diff --git a/cpp/Doxyfile b/cpp/Doxyfile
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+#---------------------------------------------------------------------------
+# Doxyfile: Project-related configuration options
+#
+# Adapted from
+#
+#   http://www.bluequartz.net/projects/EIM_Segmentation/SoftwareDocumentation/html/exampledoxyfile.html
+#
+# downloaded 21 March 2014
+#
+# Copyright (C) Simon D. Levy 2014
+#
+# This code is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Lesser General Public License as 
+# published by the Free Software Foundation, either version 3 of the 
+# License, or (at your option) any later version.
+#
+# This code is distributed in the hope that it will be useful,     
+# but WITHOUT ANY WARRANTY without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+#  You should have received a copy of the GNU Lesser General Public License 
+#  along with this code.  If not, see <http:#www.gnu.org/licenses/>.
+#  You should also have received a copy of the Parrot Parrot AR.Drone 
+#  Development License and Parrot AR.Drone copyright notice and disclaimer 
+#  and If not, see 
+#   <https:#projects.ardrone.org/attachments/277/ParrotLicense.txt> 
+# and
+#   <https:#projects.ardrone.org/attachments/278/ParrotCopyrightAndDisclaimer.txt>.
+#---------------------------------------------------------------------------
+DOXYFILE_ENCODING      = UTF-8
+PROJECT_NAME           = BreezySLAM
+PROJECT_NUMBER         = 
+OUTPUT_DIRECTORY       = Documentation
+CREATE_SUBDIRS         = YES
+OUTPUT_LANGUAGE        = English
+BRIEF_MEMBER_DESC      = YES
+REPEAT_BRIEF           = YES
+ABBREVIATE_BRIEF       = "The $name class" \
+                        "The $name widget" \
+                        "The $name file" \
+                        is \
+                        provides \
+                        specifies \
+                        contains \
+                        represents \
+                        a \
+                        an \
+                        the
+ALWAYS_DETAILED_SEC    = NO
+INLINE_INHERITED_MEMB  = NO
+FULL_PATH_NAMES        = YES
+STRIP_FROM_PATH        = Source
+SHORT_NAMES            = NO
+JAVADOC_AUTOBRIEF      = NO
+MULTILINE_CPP_IS_BRIEF = NO
+INHERIT_DOCS           = YES
+SEPARATE_MEMBER_PAGES  = NO
+TAB_SIZE               = 4
+OPTIMIZE_OUTPUT_FOR_C  = NO
+OPTIMIZE_OUTPUT_JAVA   = NO
+BUILTIN_STL_SUPPORT    = YES
+CPP_CLI_SUPPORT        = NO
+DISTRIBUTE_GROUP_DOC   = YES
+SUBGROUPING            = YES
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+EXTRACT_ALL            = YES
+EXTRACT_PRIVATE        = NO
+EXTRACT_STATIC         = YES
+EXTRACT_LOCAL_CLASSES  = YES
+EXTRACT_LOCAL_METHODS  = NO
+HIDE_UNDOC_MEMBERS     = NO
+HIDE_UNDOC_CLASSES     = NO
+HIDE_FRIEND_COMPOUNDS  = YES
+HIDE_IN_BODY_DOCS      = NO
+INTERNAL_DOCS          = NO
+CASE_SENSE_NAMES       = NO
+HIDE_SCOPE_NAMES       = NO
+SHOW_INCLUDE_FILES     = NO
+INLINE_INFO            = YES
+SORT_MEMBER_DOCS       = YES
+SORT_BRIEF_DOCS        = NO
+SORT_BY_SCOPE_NAME     = NO
+GENERATE_TODOLIST      = YES
+GENERATE_TESTLIST      = YES
+GENERATE_BUGLIST       = YES
+GENERATE_DEPRECATEDLIST= YES
+MAX_INITIALIZER_LINES  = 30
+SHOW_USED_FILES        = YES
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+QUIET                  = NO
+WARNINGS               = YES
+WARN_IF_UNDOCUMENTED   = YES
+WARN_IF_DOC_ERROR      = YES
+WARN_NO_PARAMDOC       = NO
+WARN_FORMAT            = "$file:$line: $text"
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+INPUT                  = breezyslam.hpp Position.hpp Map.hpp Scan.hpp \
+                         Velocities.hpp Laser.hpp WheeledRobot.hpp algorithms.hpp 
+INPUT_ENCODING         = UTF-8
+FILE_PATTERNS          = *.c  *.cc  *.cxx  *.cpp  *.c++ \
+                        *.h  *.hh  *.hxx  *.hpp  *.h++ *.m  *.mm  *.dox \
+RECURSIVE              = YES
+EXCLUDE_SYMLINKS       = NO
+EXAMPLE_PATTERNS       = *
+EXAMPLE_RECURSIVE      = NO
+FILTER_SOURCE_FILES    = NO
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+ALPHABETICAL_INDEX     = YES
+COLS_IN_ALPHA_INDEX    = 3
+IGNORE_PREFIX          = 
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+GENERATE_HTML          = YES
+HTML_OUTPUT            = html
+HTML_FILE_EXTENSION    = .html
+HTML_HEADER            = 
+HTML_FOOTER            = 
+HTML_STYLESHEET        = 
+GENERATE_HTMLHELP      = NO
+CHM_FILE               = 
+HHC_LOCATION           = 
+GENERATE_CHI           = NO
+BINARY_TOC             = NO
+TOC_EXPAND             = NO
+DISABLE_INDEX          = NO
+ENUM_VALUES_PER_LINE   = 4
+GENERATE_TREEVIEW      = NO
+TREEVIEW_WIDTH         = 250