diff --git a/MbDCode/Array.h b/MbDCode/Array.h
index b0277b8..45cb164 100644
--- a/MbDCode/Array.h
+++ b/MbDCode/Array.h
@@ -1,5 +1,6 @@
 #pragma once
 #include <vector>
+#include <memory>
 
 namespace MbD {
 	template <typename T>
@@ -9,10 +10,10 @@ namespace MbD {
 		Array(){}
 		Array(int i) : std::vector<T>(i) {}
 		Array(std::initializer_list<T> list) : std::vector<T>{ list } {}
-        void copy(Array<T>* x);
+        void copy(std::shared_ptr<Array<T>> x);
     };
     template<typename T>
-    inline void Array<T>::copy(Array<T>* x)
+    inline void Array<T>::copy(std::shared_ptr<Array<T>> x)
     {
         for (int i = 0; i < x->size(); i++) {
             this->at(i) = x->at(i);
diff --git a/MbDCode/EndFramec.h b/MbDCode/EndFramec.h
index 454d7f3..5dcab49 100644
--- a/MbDCode/EndFramec.h
+++ b/MbDCode/EndFramec.h
@@ -16,7 +16,7 @@ namespace MbD {
 
         MarkerFrame* markerFrame;
         FullColumn<double>* rOeO = new FullColumn<double>(3);
-        FullMatrix<double>* aAOe = new FullMatrix<double>(3, 3);
+        FullMatDptr aAOe = std::make_shared<FullMatrix<double>>(3, 3);
     };
 }
 
diff --git a/MbDCode/EndFrameqc.h b/MbDCode/EndFrameqc.h
index 848ec5c..f3c0e01 100644
--- a/MbDCode/EndFrameqc.h
+++ b/MbDCode/EndFrameqc.h
@@ -4,13 +4,14 @@
 #include "FullMatrix.h"
 
 namespace MbD {
+    class EndFramec;
 
     class EndFrameqc : public EndFramec
     {
         //prOeOpE pprOeOpEpE pAOepE ppAOepEpE
     public:
         EndFrameqc();
-        FullMatrix<double>* prOeOpE = new FullMatrix<double>(3, 4);
+        FullMatDptr prOeOpE = std::make_shared<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/FullColumn.h b/MbDCode/FullColumn.h
index 70c13e3..e418c02 100644
--- a/MbDCode/FullColumn.h
+++ b/MbDCode/FullColumn.h
@@ -12,3 +12,4 @@ namespace MbD {
     };
 }
 
+typedef std::shared_ptr<MbD::FullColumn<double>> FullColDptr;
diff --git a/MbDCode/FullMatrix.cpp b/MbDCode/FullMatrix.cpp
index 2c252f2..f5284fc 100644
--- a/MbDCode/FullMatrix.cpp
+++ b/MbDCode/FullMatrix.cpp
@@ -4,7 +4,7 @@ using namespace MbD;
 
 FullMatrix<double>::FullMatrix(int m, int n) {
     for (int i = 0; i < m; i++) {
-        auto* row = new FullRow<double>(n);
+        auto row = std::make_shared<FullRow<double>>(n);
         this->push_back(row);
     }
 }
diff --git a/MbDCode/FullMatrix.h b/MbDCode/FullMatrix.h
index 05bc320..97e425b 100644
--- a/MbDCode/FullMatrix.h
+++ b/MbDCode/FullMatrix.h
@@ -4,7 +4,7 @@
 
 namespace MbD {
     template <typename T>
-    class FullMatrix : public RowTypeMatrix<FullRow<T>*>
+    class FullMatrix : public RowTypeMatrix<std::shared_ptr<FullRow<T>>>
     {
     public:
         FullMatrix() {
@@ -15,3 +15,4 @@ namespace MbD {
     };
 }
 
+typedef std::shared_ptr<MbD::FullMatrix<double>> FullMatDptr;
diff --git a/MbDCode/FullRow.h b/MbDCode/FullRow.h
index b9498c5..222e645 100644
--- a/MbDCode/FullRow.h
+++ b/MbDCode/FullRow.h
@@ -11,3 +11,4 @@ namespace MbD {
 	};
 }
 
+typedef std::shared_ptr<MbD::FullRow<double>> FullRowDptr;
diff --git a/MbDCode/MarkerFrame.cpp b/MbDCode/MarkerFrame.cpp
index ed2b4c8..2112ab5 100644
--- a/MbDCode/MarkerFrame.cpp
+++ b/MbDCode/MarkerFrame.cpp
@@ -16,12 +16,12 @@ void MarkerFrame::setPartFrame(PartFrame* partFrm)
 	partFrame = partFrm;
 }
 
-void MarkerFrame::setrpmp(FullColumn<double>* x)
+void MarkerFrame::setrpmp(FullColDptr x)
 {
 	rpmp->copy(x);
 }
 
-void MarkerFrame::setaApm(FullMatrix<double>* x)
+void MarkerFrame::setaApm(FullMatDptr x)
 {
 	aApm->copy(x);
 }
diff --git a/MbDCode/MarkerFrame.h b/MbDCode/MarkerFrame.h
index d351576..eaecba9 100644
--- a/MbDCode/MarkerFrame.h
+++ b/MbDCode/MarkerFrame.h
@@ -17,16 +17,16 @@ namespace MbD {
     public:
         MarkerFrame();
         void setPartFrame(PartFrame* partFrm);
-        void setrpmp(FullColumn<double>* x);
-        void setaApm(FullMatrix<double>* x);
+        void setrpmp(FullColDptr x);
+        void setaApm(FullMatDptr x);
         void addEndFrame(std::shared_ptr<EndFrameqc> x);
 
         PartFrame* partFrame;
-        FullColumn<double>* rpmp = new FullColumn<double>(3);
-        FullMatrix<double>* aApm = new FullMatrix<double>(3, 3);
-        FullColumn<double>* rOmO = new FullColumn<double>(3);
-        FullMatrix<double>* aAOm = new FullMatrix<double>(3, 3);
-        FullMatrix<double>* prOmOpE = new FullMatrix<double>(3, 4);
+        FullColDptr rpmp = std::make_shared<FullColumn<double>>(3);
+        FullMatDptr aApm = std::make_shared<FullMatrix<double>>(3, 3);
+        FullColDptr rOmO = std::make_shared<FullColumn<double>>(3);
+        FullMatDptr aAOm = std::make_shared<FullMatrix<double>>(3, 3);
+        FullMatDptr prOmOpE = std::make_shared<FullMatrix<double>>(3, 4);
         FullColumn<FullMatrix<double>>* pAOmpE = new FullColumn<FullMatrix<double>>(4);
         std::vector<std::shared_ptr<EndFrameqc>> endFrames;
 
diff --git a/MbDCode/MbDCode.cpp b/MbDCode/MbDCode.cpp
index 47534f3..0a4f8b1 100644
--- a/MbDCode/MbDCode.cpp
+++ b/MbDCode/MbDCode.cpp
@@ -14,20 +14,23 @@ int main()
 	std::string str = "TheSystem";
 	TheSystem.setName(str);
 	std::cout << "TheSystem.getName() " << TheSystem.getName() << std::endl;
-	FullColumn<double>* qX, * qE;
-	FullColumn<double>* rpmp;
-	FullMatrix<double>* aApm;
-	FullRow<double>* fullRow;
-	auto row = new FullRow<double>{ 0, 0, 0, 1 };
-	fullRow = new FullRow<double>(4);
+	FullColDptr qX, qE;
+	FullColDptr rpmp;
+	FullMatDptr aApm;
+	FullRowDptr fullRow;
+	auto elements = { 0.0, 0.0, 0.0, 1.0 };
+	auto row = std::make_shared<FullRow<double>>(elements);
+	fullRow = std::make_shared<FullRow<double>>(4);
 	fullRow->copy(row);
 	//
 	auto assembly1 = std::make_shared<Part>();
 	str = "Assembly1";
 	assembly1->setName(str);
 	std::cout << "assembly1->getName() " << assembly1->getName() << std::endl;
-	qX = new FullColumn<double>{ 0, 0, 0 };
-	qE = new FullColumn<double>{ 0, 0, 0, 1 };
+	elements = { 0, 0, 0 };
+	qX = std::make_shared<FullColumn<double>>(elements);
+	elements = { 0, 0, 0, 1 };
+	qE = std::make_shared<FullColumn<double>>(elements);
 	assembly1->setqX(qX);
 	assembly1->setqE(qE);
 	std::cout << "assembly1->getqX() " << assembly1->getqX()->toString() << std::endl;
@@ -37,14 +40,18 @@ int main()
 		auto marker1 = std::make_shared<MarkerFrame>();
 		str = "Marker1";
 		marker1->setName(str);
-		rpmp = new FullColumn<double>{ 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
+		elements = { 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
+		rpmp = std::make_shared<FullColumn<double>>(elements);
 		marker1->setrpmp(rpmp);
-		aApm = new FullMatrix<double>();
-		fullRow = new FullRow<double>{ 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
+		aApm = std::make_shared<FullMatrix<double>>();
+		elements = { 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
+		fullRow = std::make_shared<FullRow<double>>(elements);
 		aApm->push_back(fullRow);
-		fullRow = new FullRow<double>{ 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
+		elements = { 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
+		fullRow = std::make_shared<FullRow<double>>(elements);
 		aApm->push_back(fullRow);
-		fullRow = new FullRow<double>{ 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
+		elements = { 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
+		fullRow = std::make_shared<FullRow<double>>(elements);
 		aApm->push_back(fullRow);
 		marker1->setaApm(aApm);
 		assembly1->partFrame->addMarkerFrame(marker1);
@@ -52,14 +59,18 @@ int main()
 		auto marker2 = std::make_shared<MarkerFrame>();
 		str = "Marker2";
 		marker2->setName(str);
-		rpmp = new FullColumn<double>{ 0.0, 0.0, 0.0 };
+		elements = { 0.0, 0.0, 0.0 };
+		rpmp = std::make_shared<FullColumn<double>>(elements);
 		marker2->setrpmp(rpmp);
-		aApm = new FullMatrix<double>();
-		fullRow = new FullRow<double>{ 1.0, 0.0, 0.0 };
+		aApm = std::make_shared<FullMatrix<double>>();
+		elements = { 1.0, 0.0, 0.0 };
+		fullRow = std::make_shared<FullRow<double>>(elements);
 		aApm->push_back(fullRow);
-		fullRow = new FullRow<double>{ 0.0, 1.0, 0.0 };
+		elements = { 0.0, 1.0, 0.0 };
+		fullRow = std::make_shared<FullRow<double>>(elements);
 		aApm->push_back(fullRow);
-		fullRow = new FullRow<double>{ 0.0, 0.0, 1.0 };
+		elements = { 0.0, 0.0, 1.0 };
+		fullRow = std::make_shared<FullRow<double>>(elements);
 		aApm->push_back(fullRow);
 		marker2->setaApm(aApm);
 		assembly1->partFrame->addMarkerFrame(marker2);
@@ -68,8 +79,10 @@ int main()
 	auto part1 = std::make_shared<Part>();
 	str = "Part1";
 	part1->setName(str);
-	qX = new FullColumn<double>{ 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
-	qE = new FullColumn<double>{ 0.0, 0.0, 1.4248456266393e-10, 1.0 };
+	elements = { 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
+	qX = std::make_shared<FullColumn<double>>(elements);
+	elements = { 0.0, 0.0, 1.4248456266393e-10, 1.0 };
+	qE = std::make_shared<FullColumn<double>>(elements);
 	part1->setqX(qX);
 	part1->setqE(qE);
 	TheSystem.parts.push_back(part1);
@@ -77,8 +90,10 @@ int main()
 	auto part2 = std::make_shared<Part>();
 	str = "Part2";
 	part2->setName(str);
-	qX = new FullColumn<double>{ 0.38423366582893,  0.49215308269277,  0.048029210642807 };
-	qE = new FullColumn<double>{ 0.0, 0.0, 0.89871701272344, 0.4385290538168 };
+	elements = { 0.38423366582893,  0.49215308269277,  0.048029210642807 };
+	qX = std::make_shared<FullColumn<double>>(elements);
+	elements = { 0.0, 0.0, 0.89871701272344, 0.4385290538168 };
+	qE = std::make_shared<FullColumn<double>>(elements);
 	part2->setqX(qX);
 	part2->setqE(qE);
 	TheSystem.parts.push_back(part2);
@@ -86,8 +101,10 @@ int main()
 	auto part3 = std::make_shared<Part>();
 	str = "Part3";
 	part3->setName(str);
-	qX = new FullColumn<double>{ -1.284772285311e-18, 1.4645982581368, -4.788228906425e-17 };
-	qE = new FullColumn<double>{ 0.70710678118655, 0.70710678118655, 0.0, 0.0 };
+	elements = { -1.284772285311e-18, 1.4645982581368, -4.788228906425e-17 };
+	qX = std::make_shared<FullColumn<double>>(elements);
+	elements = { 0.70710678118655, 0.70710678118655, 0.0, 0.0 };
+	qE = std::make_shared<FullColumn<double>>(elements);
 	part3->setqX(qX);
 	part3->setqE(qE);
 	TheSystem.parts.push_back(part3);
diff --git a/MbDCode/Part.cpp b/MbDCode/Part.cpp
index c63f634..24b03eb 100644
--- a/MbDCode/Part.cpp
+++ b/MbDCode/Part.cpp
@@ -8,19 +8,19 @@ Part::Part() {
 	partFrame = std::make_shared<PartFrame>();
 }
 
-void Part::setqX(FullColumn<double>* x) {
+void Part::setqX(FullColDptr x) {
 	partFrame.get()->setqX(x);
 }
 
-FullColumn<double>* Part::getqX() {
+FullColDptr Part::getqX() {
 	return partFrame.get()->getqX();
 }
 
-void Part::setqE(FullColumn<double>* x) {
+void Part::setqE(FullColDptr x) {
 	partFrame.get()->setqE(x);
 }
 
-FullColumn<double>* Part::getqE() {
+FullColDptr Part::getqE() {
 	return partFrame.get()->getqE();
 }
 
diff --git a/MbDCode/Part.h b/MbDCode/Part.h
index 6bc8327..188014b 100644
--- a/MbDCode/Part.h
+++ b/MbDCode/Part.h
@@ -15,10 +15,10 @@ namespace MbD {
 		//ToDo: ipX ipE m aJ partFrame pX pXdot pE pEdot mX mE mEdot pTpE ppTpEpE ppTpEpEdot 
 	public:
 		Part();
-		void setqX(FullColumn<double>* x);
-		FullColumn<double>* getqX();
-		void setqE(FullColumn<double>* x);
-		FullColumn<double>* getqE();
+		void setqX(FullColDptr x);
+		FullColDptr getqX();
+		void setqE(FullColDptr x);
+		FullColDptr getqE();
 		void setSystem(System& sys);
 		std::shared_ptr<PartFrame> partFrame;
 	};
diff --git a/MbDCode/PartFrame.cpp b/MbDCode/PartFrame.cpp
index d96501c..baf62a9 100644
--- a/MbDCode/PartFrame.cpp
+++ b/MbDCode/PartFrame.cpp
@@ -11,16 +11,16 @@ PartFrame::PartFrame()
 	aGabs = std::vector<std::shared_ptr<AbsConstraint>>();
 	markerFrames = std::vector<std::shared_ptr<MarkerFrame>>();
 }
-void PartFrame::setqX(FullColumn<double>* x) {
+void PartFrame::setqX(FullColDptr x) {
 	qX->copy(x);
 }
-FullColumn<double>* PartFrame::getqX() {
+FullColDptr PartFrame::getqX() {
 	return qX;
 }
-void PartFrame::setqE(FullColumn<double>* x) {
+void PartFrame::setqE(FullColDptr x) {
 	qE->copy(x);
 }
-FullColumn<double>* PartFrame::getqE() {
+FullColDptr PartFrame::getqE() {
 	return qE;
 }
 void PartFrame::setPart(std::shared_ptr<Part> x) {
diff --git a/MbDCode/PartFrame.h b/MbDCode/PartFrame.h
index 0c30ab4..d4a29fe 100644
--- a/MbDCode/PartFrame.h
+++ b/MbDCode/PartFrame.h
@@ -19,18 +19,18 @@ namespace MbD {
 	public:
 		PartFrame();
 
-		void setqX(FullColumn<double>* x);
-		FullColumn<double>* getqX();
-		void setqE(FullColumn<double>* x);
-		FullColumn<double>* getqE();
+		void setqX(FullColDptr x);
+		FullColDptr getqX();
+		void setqE(FullColDptr x);
+		FullColDptr getqE();
 		void setPart(std::shared_ptr<Part> x);
 		std::shared_ptr<Part> getPart();
 		void addMarkerFrame(std::shared_ptr<MarkerFrame> x);
 
 		std::weak_ptr<Part> part;
 		int iqX, iqE;	//Position index of frame variables qX and qE in system list of variables
-		FullColumn<double>* qX = new FullColumn<double>(3);
-		FullColumn<double>* qE = new FullColumn<double>(4);
+		FullColDptr qX = std::make_shared<FullColumn<double>>(3);
+		FullColDptr qE = std::make_shared<FullColumn<double>>(4);
 		std::shared_ptr<EulerConstraint> aGeu;
 		std::vector<std::shared_ptr<AbsConstraint>> aGabs;
 		std::vector<std::shared_ptr<MarkerFrame>> markerFrames;
diff --git a/MbDCode/RowTypeMatrix.h b/MbDCode/RowTypeMatrix.h
index c528c9c..c3cf077 100644
--- a/MbDCode/RowTypeMatrix.h
+++ b/MbDCode/RowTypeMatrix.h
@@ -7,11 +7,11 @@ namespace MbD {
 	public:
 		RowTypeMatrix() {}
 		RowTypeMatrix(std::initializer_list<T> list) : Array<T>{ list } {}
-		void copy(RowTypeMatrix<T>* x);
+		void copy(std::shared_ptr<RowTypeMatrix<T>> x);
 	};
 
 	template<typename T>
-	inline void RowTypeMatrix<T>::copy(RowTypeMatrix<T>* x)
+	inline void RowTypeMatrix<T>::copy(std::shared_ptr<RowTypeMatrix<T>> x)
 	{
 		for (int i = 0; i < x->size(); i++) {
 			this->at(i)->copy(x->at(i));