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diff --git a/octave_packages/geometry-1.5.0/geom2d/cov2ellipse.m b/octave_packages/geometry-1.5.0/geom2d/cov2ellipse.m
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+## Copyright (c) 2012 Juan Pablo Carbajal <carbajal@ifi.uzh.ch>
+##
+## This program is free software; you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation; either version 3 of the License, or
+## (at your option) any later version.
+##
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program; if not, see <http://www.gnu.org/licenses/>.
+
+%% -*- texinfo -*-
+%% @deftypefn {Function File} {@var{ellipse} = } cov2ellipse (@var{K})
+%% @deftypefnx {Function File} {[@var{ra} @var{rb} @var{theta}] = } cov2ellipse (@var{K})
+%% @deftypefnx {Function File} {@dots{} = } cov2ellipse (@dots{}, @samp{tol},@var{tol})
+%% Calculates ellipse parameters from covariance matrix.
+%%
+%% @var{K} must be symmetric positive (semi)definite. The optional argument
+%% @samp{tol} sets the tolerance for the verification of the
+%% positive-(semi)definiteness of the matrix @var{K} (see @command{isdefinite}).
+%%
+%% If only one output argument is supplied a vector defining a ellipse is returned
+%% as defined in @command{ellipses2d}. Otherwise the angle @var{theta} is given
+%% in radians.
+%%
+%% Run @code{demo cov2ellipse} to see an example.
+%%
+%% @seealso{ellipses2d, cov2ellipse, drawEllipse}
+%% @end deftypefn
+
+function varargout = cov2ellipse (K, varargin);
+
+  parser = inputParser ();
+  parser.FunctionName = "cov2ellipse";
+  parser = addParamValue (parser,'Tol', 100*eps*norm (K, "fro"), @(x)x>0);
+  parser = parse(parser,varargin{:});
+
+  if isdefinite (K,parser.Results.Tol) == -1
+    print_usage
+  end
+  [R S W] = svd (K);
+  theta = atan (R(1,1)/R(2,2));
+  v     = sort (diag(S), 'ascend')';
+
+  if nargout == 1
+    varargout{1} = [0 0 v theta*180/pi];
+  elseif nargout == 3
+    varargout{1} = v(1);
+    varargout{2} = v(2);
+    varargout{3} = theta;
+  end
+
+endfunction
+
+%!demo
+%! K = [2 1; 1 2];
+%! L = chol(K,'lower');
+%! u = randn(1e3,2)*L';
+%!
+%! elli = cov2ellipse (K)
+%!
+%! figure(1)
+%! plot(u(:,1),u(:,2),'.r');
+%! hold on;
+%! drawEllipse(elli,'linewidth',2);
+%! hold off
+%! axis tight