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diff --git a/src/AltEst/algebra.h b/src/AltEst/algebra.h
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+/*
+  algebra.h: This file contains a number of utilities useful for handling
+  3D vectors
+
+  This work is an adaptation from vvector.h, written by Linas Vepstras. The
+  original code can be found at:
+
+  https://github.com/markkilgard/glut/blob/master/lib/gle/vvector.h
+
+  HISTORY:
+  Written by Linas Vepstas, August 1991
+  Added 2D code, March 1993
+  Added Outer products, C++ proofed, Linas Vepstas October 1993
+  Adapted for altitude estimation tasks by Juan Gallostra June 2018
+  Separated .h, .cpp by Simon D. Levy July 2018
+*/
+
+#pragma once
+
+//#include <cmath>
+#include <math.h>
+
+// Copy 3D vector
+void copyVector(float b[3],float a[3]);
+
+
+// Vector difference
+void subtractVectors(float v21[3], float v2[3], float v1[3]);
+
+// Vector sum
+void sumVectors(float v21[3], float v2[3], float v1[3]);
+
+// scalar times vector
+void scaleVector(float c[3],float a, float b[3]);
+
+// accumulate scaled vector
+void accumulateScaledVector(float c[3], float a, float b[3]);
+
+// Vector dot product
+void dotProductVectors(float * c, float a[3], float b[3]);
+
+// Vector length
+void vectorLength(float * len, float a[3]);
+
+// Normalize vector
+void normalizeVector(float a[3]);
+
+// 3D Vector cross product yeilding vector
+void crossProductVectors(float c[3], float a[3], float b[3]);
+
+// initialize matrix
+void identityMatrix3x3(float m[3][3]);
+
+// matrix copy
+void copyMatrix3x3(float b[3][3], float a[3][3]);
+
+// matrix transpose
+void transposeMatrix3x3(float b[3][3], float a[3][3]);
+
+// multiply matrix by scalar
+void scaleMatrix3x3(float b[3][3], float s, float a[3][3]);
+
+// multiply matrix by scalar and add result to another matrix
+void scaleAndAccumulateMatrix3x3(float b[3][3], float s, float a[3][3]);
+
+// matrix product
+// c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y]
+void matrixProduct3x3(float c[3][3], float a[3][3], float b[3][3]);
+
+// matrix times vector
+void matrixDotVector3x3(float p[3], float m[3][3], float v[3]);
+
+// determinant of matrix
+// Computes determinant of matrix m, returning d
+void determinant3x3(float * d, float m[3][3]);
+
+// adjoint of matrix
+// Computes adjoint of matrix m, returning a
+// (Note that adjoint is just the transpose of the cofactor matrix);
+void adjoint3x3(float a[3][3], float m[3][3]);
+
+// compute adjoint of matrix and scale
+// Computes adjoint of matrix m, scales it by s, returning a
+void scaleAdjoint3x3(float a[3][3], float s, float m[3][3]);
+
+// inverse of matrix
+// Compute inverse of matrix a, returning determinant m and
+// inverse b
+void invert3x3(float b[3][3], float a[3][3]);
+
+// skew matrix from vector
+void skew(float a[3][3], float v[3]);
+
+void printMatrix3X3(float mmm[3][3]);
+
+void vecPrint(float a[3]);