Merge pull request #69 from alfeko/master

Master update
Merge pull request #70 from alfeko/master

Merge pull request #67 from alfeko/mattsonbranch
Merge pull request #71 from alfeko/master

Master update
Fixed classes
Merge pull request #72 from alfeko/alexbranch

Merge pull request #68 from alfeko/master
Merge pull request #73 from alfeko/dmpbranch

Merge pull request #69 from alfeko/master
Merge pull request #74 from alfeko/mattsonbranch

Mattsonbranch
Merge pull request #75 from alfeko/peterbranch

Merge pull request #71 from alfeko/master
qq
Fix