**
+ * Subclasses implementing this interface can transform Objects to doubles.
+ * @version $Id: NumberTransformer.java 1244107 2012-02-14 16:17:55Z erans $
+ *
+ * No longer extends Serializable since 2.0
+ *
+ */
+public interface NumberTransformer {
+
+    /**
+     * Implementing this interface provides a facility to transform
+     * from Object to Double.
+     *
+     * @param o the Object to be transformed.
+     * @return the double value of the Object.
+     * @throws MathIllegalArgumentException if the Object can not be transformed into a Double.
+     */
+    double transform(Object o) throws MathIllegalArgumentException;
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/OpenIntToDoubleHashMap.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/OpenIntToDoubleHashMap.java
new file mode 100644
index 0000000000..b1bf3e27a0
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/OpenIntToDoubleHashMap.java
@@ -0,0 +1,597 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.util;
+
+import java.io.IOException;
+import java.io.ObjectInputStream;
+import java.io.Serializable;
+import java.util.ConcurrentModificationException;
+import java.util.NoSuchElementException;
+
+/**
+ * Open addressed map from int to double.
+ * <p>This class provides a dedicated map from integers to doubles with a
+ * much smaller memory overhead than standard <code>java.util.Map</code>.</p>
+ * <p>This class is not synchronized. The specialized iterators returned by
+ * {@link #iterator()} are fail-fast: they throw a
+ * <code>ConcurrentModificationException</code> when they detect the map has been
+ * modified during iteration.</p>
+ * @version $Id: OpenIntToDoubleHashMap.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public class OpenIntToDoubleHashMap implements Serializable {
+
+    /** Status indicator for free table entries. */
+    protected static final byte FREE    = 0;
+
+    /** Status indicator for full table entries. */
+    protected static final byte FULL    = 1;
+
+    /** Status indicator for removed table entries. */
+    protected static final byte REMOVED = 2;
+
+    /** Serializable version identifier */
+    private static final long serialVersionUID = -3646337053166149105L;
+
+    /** Load factor for the map. */
+    private static final float LOAD_FACTOR = 0.5f;
+
+    /** Default starting size.
+     * <p>This must be a power of two for bit mask to work properly. </p>
+     */
+    private static final int DEFAULT_EXPECTED_SIZE = 16;
+
+    /** Multiplier for size growth when map fills up.
+     * <p>This must be a power of two for bit mask to work properly. </p>
+     */
+    private static final int RESIZE_MULTIPLIER = 2;
+
+    /** Number of bits to perturb the index when probing for collision resolution. */
+    private static final int PERTURB_SHIFT = 5;
+
+    /** Keys table. */
+    private int[] keys;
+
+    /** Values table. */
+    private double[] values;
+
+    /** States table. */
+    private byte[] states;
+
+    /** Return value for missing entries. */
+    private final double missingEntries;
+
+    /** Current size of the map. */
+    private int size;
+
+    /** Bit mask for hash values. */
+    private int mask;
+
+    /** Modifications count. */
+    private transient int count;
+
+    /**
+     * Build an empty map with default size and using NaN for missing entries.
+     */
+    public OpenIntToDoubleHashMap() {
+        this(DEFAULT_EXPECTED_SIZE, Double.NaN);
+    }
+
+    /**
+     * Build an empty map with default size
+     * @param missingEntries value to return when a missing entry is fetched
+     */
+    public OpenIntToDoubleHashMap(final double missingEntries) {
+        this(DEFAULT_EXPECTED_SIZE, missingEntries);
+    }
+
+    /**
+     * Build an empty map with specified size and using NaN for missing entries.
+     * @param expectedSize expected number of elements in the map
+     */
+    public OpenIntToDoubleHashMap(final int expectedSize) {
+        this(expectedSize, Double.NaN);
+    }
+
+    /**
+     * Build an empty map with specified size.
+     * @param expectedSize expected number of elements in the map
+     * @param missingEntries value to return when a missing entry is fetched
+     */
+    public OpenIntToDoubleHashMap(final int expectedSize,
+                                  final double missingEntries) {
+        final int capacity = computeCapacity(expectedSize);
+        keys   = new int[capacity];
+        values = new double[capacity];
+        states = new byte[capacity];
+        this.missingEntries = missingEntries;
+        mask   = capacity - 1;
+    }
+
+    /**
+     * Copy constructor.
+     * @param source map to copy
+     */
+    public OpenIntToDoubleHashMap(final OpenIntToDoubleHashMap source) {
+        final int length = source.keys.length;
+        keys = new int[length];
+        System.arraycopy(source.keys, 0, keys, 0, length);
+        values = new double[length];
+        System.arraycopy(source.values, 0, values, 0, length);
+        states = new byte[length];
+        System.arraycopy(source.states, 0, states, 0, length);
+        missingEntries = source.missingEntries;
+        size  = source.size;
+        mask  = source.mask;
+        count = source.count;
+    }
+
+    /**
+     * Compute the capacity needed for a given size.
+     * @param expectedSize expected size of the map
+     * @return capacity to use for the specified size
+     */
+    private static int computeCapacity(final int expectedSize) {
+        if (expectedSize == 0) {
+            return 1;
+        }
+        final int capacity   = (int) FastMath.ceil(expectedSize / LOAD_FACTOR);
+        final int powerOfTwo = Integer.highestOneBit(capacity);
+        if (powerOfTwo == capacity) {
+            return capacity;
+        }
+        return nextPowerOfTwo(capacity);
+    }
+
+    /**
+     * Find the smallest power of two greater than the input value
+     * @param i input value
+     * @return smallest power of two greater than the input value
+     */
+    private static int nextPowerOfTwo(final int i) {
+        return Integer.highestOneBit(i) << 1;
+    }
+
+    /**
+     * Get the stored value associated with the given key
+     * @param key key associated with the data
+     * @return data associated with the key
+     */
+    public double get(final int key) {
+
+        final int hash  = hashOf(key);
+        int index = hash & mask;
+        if (containsKey(key, index)) {
+            return values[index];
+        }
+
+        if (states[index] == FREE) {
+            return missingEntries;
+        }
+
+        int j = index;
+        for (int perturb = perturb(hash); states[index] != FREE; perturb >>= PERTURB_SHIFT) {
+            j = probe(perturb, j);
+            index = j & mask;
+            if (containsKey(key, index)) {
+                return values[index];
+            }
+        }
+
+        return missingEntries;
+
+    }
+
+    /**
+     * Check if a value is associated with a key.
+     * @param key key to check
+     * @return true if a value is associated with key
+     */
+    public boolean containsKey(final int key) {
+
+        final int hash  = hashOf(key);
+        int index = hash & mask;
+        if (containsKey(key, index)) {
+            return true;
+        }
+
+        if (states[index] == FREE) {
+            return false;
+        }
+
+        int j = index;
+        for (int perturb = perturb(hash); states[index] != FREE; perturb >>= PERTURB_SHIFT) {
+            j = probe(perturb, j);
+            index = j & mask;
+            if (containsKey(key, index)) {
+                return true;
+            }
+        }
+
+        return false;
+
+    }
+
+    /**
+     * Get an iterator over map elements.
+     * <p>The specialized iterators returned are fail-fast: they throw a
+     * <code>ConcurrentModificationException</code> when they detect the map
+     * has been modified during iteration.</p>
+     * @return iterator over the map elements
+     */
+    public Iterator iterator() {
+        return new Iterator();
+    }
+
+    /**
+     * Perturb the hash for starting probing.
+     * @param hash initial hash
+     * @return perturbed hash
+     */
+    private static int perturb(final int hash) {
+        return hash & 0x7fffffff;
+    }
+
+    /**
+     * Find the index at which a key should be inserted
+     * @param key key to lookup
+     * @return index at which key should be inserted
+     */
+    private int findInsertionIndex(final int key) {
+        return findInsertionIndex(keys, states, key, mask);
+    }
+
+    /**
+     * Find the index at which a key should be inserted
+     * @param keys keys table
+     * @param states states table
+     * @param key key to lookup
+     * @param mask bit mask for hash values
+     * @return index at which key should be inserted
+     */
+    private static int findInsertionIndex(final int[] keys, final byte[] states,
+                                          final int key, final int mask) {
+        final int hash = hashOf(key);
+        int index = hash & mask;
+        if (states[index] == FREE) {
+            return index;
+        } else if (states[index] == FULL && keys[index] == key) {
+            return changeIndexSign(index);
+        }
+
+        int perturb = perturb(hash);
+        int j = index;
+        if (states[index] == FULL) {
+            while (true) {
+                j = probe(perturb, j);
+                index = j & mask;
+                perturb >>= PERTURB_SHIFT;
+
+                if (states[index] != FULL || keys[index] == key) {
+                    break;
+                }
+            }
+        }
+
+        if (states[index] == FREE) {
+            return index;
+        } else if (states[index] == FULL) {
+            // due to the loop exit condition,
+            // if (states[index] == FULL) then keys[index] == key
+            return changeIndexSign(index);
+        }
+
+        final int firstRemoved = index;
+        while (true) {
+            j = probe(perturb, j);
+            index = j & mask;
+
+            if (states[index] == FREE) {
+                return firstRemoved;
+            } else if (states[index] == FULL && keys[index] == key) {
+                return changeIndexSign(index);
+            }
+
+            perturb >>= PERTURB_SHIFT;
+
+        }
+
+    }
+
+    /**
+     * Compute next probe for collision resolution
+     * @param perturb perturbed hash
+     * @param j previous probe
+     * @return next probe
+     */
+    private static int probe(final int perturb, final int j) {
+        return (j << 2) + j + perturb + 1;
+    }
+
+    /**
+     * Change the index sign
+     * @param index initial index
+     * @return changed index
+     */
+    private static int changeIndexSign(final int index) {
+        return -index - 1;
+    }
+
+    /**
+     * Get the number of elements stored in the map.
+     * @return number of elements stored in the map
+     */
+    public int size() {
+        return size;
+    }
+
+
+    /**
+     * Remove the value associated with a key.
+     * @param key key to which the value is associated
+     * @return removed value
+     */
+    public double remove(final int key) {
+
+        final int hash  = hashOf(key);
+        int index = hash & mask;
+        if (containsKey(key, index)) {
+            return doRemove(index);
+        }
+
+        if (states[index] == FREE) {
+            return missingEntries;
+        }
+
+        int j = index;
+        for (int perturb = perturb(hash); states[index] != FREE; perturb >>= PERTURB_SHIFT) {
+            j = probe(perturb, j);
+            index = j & mask;
+            if (containsKey(key, index)) {
+                return doRemove(index);
+            }
+        }
+
+        return missingEntries;
+
+    }
+
+    /**
+     * Check if the tables contain an element associated with specified key
+     * at specified index.
+     * @param key key to check
+     * @param index index to check
+     * @return true if an element is associated with key at index
+     */
+    private boolean containsKey(final int key, final int index) {
+        return (key != 0 || states[index] == FULL) && keys[index] == key;
+    }
+
+    /**
+     * Remove an element at specified index.
+     * @param index index of the element to remove
+     * @return removed value
+     */
+    private double doRemove(int index) {
+        keys[index]   = 0;
+        states[index] = REMOVED;
+        final double previous = values[index];
+        values[index] = missingEntries;
+        --size;
+        ++count;
+        return previous;
+    }
+
+    /**
+     * Put a value associated with a key in the map.
+     * @param key key to which value is associated
+     * @param value value to put in the map
+     * @return previous value associated with the key
+     */
+    public double put(final int key, final double value) {
+        int index = findInsertionIndex(key);
+        double previous = missingEntries;
+        boolean newMapping = true;
+        if (index < 0) {
+            index = changeIndexSign(index);
+            previous = values[index];
+            newMapping = false;
+        }
+        keys[index]   = key;
+        states[index] = FULL;
+        values[index] = value;
+        if (newMapping) {
+            ++size;
+            if (shouldGrowTable()) {
+                growTable();
+            }
+            ++count;
+        }
+        return previous;
+
+    }
+
+    /**
+     * Grow the tables.
+     */
+    private void growTable() {
+
+        final int oldLength      = states.length;
+        final int[] oldKeys      = keys;
+        final double[] oldValues = values;
+        final byte[] oldStates   = states;
+
+        final int newLength = RESIZE_MULTIPLIER * oldLength;
+        final int[] newKeys = new int[newLength];
+        final double[] newValues = new double[newLength];
+        final byte[] newStates = new byte[newLength];
+        final int newMask = newLength - 1;
+        for (int i = 0; i < oldLength; ++i) {
+            if (oldStates[i] == FULL) {
+                final int key = oldKeys[i];
+                final int index = findInsertionIndex(newKeys, newStates, key, newMask);
+                newKeys[index]   = key;
+                newValues[index] = oldValues[i];
+                newStates[index] = FULL;
+            }
+        }
+
+        mask   = newMask;
+        keys   = newKeys;
+        values = newValues;
+        states = newStates;
+
+    }
+
+    /**
+     * Check if tables should grow due to increased size.
+     * @return true if  tables should grow
+     */
+    private boolean shouldGrowTable() {
+        return size > (mask + 1) * LOAD_FACTOR;
+    }
+
+    /**
+     * Compute the hash value of a key
+     * @param key key to hash
+     * @return hash value of the key
+     */
+    private static int hashOf(final int key) {
+        final int h = key ^ ((key >>> 20) ^ (key >>> 12));
+        return h ^ (h >>> 7) ^ (h >>> 4);
+    }
+
+
+    /** Iterator class for the map. */
+    public class Iterator {
+
+        /** Reference modification count. */
+        private final int referenceCount;
+
+        /** Index of current element. */
+        private int current;
+
+        /** Index of next element. */
+        private int next;
+
+        /**
+         * Simple constructor.
+         */
+        private Iterator() {
+
+            // preserve the modification count of the map to detect concurrent modifications later
+            referenceCount = count;
+
+            // initialize current index
+            next = -1;
+            try {
+                advance();
+            } catch (NoSuchElementException nsee) {
+                // ignored
+            }
+
+        }
+
+        /**
+         * Check if there is a next element in the map.
+         * @return true if there is a next element
+         */
+        public boolean hasNext() {
+            return next >= 0;
+        }
+
+        /**
+         * Get the key of current entry.
+         * @return key of current entry
+         * @exception ConcurrentModificationException if the map is modified during iteration
+         * @exception NoSuchElementException if there is no element left in the map
+         */
+        public int key()
+            throws ConcurrentModificationException, NoSuchElementException {
+            if (referenceCount != count) {
+                throw new ConcurrentModificationException();
+            }
+            if (current < 0) {
+                throw new NoSuchElementException();
+            }
+            return keys[current];
+        }
+
+        /**
+         * Get the value of current entry.
+         * @return value of current entry
+         * @exception ConcurrentModificationException if the map is modified during iteration
+         * @exception NoSuchElementException if there is no element left in the map
+         */
+        public double value()
+            throws ConcurrentModificationException, NoSuchElementException {
+            if (referenceCount != count) {
+                throw new ConcurrentModificationException();
+            }
+            if (current < 0) {
+                throw new NoSuchElementException();
+            }
+            return values[current];
+        }
+
+        /**
+         * Advance iterator one step further.
+         * @exception ConcurrentModificationException if the map is modified during iteration
+         * @exception NoSuchElementException if there is no element left in the map
+         */
+        public void advance()
+            throws ConcurrentModificationException, NoSuchElementException {
+
+            if (referenceCount != count) {
+                throw new ConcurrentModificationException();
+            }
+
+            // advance on step
+            current = next;
+
+            // prepare next step
+            try {
+                while (states[++next] != FULL) {
+                    // nothing to do
+                }
+            } catch (ArrayIndexOutOfBoundsException e) {
+                next = -2;
+                if (current < 0) {
+                    throw new NoSuchElementException();
+                }
+            }
+
+        }
+
+    }
+
+    /**
+     * Read a serialized object.
+     * @param stream input stream
+     * @throws IOException if object cannot be read
+     * @throws ClassNotFoundException if the class corresponding
+     * to the serialized object cannot be found
+     */
+    private void readObject(final ObjectInputStream stream)
+        throws IOException, ClassNotFoundException {
+        stream.defaultReadObject();
+        count = 0;
+    }
+
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/OpenIntToFieldHashMap.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/OpenIntToFieldHashMap.java
new file mode 100644
index 0000000000..06dfdfbf08
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/OpenIntToFieldHashMap.java
@@ -0,0 +1,618 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.util;
+
+import java.io.IOException;
+import java.io.ObjectInputStream;
+import java.io.Serializable;
+import java.lang.reflect.Array;
+import java.util.ConcurrentModificationException;
+import java.util.NoSuchElementException;
+
+import org.apache.commons.math3.Field;
+import org.apache.commons.math3.FieldElement;
+
+/**
+ * Open addressed map from int to FieldElement.
+ * <p>This class provides a dedicated map from integers to FieldElements with a
+ * much smaller memory overhead than standard <code>java.util.Map</code>.</p>
+ * <p>This class is not synchronized. The specialized iterators returned by
+ * {@link #iterator()} are fail-fast: they throw a
+ * <code>ConcurrentModificationException</code> when they detect the map has been
+ * modified during iteration.</p>
+ * @param <T> the type of the field elements
+ * @version $Id: OpenIntToFieldHashMap.java 1244107 2012-02-14 16:17:55Z erans $
+ * @since 2.0
+ */
+public class OpenIntToFieldHashMap<T extends FieldElement<T>> implements Serializable {
+
+    /** Status indicator for free table entries. */
+    protected static final byte FREE    = 0;
+
+    /** Status indicator for full table entries. */
+    protected static final byte FULL    = 1;
+
+    /** Status indicator for removed table entries. */
+    protected static final byte REMOVED = 2;
+
+    /** Serializable version identifier. */
+    private static final long serialVersionUID = -9179080286849120720L;
+
+    /** Load factor for the map. */
+    private static final float LOAD_FACTOR = 0.5f;
+
+    /** Default starting size.
+     * <p>This must be a power of two for bit mask to work properly. </p>
+     */
+    private static final int DEFAULT_EXPECTED_SIZE = 16;
+
+    /** Multiplier for size growth when map fills up.
+     * <p>This must be a power of two for bit mask to work properly. </p>
+     */
+    private static final int RESIZE_MULTIPLIER = 2;
+
+    /** Number of bits to perturb the index when probing for collision resolution. */
+    private static final int PERTURB_SHIFT = 5;
+
+    /** Field to which the elements belong. */
+    private final Field<T> field;
+
+    /** Keys table. */
+    private int[] keys;
+
+    /** Values table. */
+    private T[] values;
+
+    /** States table. */
+    private byte[] states;
+
+    /** Return value for missing entries. */
+    private final T missingEntries;
+
+    /** Current size of the map. */
+    private int size;
+
+    /** Bit mask for hash values. */
+    private int mask;
+
+    /** Modifications count. */
+    private transient int count;
+
+    /**
+     * Build an empty map with default size and using zero for missing entries.
+     * @param field field to which the elements belong
+     */
+    public OpenIntToFieldHashMap(final Field<T>field) {
+        this(field, DEFAULT_EXPECTED_SIZE, field.getZero());
+    }
+
+    /**
+     * Build an empty map with default size
+     * @param field field to which the elements belong
+     * @param missingEntries value to return when a missing entry is fetched
+     */
+    public OpenIntToFieldHashMap(final Field<T>field, final T missingEntries) {
+        this(field,DEFAULT_EXPECTED_SIZE, missingEntries);
+    }
+
+    /**
+     * Build an empty map with specified size and using zero for missing entries.
+     * @param field field to which the elements belong
+     * @param expectedSize expected number of elements in the map
+     */
+    public OpenIntToFieldHashMap(final Field<T> field,final int expectedSize) {
+        this(field,expectedSize, field.getZero());
+    }
+
+    /**
+     * Build an empty map with specified size.
+     * @param field field to which the elements belong
+     * @param expectedSize expected number of elements in the map
+     * @param missingEntries value to return when a missing entry is fetched
+     */
+    public OpenIntToFieldHashMap(final Field<T> field,final int expectedSize,
+                                  final T missingEntries) {
+        this.field = field;
+        final int capacity = computeCapacity(expectedSize);
+        keys   = new int[capacity];
+        values = buildArray(capacity);
+        states = new byte[capacity];
+        this.missingEntries = missingEntries;
+        mask   = capacity - 1;
+    }
+
+    /**
+     * Copy constructor.
+     * @param source map to copy
+     */
+    public OpenIntToFieldHashMap(final OpenIntToFieldHashMap<T> source) {
+        field = source.field;
+        final int length = source.keys.length;
+        keys = new int[length];
+        System.arraycopy(source.keys, 0, keys, 0, length);
+        values = buildArray(length);
+        System.arraycopy(source.values, 0, values, 0, length);
+        states = new byte[length];
+        System.arraycopy(source.states, 0, states, 0, length);
+        missingEntries = source.missingEntries;
+        size  = source.size;
+        mask  = source.mask;
+        count = source.count;
+    }
+
+    /**
+     * Compute the capacity needed for a given size.
+     * @param expectedSize expected size of the map
+     * @return capacity to use for the specified size
+     */
+    private static int computeCapacity(final int expectedSize) {
+        if (expectedSize == 0) {
+            return 1;
+        }
+        final int capacity   = (int) FastMath.ceil(expectedSize / LOAD_FACTOR);
+        final int powerOfTwo = Integer.highestOneBit(capacity);
+        if (powerOfTwo == capacity) {
+            return capacity;
+        }
+        return nextPowerOfTwo(capacity);
+    }
+
+    /**
+     * Find the smallest power of two greater than the input value
+     * @param i input value
+     * @return smallest power of two greater than the input value
+     */
+    private static int nextPowerOfTwo(final int i) {
+        return Integer.highestOneBit(i) << 1;
+    }
+
+    /**
+     * Get the stored value associated with the given key
+     * @param key key associated with the data
+     * @return data associated with the key
+     */
+    public T get(final int key) {
+
+        final int hash  = hashOf(key);
+        int index = hash & mask;
+        if (containsKey(key, index)) {
+            return values[index];
+        }
+
+        if (states[index] == FREE) {
+            return missingEntries;
+        }
+
+        int j = index;
+        for (int perturb = perturb(hash); states[index] != FREE; perturb >>= PERTURB_SHIFT) {
+            j = probe(perturb, j);
+            index = j & mask;
+            if (containsKey(key, index)) {
+                return values[index];
+            }
+        }
+
+        return missingEntries;
+
+    }
+
+    /**
+     * Check if a value is associated with a key.
+     * @param key key to check
+     * @return true if a value is associated with key
+     */
+    public boolean containsKey(final int key) {
+
+        final int hash  = hashOf(key);
+        int index = hash & mask;
+        if (containsKey(key, index)) {
+            return true;
+        }
+
+        if (states[index] == FREE) {
+            return false;
+        }
+
+        int j = index;
+        for (int perturb = perturb(hash); states[index] != FREE; perturb >>= PERTURB_SHIFT) {
+            j = probe(perturb, j);
+            index = j & mask;
+            if (containsKey(key, index)) {
+                return true;
+            }
+        }
+
+        return false;
+
+    }
+
+    /**
+     * Get an iterator over map elements.
+     * <p>The specialized iterators returned are fail-fast: they throw a
+     * <code>ConcurrentModificationException</code> when they detect the map
+     * has been modified during iteration.</p>
+     * @return iterator over the map elements
+     */
+    public Iterator iterator() {
+        return new Iterator();
+    }
+
+    /**
+     * Perturb the hash for starting probing.
+     * @param hash initial hash
+     * @return perturbed hash
+     */
+    private static int perturb(final int hash) {
+        return hash & 0x7fffffff;
+    }
+
+    /**
+     * Find the index at which a key should be inserted
+     * @param key key to lookup
+     * @return index at which key should be inserted
+     */
+    private int findInsertionIndex(final int key) {
+        return findInsertionIndex(keys, states, key, mask);
+    }
+
+    /**
+     * Find the index at which a key should be inserted
+     * @param keys keys table
+     * @param states states table
+     * @param key key to lookup
+     * @param mask bit mask for hash values
+     * @return index at which key should be inserted
+     */
+    private static int findInsertionIndex(final int[] keys, final byte[] states,
+                                          final int key, final int mask) {
+        final int hash = hashOf(key);
+        int index = hash & mask;
+        if (states[index] == FREE) {
+            return index;
+        } else if (states[index] == FULL && keys[index] == key) {
+            return changeIndexSign(index);
+        }
+
+        int perturb = perturb(hash);
+        int j = index;
+        if (states[index] == FULL) {
+            while (true) {
+                j = probe(perturb, j);
+                index = j & mask;
+                perturb >>= PERTURB_SHIFT;
+
+                if (states[index] != FULL || keys[index] == key) {
+                    break;
+                }
+            }
+        }
+
+        if (states[index] == FREE) {
+            return index;
+        } else if (states[index] == FULL) {
+            // due to the loop exit condition,
+            // if (states[index] == FULL) then keys[index] == key
+            return changeIndexSign(index);
+        }
+
+        final int firstRemoved = index;
+        while (true) {
+            j = probe(perturb, j);
+            index = j & mask;
+
+            if (states[index] == FREE) {
+                return firstRemoved;
+            } else if (states[index] == FULL && keys[index] == key) {
+                return changeIndexSign(index);
+            }
+
+            perturb >>= PERTURB_SHIFT;
+
+        }
+
+    }
+
+    /**
+     * Compute next probe for collision resolution
+     * @param perturb perturbed hash
+     * @param j previous probe
+     * @return next probe
+     */
+    private static int probe(final int perturb, final int j) {
+        return (j << 2) + j + perturb + 1;
+    }
+
+    /**
+     * Change the index sign
+     * @param index initial index
+     * @return changed index
+     */
+    private static int changeIndexSign(final int index) {
+        return -index - 1;
+    }
+
+    /**
+     * Get the number of elements stored in the map.
+     * @return number of elements stored in the map
+     */
+    public int size() {
+        return size;
+    }
+
+
+    /**
+     * Remove the value associated with a key.
+     * @param key key to which the value is associated
+     * @return removed value
+     */
+    public T remove(final int key) {
+
+        final int hash  = hashOf(key);
+        int index = hash & mask;
+        if (containsKey(key, index)) {
+            return doRemove(index);
+        }
+
+        if (states[index] == FREE) {
+            return missingEntries;
+        }
+
+        int j = index;
+        for (int perturb = perturb(hash); states[index] != FREE; perturb >>= PERTURB_SHIFT) {
+            j = probe(perturb, j);
+            index = j & mask;
+            if (containsKey(key, index)) {
+                return doRemove(index);
+            }
+        }
+
+        return missingEntries;
+
+    }
+
+    /**
+     * Check if the tables contain an element associated with specified key
+     * at specified index.
+     * @param key key to check
+     * @param index index to check
+     * @return true if an element is associated with key at index
+     */
+    private boolean containsKey(final int key, final int index) {
+        return (key != 0 || states[index] == FULL) && keys[index] == key;
+    }
+
+    /**
+     * Remove an element at specified index.
+     * @param index index of the element to remove
+     * @return removed value
+     */
+    private T doRemove(int index) {
+        keys[index]   = 0;
+        states[index] = REMOVED;
+        final T previous = values[index];
+        values[index] = missingEntries;
+        --size;
+        ++count;
+        return previous;
+    }
+
+    /**
+     * Put a value associated with a key in the map.
+     * @param key key to which value is associated
+     * @param value value to put in the map
+     * @return previous value associated with the key
+     */
+    public T put(final int key, final T value) {
+        int index = findInsertionIndex(key);
+        T previous = missingEntries;
+        boolean newMapping = true;
+        if (index < 0) {
+            index = changeIndexSign(index);
+            previous = values[index];
+            newMapping = false;
+        }
+        keys[index]   = key;
+        states[index] = FULL;
+        values[index] = value;
+        if (newMapping) {
+            ++size;
+            if (shouldGrowTable()) {
+                growTable();
+            }
+            ++count;
+        }
+        return previous;
+
+    }
+
+    /**
+     * Grow the tables.
+     */
+    private void growTable() {
+
+        final int oldLength      = states.length;
+        final int[] oldKeys      = keys;
+        final T[] oldValues = values;
+        final byte[] oldStates   = states;
+
+        final int newLength = RESIZE_MULTIPLIER * oldLength;
+        final int[] newKeys = new int[newLength];
+        final T[] newValues = buildArray(newLength);
+        final byte[] newStates = new byte[newLength];
+        final int newMask = newLength - 1;
+        for (int i = 0; i < oldLength; ++i) {
+            if (oldStates[i] == FULL) {
+                final int key = oldKeys[i];
+                final int index = findInsertionIndex(newKeys, newStates, key, newMask);
+                newKeys[index]   = key;
+                newValues[index] = oldValues[i];
+                newStates[index] = FULL;
+            }
+        }
+
+        mask   = newMask;
+        keys   = newKeys;
+        values = newValues;
+        states = newStates;
+
+    }
+
+    /**
+     * Check if tables should grow due to increased size.
+     * @return true if  tables should grow
+     */
+    private boolean shouldGrowTable() {
+        return size > (mask + 1) * LOAD_FACTOR;
+    }
+
+    /**
+     * Compute the hash value of a key
+     * @param key key to hash
+     * @return hash value of the key
+     */
+    private static int hashOf(final int key) {
+        final int h = key ^ ((key >>> 20) ^ (key >>> 12));
+        return h ^ (h >>> 7) ^ (h >>> 4);
+    }
+
+
+    /** Iterator class for the map. */
+    public class Iterator {
+
+        /** Reference modification count. */
+        private final int referenceCount;
+
+        /** Index of current element. */
+        private int current;
+
+        /** Index of next element. */
+        private int next;
+
+        /**
+         * Simple constructor.
+         */
+        private Iterator() {
+
+            // preserve the modification count of the map to detect concurrent modifications later
+            referenceCount = count;
+
+            // initialize current index
+            next = -1;
+            try {
+                advance();
+            } catch (NoSuchElementException nsee) {
+                // ignored
+            }
+
+        }
+
+        /**
+         * Check if there is a next element in the map.
+         * @return true if there is a next element
+         */
+        public boolean hasNext() {
+            return next >= 0;
+        }
+
+        /**
+         * Get the key of current entry.
+         * @return key of current entry
+         * @exception ConcurrentModificationException if the map is modified during iteration
+         * @exception NoSuchElementException if there is no element left in the map
+         */
+        public int key()
+            throws ConcurrentModificationException, NoSuchElementException {
+            if (referenceCount != count) {
+                throw new ConcurrentModificationException();
+            }
+            if (current < 0) {
+                throw new NoSuchElementException();
+            }
+            return keys[current];
+        }
+
+        /**
+         * Get the value of current entry.
+         * @return value of current entry
+         * @exception ConcurrentModificationException if the map is modified during iteration
+         * @exception NoSuchElementException if there is no element left in the map
+         */
+        public T value()
+            throws ConcurrentModificationException, NoSuchElementException {
+            if (referenceCount != count) {
+                throw new ConcurrentModificationException();
+            }
+            if (current < 0) {
+                throw new NoSuchElementException();
+            }
+            return values[current];
+        }
+
+        /**
+         * Advance iterator one step further.
+         * @exception ConcurrentModificationException if the map is modified during iteration
+         * @exception NoSuchElementException if there is no element left in the map
+         */
+        public void advance()
+            throws ConcurrentModificationException, NoSuchElementException {
+
+            if (referenceCount != count) {
+                throw new ConcurrentModificationException();
+            }
+
+            // advance on step
+            current = next;
+
+            // prepare next step
+            try {
+                while (states[++next] != FULL) {
+                    // nothing to do
+                }
+            } catch (ArrayIndexOutOfBoundsException e) {
+                next = -2;
+                if (current < 0) {
+                    throw new NoSuchElementException();
+                }
+            }
+
+        }
+
+    }
+
+    /**
+     * Read a serialized object.
+     * @param stream input stream
+     * @throws IOException if object cannot be read
+     * @throws ClassNotFoundException if the class corresponding
+     * to the serialized object cannot be found
+     */
+    private void readObject(final ObjectInputStream stream)
+        throws IOException, ClassNotFoundException {
+        stream.defaultReadObject();
+        count = 0;
+    }
+
+    /** Build an array of elements.
+     * @param length size of the array to build
+     * @return a new array
+     */
+    @SuppressWarnings("unchecked") // field is of type T
+    private T[] buildArray(final int length) {
+        return (T[]) Array.newInstance(field.getRuntimeClass(), length);
+    }
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/Pair.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/Pair.java
new file mode 100644
index 0000000000..cc5a66cff7
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/Pair.java
@@ -0,0 +1,110 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.util;
+
+/**
+ * Generic pair.
+ * Immutable class.
+ *
+ * @param <K> Key type.
+ * @param <V> Value type.
+ *
+ * @version $Id$
+ * @since 3.0
+ */
+public class Pair<K, V> {
+    /** Key. */
+    private final K key;
+    /** Value. */
+    private final V value;
+
+    /**
+     * Create an entry representing a mapping from the specified key to the
+     * specified value.
+     *
+     * @param k Key.
+     * @param v Value.
+     */
+    public Pair(K k, V v) {
+        key = k;
+        value = v;
+    }
+
+    /**
+     * Create an entry representing the same mapping as the specified entry.
+     *
+     * @param entry Entry to copy.
+     */
+    public Pair(Pair<? extends K, ? extends V> entry) {
+        key = entry.getKey();
+        value = entry.getValue();
+    }
+
+    /**
+     * Get the key.
+     *
+     * @return the key.
+     */
+    public K getKey() {
+        return key;
+    }
+
+    /**
+     * Get the value.
+     *
+     * @return the value.
+     */
+    public V getValue() {
+        return value;
+    }
+
+    /**
+     * Compare the specified object with this entry for equality.
+     *
+     * @param o Object.
+     * @return {@code true} if the given object is also a map entry and
+     * the two entries represent the same mapping.
+     */
+    @Override
+    public boolean equals(Object o) {
+        if (o == null) {
+            return false;
+        }
+        if (!(o instanceof Pair)) {
+            return false;
+        } else {
+            Pair<?, ?> oP = (Pair<?, ?>) o;
+            return (key == null ?
+                    oP.getKey() == null :
+                    key.equals(oP.getKey())) &&
+                (value == null ?
+                 oP.getValue() == null :
+                 value.equals(oP.getValue()));
+        }
+    }
+
+    /**
+     * Compute a hash code.
+     *
+     * @return the hash code value.
+     */
+    @Override
+    public int hashCode() {
+        return (key == null ? 0 : key.hashCode()) ^
+            (value == null ? 0 : value.hashCode());
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/Precision.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/Precision.java
new file mode 100644
index 0000000000..d82ff1b31f
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/Precision.java
@@ -0,0 +1,496 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.commons.math3.util;
+
+import java.math.BigDecimal;
+import org.apache.commons.math3.exception.MathArithmeticException;
+import org.apache.commons.math3.exception.MathIllegalArgumentException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+import org.apache.commons.math3.util.FastMath;
+
+/**
+ * Utilities for comparing numbers.
+ *
+ * @since 3.0
+ * @version $Id$
+ */
+public class Precision {
+    /**
+     * Smallest positive number such that {@code 1 - EPSILON} is not
+     * numerically equal to 1: {@value}.
+     */
+    public static final double EPSILON = 0x1.0p-53;
+    /**
+     * Safe minimum, such that {@code 1 / SAFE_MIN} does not overflow.
+     * In IEEE 754 arithmetic, this is also the smallest normalized
+     * number 2<sup>-1022</sup>: {@value}.
+     */
+    public static final double SAFE_MIN = 0x1.0p-1022;
+    /** Offset to order signed double numbers lexicographically. */
+    private static final long SGN_MASK = 0x8000000000000000L;
+    /** Offset to order signed double numbers lexicographically. */
+    private static final int SGN_MASK_FLOAT = 0x80000000;
+
+    /**
+     * Private constructor.
+     */
+    private Precision() {}
+
+    /**
+     * Compares two numbers given some amount of allowed error.
+     *
+     * @param x the first number
+     * @param y the second number
+     * @param eps the amount of error to allow when checking for equality
+     * @return <ul><li>0 if  {@link #equals(double, double, double) equals(x, y, eps)}</li>
+     *       <li>&lt; 0 if !{@link #equals(double, double, double) equals(x, y, eps)} &amp;&amp; x &lt; y</li>
+     *       <li>> 0 if !{@link #equals(double, double, double) equals(x, y, eps)} &amp;&amp; x > y</li></ul>
+     */
+    public static int compareTo(double x, double y, double eps) {
+        if (equals(x, y, eps)) {
+            return 0;
+        } else if (x < y) {
+            return -1;
+        }
+        return 1;
+    }
+
+    /**
+     * Compares two numbers given some amount of allowed error.
+     * Two float numbers are considered equal if there are {@code (maxUlps - 1)}
+     * (or fewer) floating point numbers between them, i.e. two adjacent floating
+     * point numbers are considered equal.
+     * Adapted from <a
+     * href="http://www.cygnus-software.com/papers/comparingfloats/comparingfloats.htm">
+     * Bruce Dawson</a>
+     *
+     * @param x first value
+     * @param y second value
+     * @param maxUlps {@code (maxUlps - 1)} is the number of floating point
+     * values between {@code x} and {@code y}.
+     * @return <ul><li>0 if  {@link #equals(double, double, int) equals(x, y, maxUlps)}</li>
+     *       <li>&lt; 0 if !{@link #equals(double, double, int) equals(x, y, maxUlps)} &amp;&amp; x &lt; y</li>
+     *       <li>> 0 if !{@link #equals(double, double, int) equals(x, y, maxUlps)} &amp;&amp; x > y</li></ul>
+     */
+    public static int compareTo(final double x, final double y, final int maxUlps) {
+        if (equals(x, y, maxUlps)) {
+            return 0;
+        } else if (x < y) {
+            return -1;
+        }
+        return 1;
+    }
+
+    /**
+     * Returns true iff they are equal as defined by
+     * {@link #equals(float,float,int) equals(x, y, 1)}.
+     *
+     * @param x first value
+     * @param y second value
+     * @return {@code true} if the values are equal.
+     */
+    public static boolean equals(float x, float y) {
+        return equals(x, y, 1);
+    }
+
+    /**
+     * Returns true if both arguments are NaN or neither is NaN and they are
+     * equal as defined by {@link #equals(float,float) equals(x, y, 1)}.
+     *
+     * @param x first value
+     * @param y second value
+     * @return {@code true} if the values are equal or both are NaN.
+     * @since 2.2
+     */
+    public static boolean equalsIncludingNaN(float x, float y) {
+        return (Float.isNaN(x) && Float.isNaN(y)) || equals(x, y, 1);
+    }
+
+    /**
+     * Returns true if both arguments are equal or within the range of allowed
+     * error (inclusive).
+     *
+     * @param x first value
+     * @param y second value
+     * @param eps the amount of absolute error to allow.
+     * @return {@code true} if the values are equal or within range of each other.
+     * @since 2.2
+     */
+    public static boolean equals(float x, float y, float eps) {
+        return equals(x, y, 1) || FastMath.abs(y - x) <= eps;
+    }
+
+    /**
+     * Returns true if both arguments are NaN or are equal or within the range
+     * of allowed error (inclusive).
+     *
+     * @param x first value
+     * @param y second value
+     * @param eps the amount of absolute error to allow.
+     * @return {@code true} if the values are equal or within range of each other,
+     * or both are NaN.
+     * @since 2.2
+     */
+    public static boolean equalsIncludingNaN(float x, float y, float eps) {
+        return equalsIncludingNaN(x, y) || (FastMath.abs(y - x) <= eps);
+    }
+
+    /**
+     * Returns true if both arguments are equal or within the range of allowed
+     * error (inclusive).
+     * Two float numbers are considered equal if there are {@code (maxUlps - 1)}
+     * (or fewer) floating point numbers between them, i.e. two adjacent floating
+     * point numbers are considered equal.
+     * Adapted from <a
+     * href="http://www.cygnus-software.com/papers/comparingfloats/comparingfloats.htm">
+     * Bruce Dawson</a>
+     *
+     * @param x first value
+     * @param y second value
+     * @param maxUlps {@code (maxUlps - 1)} is the number of floating point
+     * values between {@code x} and {@code y}.
+     * @return {@code true} if there are fewer than {@code maxUlps} floating
+     * point values between {@code x} and {@code y}.
+     * @since 2.2
+     */
+    public static boolean equals(float x, float y, int maxUlps) {
+        int xInt = Float.floatToIntBits(x);
+        int yInt = Float.floatToIntBits(y);
+
+        // Make lexicographically ordered as a two's-complement integer.
+        if (xInt < 0) {
+            xInt = SGN_MASK_FLOAT - xInt;
+        }
+        if (yInt < 0) {
+            yInt = SGN_MASK_FLOAT - yInt;
+        }
+
+        final boolean isEqual = FastMath.abs(xInt - yInt) <= maxUlps;
+
+        return isEqual && !Float.isNaN(x) && !Float.isNaN(y);
+    }
+
+    /**
+     * Returns true if both arguments are NaN or if they are equal as defined
+     * by {@link #equals(float,float,int) equals(x, y, maxUlps)}.
+     *
+     * @param x first value
+     * @param y second value
+     * @param maxUlps {@code (maxUlps - 1)} is the number of floating point
+     * values between {@code x} and {@code y}.
+     * @return {@code true} if both arguments are NaN or if there are less than
+     * {@code maxUlps} floating point values between {@code x} and {@code y}.
+     * @since 2.2
+     */
+    public static boolean equalsIncludingNaN(float x, float y, int maxUlps) {
+        return (Float.isNaN(x) && Float.isNaN(y)) || equals(x, y, maxUlps);
+    }
+
+    /**
+     * Returns true iff they are equal as defined by
+     * {@link #equals(double,double,int) equals(x, y, 1)}.
+     *
+     * @param x first value
+     * @param y second value
+     * @return {@code true} if the values are equal.
+     */
+    public static boolean equals(double x, double y) {
+        return equals(x, y, 1);
+    }
+
+    /**
+     * Returns true if both arguments are NaN or neither is NaN and they are
+     * equal as defined by {@link #equals(double,double) equals(x, y, 1)}.
+     *
+     * @param x first value
+     * @param y second value
+     * @return {@code true} if the values are equal or both are NaN.
+     * @since 2.2
+     */
+    public static boolean equalsIncludingNaN(double x, double y) {
+        return (Double.isNaN(x) && Double.isNaN(y)) || equals(x, y, 1);
+    }
+
+    /**
+     * Returns {@code true} if there is no double value strictly between the
+     * arguments or the difference between them is within the range of allowed
+     * error (inclusive).
+     *
+     * @param x First value.
+     * @param y Second value.
+     * @param eps Amount of allowed absolute error.
+     * @return {@code true} if the values are two adjacent floating point
+     * numbers or they are within range of each other.
+     */
+    public static boolean equals(double x, double y, double eps) {
+        return equals(x, y, 1) || FastMath.abs(y - x) <= eps;
+    }
+
+    /**
+     * Returns true if both arguments are NaN or are equal or within the range
+     * of allowed error (inclusive).
+     *
+     * @param x first value
+     * @param y second value
+     * @param eps the amount of absolute error to allow.
+     * @return {@code true} if the values are equal or within range of each other,
+     * or both are NaN.
+     * @since 2.2
+     */
+    public static boolean equalsIncludingNaN(double x, double y, double eps) {
+        return equalsIncludingNaN(x, y) || (FastMath.abs(y - x) <= eps);
+    }
+
+    /**
+     * Returns true if both arguments are equal or within the range of allowed
+     * error (inclusive).
+     * Two float numbers are considered equal if there are {@code (maxUlps - 1)}
+     * (or fewer) floating point numbers between them, i.e. two adjacent floating
+     * point numbers are considered equal.
+     * Adapted from <a
+     * href="http://www.cygnus-software.com/papers/comparingfloats/comparingfloats.htm">
+     * Bruce Dawson</a>
+     *
+     * @param x first value
+     * @param y second value
+     * @param maxUlps {@code (maxUlps - 1)} is the number of floating point
+     * values between {@code x} and {@code y}.
+     * @return {@code true} if there are fewer than {@code maxUlps} floating
+     * point values between {@code x} and {@code y}.
+     */
+    public static boolean equals(double x, double y, int maxUlps) {
+        long xInt = Double.doubleToLongBits(x);
+        long yInt = Double.doubleToLongBits(y);
+
+        // Make lexicographically ordered as a two's-complement integer.
+        if (xInt < 0) {
+            xInt = SGN_MASK - xInt;
+        }
+        if (yInt < 0) {
+            yInt = SGN_MASK - yInt;
+        }
+
+        final boolean isEqual = FastMath.abs(xInt - yInt) <= maxUlps;
+
+        return isEqual && !Double.isNaN(x) && !Double.isNaN(y);
+    }
+
+    /**
+     * Returns true if both arguments are NaN or if they are equal as defined
+     * by {@link #equals(double,double,int) equals(x, y, maxUlps)}.
+     *
+     * @param x first value
+     * @param y second value
+     * @param maxUlps {@code (maxUlps - 1)} is the number of floating point
+     * values between {@code x} and {@code y}.
+     * @return {@code true} if both arguments are NaN or if there are less than
+     * {@code maxUlps} floating point values between {@code x} and {@code y}.
+     * @since 2.2
+     */
+    public static boolean equalsIncludingNaN(double x, double y, int maxUlps) {
+        return (Double.isNaN(x) && Double.isNaN(y)) || equals(x, y, maxUlps);
+    }
+
+    /**
+     * Rounds the given value to the specified number of decimal places.
+     * The value is rounded using the {@link BigDecimal#ROUND_HALF_UP} method.
+     *
+     * @param x Value to round.
+     * @param scale Number of digits to the right of the decimal point.
+     * @return the rounded value.
+     * @since 1.1 (previously in {@code MathUtils}, moved as of version 3.0)
+     */
+    public static double round(double x, int scale) {
+        return round(x, scale, BigDecimal.ROUND_HALF_UP);
+    }
+
+    /**
+     * Rounds the given value to the specified number of decimal places.
+     * The value is rounded using the given method which is any method defined
+     * in {@link BigDecimal}.
+     * If {@code x} is infinite or {@code NaN}, then the value of {@code x} is
+     * returned unchanged, regardless of the other parameters.
+     *
+     * @param x Value to round.
+     * @param scale Number of digits to the right of the decimal point.
+     * @param roundingMethod Rounding method as defined in {@link BigDecimal}.
+     * @return the rounded value.
+     * @throws ArithmeticException if {@code roundingMethod == ROUND_UNNECESSARY}
+     * and the specified scaling operation would require rounding.
+     * @throws IllegalArgumentException if {@code roundingMethod} does not
+     * represent a valid rounding mode.
+     * @since 1.1 (previously in {@code MathUtils}, moved as of version 3.0)
+     */
+    public static double round(double x, int scale, int roundingMethod) {
+        try {
+            return (new BigDecimal
+                   (Double.toString(x))
+                   .setScale(scale, roundingMethod))
+                   .doubleValue();
+        } catch (NumberFormatException ex) {
+            if (Double.isInfinite(x)) {
+                return x;
+            } else {
+                return Double.NaN;
+            }
+        }
+    }
+
+    /**
+     * Rounds the given value to the specified number of decimal places.
+     * The value is rounded using the {@link BigDecimal#ROUND_HALF_UP} method.
+     *
+     * @param x Value to round.
+     * @param scale Number of digits to the right of the decimal point.
+     * @return the rounded value.
+     * @since 1.1 (previously in {@code MathUtils}, moved as of version 3.0)
+     */
+    public static float round(float x, int scale) {
+        return round(x, scale, BigDecimal.ROUND_HALF_UP);
+    }
+
+    /**
+     * Rounds the given value to the specified number of decimal places.
+     * The value is rounded using the given method which is any method defined
+     * in {@link BigDecimal}.
+     *
+     * @param x Value to round.
+     * @param scale Number of digits to the right of the decimal point.
+     * @param roundingMethod Rounding method as defined in {@link BigDecimal}.
+     * @return the rounded value.
+     * @since 1.1 (previously in {@code MathUtils}, moved as of version 3.0)
+     */
+    public static float round(float x, int scale, int roundingMethod) {
+        final float sign = FastMath.copySign(1f, x);
+        final float factor = (float) FastMath.pow(10.0f, scale) * sign;
+        return (float) roundUnscaled(x * factor, sign, roundingMethod) / factor;
+    }
+
+    /**
+     * Rounds the given non-negative value to the "nearest" integer. Nearest is
+     * determined by the rounding method specified. Rounding methods are defined
+     * in {@link BigDecimal}.
+     *
+     * @param unscaled Value to round.
+     * @param sign Sign of the original, scaled value.
+     * @param roundingMethod Rounding method, as defined in {@link BigDecimal}.
+     * @return the rounded value.
+     * @throws MathIllegalArgumentException if {@code roundingMethod} is not a valid rounding method.
+     * @since 1.1 (previously in {@code MathUtils}, moved as of version 3.0)
+     */
+    private static double roundUnscaled(double unscaled,
+                                        double sign,
+                                        int roundingMethod) {
+        switch (roundingMethod) {
+        case BigDecimal.ROUND_CEILING :
+            if (sign == -1) {
+                unscaled = FastMath.floor(FastMath.nextAfter(unscaled, Double.NEGATIVE_INFINITY));
+            } else {
+                unscaled = FastMath.ceil(FastMath.nextAfter(unscaled, Double.POSITIVE_INFINITY));
+            }
+            break;
+        case BigDecimal.ROUND_DOWN :
+            unscaled = FastMath.floor(FastMath.nextAfter(unscaled, Double.NEGATIVE_INFINITY));
+            break;
+        case BigDecimal.ROUND_FLOOR :
+            if (sign == -1) {
+                unscaled = FastMath.ceil(FastMath.nextAfter(unscaled, Double.POSITIVE_INFINITY));
+            } else {
+                unscaled = FastMath.floor(FastMath.nextAfter(unscaled, Double.NEGATIVE_INFINITY));
+            }
+            break;
+        case BigDecimal.ROUND_HALF_DOWN : {
+            unscaled = FastMath.nextAfter(unscaled, Double.NEGATIVE_INFINITY);
+            double fraction = unscaled - FastMath.floor(unscaled);
+            if (fraction > 0.5) {
+                unscaled = FastMath.ceil(unscaled);
+            } else {
+                unscaled = FastMath.floor(unscaled);
+            }
+            break;
+        }
+        case BigDecimal.ROUND_HALF_EVEN : {
+            double fraction = unscaled - FastMath.floor(unscaled);
+            if (fraction > 0.5) {
+                unscaled = FastMath.ceil(unscaled);
+            } else if (fraction < 0.5) {
+                unscaled = FastMath.floor(unscaled);
+            } else {
+                // The following equality test is intentional and needed for rounding purposes
+                if (FastMath.floor(unscaled) / 2.0 == FastMath.floor(Math
+                    .floor(unscaled) / 2.0)) { // even
+                    unscaled = FastMath.floor(unscaled);
+                } else { // odd
+                    unscaled = FastMath.ceil(unscaled);
+                }
+            }
+            break;
+        }
+        case BigDecimal.ROUND_HALF_UP : {
+            unscaled = FastMath.nextAfter(unscaled, Double.POSITIVE_INFINITY);
+            double fraction = unscaled - FastMath.floor(unscaled);
+            if (fraction >= 0.5) {
+                unscaled = FastMath.ceil(unscaled);
+            } else {
+                unscaled = FastMath.floor(unscaled);
+            }
+            break;
+        }
+        case BigDecimal.ROUND_UNNECESSARY :
+            if (unscaled != FastMath.floor(unscaled)) {
+                throw new MathArithmeticException();
+            }
+            break;
+        case BigDecimal.ROUND_UP :
+            unscaled = FastMath.ceil(FastMath.nextAfter(unscaled,  Double.POSITIVE_INFINITY));
+            break;
+        default :
+            throw new MathIllegalArgumentException(LocalizedFormats.INVALID_ROUNDING_METHOD,
+                                                   roundingMethod,
+                                                   "ROUND_CEILING", BigDecimal.ROUND_CEILING,
+                                                   "ROUND_DOWN", BigDecimal.ROUND_DOWN,
+                                                   "ROUND_FLOOR", BigDecimal.ROUND_FLOOR,
+                                                   "ROUND_HALF_DOWN", BigDecimal.ROUND_HALF_DOWN,
+                                                   "ROUND_HALF_EVEN", BigDecimal.ROUND_HALF_EVEN,
+                                                   "ROUND_HALF_UP", BigDecimal.ROUND_HALF_UP,
+                                                   "ROUND_UNNECESSARY", BigDecimal.ROUND_UNNECESSARY,
+                                                   "ROUND_UP", BigDecimal.ROUND_UP);
+        }
+        return unscaled;
+    }
+
+
+    /**
+     * Computes a number {@code delta} close to {@code originalDelta} with
+     * the property that <pre><code>
+     *   x + delta - x
+     * </code></pre>
+     * is exactly machine-representable.
+     * This is useful when computing numerical derivatives, in order to reduce
+     * roundoff errors.
+     *
+     * @param x Value.
+     * @param originalDelta Offset value.
+     * @return a number {@code delta} so that {@code x + delta} and {@code x}
+     * differ by a representable floating number.
+     */
+    public static double representableDelta(double x,
+                                            double originalDelta) {
+        return x + originalDelta - x;
+    }
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/ResizableDoubleArray.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/ResizableDoubleArray.java
new file mode 100644
index 0000000000..c84474a0b1
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/ResizableDoubleArray.java
@@ -0,0 +1,925 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.util;
+
+import java.io.Serializable;
+import java.util.Arrays;
+
+import org.apache.commons.math3.exception.MathIllegalArgumentException;
+import org.apache.commons.math3.exception.MathIllegalStateException;
+import org.apache.commons.math3.exception.NullArgumentException;
+import org.apache.commons.math3.exception.util.LocalizedFormats;
+
+/**
+ * <p>
+ * A variable length {@link DoubleArray} implementation that automatically
+ * handles expanding and contracting its internal storage array as elements
+ * are added and removed.
+ * </p>
+ * <p>
+ *  The internal storage array starts with capacity determined by the
+ * <code>initialCapacity</code> property, which can be set by the constructor.
+ * The default initial capacity is 16.  Adding elements using
+ * {@link #addElement(double)} appends elements to the end of the array.  When
+ * there are no open entries at the end of the internal storage array, the
+ * array is expanded.  The size of the expanded array depends on the
+ * <code>expansionMode</code> and <code>expansionFactor</code> properties.
+ * The <code>expansionMode</code> determines whether the size of the array is
+ * multiplied by the <code>expansionFactor</code> (MULTIPLICATIVE_MODE) or if
+ * the expansion is additive (ADDITIVE_MODE -- <code>expansionFactor</code>
+ * storage locations added).  The default <code>expansionMode</code> is
+ * MULTIPLICATIVE_MODE and the default <code>expansionFactor</code>
+ * is 2.0.
+ * </p>
+ * <p>
+ * The {@link #addElementRolling(double)} method adds a new element to the end
+ * of the internal storage array and adjusts the "usable window" of the
+ * internal array forward by one position (effectively making what was the
+ * second element the first, and so on).  Repeated activations of this method
+ * (or activation of {@link #discardFrontElements(int)}) will effectively orphan
+ * the storage locations at the beginning of the internal storage array.  To
+ * reclaim this storage, each time one of these methods is activated, the size
+ * of the internal storage array is compared to the number of addressable
+ * elements (the <code>numElements</code> property) and if the difference
+ * is too large, the internal array is contracted to size
+ * <code>numElements + 1.</code>  The determination of when the internal
+ * storage array is "too large" depends on the <code>expansionMode</code> and
+ * <code>contractionFactor</code> properties.  If  the <code>expansionMode</code>
+ * is <code>MULTIPLICATIVE_MODE</code>, contraction is triggered when the
+ * ratio between storage array length and <code>numElements</code> exceeds
+ * <code>contractionFactor.</code>  If the <code>expansionMode</code>
+ * is <code>ADDITIVE_MODE,</code> the number of excess storage locations
+ * is compared to <code>contractionFactor.</code>
+ * </p>
+ * <p>
+ * To avoid cycles of expansions and contractions, the
+ * <code>expansionFactor</code> must not exceed the
+ * <code>contractionFactor.</code> Constructors and mutators for both of these
+ * properties enforce this requirement, throwing IllegalArgumentException if it
+ * is violated.
+ * </p>
+ * @version $Id: ResizableDoubleArray.java 1296563 2012-03-03 02:23:39Z erans $
+ */
+public class ResizableDoubleArray implements DoubleArray, Serializable {
+
+    /** additive expansion mode */
+    public static final int ADDITIVE_MODE = 1;
+
+    /** multiplicative expansion mode */
+    public static final int MULTIPLICATIVE_MODE = 0;
+
+    /** Serializable version identifier */
+    private static final long serialVersionUID = -3485529955529426875L;
+
+    /**
+     * The contraction criteria determines when the internal array will be
+     * contracted to fit the number of elements contained in the element
+     *  array + 1.
+     */
+    private float contractionCriteria = 2.5f;
+
+    /**
+     * The expansion factor of the array.  When the array needs to be expanded,
+     * the new array size will be
+     * <code>internalArray.length * expansionFactor</code>
+     * if <code>expansionMode</code> is set to MULTIPLICATIVE_MODE, or
+     * <code>internalArray.length + expansionFactor</code> if
+     * <code>expansionMode</code> is set to ADDITIVE_MODE.
+     */
+    private float expansionFactor = 2.0f;
+
+    /**
+     * Determines whether array expansion by <code>expansionFactor</code>
+     * is additive or multiplicative.
+     */
+    private int expansionMode = MULTIPLICATIVE_MODE;
+
+    /**
+     * The initial capacity of the array.  Initial capacity is not exposed as a
+     * property as it is only meaningful when passed to a constructor.
+     */
+    private int initialCapacity = 16;
+
+    /**
+     * The internal storage array.
+     */
+    private double[] internalArray;
+
+    /**
+     * The number of addressable elements in the array.  Note that this
+     * has nothing to do with the length of the internal storage array.
+     */
+    private int numElements = 0;
+
+    /**
+     * The position of the first addressable element in the internal storage
+     * array.  The addressable elements in the array are <code>
+     * internalArray[startIndex],...,internalArray[startIndex + numElements -1]
+     * </code>
+     */
+    private int startIndex = 0;
+
+    /**
+     * Create a ResizableArray with default properties.
+     * <ul>
+     * <li><code>initialCapacity = 16</code></li>
+     * <li><code>expansionMode = MULTIPLICATIVE_MODE</code></li>
+     * <li><code>expansionFactor = 2.5</code></li>
+     * <li><code>contractionFactor = 2.0</code></li>
+     * </ul>
+     */
+    public ResizableDoubleArray() {
+        internalArray = new double[initialCapacity];
+    }
+
+    /**
+     * Create a ResizableArray with the specified initial capacity.  Other
+     * properties take default values:
+      * <ul>
+     * <li><code>expansionMode = MULTIPLICATIVE_MODE</code></li>
+     * <li><code>expansionFactor = 2.5</code></li>
+     * <li><code>contractionFactor = 2.0</code></li>
+     * </ul>
+     * @param initialCapacity The initial size of the internal storage array
+     * @throws IllegalArgumentException if initialCapacity is not > 0
+     */
+    public ResizableDoubleArray(int initialCapacity) {
+        setInitialCapacity(initialCapacity);
+        internalArray = new double[this.initialCapacity];
+    }
+
+    /**
+     * Create a ResizableArray from an existing double[] with the
+     * initial capacity and numElements corresponding to the size of
+     * the supplied double[] array. If the supplied array is null, a
+     * new empty array with the default initial capacity will be created.
+     * The input array is copied, not referenced.
+     * Other properties take default values:
+     * <ul>
+     * <li><code>initialCapacity = 16</code></li>
+     * <li><code>expansionMode = MULTIPLICATIVE_MODE</code></li>
+     * <li><code>expansionFactor = 2.5</code></li>
+     * <li><code>contractionFactor = 2.0</code></li>
+     * </ul>
+     *
+     * @param initialArray initial array
+     * @since 2.2
+     */
+    public ResizableDoubleArray(double[] initialArray) {
+        if (initialArray == null) {
+            this.internalArray = new double[initialCapacity];
+        } else {
+            this.internalArray = new double[initialArray.length];
+            System.arraycopy(initialArray, 0, this.internalArray, 0, initialArray.length);
+            initialCapacity = initialArray.length;
+            numElements = initialArray.length;
+        }
+    }
+
+    /**
+     * <p>
+     * Create a ResizableArray with the specified initial capacity
+     * and expansion factor.  The remaining properties take default
+     * values:
+     * <ul>
+     * <li><code>expansionMode = MULTIPLICATIVE_MODE</code></li>
+     * <li><code>contractionFactor = 0.5 + expansionFactor</code></li>
+     * </ul></p>
+     * <p>
+     * Throws IllegalArgumentException if the following conditions are
+     * not met:
+     * <ul>
+     * <li><code>initialCapacity > 0</code></li>
+     * <li><code>expansionFactor > 1</code></li>
+     * </ul></p>
+     *
+     * @param initialCapacity The initial size of the internal storage array
+     * @param expansionFactor the array will be expanded based on this
+     *                        parameter
+     * @throws IllegalArgumentException if parameters are not valid
+     */
+    public ResizableDoubleArray(int initialCapacity, float expansionFactor) {
+        this.expansionFactor = expansionFactor;
+        setInitialCapacity(initialCapacity);
+        internalArray = new double[initialCapacity];
+        setContractionCriteria(expansionFactor +0.5f);
+    }
+
+    /**
+     * <p>
+     * Create a ResizableArray with the specified initialCapacity,
+     * expansionFactor, and contractionCriteria. The <code>expansionMode</code>
+     * will default to <code>MULTIPLICATIVE_MODE.</code></p>
+     * <p>
+     * Throws IllegalArgumentException if the following conditions are
+     * not met:
+     * <ul>
+     * <li><code>initialCapacity > 0</code></li>
+     * <li><code>expansionFactor > 1</code></li>
+     * <li><code>contractionFactor >= expansionFactor</code></li>
+     * </ul></p>
+     * @param initialCapacity The initial size of the internal storage array
+     * @param expansionFactor the array will be expanded based on this
+     *                        parameter
+     * @param contractionCriteria The contraction Criteria.
+     * @throws IllegalArgumentException if parameters are not valid
+     */
+    public ResizableDoubleArray(int initialCapacity, float expansionFactor,
+        float contractionCriteria) {
+        this.expansionFactor = expansionFactor;
+        setContractionCriteria(contractionCriteria);
+        setInitialCapacity(initialCapacity);
+        internalArray = new double[initialCapacity];
+    }
+
+    /**
+     * <p>
+     * Create a ResizableArray with the specified properties.</p>
+    * <p>
+     * Throws IllegalArgumentException if the following conditions are
+     * not met:
+     * <ul>
+     * <li><code>initialCapacity > 0</code></li>
+     * <li><code>expansionFactor > 1</code></li>
+     * <li><code>contractionFactor >= expansionFactor</code></li>
+     * <li><code>expansionMode in {MULTIPLICATIVE_MODE, ADDITIVE_MODE}</code>
+     * </li>
+     * </ul></p>
+     *
+     * @param initialCapacity the initial size of the internal storage array
+     * @param expansionFactor the array will be expanded based on this
+     *                        parameter
+     * @param contractionCriteria the contraction Criteria
+     * @param expansionMode  the expansion mode
+     * @throws IllegalArgumentException if parameters are not valid
+     */
+    public ResizableDoubleArray(int initialCapacity, float expansionFactor,
+            float contractionCriteria, int expansionMode) {
+        this.expansionFactor = expansionFactor;
+        setContractionCriteria(contractionCriteria);
+        setInitialCapacity(initialCapacity);
+        setExpansionMode(expansionMode);
+        internalArray = new double[initialCapacity];
+    }
+
+    /**
+     * Copy constructor.  Creates a new ResizableDoubleArray that is a deep,
+     * fresh copy of the original. Needs to acquire synchronization lock
+     * on original.  Original may not be null; otherwise a {@link NullArgumentException}
+     * is thrown.
+     *
+     * @param original array to copy
+     * @exception NullArgumentException if original is null
+     * @since 2.0
+     */
+    public ResizableDoubleArray(ResizableDoubleArray original)
+        throws NullArgumentException {
+        MathUtils.checkNotNull(original);
+        copy(original, this);
+    }
+
+    /**
+     * Adds an element to the end of this expandable array.
+     *
+     * @param value to be added to end of array
+     */
+    public synchronized void addElement(double value) {
+        numElements++;
+        if ((startIndex + numElements) > internalArray.length) {
+            expand();
+        }
+        internalArray[startIndex + (numElements - 1)] = value;
+        if (shouldContract()) {
+            contract();
+        }
+    }
+
+    /**
+     * Adds several element to the end of this expandable array.
+     *
+     * @param values to be added to end of array
+     * @since 2.2
+     */
+    public synchronized void addElements(double[] values) {
+        final double[] tempArray = new double[numElements + values.length + 1];
+        System.arraycopy(internalArray, startIndex, tempArray, 0, numElements);
+        System.arraycopy(values, 0, tempArray, numElements, values.length);
+        internalArray = tempArray;
+        startIndex = 0;
+        numElements += values.length;
+    }
+
+    /**
+     * <p>
+     * Adds an element to the end of the array and removes the first
+     * element in the array.  Returns the discarded first element.
+     * The effect is similar to a push operation in a FIFO queue.
+     * </p>
+     * <p>
+     * Example: If the array contains the elements 1, 2, 3, 4 (in that order)
+     * and addElementRolling(5) is invoked, the result is an array containing
+     * the entries 2, 3, 4, 5 and the value returned is 1.
+     * </p>
+     *
+     * @param value the value to be added to the array
+     * @return the value which has been discarded or "pushed" out of the array
+     *         by this rolling insert
+     */
+    public synchronized double addElementRolling(double value) {
+        double discarded = internalArray[startIndex];
+
+        if ((startIndex + (numElements + 1)) > internalArray.length) {
+            expand();
+        }
+        // Increment the start index
+        startIndex += 1;
+
+        // Add the new value
+        internalArray[startIndex + (numElements - 1)] = value;
+
+        // Check the contraction criteria
+        if (shouldContract()) {
+            contract();
+        }
+        return discarded;
+    }
+
+    /**
+     * Substitutes <code>value</code> for the most recently added value.
+     * Returns the value that has been replaced. If the array is empty (i.e.
+     * if {@link #numElements} is zero), an IllegalStateException is thrown.
+     *
+     * @param value new value to substitute for the most recently added value
+     * @return value that has been replaced in the array
+     * @throws IllegalStateException if the array is empty
+     * @since 2.0
+     */
+    public synchronized double substituteMostRecentElement(double value) {
+        if (numElements < 1) {
+            throw new MathIllegalStateException(
+                    LocalizedFormats.CANNOT_SUBSTITUTE_ELEMENT_FROM_EMPTY_ARRAY);
+        }
+
+        double discarded = internalArray[startIndex + (numElements - 1)];
+
+        internalArray[startIndex + (numElements - 1)] = value;
+
+        return discarded;
+    }
+
+
+    /**
+     * Checks the expansion factor and the contraction criteria and throws an
+     * IllegalArgumentException if the contractionCriteria is less than the
+     * expansionCriteria
+     *
+     * @param expansion factor to be checked
+     * @param contraction criteria to be checked
+     * @throws IllegalArgumentException if the contractionCriteria is less than
+     *         the expansionCriteria.
+     */
+    protected void checkContractExpand(float contraction, float expansion) {
+
+        if (contraction < expansion) {
+            throw new MathIllegalArgumentException(
+                    LocalizedFormats.CONTRACTION_CRITERIA_SMALLER_THAN_EXPANSION_FACTOR,
+                    contraction, expansion);
+        }
+
+        if (contraction <= 1.0) {
+            throw new MathIllegalArgumentException(
+                    LocalizedFormats.CONTRACTION_CRITERIA_SMALLER_THAN_ONE,
+                    contraction);
+        }
+
+        if (expansion <= 1.0) {
+            throw new MathIllegalArgumentException(
+                    LocalizedFormats.EXPANSION_FACTOR_SMALLER_THAN_ONE,
+                    expansion);
+        }
+    }
+
+    /**
+     * Clear the array, reset the size to the initialCapacity and the number
+     * of elements to zero.
+     */
+    public synchronized void clear() {
+        numElements = 0;
+        startIndex = 0;
+        internalArray = new double[initialCapacity];
+    }
+
+    /**
+     * Contracts the storage array to the (size of the element set) + 1 - to
+     * avoid a zero length array. This function also resets the startIndex to
+     * zero.
+     */
+    public synchronized void contract() {
+        double[] tempArray = new double[numElements + 1];
+
+        // Copy and swap - copy only the element array from the src array.
+        System.arraycopy(internalArray, startIndex, tempArray, 0, numElements);
+        internalArray = tempArray;
+
+        // Reset the start index to zero
+        startIndex = 0;
+    }
+
+    /**
+     * Discards the <code>i<code> initial elements of the array.  For example,
+     * if the array contains the elements 1,2,3,4, invoking
+     * <code>discardFrontElements(2)</code> will cause the first two elements
+     * to be discarded, leaving 3,4 in the array.  Throws illegalArgumentException
+     * if i exceeds numElements.
+     *
+     * @param i  the number of elements to discard from the front of the array
+     * @throws IllegalArgumentException if i is greater than numElements.
+     * @since 2.0
+     */
+    public synchronized void discardFrontElements(int i) {
+
+        discardExtremeElements(i,true);
+
+    }
+
+    /**
+     * Discards the <code>i<code> last elements of the array.  For example,
+     * if the array contains the elements 1,2,3,4, invoking
+     * <code>discardMostRecentElements(2)</code> will cause the last two elements
+     * to be discarded, leaving 1,2 in the array.  Throws illegalArgumentException
+     * if i exceeds numElements.
+     *
+     * @param i  the number of elements to discard from the end of the array
+     * @throws IllegalArgumentException if i is greater than numElements.
+     * @since 2.0
+     */
+    public synchronized void discardMostRecentElements(int i) {
+
+        discardExtremeElements(i,false);
+
+    }
+
+    /**
+     * Discards the <code>i<code> first or last elements of the array,
+     * depending on the value of <code>front</code>.
+     * For example, if the array contains the elements 1,2,3,4, invoking
+     * <code>discardExtremeElements(2,false)</code> will cause the last two elements
+     * to be discarded, leaving 1,2 in the array.
+     * For example, if the array contains the elements 1,2,3,4, invoking
+     * <code>discardExtremeElements(2,true)</code> will cause the first two elements
+     * to be discarded, leaving 3,4 in the array.
+     * Throws illegalArgumentException
+     * if i exceeds numElements.
+     *
+     * @param i  the number of elements to discard from the front/end of the array
+     * @param front true if elements are to be discarded from the front
+     * of the array, false if elements are to be discarded from the end
+     * of the array
+     * @throws IllegalArgumentException if i is greater than numElements.
+     * @since 2.0
+     */
+    private synchronized void discardExtremeElements(int i,boolean front) {
+        if (i > numElements) {
+            throw new MathIllegalArgumentException(
+                    LocalizedFormats.TOO_MANY_ELEMENTS_TO_DISCARD_FROM_ARRAY,
+                    i, numElements);
+       } else if (i < 0) {
+           throw new MathIllegalArgumentException(
+                   LocalizedFormats.CANNOT_DISCARD_NEGATIVE_NUMBER_OF_ELEMENTS,
+                   i);
+        } else {
+            // "Subtract" this number of discarded from numElements
+            numElements -= i;
+            if (front) {
+                startIndex += i;
+            }
+        }
+        if (shouldContract()) {
+            contract();
+        }
+    }
+
+    /**
+     * Expands the internal storage array using the expansion factor.
+     * <p>
+     * if <code>expansionMode</code> is set to MULTIPLICATIVE_MODE,
+     * the new array size will be <code>internalArray.length * expansionFactor.</code>
+     * If <code>expansionMode</code> is set to ADDITIVE_MODE,  the length
+     * after expansion will be <code>internalArray.length + expansionFactor</code>
+     * </p>
+     */
+    protected synchronized void expand() {
+
+        // notice the use of FastMath.ceil(), this guarantees that we will always
+        // have an array of at least currentSize + 1.   Assume that the
+        // current initial capacity is 1 and the expansion factor
+        // is 1.000000000000000001.  The newly calculated size will be
+        // rounded up to 2 after the multiplication is performed.
+        int newSize = 0;
+        if (expansionMode == MULTIPLICATIVE_MODE) {
+            newSize = (int) FastMath.ceil(internalArray.length * expansionFactor);
+        } else {
+            newSize = internalArray.length + FastMath.round(expansionFactor);
+        }
+        double[] tempArray = new double[newSize];
+
+        // Copy and swap
+        System.arraycopy(internalArray, 0, tempArray, 0, internalArray.length);
+        internalArray = tempArray;
+    }
+
+    /**
+     * Expands the internal storage array to the specified size.
+     *
+     * @param size Size of the new internal storage array
+     */
+    private synchronized void expandTo(int size) {
+        double[] tempArray = new double[size];
+        // Copy and swap
+        System.arraycopy(internalArray, 0, tempArray, 0, internalArray.length);
+        internalArray = tempArray;
+    }
+
+    /**
+     * The contraction criteria defines when the internal array will contract
+     * to store only the number of elements in the element array.
+     * If  the <code>expansionMode</code> is <code>MULTIPLICATIVE_MODE</code>,
+     * contraction is triggered when the ratio between storage array length
+     * and <code>numElements</code> exceeds <code>contractionFactor</code>.
+     * If the <code>expansionMode</code> is <code>ADDITIVE_MODE</code>, the
+     * number of excess storage locations is compared to
+     * <code>contractionFactor.</code>
+     *
+     * @return the contraction criteria used to reclaim memory.
+     */
+    public float getContractionCriteria() {
+        return contractionCriteria;
+    }
+
+    /**
+     * Returns the element at the specified index
+     *
+     * @param index index to fetch a value from
+     * @return value stored at the specified index
+     * @throws ArrayIndexOutOfBoundsException if <code>index</code> is less than
+     *         zero or is greater than <code>getNumElements() - 1</code>.
+     */
+    public synchronized double getElement(int index) {
+        if (index >= numElements) {
+            throw new ArrayIndexOutOfBoundsException(index);
+        } else if (index >= 0) {
+            return internalArray[startIndex + index];
+        } else {
+            throw new ArrayIndexOutOfBoundsException(index);
+        }
+    }
+
+     /**
+     * Returns a double array containing the elements of this
+     * <code>ResizableArray</code>.  This method returns a copy, not a
+     * reference to the underlying array, so that changes made to the returned
+     *  array have no effect on this <code>ResizableArray.</code>
+     * @return the double array.
+     */
+    public synchronized double[] getElements() {
+        double[] elementArray = new double[numElements];
+        System.arraycopy( internalArray, startIndex, elementArray, 0,
+                numElements);
+        return elementArray;
+    }
+
+    /**
+     * The expansion factor controls the size of a new array when an array
+     * needs to be expanded.  The <code>expansionMode</code>
+     * determines whether the size of the array is multiplied by the
+     * <code>expansionFactor</code> (MULTIPLICATIVE_MODE) or if
+     * the expansion is additive (ADDITIVE_MODE -- <code>expansionFactor</code>
+     * storage locations added).  The default <code>expansionMode</code> is
+     * MULTIPLICATIVE_MODE and the default <code>expansionFactor</code>
+     * is 2.0.
+     *
+     * @return the expansion factor of this expandable double array
+     */
+    public float getExpansionFactor() {
+        return expansionFactor;
+    }
+
+    /**
+     * The <code>expansionMode</code> determines whether the internal storage
+     * array grows additively (ADDITIVE_MODE) or multiplicatively
+     * (MULTIPLICATIVE_MODE) when it is expanded.
+     *
+     * @return Returns the expansionMode.
+     */
+    public int getExpansionMode() {
+        return expansionMode;
+    }
+
+    /**
+     * Notice the package scope on this method.   This method is simply here
+     * for the JUnit test, it allows us check if the expansion is working
+     * properly after a number of expansions.  This is not meant to be a part
+     * of the public interface of this class.
+     *
+     * @return the length of the internal storage array.
+     */
+    synchronized int getInternalLength() {
+        return internalArray.length;
+    }
+
+    /**
+     * Returns the number of elements currently in the array.  Please note
+     * that this is different from the length of the internal storage array.
+     *
+     * @return number of elements
+     */
+    public synchronized int getNumElements() {
+        return numElements;
+    }
+
+    /**
+     * Returns the internal storage array.  Note that this method returns
+     * a reference to the internal storage array, not a copy, and to correctly
+     * address elements of the array, the <code>startIndex</code> is
+     * required (available via the {@link #start} method).  This method should
+     * only be used in cases where copying the internal array is not practical.
+     * The {@link #getElements} method should be used in all other cases.
+     *
+     *
+     * @return the internal storage array used by this object
+     * @since 2.0
+     */
+    public synchronized double[] getInternalValues() {
+        return internalArray;
+    }
+
+    /**
+     * Sets the contraction criteria for this ExpandContractDoubleArray.
+     *
+     * @param contractionCriteria contraction criteria
+     */
+    public void setContractionCriteria(float contractionCriteria) {
+        checkContractExpand(contractionCriteria, getExpansionFactor());
+        synchronized(this) {
+            this.contractionCriteria = contractionCriteria;
+        }
+    }
+
+
+    /**
+     * Sets the element at the specified index.  If the specified index is greater than
+     * <code>getNumElements() - 1</code>, the <code>numElements</code> property
+     * is increased to <code>index +1</code> and additional storage is allocated
+     * (if necessary) for the new element and all  (uninitialized) elements
+     * between the new element and the previous end of the array).
+     *
+     * @param index index to store a value in
+     * @param value value to store at the specified index
+     * @throws ArrayIndexOutOfBoundsException if <code>index</code> is less than
+     *         zero.
+     */
+    public synchronized void setElement(int index, double value) {
+        if (index < 0) {
+            throw new ArrayIndexOutOfBoundsException(index);
+        }
+        if (index + 1 > numElements) {
+            numElements = index + 1;
+        }
+        if ((startIndex + index) >= internalArray.length) {
+            expandTo(startIndex + (index + 1));
+        }
+        internalArray[startIndex + index] = value;
+    }
+
+    /**
+     * Sets the expansionFactor.  Throws IllegalArgumentException if the
+     * the following conditions are not met:
+     * <ul>
+     * <li><code>expansionFactor > 1</code></li>
+     * <li><code>contractionFactor >= expansionFactor</code></li>
+     * </ul>
+     * @param expansionFactor the new expansion factor value.
+     * @throws IllegalArgumentException if expansionFactor is <= 1 or greater
+     * than contractionFactor
+     */
+    public void setExpansionFactor(float expansionFactor) {
+        checkContractExpand(getContractionCriteria(), expansionFactor);
+        // The check above verifies that the expansion factor is > 1.0;
+        synchronized(this) {
+            this.expansionFactor = expansionFactor;
+        }
+    }
+
+    /**
+     * Sets the <code>expansionMode</code>. The specified value must be one of
+     * ADDITIVE_MODE, MULTIPLICATIVE_MODE.
+     *
+     * @param expansionMode The expansionMode to set.
+     * @throws IllegalArgumentException if the specified mode value is not valid
+     */
+    public void setExpansionMode(int expansionMode) {
+        if (expansionMode != MULTIPLICATIVE_MODE &&
+                expansionMode != ADDITIVE_MODE) {
+            throw new MathIllegalArgumentException(
+                    LocalizedFormats.UNSUPPORTED_EXPANSION_MODE,
+                    expansionMode, MULTIPLICATIVE_MODE, "MULTIPLICATIVE_MODE",
+                    ADDITIVE_MODE, "ADDITIVE_MODE");
+        }
+        synchronized(this) {
+            this.expansionMode = expansionMode;
+        }
+    }
+
+    /**
+     * Sets the initial capacity.  Should only be invoked by constructors.
+     *
+     * @param initialCapacity of the array
+     * @throws IllegalArgumentException if <code>initialCapacity</code> is not
+     *         positive.
+     */
+    protected void setInitialCapacity(int initialCapacity) {
+        if (initialCapacity > 0) {
+            synchronized(this) {
+                this.initialCapacity = initialCapacity;
+            }
+        } else {
+            throw new MathIllegalArgumentException(
+                    LocalizedFormats.INITIAL_CAPACITY_NOT_POSITIVE,
+                    initialCapacity);
+        }
+    }
+
+    /**
+     * This function allows you to control the number of elements contained
+     * in this array, and can be used to "throw out" the last n values in an
+     * array. This function will also expand the internal array as needed.
+     *
+     * @param i a new number of elements
+     * @throws IllegalArgumentException if <code>i</code> is negative.
+     */
+    public synchronized void setNumElements(int i) {
+
+        // If index is negative thrown an error
+        if (i < 0) {
+            throw new MathIllegalArgumentException(
+                    LocalizedFormats.INDEX_NOT_POSITIVE,
+                    i);
+        }
+
+        // Test the new num elements, check to see if the array needs to be
+        // expanded to accommodate this new number of elements
+        if ((startIndex + i) > internalArray.length) {
+            expandTo(startIndex + i);
+        }
+
+        // Set the new number of elements to new value
+        numElements = i;
+    }
+
+    /**
+     * Returns true if the internal storage array has too many unused
+     * storage positions.
+     *
+     * @return true if array satisfies the contraction criteria
+     */
+    private synchronized boolean shouldContract() {
+        if (expansionMode == MULTIPLICATIVE_MODE) {
+            return (internalArray.length / ((float) numElements)) > contractionCriteria;
+        } else {
+            return (internalArray.length - numElements) > contractionCriteria;
+        }
+    }
+
+    /**
+     * Returns the starting index of the internal array.  The starting index is
+     * the position of the first addressable element in the internal storage
+     * array.  The addressable elements in the array are <code>
+     * internalArray[startIndex],...,internalArray[startIndex + numElements -1]
+     * </code>
+     *
+     * @return starting index
+     */
+    public synchronized int start() {
+        return startIndex;
+    }
+
+    /**
+     * <p>Copies source to dest, copying the underlying data, so dest is
+     * a new, independent copy of source.  Does not contract before
+     * the copy.</p>
+     *
+     * <p>Obtains synchronization locks on both source and dest
+     * (in that order) before performing the copy.</p>
+     *
+     * <p>Neither source nor dest may be null; otherwise a {@link NullArgumentException}
+     * is thrown</p>
+     *
+     * @param source ResizableDoubleArray to copy
+     * @param dest ResizableArray to replace with a copy of the source array
+     * @exception NullArgumentException if either source or dest is null
+     * @since 2.0
+     *
+     */
+    public static void copy(ResizableDoubleArray source, ResizableDoubleArray dest)
+        throws NullArgumentException {
+        MathUtils.checkNotNull(source);
+        MathUtils.checkNotNull(dest);
+        synchronized(source) {
+           synchronized(dest) {
+               dest.initialCapacity = source.initialCapacity;
+               dest.contractionCriteria = source.contractionCriteria;
+               dest.expansionFactor = source.expansionFactor;
+               dest.expansionMode = source.expansionMode;
+               dest.internalArray = new double[source.internalArray.length];
+               System.arraycopy(source.internalArray, 0, dest.internalArray,
+                       0, dest.internalArray.length);
+               dest.numElements = source.numElements;
+               dest.startIndex = source.startIndex;
+           }
+       }
+    }
+
+    /**
+     * Returns a copy of the ResizableDoubleArray.  Does not contract before
+     * the copy, so the returned object is an exact copy of this.
+     *
+     * @return a new ResizableDoubleArray with the same data and configuration
+     * properties as this
+     * @since 2.0
+     */
+    public synchronized ResizableDoubleArray copy() {
+        ResizableDoubleArray result = new ResizableDoubleArray();
+        copy(this, result);
+        return result;
+    }
+
+    /**
+     * Returns true iff object is a ResizableDoubleArray with the same properties
+     * as this and an identical internal storage array.
+     *
+     * @param object object to be compared for equality with this
+     * @return true iff object is a ResizableDoubleArray with the same data and
+     * properties as this
+     * @since 2.0
+     */
+    @Override
+    public boolean equals(Object object) {
+        if (object == this ) {
+            return true;
+        }
+       if (object instanceof ResizableDoubleArray == false) {
+            return false;
+        }
+       synchronized(this) {
+           synchronized(object) {
+               boolean result = true;
+               ResizableDoubleArray other = (ResizableDoubleArray) object;
+               result = result && (other.initialCapacity == initialCapacity);
+               result = result && (other.contractionCriteria == contractionCriteria);
+               result = result && (other.expansionFactor == expansionFactor);
+               result = result && (other.expansionMode == expansionMode);
+               result = result && (other.numElements == numElements);
+               result = result && (other.startIndex == startIndex);
+               if (!result) {
+                   return false;
+               } else {
+                   return Arrays.equals(internalArray, other.internalArray);
+               }
+           }
+       }
+    }
+
+    /**
+     * Returns a hash code consistent with equals.
+     *
+     * @return hash code representing this ResizableDoubleArray
+     * @since 2.0
+     */
+    @Override
+    public synchronized int hashCode() {
+        int[] hashData = new int[7];
+        hashData[0] = new Float(expansionFactor).hashCode();
+        hashData[1] = new Float(contractionCriteria).hashCode();
+        hashData[2] = expansionMode;
+            hashData[3] = Arrays.hashCode(internalArray);
+            hashData[4] = initialCapacity;
+            hashData[5] = numElements;
+            hashData[6] = startIndex;
+        return Arrays.hashCode(hashData);
+    }
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/TransformerMap.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/TransformerMap.java
new file mode 100644
index 0000000000..cbaf47da84
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/TransformerMap.java
@@ -0,0 +1,190 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.util;
+
+import java.io.Serializable;
+import java.util.Collection;
+import java.util.HashMap;
+import java.util.Map;
+import java.util.Set;
+
+import org.apache.commons.math3.exception.MathIllegalArgumentException;
+
+/**
+ * This TansformerMap automates the transformation of mixed object types.
+ * It provides a means to set NumberTransformers that will be selected
+ * based on the Class of the object handed to the Maps
+ * <code>double transform(Object o)</code> method.
+ * @version $Id: TransformerMap.java 1244107 2012-02-14 16:17:55Z erans $
+ */
+public class TransformerMap implements NumberTransformer, Serializable {
+
+    /** Serializable version identifier */
+    private static final long serialVersionUID = 4605318041528645258L;
+
+    /**
+     * A default Number Transformer for Numbers and numeric Strings.
+     */
+    private NumberTransformer defaultTransformer = null;
+
+    /**
+     * The internal Map.
+     */
+    private Map<Class<?>, NumberTransformer> map = null;
+
+    /**
+     * Build a map containing only the default transformer.
+     */
+    public TransformerMap() {
+        map = new HashMap<Class<?>, NumberTransformer>();
+        defaultTransformer = new DefaultTransformer();
+    }
+
+    /**
+     * Tests if a Class is present in the TransformerMap.
+     * @param key Class to check
+     * @return true|false
+     */
+    public boolean containsClass(Class<?> key) {
+        return map.containsKey(key);
+    }
+
+    /**
+     * Tests if a NumberTransformer is present in the TransformerMap.
+     * @param value NumberTransformer to check
+     * @return true|false
+     */
+    public boolean containsTransformer(NumberTransformer value) {
+        return map.containsValue(value);
+    }
+
+    /**
+     * Returns the Transformer that is mapped to a class
+     * if mapping is not present, this returns null.
+     * @param key The Class of the object
+     * @return the mapped NumberTransformer or null.
+     */
+    public NumberTransformer getTransformer(Class<?> key) {
+        return map.get(key);
+    }
+
+    /**
+     * Sets a Class to Transformer Mapping in the Map. If
+     * the Class is already present, this overwrites that
+     * mapping.
+     * @param key The Class
+     * @param transformer The NumberTransformer
+     * @return the replaced transformer if one is present
+     */
+    public NumberTransformer putTransformer(Class<?> key, NumberTransformer transformer) {
+        return map.put(key, transformer);
+    }
+
+    /**
+     * Removes a Class to Transformer Mapping in the Map.
+     * @param key The Class
+     * @return the removed transformer if one is present or
+     * null if none was present.
+     */
+    public NumberTransformer removeTransformer(Class<?> key) {
+        return map.remove(key);
+    }
+
+    /**
+     * Clears all the Class to Transformer mappings.
+     */
+    public void clear() {
+        map.clear();
+    }
+
+    /**
+     * Returns the Set of Classes used as keys in the map.
+     * @return Set of Classes
+     */
+    public Set<Class<?>> classes() {
+        return map.keySet();
+    }
+
+    /**
+     * Returns the Set of NumberTransformers used as values
+     * in the map.
+     * @return Set of NumberTransformers
+     */
+    public Collection<NumberTransformer> transformers() {
+        return map.values();
+    }
+
+    /**
+     * Attempts to transform the Object against the map of
+     * NumberTransformers. Otherwise it returns Double.NaN.
+     *
+     * @param o the Object to be transformed.
+     * @return the double value of the Object.
+     * @throws MathIllegalArgumentException if the Object can not be
+     * transformed into a Double.
+     * @see org.apache.commons.math3.util.NumberTransformer#transform(java.lang.Object)
+     */
+    public double transform(Object o) throws MathIllegalArgumentException {
+        double value = Double.NaN;
+
+        if (o instanceof Number || o instanceof String) {
+            value = defaultTransformer.transform(o);
+        } else {
+            NumberTransformer trans = getTransformer(o.getClass());
+            if (trans != null) {
+                value = trans.transform(o);
+            }
+        }
+
+        return value;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public boolean equals(Object other) {
+        if (this == other) {
+            return true;
+        }
+        if (other instanceof TransformerMap) {
+            TransformerMap rhs = (TransformerMap) other;
+            if (! defaultTransformer.equals(rhs.defaultTransformer)) {
+                return false;
+            }
+            if (map.size() != rhs.map.size()) {
+                return false;
+            }
+            for (Map.Entry<Class<?>, NumberTransformer> entry : map.entrySet()) {
+                if (! entry.getValue().equals(rhs.map.get(entry.getKey()))) {
+                    return false;
+                }
+            }
+            return true;
+        }
+        return false;
+    }
+
+    /** {@inheritDoc} */
+    @Override
+    public int hashCode() {
+        int hash = defaultTransformer.hashCode();
+        for (NumberTransformer t : map.values()) {
+            hash = hash * 31 + t.hashCode();
+        }
+        return hash;
+    }
+
+}
diff --git a/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/package-info.java b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/package-info.java
new file mode 100644
index 0000000000..5d753415b1
--- /dev/null
+++ b/Libraries/EllipsoidFit/EllipsoidFit/src/org/apache/commons/math3/util/package-info.java
@@ -0,0 +1,20 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/**
+ * Convenience routines and common data structures used throughout the commons-math library.
+ */
+package org.apache.commons.math3.util;
diff --git a/Libraries/EllipsoidFit/README.md b/Libraries/EllipsoidFit/README.md
new file mode 100644
index 0000000000..eb2aaa8d52
--- /dev/null
+++ b/Libraries/EllipsoidFit/README.md
@@ -0,0 +1,8 @@
+EllipsoidFit
+============
+
+Contains Java classes to fit points to a polynomial expression of an ellipsoid. EllipsoidFit uses an algorithm based 
+on Yury Petrov's Ellipsoid Fit MATLAB script. The algorithm fits points from an ellipsoid to the polynomial expression 
+Ax^2 + By^2 + Cz^2 + 2Dxy + 2Exz + 2Fyz + 2Gx + 2Hy + 2Iz = 1. The polynomial expression is then solved and the center 
+and radii of the ellipse are determined.
+<a href="http://s1290.beta.photobucket.com/user/BokiSoftware/media/FitEllipsoid_zps70d01573.png.html" target="_blank"><img src="http://i1290.photobucket.com/albums/b533/BokiSoftware/FitEllipsoid_zps70d01573.png" border="0" alt="Photobucket"/></a>
diff --git a/Mavlink/AndroidManifest.xml b/Mavlink/AndroidManifest.xml
index cc9d608aff..e23846ccf0 100644
--- a/Mavlink/AndroidManifest.xml
+++ b/Mavlink/AndroidManifest.xml
@@ -1,12 +1 @@
-<manifest xmlns:android="http://schemas.android.com/apk/res/android"
-    package="com.diydrones.mavlink"
-    android:versionCode="1"
-    android:versionName="1.0" >
-
-    <uses-sdk
-        android:minSdkVersion="14"
-        android:targetSdkVersion="19" />
-
-    <application/>
-
-</manifest>
\ No newline at end of file
+<manifest package="com.diydrones.mavlink"/>
\ No newline at end of file
diff --git a/Mavlink/build.gradle b/Mavlink/build.gradle
index 50c3332429..3e406239d6 100644
--- a/Mavlink/build.gradle
+++ b/Mavlink/build.gradle
@@ -5,8 +5,13 @@ dependencies {
 }
 
 android {
-    compileSdkVersion 19
-    buildToolsVersion '19.1.0'
+    compileSdkVersion 21
+    buildToolsVersion "21.0.1"
+
+    defaultConfig {
+        minSdkVersion 14
+        targetSdkVersion 21
+    }
 
     sourceSets {
         main {
diff --git a/Mavlink/src/com/MAVLink/Messages/ApmModes.java b/Mavlink/src/com/MAVLink/Messages/ApmModes.java
index 37ee72ef5a..6ad28781fb 100644
--- a/Mavlink/src/com/MAVLink/Messages/ApmModes.java
+++ b/Mavlink/src/com/MAVLink/Messages/ApmModes.java
@@ -118,7 +118,7 @@ public static boolean isCopter(int type){
 		case MAV_TYPE.MAV_TYPE_OCTOROTOR:
 		case MAV_TYPE.MAV_TYPE_HELICOPTER:
 			return true;
-		case MAV_TYPE.MAV_TYPE_FIXED_WING:
+
 		default:
 			return false;
 		}
diff --git a/settings.gradle b/settings.gradle
index 10db96f45f..1281fdbfdb 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -1,6 +1,12 @@
+//Pure Java project
+include ':Core'
 include ':Mavlink'
-include ':Libraries:HorizontalVariableListView:HorizontalVariableListView'
+
+//Android projects
 include ':Android'
-include ':Core'
+
+//Library projects
+include ':Libraries:HorizontalVariableListView:HorizontalVariableListView'
 include ':Libraries:usb-serial-for-android:UsbSerialLibrary'
 include ':Libraries:PebbleKit'
+include ':Libraries:EllipsoidFit:EllipsoidFit'