diff --git a/doc/03_reference/images/blockdiagram.svg b/doc/03_reference/images/blockdiagram.svg
index 0da3e809c..e46a30040 100644
--- a/doc/03_reference/images/blockdiagram.svg
+++ b/doc/03_reference/images/blockdiagram.svg
@@ -184,11 +184,11 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="0.61038814"
-     inkscape:cx="283.42621"
-     inkscape:cy="398.92649"
+     inkscape:zoom="0.93028029"
+     inkscape:cx="265.51138"
+     inkscape:cy="253.14951"
      inkscape:document-units="mm"
-     inkscape:current-layer="layer2"
+     inkscape:current-layer="layer1"
      showgrid="true"
      inkscape:snap-bbox="false"
      inkscape:snap-text-baseline="true"
@@ -734,7 +734,7 @@
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
-       d="m -49.037498,209.16644 v 10.58333 h 7.9375"
+       d="m -49.037498,209.16679 v 10.52722 h 7.9375"
        id="path1405"
        inkscape:connector-curvature="0"
        sodipodi:nodetypes="ccc" />
@@ -748,22 +748,22 @@
        sodipodi:nodetypes="ccccccc"
        inkscape:connector-curvature="0"
        id="path1305-5-0-2-3-3"
-       d="m -40.429528,221.00229 1.322922,-1.32291 -1.322922,-1.32292 h -1.32292 l -1.322908,1.32292 1.322908,1.32291 z"
+       d="m -40.583836,221.00229 1.322922,-1.32291 -1.322922,-1.32292 h -1.32292 l -1.322908,1.32292 1.322908,1.32291 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
-       d="m -46.514948,170.73146 v 18.52083 h 5.29167"
+       d="m -46.514948,172.25702 v 17.0007 h 5.29167"
        id="path1515"
        inkscape:connector-curvature="0" />
     <path
        style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
-       d="m -46.514948,170.73146 h 1.32292"
+       d="m -46.651241,172.31973 h 1.32292"
        id="path1517"
        inkscape:connector-curvature="0" />
     <path
        inkscape:connector-curvature="0"
        id="path1305-5-8"
-       d="m -43.075356,172.05437 v -2.64583 h -1.322922 l -1.32292,1.32292 1.32292,1.32291 z"
+       d="m -42.737548,173.64264 v -2.64583 h -1.322922 l -1.32292,1.32292 1.32292,1.32292 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
@@ -774,22 +774,22 @@
     <path
        inkscape:connector-curvature="0"
        id="path1305-0"
-       d="m -42.017028,187.92937 v 2.64583 h 1.322922 l 1.322908,-1.32292 -1.322908,-1.32291 z"
+       d="m -42.334151,187.8589 v 2.64583 h 1.322922 l 1.322908,-1.32292 -1.322908,-1.32291 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        inkscape:connector-curvature="0"
        id="path1305-0-5"
-       d="m -41.752448,214.38771 v 2.64583 h 1.32292 l 1.322922,-1.32292 -1.322922,-1.32291 z"
+       d="m -42.351459,214.38771 v 2.64583 h 1.32292 l 1.322922,-1.32292 -1.322922,-1.32291 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        inkscape:connector-curvature="0"
        id="path1305-0-2"
-       d="m -18.733698,187.92937 v 2.64583 h 1.32292 l 1.322922,-1.32292 -1.322922,-1.32291 z"
+       d="m -18.557518,187.92937 v 2.64583 h 1.32292 l 1.322922,-1.32292 -1.322922,-1.32291 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        inkscape:connector-curvature="0"
        id="path1305-0-5-6"
-       d="m -18.733698,214.38771 v 2.64583 h 1.32292 l 1.322922,-1.32292 -1.322922,-1.32291 z"
+       d="m -18.487047,214.38771 v 2.64583 h 1.32292 l 1.322922,-1.32292 -1.322922,-1.32291 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
@@ -805,7 +805,7 @@
     <path
        inkscape:connector-curvature="0"
        id="path1305-7"
-       d="m -5.5045283,187.92937 v 2.64583 h 1.322922 l 1.322908,-1.32291 -1.322908,-1.32292 z"
+       d="m -5.0319762,187.92937 v 2.64583 h 1.322922 l 1.322908,-1.32291 -1.322908,-1.32292 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
@@ -815,12 +815,12 @@
     <path
        inkscape:connector-curvature="0"
        id="path1305-0-5-6-2"
-       d="m -10.796198,241.11062 h -2.64583 v 1.32292 l 1.322922,1.32291 1.322908,-1.32291 z"
+       d="m -10.796198,241.04014 h -2.64583 v 1.32292 l 1.322922,1.32291 1.322908,-1.32291 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        inkscape:connector-curvature="0"
        id="path1305-0-5-6-2-8"
-       d="m -8.1503563,243.49187 h 2.645828 v -1.32292 l -1.32292,-1.32291 -1.322908,1.32291 z"
+       d="m -8.1503563,243.28043 h 2.645828 v -1.32292 l -1.32292,-1.32291 -1.322908,1.32291 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
@@ -830,11 +830,11 @@
     <path
        inkscape:connector-curvature="0"
        id="path1305-7-2"
-       d="m -5.5045283,193.22104 v 2.64583 h 1.322922 l 1.322908,-1.32292 -1.322908,-1.32291 z"
+       d="m -5.0319762,193.22104 v 2.64583 h 1.322922 l 1.322908,-1.32292 -1.322908,-1.32291 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
-       d="m -6.8274483,194.54395 h 1.32292"
+       d="m -6.9599988,194.54397 h 1.9318615"
        id="path1649"
        inkscape:connector-curvature="0" />
     <path
@@ -851,7 +851,7 @@
     <path
        inkscape:connector-curvature="0"
        id="path1305-7-6"
-       d="m -5.2399483,169.40854 v 2.64583 h 1.32292 l 1.322922,-1.32291 -1.322922,-1.32292 z"
+       d="m -5.0319827,169.40854 v 2.64583 h 1.32292 l 1.322922,-1.32291 -1.322922,-1.32292 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        style="fill:none;stroke:#000000;stroke-width:0.265;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;stroke-dasharray:none"
@@ -872,7 +872,7 @@
     <path
        inkscape:connector-curvature="0"
        id="path1305-7-6-0-2-7-6"
-       d="m 7.7246437,174.70021 v 2.64583 h 1.322908 l 1.3229223,-1.32292 -1.3229223,-1.32291 z"
+       d="m 7.9066136,174.70021 v 2.64583 h 1.322908 l 1.3229244,-1.32292 -1.3229244,-1.32291 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
@@ -882,12 +882,12 @@
     <path
        inkscape:connector-curvature="0"
        id="path1305-3"
-       d="m 106.62709,148.30417 h 2.64584 v -1.32291 l -1.32293,-1.32292 -1.32291,1.32292 z"
+       d="m 106.62709,148.04707 h 2.64584 v -1.32291 l -1.32293,-1.32292 -1.32291,1.32292 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        inkscape:connector-curvature="0"
        id="path1305-2"
-       d="M 31.53714,145.59604 H 28.8913 v 1.32292 l 1.32292,1.32292 1.32292,-1.32292 z"
+       d="M 31.53714,145.7926 H 28.8913 v 1.32292 l 1.32292,1.32292 1.32292,-1.32292 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
@@ -904,7 +904,7 @@
     <path
        inkscape:connector-curvature="0"
        id="path1305-7-6-0-2-7-6-2"
-       d="m 7.7246437,213.06478 v 2.64583 h 1.322908 l 1.3229223,-1.32291 -1.3229223,-1.32292 z"
+       d="m 7.9418619,213.06478 v 2.64583 h 1.322908 l 1.3229191,-1.32291 -1.3229191,-1.32292 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        inkscape:connector-curvature="0"
@@ -952,7 +952,7 @@
     <path
        inkscape:connector-curvature="0"
        id="path1305-7-6-0-2-4-1"
-       d="m 137.37047,239.52312 h 2.64584 v -1.32291 l -1.32292,-1.32292 -1.32292,1.32292 z"
+       d="m 137.37047,239.31168 h 2.64584 v -1.32291 l -1.32292,-1.32292 -1.32292,1.32292 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
@@ -978,19 +978,19 @@
     <path
        inkscape:connector-curvature="0"
        id="path1305-5-83"
-       d="m 120.96631,141.62729 v -2.64583 h -1.32292 l -1.32292,1.32291 1.32292,1.32292 z"
+       d="m 121.30694,141.62729 v -2.64583 h -1.32292 l -1.32292,1.32291 1.32292,1.32292 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        inkscape:connector-curvature="0"
        id="path1305-7-6-0-7-9-1-0-7-9"
-       d="m 115.54233,250.10646 h -2.64582 v 1.32291 l 1.3229,1.32292 1.32292,-1.32292 z"
+       d="m 115.54233,250.3179 h -2.64582 v 1.32291 l 1.3229,1.32292 1.32292,-1.32292 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
        inkscape:transform-center-x="3.0153411"
        inkscape:transform-center-y="-0.98682538" />
     <path
        inkscape:connector-curvature="0"
        id="path1305-7-6-0-7-9-1-0-7-3"
-       d="m 167.87111,261.01585 v 2.64583 h 1.32292 l 1.32292,-1.32291 -1.32292,-1.32292 z"
+       d="m 168.25875,261.01585 v 2.64583 h 1.32292 l 1.32292,-1.32291 -1.32292,-1.32292 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
        inkscape:transform-center-x="0.9868211"
        inkscape:transform-center-y="3.0153411" />
@@ -1004,31 +1004,31 @@
     <path
        inkscape:connector-curvature="0"
        id="path1305-7-6-0-7-9-1-0-7-3-7"
-       d="m 169.97707,258.51814 v -2.64583 h -1.32292 l -1.32292,1.32291 1.32292,1.32292 z"
+       d="m 170.50567,258.51814 v -2.64583 h -1.32292 l -1.32292,1.32291 1.32292,1.32292 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
        inkscape:transform-center-x="-0.9868289"
        inkscape:transform-center-y="-3.0153389" />
     <path
        inkscape:connector-curvature="0"
        id="path1305-7-6-0-7-9-1-0-7-3-7-4"
-       d="m 142.66214,252.4877 h 2.64583 v -1.32291 l -1.3229,-1.32292 -1.32293,1.32292 z"
+       d="m 142.66214,252.55818 h 2.64583 v -1.32291 l -1.3229,-1.32292 -1.32293,1.32292 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
        inkscape:transform-center-x="-3.0153389"
        inkscape:transform-center-y="0.98682462" />
     <path
        inkscape:connector-curvature="0"
        id="path1305-5-6-3"
-       d="m 50.05797,168.08562 v -2.64583 h -1.32291 l -1.32292,1.32291 1.32292,1.32292 z"
+       d="m 50.05797,169.05951 v -2.64583 h -1.32291 l -1.32292,1.32291 1.32292,1.32292 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
-       d="M 47.41213,166.7627 H 36.8288 v 0 -5.29166 h -83.343748 v 5.29166 h 2.645842"
+       d="M 47.41213,167.68496 H 36.8288 v 0 -6.20722 h -83.343748 v 6.20722 h 2.645842"
        id="path2129"
        inkscape:connector-curvature="0" />
     <path
        inkscape:connector-curvature="0"
        id="path1305-0-2-9-3"
-       d="m -44.927448,165.43979 v 2.64583 h 1.32292 l 1.322922,-1.32292 -1.322922,-1.32291 z"
+       d="m -44.927448,166.49813 v 2.64583 h 1.32292 l 1.322922,-1.32292 -1.322922,-1.32291 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
@@ -1114,18 +1114,18 @@
     <path
        inkscape:connector-curvature="0"
        id="path1305-7-6-0-7"
-       d="m 47.94131,243.49186 v 2.64583 h 1.32291 l 1.32292,-1.32291 -1.32292,-1.32292 z"
+       d="m 47.517851,243.49186 v 2.64583 h 1.32291 l 1.32292,-1.32291 -1.32292,-1.32292 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
-       d="M 41.734465,244.81478 H 47.9413"
+       d="m 41.734465,244.81478 h 5.81924"
        id="path1848"
        inkscape:connector-curvature="0"
        sodipodi:nodetypes="cc" />
     <path
        inkscape:connector-curvature="0"
        id="path1305-7-6-0-7-9"
-       d="m 76.51631,238.2002 v 2.64583 h 1.3229 l 1.32292,-1.32291 -1.32292,-1.32292 z"
+       d="m 76.622018,238.2002 v 2.64583 h 1.3229 l 1.32292,-1.32291 -1.32292,-1.32292 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
@@ -1136,7 +1136,7 @@
     <path
        inkscape:connector-curvature="0"
        id="path1305-7-6-0-7-9-1"
-       d="m 76.51631,243.49187 v 2.64583 h 1.3229 l 1.32292,-1.32291 -1.32292,-1.32292 z"
+       d="m 76.622018,243.49187 v 2.64583 h 1.3229 l 1.32292,-1.32291 -1.32292,-1.32292 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
@@ -1145,7 +1145,7 @@
        inkscape:connector-curvature="0" />
     <path
        style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
-       d="m 167.33123,257.19522 c -23.20944,-0.0387 -23.20944,-0.0387 -23.20944,-0.0387 v -4.56406"
+       d="m 167.8966,257.19522 c -23.77321,-0.0387 -23.77321,-0.0387 -23.77321,-0.0387 v -4.56406"
        id="path5929"
        inkscape:connector-curvature="0" />
     <path
@@ -1157,7 +1157,7 @@
        inkscape:transform-center-y="-0.98682538" />
     <path
        style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
-       d="m 114.74863,280.26896 0.0591,5.49456 31.25159,-0.0994 -0.10138,-23.47375 21.86321,0.0585"
+       d="m 114.74896,280.26896 0.0596,5.49456 31.5216,-0.0994 -0.10225,-23.47375 22.0521,0.0585"
        id="path5933"
        inkscape:connector-curvature="0"
        sodipodi:nodetypes="ccccc" />
@@ -1325,7 +1325,7 @@
     <path
        inkscape:connector-curvature="0"
        id="path1305-7-6-0-2-4-1-2"
-       d="m 103.18753,237.46876 h -2.64585 v 1.32291 l 1.32293,1.32292 1.32292,-1.32292 z"
+       d="m 103.18753,237.08112 h -2.64585 v 1.32291 l 1.32293,1.32292 1.32292,-1.32292 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
        inkscape:connector-curvature="0"
@@ -1333,8 +1333,8 @@
        d="m 70.087191,185.87501 v 2.64584 h 1.32293 l 1.3229,-1.32292 -1.3229,-1.32292 z"
        style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     <path
-       style="fill:none;stroke:#000000;stroke-width:0.265;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;stroke-dasharray:none"
-       d="m 72.760421,187.19793 h 33.754639 1.35019 v -38.89375"
+       style="fill:none;stroke:#000000;stroke-width:0.265;stroke-linecap:butt;stroke-linejoin:miter;stroke-dasharray:none;stroke-opacity:1"
+       d="m 72.760421,187.19755 h 33.754639 1.35019 v -39.11837"
        id="path1271"
        inkscape:connector-curvature="0" />
     <path