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+  <path d="m52.988 27.291c0.99602-1.0359 1.3944-1.8725 1.7928-3.1076l3.8247-0.03984c0.3113 1.6096 0.82413 2.5137 1.6335 3.1474z" fill="url(#b)" stroke="#000" stroke-width=".5"/>
+  <path d="m73.89 24.04 28.885-0.2011-0.12476 3.3879-31.033 0.16229c1.2621-1.0234 1.9665-2.2859 2.2724-3.3491z" fill="url(#c)" stroke="#000" stroke-width=".41788"/>
+ </g>
+</svg>
--- a/doc/html/doxygen_crawl.html
+++ b/doc/html/doxygen_crawl.html
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<title>Validator / crawler helper</title>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+</head>
+<body>
+<a href="Image_8h_source.html"/>
+<a href="Pixel_8h_source.html"/>
+<a href="classImage.html"/>
+<a href="classImage-members.html"/>
+<a href="classPixel.html"/>
+<a href="classPixel-members.html"/>
+<a href="dir_68267d1309a1af8e8297ef4c3efbcdba.html"/>
+<a href="index.html"/>
+<a href="doxygen_crawl.html"/>
+<a href="annotated.html"/>
+<a href="classes.html"/>
+<a href="files.html"/>
+</body>
+</html>
--- a/doc/html/dynsections.js
+++ b/doc/html/dynsections.js
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+
+let dynsection = {
+
+  // helper function
+  updateStripes : function() {
+    $('table.directory tr').
+      removeClass('even').filter(':visible:even').addClass('even');
+    $('table.directory tr').
+      removeClass('odd').filter(':visible:odd').addClass('odd');
+  },
+
+  toggleVisibility : function(linkObj) {
+    const base = $(linkObj).attr('id');
+    const summary = $('#'+base+'-summary');
+    const content = $('#'+base+'-content');
+    const trigger = $('#'+base+'-trigger');
+    const src=$(trigger).attr('src');
+    if (content.is(':visible')===true) {
+      content.hide();
+      summary.show();
+      $(linkObj).addClass('closed').removeClass('opened');
+      $(trigger).attr('src',src.substring(0,src.length-8)+'closed.png');
+    } else {
+      content.show();
+      summary.hide();
+      $(linkObj).removeClass('closed').addClass('opened');
+      $(trigger).attr('src',src.substring(0,src.length-10)+'open.png');
+    }
+    return false;
+  },
+
+  toggleLevel : function(level) {
+    $('table.directory tr').each(function() {
+      const l = this.id.split('_').length-1;
+      const i = $('#img'+this.id.substring(3));
+      const a = $('#arr'+this.id.substring(3));
+      if (l<level+1) {
+        i.removeClass('iconfopen iconfclosed').addClass('iconfopen');
+        a.html('&#9660;');
+        $(this).show();
+      } else if (l==level+1) {
+        i.removeClass('iconfclosed iconfopen').addClass('iconfclosed');
+        a.html('&#9658;');
+        $(this).show();
+      } else {
+        $(this).hide();
+      }
+    });
+    this.updateStripes();
+  },
+
+  toggleFolder : function(id) {
+    // the clicked row
+    const currentRow = $('#row_'+id);
+
+    // all rows after the clicked row
+    const rows = currentRow.nextAll("tr");
+
+    const re = new RegExp('^row_'+id+'\\d+_$', "i"); //only one sub
+
+    // only match elements AFTER this one (can't hide elements before)
+    const childRows = rows.filter(function() { return this.id.match(re); });
+
+    // first row is visible we are HIDING
+    if (childRows.filter(':first').is(':visible')===true) {
+      // replace down arrow by right arrow for current row
+      const currentRowSpans = currentRow.find("span");
+      currentRowSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
+      currentRowSpans.filter(".arrow").html('&#9658;');
+      rows.filter("[id^=row_"+id+"]").hide(); // hide all children
+    } else { // we are SHOWING
+      // replace right arrow by down arrow for current row
+      const currentRowSpans = currentRow.find("span");
+      currentRowSpans.filter(".iconfclosed").removeClass("iconfclosed").addClass("iconfopen");
+      currentRowSpans.filter(".arrow").html('&#9660;');
+      // replace down arrows by right arrows for child rows
+      const childRowsSpans = childRows.find("span");
+      childRowsSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
+      childRowsSpans.filter(".arrow").html('&#9658;');
+      childRows.show(); //show all children
+    }
+    this.updateStripes();
+  },
+
+  toggleInherit : function(id) {
+    const rows = $('tr.inherit.'+id);
+    const img = $('tr.inherit_header.'+id+' img');
+    const src = $(img).attr('src');
+    if (rows.filter(':first').is(':visible')===true) {
+      rows.css('display','none');
+      $(img).attr('src',src.substring(0,src.length-8)+'closed.png');
+    } else {
+      rows.css('display','table-row'); // using show() causes jump in firefox
+      $(img).attr('src',src.substring(0,src.length-10)+'open.png');
+    }
+  },
+};
+
+let codefold = {
+  opened : true,
+
+  // in case HTML_COLORSTYLE is LIGHT or DARK the vars will be replaced, so we write them out explicitly and use double quotes
+  plusImg:  [ "var(--fold-plus-image)",  "var(--fold-plus-image-relpath)" ],
+  minusImg: [ "var(--fold-minus-image)", "var(--fold-minus-image-relpath)" ],
+
+  // toggle all folding blocks
+  toggle_all : function(relPath) {
+    if (this.opened) {
+      $('#fold_all').css('background-image',this.plusImg[relPath]);
+      $('div[id^=foldopen]').hide();
+      $('div[id^=foldclosed]').show();
+    } else {
+      $('#fold_all').css('background-image',this.minusImg[relPath]);
+      $('div[id^=foldopen]').show();
+      $('div[id^=foldclosed]').hide();
+    }
+    this.opened=!this.opened;
+  },
+
+  // toggle single folding block
+  toggle : function(id) {
+    $('#foldopen'+id).toggle();
+    $('#foldclosed'+id).toggle();
+  },
+
+  init : function(relPath) {
+    $('span[class=lineno]').css({
+      'padding-right':'4px',
+      'margin-right':'2px',
+      'display':'inline-block',
+      'width':'54px',
+      'background':'linear-gradient(var(--fold-line-color),var(--fold-line-color)) no-repeat 46px/2px 100%'
+    });
+    // add global toggle to first line
+    $('span[class=lineno]:first').append('<span class="fold" id="fold_all" '+
+      'onclick="javascript:codefold.toggle_all('+relPath+');" '+
+      'style="background-image:'+this.minusImg[relPath]+';"></span>');
+    // add vertical lines to other rows
+    $('span[class=lineno]').not(':eq(0)').append('<span class="fold"></span>');
+    // add toggle controls to lines with fold divs
+    $('div[class=foldopen]').each(function() {
+      // extract specific id to use
+      const id    = $(this).attr('id').replace('foldopen','');
+      // extract start and end foldable fragment attributes
+      const start = $(this).attr('data-start');
+      const end   = $(this).attr('data-end');
+      // replace normal fold span with controls for the first line of a foldable fragment
+      $(this).find('span[class=fold]:first').replaceWith('<span class="fold" '+
+                   'onclick="javascript:codefold.toggle(\''+id+'\');" '+
+                   'style="background-image:'+codefold.minusImg[relPath]+';"></span>');
+      // append div for folded (closed) representation
+      $(this).after('<div id="foldclosed'+id+'" class="foldclosed" style="display:none;"></div>');
+      // extract the first line from the "open" section to represent closed content
+      const line = $(this).children().first().clone();
+      // remove any glow that might still be active on the original line
+      $(line).removeClass('glow');
+      if (start) {
+        // if line already ends with a start marker (e.g. trailing {), remove it
+        $(line).html($(line).html().replace(new RegExp('\\s*'+start+'\\s*$','g'),''));
+      }
+      // replace minus with plus symbol
+      $(line).find('span[class=fold]').css('background-image',codefold.plusImg[relPath]);
+      // append ellipsis
+      $(line).append(' '+start+'<a href="javascript:codefold.toggle(\''+id+'\')">&#8230;</a>'+end);
+      // insert constructed line into closed div
+      $('#foldclosed'+id).html(line);
+    });
+  },
+};
+/* @license-end */
--- a/doc/html/files.html
+++ b/doc/html/files.html
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>My Project: File List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<script type="text/javascript" src="cookie.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">My Project
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">File List</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">Here is a list of all documented files with brief descriptions:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:dynsection.toggleLevel(1);">1</span><span onclick="javascript:dynsection.toggleLevel(2);">2</span>]</div><table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_0_" class="arrow" onclick="dynsection.toggleFolder('0_')">&#9660;</span><span id="img_0_" class="iconfopen" onclick="dynsection.toggleFolder('0_')">&#160;</span><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html" target="_self">src</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><a href="Image_8h_source.html"><span class="icondoc"></span></a><b>Image.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><a href="Pixel_8h_source.html"><span class="icondoc"></span></a><b>Pixel.h</b></td><td class="desc"></td></tr>
+</table>
+</div><!-- directory -->
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
+</body>
+</html>
--- a/doc/html/folderclosed.svg
+++ b/doc/html/folderclosed.svg
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN"
+ "https://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg version="1.1" width="16" height="24" viewBox="0 0 32 32" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" xml:space="preserve">
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+<path d="M1,5.998l-0,16.002c-0,1.326 0.527,2.598 1.464,3.536c0.938,0.937 2.21,1.464 3.536,1.464c5.322,0 14.678,-0 20,0c1.326,0 2.598,-0.527 3.536,-1.464c0.937,-0.938 1.464,-2.21 1.464,-3.536c0,-3.486 0,-8.514 0,-12c0,-1.326 -0.527,-2.598 -1.464,-3.536c-0.938,-0.937 -2.21,-1.464 -3.536,-1.464c-0,0 -10.586,0 -10.586,0c0,-0 -3.707,-3.707 -3.707,-3.707c-0.187,-0.188 -0.442,-0.293 -0.707,-0.293l-5.002,0c-2.76,0 -4.998,2.238 -4.998,4.998Zm2,-0l-0,16.002c-0,0.796 0.316,1.559 0.879,2.121c0.562,0.563 1.325,0.879 2.121,0.879l20,0c0.796,0 1.559,-0.316 2.121,-0.879c0.563,-0.562 0.879,-1.325 0.879,-2.121c0,-3.486 0,-8.514 0,-12c0,-0.796 -0.316,-1.559 -0.879,-2.121c-0.562,-0.563 -1.325,-0.879 -2.121,-0.879c-7.738,0 -11,0 -11,0c-0.265,0 -0.52,-0.105 -0.707,-0.293c-0,0 -3.707,-3.707 -3.707,-3.707c-0,0 -4.588,0 -4.588,0c-1.656,0 -2.998,1.342 -2.998,2.998Z"/>
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+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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--- a/doc/html/index.html
+++ b/doc/html/index.html
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>My Project: Main Page</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<script type="text/javascript" src="cookie.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">My Project
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
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+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">My Project Documentation</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="doxygen_crawl.html"/>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
+</body>
+</html>
--- a/doc/html/jquery.js
+++ b/doc/html/jquery.js
--- a/doc/html/menu.js
+++ b/doc/html/menu.js
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+function initMenu(relPath,searchEnabled,serverSide,searchPage,search) {
+  function makeTree(data,relPath) {
+    let result='';
+    if ('children' in data) {
+      result+='<ul>';
+      for (let i in data.children) {
+        let url;
+        const link = data.children[i].url;
+        if (link.substring(0,1)=='^') {
+          url = link.substring(1);
+        } else {
+          url = relPath+link;
+        }
+        result+='<li><a href="'+url+'">'+
+                                data.children[i].text+'</a>'+
+                                makeTree(data.children[i],relPath)+'</li>';
+      }
+      result+='</ul>';
+    }
+    return result;
+  }
+  let searchBoxHtml;
+  if (searchEnabled) {
+    if (serverSide) {
+      searchBoxHtml='<div id="MSearchBox" class="MSearchBoxInactive">'+
+                 '<div class="left">'+
+                  '<form id="FSearchBox" action="'+relPath+searchPage+
+                    '" method="get"><span id="MSearchSelectExt">&#160;</span>'+
+                  '<input type="text" id="MSearchField" name="query" value="" placeholder="'+search+
+                    '" size="20" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)"'+
+                    ' onblur="searchBox.OnSearchFieldFocus(false)"/>'+
+                  '</form>'+
+                 '</div>'+
+                 '<div class="right"></div>'+
+                '</div>';
+    } else {
+      searchBoxHtml='<div id="MSearchBox" class="MSearchBoxInactive">'+
+                 '<span class="left">'+
+                  '<span id="MSearchSelect" onmouseover="return searchBox.OnSearchSelectShow()"'+
+                     ' onmouseout="return searchBox.OnSearchSelectHide()">&#160;</span>'+
+                  '<input type="text" id="MSearchField" value="" placeholder="'+search+
+                    '" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)" '+
+                    'onblur="searchBox.OnSearchFieldFocus(false)" '+
+                    'onkeyup="searchBox.OnSearchFieldChange(event)"/>'+
+                 '</span>'+
+                 '<span class="right"><a id="MSearchClose" '+
+                  'href="javascript:searchBox.CloseResultsWindow()">'+
+                  '<img id="MSearchCloseImg" border="0" src="'+relPath+
+                  'search/close.svg" alt=""/></a>'+
+                 '</span>'+
+                '</div>';
+    }
+  }
+
+  $('#main-nav').before('<div class="sm sm-dox"><input id="main-menu-state" type="checkbox"/>'+
+                        '<label class="main-menu-btn" for="main-menu-state">'+
+                        '<span class="main-menu-btn-icon"></span> '+
+                        'Toggle main menu visibility</label>'+
+                        '<span id="searchBoxPos1" style="position:absolute;right:8px;top:8px;height:36px;"></span>'+
+                        '</div>');
+  $('#main-nav').append(makeTree(menudata,relPath));
+  $('#main-nav').children(':first').addClass('sm sm-dox').attr('id','main-menu');
+  if (searchBoxHtml) {
+    $('#main-menu').append('<li id="searchBoxPos2" style="float:right"></li>');
+  }
+  const $mainMenuState = $('#main-menu-state');
+  let prevWidth = 0;
+  if ($mainMenuState.length) {
+    const initResizableIfExists = function() {
+      if (typeof initResizable==='function') initResizable();
+    }
+    // animate mobile menu
+    $mainMenuState.change(function() {
+      const $menu = $('#main-menu');
+      let options = { duration: 250, step: initResizableIfExists };
+      if (this.checked) {
+        options['complete'] = () => $menu.css('display', 'block');
+        $menu.hide().slideDown(options);
+      } else {
+        options['complete'] = () => $menu.css('display', 'none');
+        $menu.show().slideUp(options);
+      }
+    });
+    // set default menu visibility
+    const resetState = function() {
+      const $menu = $('#main-menu');
+      const newWidth = $(window).outerWidth();
+      if (newWidth!=prevWidth) {
+        if ($(window).outerWidth()<768) {
+          $mainMenuState.prop('checked',false); $menu.hide();
+          $('#searchBoxPos1').html(searchBoxHtml);
+          $('#searchBoxPos2').hide();
+        } else {
+          $menu.show();
+          $('#searchBoxPos1').empty();
+          $('#searchBoxPos2').html(searchBoxHtml);
+          $('#searchBoxPos2').show();
+        }
+        if (typeof searchBox!=='undefined') {
+          searchBox.CloseResultsWindow();
+        }
+        prevWidth = newWidth;
+      }
+    }
+    $(window).ready(function() { resetState(); initResizableIfExists(); });
+    $(window).resize(resetState);
+  }
+  $('#main-menu').smartmenus();
+}
+/* @license-end */
--- a/doc/html/menudata.js
+++ b/doc/html/menudata.js
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+*/
+var menudata={children:[
+{text:"Main Page",url:"index.html"},
+{text:"Classes",url:"annotated.html",children:[
+{text:"Class List",url:"annotated.html"},
+{text:"Class Index",url:"classes.html"}]},
+{text:"Files",url:"files.html",children:[
+{text:"File List",url:"files.html"}]}]}
--- a/doc/html/minus.svg
+++ b/doc/html/minus.svg
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg width="12px" height="12px" viewBox="0 0 105.83333 105.83333" version="1.1" xmlns="http://www.w3.org/2000/svg" xmlns:svg="http://www.w3.org/2000/svg">
+  <g>
+    <rect style="fill:#808080;stroke-width:0" width="105.83333" height="105.83334" x="4.2409692e-08" y="-1.2701158e-06" ry="0" />
+    <rect style="fill:#fcfcfc;stroke-width:0" width="79.375" height="79.375" x="13.229166" y="13.229166" />
+    <rect style="fill:#808080;stroke-width:0" width="52.916668" height="15.874998" x="26.458332" y="44.979168" />
+  </g>
+</svg>
--- a/doc/html/minusd.svg
+++ b/doc/html/minusd.svg
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg width="12px" height="12px" viewBox="0 0 105.83333 105.83333" version="1.1" xmlns="http://www.w3.org/2000/svg" xmlns:svg="http://www.w3.org/2000/svg">
+  <g>
+    <rect style="fill:#808080;stroke-width:0" width="105.83333" height="105.83334" x="4.2409692e-08" y="-1.2701158e-06" ry="0" />
+    <rect style="fill:#000000;stroke-width:0" width="79.375" height="79.375" x="13.229166" y="13.229166" />
+    <rect style="fill:#808080;stroke-width:0" width="52.916668" height="15.874998" x="26.458332" y="44.979168" />
+  </g>
+</svg>
--- a/doc/html/nav_f.png
+++ b/doc/html/nav_f.png
--- a/doc/html/nav_fd.png
+++ b/doc/html/nav_fd.png
--- a/doc/html/nav_g.png
+++ b/doc/html/nav_g.png
--- a/doc/html/nav_h.png
+++ b/doc/html/nav_h.png
--- a/doc/html/nav_hd.png
+++ b/doc/html/nav_hd.png
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