From f034cfa06083d8e42030f7fccd9f686b341dcd52 Mon Sep 17 00:00:00 2001
From: Francois Carouge <francois.carouge@gmail.com>
Date: Mon, 19 Sep 2022 20:42:45 -0700
Subject: [PATCH] [benchmark] add Eigen 3 support

---
 .../verify_test_ubuntu-22-04_clang.yml        |    4 +-
 .../verify_test_ubuntu-22-04_gcc-trunk.yml    |    9 +-
 .../verify_test_ubuntu-22-04_gcc.yml          |    4 +-
 .../verify_test_windows-2019_msvc.yml         |    4 +-
 README.md                                     |  108 +-
 benchmark/CMakeLists.txt                      |   19 +-
 benchmark/README.md                           |   12 +-
 benchmark/baseline.cpp                        |    2 +-
 benchmark/eigen_predict_x1x.cpp               |  107 +
 benchmark/eigen_update_xx0.cpp                |  106 +
 benchmark/image/eigen_predict.svg             | 5279 ++++++++++++++++
 benchmark/image/eigen_update.svg              | 5583 +++++++++++++++++
 .../image/{float1x1x0.svg => float_1x1x0.svg} |    0
 .../image/{float1x1x1.svg => float_1x1x1.svg} |    0
 .../{predict1x1x0.svg => predict_1x1x0.svg}   |    0
 .../{predict1x1x1.svg => predict_1x1x1.svg}   |    0
 .../{update1x1x0.svg => update_1x1x0.svg}     |    0
 .../{update1x1x1.svg => update_1x1x1.svg}     |    0
 .../include}/benchmark.hpp                    |   15 +-
 .../{predict1x1x0.cpp => predict_1x1x0.cpp}   |   17 +-
 .../{predict1x1x1.cpp => predict_1x1x1.cpp}   |   23 +-
 ...kalman_benchmark_eigen_predict_10x1x1.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x10.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x11.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x12.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x13.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x14.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x15.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x16.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x17.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x18.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x19.json |  184 +
 ...kalman_benchmark_eigen_predict_10x1x2.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x20.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x21.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x22.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x23.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x24.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x25.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x26.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x27.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x28.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x29.json |  184 +
 ...kalman_benchmark_eigen_predict_10x1x3.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x30.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x31.json |  184 +
 ...alman_benchmark_eigen_predict_10x1x32.json |  184 +
 ...kalman_benchmark_eigen_predict_10x1x4.json |  184 +
 ...kalman_benchmark_eigen_predict_10x1x5.json |  184 +
 ...kalman_benchmark_eigen_predict_10x1x6.json |  184 +
 ...kalman_benchmark_eigen_predict_10x1x7.json |  184 +
 ...kalman_benchmark_eigen_predict_10x1x8.json |  184 +
 ...kalman_benchmark_eigen_predict_10x1x9.json |  184 +
 ...kalman_benchmark_eigen_predict_11x1x1.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x10.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x11.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x12.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x13.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x14.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x15.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x16.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x17.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x18.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x19.json |  184 +
 ...kalman_benchmark_eigen_predict_11x1x2.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x20.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x21.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x22.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x23.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x24.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x25.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x26.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x27.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x28.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x29.json |  184 +
 ...kalman_benchmark_eigen_predict_11x1x3.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x30.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x31.json |  184 +
 ...alman_benchmark_eigen_predict_11x1x32.json |  184 +
 ...kalman_benchmark_eigen_predict_11x1x4.json |  184 +
 ...kalman_benchmark_eigen_predict_11x1x5.json |  184 +
 ...kalman_benchmark_eigen_predict_11x1x6.json |  184 +
 ...kalman_benchmark_eigen_predict_11x1x7.json |  184 +
 ...kalman_benchmark_eigen_predict_11x1x8.json |  184 +
 ...kalman_benchmark_eigen_predict_11x1x9.json |  184 +
 ...kalman_benchmark_eigen_predict_12x1x1.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x10.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x11.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x12.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x13.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x14.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x15.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x16.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x17.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x18.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x19.json |  184 +
 ...kalman_benchmark_eigen_predict_12x1x2.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x20.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x21.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x22.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x23.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x24.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x25.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x26.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x27.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x28.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x29.json |  184 +
 ...kalman_benchmark_eigen_predict_12x1x3.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x30.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x31.json |  184 +
 ...alman_benchmark_eigen_predict_12x1x32.json |  184 +
 ...kalman_benchmark_eigen_predict_12x1x4.json |  184 +
 ...kalman_benchmark_eigen_predict_12x1x5.json |  184 +
 ...kalman_benchmark_eigen_predict_12x1x6.json |  184 +
 ...kalman_benchmark_eigen_predict_12x1x7.json |  184 +
 ...kalman_benchmark_eigen_predict_12x1x8.json |  184 +
 ...kalman_benchmark_eigen_predict_12x1x9.json |  184 +
 ...kalman_benchmark_eigen_predict_13x1x1.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x10.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x11.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x12.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x13.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x14.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x15.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x16.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x17.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x18.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x19.json |  184 +
 ...kalman_benchmark_eigen_predict_13x1x2.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x20.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x21.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x22.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x23.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x24.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x25.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x26.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x27.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x28.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x29.json |  184 +
 ...kalman_benchmark_eigen_predict_13x1x3.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x30.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x31.json |  184 +
 ...alman_benchmark_eigen_predict_13x1x32.json |  184 +
 ...kalman_benchmark_eigen_predict_13x1x4.json |  184 +
 ...kalman_benchmark_eigen_predict_13x1x5.json |  184 +
 ...kalman_benchmark_eigen_predict_13x1x6.json |  184 +
 ...kalman_benchmark_eigen_predict_13x1x7.json |  184 +
 ...kalman_benchmark_eigen_predict_13x1x8.json |  184 +
 ...kalman_benchmark_eigen_predict_13x1x9.json |  184 +
 ...kalman_benchmark_eigen_predict_14x1x1.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x10.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x11.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x12.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x13.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x14.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x15.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x16.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x17.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x18.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x19.json |  184 +
 ...kalman_benchmark_eigen_predict_14x1x2.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x20.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x21.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x22.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x23.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x24.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x25.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x26.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x27.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x28.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x29.json |  184 +
 ...kalman_benchmark_eigen_predict_14x1x3.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x30.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x31.json |  184 +
 ...alman_benchmark_eigen_predict_14x1x32.json |  184 +
 ...kalman_benchmark_eigen_predict_14x1x4.json |  184 +
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 ...kalman_benchmark_eigen_predict_15x1x1.json |  184 +
 ...alman_benchmark_eigen_predict_15x1x10.json |  184 +
 ...alman_benchmark_eigen_predict_15x1x11.json |  184 +
 ...alman_benchmark_eigen_predict_15x1x12.json |  184 +
 ...alman_benchmark_eigen_predict_15x1x13.json |  184 +
 ...alman_benchmark_eigen_predict_15x1x14.json |  184 +
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 ...alman_benchmark_eigen_predict_15x1x16.json |  184 +
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 ...kalman_benchmark_eigen_predict_15x1x2.json |  184 +
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 ...kalman_benchmark_eigen_predict_15x1x4.json |  184 +
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 .../kalman_benchmark_eigen_update_9x8x0.json  |  184 +
 .../kalman_benchmark_eigen_update_9x9x0.json  |  184 +
 ...on => kalman_benchmark_predict_1x1x0.json} |  434 +-
 ...on => kalman_benchmark_predict_1x1x1.json} |  434 +-
 ...son => kalman_benchmark_update_1x1x0.json} |  434 +-
 ...son => kalman_benchmark_update_1x1x1.json} |  434 +-
 benchmark/script/eigen_predict.plt            |   62 +
 benchmark/script/eigen_update.plt             |   62 +
 benchmark/script/float.plt                    |    8 +-
 .../{float1x1x0.plt => float_1x1x0.plt}       |    6 +-
 .../{float1x1x1.plt => float_1x1x1.plt}       |    6 +-
 benchmark/script/plot.sh                      |   52 +-
 .../{predict1x1x0.plt => predict_1x1x0.plt}   |    4 +-
 .../{predict1x1x1.plt => predict_1x1x1.plt}   |    4 +-
 .../{update1x1x0.plt => update_1x1x0.plt}     |    4 +-
 .../{update1x1x1.plt => update_1x1x1.plt}     |    4 +-
 .../{update1x1x1.cpp => update_1x1x0.cpp}     |   23 +-
 .../{update1x1x0.cpp => update_1x1x1.cpp}     |   23 +-
 sample/ekf_4x1x0_ardupilot_soaring.cpp        |   47 +-
 sample/kf_1x1x0_building_height.cpp           |   34 +-
 sample/kf_1x1x0_liquid_temperature.cpp        |   32 +-
 sample/kf_1x1x1_dog_position.cpp              |   54 +-
 sample/kf_2x1x1_rocket_altitude.cpp           |  112 +-
 sample/kf_6x2x0_vehicle_location.cpp          |   82 +-
 sample/kf_8x4x0_deep_sort_bounding_box.cpp    |   79 +-
 test/eigen_f.cpp                              |   36 +-
 test/eigen_h.cpp                              |   36 +-
 test/eigen_initialization.cpp                 |   26 +-
 test/f.cpp                                    |   36 +-
 test/format.cpp                               |   12 +-
 test/h.cpp                                    |   36 +-
 test/initialization.cpp                       |   52 +-
 2099 files changed, 389448 insertions(+), 1344 deletions(-)
 create mode 100644 benchmark/eigen_predict_x1x.cpp
 create mode 100644 benchmark/eigen_update_xx0.cpp
 create mode 100644 benchmark/image/eigen_predict.svg
 create mode 100644 benchmark/image/eigen_update.svg
 rename benchmark/image/{float1x1x0.svg => float_1x1x0.svg} (100%)
 rename benchmark/image/{float1x1x1.svg => float_1x1x1.svg} (100%)
 rename benchmark/image/{predict1x1x0.svg => predict_1x1x0.svg} (100%)
 rename benchmark/image/{predict1x1x1.svg => predict_1x1x1.svg} (100%)
 rename benchmark/image/{update1x1x0.svg => update_1x1x0.svg} (100%)
 rename benchmark/image/{update1x1x1.svg => update_1x1x1.svg} (100%)
 rename {include/fcarouge/benchmark => benchmark/include}/benchmark.hpp (86%)
 rename benchmark/{predict1x1x0.cpp => predict_1x1x0.cpp} (92%)
 rename benchmark/{predict1x1x1.cpp => predict_1x1x1.cpp} (85%)
 create mode 100644 benchmark/result/kalman_benchmark_eigen_predict_10x1x1.json
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 rename benchmark/result/{kalman_benchmark_predict1x1x0.json => kalman_benchmark_predict_1x1x0.json} (71%)
 rename benchmark/result/{kalman_benchmark_predict1x1x1.json => kalman_benchmark_predict_1x1x1.json} (71%)
 rename benchmark/result/{kalman_benchmark_update1x1x0.json => kalman_benchmark_update_1x1x0.json} (72%)
 rename benchmark/result/{kalman_benchmark_update1x1x1.json => kalman_benchmark_update_1x1x1.json} (72%)
 create mode 100644 benchmark/script/eigen_predict.plt
 create mode 100644 benchmark/script/eigen_update.plt
 rename benchmark/script/{float1x1x0.plt => float_1x1x0.plt} (90%)
 rename benchmark/script/{float1x1x1.plt => float_1x1x1.plt} (90%)
 rename benchmark/script/{predict1x1x0.plt => predict_1x1x0.plt} (94%)
 rename benchmark/script/{predict1x1x1.plt => predict_1x1x1.plt} (94%)
 rename benchmark/script/{update1x1x0.plt => update_1x1x0.plt} (94%)
 rename benchmark/script/{update1x1x1.plt => update_1x1x1.plt} (94%)
 rename benchmark/{update1x1x1.cpp => update_1x1x0.cpp} (85%)
 rename benchmark/{update1x1x0.cpp => update_1x1x1.cpp} (85%)

diff --git a/.github/workflows/verify_test_ubuntu-22-04_clang.yml b/.github/workflows/verify_test_ubuntu-22-04_clang.yml
index 355135616..bf12dc4f1 100644
--- a/.github/workflows/verify_test_ubuntu-22-04_clang.yml
+++ b/.github/workflows/verify_test_ubuntu-22-04_clang.yml
@@ -17,5 +17,5 @@ jobs:
         export CC=clang
         export CXX=clang++
         cmake -B "build" .
-        cmake --build "build" --parallel
-        ctest --test-dir "build" --tests-regex "kalman_(test|sample)" --output-on-failure --parallel
+        cmake --build "build" --parallel 8
+        ctest --test-dir "build" --tests-regex "kalman_(test|sample)" --output-on-failure --parallel 8
diff --git a/.github/workflows/verify_test_ubuntu-22-04_gcc-trunk.yml b/.github/workflows/verify_test_ubuntu-22-04_gcc-trunk.yml
index bd921c3ea..073fffff6 100644
--- a/.github/workflows/verify_test_ubuntu-22-04_gcc-trunk.yml
+++ b/.github/workflows/verify_test_ubuntu-22-04_gcc-trunk.yml
@@ -12,12 +12,15 @@ jobs:
     steps:
     - name: Checkout
       uses: actions/checkout@v3.0.2
-    - name: Build
+    - name: Install
       run: |
         wget http://kayari.org/gcc-latest/gcc-latest.deb
         sudo dpkg -i gcc-latest.deb
+    - name: Build
+      run: |
         export CC=/opt/gcc-latest/bin/gcc
         export CXX=/opt/gcc-latest/bin/g++
+        export LD_LIBRARY_PATH=/opt/gcc-latest/lib64:$LD_LIBRARY_PATH
         cmake -B "build" .
-        cmake --build "build" --parallel
-        ctest --test-dir "build" --tests-regex "kalman_(test|sample)" --output-on-failure --parallel
+        cmake --build "build" --parallel 8
+        ctest --test-dir "build" --tests-regex "kalman_(test|sample)" --output-on-failure --parallel 8
diff --git a/.github/workflows/verify_test_ubuntu-22-04_gcc.yml b/.github/workflows/verify_test_ubuntu-22-04_gcc.yml
index ab0d2c7fb..d6cc23efb 100644
--- a/.github/workflows/verify_test_ubuntu-22-04_gcc.yml
+++ b/.github/workflows/verify_test_ubuntu-22-04_gcc.yml
@@ -15,5 +15,5 @@ jobs:
     - name: Build
       run: |
         cmake -B "build" .
-        cmake --build "build" --parallel
-        ctest --test-dir "build" --tests-regex "kalman_(test|sample)" --output-on-failure --parallel
+        cmake --build "build" --parallel 8
+        ctest --test-dir "build" --tests-regex "kalman_(test|sample)" --output-on-failure --parallel 8
diff --git a/.github/workflows/verify_test_windows-2019_msvc.yml b/.github/workflows/verify_test_windows-2019_msvc.yml
index 19fe53125..598539c5f 100644
--- a/.github/workflows/verify_test_windows-2019_msvc.yml
+++ b/.github/workflows/verify_test_windows-2019_msvc.yml
@@ -19,5 +19,5 @@ jobs:
     - name: Build
       run: |
         cmake -B "build" .
-        cmake --build "build" --parallel
-        ctest --test-dir "build" --tests-regex "kalman_(test|sample)" --output-on-failure --parallel
+        cmake --build "build" --parallel 8
+        ctest --test-dir "build" --tests-regex "kalman_(test|sample)" --output-on-failure --parallel 8
diff --git a/README.md b/README.md
index 2a68ad815..e78bb984a 100644
--- a/README.md
+++ b/README.md
@@ -50,13 +50,13 @@ Standard formatter specialization provided for representation of the filter stat
 Example from the building height estimation sample. One estimated state and one observed output filter.
 
 ```cpp
-kalman k;
+kalman filter;
 
-k.x(60.);
-k.p(225.);
-k.r(25.);
+filter.x(60.);
+filter.p(225.);
+filter.r(25.);
 
-k(48.54);
+filter.update(48.54);
 ```
 
 ## 6x2 Constant Acceleration Dynamic Model
@@ -66,32 +66,33 @@ Example from the 2-dimension vehicle location estimation sample. Six estimated s
 ```cpp
 using kalman = kalman<vector<double, 6>, vector<double, 2>>;
 
-kalman k;
-
-k.x(0., 0., 0., 0., 0., 0.);
-k.p(kalman::estimate_uncertainty{ { 500, 0, 0, 0, 0, 0 },
-                                  { 0, 500, 0, 0, 0, 0 },
-                                  { 0, 0, 500, 0, 0, 0 },
-                                  { 0, 0, 0, 500, 0, 0 },
-                                  { 0, 0, 0, 0, 500, 0 },
-                                  { 0, 0, 0, 0, 0, 500 } });
-k.q(0.2 * 0.2 * kalman::process_uncertainty{ { 0.25, 0.5, 0.5, 0, 0, 0 },
-                                             { 0.5, 1, 1, 0, 0, 0 },
-                                             { 0.5, 1, 1, 0, 0, 0 },
-                                             { 0, 0, 0, 0.25, 0.5, 0.5 },
-                                             { 0, 0, 0, 0.5, 1, 1 },
-                                             { 0, 0, 0, 0.5, 1, 1 } });
-k.f(kalman::state_transition{ { 1, 1, 0.5, 0, 0, 0 },
-                              { 0, 1, 1, 0, 0, 0 },
-                              { 0, 0, 1, 0, 0, 0 },
-                              { 0, 0, 0, 1, 1, 0.5 },
-                              { 0, 0, 0, 0, 1, 1 },
-                              { 0, 0, 0, 0, 0, 1 } });
-k.h(kalman::output_model{ { 1, 0, 0, 0, 0, 0 },
-                          { 0, 0, 0, 1, 0, 0 } });
-k.r(kalman::output_uncertainty{ { 9, 0 }, { 0, 9 } });
-
-k(-375.93, 301.78);
+kalman filter;
+
+filter.x(0., 0., 0., 0., 0., 0.);
+filter.p(kalman::estimate_uncertainty{ { 500, 0, 0, 0, 0, 0 },
+                                       { 0, 500, 0, 0, 0, 0 },
+                                       { 0, 0, 500, 0, 0, 0 },
+                                       { 0, 0, 0, 500, 0, 0 },
+                                       { 0, 0, 0, 0, 500, 0 },
+                                       { 0, 0, 0, 0, 0, 500 } });
+filter.q(0.2 * 0.2 * kalman::process_uncertainty{ { 0.25, 0.5, 0.5, 0, 0, 0 },
+                                                  { 0.5, 1, 1, 0, 0, 0 },
+                                                  { 0.5, 1, 1, 0, 0, 0 },
+                                                  { 0, 0, 0, 0.25, 0.5, 0.5 },
+                                                  { 0, 0, 0, 0.5, 1, 1 },
+                                                  { 0, 0, 0, 0.5, 1, 1 } });
+filter.f(kalman::state_transition{ { 1, 1, 0.5, 0, 0, 0 },
+                                   { 0, 1, 1, 0, 0, 0 },
+                                   { 0, 0, 1, 0, 0, 0 },
+                                   { 0, 0, 0, 1, 1, 0.5 },
+                                   { 0, 0, 0, 0, 1, 1 },
+                                   { 0, 0, 0, 0, 0, 1 } });
+filter.h(kalman::output_model{ { 1, 0, 0, 0, 0, 0 },
+                               { 0, 0, 0, 1, 0, 0 } });
+filter.r(kalman::output_uncertainty{ { 9, 0 }, { 0, 9 } });
+
+filter.predict();
+filter.update(-375.93, 301.78);
 ```
 
 ## 4x1 Non-Linear Dynamic Model
@@ -102,29 +103,29 @@ Example from the thermal, current of warm air, strength, radius, and location es
 using kalman = kalman<vector<float, 4>, float, void, std::tuple<float, float>,
                              std::tuple<float, float>>;
 
-kalman k;
+kalman filter;
 
-k.x(1 / 4.06, 80, 0, 0);
-k.p(kalman::estimate_uncertainty{ { 0.0049, 0, 0, 0 },
-                                  { 0, 400, 0, 0 },
-                                  { 0, 0, 400, 0 },
-                                  { 0, 0, 0, 400 } });
-k.transition([](const kalman::state &x, const float &drift_x,
-                const float &drift_y) -> kalman::state {
+filter.x(1 / 4.06, 80, 0, 0);
+filter.p(kalman::estimate_uncertainty{ { 0.0049, 0, 0, 0 },
+                                       { 0, 400, 0, 0 },
+                                       { 0, 0, 400, 0 },
+                                       { 0, 0, 0, 400 } });
+filter.transition([](const kalman::state &x, const float &drift_x,
+                     const float &drift_y) -> kalman::state {
   return x + kalman::state{ 0, 0, -drift_x, -drift_y };
 });
-k.q(kalman::process_uncertainty{ { 0.000001, 0, 0, 0 },
-                                 { 0, 0.0009, 0, 0 },
-                                 { 0, 0, 0.0009, 0 },
-                                 { 0, 0, 0, 0.0009 } });
-k.r(0.2025);
-k.observation([](const kalman::state &x, const float &position_x,
-                 const float &position_y) -> kalman::output {
+filter.q(kalman::process_uncertainty{ { 0.000001, 0, 0, 0 },
+                                      { 0, 0.0009, 0, 0 },
+                                      { 0, 0, 0.0009, 0 },
+                                      { 0, 0, 0, 0.0009 } });
+filter.r(0.2025);
+filter.observation([](const kalman::state &x, const float &position_x,
+                      const float &position_y) -> kalman::output {
   return kalman::output{ x(0) *
     std::exp(-((x(2) - position_x)*(x(2) - position_x) +
     (x(3) - position_y) * (x(3) - position_y)) / x(1) * x(1)) };
-k.h([](const kalman::state &x, const float &position_x,
-       const float &position_y) -> kalman::output_model {
+filter.h([](const kalman::state &x, const float &position_x,
+            const float &position_y) -> kalman::output_model {
   const auto exp{ std::exp(-((x(2) - position_x) * (x(2) - position_x) +
     (x(3) - position_y) * (x(3) - position_y)) / (x(1) * x(1))) };
   const kalman::output_model h{
@@ -137,7 +138,8 @@ k.h([](const kalman::state &x, const float &position_x,
   return h;
 });
 
-k(drift_x, drift_y, position_x, position_y, variometer);
+filter.predict(drift_x, drift_y);
+filter.update(position_x, position_y, variometer);
 ```
 
 # Continuous Integration & Deployment Actions
@@ -277,9 +279,9 @@ class kalman
 A specialization of the standard formatter is provided for the filter. Use `std::format` to store a formatted representation of all of the characteristics of the filter in a new string. Standard format parameters to be supported.
 
 ```cpp
-kalman k;
+kalman filter;
 
-std::print("{}", k);
+std::print("{}", filter);
 // {"f": 1, "h": 1, "k": 1, "p": 1, "q": 0, "r": 0, "s": 1, "x": 0, "y": 0, "z": 0}
 ```
 
@@ -307,9 +309,10 @@ This package explores what could be a Kalman filter implementation a la standard
 
 ## Selected Tradeoffs
 
-In theory there is no difference between theory and practice, while in practice there is:
+In theory there is no difference between theory and practice, while in practice there is. The following tradeoffs hav been selected for the implementation:
 
 - Update and prediction additional arguments are stored in the filter at the costs of memory and performance for the benefits of consistent data access and records.
+- The default floating point data type for the filter is `double` with about 16 significant digits to reduce loss of information compared to `float`.
 
 ## Lessons Learned
 
@@ -317,6 +320,7 @@ Design, development, and testing uncovered unexpected facets of the projects:
 
 - The filter's state, output, and input column vectors should be type template parameters to allow the filter to participate in full-compile time verification of unit and index-type safeties.
 - There exists Kalman filters with hundreds of state variables.
+- The `float` data type has about 7 significant digits. Floating point error is a loss of information to account for in design.
 
 ## Performance
 
diff --git a/benchmark/CMakeLists.txt b/benchmark/CMakeLists.txt
index 0facb2bf7..bfa9f79ae 100644
--- a/benchmark/CMakeLists.txt
+++ b/benchmark/CMakeLists.txt
@@ -36,12 +36,27 @@ OTHER DEALINGS IN THE SOFTWARE.
 
 For more information, please refer to <https://unlicense.org> ]]
 
-set(SOURCES "baseline.cpp" "predict1x1x0.cpp" "predict1x1x1.cpp"
-            "update1x1x0.cpp" "update1x1x1.cpp")
+set(SOURCES "baseline.cpp" "predict_1x1x0.cpp" "predict_1x1x1.cpp"
+            "update_1x1x0.cpp" "update_1x1x1.cpp")
+
+foreach(STATE_SIZE RANGE 1 2)
+  foreach(OUTPUT_SIZE RANGE 1 2)
+    configure_file(eigen_update_xx0.cpp
+                   eigen_update_${STATE_SIZE}x${OUTPUT_SIZE}x0.cpp)
+    list(APPEND SOURCES eigen_update_${STATE_SIZE}x${OUTPUT_SIZE}x0.cpp)
+  endforeach()
+  foreach(INPUT_SIZE RANGE 1 2)
+    configure_file(eigen_predict_x1x.cpp
+                   eigen_predict_${STATE_SIZE}x1x${INPUT_SIZE}.cpp)
+    list(APPEND SOURCES eigen_predict_${STATE_SIZE}x1x${INPUT_SIZE}.cpp)
+  endforeach()
+endforeach()
 
 foreach(BENCHMARK ${SOURCES})
   get_filename_component(NAME ${BENCHMARK} NAME_WE)
   add_executable(kalman_benchmark_${NAME}_driver ${BENCHMARK})
+  target_include_directories(kalman_benchmark_${NAME}_driver PRIVATE "."
+                                                                     "include")
   target_link_libraries(
     kalman_benchmark_${NAME}_driver
     PRIVATE eigen kalman benchmark::benchmark_main benchmark::benchmark)
diff --git a/benchmark/README.md b/benchmark/README.md
index e0a8dfcbb..05b24c7fe 100644
--- a/benchmark/README.md
+++ b/benchmark/README.md
@@ -20,10 +20,10 @@ Plot the results on Linux:
 Run on Microsoft Windows 10 on native x64 with Visual Studio 2022 compiler 19.33 in release mode.
 
 ![Float](image/float.svg)
-![Float 1x1x0](image/float1x1x0.svg)
-![Float 1x1x1](image/float1x1x1.svg)
+![Float 1x1x0](image/float_1x1x0.svg)
+![Float 1x1x1](image/float_1x1x1.svg)
 ![Baseline](image/baseline.svg)
-![Update Float 1x1x0](image/update1x1x0.svg)
-![Update Float 1x1x1](image/update1x1x1.svg)
-![Predict Float 1x1x0](image/predict1x1x0.svg)
-![Predict Float 1x1x1](image/predict1x1x1.svg)
+![Update Float 1x1x0](image/update_1x1x0.svg)
+![Update Float 1x1x1](image/update_1x1x1.svg)
+![Predict Float 1x1x0](image/predict_1x1x0.svg)
+![Predict Float 1x1x1](image/predict_1x1x1.svg)
diff --git a/benchmark/baseline.cpp b/benchmark/baseline.cpp
index 93d66a96a..9de89fe96 100644
--- a/benchmark/baseline.cpp
+++ b/benchmark/baseline.cpp
@@ -36,7 +36,7 @@ OTHER DEALINGS IN THE SOFTWARE.
 
 For more information, please refer to <https://unlicense.org> */
 
-#include "fcarouge/benchmark/benchmark.hpp"
+#include "benchmark.hpp"
 
 #include <benchmark/benchmark.h>
 
diff --git a/benchmark/eigen_predict_x1x.cpp b/benchmark/eigen_predict_x1x.cpp
new file mode 100644
index 000000000..035a49dfa
--- /dev/null
+++ b/benchmark/eigen_predict_x1x.cpp
@@ -0,0 +1,107 @@
+/*  __          _      __  __          _   _
+| |/ /    /\   | |    |  \/  |   /\   | \ | |
+| ' /    /  \  | |    | \  / |  /  \  |  \| |
+|  <    / /\ \ | |    | |\/| | / /\ \ | . ` |
+| . \  / ____ \| |____| |  | |/ ____ \| |\  |
+|_|\_\/_/    \_\______|_|  |_/_/    \_\_| \_|
+
+Kalman Filter for C++
+Version 0.1.0
+https://github.com/FrancoisCarouge/Kalman
+
+SPDX-License-Identifier: Unlicense
+
+This is free and unencumbered software released into the public domain.
+
+Anyone is free to copy, modify, publish, use, compile, sell, or
+distribute this software, either in source code form or as a compiled
+binary, for any purpose, commercial or non-commercial, and by any
+means.
+
+In jurisdictions that recognize copyright laws, the author or authors
+of this software dedicate any and all copyright interest in the
+software to the public domain. We make this dedication for the benefit
+of the public at large and to the detriment of our heirs and
+successors. We intend this dedication to be an overt act of
+relinquishment in perpetuity of all present and future rights to this
+software under copyright law.
+
+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 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.
+
+For more information, please refer to <https://unlicense.org> */
+
+#include "benchmark.hpp"
+#include "fcarouge/eigen/kalman.hpp"
+#include "fcarouge/internal/utility.hpp"
+
+#include <benchmark/benchmark.h>
+
+#include <algorithm>
+#include <chrono>
+#include <cmath>
+#include <cstddef>
+#include <cstdint>
+#include <cstring>
+#include <random>
+
+namespace fcarouge::eigen::benchmark {
+
+//! @benchmark Measure the prediction of the filter for different dimensions of
+//! states and inputs with the Eigen linear algebra backend.
+template <std::size_t StateSize, std::size_t InputSize>
+void eigen_predict(::benchmark::State &state) {
+
+  using kalman =
+      kalman<vector<float, StateSize>, float, vector<float, InputSize>>;
+
+  kalman filter;
+  std::random_device random_device;
+  std::mt19937 random_generator(random_device());
+  std::uniform_real_distribution uniformly_distributed(0.f, 1.f);
+
+  for (auto _ : state) {
+
+    typename kalman::input u;
+
+    fcarouge::internal::for_constexpr<std::size_t{0}, InputSize, 1>(
+        [&u, &uniformly_distributed, &random_generator](auto position) {
+          u[position] = uniformly_distributed(random_generator);
+        });
+
+    ::benchmark::ClobberMemory();
+    const auto start{clock::now()};
+
+    filter.predict(u);
+
+    ::benchmark::ClobberMemory();
+    const auto end{clock::now()};
+
+    state.SetIterationTime(
+        std::chrono::duration_cast<std::chrono::duration<double>>(end - start)
+            .count());
+  }
+}
+
+//! @todo Find a way to remove macros or find a different benchmark library that
+//! doesn't use macros.
+BENCHMARK(eigen_predict<${STATE_SIZE}, ${INPUT_SIZE}>)
+    ->Name("eigen_predict_${STATE_SIZE}x1x${INPUT_SIZE}")
+    ->Unit(::benchmark::kNanosecond)
+    ->ComputeStatistics("min",
+                        [](const auto &results) {
+                          return std::ranges::min(results);
+                        })
+        -> ComputeStatistics("max",
+                             [](const auto &results) {
+                               return std::ranges::max(results);
+                             }) -> UseManualTime()
+            -> Complexity(::benchmark::oAuto) -> DisplayAggregatesOnly(true)
+                -> Repetitions(100);
+
+} // namespace fcarouge::eigen::benchmark
diff --git a/benchmark/eigen_update_xx0.cpp b/benchmark/eigen_update_xx0.cpp
new file mode 100644
index 000000000..8d17e5da5
--- /dev/null
+++ b/benchmark/eigen_update_xx0.cpp
@@ -0,0 +1,106 @@
+/*  __          _      __  __          _   _
+| |/ /    /\   | |    |  \/  |   /\   | \ | |
+| ' /    /  \  | |    | \  / |  /  \  |  \| |
+|  <    / /\ \ | |    | |\/| | / /\ \ | . ` |
+| . \  / ____ \| |____| |  | |/ ____ \| |\  |
+|_|\_\/_/    \_\______|_|  |_/_/    \_\_| \_|
+
+Kalman Filter for C++
+Version 0.1.0
+https://github.com/FrancoisCarouge/Kalman
+
+SPDX-License-Identifier: Unlicense
+
+This is free and unencumbered software released into the public domain.
+
+Anyone is free to copy, modify, publish, use, compile, sell, or
+distribute this software, either in source code form or as a compiled
+binary, for any purpose, commercial or non-commercial, and by any
+means.
+
+In jurisdictions that recognize copyright laws, the author or authors
+of this software dedicate any and all copyright interest in the
+software to the public domain. We make this dedication for the benefit
+of the public at large and to the detriment of our heirs and
+successors. We intend this dedication to be an overt act of
+relinquishment in perpetuity of all present and future rights to this
+software under copyright law.
+
+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 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.
+
+For more information, please refer to <https://unlicense.org> */
+
+#include "benchmark.hpp"
+#include "fcarouge/eigen/kalman.hpp"
+#include "fcarouge/internal/utility.hpp"
+
+#include <benchmark/benchmark.h>
+
+#include <algorithm>
+#include <chrono>
+#include <cmath>
+#include <cstddef>
+#include <cstdint>
+#include <cstring>
+#include <random>
+
+namespace fcarouge::eigen::benchmark {
+
+//! @benchmark Measure the update of the filter for different dimensions of
+//! states and outputs with the Eigen linear algebra backend.
+template <std::size_t StateSize, std::size_t OutputSize>
+void eigen_update(::benchmark::State &state) {
+
+  using kalman = kalman<vector<float, StateSize>, vector<float, OutputSize>>;
+
+  kalman filter;
+  std::random_device random_device;
+  std::mt19937 random_generator(random_device());
+  std::uniform_real_distribution uniformly_distributed(0.f, 1.f);
+
+  for (auto _ : state) {
+
+    typename kalman::output z;
+
+    fcarouge::internal::for_constexpr<std::size_t{0}, OutputSize, 1>(
+        [&z, &uniformly_distributed, &random_generator](auto position) {
+          z[position] = uniformly_distributed(random_generator);
+        });
+
+    ::benchmark::ClobberMemory();
+    const auto start{clock::now()};
+
+    filter.update(z);
+
+    ::benchmark::ClobberMemory();
+    const auto end{clock::now()};
+
+    state.SetIterationTime(
+        std::chrono::duration_cast<std::chrono::duration<double>>(end - start)
+            .count());
+  }
+}
+
+//! @todo Find a way to remove macros or find a different benchmark library that
+//! doesn't use macros.
+BENCHMARK(eigen_update<${STATE_SIZE}, ${OUTPUT_SIZE}>)
+    ->Name("eigen_update_${STATE_SIZE}x${OUTPUT_SIZE}x0")
+    ->Unit(::benchmark::kNanosecond)
+    ->ComputeStatistics("min",
+                        [](const auto &results) {
+                          return std::ranges::min(results);
+                        })
+        -> ComputeStatistics("max",
+                             [](const auto &results) {
+                               return std::ranges::max(results);
+                             }) -> UseManualTime()
+            -> Complexity(::benchmark::oAuto) -> DisplayAggregatesOnly(true)
+                -> Repetitions(100);
+
+} // namespace fcarouge::eigen::benchmark
diff --git a/benchmark/image/eigen_predict.svg b/benchmark/image/eigen_predict.svg
new file mode 100644
index 000000000..3bf550bf9
--- /dev/null
+++ b/benchmark/image/eigen_predict.svg
@@ -0,0 +1,5279 @@
+<?xml version="1.0" encoding="utf-8"  standalone="no"?>
+<svg 
+ width="800" height="600"
+ viewBox="0 0 800 600"
+ xmlns="http://www.w3.org/2000/svg"
+ xmlns:xlink="http://www.w3.org/1999/xlink"
+>
+
+<title>Gnuplot</title>
+<desc>Produced by GNUPLOT 5.4 patchlevel 2 </desc>
+
+<g id="gnuplot_canvas">
+
+<rect x="0" y="0" width="800" height="600" fill="#ffffff"/>
+<defs>
+
+	<circle id='gpDot' r='0.5' stroke-width='0.5' stroke='currentColor'/>
+	<path id='gpPt0' stroke-width='0.222' stroke='currentColor' d='M-1,0 h2 M0,-1 v2'/>
+	<path id='gpPt1' stroke-width='0.222' stroke='currentColor' d='M-1,-1 L1,1 M1,-1 L-1,1'/>
+	<path id='gpPt2' stroke-width='0.222' stroke='currentColor' d='M-1,0 L1,0 M0,-1 L0,1 M-1,-1 L1,1 M-1,1 L1,-1'/>
+	<rect id='gpPt3' stroke-width='0.222' stroke='currentColor' x='-1' y='-1' width='2' height='2'/>
+	<rect id='gpPt4' stroke-width='0.222' stroke='currentColor' fill='currentColor' x='-1' y='-1' width='2' height='2'/>
+	<circle id='gpPt5' stroke-width='0.222' stroke='currentColor' cx='0' cy='0' r='1'/>
+	<use xlink:href='#gpPt5' id='gpPt6' fill='currentColor' stroke='none'/>
+	<path id='gpPt7' stroke-width='0.222' stroke='currentColor' d='M0,-1.33 L-1.33,0.67 L1.33,0.67 z'/>
+	<use xlink:href='#gpPt7' id='gpPt8' fill='currentColor' stroke='none'/>
+	<use xlink:href='#gpPt7' id='gpPt9' stroke='currentColor' transform='rotate(180)'/>
+	<use xlink:href='#gpPt9' id='gpPt10' fill='currentColor' stroke='none'/>
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+	<path id='gpPt13' stroke-width='0.222' stroke='currentColor' d='M0,1.330 L1.265,0.411 L0.782,-1.067 L-0.782,-1.076 L-1.265,0.411 z'/>
+	<use xlink:href='#gpPt13' id='gpPt14' fill='currentColor' stroke='none'/>
+	<filter id='textbox' filterUnits='objectBoundingBox' x='0' y='0' height='1' width='1'>
+	  <feFlood flood-color='#FFFFFF' flood-opacity='1' result='bgnd'/>
+	  <feComposite in='SourceGraphic' in2='bgnd' operator='atop'/>
+	</filter>
+	<filter id='greybox' filterUnits='objectBoundingBox' x='0' y='0' height='1' width='1'>
+	  <feFlood flood-color='lightgrey' flood-opacity='1' result='grey'/>
+	  <feComposite in='SourceGraphic' in2='grey' operator='atop'/>
+	</filter>
+</defs>
+<g fill="none" color="#FFFFFF" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+	<g id="gnuplot_plot_1" ><title>gnuplot_plot_1</title>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='rgb(148,   0, 211)'  d='M470.51,47.86 L467.90,82.80  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='rgb(148,   0, 211)'  d='M465.14,91.55 L462.19,122.41  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
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+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='rgb(148,   0, 211)'  d='M293.66,318.39 L292.66,320.21  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='rgb(148,   0, 211)'  d='M305.37,296.90 L293.67,318.37  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
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+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
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+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
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+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M704.48,494.45 L568.13,413.99  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M704.48,494.45 L698.35,490.83  '/>	<g transform="translate(710.20,505.58)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="middle">
+		<text><tspan font-family="Arial" > 31</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M717.19,491.95 L572.50,406.57  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M717.19,491.95 L711.05,488.34  '/>	<g transform="translate(722.90,503.08)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="middle">
+		<text><tspan font-family="Arial" > 32</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<g transform="translate(581.61,570.77)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="middle">
+		<text><tspan font-family="Arial" >State (count)</tspan></text>
+	</g>
+</g>
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+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M305.34,567.77 L722.02,485.81  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M305.34,567.77 L315.96,565.68  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M711.40,487.90 L722.02,485.81  '/>	<g transform="translate(295.45,575.84)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 1</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M378.00,547.71 L714.68,481.48  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M298.00,563.44 L310.65,560.95  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M298.00,563.44 L308.63,561.35  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M704.06,483.57 L714.68,481.48  '/>	<g transform="translate(288.11,571.51)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 2</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M398.31,537.94 L707.35,477.15  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M290.67,559.11 L303.30,556.63  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M290.67,559.11 L301.29,557.02  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M696.73,479.24 L707.35,477.15  '/>	<g transform="translate(280.78,567.18)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 3</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M414.31,529.02 L700.02,472.83  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M283.34,554.79 L295.98,552.30  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M283.34,554.79 L293.96,552.70  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M689.39,474.92 L700.02,472.83  '/>	<g transform="translate(273.44,562.85)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 4</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
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+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M276.00,550.46 L288.70,547.96  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M276.00,550.46 L286.62,548.37  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M682.06,470.59 L692.68,468.50  '/>	<g transform="translate(266.11,558.53)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 5</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M421.04,516.16 L685.35,464.17  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M268.67,546.13 L281.37,543.63  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M268.67,546.13 L279.29,544.04  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M674.72,466.26 L685.35,464.17  '/>	<g transform="translate(258.77,554.20)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 6</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M450.63,504.57 L678.01,459.84  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M444.19,505.83 L447.17,505.25  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M261.33,541.80 L274.19,539.27  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M261.33,541.80 L271.96,539.71  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M667.39,461.93 L678.01,459.84  '/>	<g transform="translate(251.44,549.87)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 7</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M457.62,497.42 L670.68,455.52  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M254.00,537.47 L266.68,534.98  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M254.00,537.47 L264.62,535.38  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M660.05,457.60 L670.68,455.52  '/>	<g transform="translate(244.11,545.54)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 8</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M477.56,487.73 L663.34,451.19  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M246.66,533.15 L259.49,530.62  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M246.66,533.15 L257.29,531.06  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M652.72,453.28 L663.34,451.19  '/>	<g transform="translate(236.77,541.22)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 9</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
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+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M486.01,480.30 L506.93,476.18  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M239.33,528.82 L252.14,526.30  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M239.33,528.82 L249.95,526.73  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M645.39,448.95 L656.01,446.86  '/>	<g transform="translate(229.44,536.89)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 10</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
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+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M512.43,469.33 L648.67,442.53  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M490.60,473.62 L500.37,471.70  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M231.99,524.49 L244.81,521.97  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
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+	<path stroke='black'  d='M231.99,524.49 L242.62,522.40  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M638.05,444.62 L648.67,442.53  '/>	<g transform="translate(222.10,532.56)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 11</tspan></text>
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+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
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+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
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+		<text><tspan font-family="Arial" > 12</tspan></text>
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+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M85.31,437.93 L98.51,435.33  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M85.31,437.93 L95.93,435.84  '/>	<g transform="translate(75.41,446.00)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 31</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M77.97,433.60 L91.12,431.02  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M77.97,433.60 L88.59,431.51  '/>	<g transform="translate(68.08,441.67)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 32</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<g transform="translate(85.44,525.47)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="middle">
+		<text><tspan font-family="Arial" >Input (count)</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M71.37,429.71 L90.98,425.85  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M728.62,489.71 L577.06,400.27  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M80.37,429.71 L71.37,429.71  '/>	<g transform="translate(53.38,433.60)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 0</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M176.54,369.10 L244.66,355.70  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M123.82,379.47 L157.16,372.91  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M71.37,389.78 L107.32,382.71  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M728.62,449.78 L593.15,369.84  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M80.37,389.78 L71.37,389.78  '/>	<g transform="translate(53.38,393.67)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 1000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M71.37,349.86 L301.14,304.66  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M728.62,409.86 L637.57,356.13  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M80.37,349.86 L71.37,349.86  '/>	<g transform="translate(53.38,353.75)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 2000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M71.37,309.93 L353.09,254.52  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M728.62,369.93 L667.83,334.06  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M80.37,309.93 L71.37,309.93  '/>	<g transform="translate(53.38,313.82)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 3000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M71.37,270.01 L393.25,206.69  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M692.81,308.88 L673.93,297.73  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M728.62,330.00 L704.66,315.86  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M80.37,270.01 L71.37,270.01  '/>	<g transform="translate(53.38,273.91)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 4000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
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+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M687.35,265.72 L680.03,261.41  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M728.62,290.08 L706.86,277.24  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M80.37,230.08 L71.37,230.08  '/>	<g transform="translate(53.38,233.98)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 5000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
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+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M728.62,250.15 L709.07,238.61  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M80.37,190.15 L71.37,190.15  '/>	<g transform="translate(53.38,194.05)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 6000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
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+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
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+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M540.17,99.02 L534.16,95.48  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M615.87,143.69 L612.30,141.59  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
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+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M691.26,188.18 L684.31,184.08  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M728.62,210.23 L699.99,193.33  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M80.37,150.23 L71.37,150.23  '/>	<g transform="translate(53.38,154.13)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 7000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
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+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M71.37,110.30 L488.05,28.34  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M728.62,170.30 L488.05,28.34  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M80.37,110.30 L71.37,110.30  '/>	<g transform="translate(53.38,114.20)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 8000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<g transform="translate(16.55,270.01) rotate(-90)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="middle">
+		<text><tspan font-family="Arial" >Time (ns)</tspan></text>
+	</g>
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+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M679.08,499.45 L672.94,495.83  '/>	<g transform="translate(684.79,510.58)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="middle">
+		<text><tspan font-family="Arial" > 29</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M691.78,496.95 L631.05,461.12  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M691.78,496.95 L685.65,493.33  '/>	<g transform="translate(697.50,508.08)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="middle">
+		<text><tspan font-family="Arial" > 30</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M704.48,494.45 L638.96,455.79  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M704.48,494.45 L698.35,490.83  '/>	<g transform="translate(710.20,505.58)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="middle">
+		<text><tspan font-family="Arial" > 31</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M717.19,491.95 L646.66,450.34  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M717.19,491.95 L711.05,488.34  '/>	<g transform="translate(722.90,503.08)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="middle">
+		<text><tspan font-family="Arial" > 32</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<g transform="translate(581.61,570.77)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="middle">
+		<text><tspan font-family="Arial" >State (count)</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
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+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M411.05,546.98 L722.02,485.81  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M305.34,567.77 L411.04,546.98  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M305.34,567.77 L315.96,565.68  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M711.40,487.90 L722.02,485.81  '/>	<g transform="translate(295.45,575.84)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 1</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M406.30,542.14 L714.68,481.48  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M379.27,547.46 L403.39,542.71  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M318.38,559.43 L329.07,557.33  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M298.00,563.44 L310.20,561.04  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M298.00,563.44 L308.63,561.35  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M704.06,483.57 L714.68,481.48  '/>	<g transform="translate(288.11,571.51)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 2</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
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+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M476.86,522.49 L707.35,477.15  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M408.14,536.01 L419.63,533.75  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M388.70,539.83 L396.35,538.33  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M290.67,559.11 L303.09,556.67  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M290.67,559.11 L301.29,557.02  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M696.73,479.24 L707.35,477.15  '/>	<g transform="translate(280.78,567.18)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 3</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M522.86,507.67 L700.02,472.83  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M283.34,554.79 L301.33,551.25  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M283.34,554.79 L293.96,552.70  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M689.39,474.92 L700.02,472.83  '/>	<g transform="translate(273.44,562.85)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 4</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M563.19,493.97 L692.68,468.50  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M542.63,498.01 L549.34,496.69  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M276.00,550.46 L300.44,545.65  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M276.00,550.46 L286.62,548.37  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M682.06,470.59 L692.68,468.50  '/>	<g transform="translate(266.11,558.53)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 5</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M578.39,485.21 L685.35,464.17  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M290.23,541.89 L299.54,540.06  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M268.67,546.13 L286.68,542.59  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M268.67,546.13 L279.29,544.04  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M674.72,466.26 L685.35,464.17  '/>	<g transform="translate(258.77,554.20)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 6</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M614.15,472.40 L678.01,459.84  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M592.78,476.61 L600.68,475.05  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M293.59,535.46 L298.65,534.46  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M261.33,541.80 L285.77,537.00  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M261.33,541.80 L271.96,539.71  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M667.39,461.93 L678.01,459.84  '/>	<g transform="translate(251.44,549.87)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 7</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
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+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
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+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M254.00,537.47 L264.62,535.38  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M660.05,457.60 L670.68,455.52  '/>	<g transform="translate(244.11,545.54)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 8</tspan></text>
+	</g>
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+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
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+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M246.66,533.15 L260.60,530.40  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M246.66,533.15 L257.29,531.06  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M652.72,453.28 L663.34,451.19  '/>	<g transform="translate(236.77,541.22)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 9</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
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+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M239.33,528.82 L249.95,526.73  '/>	<g transform="translate(229.44,536.89)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 10</tspan></text>
+	</g>
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+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
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+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M231.99,524.49 L242.62,522.40  '/>	<g transform="translate(222.10,532.56)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 11</tspan></text>
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+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<g transform="translate(85.44,525.47)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="middle">
+		<text><tspan font-family="Arial" >Output (count)</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M71.37,429.71 L99.84,424.11  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M728.62,489.71 L661.02,449.81  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M80.37,429.71 L71.37,429.71  '/>	<g transform="translate(53.38,433.60)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 0</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M178.18,363.07 L182.68,362.19  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M133.25,371.91 L158.59,366.92  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M71.37,384.08 L111.99,376.09  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M728.62,444.08 L693.14,423.14  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M80.37,384.08 L71.37,384.08  '/>	<g transform="translate(53.38,387.97)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 5000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M279.74,297.46 L280.17,297.38  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M176.46,317.78 L259.35,301.47  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M71.37,338.45 L176.43,317.79  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M656.86,356.11 L649.59,351.82  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M728.62,398.45 L676.11,367.46  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M80.37,338.45 L71.37,338.45  '/>	<g transform="translate(53.38,342.34)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 10000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M71.37,292.82 L342.92,239.41  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M728.62,352.82 L610.88,283.34  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M80.37,292.82 L71.37,292.82  '/>	<g transform="translate(53.38,296.72)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 15000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M71.37,247.19 L403.00,181.96  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M728.62,307.19 L565.73,211.07  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M80.37,247.19 L71.37,247.19  '/>	<g transform="translate(53.38,251.09)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 20000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M71.37,201.56 L444.70,128.13  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M728.62,261.56 L506.07,130.24  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M80.37,201.56 L71.37,201.56  '/>	<g transform="translate(53.38,205.46)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 25000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M475.44,76.45 L488.05,73.97  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M71.37,155.93 L468.99,77.72  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M728.62,215.93 L488.05,73.97  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M80.37,155.93 L71.37,155.93  '/>	<g transform="translate(53.38,159.83)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 30000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="black" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M71.37,110.30 L488.05,28.34  '/></g>
+<g fill="none" color="gray" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='gray' stroke-dasharray='2,4' class="gridline"  d='M728.62,170.30 L488.05,28.34  '/></g>
+<g fill="none" color="gray" stroke="gray" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M80.37,110.30 L71.37,110.30  '/>	<g transform="translate(53.38,114.20)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="end">
+		<text><tspan font-family="Arial" > 35000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<g transform="translate(16.55,270.01) rotate(-90)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="middle">
+		<text><tspan font-family="Arial" >Time (ns)</tspan></text>
+	</g>
+	<g stroke='none' shape-rendering='crispEdges'>
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+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M703.22,342.84 L732.73,342.84 L732.73,155.17 L703.22,155.17 L703.22,342.84 Z  '/></g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M732.73,342.84 L723.73,342.84  '/>	<g transform="translate(741.12,346.74)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="start">
+		<text><tspan font-family="Arial" > 0</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M703.22,342.84 L712.22,342.84 M732.73,316.03 L723.73,316.03  '/>	<g transform="translate(741.12,319.93)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="start">
+		<text><tspan font-family="Arial" > 5000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M703.22,316.03 L712.22,316.03 M732.73,289.22 L723.73,289.22  '/>	<g transform="translate(741.12,293.12)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="start">
+		<text><tspan font-family="Arial" > 10000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M703.22,289.22 L712.22,289.22 M732.73,262.41 L723.73,262.41  '/>	<g transform="translate(741.12,266.31)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="start">
+		<text><tspan font-family="Arial" > 15000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M703.22,262.41 L712.22,262.41 M732.73,235.60 L723.73,235.60  '/>	<g transform="translate(741.12,239.50)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="start">
+		<text><tspan font-family="Arial" > 20000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M703.22,235.60 L712.22,235.60 M732.73,208.79 L723.73,208.79  '/>	<g transform="translate(741.12,212.69)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="start">
+		<text><tspan font-family="Arial" > 25000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M703.22,208.79 L712.22,208.79 M732.73,181.98 L723.73,181.98  '/>	<g transform="translate(741.12,185.88)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="start">
+		<text><tspan font-family="Arial" > 30000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M703.22,181.98 L712.22,181.98 M732.73,155.17 L723.73,155.17  '/>	<g transform="translate(741.12,159.07)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="start">
+		<text><tspan font-family="Arial" > 35000</tspan></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+	<path stroke='black'  d='M703.22,155.17 L712.22,155.17  '/>	<g transform="translate(400.00,40.52)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="middle">
+		<text><tspan font-family="Arial"  font-weight="bold" >Eigen Update Float Group Benchmark</tspan></text>
+	</g>
+	<g transform="translate(400.00,58.52)" stroke="none" fill="black" font-family="Arial" font-size="12.00"  text-anchor="middle">
+		<text></text>
+	</g>
+</g>
+<g fill="none" color="black" stroke="currentColor" stroke-width="1.00" stroke-linecap="butt" stroke-linejoin="miter">
+</g>
+</g>
+</svg>
+
diff --git a/benchmark/image/float1x1x0.svg b/benchmark/image/float_1x1x0.svg
similarity index 100%
rename from benchmark/image/float1x1x0.svg
rename to benchmark/image/float_1x1x0.svg
diff --git a/benchmark/image/float1x1x1.svg b/benchmark/image/float_1x1x1.svg
similarity index 100%
rename from benchmark/image/float1x1x1.svg
rename to benchmark/image/float_1x1x1.svg
diff --git a/benchmark/image/predict1x1x0.svg b/benchmark/image/predict_1x1x0.svg
similarity index 100%
rename from benchmark/image/predict1x1x0.svg
rename to benchmark/image/predict_1x1x0.svg
diff --git a/benchmark/image/predict1x1x1.svg b/benchmark/image/predict_1x1x1.svg
similarity index 100%
rename from benchmark/image/predict1x1x1.svg
rename to benchmark/image/predict_1x1x1.svg
diff --git a/benchmark/image/update1x1x0.svg b/benchmark/image/update_1x1x0.svg
similarity index 100%
rename from benchmark/image/update1x1x0.svg
rename to benchmark/image/update_1x1x0.svg
diff --git a/benchmark/image/update1x1x1.svg b/benchmark/image/update_1x1x1.svg
similarity index 100%
rename from benchmark/image/update1x1x1.svg
rename to benchmark/image/update_1x1x1.svg
diff --git a/include/fcarouge/benchmark/benchmark.hpp b/benchmark/include/benchmark.hpp
similarity index 86%
rename from include/fcarouge/benchmark/benchmark.hpp
rename to benchmark/include/benchmark.hpp
index 76ae41295..29a9d49ec 100644
--- a/include/fcarouge/benchmark/benchmark.hpp
+++ b/benchmark/include/benchmark.hpp
@@ -36,8 +36,8 @@ OTHER DEALINGS IN THE SOFTWARE.
 
 For more information, please refer to <https://unlicense.org> */
 
-#ifndef FCAROUGE_BENCHMARK_BENCHMARK_HPP
-#define FCAROUGE_BENCHMARK_BENCHMARK_HPP
+#ifndef BENCHMARK_HPP
+#define BENCHMARK_HPP
 
 //! @file
 //! @brief Benchmarking support.
@@ -54,4 +54,13 @@ using clock = std::conditional_t<std::chrono::high_resolution_clock::is_steady,
 
 } // namespace fcarouge::benchmark
 
-#endif // FCAROUGE_BENCHMARK_BENCHMARK_HPP
+namespace fcarouge::eigen::benchmark {
+
+//! @brief Type of the platform steady benchmark clock.
+//!
+//! @details Conveniently makes the clock available in the eigen namespace.
+using clock = fcarouge::benchmark::clock;
+
+} // namespace fcarouge::eigen::benchmark
+
+#endif // BENCHMARK_HPP
diff --git a/benchmark/predict1x1x0.cpp b/benchmark/predict_1x1x0.cpp
similarity index 92%
rename from benchmark/predict1x1x0.cpp
rename to benchmark/predict_1x1x0.cpp
index e4c530301..8799214a9 100644
--- a/benchmark/predict1x1x0.cpp
+++ b/benchmark/predict_1x1x0.cpp
@@ -36,7 +36,7 @@ OTHER DEALINGS IN THE SOFTWARE.
 
 For more information, please refer to <https://unlicense.org> */
 
-#include "fcarouge/benchmark/benchmark.hpp"
+#include "benchmark.hpp"
 #include "fcarouge/kalman.hpp"
 
 #include <benchmark/benchmark.h>
@@ -47,15 +47,18 @@ For more information, please refer to <https://unlicense.org> */
 namespace fcarouge::benchmark {
 namespace {
 //! @benchmark Measure predict, empty benchmark performance.
-void predict1x1x0(::benchmark::State &state) {
+void predict_1x1x0(::benchmark::State &state) {
+
+  using kalman = fcarouge::kalman<float, float>;
+
+  kalman filter;
+
   for (auto _ : state) {
-    using kalman = fcarouge::kalman<float, float>;
-    kalman k;
 
     ::benchmark::ClobberMemory();
     const auto start{clock::now()};
 
-    k.predict();
+    filter.predict();
 
     ::benchmark::ClobberMemory();
     const auto end{clock::now()};
@@ -66,8 +69,8 @@ void predict1x1x0(::benchmark::State &state) {
   }
 }
 
-BENCHMARK(predict1x1x0)
-    ->Name("predict1x1x0")
+BENCHMARK(predict_1x1x0)
+    ->Name("predict_1x1x0")
     ->Unit(::benchmark::kNanosecond)
     ->ComputeStatistics("min",
                         [](const auto &results) {
diff --git a/benchmark/predict1x1x1.cpp b/benchmark/predict_1x1x1.cpp
similarity index 85%
rename from benchmark/predict1x1x1.cpp
rename to benchmark/predict_1x1x1.cpp
index ccc138758..3fd3cbcde 100644
--- a/benchmark/predict1x1x1.cpp
+++ b/benchmark/predict_1x1x1.cpp
@@ -36,26 +36,35 @@ OTHER DEALINGS IN THE SOFTWARE.
 
 For more information, please refer to <https://unlicense.org> */
 
-#include "fcarouge/benchmark/benchmark.hpp"
+#include "benchmark.hpp"
 #include "fcarouge/kalman.hpp"
 
 #include <benchmark/benchmark.h>
 
 #include <algorithm>
 #include <chrono>
+#include <random>
 
 namespace fcarouge::benchmark {
 namespace {
 //! @benchmark Measure predict, empty benchmark performance.
-void predict1x1x1(::benchmark::State &state) {
+void predict_1x1x1(::benchmark::State &state) {
+
+  using kalman = fcarouge::kalman<float, float, float>;
+
+  kalman filter;
+  std::random_device random_device;
+  std::mt19937 random_generator(random_device());
+  std::uniform_real_distribution uniformly_distributed(0.f, 1.f);
+
   for (auto _ : state) {
-    using kalman = fcarouge::kalman<float, float, float>;
-    kalman k;
+
+    const typename kalman::output u{uniformly_distributed(random_generator)};
 
     ::benchmark::ClobberMemory();
     const auto start{clock::now()};
 
-    k.predict();
+    filter.predict(u);
 
     ::benchmark::ClobberMemory();
     const auto end{clock::now()};
@@ -66,8 +75,8 @@ void predict1x1x1(::benchmark::State &state) {
   }
 }
 
-BENCHMARK(predict1x1x1)
-    ->Name("predict1x1x1")
+BENCHMARK(predict_1x1x1)
+    ->Name("predict_1x1x1")
     ->Unit(::benchmark::kNanosecond)
     ->ComputeStatistics("min",
                         [](const auto &results) {
diff --git a/benchmark/result/kalman_benchmark_eigen_predict_10x1x1.json b/benchmark/result/kalman_benchmark_eigen_predict_10x1x1.json
new file mode 100644
index 000000000..827212ce2
--- /dev/null
+++ b/benchmark/result/kalman_benchmark_eigen_predict_10x1x1.json
@@ -0,0 +1,184 @@
+{
+  "context": {
+    "date": "2022-09-21T19:02:10-07:00",
+    "host_name": "FRANCOIS-DESK",
+    "executable": "F:/Drive/Projects/cpp/kalman/build/benchmark/Release/kalman_benchmark_eigen_predict_10x1x1_driver.exe",
+    "num_cpus": 8,
+    "mhz_per_cpu": 4014,
+    "caches": [
+      {
+        "type": "Data",
+        "level": 1,
+        "size": 32768,
+        "num_sharing": 2
+      },
+      {
+        "type": "Instruction",
+        "level": 1,
+        "size": 32768,
+        "num_sharing": 2
+      },
+      {
+        "type": "Unified",
+        "level": 2,
+        "size": 262144,
+        "num_sharing": 2
+      },
+      {
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diff --git a/benchmark/result/kalman_benchmark_eigen_update_16x32x0.json b/benchmark/result/kalman_benchmark_eigen_update_16x32x0.json
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diff --git a/benchmark/result/kalman_benchmark_predict1x1x0.json b/benchmark/result/kalman_benchmark_predict_1x1x0.json
similarity index 71%
rename from benchmark/result/kalman_benchmark_predict1x1x0.json
rename to benchmark/result/kalman_benchmark_predict_1x1x0.json
index 10a5e48e3..d22817101 100644
--- a/benchmark/result/kalman_benchmark_predict1x1x0.json
+++ b/benchmark/result/kalman_benchmark_predict_1x1x0.json
@@ -2,7 +2,7 @@
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-    "executable": "F:/Drive/Projects/cpp/kalman/build/benchmark/Release/kalman_benchmark_predict1x1x0_driver.exe",
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diff --git a/benchmark/result/kalman_benchmark_predict1x1x1.json b/benchmark/result/kalman_benchmark_predict_1x1x1.json
similarity index 71%
rename from benchmark/result/kalman_benchmark_predict1x1x1.json
rename to benchmark/result/kalman_benchmark_predict_1x1x1.json
index 4814a01bf..912c01e5e 100644
--- a/benchmark/result/kalman_benchmark_predict1x1x1.json
+++ b/benchmark/result/kalman_benchmark_predict_1x1x1.json
@@ -2,7 +2,7 @@
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-    "executable": "F:/Drive/Projects/cpp/kalman/build/benchmark/Release/kalman_benchmark_predict1x1x1_driver.exe",
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@@ -36,10 +36,10 @@
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@@ -1436,10 +1436,10 @@
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@@ -1451,10 +1451,10 @@
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@@ -1466,10 +1466,10 @@
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@@ -1481,10 +1481,10 @@
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@@ -1496,10 +1496,10 @@
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@@ -1511,10 +1511,10 @@
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@@ -1526,10 +1526,10 @@
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@@ -1541,10 +1541,10 @@
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diff --git a/benchmark/result/kalman_benchmark_update1x1x0.json b/benchmark/result/kalman_benchmark_update_1x1x0.json
similarity index 72%
rename from benchmark/result/kalman_benchmark_update1x1x0.json
rename to benchmark/result/kalman_benchmark_update_1x1x0.json
index 753ff4668..3eb075101 100644
--- a/benchmark/result/kalman_benchmark_update1x1x0.json
+++ b/benchmark/result/kalman_benchmark_update_1x1x0.json
@@ -2,7 +2,7 @@
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     "host_name": "FRANCOIS-DESK",
-    "executable": "F:/Drive/Projects/cpp/kalman/build/benchmark/Release/kalman_benchmark_update1x1x0_driver.exe",
+    "executable": "F:/Drive/Projects/cpp/kalman/build/benchmark/Release/kalman_benchmark_update_1x1x0_driver.exe",
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@@ -36,10 +36,10 @@
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@@ -50,10 +50,10 @@
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@@ -64,10 +64,10 @@
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@@ -78,10 +78,10 @@
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@@ -106,10 +106,10 @@
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@@ -120,10 +120,10 @@
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@@ -218,10 +218,10 @@
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@@ -232,10 +232,10 @@
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@@ -246,10 +246,10 @@
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@@ -260,10 +260,10 @@
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@@ -274,10 +274,10 @@
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@@ -288,10 +288,10 @@
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@@ -302,10 +302,10 @@
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@@ -316,10 +316,10 @@
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@@ -1511,10 +1511,10 @@
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@@ -1526,10 +1526,10 @@
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@@ -1541,10 +1541,10 @@
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diff --git a/benchmark/result/kalman_benchmark_update1x1x1.json b/benchmark/result/kalman_benchmark_update_1x1x1.json
similarity index 72%
rename from benchmark/result/kalman_benchmark_update1x1x1.json
rename to benchmark/result/kalman_benchmark_update_1x1x1.json
index abf5708d7..976af62c0 100644
--- a/benchmark/result/kalman_benchmark_update1x1x1.json
+++ b/benchmark/result/kalman_benchmark_update_1x1x1.json
@@ -2,7 +2,7 @@
   "context": {
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     "host_name": "FRANCOIS-DESK",
-    "executable": "F:/Drive/Projects/cpp/kalman/build/benchmark/Release/kalman_benchmark_update1x1x1_driver.exe",
+    "executable": "F:/Drive/Projects/cpp/kalman/build/benchmark/Release/kalman_benchmark_update_1x1x1_driver.exe",
     "num_cpus": 8,
     "mhz_per_cpu": 4048,
     "caches": [
@@ -36,10 +36,10 @@
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@@ -50,10 +50,10 @@
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@@ -64,10 +64,10 @@
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@@ -78,10 +78,10 @@
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@@ -92,10 +92,10 @@
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@@ -106,10 +106,10 @@
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@@ -120,10 +120,10 @@
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@@ -134,10 +134,10 @@
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@@ -162,10 +162,10 @@
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@@ -176,10 +176,10 @@
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@@ -218,10 +218,10 @@
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@@ -232,10 +232,10 @@
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@@ -316,10 +316,10 @@
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@@ -330,10 +330,10 @@
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@@ -344,10 +344,10 @@
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@@ -372,10 +372,10 @@
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@@ -386,10 +386,10 @@
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@@ -414,10 +414,10 @@
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@@ -428,10 +428,10 @@
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@@ -442,10 +442,10 @@
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@@ -456,10 +456,10 @@
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@@ -470,10 +470,10 @@
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       "family_index": 0,
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-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 78,
@@ -1142,10 +1142,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time",
+      "name": "update_1x1x1/repeats:100/manual_time",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 79,
@@ -1156,10 +1156,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time",
+      "name": "update_1x1x1/repeats:100/manual_time",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 80,
@@ -1170,10 +1170,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time",
+      "name": "update_1x1x1/repeats:100/manual_time",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 81,
@@ -1184,10 +1184,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time",
+      "name": "update_1x1x1/repeats:100/manual_time",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 82,
@@ -1198,10 +1198,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time",
+      "name": "update_1x1x1/repeats:100/manual_time",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 83,
@@ -1212,10 +1212,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time",
+      "name": "update_1x1x1/repeats:100/manual_time",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 84,
@@ -1226,10 +1226,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time",
+      "name": "update_1x1x1/repeats:100/manual_time",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 85,
@@ -1240,10 +1240,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time",
+      "name": "update_1x1x1/repeats:100/manual_time",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 86,
@@ -1254,10 +1254,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time",
+      "name": "update_1x1x1/repeats:100/manual_time",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 87,
@@ -1268,10 +1268,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time",
+      "name": "update_1x1x1/repeats:100/manual_time",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 88,
@@ -1282,10 +1282,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time",
+      "name": "update_1x1x1/repeats:100/manual_time",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 89,
@@ -1296,10 +1296,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time",
+      "name": "update_1x1x1/repeats:100/manual_time",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 90,
@@ -1310,10 +1310,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time",
+      "name": "update_1x1x1/repeats:100/manual_time",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 91,
@@ -1324,10 +1324,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time",
+      "name": "update_1x1x1/repeats:100/manual_time",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 92,
@@ -1338,10 +1338,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time",
+      "name": "update_1x1x1/repeats:100/manual_time",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 93,
@@ -1352,10 +1352,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time",
+      "name": "update_1x1x1/repeats:100/manual_time",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 94,
@@ -1366,10 +1366,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time",
+      "name": "update_1x1x1/repeats:100/manual_time",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 95,
@@ -1380,10 +1380,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time",
+      "name": "update_1x1x1/repeats:100/manual_time",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 96,
@@ -1394,10 +1394,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time",
+      "name": "update_1x1x1/repeats:100/manual_time",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 97,
@@ -1408,10 +1408,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time",
+      "name": "update_1x1x1/repeats:100/manual_time",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 98,
@@ -1422,10 +1422,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time",
+      "name": "update_1x1x1/repeats:100/manual_time",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "iteration",
       "repetitions": 100,
       "repetition_index": 99,
@@ -1436,10 +1436,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time_mean",
+      "name": "update_1x1x1/repeats:100/manual_time_mean",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "aggregate",
       "repetitions": 100,
       "threads": 1,
@@ -1451,10 +1451,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time_median",
+      "name": "update_1x1x1/repeats:100/manual_time_median",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "aggregate",
       "repetitions": 100,
       "threads": 1,
@@ -1466,10 +1466,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time_stddev",
+      "name": "update_1x1x1/repeats:100/manual_time_stddev",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "aggregate",
       "repetitions": 100,
       "threads": 1,
@@ -1481,10 +1481,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time_cv",
+      "name": "update_1x1x1/repeats:100/manual_time_cv",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "aggregate",
       "repetitions": 100,
       "threads": 1,
@@ -1496,10 +1496,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time_min",
+      "name": "update_1x1x1/repeats:100/manual_time_min",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "aggregate",
       "repetitions": 100,
       "threads": 1,
@@ -1511,10 +1511,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time_max",
+      "name": "update_1x1x1/repeats:100/manual_time_max",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "aggregate",
       "repetitions": 100,
       "threads": 1,
@@ -1526,10 +1526,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time_BigO",
+      "name": "update_1x1x1/repeats:100/manual_time_BigO",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "aggregate",
       "repetitions": 100,
       "threads": 1,
@@ -1541,10 +1541,10 @@
       "time_unit": "ns"
     },
     {
-      "name": "update1x1x1/repeats:100/manual_time_RMS",
+      "name": "update_1x1x1/repeats:100/manual_time_RMS",
       "family_index": 0,
       "per_family_instance_index": 0,
-      "run_name": "update1x1x1/repeats:100/manual_time",
+      "run_name": "update_1x1x1/repeats:100/manual_time",
       "run_type": "aggregate",
       "repetitions": 100,
       "threads": 1,
diff --git a/benchmark/script/eigen_predict.plt b/benchmark/script/eigen_predict.plt
new file mode 100644
index 000000000..854dd8a40
--- /dev/null
+++ b/benchmark/script/eigen_predict.plt
@@ -0,0 +1,62 @@
+#!/usr/bin/gnuplot
+#  _  __          _      __  __          _   _
+# | |/ /    /\   | |    |  \/  |   /\   | \ | |
+# | ' /    /  \  | |    | \  / |  /  \  |  \| |
+# |  <    / /\ \ | |    | |\/| | / /\ \ | . ` |
+# | . \  / ____ \| |____| |  | |/ ____ \| |\  |
+# |_|\_\/_/    \_\______|_|  |_/_/    \_\_| \_|
+
+# Kalman Filter for C++
+# Version 0.1.0
+# https://github.com/FrancoisCarouge/Kalman
+
+# SPDX-License-Identifier: Unlicense
+
+# This is free and unencumbered software released into the public domain.
+
+# Anyone is free to copy, modify, publish, use, compile, sell, or
+# distribute this software, either in source code form or as a compiled
+# binary, for any purpose, commercial or non-commercial, and by any
+# means.
+
+# In jurisdictions that recognize copyright laws, the author or authors
+# of this software dedicate any and all copyright interest in the
+# software to the public domain. We make this dedication for the benefit
+# of the public at large and to the detriment of our heirs and
+# successors. We intend this dedication to be an overt act of
+# relinquishment in perpetuity of all present and future rights to this
+# software under copyright law.
+
+# 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 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.
+
+# For more information, please refer to <https://unlicense.org>
+
+set terminal svg enhanced background rgb "white" size 800,600
+set datafile separator ","
+set title "{/:Bold Eigen Predict Float Group Benchmark}\n"
+set output "kalman/benchmark/image/eigen_predict.svg"
+set grid
+set grid ztics
+set xlabel "State (count)"
+set ylabel "Input (count)"
+set zlabel "Time (ns)"
+set zlabel rotate by 90
+set dgrid3d 32,32,1
+show dgrid3d
+set ticslevel 0
+set xrange [ 0.1 : 32.9 ]
+set yrange [ 0.1 : 32.9 ]
+set xtics 1
+set ytics 1
+set view 60,330,1.125,1.125
+show view
+set pm3d
+set hidden3d
+
+splot "/tmp/kalman/eigen_predict.csv" using 1:2:3 with lines
diff --git a/benchmark/script/eigen_update.plt b/benchmark/script/eigen_update.plt
new file mode 100644
index 000000000..e60ebcecb
--- /dev/null
+++ b/benchmark/script/eigen_update.plt
@@ -0,0 +1,62 @@
+#!/usr/bin/gnuplot
+#  _  __          _      __  __          _   _
+# | |/ /    /\   | |    |  \/  |   /\   | \ | |
+# | ' /    /  \  | |    | \  / |  /  \  |  \| |
+# |  <    / /\ \ | |    | |\/| | / /\ \ | . ` |
+# | . \  / ____ \| |____| |  | |/ ____ \| |\  |
+# |_|\_\/_/    \_\______|_|  |_/_/    \_\_| \_|
+
+# Kalman Filter for C++
+# Version 0.1.0
+# https://github.com/FrancoisCarouge/Kalman
+
+# SPDX-License-Identifier: Unlicense
+
+# This is free and unencumbered software released into the public domain.
+
+# Anyone is free to copy, modify, publish, use, compile, sell, or
+# distribute this software, either in source code form or as a compiled
+# binary, for any purpose, commercial or non-commercial, and by any
+# means.
+
+# In jurisdictions that recognize copyright laws, the author or authors
+# of this software dedicate any and all copyright interest in the
+# software to the public domain. We make this dedication for the benefit
+# of the public at large and to the detriment of our heirs and
+# successors. We intend this dedication to be an overt act of
+# relinquishment in perpetuity of all present and future rights to this
+# software under copyright law.
+
+# 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 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.
+
+# For more information, please refer to <https://unlicense.org>
+
+set terminal svg enhanced background rgb "white" size 800,600
+set datafile separator ","
+set title "{/:Bold Eigen Update Float Group Benchmark}\n"
+set output "kalman/benchmark/image/eigen_update.svg"
+set grid
+set grid ztics
+set xlabel "State (count)"
+set ylabel "Output (count)"
+set zlabel "Time (ns)"
+set zlabel rotate by 90
+set dgrid3d 32,32,1
+show dgrid3d
+set ticslevel 0
+set xrange [ 0.1 : 32.9 ]
+set yrange [ 0.1 : 32.9 ]
+set xtics 1
+set ytics 1
+set view 60,330,1.125,1.125
+show view
+set pm3d
+set hidden3d
+
+splot "/tmp/kalman/eigen_update.csv" using 1:2:3 with lines
diff --git a/benchmark/script/float.plt b/benchmark/script/float.plt
index 51501d230..1596e11e6 100644
--- a/benchmark/script/float.plt
+++ b/benchmark/script/float.plt
@@ -51,7 +51,7 @@ set ytics 1
 set xtics ("Baseline - No Code" 0, "Predict 1x1x0" 1, "Predict 1x1x1" 2, "Update 1x1x0" 3, "Update 1x1x1" 4) rotate by 345
 
 plot "/tmp/kalman/baseline.csv" using (0):1 with boxes linecolor rgb "#F7DC6F" notitle, \
- "/tmp/kalman/predict1x1x0.csv" using (1):1 with boxes linecolor rgb "#F4D03F" notitle, \
- "/tmp/kalman/predict1x1x1.csv" using (2):1 with boxes linecolor rgb "#F1C40F" notitle, \
- "/tmp/kalman/update1x1x0.csv" using (3):1 with boxes linecolor rgb "#F4D03F" notitle, \
- "/tmp/kalman/update1x1x1.csv" using (4):1 with boxes linecolor rgb "#F1C40F" notitle
+ "/tmp/kalman/predict_1x1x0.csv" using (1):1 with boxes linecolor rgb "#F4D03F" notitle, \
+ "/tmp/kalman/predict_1x1x1.csv" using (2):1 with boxes linecolor rgb "#F1C40F" notitle, \
+ "/tmp/kalman/update_1x1x0.csv" using (3):1 with boxes linecolor rgb "#F4D03F" notitle, \
+ "/tmp/kalman/update_1x1x1.csv" using (4):1 with boxes linecolor rgb "#F1C40F" notitle
diff --git a/benchmark/script/float1x1x0.plt b/benchmark/script/float_1x1x0.plt
similarity index 90%
rename from benchmark/script/float1x1x0.plt
rename to benchmark/script/float_1x1x0.plt
index 532e86f97..9c1c64b4c 100644
--- a/benchmark/script/float1x1x0.plt
+++ b/benchmark/script/float_1x1x0.plt
@@ -40,7 +40,7 @@
 set terminal svg enhanced background rgb "white" size 360,720
 set datafile separator ","
 set title "{/:Bold Float 1x1x0 Group Benchmark}\n"
-set output "kalman/benchmark/image/float1x1x0.svg"
+set output "kalman/benchmark/image/float_1x1x0.svg"
 set ylabel "Time (ns)"
 set grid ytics
 set boxwidth 0.9
@@ -51,5 +51,5 @@ set ytics 1
 set xtics ("Baseline - No Code" 0, "Predict" 1, "Update" 2) rotate by 345
 
 plot "/tmp/kalman/baseline.csv" using (0):1 with boxes linecolor rgb "#F7DC6F" notitle, \
- "/tmp/kalman/predict1x1x0.csv" using (1):1 with boxes linecolor rgb "#F4D03F" notitle, \
- "/tmp/kalman/update1x1x0.csv" using (2):1 with boxes linecolor rgb "#F4D03F" notitle
+ "/tmp/kalman/predict_1x1x0.csv" using (1):1 with boxes linecolor rgb "#F4D03F" notitle, \
+ "/tmp/kalman/update_1x1x0.csv" using (2):1 with boxes linecolor rgb "#F4D03F" notitle
diff --git a/benchmark/script/float1x1x1.plt b/benchmark/script/float_1x1x1.plt
similarity index 90%
rename from benchmark/script/float1x1x1.plt
rename to benchmark/script/float_1x1x1.plt
index b687c7d39..294708143 100644
--- a/benchmark/script/float1x1x1.plt
+++ b/benchmark/script/float_1x1x1.plt
@@ -40,7 +40,7 @@
 set terminal svg enhanced background rgb "white" size 360,720
 set datafile separator ","
 set title "{/:Bold Float 1x1x1 Group Benchmark}\n"
-set output "kalman/benchmark/image/float1x1x1.svg"
+set output "kalman/benchmark/image/float_1x1x1.svg"
 set ylabel "Time (ns)"
 set grid ytics
 set boxwidth 0.9
@@ -51,5 +51,5 @@ set ytics 1
 set xtics ("Baseline - No Code" 0, "Predict" 1, "Update" 2) rotate by 345
 
 plot "/tmp/kalman/baseline.csv" using (0):1 with boxes linecolor rgb "#F7DC6F" notitle, \
- "/tmp/kalman/predict1x1x1.csv" using (1):1 with boxes linecolor rgb "#F4D03F" notitle, \
- "/tmp/kalman/update1x1x1.csv" using (2):1 with boxes linecolor rgb "#F4D03F" notitle
+ "/tmp/kalman/predict_1x1x1.csv" using (1):1 with boxes linecolor rgb "#F4D03F" notitle, \
+ "/tmp/kalman/update_1x1x1.csv" using (2):1 with boxes linecolor rgb "#F4D03F" notitle
diff --git a/benchmark/script/plot.sh b/benchmark/script/plot.sh
index 7d1f4c3c1..63cc8821a 100644
--- a/benchmark/script/plot.sh
+++ b/benchmark/script/plot.sh
@@ -66,27 +66,37 @@ grep "baseline" /tmp/kalman/flat_results.json \
   > /tmp/kalman/baseline.csv
 gnuplot kalman/benchmark/script/baseline.plt
 
-grep "predict1x1x0" /tmp/kalman/flat_results.json \
-  | sed -E 's#\{"name":"predict1x1x0/repeats:100/manual_time","mean":([0-9.]*),"median":([0-9.]*),"stddev":([0-9.]*),"cv":([0-9.]*),"min":([0-9.]*),"max":([0-9.]*)}#\1, \2, \3, \4, \5, \6#' \
-  > /tmp/kalman/predict1x1x0.csv
-gnuplot kalman/benchmark/script/predict1x1x0.plt
-
-grep "update1x1x0" /tmp/kalman/flat_results.json \
-  | sed -E 's#\{"name":"update1x1x0/repeats:100/manual_time","mean":([0-9.]*),"median":([0-9.]*),"stddev":([0-9.]*),"cv":([0-9.]*),"min":([0-9.]*),"max":([0-9.]*)}#\1, \2, \3, \4, \5, \6#' \
-  > /tmp/kalman/update1x1x0.csv
-gnuplot kalman/benchmark/script/update1x1x0.plt
-
-grep "predict1x1x1" /tmp/kalman/flat_results.json \
-  | sed -E 's#\{"name":"predict1x1x1/repeats:100/manual_time","mean":([0-9.]*),"median":([0-9.]*),"stddev":([0-9.]*),"cv":([0-9.]*),"min":([0-9.]*),"max":([0-9.]*)}#\1, \2, \3, \4, \5, \6#' \
-  > /tmp/kalman/predict1x1x1.csv
-gnuplot kalman/benchmark/script/predict1x1x1.plt
-
-grep "update1x1x1" /tmp/kalman/flat_results.json \
-  | sed -E 's#\{"name":"update1x1x1/repeats:100/manual_time","mean":([0-9.]*),"median":([0-9.]*),"stddev":([0-9.]*),"cv":([0-9.]*),"min":([0-9.]*),"max":([0-9.]*)}#\1, \2, \3, \4, \5, \6#' \
-  > /tmp/kalman/update1x1x1.csv
-gnuplot kalman/benchmark/script/update1x1x1.plt
+grep "predict_1x1x0" /tmp/kalman/flat_results.json \
+  | sed -E 's#\{"name":"predict_1x1x0/repeats:100/manual_time","mean":([0-9.]*),"median":([0-9.]*),"stddev":([0-9.]*),"cv":([0-9.]*),"min":([0-9.]*),"max":([0-9.]*)}#\1, \2, \3, \4, \5, \6#' \
+  > /tmp/kalman/predict_1x1x0.csv
+gnuplot kalman/benchmark/script/predict_1x1x0.plt
+
+grep "update_1x1x0" /tmp/kalman/flat_results.json \
+  | sed -E 's#\{"name":"update_1x1x0/repeats:100/manual_time","mean":([0-9.]*),"median":([0-9.]*),"stddev":([0-9.]*),"cv":([0-9.]*),"min":([0-9.]*),"max":([0-9.]*)}#\1, \2, \3, \4, \5, \6#' \
+  > /tmp/kalman/update_1x1x0.csv
+gnuplot kalman/benchmark/script/update_1x1x0.plt
+
+grep "predict_1x1x1" /tmp/kalman/flat_results.json \
+  | sed -E 's#\{"name":"predict_1x1x1/repeats:100/manual_time","mean":([0-9.]*),"median":([0-9.]*),"stddev":([0-9.]*),"cv":([0-9.]*),"min":([0-9.]*),"max":([0-9.]*)}#\1, \2, \3, \4, \5, \6#' \
+  > /tmp/kalman/predict_1x1x1.csv
+gnuplot kalman/benchmark/script/predict_1x1x1.plt
+
+grep "update_1x1x1" /tmp/kalman/flat_results.json \
+  | sed -E 's#\{"name":"update_1x1x1/repeats:100/manual_time","mean":([0-9.]*),"median":([0-9.]*),"stddev":([0-9.]*),"cv":([0-9.]*),"min":([0-9.]*),"max":([0-9.]*)}#\1, \2, \3, \4, \5, \6#' \
+  > /tmp/kalman/update_1x1x1.csv
+gnuplot kalman/benchmark/script/update_1x1x1.plt
+
+grep "eigen_update" /tmp/kalman/flat_results.json \
+  | sed -E 's#\{"name":"eigen_update_([0-9]*)x([0-9]*)x0/repeats:2/manual_time","mean":([0-9.]*),"median":([0-9.]*),"stddev":([0-9.]*),"cv":([0-9.]*),"min":([0-9.]*),"max":([0-9.]*)}#\1, \2, \3, \4, \5, \6, \7, \8#' \
+  > /tmp/kalman/eigen_update.csv
+gnuplot kalman/benchmark/script/eigen_update.plt
+
+grep "eigen_predict" /tmp/kalman/flat_results.json \
+  | sed -E 's#\{"name":"eigen_predict_([0-9]*)x1x([0-9]*)/repeats:2/manual_time","mean":([0-9.]*),"median":([0-9.]*),"stddev":([0-9.]*),"cv":([0-9.]*),"min":([0-9.]*),"max":([0-9.]*)}#\1, \2, \3, \4, \5, \6, \7, \8#' \
+  > /tmp/kalman/eigen_predict.csv
+gnuplot kalman/benchmark/script/eigen_predict.plt
 
 # Groups using results.
-gnuplot kalman/benchmark/script/float1x1x0.plt
-gnuplot kalman/benchmark/script/float1x1x1.plt
+gnuplot kalman/benchmark/script/float_1x1x0.plt
+gnuplot kalman/benchmark/script/float_1x1x1.plt
 gnuplot kalman/benchmark/script/float.plt
diff --git a/benchmark/script/predict1x1x0.plt b/benchmark/script/predict_1x1x0.plt
similarity index 94%
rename from benchmark/script/predict1x1x0.plt
rename to benchmark/script/predict_1x1x0.plt
index c86689610..8b6799ba0 100644
--- a/benchmark/script/predict1x1x0.plt
+++ b/benchmark/script/predict_1x1x0.plt
@@ -40,7 +40,7 @@
 set terminal svg enhanced background rgb "white" size 360,720
 set datafile separator ","
 set title "{/:Bold Predict 1x1x0 Float Benchmark}\n{/*0.8 kalman<float, float, void>::predict()}"
-set output "kalman/benchmark/image/predict1x1x0.svg"
+set output "kalman/benchmark/image/predict_1x1x0.svg"
 set key noautotitle
 set key inside top left reverse Left
 set ylabel "Time (ns)"
@@ -52,7 +52,7 @@ set yrange [17 : 19]
 set ytics .5
 set xtics ("Predict 1x1x0 Float" 0)
 
-plot "/tmp/kalman/predict1x1x0.csv" using (0):6 with boxes linecolor rgb "#F7DC6F" title "Maximum", \
+plot "/tmp/kalman/predict_1x1x0.csv" using (0):6 with boxes linecolor rgb "#F7DC6F" title "Maximum", \
   "" using (0):1 with boxes linecolor rgb "#F4D03F" title "Average", \
   "" using (0):5 with boxes linecolor rgb "#F1C40F" title "Minimum", \
   "" using (0):6:(sprintf("%8.2f", $6)) with labels right offset char -2,0.3, \
diff --git a/benchmark/script/predict1x1x1.plt b/benchmark/script/predict_1x1x1.plt
similarity index 94%
rename from benchmark/script/predict1x1x1.plt
rename to benchmark/script/predict_1x1x1.plt
index b6731b357..48f8acf73 100644
--- a/benchmark/script/predict1x1x1.plt
+++ b/benchmark/script/predict_1x1x1.plt
@@ -40,7 +40,7 @@
 set terminal svg enhanced background rgb "white" size 360,720
 set datafile separator ","
 set title "{/:Bold Predict 1x1x1 Float Benchmark}\n{/*0.8 kalman<float, float, float>::predict()}"
-set output "kalman/benchmark/image/predict1x1x1.svg"
+set output "kalman/benchmark/image/predict_1x1x1.svg"
 set key noautotitle
 set key inside top left reverse Left
 set ylabel "Time (ns)"
@@ -52,7 +52,7 @@ set yrange [18 : 20]
 set ytics .2
 set xtics ("Predict 1x1x1 Float" 0)
 
-plot "/tmp/kalman/predict1x1x1.csv" using (0):6 with boxes linecolor rgb "#F7DC6F" title "Maximum", \
+plot "/tmp/kalman/predict_1x1x1.csv" using (0):6 with boxes linecolor rgb "#F7DC6F" title "Maximum", \
   "" using (0):1 with boxes linecolor rgb "#F4D03F" title "Average", \
   "" using (0):5 with boxes linecolor rgb "#F1C40F" title "Minimum", \
   "" using (0):6:(sprintf("%8.2f", $6)) with labels right offset char -2,0.3, \
diff --git a/benchmark/script/update1x1x0.plt b/benchmark/script/update_1x1x0.plt
similarity index 94%
rename from benchmark/script/update1x1x0.plt
rename to benchmark/script/update_1x1x0.plt
index 90d88defb..dfc048469 100644
--- a/benchmark/script/update1x1x0.plt
+++ b/benchmark/script/update_1x1x0.plt
@@ -40,7 +40,7 @@
 set terminal svg enhanced background rgb "white" size 360,720
 set datafile separator ","
 set title "{/:Bold Update 1x1x0 Float Benchmark}\n{/*0.8 kalman<float, float, void>::update()}"
-set output "kalman/benchmark/image/update1x1x0.svg"
+set output "kalman/benchmark/image/update_1x1x0.svg"
 set key noautotitle
 set key inside top left reverse Left
 set ylabel "Time (ns)"
@@ -52,7 +52,7 @@ set yrange [24 : 26]
 set ytics .2
 set xtics ("Update 1x1x0 Float" 0)
 
-plot "/tmp/kalman/update1x1x0.csv" using (0):6 with boxes linecolor rgb "#F7DC6F" title "Maximum", \
+plot "/tmp/kalman/update_1x1x0.csv" using (0):6 with boxes linecolor rgb "#F7DC6F" title "Maximum", \
   "" using (0):1 with boxes linecolor rgb "#F4D03F" title "Average", \
   "" using (0):5 with boxes linecolor rgb "#F1C40F" title "Minimum", \
   "" using (0):6:(sprintf("%8.2f", $6)) with labels right offset char -2,0.3, \
diff --git a/benchmark/script/update1x1x1.plt b/benchmark/script/update_1x1x1.plt
similarity index 94%
rename from benchmark/script/update1x1x1.plt
rename to benchmark/script/update_1x1x1.plt
index e9167ebe3..9fcb109d4 100644
--- a/benchmark/script/update1x1x1.plt
+++ b/benchmark/script/update_1x1x1.plt
@@ -40,7 +40,7 @@
 set terminal svg enhanced background rgb "white" size 360,720
 set datafile separator ","
 set title "{/:Bold Update 1x1x1 Float Benchmark}\n{/*0.8 kalman<float, float, float>::update(0.f)}"
-set output "kalman/benchmark/image/update1x1x1.svg"
+set output "kalman/benchmark/image/update_1x1x1.svg"
 set key noautotitle
 set key inside top left reverse Left
 set ylabel "Time (ns)"
@@ -52,7 +52,7 @@ set yrange [24 : 27]
 set ytics .2
 set xtics ("Update 1x1x1 Float" 0)
 
-plot "/tmp/kalman/update1x1x1.csv" using (0):6 with boxes linecolor rgb "#F7DC6F" title "Maximum", \
+plot "/tmp/kalman/update_1x1x1.csv" using (0):6 with boxes linecolor rgb "#F7DC6F" title "Maximum", \
   "" using (0):1 with boxes linecolor rgb "#F4D03F" title "Average", \
   "" using (0):5 with boxes linecolor rgb "#F1C40F" title "Minimum", \
   "" using (0):6:(sprintf("%8.2f", $6)) with labels right offset char -2,0.3, \
diff --git a/benchmark/update1x1x1.cpp b/benchmark/update_1x1x0.cpp
similarity index 85%
rename from benchmark/update1x1x1.cpp
rename to benchmark/update_1x1x0.cpp
index 83eaf5904..7b4bf25de 100644
--- a/benchmark/update1x1x1.cpp
+++ b/benchmark/update_1x1x0.cpp
@@ -36,28 +36,35 @@ OTHER DEALINGS IN THE SOFTWARE.
 
 For more information, please refer to <https://unlicense.org> */
 
-#include "fcarouge/benchmark/benchmark.hpp"
+#include "benchmark.hpp"
 #include "fcarouge/kalman.hpp"
 
 #include <benchmark/benchmark.h>
 
 #include <algorithm>
 #include <chrono>
+#include <random>
 
 namespace fcarouge::benchmark {
 namespace {
 //! @benchmark Measure update, empty benchmark performance.
-void update1x1x1(::benchmark::State &state) {
+void update_1x1x0(::benchmark::State &state) {
+
+  using kalman = fcarouge::kalman<float, float>;
+
+  kalman filter;
+  std::random_device random_device;
+  std::mt19937 random_generator(random_device());
+  std::uniform_real_distribution uniformly_distributed(0.f, 1.f);
+
   for (auto _ : state) {
-    using kalman = fcarouge::kalman<float, float, float>;
-    kalman k;
 
-    const float input{0.};
+    const typename kalman::output z{uniformly_distributed(random_generator)};
 
     ::benchmark::ClobberMemory();
     const auto start{clock::now()};
 
-    k.update(input);
+    filter.update(z);
 
     ::benchmark::ClobberMemory();
     const auto end{clock::now()};
@@ -68,8 +75,8 @@ void update1x1x1(::benchmark::State &state) {
   }
 }
 
-BENCHMARK(update1x1x1)
-    ->Name("update1x1x1")
+BENCHMARK(update_1x1x0)
+    ->Name("update_1x1x0")
     ->Unit(::benchmark::kNanosecond)
     ->ComputeStatistics("min",
                         [](const auto &results) {
diff --git a/benchmark/update1x1x0.cpp b/benchmark/update_1x1x1.cpp
similarity index 85%
rename from benchmark/update1x1x0.cpp
rename to benchmark/update_1x1x1.cpp
index 766b6ce41..4bb1cccd1 100644
--- a/benchmark/update1x1x0.cpp
+++ b/benchmark/update_1x1x1.cpp
@@ -36,26 +36,35 @@ OTHER DEALINGS IN THE SOFTWARE.
 
 For more information, please refer to <https://unlicense.org> */
 
-#include "fcarouge/benchmark/benchmark.hpp"
+#include "benchmark.hpp"
 #include "fcarouge/kalman.hpp"
 
 #include <benchmark/benchmark.h>
 
 #include <algorithm>
 #include <chrono>
+#include <random>
 
 namespace fcarouge::benchmark {
 namespace {
 //! @benchmark Measure update, empty benchmark performance.
-void update1x1x0(::benchmark::State &state) {
+void update_1x1x1(::benchmark::State &state) {
+
+  using kalman = fcarouge::kalman<float, float, float>;
+
+  kalman filter;
+  std::random_device random_device;
+  std::mt19937 random_generator(random_device());
+  std::uniform_real_distribution uniformly_distributed(0.f, 1.f);
+
   for (auto _ : state) {
-    using kalman = fcarouge::kalman<float, float>;
-    kalman k;
+
+    const typename kalman::output z{uniformly_distributed(random_generator)};
 
     ::benchmark::ClobberMemory();
     const auto start{clock::now()};
 
-    k.update();
+    filter.update(z);
 
     ::benchmark::ClobberMemory();
     const auto end{clock::now()};
@@ -66,8 +75,8 @@ void update1x1x0(::benchmark::State &state) {
   }
 }
 
-BENCHMARK(update1x1x0)
-    ->Name("update1x1x0")
+BENCHMARK(update_1x1x1)
+    ->Name("update_1x1x1")
     ->Unit(::benchmark::kNanosecond)
     ->ComputeStatistics("min",
                         [](const auto &results) {
diff --git a/sample/ekf_4x1x0_ardupilot_soaring.cpp b/sample/ekf_4x1x0_ardupilot_soaring.cpp
index 59f418c1f..6f52909e6 100644
--- a/sample/ekf_4x1x0_ardupilot_soaring.cpp
+++ b/sample/ekf_4x1x0_ardupilot_soaring.cpp
@@ -34,27 +34,28 @@ namespace {
   using kalman = kalman<vector<float, 4>, float, void, std::tuple<float, float>,
                         std::tuple<float, float>>;
 
-  kalman k;
+  kalman filter;
 
   // Initialization
   const float trigger_strength{0};
   const float thermal_radius{80};
   const float thermal_position_x{5};
   const float thermal_position_y{0};
-  k.x(trigger_strength, thermal_radius, thermal_position_x, thermal_position_y);
+  filter.x(trigger_strength, thermal_radius, thermal_position_x,
+           thermal_position_y);
 
   const float strength_covariance{0.0049};
   const float radius_covariance{400};
   const float position_covariance{400};
-  k.p(kalman::estimate_uncertainty{{strength_covariance, 0, 0, 0},
-                                   {0, radius_covariance, 0, 0},
-                                   {0, 0, position_covariance, 0},
-                                   {0, 0, 0, position_covariance}});
+  filter.p(kalman::estimate_uncertainty{{strength_covariance, 0, 0, 0},
+                                        {0, radius_covariance, 0, 0},
+                                        {0, 0, position_covariance, 0},
+                                        {0, 0, 0, position_covariance}});
 
   // No process dynamics: F = ∂f/∂X = I4 Default.
 
-  k.transition([](const kalman::state &x, const float &drift_x,
-                  const float &drift_y) -> kalman::state {
+  filter.transition([](const kalman::state &x, const float &drift_x,
+                       const float &drift_y) -> kalman::state {
     //! @todo Could make sure that x[1] stays positive, greater than 40.
     const kalman::state drifts{0, 0, drift_x, drift_y};
     return x + drifts;
@@ -62,26 +63,26 @@ namespace {
 
   const float strength_noise{std::pow(0.001f, 2.f)};
   const float distance_noise{std::pow(0.03f, 2.f)};
-  k.q(kalman::process_uncertainty{{strength_noise, 0, 0, 0},
-                                  {0, distance_noise, 0, 0},
-                                  {0, 0, distance_noise, 0},
-                                  {0, 0, 0, distance_noise}});
+  filter.q(kalman::process_uncertainty{{strength_noise, 0, 0, 0},
+                                       {0, distance_noise, 0, 0},
+                                       {0, 0, distance_noise, 0},
+                                       {0, 0, 0, distance_noise}});
 
   const float measure_noise{std::pow(0.45f, 2.f)};
-  k.r(kalman::output_uncertainty{measure_noise});
+  filter.r(kalman::output_uncertainty{measure_noise});
 
   // Observation Z: [w] vertical air velocity w at the aircraft’s
   // position w.r.t. the thermal center [m.s^-1].
-  k.observation([](const kalman::state &x, const float &position_x,
-                   const float &position_y) -> kalman::output {
+  filter.observation([](const kalman::state &x, const float &position_x,
+                        const float &position_y) -> kalman::output {
     return x(0) * std::exp(-(std::pow(x[2] - position_x, 2.f) +
                              std::pow(x[3] - position_y, 2.f)) /
                            std::pow(x[1], 2.f));
   });
 
   // See the ArduSoar paper for the equation for H = ∂h/∂X:
-  k.h([](const kalman::state &x, const float &position_x,
-         const float &position_y) -> kalman::output_model {
+  filter.h([](const kalman::state &x, const float &position_x,
+              const float &position_y) -> kalman::output_model {
     const float expon{std::exp(
         -(std::pow(x[2] - position_x, 2.f) + std::pow(x[3] - position_y, 2.f)) /
         std::pow(x[1], 2.f))};
@@ -212,14 +213,14 @@ namespace {
       {0.635992, 0.590228, 0.629378, 0.112457, 0.78253}};
 
   for (const auto &output : measured) {
-    k.predict(output.drift_x, output.drift_y);
-    k.update(output.position_x, output.position_y, output.variometer);
+    filter.predict(output.drift_x, output.drift_y);
+    filter.update(output.position_x, output.position_y, output.variometer);
   }
 
-  assert(std::abs(1 - k.x()[0] / 0.347191f) < 0.0001f &&
-         std::abs(1 - k.x()[1] / 91.8926f) < 0.0001f &&
-         std::abs(1 - k.x()[2] / 22.9656f) < 0.0001f &&
-         std::abs(1 - k.x()[3] / 20.6146f) < 0.0001f &&
+  assert(std::abs(1 - filter.x()[0] / 0.347191f) < 0.0001f &&
+         std::abs(1 - filter.x()[1] / 91.8926f) < 0.0001f &&
+         std::abs(1 - filter.x()[2] / 22.9656f) < 0.0001f &&
+         std::abs(1 - filter.x()[3] / 20.6146f) < 0.0001f &&
          "The estimated states expected to meet ArduPilot soaring plane "
          "implementation at 0.01% accuracy.");
 
diff --git a/sample/kf_1x1x0_building_height.cpp b/sample/kf_1x1x0_building_height.cpp
index 4801113a8..c979422f6 100644
--- a/sample/kf_1x1x0_building_height.cpp
+++ b/sample/kf_1x1x0_building_height.cpp
@@ -21,26 +21,26 @@ namespace {
 //! @example kf_1x1x0_building_height.cpp
 [[maybe_unused]] auto kf_1x1x0_building_height{[] {
   // A one-dimensional filter, constant system dynamic model.
-  kalman k;
+  kalman filter;
 
   // Initialization
   // One can estimate the building height simply by looking at it. The estimated
   // building height is: 60 meters.
-  k.x(60.);
+  filter.x(60.);
 
   // Now we shall initialize the estimate uncertainty. A human’s estimation
   // error (standard deviation) is about 15 meters: σ = 15. Consequently the
   // variance is 225: σ^2 = 225.
-  k.p(225.);
+  filter.p(225.);
 
   // Prediction
   // Now, we shall predict the next state based on the initialization values.
   // Note: The prediction operation needs not be performed since the process
   // noise covariance Q is null in this example.
-  assert(60 == k.x() &&
+  assert(60 == filter.x() &&
          "Since our system's dynamic model is constant, i.e. the building "
          "doesn't change its height: 60 meters.");
-  assert(225 == k.p() &&
+  assert(225 == filter.p() &&
          "The extrapolated estimate uncertainty (variance) also doesn't "
          "change: 225");
 
@@ -48,24 +48,24 @@ namespace {
   // The first measurement is: z1 = 48.54m. Since the standard deviation σ of
   // the altimeter measurement error is 5, the variance σ^2 would be 25, thus
   // the measurement uncertainty is: r1 = 25.
-  k.r(25.);
+  filter.r(25.);
 
-  k.update(48.54);
+  filter.update(48.54);
 
   // And so on.
-  k.update(47.11);
-  k.update(55.01);
-  k.update(55.15);
-  k.update(49.89);
-  k.update(40.85);
-  k.update(46.72);
-  k.update(50.05);
-  k.update(51.27);
-  k.update(49.95);
+  filter.update(47.11);
+  filter.update(55.01);
+  filter.update(55.15);
+  filter.update(49.89);
+  filter.update(40.85);
+  filter.update(46.72);
+  filter.update(50.05);
+  filter.update(51.27);
+  filter.update(49.95);
 
   // After 10 measurements the filter estimates the height of the building
   // at 49.57m.
-  assert(49.57 - 0.001 < k.x() && k.x() < 49.57 + 0.001 &&
+  assert(49.57 - 0.001 < filter.x() && filter.x() < 49.57 + 0.001 &&
          "After 10 measurement and update iterations, the building estimated "
          "height is: 49.57m.");
 
diff --git a/sample/kf_1x1x0_liquid_temperature.cpp b/sample/kf_1x1x0_liquid_temperature.cpp
index 46f0c79d3..79ffc394d 100644
--- a/sample/kf_1x1x0_liquid_temperature.cpp
+++ b/sample/kf_1x1x0_liquid_temperature.cpp
@@ -27,33 +27,33 @@ namespace {
 //! @example kf_1x1x0_liquid_temperature.cpp
 [[maybe_unused]] auto kf_1x1x0_liquid_temperature{[] {
   // A one-dimensional filter, constant system dynamic model.
-  kalman k;
+  kalman filter;
 
   // Initialization
   // Before the first iteration, we must initialize the Kalman filter and
   // predict the next state (which is the first state). We don't know what the
   // temperature of the liquid is, and our guess is 10°C.
-  k.x(10.);
+  filter.x(10.);
 
   // Our guess is very imprecise, so we set our initialization estimate error σ
   // to 100. The estimate uncertainty of the initialization is the error
   // variance σ^2: p0,0 = 100^2 = 10,000. This variance is very high. If we
   // initialize with a more meaningful value, we will get faster Kalman filter
   // convergence.
-  k.p(100 * 100.);
+  filter.p(100 * 100.);
 
   // Prediction
   // Now, we shall predict the next state based on the initialization values. We
   // think that we have an accurate model, thus we set the process noise
   // variance q to 0.0001.
-  k.q(0.0001);
+  filter.q(0.0001);
 
-  k.predict();
+  filter.predict();
 
-  assert(10 == k.x() &&
+  assert(10 == filter.x() &&
          "Since our model has constant dynamics, the predicted estimate is "
          "equal to the current estimate: x^1,0 = 10°C.");
-  assert(10000.0001 == k.p() &&
+  assert(10000.0001 == filter.p() &&
          "The extrapolated estimate uncertainty (variance): p1,0 = p0,0 + q = "
          "10000 + 0.0001 = 10000.0001.");
 
@@ -62,18 +62,18 @@ namespace {
   // 0.1, the variance σ^2 would be 0.01, thus the measurement uncertainty is:
   // r1 = 0.01. The measurement error (standard deviation) is 0.1 degrees
   // Celsius.
-  k.r(0.1 * 0.1);
+  filter.r(0.1 * 0.1);
 
-  k.update(49.95);
+  filter.update(49.95);
 
-  assert(std::abs(1 - k.k() / 0.999999) < 0.0001 &&
+  assert(std::abs(1 - filter.k() / 0.999999) < 0.0001 &&
          "The gain expected at 0.01% accuracy.");
 
   // And so on, run a step of the filter, predicting and updating, every
   // measurements period: Δt = 5s (constant).
-  const auto step{[&k](double temperature) {
-    k.predict();
-    k.update(temperature);
+  const auto step{[&filter](double temperature) {
+    filter.predict();
+    filter.update(temperature);
   }};
 
   step(49.967);
@@ -87,14 +87,14 @@ namespace {
   step(49.99);
 
   // The estimate uncertainty quickly goes down, after 10 measurements:
-  assert(std::abs(1 - k.p() / 0.0013) < 0.05 &&
+  assert(std::abs(1 - filter.p() / 0.0013) < 0.05 &&
          "The estimate uncertainty expected at 5% accuracy."
          "The estimate uncertainty is 0.0013, i.e. the estimate error standard "
          "deviation is: 0.036°C.");
-  assert(std::abs(1 - k.x() / 49.988) < 0.001 &&
+  assert(std::abs(1 - filter.x() / 49.988) < 0.001 &&
          "The state estimates expected at 0.1% accuracy."
          "The filter estimates the liquid temperature at 49.988°C.");
-  assert(std::abs(1 - k.k() / 0.1265) < 0.001 &&
+  assert(std::abs(1 - filter.k() / 0.1265) < 0.001 &&
          "The gain expected at 0.1% accuracy.");
 
   // So we can say that the liquid temperature estimate is: 49.988 ± 0.036°C.
diff --git a/sample/kf_1x1x1_dog_position.cpp b/sample/kf_1x1x1_dog_position.cpp
index b2332c9fa..e9bc07a9b 100644
--- a/sample/kf_1x1x1_dog_position.cpp
+++ b/sample/kf_1x1x1_dog_position.cpp
@@ -32,7 +32,7 @@ namespace {
 //! @example kf_1x1x1_dog_position.cpp
 [[maybe_unused]] auto kf_1x1x1_dog_position{[] {
   using kalman = fcarouge::kalman<double, double, double>;
-  kalman k;
+  kalman filter;
 
   // Initialization
   // This is the dog's initial position expressed as a Gaussian. The position is
@@ -40,50 +40,50 @@ namespace {
   // meters. You can think of this as saying "I believe with 99.7% accuracy the
   // position is 0 plus or minus 60 meters". This is because with Gaussians
   // ~99.7% of values fall within of the mean.
-  k.x(1.);
-  k.p(20 * 20.);
+  filter.x(1.);
+  filter.p(20 * 20.);
 
   // Prediction
   // Variance in the dog's movement. The process variance is how much error
   // there is in the process model. Dogs rarely do what we expect, and things
   // like hills or the whiff of a squirrel will change his progress.
-  k.q(1.);
+  filter.q(1.);
 
   // Measure and Update
   // Variance in the sensor. The meaning of sensor variance should be clear - it
   // is how much variance there is in each measurement.
-  k.r(2.);
+  filter.r(2.);
 
   // We are predicting that at each time step the dog moves forward one meter.
   // This is the process model - the description of how we think the dog moves.
   // How do I know the velocity? Magic? Consider it a prediction, or perhaps we
   // have a secondary velocity sensor. Please accept this simplification for
   // now.
-  k.g(1.);
+  filter.g(1.);
 
-  k.predict(1.);
-  k.update(1.354);
-  k.predict(1.);
-  k.update(1.882);
-  k.predict(1.);
-  k.update(4.341);
-  k.predict(1.);
-  k.update(7.156);
-  k.predict(1.);
-  k.update(6.939);
-  k.predict(1.);
-  k.update(6.844);
-  k.predict(1.);
-  k.update(9.847);
-  k.predict(1.);
-  k.update(12.553);
-  k.predict(1.);
-  k.update(16.273);
-  k.predict(1.);
-  k.update(14.8);
+  filter.predict(1.);
+  filter.update(1.354);
+  filter.predict(1.);
+  filter.update(1.882);
+  filter.predict(1.);
+  filter.update(4.341);
+  filter.predict(1.);
+  filter.update(7.156);
+  filter.predict(1.);
+  filter.update(6.939);
+  filter.predict(1.);
+  filter.update(6.844);
+  filter.predict(1.);
+  filter.update(9.847);
+  filter.predict(1.);
+  filter.update(12.553);
+  filter.predict(1.);
+  filter.update(16.273);
+  filter.predict(1.);
+  filter.update(14.8);
 
   assert(
-      std::abs(1 - k.x() / 15.053) < 0.001 &&
+      std::abs(1 - filter.x() / 15.053) < 0.001 &&
       "The state estimates expected at 0.1% accuracy."
       "Here we can see that the variance converges to 2.1623 in 9 steps. This "
       "means that we have become very confident in our position estimate. It "
diff --git a/sample/kf_2x1x1_rocket_altitude.cpp b/sample/kf_2x1x1_rocket_altitude.cpp
index 170373f1e..5c56837ec 100644
--- a/sample/kf_2x1x1_rocket_altitude.cpp
+++ b/sample/kf_2x1x1_rocket_altitude.cpp
@@ -44,17 +44,17 @@ namespace {
   // A 2x1x1 filter, constant acceleration dynamic model, no control, step time.
   using kalman = kalman<vector<double, 2>, double, double, std::tuple<>,
                         std::tuple<std::chrono::milliseconds>>;
-  kalman k;
+  kalman filter;
 
   // Initialization
   // We don't know the rocket location; we will set initial position and
   // velocity to 0.
-  k.x(0., 0.);
+  filter.x(0., 0.);
 
   // Since our initial state vector is a guess, we will set a very high estimate
   // uncertainty. The high estimate uncertainty results in high Kalman gain,
   // giving a high weight to the measurement.
-  k.p(kalman::estimate_uncertainty{{500, 0}, {0, 500}});
+  filter.p(kalman::estimate_uncertainty{{500, 0}, {0, 500}});
 
   // Prediction
   // We will assume a discrete noise model - the noise is different at each time
@@ -64,17 +64,18 @@ namespace {
   // the system random acceleration. The accelerometer error v is much lower
   // than system's random acceleration, therefore we use ϵ^2 as a multiplier of
   // the process noise matrix. This makes our estimation uncertainty much lower!
-  k.q([](const kalman::state &x, const std::chrono::milliseconds &delta_time) {
-    static_cast<void>(x);
-    const auto dt{std::chrono::duration<double>(delta_time).count()};
-    return kalman::process_uncertainty{
-        {0.1 * 0.1 * dt * dt * dt * dt / 4, 0.1 * 0.1 * dt * dt * dt / 2},
-        {0.1 * 0.1 * dt * dt * dt / 2, 0.1 * 0.1 * dt * dt}};
-  });
+  filter.q(
+      [](const kalman::state &x, const std::chrono::milliseconds &delta_time) {
+        static_cast<void>(x);
+        const auto dt{std::chrono::duration<double>(delta_time).count()};
+        return kalman::process_uncertainty{
+            {0.1 * 0.1 * dt * dt * dt * dt / 4, 0.1 * 0.1 * dt * dt * dt / 2},
+            {0.1 * 0.1 * dt * dt * dt / 2, 0.1 * 0.1 * dt * dt}};
+      });
 
   // The state transition matrix F would be:
-  k.f([](const kalman::state &x, const kalman::input &u,
-         const std::chrono::milliseconds &delta_time) {
+  filter.f([](const kalman::state &x, const kalman::input &u,
+              const std::chrono::milliseconds &delta_time) {
     static_cast<void>(x);
     static_cast<void>(u);
     const auto dt{std::chrono::duration<double>(delta_time).count()};
@@ -82,7 +83,7 @@ namespace {
   });
 
   // The control matrix G would be:
-  k.g([](const std::chrono::milliseconds &delta_time) {
+  filter.g([](const std::chrono::milliseconds &delta_time) {
     const auto dt{std::chrono::duration<double>(delta_time).count()};
     return kalman::input_control{0.0313, dt};
   });
@@ -91,67 +92,68 @@ namespace {
   // it's greater than zero. Let's assume: u0 = g
   const double gravity{-9.8}; // [m.s^-2]
   const std::chrono::milliseconds delta_time{250};
-  k.predict(delta_time, -gravity);
+  filter.predict(delta_time, -gravity);
 
-  assert(std::abs(1 - k.x()[0] / 0.3) < 0.03 &&
-         std::abs(1 - k.x()[1] / 2.45) < 0.03 &&
+  assert(std::abs(1 - filter.x()[0] / 0.3) < 0.03 &&
+         std::abs(1 - filter.x()[1] / 2.45) < 0.03 &&
          "The state estimates expected at 3% accuracy.");
-  assert(std::abs(1 - k.p()(0, 0) / 531.25) < 0.001 &&
-         std::abs(1 - k.p()(0, 1) / 125) < 0.001 &&
-         std::abs(1 - k.p()(1, 0) / 125) < 0.001 &&
-         std::abs(1 - k.p()(1, 1) / 500) < 0.001 &&
+  assert(std::abs(1 - filter.p()(0, 0) / 531.25) < 0.001 &&
+         std::abs(1 - filter.p()(0, 1) / 125) < 0.001 &&
+         std::abs(1 - filter.p()(1, 0) / 125) < 0.001 &&
+         std::abs(1 - filter.p()(1, 1) / 500) < 0.001 &&
          "The estimate uncertainty expected at 0.1% accuracy.");
 
   // Measure and Update
   // The dimension of zn is 1x1 and the dimension of xn is 2x1, so the dimension
   // of the observation matrix H will be 1x2.
-  k.h(kalman::output_model{1., 0.});
+  filter.h(kalman::output_model{1., 0.});
 
   // For the sake of the example simplicity, we will assume a constant
   // measurement uncertainty: R1 = R2...Rn-1 = Rn = R.
-  k.r(kalman::output_uncertainty{400.});
+  filter.r(kalman::output_uncertainty{400.});
 
-  k.update(-32.4);
+  filter.update(-32.4);
 
-  assert(std::abs(1 - k.x()[0] / -18.35) < 0.001 &&
-         std::abs(1 - k.x()[1] / -1.94) < 0.001 &&
+  assert(std::abs(1 - filter.x()[0] / -18.35) < 0.001 &&
+         std::abs(1 - filter.x()[1] / -1.94) < 0.001 &&
          "The state estimates expected at 0.1% accuracy.");
-  assert(std::abs(1 - k.p()(0, 0) / 228.2) < 0.001 &&
-         std::abs(1 - k.p()(0, 1) / 53.7) < 0.001 &&
-         std::abs(1 - k.p()(1, 0) / 53.7) < 0.001 &&
-         std::abs(1 - k.p()(1, 1) / 483.2) < 0.001 &&
+  assert(std::abs(1 - filter.p()(0, 0) / 228.2) < 0.001 &&
+         std::abs(1 - filter.p()(0, 1) / 53.7) < 0.001 &&
+         std::abs(1 - filter.p()(1, 0) / 53.7) < 0.001 &&
+         std::abs(1 - filter.p()(1, 1) / 483.2) < 0.001 &&
          "The estimate uncertainty expected at 0.1% accuracy.");
 
-  k.predict(delta_time, 39.72 + gravity);
+  filter.predict(delta_time, 39.72 + gravity);
 
-  assert(std::abs(1 - k.x()[0] / -17.9) < 0.001 &&
-         std::abs(1 - k.x()[1] / 5.54) < 0.001 &&
+  assert(std::abs(1 - filter.x()[0] / -17.9) < 0.001 &&
+         std::abs(1 - filter.x()[1] / 5.54) < 0.001 &&
          "The state estimates expected at 0.1% accuracy.");
-  assert(std::abs(1 - k.p()(0, 0) / 285.2) < 0.001 &&
-         std::abs(1 - k.p()(0, 1) / 174.5) < 0.001 &&
-         std::abs(1 - k.p()(1, 0) / 174.5) < 0.001 &&
-         std::abs(1 - k.p()(1, 1) / 483.2) < 0.001 &&
+  assert(std::abs(1 - filter.p()(0, 0) / 285.2) < 0.001 &&
+         std::abs(1 - filter.p()(0, 1) / 174.5) < 0.001 &&
+         std::abs(1 - filter.p()(1, 0) / 174.5) < 0.001 &&
+         std::abs(1 - filter.p()(1, 1) / 483.2) < 0.001 &&
          "The estimate uncertainty expected at 0.1% accuracy.");
 
   // And so on, run a step of the filter, updating and predicting, every
   // measurements period: Δt = 250ms. The period is constant but passed as
   // variable for the example. The lambda helper shows how to simplify the
   // filter step call.
-  const auto step{[&k](double altitude, std::chrono::milliseconds step_time,
-                       double acceleration) {
-    k.update(altitude);
-    k.predict(step_time, acceleration);
+  const auto step{[&filter](double altitude,
+                            std::chrono::milliseconds step_time,
+                            double acceleration) {
+    filter.update(altitude);
+    filter.predict(step_time, acceleration);
   }};
 
   step(-11.1, delta_time, 40.02 + gravity);
 
-  assert(std::abs(1 - k.x()[0] / -12.3) < 0.002 &&
-         std::abs(1 - k.x()[1] / 14.8) < 0.002 &&
+  assert(std::abs(1 - filter.x()[0] / -12.3) < 0.002 &&
+         std::abs(1 - filter.x()[1] / 14.8) < 0.002 &&
          "The state estimates expected at 0.2% accuracy.");
-  assert(std::abs(1 - k.p()(0, 0) / 244.9) < 0.001 &&
-         std::abs(1 - k.p()(0, 1) / 211.6) < 0.001 &&
-         std::abs(1 - k.p()(1, 0) / 211.6) < 0.001 &&
-         std::abs(1 - k.p()(1, 1) / 438.8) < 0.001 &&
+  assert(std::abs(1 - filter.p()(0, 0) / 244.9) < 0.001 &&
+         std::abs(1 - filter.p()(0, 1) / 211.6) < 0.001 &&
+         std::abs(1 - filter.p()(1, 0) / 211.6) < 0.001 &&
+         std::abs(1 - filter.p()(1, 1) / 438.8) < 0.001 &&
          "The estimate uncertainty expected at 0.1% accuracy.");
 
   step(18., delta_time, 39.97 + gravity);
@@ -182,17 +184,17 @@ namespace {
   step(693.3, delta_time, 39.81 + gravity);
   step(707.3, delta_time, 39.81 + gravity);
 
-  k.update(748.5);
+  filter.update(748.5);
 
   // The Kalman gain for altitude converged to 0.12, which means that the
   // estimation weight is much higher than the measurement weight.
-  assert(std::abs(1 - k.p()(0, 0) / 49.3) < 0.001 &&
+  assert(std::abs(1 - filter.p()(0, 0) / 49.3) < 0.001 &&
          "At this point, the altitude uncertainty px = 49.3, which means that "
          "the standard deviation of the prediction is square root of 49.3: "
          "7.02m (remember that the standard deviation of the measurement is "
          "20m).");
 
-  k.predict(delta_time, 39.68 + gravity);
+  filter.predict(delta_time, 39.68 + gravity);
 
   // At the beginning, the estimated altitude is influenced by measurements and
   // it is not aligned well with the true rocket altitude, since the
@@ -202,13 +204,13 @@ namespace {
   // cause acceleration changes, but if we had, the control input
   // (accelerometer) would update the state extrapolation equation.
 
-  assert(std::abs(1 - k.x()[0] / 831.5) < 0.001 &&
-         std::abs(1 - k.x()[1] / 222.94) < 0.001 &&
+  assert(std::abs(1 - filter.x()[0] / 831.5) < 0.001 &&
+         std::abs(1 - filter.x()[1] / 222.94) < 0.001 &&
          "The state estimates expected at 0.1% accuracy.");
-  assert(std::abs(1 - k.p()(0, 0) / 54.3) < 0.01 &&
-         std::abs(1 - k.p()(0, 1) / 10.4) < 0.01 &&
-         std::abs(1 - k.p()(1, 0) / 10.4) < 0.01 &&
-         std::abs(1 - k.p()(1, 1) / 2.6) < 0.01 &&
+  assert(std::abs(1 - filter.p()(0, 0) / 54.3) < 0.01 &&
+         std::abs(1 - filter.p()(0, 1) / 10.4) < 0.01 &&
+         std::abs(1 - filter.p()(1, 0) / 10.4) < 0.01 &&
+         std::abs(1 - filter.p()(1, 1) / 2.6) < 0.01 &&
          "The estimate uncertainty expected at 1% accuracy.");
 
   return 0;
diff --git a/sample/kf_6x2x0_vehicle_location.cpp b/sample/kf_6x2x0_vehicle_location.cpp
index aac95565f..f6e1f87e0 100644
--- a/sample/kf_6x2x0_vehicle_location.cpp
+++ b/sample/kf_6x2x0_vehicle_location.cpp
@@ -28,23 +28,23 @@ namespace {
   // A 6x2x0 filter, constant acceleration dynamic model, no control.
   using kalman = kalman<vector<double, 6>, vector<double, 2>>;
 
-  kalman k;
+  kalman filter;
 
   // Initialization
   // The state is chosen to be the position, velocity, acceleration in the XY
   // plane: [px, vx, ax, py, vy, ay]. We don't know the vehicle location; we
   // will set initial position, velocity and acceleration to 0.
-  k.x(0., 0., 0., 0., 0., 0.);
+  filter.x(0., 0., 0., 0., 0., 0.);
 
   // Since our initial state vector is a guess, we will set a very high estimate
   // uncertainty. The high estimate uncertainty results in a high Kalman Gain,
   // giving a high weight to the measurement.
-  k.p(kalman::estimate_uncertainty{{500, 0, 0, 0, 0, 0},
-                                   {0, 500, 0, 0, 0, 0},
-                                   {0, 0, 500, 0, 0, 0},
-                                   {0, 0, 0, 500, 0, 0},
-                                   {0, 0, 0, 0, 500, 0},
-                                   {0, 0, 0, 0, 0, 500}});
+  filter.p(kalman::estimate_uncertainty{{500, 0, 0, 0, 0, 0},
+                                        {0, 500, 0, 0, 0, 0},
+                                        {0, 0, 500, 0, 0, 0},
+                                        {0, 0, 0, 500, 0, 0},
+                                        {0, 0, 0, 0, 500, 0},
+                                        {0, 0, 0, 0, 0, 500}});
 
   // Prediction
   // The process noise matrix Q would be:
@@ -52,23 +52,23 @@ namespace {
       {0.25, 0.5, 0.5, 0, 0, 0}, {0.5, 1, 1, 0, 0, 0}, {0.5, 1, 1, 0, 0, 0},
       {0, 0, 0, 0.25, 0.5, 0.5}, {0, 0, 0, 0.5, 1, 1}, {0, 0, 0, 0.5, 1, 1}};
   q *= 0.2 * 0.2;
-  k.q(std::move(q));
+  filter.q(std::move(q));
 
   // The state transition matrix F would be:
-  k.f(kalman::state_transition{{1, 1, 0.5, 0, 0, 0},
-                               {0, 1, 1, 0, 0, 0},
-                               {0, 0, 1, 0, 0, 0},
-                               {0, 0, 0, 1, 1, 0.5},
-                               {0, 0, 0, 0, 1, 1},
-                               {0, 0, 0, 0, 0, 1}});
+  filter.f(kalman::state_transition{{1, 1, 0.5, 0, 0, 0},
+                                    {0, 1, 1, 0, 0, 0},
+                                    {0, 0, 1, 0, 0, 0},
+                                    {0, 0, 0, 1, 1, 0.5},
+                                    {0, 0, 0, 0, 1, 1},
+                                    {0, 0, 0, 0, 0, 1}});
 
   // Now we can predict the next state based on the initialization values.
-  k.predict();
+  filter.predict();
 
   // Measure and Update
   // The dimension of zn is 2x1 and the dimension of xn is 6x1. Therefore the
   // dimension of the observation matrix H shall be 2x6.
-  k.h(kalman::output_model{{1, 0, 0, 0, 0, 0}, {0, 0, 0, 1, 0, 0}});
+  filter.h(kalman::output_model{{1, 0, 0, 0, 0, 0}, {0, 0, 0, 1, 0, 0}});
 
   // Assume that the x and y measurements are uncorrelated, i.e. error in the x
   // coordinate measurement doesn't depend on the error in the y coordinate
@@ -79,28 +79,28 @@ namespace {
   // For the sake of the example simplicity, we will assume a constant
   // measurement uncertainty: R1 = R2...Rn-1 = Rn = R The measurement error
   // standard deviation: σxm = σym = 3m. The variance 9.
-  k.r(kalman::output_uncertainty{{9, 0}, {0, 9}});
+  filter.r(kalman::output_uncertainty{{9, 0}, {0, 9}});
 
   // The measurement values: z1 = [-393.66, 300.4]
-  k.update(-393.66, 300.4);
-  k.predict();
+  filter.update(-393.66, 300.4);
+  filter.predict();
 
   // And so on, run a step of the filter, predicting and updating, every
   // measurements period: Δt = 1s (constant, built-in).
-  const auto step{[&k](double position_x, double position_y) {
-    k.update(position_x, position_y);
-    k.predict();
+  const auto step{[&filter](double position_x, double position_y) {
+    filter.update(position_x, position_y);
+    filter.predict();
   }};
 
   step(-375.93, 301.78);
 
   // Verify the example estimated state at 0.1% accuracy.
-  assert(std::abs(1 - k.x()[0] / -277.8) < 0.001 &&
-         std::abs(1 - k.x()[1] / 148.3) < 0.001 &&
-         std::abs(1 - k.x()[2] / 94.5) < 0.001 &&
-         std::abs(1 - k.x()[3] / 249.8) < 0.001 &&
-         std::abs(1 - k.x()[4] / -85.9) < 0.001 &&
-         std::abs(1 - k.x()[5] / -63.6) < 0.001 &&
+  assert(std::abs(1 - filter.x()[0] / -277.8) < 0.001 &&
+         std::abs(1 - filter.x()[1] / 148.3) < 0.001 &&
+         std::abs(1 - filter.x()[2] / 94.5) < 0.001 &&
+         std::abs(1 - filter.x()[3] / 249.8) < 0.001 &&
+         std::abs(1 - filter.x()[4] / -85.9) < 0.001 &&
+         std::abs(1 - filter.x()[5] / -63.6) < 0.001 &&
          "The state estimates expected at 0.1% accuracy.");
 
   step(-351.04, 295.1);
@@ -137,19 +137,19 @@ namespace {
   step(291.8, 32.99);
   step(299.89, 2.14);
 
-  assert(std::abs(1 - k.x()[0] / 298.5) < 0.006 &&
-         std::abs(1 - k.x()[1] / -1.65) < 0.006 &&
-         std::abs(1 - k.x()[2] / -1.9) < 0.006 &&
-         std::abs(1 - k.x()[3] / -22.5) < 0.006 &&
-         std::abs(1 - k.x()[4] / -26.1) < 0.006 &&
-         std::abs(1 - k.x()[5] / -0.64) < 0.006 &&
+  assert(std::abs(1 - filter.x()[0] / 298.5) < 0.006 &&
+         std::abs(1 - filter.x()[1] / -1.65) < 0.006 &&
+         std::abs(1 - filter.x()[2] / -1.9) < 0.006 &&
+         std::abs(1 - filter.x()[3] / -22.5) < 0.006 &&
+         std::abs(1 - filter.x()[4] / -26.1) < 0.006 &&
+         std::abs(1 - filter.x()[5] / -0.64) < 0.006 &&
          "The state estimates expected at 0.6% accuracy.");
-  assert(std::abs(1 - k.p()(0, 0) / 11.25) < 0.001 &&
-         std::abs(1 - k.p()(0, 1) / 4.5) < 0.001 &&
-         std::abs(1 - k.p()(0, 2) / 0.9) < 0.001 &&
-         std::abs(1 - k.p()(1, 1) / 2.4) < 0.001 &&
-         std::abs(1 - k.p()(2, 2) / 0.2) < 0.001 &&
-         std::abs(1 - k.p()(3, 3) / 11.25) < 0.001 &&
+  assert(std::abs(1 - filter.p()(0, 0) / 11.25) < 0.001 &&
+         std::abs(1 - filter.p()(0, 1) / 4.5) < 0.001 &&
+         std::abs(1 - filter.p()(0, 2) / 0.9) < 0.001 &&
+         std::abs(1 - filter.p()(1, 1) / 2.4) < 0.001 &&
+         std::abs(1 - filter.p()(2, 2) / 0.2) < 0.001 &&
+         std::abs(1 - filter.p()(3, 3) / 11.25) < 0.001 &&
          "The estimate uncertainty expected at 0.1% accuracy."
          "At this point, the position uncertainty px = py = 5, which means "
          "that the standard deviation of the prediction is square root of 5m.");
diff --git a/sample/kf_8x4x0_deep_sort_bounding_box.cpp b/sample/kf_8x4x0_deep_sort_bounding_box.cpp
index 19a19dd5a..4fa5bb1e7 100644
--- a/sample/kf_8x4x0_deep_sort_bounding_box.cpp
+++ b/sample/kf_8x4x0_deep_sort_bounding_box.cpp
@@ -25,7 +25,7 @@ namespace {
   // A 8x4x0 filter, constant velocity, linear.
   using kalman = kalman<vector<float, 8>, vector<float, 4>>;
 
-  kalman k;
+  kalman filter;
 
   // A hundred bounding box output measurements `(x, y, a, h)` from Deep SORT's
   // MOT16 sample, tracker #201.
@@ -135,14 +135,14 @@ namespace {
   // first observed output. Bounding box position and velocity estimated state:
   // [px, py, pa, ph, vx, vy, va, vh].
   const kalman::output initial_box{605.0, 248.0, 0.20481927710843373, 332.0};
-  k.x(initial_box(0), initial_box(1), initial_box(2), initial_box(3), 0, 0, 0,
-      0);
+  filter.x(initial_box(0), initial_box(1), initial_box(2), initial_box(3), 0, 0,
+           0, 0);
 
   // Experimental position and velocity uncertainty standard deviation weights.
   const float position_weight{1. / 20.};
   const float velocity_weight{1. / 160.};
 
-  k.p(kalman::estimate_uncertainty{
+  filter.p(kalman::estimate_uncertainty{
       vector<float, 8>{2 * position_weight * initial_box(3),
                        2 * position_weight * initial_box(3), 1e-2,
                        2 * position_weight * initial_box(3),
@@ -157,17 +157,17 @@ namespace {
   // Constant velocity, linear state transition model. From one image frame to
   // the other.
   const float delta_time{1};
-  k.f(kalman::state_transition{{1, 0, 0, 0, delta_time, 0, 0, 0},
-                               {0, 1, 0, 0, 0, delta_time, 0, 0},
-                               {0, 0, 1, 0, 0, 0, delta_time, 0},
-                               {0, 0, 0, 1, 0, 0, 0, delta_time},
-                               {0, 0, 0, 0, 1, 0, 0, 0},
-                               {0, 0, 0, 0, 0, 1, 0, 0},
-                               {0, 0, 0, 0, 0, 0, 1, 0},
-                               {0, 0, 0, 0, 0, 0, 0, 1}});
-
-  k.q([position_weight,
-       velocity_weight](const kalman::state &x) -> kalman::process_uncertainty {
+  filter.f(kalman::state_transition{{1, 0, 0, 0, delta_time, 0, 0, 0},
+                                    {0, 1, 0, 0, 0, delta_time, 0, 0},
+                                    {0, 0, 1, 0, 0, 0, delta_time, 0},
+                                    {0, 0, 0, 1, 0, 0, 0, delta_time},
+                                    {0, 0, 0, 0, 1, 0, 0, 0},
+                                    {0, 0, 0, 0, 0, 1, 0, 0},
+                                    {0, 0, 0, 0, 0, 0, 1, 0},
+                                    {0, 0, 0, 0, 0, 0, 0, 1}});
+
+  filter.q([position_weight, velocity_weight](
+               const kalman::state &x) -> kalman::process_uncertainty {
     return vector<float, 8>{position_weight * x(3),
                             position_weight * x(3),
                             1e-2,
@@ -183,44 +183,45 @@ namespace {
   });
 
   // Now we can predict the next state based on the initialization values.
-  k.predict();
+  filter.predict();
 
   // Measure and Update
   // Direct linear observation transition model.
-  k.h(kalman::output_model{{1, 0, 0, 0, 0, 0, 0, 0},
-                           {0, 1, 0, 0, 0, 0, 0, 0},
-                           {0, 0, 1, 0, 0, 0, 0, 0},
-                           {0, 0, 0, 1, 0, 0, 0, 0}});
+  filter.h(kalman::output_model{{1, 0, 0, 0, 0, 0, 0, 0},
+                                {0, 1, 0, 0, 0, 0, 0, 0},
+                                {0, 0, 1, 0, 0, 0, 0, 0},
+                                {0, 0, 0, 1, 0, 0, 0, 0}});
 
   // Observation, measurement noise covariance.
-  k.r([position_weight](const kalman::state &x,
+  filter.r(
+      [position_weight](const kalman::state &x,
                         const kalman::output &z) -> kalman::output_uncertainty {
-    static_cast<void>(z);
-    return vector<float, 4>{position_weight * x(3), position_weight * x(3),
-                            1e-1, position_weight * x(3)}
-        .array()
-        .square()
-        .matrix()
-        .asDiagonal();
-  });
+        static_cast<void>(z);
+        return vector<float, 4>{position_weight * x(3), position_weight * x(3),
+                                1e-1, position_weight * x(3)}
+            .array()
+            .square()
+            .matrix()
+            .asDiagonal();
+      });
 
   // And so on, run a step of the filter, updating and predicting, every frame.
   for (const auto &output : measured) {
-    k.update(output);
-    k.predict();
+    filter.update(output);
+    filter.predict();
   }
 
-  assert(std::abs(1 - k.x()[0] / 370.932041394761f) < 0.001f &&
-         std::abs(1 - k.x()[1] / 251.173174229878f) < 0.001f &&
-         std::abs(1 - k.x()[2] / 0.314757138075364f) < 0.001f &&
-         std::abs(1 - k.x()[3] / 287.859996019444f) < 0.001f &&
-         std::abs(1 - k.x()[4] / 1.95865368159518f) < 0.001f &&
-         std::abs(1 - k.x()[5] / 0.229282868701086f) < 0.001f &&
+  assert(std::abs(1 - filter.x()[0] / 370.932041394761f) < 0.001f &&
+         std::abs(1 - filter.x()[1] / 251.173174229878f) < 0.001f &&
+         std::abs(1 - filter.x()[2] / 0.314757138075364f) < 0.001f &&
+         std::abs(1 - filter.x()[3] / 287.859996019444f) < 0.001f &&
+         std::abs(1 - filter.x()[4] / 1.95865368159518f) < 0.001f &&
+         std::abs(1 - filter.x()[5] / 0.229282868701086f) < 0.001f &&
          // The precision of the velocity appears to saturate early on in the
          // original example. The parameter could be scaled or larger types used
          // to improve comparison accuracy.
-         std::abs(1 - k.x()[6] / 2.46138628550094E-06f) < 0.5f &&
-         std::abs(1 - k.x()[7] / 0.81402529074969f) < 0.001f &&
+         std::abs(1 - filter.x()[6] / 2.46138628550094E-06f) < 0.5f &&
+         std::abs(1 - filter.x()[7] / 0.81402529074969f) < 0.001f &&
          "The estimated states expected to meet Nwojke's Deep SORT filter's "
          "MOT16 sample tracker #201 dataset at 0.1% accuracy.");
 
diff --git a/test/eigen_f.cpp b/test/eigen_f.cpp
index 4413d0426..9a026f67b 100644
--- a/test/eigen_f.cpp
+++ b/test/eigen_f.cpp
@@ -49,36 +49,36 @@ namespace {
                         std::tuple<double, float, int, char>,
                         std::tuple<char, int, float, double>>;
 
-  kalman k;
+  kalman filter;
 
   const auto i5x5{matrix<double, 5, 5>::Identity()};
   const auto z5x5{matrix<double, 5, 5>::Zero()};
   const vector<double, 3> z3{vector<double, 3>::Zero()};
 
-  assert(k.f() == i5x5);
+  assert(filter.f() == i5x5);
 
   {
     const auto f{i5x5};
-    k.f(f);
-    assert(k.f() == i5x5);
+    filter.f(f);
+    assert(filter.f() == i5x5);
   }
 
   {
     const auto f{z5x5};
-    k.f(std::move(f));
-    assert(k.f() == z5x5);
+    filter.f(std::move(f));
+    assert(filter.f() == z5x5);
   }
 
   {
     const auto f{i5x5};
-    k.f(f);
-    assert(k.f() == i5x5);
+    filter.f(f);
+    assert(filter.f() == i5x5);
   }
 
   {
     const auto f{z5x5};
-    k.f(std::move(f));
-    assert(k.f() == z5x5);
+    filter.f(std::move(f));
+    assert(filter.f() == z5x5);
   }
 
   {
@@ -93,10 +93,10 @@ namespace {
       static_cast<void>(u);
       return matrix<double, 5, 5>::Identity();
     }};
-    k.f(f);
-    assert(k.f() == z5x5);
-    k.predict(char(0), 0, 0.f, 0., z3);
-    assert(k.f() == i5x5);
+    filter.f(f);
+    assert(filter.f() == z5x5);
+    filter.predict(char(0), 0, 0.f, 0., z3);
+    assert(filter.f() == i5x5);
   }
 
   {
@@ -111,10 +111,10 @@ namespace {
       static_cast<void>(u);
       return matrix<double, 5, 5>::Zero();
     }};
-    k.f(std::move(f));
-    assert(k.f() == i5x5);
-    k.predict(0, 0, 0.f, 0., z3);
-    assert(k.f() == z5x5);
+    filter.f(std::move(f));
+    assert(filter.f() == i5x5);
+    filter.predict(0, 0, 0.f, 0., z3);
+    assert(filter.f() == z5x5);
   }
 
   return 0;
diff --git a/test/eigen_h.cpp b/test/eigen_h.cpp
index 75628215e..e4a96d1a2 100644
--- a/test/eigen_h.cpp
+++ b/test/eigen_h.cpp
@@ -50,35 +50,35 @@ namespace {
                         std::tuple<double, float, int, char>,
                         std::tuple<char, int, float, double>>;
 
-  kalman k;
+  kalman filter;
   const auto i4x5{matrix<double, 4, 5>::Identity()};
   const auto z4x5{matrix<double, 4, 5>::Zero()};
   const vector<double, 4> z4{vector<double, 4>::Zero()};
 
-  assert(k.h() == i4x5);
+  assert(filter.h() == i4x5);
 
   {
     const auto h{i4x5};
-    k.h(h);
-    assert(k.h() == i4x5);
+    filter.h(h);
+    assert(filter.h() == i4x5);
   }
 
   {
     const auto h{z4x5};
-    k.h(std::move(h));
-    assert(k.h() == z4x5);
+    filter.h(std::move(h));
+    assert(filter.h() == z4x5);
   }
 
   {
     const auto h{i4x5};
-    k.h(h);
-    assert(k.h() == i4x5);
+    filter.h(h);
+    assert(filter.h() == i4x5);
   }
 
   {
     const auto h{z4x5};
-    k.h(std::move(h));
-    assert(k.h() == z4x5);
+    filter.h(std::move(h));
+    assert(filter.h() == z4x5);
   }
 
   {
@@ -91,10 +91,10 @@ namespace {
       static_cast<void>(c);
       return matrix<double, 4, 5>::Identity();
     }};
-    k.h(h);
-    assert(k.h() == z4x5);
-    k.update(0., 0.f, 0, char(0), z4);
-    assert(k.h() == i4x5);
+    filter.h(h);
+    assert(filter.h() == z4x5);
+    filter.update(0., 0.f, 0, char(0), z4);
+    assert(filter.h() == i4x5);
   }
 
   {
@@ -107,10 +107,10 @@ namespace {
       static_cast<void>(c);
       return matrix<double, 4, 5>::Zero();
     }};
-    k.h(std::move(h));
-    assert(k.h() == i4x5);
-    k.update(0., 0.f, 0, char(0), z4);
-    assert(k.h() == z4x5);
+    filter.h(std::move(h));
+    assert(filter.h() == i4x5);
+    filter.update(0., 0.f, 0, char(0), z4);
+    assert(filter.h() == z4x5);
   }
 
   return 0;
diff --git a/test/eigen_initialization.cpp b/test/eigen_initialization.cpp
index 1864e4128..e6ade5f47 100644
--- a/test/eigen_initialization.cpp
+++ b/test/eigen_initialization.cpp
@@ -47,7 +47,7 @@ namespace {
 [[maybe_unused]] auto defaults543{[] {
   using kalman =
       kalman<vector<double, 5>, vector<double, 4>, vector<double, 3>>;
-  kalman k;
+  kalman filter;
 
   const auto z3x1{vector<double, 3>::Zero()};
   const auto i4x4{matrix<double, 4, 4>::Identity()};
@@ -60,18 +60,18 @@ namespace {
   const auto z5x1{vector<double, 5>::Zero()};
   const auto z5x5{matrix<double, 5, 5>::Zero()};
 
-  assert(k.f() == i5x5);
-  assert(k.g() == i5x3);
-  assert(k.h() == i4x5);
-  assert(k.k() == i5x4);
-  assert(k.p() == i5x5);
-  assert(k.q() == z5x5 && "No process noise by default.");
-  assert(k.r() == z4x4 && "No observation noise by default.");
-  assert(k.s() == i4x4);
-  assert(k.u() == z3x1 && "No initial control.");
-  assert(k.x() == z5x1 && "Origin state.");
-  assert(k.y() == z4x1);
-  assert(k.z() == z4x1);
+  assert(filter.f() == i5x5);
+  assert(filter.g() == i5x3);
+  assert(filter.h() == i4x5);
+  assert(filter.k() == i5x4);
+  assert(filter.p() == i5x5);
+  assert(filter.q() == z5x5 && "No process noise by default.");
+  assert(filter.r() == z4x4 && "No observation noise by default.");
+  assert(filter.s() == i4x4);
+  assert(filter.u() == z3x1 && "No initial control.");
+  assert(filter.x() == z5x1 && "Origin state.");
+  assert(filter.y() == z4x1);
+  assert(filter.z() == z4x1);
 
   return 0;
 }()};
diff --git a/test/f.cpp b/test/f.cpp
index de3be897c..a81a7f434 100644
--- a/test/f.cpp
+++ b/test/f.cpp
@@ -46,32 +46,32 @@ namespace {
 //! the default filter type.
 [[maybe_unused]] auto f_1x1x0{[] {
   using kalman = kalman<>;
-  kalman k;
+  kalman filter;
 
-  assert(k.f() == 1);
+  assert(filter.f() == 1);
 
   {
     const auto f{2.};
-    k.f(f);
-    assert(k.f() == 2);
+    filter.f(f);
+    assert(filter.f() == 2);
   }
 
   {
     const auto f{3.};
-    k.f(std::move(f));
-    assert(k.f() == 3);
+    filter.f(std::move(f));
+    assert(filter.f() == 3);
   }
 
   {
     const auto f{4.};
-    k.f(f);
-    assert(k.f() == 4);
+    filter.f(f);
+    assert(filter.f() == 4);
   }
 
   {
     const auto f{5.};
-    k.f(std::move(f));
-    assert(k.f() == 5);
+    filter.f(std::move(f));
+    assert(filter.f() == 5);
   }
 
   {
@@ -79,10 +79,10 @@ namespace {
       static_cast<void>(x);
       return 6.;
     }};
-    k.f(f);
-    assert(k.f() == 5);
-    k.predict();
-    assert(k.f() == 6);
+    filter.f(f);
+    assert(filter.f() == 5);
+    filter.predict();
+    assert(filter.f() == 6);
   }
 
   {
@@ -90,10 +90,10 @@ namespace {
       static_cast<void>(x);
       return 7.;
     }};
-    k.f(std::move(f));
-    assert(k.f() == 6);
-    k.predict();
-    assert(k.f() == 7);
+    filter.f(std::move(f));
+    assert(filter.f() == 6);
+    filter.predict();
+    assert(filter.f() == 7);
   }
 
   return 0;
diff --git a/test/format.cpp b/test/format.cpp
index b87412c79..8778a38f1 100644
--- a/test/format.cpp
+++ b/test/format.cpp
@@ -47,10 +47,10 @@ namespace {
 //! @test Verifies formatting filters for single-dimension filters without input
 //! control or additional arguments.
 [[maybe_unused]] auto format_d_1x1x0{[] {
-  kalman k;
+  kalman filter;
 
   assert(
-      std::format("{}", k) ==
+      std::format("{}", filter) ==
       R"({"f": 1, "h": 1, "k": 1, "p": 1, "q": 0, "r": 0, "s": 1, "x": 0, "y": 0, "z": 0})");
 
   return 0;
@@ -59,10 +59,10 @@ namespace {
 //! @test Verifies formatting filters for single-dimension filters with input
 //! control without additional arguments.
 [[maybe_unused]] auto format_d_1x1x1{[] {
-  kalman<double, double, double> k;
+  kalman<double, double, double> filter;
 
   assert(
-      std::format("{}", k) ==
+      std::format("{}", filter) ==
       R"({"f": 1, "g": 1, "h": 1, "k": 1, "p": 1, "q": 0, "r": 0, "s": 1, "u": 0, "x": 0, "y": 0, "z": 0})");
 
   return 0;
@@ -76,10 +76,10 @@ namespace {
                        std::divides<double>, identity_matrix,
                        std::tuple<double, double, double>,
                        std::tuple<double, double, double, double>>;
-  kalman k;
+  kalman filter;
 
   assert(
-      std::format("{}", k) ==
+      std::format("{}", filter) ==
       R"({"f": 1, "g": 1, "h": 1, "k": 1, "p": 1, "prediction_0": 0, "prediction_1": 0, "prediction_2": 0, "prediction_3": 0, "q": 0, "r": 0, "s": 1, "u": 0, "update_0": 0, "update_1": 0, "update_2": 0, "x": 0, "y": 0, "z": 0})");
 
   return 0;
diff --git a/test/h.cpp b/test/h.cpp
index 2aaac16e5..7fd9f74bf 100644
--- a/test/h.cpp
+++ b/test/h.cpp
@@ -46,32 +46,32 @@ namespace {
 //! the default filter type.
 [[maybe_unused]] auto h_1x1x0{[] {
   using kalman = kalman<>;
-  kalman k;
+  kalman filter;
 
-  assert(k.h() == 1);
+  assert(filter.h() == 1);
 
   {
     const auto h{2.};
-    k.h(h);
-    assert(k.h() == 2);
+    filter.h(h);
+    assert(filter.h() == 2);
   }
 
   {
     const auto h{3.};
-    k.h(std::move(h));
-    assert(k.h() == 3);
+    filter.h(std::move(h));
+    assert(filter.h() == 3);
   }
 
   {
     const auto h{4.};
-    k.h(h);
-    assert(k.h() == 4);
+    filter.h(h);
+    assert(filter.h() == 4);
   }
 
   {
     const auto h{5.};
-    k.h(std::move(h));
-    assert(k.h() == 5);
+    filter.h(std::move(h));
+    assert(filter.h() == 5);
   }
 
   {
@@ -79,10 +79,10 @@ namespace {
       static_cast<void>(x);
       return 6.;
     }};
-    k.h(h);
-    assert(k.h() == 5);
-    k.update();
-    assert(k.h() == 6);
+    filter.h(h);
+    assert(filter.h() == 5);
+    filter.update(0.);
+    assert(filter.h() == 6);
   }
 
   {
@@ -90,10 +90,10 @@ namespace {
       static_cast<void>(x);
       return 7.;
     }};
-    k.h(std::move(h));
-    assert(k.h() == 6);
-    k.update();
-    assert(k.h() == 7);
+    filter.h(std::move(h));
+    assert(filter.h() == 6);
+    filter.update(0.);
+    assert(filter.h() == 7);
   }
 
   return 0;
diff --git a/test/initialization.cpp b/test/initialization.cpp
index e1eddf0a7..9d40dcf1b 100644
--- a/test/initialization.cpp
+++ b/test/initialization.cpp
@@ -45,18 +45,18 @@ namespace {
 //! @test Verifies default values are initialized for single-dimension filters
 //! without input control.
 [[maybe_unused]] auto defaults110{[] {
-  kalman k;
-
-  assert(k.f() == 1);
-  assert(k.h() == 1);
-  assert(k.k() == 1);
-  assert(k.p() == 1);
-  assert(k.q() == 0 && "No process noise by default.");
-  assert(k.r() == 0 && "No observation noise by default.");
-  assert(k.s() == 1);
-  assert(k.x() == 0 && "Origin state.");
-  assert(k.y() == 0);
-  assert(k.z() == 0);
+  kalman filter;
+
+  assert(filter.f() == 1);
+  assert(filter.h() == 1);
+  assert(filter.k() == 1);
+  assert(filter.p() == 1);
+  assert(filter.q() == 0 && "No process noise by default.");
+  assert(filter.r() == 0 && "No observation noise by default.");
+  assert(filter.s() == 1);
+  assert(filter.x() == 0 && "Origin state.");
+  assert(filter.y() == 0);
+  assert(filter.z() == 0);
 
   return 0;
 }()};
@@ -65,20 +65,20 @@ namespace {
 //! with input control.
 [[maybe_unused]] auto defaults111{[] {
   using kalman = fcarouge::kalman<double, double, double>;
-  kalman k;
-
-  assert(k.f() == 1);
-  assert(k.g() == 1);
-  assert(k.h() == 1);
-  assert(k.k() == 1);
-  assert(k.p() == 1);
-  assert(k.q() == 0 && "No process noise by default.");
-  assert(k.r() == 0 && "No observation noise by default.");
-  assert(k.s() == 1);
-  assert(k.u() == 0 && "No initial control.");
-  assert(k.x() == 0 && "Origin state.");
-  assert(k.y() == 0);
-  assert(k.z() == 0);
+  kalman filter;
+
+  assert(filter.f() == 1);
+  assert(filter.g() == 1);
+  assert(filter.h() == 1);
+  assert(filter.k() == 1);
+  assert(filter.p() == 1);
+  assert(filter.q() == 0 && "No process noise by default.");
+  assert(filter.r() == 0 && "No observation noise by default.");
+  assert(filter.s() == 1);
+  assert(filter.u() == 0 && "No initial control.");
+  assert(filter.x() == 0 && "Origin state.");
+  assert(filter.y() == 0);
+  assert(filter.z() == 0);
 
   return 0;
 }()};