diff --git a/src/site/markdown/tutorials/matlab-examples/DirectLocation.m b/src/site/markdown/tutorials/matlab-examples/DirectLocation.m
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+
+
+function DirectLocation()
+clear all
+
+%Put 'orekit-data.zip' in the current directory, if not I get an error in line 55 %org.orekit.errors.OrekitException: aucune donnée d'historique UTC-TAI n'a été chargée
+
+% These seems to work if pasted to prompt.
+% javaaddpath 'C:\ ... enter your path here ...\MATLAB'
+% javaaddpath 'C:\.. enter your path here ...\MATLAB\orekit-7.1.jar'
+% javaaddpath 'C:\.. enter your path here ...\\MATLAB\rugged-1.0.jar'
+% javaaddpath 'C:\.. enter your path here... \\MATLAB\commons-math3-3.6.1.jar'
+%%
+
+import java.util.ArrayList;
+import java.util.List;
+import org.apache.commons.math3.geometry.euclidean.threed.Rotation;
+import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
+import org.orekit.rugged.los.*;
+import org.orekit.rugged.utils.*;
+
+%% Configure Orekit. The file orekit-data.zip must be in current dir
+import org.orekit.data.ZipJarCrawler
+import org.orekit.time.AbsoluteDate
+import org.orekit.time.TimeScalesFactory
+DM=org.orekit.data.DataProvidersManager.getInstance();
+crawler=org.orekit.data.ZipJarCrawler('orekit-data.zip');
+DM.clearProviders();
+DM.addProvider(crawler);
+
+
+%%
+
+%The raw viewing direction of pixel i with respect to the instrument is defined by the vector:
+rawDirs = ArrayList();
+for i =1:2000
+ %20° field of view, 2000 pixels
+ rawDirs.add (Vector3D(0,i*deg2rad(20)/2000,1));
+end
+
+%The instrument is oriented 10° off nadir around the X-axis, we need to rotate the viewing
+%direction to obtain the line of sight in the satellite frame
+losBuilder = LOSBuilder(rawDirs);
+losBuilder.addTransform(FixedRotation(ParameterType.FIXED, Vector3D.PLUS_I, deg2rad(10)));
+lineOfSight = losBuilder.build();
+
+ %%
+
+ import org.orekit.time.AbsoluteDate;
+ import org.orekit.time.TimeScalesFactory;
+ import org.orekit.rugged.linesensor.LinearLineDatation;
+
+
+%We use Orekit for handling time and dates, and Rugged for defining the datation model:
+ utc = TimeScalesFactory.getUTC();
+ absDate = AbsoluteDate('2009-12-11T16:59:30.0', utc);
+ lineDatation = LinearLineDatation(absDate, 1, 20);
+
+
+ %%
+ import org.orekit.rugged.linesensor.LineSensor;
+%With the LOS and the datation now defined , we can initialize a line sensor object in Rugged:
+lineSensor = LineSensor('mySensor', lineDatation, Vector3D.ZERO, lineOfSight);
+%%
+
+import org.orekit.frames.*;
+import org.orekit.utils.*;
+%In our application, we simply need to know the name of the frames we are working with. Positions and
+%velocities are given in the ITRF terrestrial frame, while the quaternions are given in EME2000
+%inertial frame.
+eme2000 = FramesFactory.getEME2000();
+simpleEOP = true; % we don't want to compute tiny tidal effects at millimeter level
+itrf = FramesFactory.getITRF(IERSConventions.IERS_2010, simpleEOP);
+%%
+
+satelliteQList = ArrayList();
+gps=TimeScalesFactory.getGPS();
+
+addSatelliteQ(gps, satelliteQList, '2009-12-11T16:58:42.592937', -0.340236, 0.333952, -0.844012, -0.245684);
+addSatelliteQ(gps, satelliteQList, '2009-12-11T16:59:06.592937', -0.354773, 0.329336, -0.837871, -0.252281);
+addSatelliteQ(gps, satelliteQList, '2009-12-11T16:59:30.592937', -0.369237, 0.324612, -0.831445, -0.258824);
+addSatelliteQ(gps, satelliteQList, '2009-12-11T16:59:54.592937', -0.3836, 0.319792, -0.824743, -0.265299);
+addSatelliteQ(gps, satelliteQList, '2009-12-11T17:00:18.592937', -0.397834, 0.314883, -0.817777, -0.271695);
+addSatelliteQ(gps, satelliteQList, '2009-12-11T17:00:42.592937', -0.411912, 0.309895, -0.810561, -0.278001);
+addSatelliteQ(gps, satelliteQList, '2009-12-11T17:01:06.592937', -0.42581, 0.304838, -0.803111, -0.284206);
+addSatelliteQ(gps, satelliteQList, '2009-12-11T17:01:30.592937', -0.439505, 0.299722, -0.795442, -0.290301);
+addSatelliteQ(gps, satelliteQList, '2009-12-11T17:01:54.592937', -0.452976, 0.294556, -0.787571, -0.296279);
+addSatelliteQ(gps, satelliteQList, '2009-12-11T17:02:18.592937', -0.466207, 0.28935, -0.779516, -0.302131);
+
+%%
+satellitePVList = ArrayList();
+
+addSatellitePV(gps, eme2000, itrf, satellitePVList, '2009-12-11T16:58:42.592937', -726361.466, -5411878.485, 4637549.599, -2463.635, -4447.634, -5576.736);
+addSatellitePV(gps, eme2000, itrf, satellitePVList, '2009-12-11T16:59:04.192937', -779538.267, -5506500.533, 4515934.894, -2459.848, -4312.676, -5683.906);
+addSatellitePV(gps, eme2000, itrf, satellitePVList, '2009-12-11T16:59:25.792937', -832615.368, -5598184.195, 4392036.13, -2454.395, -4175.564, -5788.201);
+addSatellitePV(gps, eme2000, itrf, satellitePVList, '2009-12-11T16:59:47.392937', -885556.748, -5686883.696, 4265915.971, -2447.273, -4036.368, -5889.568);
+addSatellitePV(gps, eme2000, itrf, satellitePVList, '2009-12-11T17:00:08.992937', -938326.32, -5772554.875, 4137638.207, -2438.478, -3895.166, -5987.957);
+addSatellitePV(gps, eme2000, itrf, satellitePVList, '2009-12-11T17:00:30.592937', -990887.942, -5855155.21, 4007267.717, -2428.011, -3752.034, -6083.317);
+addSatellitePV(gps, eme2000, itrf, satellitePVList, '2009-12-11T17:00:52.192937', -1043205.448, -5934643.836, 3874870.441, -2415.868, -3607.05, -6175.6);
+addSatellitePV(gps, eme2000, itrf, satellitePVList, '2009-12-11T17:01:13.792937', -1095242.669, -6010981.571, 3740513.34, -2402.051, -3460.291, -6264.76);
+addSatellitePV(gps, eme2000, itrf, satellitePVList, '2009-12-11T17:01:35.392937', -1146963.457, -6084130.93, 3604264.372, -2386.561, -3311.835, -6350.751);
+addSatellitePV(gps, eme2000, itrf, satellitePVList, '2009-12-11T17:01:56.992937', -1198331.706, -6154056.146, 3466192.446, -2369.401, -3161.764, -6433.531);
+addSatellitePV(gps, eme2000, itrf, satellitePVList, '2009-12-11T17:02:18.592937', -1249311.381, -6220723.191, 3326367.397, -2350.574, -3010.159, -6513.056);
+%%
+
+% import org.orekit.rugged.api.AlgorithmId;
+% import org.orekit.rugged.api.BodyRotatingFrameId;
+% import org.orekit.rugged.api.EllipsoidId;
+% import org.orekit.rugged.api.InertialFrameId;
+% import org.orekit.rugged.api.Rugged;
+import org.orekit.rugged.api.*;
+import org.orekit.rugged.errors.RuggedException;
+import org.orekit.utils.*;
+% import org.orekit.utils.CartesianDerivativesFilter;
+
+rugged=RuggedBuilder();
+rugged.setAlgorithm(AlgorithmId.IGNORE_DEM_USE_ELLIPSOID);
+rugged.setEllipsoid(EllipsoidId.WGS84, BodyRotatingFrameId.ITRF);
+rugged.setTimeSpan(absDate, absDate.shiftedBy(60.0), 0.01, 5 / lineSensor.getRate(0));
+rugged.setTrajectory(InertialFrameId.EME2000,...
+ satellitePVList, 4, CartesianDerivativesFilter.USE_P,...
+ satelliteQList, 4, AngularDerivativesFilter.USE_R);
+rugged.addLineSensor(lineSensor);
+Rugged=rugged.build();
+
+%%
+
+import org.orekit.bodies.GeodeticPoint;
+ position = lineSensor.getPosition(); % This returns a zero vector since we set the relative position of the sensor w.r.T the satellite to 0.
+ firstLineDate = lineSensor.getDate(0);
+ los = lineSensor.getLos(firstLineDate, 0);
+ upLeftPoint = Rugged.directLocation(firstLineDate, position, los);
+
+fprintf('upper left point: Lat = %8.3f °, Lon = %8.3f °, h = %8.3f m\n',rad2deg(upLeftPoint.getLatitude()), rad2deg(upLeftPoint.getLongitude()),upLeftPoint.getAltitude() )
+
+end
+
+function satelliteQList=addSatelliteQ( gps, satelliteQList ,absDate,q0, q1, q2, q3)
+ import org.orekit.utils.TimeStampedAngularCoordinates;
+import org.orekit.time.AbsoluteDate;
+import org.apache.commons.math3.geometry.euclidean.threed.Rotation;
+import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
+ attitudeDate = AbsoluteDate(absDate, gps);
+ rotation = Rotation(q0, q1, q2, q3, true);
+ rotationRate = Vector3D.ZERO;
+ rotationAcceleration = Vector3D.ZERO;
+ pair = TimeStampedAngularCoordinates(attitudeDate, rotation, rotationRate, rotationAcceleration);
+ satelliteQList.add(pair);
+
+end
+
+function satellitePVList= addSatellitePV( gps, eme2000, itrf, satellitePVList, absDate, px, py, pz, vx, vy, vz)
+ import org.orekit.time.AbsoluteDate;
+ import org.apache.commons.math3.geometry.euclidean.threed.Rotation;
+ import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
+ import org.orekit.utils.TimeStampedPVCoordinates;
+ import org.orekit.utils.PVCoordinates;
+ import org.orekit.frames.Transform;
+ ephemerisDate = AbsoluteDate(absDate, gps);
+ position = Vector3D(px, py, pz);
+ velocity = Vector3D(vx, vy, vz);
+ pvITRF = PVCoordinates(position, velocity);
+ transform = itrf.getTransformTo(eme2000, ephemerisDate);
+ pvEME2000 = transform.transformPVCoordinates(pvITRF);
+ satellitePVList.add( TimeStampedPVCoordinates(ephemerisDate, pvEME2000.getPosition(), pvEME2000.getVelocity(), Vector3D.ZERO));
+end
+