diff --git a/MbDCode/DiagonalMatrix.cpp b/MbDCode/DiagonalMatrix.cpp
new file mode 100644
index 0000000..4d12ace
--- /dev/null
+++ b/MbDCode/DiagonalMatrix.cpp
@@ -0,0 +1 @@
+#include "DiagonalMatrix.h"
diff --git a/MbDCode/DiagonalMatrix.h b/MbDCode/DiagonalMatrix.h
new file mode 100644
index 0000000..b2b5bc8
--- /dev/null
+++ b/MbDCode/DiagonalMatrix.h
@@ -0,0 +1,9 @@
+#pragma once
+#include "Array.h"
+namespace MbD {
+    template <typename T>
+    class DiagonalMatrix : public Array<T>
+    {
+    };
+}
+
diff --git a/MbDCode/EndFramec.cpp b/MbDCode/EndFramec.cpp
new file mode 100644
index 0000000..6b35584
--- /dev/null
+++ b/MbDCode/EndFramec.cpp
@@ -0,0 +1,12 @@
+#include "EndFramec.h"
+
+using namespace MbD;
+
+EndFramec::EndFramec()
+{
+}
+
+void EndFramec::setMarkerFrame(MarkerFrame* markerFrm)
+{
+	markerFrame = markerFrm;
+}
diff --git a/MbDCode/EndFramec.h b/MbDCode/EndFramec.h
new file mode 100644
index 0000000..454d7f3
--- /dev/null
+++ b/MbDCode/EndFramec.h
@@ -0,0 +1,22 @@
+#pragma once
+#include "CartesianFrame.h"
+#include "MarkerFrame.h"
+#include "FullColumn.h"
+#include "FullMatrix.h"
+
+namespace MbD {
+    class MarkerFrame;
+
+    class EndFramec : public CartesianFrame
+    {
+        //markerFrame rOeO aAOe 
+    public:
+        EndFramec();
+        void setMarkerFrame(MarkerFrame* markerFrm);
+
+        MarkerFrame* markerFrame;
+        FullColumn<double>* rOeO = new FullColumn<double>(3);
+        FullMatrix<double>* aAOe = new FullMatrix<double>(3, 3);
+    };
+}
+
diff --git a/MbDCode/EndFrameqc.cpp b/MbDCode/EndFrameqc.cpp
new file mode 100644
index 0000000..b84300c
--- /dev/null
+++ b/MbDCode/EndFrameqc.cpp
@@ -0,0 +1,7 @@
+#include "EndFrameqc.h"
+
+using namespace MbD;
+
+EndFrameqc::EndFrameqc() : EndFramec()
+{
+}
diff --git a/MbDCode/EndFrameqc.h b/MbDCode/EndFrameqc.h
new file mode 100644
index 0000000..848ec5c
--- /dev/null
+++ b/MbDCode/EndFrameqc.h
@@ -0,0 +1,19 @@
+#pragma once
+#include "EndFramec.h"
+#include "FullColumn.h"
+#include "FullMatrix.h"
+
+namespace MbD {
+
+    class EndFrameqc : public EndFramec
+    {
+        //prOeOpE pprOeOpEpE pAOepE ppAOepEpE
+    public:
+        EndFrameqc();
+        FullMatrix<double>* prOeOpE = new FullMatrix<double>(3, 4);
+        FullMatrix<FullColumn<double>>* pprOeOpEpE = new FullMatrix<FullColumn<double>>(3, 4);
+        FullColumn<FullMatrix<double>>* pAOepE = new FullColumn<FullMatrix<double>>(4);
+        FullMatrix<FullMatrix<double>>* ppAOepEpE = new FullMatrix<FullMatrix<double>>(4, 4);
+    };
+}
+
diff --git a/MbDCode/EndFrameqct.cpp b/MbDCode/EndFrameqct.cpp
new file mode 100644
index 0000000..2398841
--- /dev/null
+++ b/MbDCode/EndFrameqct.cpp
@@ -0,0 +1 @@
+#include "EndFrameqct.h"
diff --git a/MbDCode/EndFrameqct.h b/MbDCode/EndFrameqct.h
new file mode 100644
index 0000000..2365cdf
--- /dev/null
+++ b/MbDCode/EndFrameqct.h
@@ -0,0 +1,9 @@
+#pragma once
+#include "EndFrameqc.h"
+namespace MbD {
+    class EndFrameqct :
+        public EndFrameqc
+    {
+    };
+}
+
diff --git a/MbDCode/FullMatrix.cpp b/MbDCode/FullMatrix.cpp
new file mode 100644
index 0000000..2c252f2
--- /dev/null
+++ b/MbDCode/FullMatrix.cpp
@@ -0,0 +1,11 @@
+#include "FullMatrix.h"
+
+using namespace MbD;
+
+FullMatrix<double>::FullMatrix(int m, int n) {
+    for (int i = 0; i < m; i++) {
+        auto* row = new FullRow<double>(n);
+        this->push_back(row);
+    }
+}
+
diff --git a/MbDCode/FullMatrix.h b/MbDCode/FullMatrix.h
new file mode 100644
index 0000000..05bc320
--- /dev/null
+++ b/MbDCode/FullMatrix.h
@@ -0,0 +1,17 @@
+#pragma once
+#include "RowTypeMatrix.h"
+#include "FullRow.h"
+
+namespace MbD {
+    template <typename T>
+    class FullMatrix : public RowTypeMatrix<FullRow<T>*>
+    {
+    public:
+        FullMatrix() {
+            // constructor code here
+        }
+        FullMatrix(int m, int n);
+        //FullMatrix(std::initializer_list<T> list) : RowTypeMatrix<FullRow<T>>{ list } {}
+    };
+}
+
diff --git a/MbDCode/MbDCode.h b/MbDCode/MbDCode.h
new file mode 100644
index 0000000..e69de29
diff --git a/MbDCode/RowTypeMatrix.cpp b/MbDCode/RowTypeMatrix.cpp
new file mode 100644
index 0000000..aaa7af2
--- /dev/null
+++ b/MbDCode/RowTypeMatrix.cpp
@@ -0,0 +1 @@
+#include "RowTypeMatrix.h"
diff --git a/MbDCode/RowTypeMatrix.h b/MbDCode/RowTypeMatrix.h
new file mode 100644
index 0000000..c528c9c
--- /dev/null
+++ b/MbDCode/RowTypeMatrix.h
@@ -0,0 +1,21 @@
+#pragma once
+#include "Array.h"
+namespace MbD {
+	template <typename T>
+	class RowTypeMatrix : public Array<T>
+	{
+	public:
+		RowTypeMatrix() {}
+		RowTypeMatrix(std::initializer_list<T> list) : Array<T>{ list } {}
+		void copy(RowTypeMatrix<T>* x);
+	};
+
+	template<typename T>
+	inline void RowTypeMatrix<T>::copy(RowTypeMatrix<T>* x)
+	{
+		for (int i = 0; i < x->size(); i++) {
+			this->at(i)->copy(x->at(i));
+		}
+	}
+}
+