In this section, we are going to look at four types of scripts, each one illustrating a typical sed application.
The first type of sed script demonstrates making a series of edits in a file. The example we use is a script that converts a file created by a word processing program into a file coded for troff.
One of the authors once did a writing project for a computer company, here referred to as BigOne Computer. The document had to include a product bulletin for "Horsefeathers Software." The company promised that the product bulletin was online and that they would send it. Unfortunately, when the file arrived, it contained the formatted output for a line printer, the only way they could provide it. A portion of that file (saved for testing in a file named horsefeathers) follows.
HORSEFEATHERS SOFTWARE PRODUCT BULLETIN DESCRIPTION + ___________ BigOne Computer offers three software packages from the suite of Horsefeathers software products -- Horsefeathers Business BASIC, BASIC Librarian, and LIDO. These software products can fill your requirements for powerful, sophisticated, general-purpose business software providing you with a base for software customization or development. Horsefeathers BASIC is BASIC optimized for use on the BigOne machine with UNIX or MS-DOS operating systems. BASIC Librarian is a full screen program editor, which also provides the ability
Note that the text has been justified with spaces added between words. There are also spaces added to create a left margin.
We find that when we begin to tackle a problem using sed, we do best if we make a mental list of all the things we want to do. When we begin coding, we write a script containing a single command that does one thing. We test that it works, then we add another command, repeating this cycle until we've done all that's obvious to do. ("All that's obvious" because the list is not always complete, and the cycle of implement-and-test often adds other items to the list.)
It may seem to be a rather tedious process to work this way and indeed there are a number of scripts where it's fine to take a crack at writing the whole script in one pass and then begin testing it. However, the one-step-at-a-time technique is highly recommended for beginners because you isolate each command and get to easily see what is working and what is not. When you try to do several commands at once, you might find that when problems arise you end up recreating the recommended process in reverse; that is, removing commands one by one until you locate the problem.
Here is a list of the obvious edits that need to be made to the Horsefeathers Software bulletin:
Replace all blank lines with a paragraph macro (.LP).
Remove all leading spaces from each line.
Remove the printer underscore line, the one that begins with a "+".
Remove multiple blank spaces that were added between words.
The first edit requires that we match blank lines. However, in looking at the input file, it wasn't obvious whether the blank lines had leading spaces or not. As it turns out, they do not, so blank lines can be matched using the pattern "^$". (If there were spaces on the line, the pattern could be written "^*$".) Thus, the first edit is fairly straightforward to accomplish:
s/^$/.LP/
It replaces each blank line with ".LP". Note that you do not escape the literal period in the replacement section of the substitute command. We can put this command in a file named sedscr and test the command as follows:
$sed -f sedscr horsefeathers
HORSEFEATHERS SOFTWARE PRODUCT BULLETIN .LP DESCRIPTION + ___________ .LP BigOne Computer offers three software packages from the suite of Horsefeathers software products -- Horsefeathers Business BASIC, BASIC Librarian, and LIDO. These software products can fill your requirements for powerful, sophisticated, general-purpose business software providing you with a base for software customization or development. .LP Horsefeathers BASIC is BASIC optimized for use on the BigOne machine with UNIX or MS-DOS operating systems. BASIC Librarian is a full screen program editor, which also provides the ability
It is pretty obvious which lines have changed. (It is frequently helpful to cut out a portion of a file to use for testing. It works best if the portion is small enough to fit on the screen yet is large enough to include different examples of what you want to change. After all edits have been applied successfully to the test file, a second level of testing occurs when you apply them to the complete, original file.)
The next edit that we make is to remove the line that begins with a "+" and contains a line-printer underscore. We can simply delete this line using the delete command, d. In writing a pattern to match this line, we have a number of choices. Each of the following would match that line:
/^+/ /^+/ /^+*/ /^+*__*/
As you can see, each successive regular expression matches a greater number of characters. Only through testing can you determine how complex the expression needs to be to match a specific line and not others. The longer the pattern that you define in a regular expression, the more comfort you have in knowing that it won't produce unwanted matches. For this script, we'll choose the third expression:
/^+*/d
This command will delete any line that begins with a plus sign and is followed by at least one space. The pattern specifies two spaces, but the second is modified by "*", which means that the second space might or might not be there.
This command was added to the sed script and tested but since it only affects one line, we'll omit showing the results and move on. The next edit needs to remove the spaces that pad the beginning of a line. The pattern for matching that sequence is very similar to the address for the previous command.
s/^*//
This command removes any sequence of spaces found at the beginning of a line. The replacement portion of the substitute command is empty, meaning that the matched string is removed.
We can add this command to the script and test it.
$sed -f sedscr horsefeathers
HORSEFEATHERS SOFTWARE PRODUCT BULLETIN .LP DESCRIPTION .LP BigOne Computer offers three software packages from the suite of Horsefeathers software products -- Horsefeathers Business BASIC, BASIC Librarian, and LIDO. These software products can fill your requirements for powerful, sophisticated, general-purpose business software providing you with a base for software customization or development. .LP Horsefeathers BASIC is BASIC optimized for use on the BigOne machine with UNIX or MS-DOS operating systems. BASIC Librarian is a full screen program editor, which also provides the ability
The next edit attempts to deal with the extra spaces added to justify each line. We can write a substitute command to match any string of consecutive spaces and replace it with a single space.
s/*//g
We add the global flag at the end of the command so that all occurrences, not just the first, are replaced. Note that, like previous regular expressions, we are not specifying how many spaces are there, just that one or more be found. There might be two, three, or four consecutive spaces. No matter how many, we want to reduce them to one.[3]
[3] This command will also match just a single space. But since the replacement is also a single space, such a case is effectively a "no-op."
Let's test the new script:
$sed -f sedscr horsefeathers
HORSEFEATHERS SOFTWARE PRODUCT BULLETIN .LP DESCRIPTION .LP BigOne Computer offers three software packages from the suite of Horsefeathers software products -- Horsefeathers Business BASIC, BASIC Librarian, and LIDO. These software products can fill your requirements for powerful, sophisticated, general-purpose business software providing you with a base for software customization or development. .LP Horsefeathers BASIC is BASIC optimized for use on the BigOne machine with UNIX or MS-DOS operating systems. BASIC Librarian is a full screen program editor, which also provides the ability
It works as advertised, reducing two or more spaces to one. On closer inspection, though, you might notice that the script removes a sequence of two spaces following a period, a place where they might belong.
We could perfect our substitute command such that it does not make the replacement for spaces following a period. The problem is that there are cases when three spaces follow a period and we'd like to reduce that to two. The best way seems to be to write a separate command that deals with the special case of a period followed by spaces.
s/\.*/./g
This command replaces a period followed by any number of spaces with a period followed by two spaces. It should be noted that the previous command reduces multiple spaces to one, so that only one space will be found following a period.[4] Nonetheless, this pattern works regardless of how many spaces follow the period, as long as there is at least one. (It would not, for instance, affect a filename of the form test.ext if it appeared in the document.) This command is placed at the end of the script and tested:
[4] The command could therefore be simplified to:
s/\././g
$sed -f sedscr horsefeathers
HORSEFEATHERS SOFTWARE PRODUCT BULLETIN .LP DESCRIPTION .LP BigOne Computer offers three software packages from the suite of Horsefeathers software products -- Horsefeathers Business BASIC, BASIC Librarian, and LIDO. These software products can fill your requirements for powerful, sophisticated, general-purpose business software providing you with a base for software customization or development. .LP Horsefeathers BASIC is BASIC optimized for use on the BigOne machine with UNIX or MS-DOS operating systems. BASIC Librarian is a full screen program editor, which also provides the ability
It works. Here's the completed script:
s/^$/.LP/ /^+*/d s/^*// s/*//g s/\.*/./g
As we said earlier, the next stage would be to test the script on the complete file (hf.product.bulletin), using testsed, and examine the results thoroughly. When we are satisfied with the results, we can use runsed to make the changes permanent:
$runsed hf.product.bulletin
done
By executing runsed, we have overwritten the original file.
Before leaving this script, it is instructive to point out that although the script was written to process a specific file, each of the commands in the script is one that you might expect to use again, even if you don't use the entire script again. In other words, you may well write other scripts that delete blank lines or check for two spaces following a period. Recognizing how commands can be reused in other situations reduces the time it takes to develop and test new scripts. It's like a singer learning a song and adding it to his or her repetoire.
The most common use of sed is in making a set of search-and-replacement edits across a set of files. Many times these scripts aren't very unusual or interesting, just a list of substitute commands that change one word or phrase to another. Of course, such scripts don't need to be interesting as long as they are useful and save doing the work manually.
The example we look at in this section is a conversion script, designed to modify various "machine-specific" terms in a UNIX documentation set. One person went through the documentation set and made a list of things that needed to be changed. Another person worked from the list to create the following list of substitutions.
s/ON switch/START switch/g s/ON button/START switch/g s/STANDBY switch/STOP switch/g s/STANDBY button/STOP switch/g s/STANDBY/STOP/g s/[cC]abinet [Ll]ight/control panel light/g s/core system diskettes/core system tape/g s/TERM=542[05] /TERM=PT200 /g s/Teletype 542[05]/BigOne PT200/g s/542[05] terminal/PT200 terminal/g s/Documentation Road Map/Documentation Directory/g s/Owner\/Operator Guide/Installation and Operation Guide/g s/AT&T 3B20 [cC]omputer/BigOne XL Computer/g s/AT&T 3B2 [cC]omputer/BigOne XL Computer/g s/3B2 [cC]omputer/BigOne XL Computer/g s/3B2/BigOne XL Computer/g
The script is straightforward. The beauty is not in the script itself but in sed's ability to apply this script to the hundreds of files comprising the documentation set. Once this script is tested, it can be executed using runsed to process as many files as there are at once.
Such a script can be a tremendous time-saver, but it can also be an opportunity to make big-time mistakes. What sometimes happens is that a person writes the script, tests it on one or two out of the hundreds of files and concludes from that test that the script works fine. While it may not be practical to test each file, it is important that the test files you do choose be both representative and exceptional. Remember that text is extremely variable and you cannot typically trust that what is true for a particular occurrence is true for all occurrences.
Using grep to examine large amounts of input can be very helpful. For instance, if you wanted to determine how "core system diskettes" appears in the documents, you could grep for it everywhere and pore over the listing. To be thorough, you should also grep for "core," "core system," "system diskettes," and "diskettes" to look for occurrences split over multiple lines. (You could also use the phrase script in Chapter 6 to look for occurrences of multiple words over consecutive lines.) Examining the input is the best way to know what your script must do.
In some ways, writing a script is like devising a hypothesis, given a certain set of facts. You try to prove the validity of the hypothesis by increasing the amount of data that you test it against. If you are going to be running a script on multiple files, use testsed to run the script on several dozen files after you've tested it on a smaller sample. Then compare the temporary files to the originals to see if your assumptions were correct. The script might be off slightly and you can revise it. The more time you spend testing, which is actually rather interesting work, the less chance you will spend your time unraveling problems caused by a botched script.
One type of sed application is used for extracting relevant material from a file. In this way, sed functions like grep, with the additional advantage that the input can be modified prior to output. This type of script is a good candidate for a shell script.
Here are two examples: extracting a macro definition from a macro package and displaying the outline of a document.
troff macros are defined in a macro package, often a single file that's located in a directory such as /usr/lib/macros. A troff macro definition always begins with the string ".de", followed by an optional space and the one- or two-letter name of the macro. The definition ends with a line beginning with two dots (..). The script we show in this section extracts a particular macro definition from a macro package. (It saves you from having to locate and open the file with an editor and search for the lines that you want to examine.)
The first step in designing this script is to write one that extracts a specific macro, in this case, the BL (Bulleted List) macro in the -mm package.[5]
[5] We happen to know that the -mm macros don't have a space after the ".de" command.
$sed -n "/^\.deBL/,/^\.\.$/p" /usr/lib/macros/mmt
.deBL .if\\n(.$<1 .)L \\n(Pin 0 1n 0 \\*(BU .if\\n(.$=1 .LB 0\\$1 0 1 0 \\*(BU .if\\n(.$>1 \{.ie !\w^G\\$1^G .)L \\n(Pin 0 1n 0 \\*(BU 0 1 .el.LB 0\\$1 0 1 0 \\*(BU 0 1 \} ..
Sed is invoked with the -n option to keep it from printing out the entire file. With this option, sed will print only the lines it is explicitly told to print via the print command. The sed script contains two addresses: the first matches the start of the macro definition ".deBL" and the second matches its termination, ".." on a line by itself. Note that dots appear literally in the two patterns and are escaped using the backslash.
The two addresses specify a range of lines for the print command, p. It is this capability that distinguishes this kind of search script from grep, which cannot match a range of lines.
We can take this command line and make it more general by placing it in a shell script. One obvious advantage of creating a shell script is that it saves typing. Another advantage is that a shell script can be designed for more general usage. For instance, we can allow the user to supply information from the command line. In this case, rather than hard-code the name of the macro in the sed script, we can use a command-line argument to supply it. You can refer to each argument on the command line in a shell script by positional notation: the first argument is $1, the second is $2, and so on. Here's the getmac script:
#! /bin/sh # getmac -- print mm macro definition for $1 sed -n "/^\.de$1/,/^\.\.$/p" /usr/lib/macros/mmt
The first line of the shell script forces interpretation of the script by the Bourne shell, using the "#!" executable interpreter mechanism available on all modern UNIX systems. The second line is a comment that describes the name and purpose of the script. The sed command, on the third line, is identical to the previous example, except that "BL" is replaced by "$1", a variable representing the first command-line argument. Note that the double quotes surrounding the sed script are necessary. Single quotes would not allow interpretation of "$1" by the shell.
This script, getmac, can be executed as follows:
$getmac BL
where "BL" is the first command-line argument. It produces the same output as the previous example.
This script can be adapted to work with any of several macro packages. The following version of getmac allows the user to specify the name of a macro package as the second command-line argument.
#! /bin/sh # getmac - read macro definition for $1 from package $2 file=/usr/lib/macros/mmt mac="$1" case $2 in -ms) file="/work/macros/current/tmac.s";; -mm) file="/usr/lib/macros/mmt";; -man) file="/usr/lib/macros/an";; esac sed -n "/^\.de *$mac/,/^\.\.$/p" $file
What is new here is a case statement that tests the value of $2 and then assigns a value to the variable file. Notice that we assign a default value to file so if the user does not designate a macro package, the -mm macro package is searched. Also, for clarity and readability, the value of $1 is assigned to the variable mac.
In creating this script, we discovered a difference among macro packages in the first line of the macro definition. The -ms macros include a space between ".de" and the name of the macro, while -mm and -man do not. Fortunately, we are able to modify the pattern to accommodate both cases.
/^\.de *$mac/
Following ".de", we specify a space followed by an asterisk, which means the space is optional.
The script prints the result on standard output, but it can easily be redirected into a file, where it can become the basis for the redefinition of a macro.
Our next example not only extracts information; it modifies it to make it easier to read. We create a shell script named do.outline that uses sed to give an outline view of a document. It processes lines containing coded section headings, such as the following:
.Ah "Shell Programming"
The macro package we use has a chapter heading macro named "Se" and hierarchical headings named "Ah", "Bh", and "Ch". In the -mm macro package, these macros might be "H", "H1", "H2", "H3", etc. You can adapt the script to whatever macros or tags identify the structure of a document. The purpose of the do.outline script is to make the structure more apparent by printing the headings in an indented outline format.
The result of do.outline is shown below:
$do.outline ch13/sect1
CHAPTER 13 Let the Computer Do the Dirty Work A. Shell Programming B. Stored Commands B. Passing Arguments to Shell Scripts B. Conditional Execution B. Discarding Used Arguments B. Repetitive Execution B. Setting Default Values B. What We've Accomplished
It prints the result to standard output (without, of course, making any changes within the files themselves).
Let's look at how to put together this script. The script needs to match lines that begin with the macros for:
Chapter title (.Se)
Section heading (.Ah)
Subsection heading (.Bh)
We need to make substitutions on those lines, replacing macros with a text marker (A, B, for instance) and adding the appropriate amount of spacing (using tabs) to indent each heading. (Remember, the "" denotes a tab character.)
Here's the basic script:
sed -n ' s/^\.Se /CHAPTER /p s/^\.Ah /A. /p s/^\.Bh /B. /p' $*
do.outline operates on all files specified on the command line ("$*"). The -n option suppresses the default output of the program. The sed script contains three substitute commands that replace the codes with the letters and indent each line. Each substitute command is modified by the p flag that indicates the line should be printed.
When we test this script, the following results are produced:
CHAPTER "13" "Let the Computer Do the Dirty Work" A. "Shell Programming" B. "Stored Commands" B. "Passing Arguments to Shell Scripts"
The quotation marks that surround the arguments to a macro are passed through. We can write a substitute command to remove the quotation marks.
s/"//g
It is necessary to specify the global flag, g, to catch all occurrences on a single line. However, the key decision is where to put this command in the script. If we put it at the end of the script, it will remove the quotation marks after the line has already been output. We have to put it at the top of the script and perform this edit for all lines, regardless of whether or not they are output later in the script.
sed -n ' s/"//g s/^\.Se /CHAPTER /p s/^\.Ah /A. /p s/^\.Bh /B. /p' $*
This script now produces the results that were shown earlier.
You can modify this script to search for almost any kind of coded format. For instance, here's a rough version for a LaTeX file:
sed -n ' s/[{}]//g s/\\section/A. /p s/\\subsection/B. /p' $*
Let's consider an application that shows sed in its role as a true stream editor, making edits in a pipeline - edits that are never written back into a file.
On a typewriter-like device (including a CRT), an em-dash is typed as a pair of hyphens (--). In typesetting, it is printed as a single, long dash ( - ). troff provides a special character name for the em-dash, but it is inconvenient to type "\(em".
The following command changes two consecutive dashes into an em-dash.
s/--/\\(em/g
We double the backslashes in the replacement string for \(em, since the backslash has a special meaning to sed.
Perhaps there are cases in which we don't want this substitute command to be applied. What if someone is using hyphens to draw a horizontal line? We can refine this command to exclude lines containing three or more consecutive hyphens. To do this, we use the ! address modifier:
/---/!s/--/\\(em/g
It may take a moment to penetrate this syntax. What's different is that we use a pattern address to restrict the lines that are affected by the substitute command, and we use ! to reverse the sense of the pattern match. It says, simply, "If you find a line containing three consecutive hyphens, don't apply the edit." On all other lines, the substitute command will be applied.
We can use this command in a script that automatically inserts em-dashes for us. To do that, we will use sed as a preprocessor for a troff file. The file will be processed by sed and then piped to troff.
sed '/---/!s/--/\\(em/g' file | troff
In other words, sed changes the input file and passes the output directly to troff, without creating an intermediate file. The edits are made on-the-go, and do not affect the input file. You might wonder why not just make the changes permanently in the original file? One reason is simply that it's not necessary - the input remains consistent with what the user typed but troff still produces what looks best for typeset-quality output. Furthermore, because it is embedded in a larger shell script, the transformation of hyphens to em-dashes is invisible to the user, and not an additional step in the formatting process.
We use a shell script named format that uses sed for this purpose. Here's what the shell script looks like:
#! /bin/sh eqn= pic= col= files= options= roff="ditroff -Tps" sed="| sed '/---/!s/--/\\(em/g'" while [ $# -gt 0 ] do case $1 in -E) eqn="| eqn";; -P) pic="| pic";; -N) roff="nroff" col="| col" sed= ;; -*) options="$options $1";; *) if [ -f $1 ] then files="$files $1" else echo "format: $1: file not found"; exit 1 fi;; esac shift done eval "cat $files $sed | tbl $eqn $pic | $roff $options $col | lp"
This script assigns and evaluates a number of variables (prefixed by a dollar sign) that construct the command line that is submitted to format and print a document. (Notice that we've set up the -N option for nroff so that it sets the sed variable to the empty string, since we only want to make this change if we are using troff. Even though nroff understands the \(em special character, making this change would have no actual effect on the output.)
Changing hyphens to em-dashes is not the only "prettying up" edit we
might want to make when typesetting a document. For example, most
keyboards do not allow you to type open
and close quotation marks (" and " as opposed to
"and"). In troff, you can indicate a open
quotation mark by typing two consecutive grave accents, or
"backquotes" (``
), and a close quotation mark
by typing two consecutive single quotes (''
).
We can use sed to change each doublequote character to a pair of
single open-quotes or close-quotes (depending on context), which, when
typeset, will produce the appearance of a proper "double quote."
This is a considerably more difficult edit to make, since there are many separate cases involving punctuation marks, space, and tabs. Our script might look like this:
s/^"/``/ s/"$/''/ s/"?/''?/g s/"?$/''?/g s/"/``/g s/"/''/g s/"/``/g s/"/''/g s/")/'')/g s/"]/'']/g s/("/(``/g s/\["/\[``/g s/";/'';/g s/":/'':/g s/,"/,''/g s/",/'',/g s/\."/.\\\&''/g s/"\./''.\\\&/g s/\\(em\\^"/\\(em``/g s/"\\(em/''\\(em/g s/\\(em"/\\(em``/g s/@DQ@/"/g
The first substitute command looks for a quotation mark at the beginning
of a line and changes it to an open-quote. The second command looks
for a quotation mark at the end of a line and changes it to a close-quote.
The remaining commands look for the quotation mark in different contexts,
before or after a punctuation mark, a space, a tab, or an em-dash.
The last command allows us to get a real doublequote (@DQ@
)
into the troff input if we need it.
We put these commands in a "cleanup" script, along with the command changing
hyphens to dashes, and invoke it in the pipeline that formats and prints
documents using troff.


Module dotmod
Relative imports with require()
for pure Lua modules.
Info:
- Copyright: 2018
- License: MIT
- Author: un.def
Tables
| package_modnames | A set of modnames that seem to be packages. |
Local Functions
| get_requiring_modname () | Get the absolute name (foo.bar.baz ) of the module that is require() 'ing. |
Tables
- package_modnames
-
A set of modnames that seem to be packages.
That is, if
foo.bar
resolves tofoo/bar/init.lua
, then this table will contain["foo.bar"] = true
entry.
Local Functions
- get_requiring_modname ()
-
Get the absolute name (
foo.bar.baz
) of the module that isrequire()
'ing. The function inspects the call stack for the nearest function (chunk) with__name
local variable and returns its value.Returns:
-
absolute name on success, or
nil
and a string describing the error otherwise.


Conectors to multiple data sources
NFS storage
Support of popular data managment tools
Integration with data science IDEs and libraries
Support of all major ML frameworks
Enterprise template catalogue
Collaboration workspace
Distrubuled training
Optimazed for h/w accelerators
Resource/job scheduling
infrastructure monitoring
Detalied metrics dashboard
Model versioning
Model benchmarking
One-click serving
integration with existing CI/CD process
Support of mul mobile, embedded)
Collecting performance metrics on live data
Triggering model retraining based on schedule/ events


Damascus Home of Islamic Jihad official targeted by Israel, group says
Syrian media reported two killed in the attack including Islamic Jihad Akram Ajuri's son; the home is located near the Lebanese embassy in Mezzah, a western district of the Syrian capital
by Reuters, YnetThe Palestinian militant group Islamic Jihad said Israel targeted the house of one of Islamic Jihad Akram Ajuri in the Syrian capital on Tuesday, killing one of his sons.
Syrian state media earlier reported that at least two people were killed and six wounded in an attack in the early hours that targeted a building in Damascus, without saying who had been targeted or who had carried out the attack.
An Islamic Jihad official confirmed it was the same incident in which the home of political leader, was struck.
In a statement, Islamic Jihad blamed the attack on “the Zionist criminal enemy”.
Also on Tuesday, Israel killed a top commander of the Islamic Jihad in a rare targeted strike in the Gaza Strip, accusing him of carrying out a series of cross-border attacks and planning more.
Syrian state media identified the building as a civilian home located near the Lebanese embassy in Mezzah, a western district of the capital that is home to Damascus University and many foreign embassies.


James Lamb
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A TLS (formerly called SSL) certificate is a cryptographic file that proves to anyone connecting to a web address that the connection is secure between you and the owner of that address.
You need a TLS certificate for this box’s hostname ({{hostname}}) and every other domain name and subdomain that this box is hosting a website for (see the list below).
Certificates expire after a period of time. All certificates will be automatically renewed through Let’s Encrypt 14 days prior to expiration.
If you don't want to use our automatic Let's Encrypt integration, you can give any other certificate provider a try. You can generate the needed CSR below.
Which domain are you getting a certificate for?
(A multi-domain or wildcard certificate will be automatically applied to any domains it is valid for besides the one you choose above.)
What country are you in? This is required by some TLS certificate providers. You may leave this blank if you know your TLS certificate provider doesn't require it.


Deuteronomy 34:12
And in all that mighty hand, and in all the great terror which Moses showed in the sight of all Israel.


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--- layout: page title: About header-img: "img/about-bg.png" ---
My name is Binny Lewis and I am a current student enrolled at the Flatiron Coding Bootcamp's online campus. Through the learn.co portal, I am training to be a fullstack developer by adding Ruby on Rails to my repertoire of skills. My desire is to apply these newly gained skills towards a career in project management, leading innovative teams that will bring technology to meet the needs of the consumer, not the other way around.
This is my opportunity to share thoughts on all my various interests. From coding and hackathons, to history and philosophy. I will segment the content for your sake (and for mine) to allow for feedback. One way conversations are never fun. So please reach out via twitter, FB, email, or anywhere else you find my name and a contact link.
I look forward to hearing from you!
Binny Lewis


| Item: | Onkyo Super Audio CD / SACD / CD player C-S5VL |
|---|---|
| Condition: | Pre-Owned For Parts See Description |
| Original Packaging: | Yes |
This Onkyo SACD plays CDs and SACDs, and sounds great. I've been the only owner and I've been very happy with it, with one exception. At some point the eject functionality started to get spotty. So the disk with load and play fine, but when it's time to eject sometimes it will not work. The workaround is to open the case (only a few screws) and manually remove the disk, but obviously this is not ideal. I don't want to deal with getting it repaired, but it could be a small thing, and someone with some skills might be able to fix it for free. The top has a some scratches that you can see in the photos, but nothing major, and nothing from the front. Remote, power cord and original packaging
Includes:
Manufacturer's description:
We package all our items carefully to ensure they arrive safely. Please contact us if you have questions about packaging standards.
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Just a lazy day boiling up 7 gallons of pork stock on the back porch.
5/6/2011, 11:38:47 AM
Favs: 0
Retweets: 0
link--- layout: tweet ---
Just a lazy day boiling up 7 gallons of pork stock on the back porch.
5/6/2011, 11:38:47 AM
Favs: 0
Retweets: 0
link


--- layout: post title: A picture... date: '2013-10-01T07:55:57+02:00' categories: picture_url: https://film-Storyboards.tumblr.com/post/62805557945/a-picture-shows-me-at-a-glance-what-it-takes ---
A picture shows me at a glance what it takes dozens of pages of a book to expound.—IVAN TURGENEV (extract from Fathers and Sons — 1862)


FullGrid
A grid system for you to use
FullGrid is made for easy use. Inspired by the Bootstrap grid system. It should offer familiarity and flexibility with a smaller workload.
FullGrid works by using 5 different screen sizes. These are extra large, large, medium, small and extra small. Each screen size is proportionally divided into 12 columns. To make a layout we have to specify a number of columns along with the column width. In the example below, the first row has 12 columns with a width of 1 column. The second row has 6 columns, each with the width of 2 columns. This continues until the 6th and final row. Where it's just 1 column that is 12 columns wide.
To summize: first specify the number of columns. Which can be 1 and 12, or any number in between. Secondly, specify the width of each column. Which always adds up to 12 in total.
We start by creating a container which holds a row with columns. In this example we use the modifier xl-12 to give it a width of 12 colums. Which is the greatest number of columns. The modifiers l, m, s, and xs all indicate the width should be 12 columns across all 5 breakpoints.

Turns into:


Do you work for one of these companies and hate your commute?
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Spend quality time with your teammates on the road or utilize your commute for meetings.
Don’t sit in traffic or spend time driving around parking. When more people carpool, roads and highways are less clogged.
Travel with your coworkers to ensure that you’re in good company.


Linquistics to polyglot is as theory is to a musician. Until I learn how to javascript it is up to you to reference an existing post to reply to them.


Check Your Nail Health
Tutorial
This app colours its analysis of photos green, amber, or red depending upon how serious it believes the condition is. Gray indicates the app can't classify the photo.
Click on a nail to find out how healthy it is.
This app colours its analysis of photos green, amber, or red depending upon how serious it believes the condition is. Gray indicates the app can't classify the photo.
Loading. Please wait.
Please wait for this app to load.


We take our gaming to the next level, with pro recording software, © Razer headsets, and custom built computers to use. We have it all under control. Learn More
We think it is important to read all of the comments to all of our videos, as best we can of course. We need to see what everyone else wants. Not just what we want! Learn More
We try to fit everyones needs, as well as our own, without ruining how the system works. We try to play the games suggested, not only have teams on certain games. Learn More


${user.username} historical brews | brew-journal
no historical brews
${brew_name_and_style(brew)}
${std.fmt.date.ymd(brew.brew_date, user)}


Maria Daniella is an upcoming software developer who is keen to find a position as a software developer/engineer in the technology industry. I am a leader with excellent problem solving and public speaking skills. I am also Reliable, hard-working, dedicated and meticulous. I am able to work on my own initiative or as part of a team and can deal with a company's software development and/or administrative duties competently.
BSc computer Science
Catholic University of
Eastern Africa
01/2017
Elite senior School
01/2014
Moi Educational Center
01/2005


Logan
Logan is a 2017 American superhero film featuring the Marvel Comics character Wolverine, played by Hugh Jackman. The film, distributed by 20th Century Fox, is the tenth installment in the X-Men film series, as well as the third and final Wolverine film following X-Men Origins: Wolverine (2009) and The Wolverine (2013). It is directed by James Mangold, who co-wrote the screenplay with Scott Frank and Michael Green from a story by Mangold, and also stars Patrick Stewart, Richard E. Grant, Boyd Holbrook, Stephen Merchant and Dafne Keen. The film follows a past-his-prime Logan embarking on a "road trip" across a dystopian future version of America for one final adventure. Development of Logan began in November 2013 with the hiring of Mangold to write a treatment that took inspiration from the graphic novel, Old Man Logan by Mark Millar eve McNiven. In March 2014, Jackman signed on to star as Logan in what is intended to be his final portrayal of the character after having played the role for 17 years. That same month, Fox set a release date and officially brought Mangold onboard to direct. Green took over writing duties in April 2015 and by the following April, most of the supporting roles had been cast. Principal photography began in New Orleans on May 2, 2016, and moved to Natchez, Mississippi, before ending on August 19, 2016, in New Mexico. Logan premiered at the 67th Berlin International Film Festival on February 17, 2017 and was released in the United States on March 3, 2017, in standard and IMAX formats.
Rumen Nikodimov


(3x3) RM 800 [ RM 1200 inc. printing ]
(3x4) RM 1000 [ RM 1500 inc. printing ]
Code: POP UP-3X4C / POP UP-3X4C
Size: Printing - (3x3) - (W) 344cm x (H) 232cm
Size: Printing - (3x4) - (W) 414cm x (H) 232cm
Weight: 26.2 KG
RM 300 [ RM 360 inc. printing ]
Code: : PPT
Size: Printing - (W) 228cm x (H) 87cm
Weight: 15.3 KG
(2x3) RM 700 [ RM 1000 inc. printing ]
(3x3) RM 800 [ RM 1200 inc. printing ]
(3x4) RM 1000 [ RM 1500 inc. printing ]
Code: : POP UP-2X3 / POP UP-3X3 / POP UP-3X4
Size: Printing - (2x3) - (W) 284cm x (H) 232cm
Size: Printing - (3x3) - (W) 359cm x (H) 232cm
Size: Printing - (3x4) - (W) 434cm x (H) 232cm
Weight: 26.2 KG
RM 700 [ RM 1000 inc. printing ]
Code: POP UP-VELCO
Size: Printing - (W) 230cm x (H) 230cm
RM 200
Code: CASING (S)
Size: 8.2 KG
RM 400 [ RM 500 inc. printing ]
Code: : CASING
Size: Printing - (W) 184cm x (H) 80cm
Weight: 12.1 KG


18+ A Goofy Movie Logo Pictures. Stage an impromptu concert at the final assembly, that's how! It's the last day of school, and max wants to catch the eye of roxanne, one of the more attractive girls in school.
A page for describing ymmv: Through the movie, goofy tries to bring max out of his shell, while max resents being taken away, and lying to roxanne about the trip (he tells her this movie really needs to be seen to get its true impact. Watch a goofy movie online for free in hd/high quality.
It's the last day of school, and max wants to catch the eye of roxanne, one of the more attractive girls in school.
Goofy went to the same place with his father when he was max's age. A goofy movie is a 1995 american animated musical comedy film produced by disney movietoons and walt disney television animation. If we listen to each other's hearts, we'll find we're never too far apart. contact a goofy movie on messenger. Use logodesign.net's logo maker to edit and download.


Daejeon programming is a newborn group of programmers and people interrested in programming living in Daejeon. Feel free to join us on the web or in real life (you will find infos about the meeting on the meetup group).
But why these flashy colors
For this first trial at making an elegant design for this website we just used the "It's Daejeon" flag colors witout giving it too much thought...


Crash causes traffic delays Friday morning on interstate in Jefferson County
by Stephanie FryerJOHNSON CREEK, Wis. - Part of the eastbound interstate was blocked near Johnson Creek in Jefferson County due to a crash.
The crash was reported around 7:10 a.m. near Wisconsin 26, according to an alert by the Wisconsin Department of Transportation.
Crews cleared the scene around 8:40 a.m.


| Package | Description |
|---|---|
| org.onehippo.forge.pageflow.core.rt |
The core APIs of Page Flow Runtime.
|
| org.onehippo.forge.pageflow.core.rt.impl |
The Implementation for core APIs of Page Flow Runtime.
|
| org.onehippo.forge.pageflow.hst.sitemapitemhandler |
HstSiteMapItemHandler implementation(s) to integrate an HST based web application with Page Flow Module. |
| Class and Description |
|---|
| ErrorItem
Error Item abstraction which is part of
Errors . |
| Errors
Errors abstraction for an application subject (e.g, a field in a form of an application).
|
| PageFlow
Page Flow runtime abstraction.
|
| PageFlowControl |
| PageFlowFactory
Factory abstraction which is responsible for creating a
PageFlow instance from a PageFlowDefinition . |
| PageFlowStore
Backend Page Flow Store abstraction.
|
| PageState
Page State runtime abstraction, which is part of a
PageFlow . |
| Class and Description |
|---|
| ErrorItem
Error Item abstraction which is part of
Errors . |
| Errors
Errors abstraction for an application subject (e.g, a field in a form of an application).
|
| PageFlow
Page Flow runtime abstraction.
|
| PageFlowFactory
Factory abstraction which is responsible for creating a
PageFlow instance from a PageFlowDefinition . |
| PageFlowStore
Backend Page Flow Store abstraction.
|
| PageState
Page State runtime abstraction, which is part of a
PageFlow . |
| Class and Description |
|---|
| DefaultPageFlowControl
Default generic
PageFlowControl implementation in a web application. |
| PageFlow
Page Flow runtime abstraction.
|
| PageFlowControl |
| PageFlowFactory
Factory abstraction which is responsible for creating a
PageFlow instance from a PageFlowDefinition . |
| PageFlowStore
Backend Page Flow Store abstraction.
|
| PageState
Page State runtime abstraction, which is part of a
PageFlow . |
Copyright © 2018. All rights reserved.


My library
Add New Book
New Book
Title
Author
Number of Pages
Add Book
Book title
Author's name
pages


Updated rfishbase package. Include querying for a list of scientific names and the addition of more quantitative traits, though the selection is still somewhat limited. Demo includes how to grab some data to match a phylogenetic tree, and some regular expression (grep) searches for feeding behavior.
Windows binary also available.
# demo.R
rm(list=ls())
require(rfishbase)
###### Grabbing, Loading & Caching Fishbase Data ######
## Download and parse data for first 40 ids (36 fish)
#fish.data <- getData(1:40)
## Or just load the cached copy of the full fishbase data:
## Note that this loads the copy distributed with rfishbase.
data(fishbase)
## To get the most recent copy of fishbase, update the cache
## and load that. The update may take up to 24 hours.
# updateCache()
# loadCache("2011-10-12fishdata.Rdat")
###### Sample Analysis #########
## Lets start by looking at the distribution of all age data available:
yr <- getSize(fish.data, "age")
hist(yr, breaks=40, main="Age Distribution", xlab="age (years)");
nfish <- length(fish.data)
# We can create partitions by taxon. For instance, we get the index
# to all fish wrasses and parrotfish by searching for both families
# note the use of a "regular expression" to specify the OR command in the search
labrid <- familySearch("(Labridae|Scaridae)", fish.data)
goby <- familySearch("Gobiidae", fish.data)
## Let's see if there are more labrid species or goby speices on reefs:
# get all the labrids that are reefs
labrid.reef <- habitatSearch("reef", fish.data[labrid])
# How many species are reef labrids:
sum(labrid.reef) # same as: length(fish.data[labrid][labrid.reef])
# How many reef gobies:
sum (habitatSearch("reef", fish.data[goby]) )
# Let's plot the log length distribution of freshwater vs marine fish:
hist(log( getSize (fish.data[habitatSearch("freshwater", fish.data)], "length")),
col=rgb(1,0,0,.5), breaks=40, freq=F, xlab="length", main="marine fish are bigger")
hist(log( getSize (fish.data[habitatSearch("marine", fish.data)], "length")),
col=rgb(0,0,1,.5), breaks=40, add=T, freq=F)
# Note that we can also find anadromous fish:
anadromous <- habitatSearch("anadromous", fish.data)
# this is useful for phylogenetic comparative methods. For instance, load the labrid tree:
require(ape)
data(labridtree)
# get the species names (& remove underscores)
tree$tip.label<-gsub("_", " ", tree$tip.label)
tip.labels <- tree$tip.label
myfish <- findSpecies(tip.labels, fish.data)
species.names <- sapply(fish.data[myfish], function(x) x$ScientificName)
# create a trait matrix of fin data
traits <- getQuantTraits(fish.data[myfish])
rownames(traits) <- species.names
depths <- getDepth(fish.data[myfish])
rownames(depths) <- species.names
size <- getSize(fish.data[myfish], "length")
names(size) <- species.names
# who's missing from treebase entirely?
missing<-tip.labels[! tip.labels %in% species.names ]
tr<- drop.tip(tree, missing)
# drop species with NAs for max depth
depth <- depths[,2]
missing<-names(depth[is.na(depth)])
tr<- drop.tip(tr, missing)
# repeat for NAs for length
missing<-names(size[is.na(size)])
tr<- drop.tip(tr, missing)
# drop all the data not in the tree
pruned.names <- tr$tip.label
size <- size[pruned.names]
depth <- depth[pruned.names]
# Does depth correlate with size after correcting for phylogeny?
x <- pic(size, tr)
y <- pic(depth, tr)
summary(lm(y~x-1)) # Yes
require(geiger)
bm <- fitContinuous(tr, depth, model="BM")
ou <- fitContinuous(tr, depth, model="OU")
invert <- sapply(fish.data, function(x) length(grep("invertebrate", x$trophic))>0)
piscivore <- sapply(fish.data, function(x) length(grep("(piscivore|fish)", x$trophic))>0)
hist(log( getSize (fish.data[invert], "length")),
col=rgb(1,0,0,.5), breaks=40, freq=F, xlab="length", main="invert eaters vs piscivores")
hist(log( getSize (fish.data[piscivore], "length")),
col=rgb(0,0,1,.5), breaks=40, add=T, freq=F)
## Using a treebase tree
require(rtreebase)
## Need to find an example of a fish tree on treebase that has branchlengths
#trees <- search_treebase("Scarus", by="taxon", branch=TRUE)
#str <- trees[[1]]$tip.label
#gsub("(\\w+)_(\\w+)_.*", "\\1 \\2", str)
#myfish <- findSpecies(species, fish.data)
#getQuantTraits(fish.data[myfish])


glif demo pages
Blend and Composite Modes ExplorerScriptable blend modes and compositing of two images. Discover your own blend modes!
Difference of Gaussians ExplorerScriptable operations on two blurred versions of the original image.
Image Warp DemoA demonstration of warping one image with another.
Multiple Image Animated Mixing Blending/mixing multiple images, with animation.
Blur ExplorerExperiments with image blurring algorithms.
Sequence Effect DemoA demo of the sequential application of effects to an image using double buffering.
Image Effect DemoScriptable effects applied to an image.


Webpack Demo
Default Value
Reducer
String Literals
Note : Type Something to view string literals
Value will be shown here


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This is a code demo posted by a web developer on
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The <head> is a place for information about the webpage and it's not visible for the user in most cases
The title is visible in the browser's tab and in search engines' results
<head>
<title>The title of the website</title>
</head>
The style element defines style information for the page
<head>
<style>
body {background-color: blue;}
h1 {color: red;}
</style>
</head>
The link element is used to define relationships between the document and external files, mostly stylesheets
<head>
<link rel="stylesheet" href="style_file.css">
</head>
The meta element specifies the character set, keywords
or page description and other data
often used by search engines or web services
Defining the character set
<head>
<meta charset="UTF-8">
</head>
Defining a description
<meta name="description" content="My webpage">
Setting the viewport
<meta name="viewport" content="width=device-width, initial-scale=1.0">
The viewport is the user's visible area of a web page, and it changes with the device - smaller on a phone, bigger on a computer screen. width=device-width sets the width of the page to width of the device screen. initial-scale=1.0 sets the initial zoom level when the page is loaded
Script element defines client-side JavaScript scripts
<script>
function myFunction() {
document.getElementById("sample-element").innerHTML = "Hello World!";
}
</script>
Base element defines the base URL used by relative URLs. It must have href or target attribute
<head>
<base href="https://mywebsite.com" target="_blank">
</head>
Only one <base> element can be present in a single page


---
layout: post
title: using the whole buffalo a spent grain loaf from
date: '2011-02-13T22:43:00+01:00'
tags:
- bread
- kitchen
tumblr_url: http://dotmr.tumblr.com/post/3285925904/using-the-whole-buffalo-a-spent-grain-loaf-from
---
Using the whole buffalo
A spent grain loaf from the remains of the IPA


|
Drake
|
Given a desired two dimensional (X and Y) zero-moment point (ZMP) trajectory parameterized as a piecewise polynomial, an optimal center of mass (CoM) trajectory is planned using a linear inverted pendulum model (LIPM).
A second order value function (optimal cost-to-go) and a linear policy are also computed along the optimal trajectory. The system dynamics for the X and Y directions are decoupled, however, we plan the XY motion together for convenience.
Let \( c \) be the CoM position, the The state of the system, \( x \), is \( [c; \dot{c}] \), the control, \( u = \ddot{c} \), and \( y \) represents the center of pressure (CoP). For the X direction, the LIPM dynamics is:
\[ y = c - \frac{z}{g} * u, \]
where \( g \) is the gravity constant and \( z \) is the CoM height. \( z \) is assumed to be constant in LIPM. The full dynamics can also be written in the matrix form as:
\[ \dot{x} = A x + B u \\ y = C x + D u \]
The one step cost function \( L \) is defined as:
\[ L(y, u, t) = (y - y_d(t))^T Q_y (y - y_d(t)) + u^T R u, \]
where \( Q_y \) and \( R \) are weighting matrices, and \( y_d(t) \) is the desired ZMP trajectory at time \( t \).
The value function is defined as
\[ V(x, t) = \min_{u[t:t_f]} \bar{x}(t_f)^T S \bar{x}(t_f) + \int_{t}^{t_f} L(y, u, \tau) d\tau, \]
subject to the dynamics, and \( t_f \) is the last time in the desired ZMP trajectory, \( \bar{x} = [c - y_d(t_f); \dot{c}] \), \( S \) is the quadratic term from the infinite horizon continuous time LQR solution solved with the same dynamics and one step cost function.
For this problem, \( V \) is known to have a quadratic form of:
\[ V(x, t) = \bar{x}^T V_{xx} \bar{x} + \bar{x}^T V_x(t) + V_0(t), \]
and the corresponding optimal control policy, \( u^* \), is linear w.r.t. to \( x \):
\[ u^*(x, t) = K \bar{x} + u_0(t). \]
See the following reference for more details about the algorithm:
[1] R. Tedrake, S. Kuindersma, R. Deits and K. Miura, "A closed-form solution for real-time ZMP gait generation and feedback stabilization," 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), Seoul, 2015, pp. 936-940.
#include <drake/systems/controllers/zmp_planner.h>
Public Member Functions | |
| ZMPPlanner () | |
| void | Plan (const trajectories::PiecewisePolynomial< double > &zmp_d, const Eigen::Vector4d &x0, double height, double gravity=9.81, const Eigen::Matrix2d &Qy=Eigen::Matrix2d::Identity(), const Eigen::Matrix2d &R=Eigen::Matrix2d::Zero()) |
| Implements the algorithm in [1] that computes a nominal CoM trajectory, and the corresponding second order value function and linear policy. More... | |
| bool | has_planned () const |
| Returns true if Plan has been called. More... | |
| Eigen::Vector2d | ComputeOptimalCoMdd (double time, const Eigen::Vector4d &x) const |
Computes the optimal control (CoM acceleration) at time given CoM state x using the linear policy. More... | |
| Eigen::Vector2d | comdd_to_cop (const Eigen::Vector4d &x, const Eigen::Vector2d &u) const |
| Converts CoM acceleration to center of pressure (CoP) using cop = C * x + D * u, which is equivalent to cop = com - z / g * comdd Should only be called after Plan is called. More... | |
| const Eigen::Matrix< double, 4, 4 > & | get_A () const |
| Getter for A matrix. More... | |
| const Eigen::Matrix< double, 4, 2 > & | get_B () const |
| Getter for B matrix. More... | |
| const Eigen::Matrix< double, 2, 4 > & | get_C () const |
| Getter for C matrix. More... | |
| const Eigen::Matrix< double, 2, 2 > & | get_D () const |
| Getter for D matrix. More... | |
| const Eigen::Matrix< double, 2, 2 > & | get_Qy () const |
| Getter for Qy matrix. More... | |
| const Eigen::Matrix< double, 2, 2 > & | get_R () const |
| Getter for R matrix. More... | |
| Eigen::Vector2d | get_desired_zmp (double time) const |
Returns the desired ZMP evaluated at time . More... | |
| Eigen::Vector2d | get_nominal_com (double time) const |
Returns the nominal CoM evaluated at time . More... | |
| Eigen::Vector2d | get_nominal_comd (double time) const |
Returns the nominal CoM velocity evaluated at time . More... | |
| Eigen::Vector2d | get_nominal_comdd (double time) const |
Returns the nominal CoM acceleration evaluated at time . More... | |
| Eigen::Vector2d | get_final_desired_zmp () const |
| const trajectories::PiecewisePolynomial< double > & | get_desired_zmp () const |
| Returns the desired ZMP trajectory. More... | |
| const trajectories::ExponentialPlusPiecewisePolynomial< double > & | get_nominal_com () const |
| Returns the nominal CoM trajectory. More... | |
| const trajectories::ExponentialPlusPiecewisePolynomial< double > & | get_nominal_comd () const |
| Returns the nominal CoM velocity trajectory. More... | |
| const trajectories::ExponentialPlusPiecewisePolynomial< double > & | get_nominal_comdd () const |
| Returns the nominal CoM acceleration trajectory. More... | |
| const Eigen::Matrix< double, 4, 4 > & | get_Vxx () const |
| Returns the time invariant second order term (S1 in [1]) of the value function. More... | |
| const trajectories::ExponentialPlusPiecewisePolynomial< double > & | get_Vx () const |
| Returns the time varying first order term (s2 in [1]) of the value function. More... | |
| const Eigen::Vector4d | get_Vx (double time) const |
| Returns the time varying first order term (s2 in [1]) of the value function. More... | |
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable | |
| ZMPPlanner (const ZMPPlanner &)=default | |
| ZMPPlanner & | operator= (const ZMPPlanner &)=default |
| ZMPPlanner (ZMPPlanner &&)=default | |
| ZMPPlanner & | operator= (ZMPPlanner &&)=default |
|
default |
|
default |
| ZMPPlanner | ( | ) |
| Eigen::Vector2d comdd_to_cop | ( | const Eigen::Vector4d & | x, |
| const Eigen::Vector2d & | u | ||
| ) | const |
Converts CoM acceleration to center of pressure (CoP) using cop = C * x + D * u, which is equivalent to cop = com - z / g * comdd Should only be called after Plan is called.
| x,CoM | position and velocity |
| u,CoM | acceleration |
| Eigen::Vector2d ComputeOptimalCoMdd | ( | double | time, |
| const Eigen::Vector4d & | x | ||
| ) | const |
Computes the optimal control (CoM acceleration) at time
given CoM state x
using the linear policy.
Should only be called after Plan is called.
| time,Current | time. |
| x,Current | state. |
| const Eigen::Matrix<double, 4, 4>& get_A | ( | ) | const |
Getter for A matrix.
| const Eigen::Matrix<double, 4, 2>& get_B | ( | ) | const |
Getter for B matrix.
| const Eigen::Matrix<double, 2, 4>& get_C | ( | ) | const |
Getter for C matrix.
| const Eigen::Matrix<double, 2, 2>& get_D | ( | ) | const |
Getter for D matrix.
| Eigen::Vector2d get_desired_zmp | ( | double | time | ) | const |
Returns the desired ZMP evaluated at time
.
| const trajectories::PiecewisePolynomial<double>& get_desired_zmp | ( | ) | const |
Returns the desired ZMP trajectory.
| Eigen::Vector2d get_final_desired_zmp | ( | ) | const |
| Eigen::Vector2d get_nominal_com | ( | double | time | ) | const |
Returns the nominal CoM evaluated at time
.
| const trajectories::ExponentialPlusPiecewisePolynomial<double>& get_nominal_com | ( | ) | const |
Returns the nominal CoM trajectory.
| Eigen::Vector2d get_nominal_comd | ( | double | time | ) | const |
Returns the nominal CoM velocity evaluated at time
.
| const trajectories::ExponentialPlusPiecewisePolynomial<double>& get_nominal_comd | ( | ) | const |
Returns the nominal CoM velocity trajectory.
| Eigen::Vector2d get_nominal_comdd | ( | double | time | ) | const |
Returns the nominal CoM acceleration evaluated at time
.
| const trajectories::ExponentialPlusPiecewisePolynomial<double>& get_nominal_comdd | ( | ) | const |
Returns the nominal CoM acceleration trajectory.
| const Eigen::Matrix<double, 2, 2>& get_Qy | ( | ) | const |
Getter for Qy matrix.
| const Eigen::Matrix<double, 2, 2>& get_R | ( | ) | const |
Getter for R matrix.
| const trajectories::ExponentialPlusPiecewisePolynomial<double>& get_Vx | ( | ) | const |
Returns the time varying first order term (s2 in [1]) of the value function.
| const Eigen::Vector4d get_Vx | ( | double | time | ) | const |
Returns the time varying first order term (s2 in [1]) of the value function.
| const Eigen::Matrix<double, 4, 4>& get_Vxx | ( | ) | const |
Returns the time invariant second order term (S1 in [1]) of the value function.
| bool has_planned | ( | ) | const |
Returns true if Plan has been called.
|
default |
|
default |
| void Plan | ( | const trajectories::PiecewisePolynomial< double > & | zmp_d, |
| const Eigen::Vector4d & | x0, | ||
| double | height, | ||
| double | gravity = 9.81 , |
||
| const Eigen::Matrix2d & | Qy = Eigen::Matrix2d::Identity() , |
||
| const Eigen::Matrix2d & | R = Eigen::Matrix2d::Zero() |
||
| ) |
Implements the algorithm in [1] that computes a nominal CoM trajectory, and the corresponding second order value function and linear policy.
None of the other public methods should be called until Plan is called.
It is allowed to pass in a zmp_d
with a non-stationary end point, but the user should treat the result with caution, since the resulting nominal CoM trajectory diverges exponentially fast past the end point.
| zmp_d,Desired | two dimensional ZMP trajectory. |
| x0,Initial | CoM state. |
| height,CoM | height from the ground. |
| gravity,Gravity | constant, defaults to 9.81 |
| Qy,Quadratic | cost term on ZMP deviation from the desired, defaults to identity. |
| R,Quadratic | cost term on CoM acceleration, defaults to zero. |


| Notification method |
Applies to
TCustomTreeNT
Declaration
Procedure Notification(AComponent: TComponent; Operation: TOperation);
Implementation
procedure TCustomTreeNT.Notification(AComponent: TComponent; Operation: TOperation); begin inherited Notification(AComponent, Operation); if Operation = opRemove then begin if AComponent = Images then Images := nil; if AComponent = StateImages then StateImages := nil; end; End; |


Money Play. How should Red play 21?
pips Red=98 White=117
(CorrectAnswer= 0/0, ErrorScore= 0)
It would be nice to play 3/1, 2/1 but Red doesn’t have enough time to do that. On average it will take him five rolls to escape the checker from White’s point and he does not have five rolls.
This is a question of priorities and Red’s key priority is to escape the rear checker. The 2 should be played 24/22. The 1 should be played 17/16. If White then rolls 44 you just know it is not your day! However, most of the time the duplication will work well.
This is a question of priorities and Red’s key priority is to escape the rear checker. The 2 should be played 24/22. The 1 should be played 17/16. If White then rolls 44 you just know it is not your day! However, most of the time the duplication will work well.
1. Cubeful 2-ply 24/22 17/16 Eq.: +0.094 0.487 0.129 0.002 - 0.513 0.164 0.009 2. Cubeful 2-ply 24/22 3/2 Eq.: +0.036 (-0.058) 0.469 0.125 0.002 - 0.531 0.178 0.010 3. Cubeful 2-ply 24/22 12/11 Eq.: +0.024 (-0.070) 0.463 0.124 0.002 - 0.537 0.175 0.010 4. Cubeful 2-ply 3/1 2/1 Eq.: +0.019 (-0.074) 0.437 0.137 0.001 - 0.563 0.134 0.007 5. Cubeful 0-ply 24/22 2/1 Eq.: -0.246 (-0.339) 0.391 0.128 0.001 - 0.609 0.266 0.024


Archive
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01 Mar 2019 » Valuing Basketball Players
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17 Feb 2019 » Predcting Genre Of Music Videos
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12 Jan 2019 » A Couple Of Adventures With The Mta Turnstile Dataset
01 Mar 2019 » Valuing Basketball Players
17 Feb 2019 » Predcting Genre Of Music Videos
12 Jan 2019 » A Couple Of Adventures With The Mta Turnstile Dataset


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Oh hi,
If you've remixed me and set your SendGrid API key in the '.env' file, then I've just sent an email. See the code and view the logs for further info.
Oh hi,
If you've remixed me and set your SendGrid API key in the '.env' file, then I've just sent an email. See the code and view the logs for further info.


--- layout: default title: ICBB'18 - Registration meta: The registration details and instructions can be found here keyword: biotechnology conference, biofuel conference, biomaterials conference, biomedical conference, bioengineering conference, biocatalysis conference, biochemical engineering conference, biochemistry, bioenergy, biology, biomechanics, biomechatronics conference, biomedicine, toxicology, biotechnology, biofuel, biomaterials, biomedical, bioengineering, biocatalysis, biochemical engineering, biochemistry conference, bioenergy conference, biology conference, biomechanics conference, biomechatronics, biomedicine conference, toxicology conference ---
The registration fees for the 4th International Conference on Bioengineering and Biotechnology (ICBB'18) are listed below. All prices are in Euros and VAT (Value Added Tax) included:
|
Final Extended Early Bird Registration Prior to June 18, 2018 |
Students*: €450 |
Non-Students: €650 |
|
Final Extended Regular Registration** Prior to July 10, 2018 |
Students: €550 |
Non-Students: €700 |
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Late Registration After Jule 10, 2018 |
Students: €600 |
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| Accompanying person(s)*** |
| €150 (ONLY includes lunches and coffee breaks) Banquet Dinner ONLY: €70 |
| Workshop Registration**** |
| €150 |
|
Final Extended Early Bird Registration Prior to June 18, 2018 Early Bird Registration Prior to March 16, 2018 |
Students*: €450 |
|---|---|
Non-Students: €650 |
|
|
Final Extended Regular Registration** Prior to July 10, 2018 Regular Registration Prior to April 20, 2018 |
Students: €550 |
Non-Students: €700 |
|
|
Late Registration After July 10, 2018 |
Students: €600 |
Non-Students: €750 |
|
| Accompanying person(s)*** | €150 (ONLY includes lunches and coffee breaks) Banquet Dinner ONLY: €70 |
| Workshop Registration**** | €150 |
* Student Identification will be Required on Registration Desk
** This is the deadline for the registration of Authors
Please note that registration fees are not refundable under any circumstances.
Registration fee includes the following:
***Important information for accompanying person(s): Please be informed that the accompanying person can NOT be a co-author. Co-authors, regardless if 1 author is attending, must pay the full registration fee. The accompany person fee is only for spouses and/or children. Please contact us if you are unsure.
****Important information for workshop registrants: All workshop attendees will receive a certificate of participation. Registration fees will be refunded only if the workshop is cancelled due to insufficient amount of registrants (less than 5).
Important information for registrants who need to apply for VISA:
Please visit
EsMadrid for more details.
You may register for ICBB'18 by one of the methods below. Please click on one of the icons to access the details of each payment method.
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{% include registration-form.html %}


Your game idea is too big
Tell me about your game!
Estimate: $1,000
You could hire a team to make it for that price. Or you could make it yourself in about 1 week.
Tell me about your game!
Estimate: $1,000
You could hire a team to make it for that price. Or you could make it yourself in about 1 week.


Hi and welcome to my site my name is Wayne du Preez.
My background is in electronics with experience in:
- PCB Development for products ranging from 300kW PSU’s to range finder laser testers.
- Custom test system development for military products.
- Off the Shelf test system usage for bed of nails production systems.
- Embedded software development in C.
- Linux administration on production machines.
- Ansible configurtion and usage for LXD, KVM, Windows and Linux machine configuration.
- Industrial Modbus development for IPC’s in C#.
- etc…
My interests are far ranging with a few as noted below:
- Industrial communication like modbus, ethercat, ethernet/IP, profinet and io-link.
- Rust language for application and embedded development.
- PCB’Development.
- Linux for both embedded and application development.
- etc…
I decided to start writing about the projects I start as:
- I see it as a great why to keep record of how far along the project is.
- It might be of use for other people.
- It forces me to finish them.
Feel free to get into contact with questions or just for a chat.


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Pakistan’s envoy elected president of UN Commission on Trade and Development
by News DeskAmbassador Khalil Hashmi, Permanent Representative of Pakistan to the United Nations in Geneva, was elected on Monday president of the 11th session of the Commission on Trade and Development, the Foreign Office said.
The commission is one of the key constituents on the UN Conference on Trade and Development (UNCTAD) based in Geneva. It is an important platform to deliberate on key trade and development issues.
The Foreign Office said that Pakistan’s presidency will provide an opportunity to share its experiences and to benefit from international best practices that help advance trade and development goals.
The commission, the statement added, will consider reports on legal and policy aspects of trade, services, commodities, consumer protection and competition within the overall context of sustainable development.
“It will also consider progress in research and analysis, consensus building and technical cooperation and discuss ways to strengthen multilateral cooperation in the areas of trade and development,” the communique read.
“Election to lead the UNCTAD reflects recognition of Pakistan’s active engagement and its key role in the multilateral fora.”


| Id. | Name | Type | Featured | Price | Booked | Check_in | Check_out | Actions |
|---|---|---|---|---|---|---|---|---|
| Tiger Nixon | System Architect | Edinburgh | 61 | 2011/04/25 | $320,800 | Tiger Nixon | System Architect | Edinburgh |
| Id. | Name | Type | Featured | Price | Booked | Check_in | Check_out | Actions |
|---|---|---|---|---|---|---|---|---|
| Tiger Nixon | System Architect | Edinburgh | 61 | 2011/04/25 | $320,800 | Tiger Nixon | System Architect | Edinburgh |


Our first GBM of the year will take place on 9/9 at 7pm in White Hall 110. Come to learn more about GCC and open positions on the executive board! Free pizza and drinks will be provided.
 Drinks and assorted Chinese desserts will also be provided. This 'class' will be held in the Fevans Multi-purpose Room from 6:00pm to 9:00pm.
Don't miss Emory's third annual Culture Shock, where Emory GCC will join numerous campus culture clubs to hold a fun filled celebration with performances, music, and free food! Culture Shock will take place on Friday, 11/6 from 5:30pm-9:30pm at the Woodruff Health Sciences Center.
On 11/23, Emory GCC will host a speaker event with Professors Thomas Remington and Ning Yu to discuss social reform in China. The event will be held at 7pm in White Hall 100. Food and drinks will be provided.
Join us for our fourth annual China Summit. Teams will compete in a case competition to solve China's pressing issues and win cash prizes!


input type=tel
element
with label
home phone
with label + placeholder
home phone
with label + placeholder + required
home phone
with label + placeholder + readonly
home phone
with label + placeholder + disabled
home phone
Code
<label>home phone <input type="tel"></label>
Reference
HTML5 input type=tel element


Gallary of Racing Events
Head of the Charles River Regatta
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TopoTech was created on 2020 by two ambitious students and now is considered as one of the most powerful companies! You can contact our team here!

Drone can reach any place and gives you the precision you want
On the field we are the best!
You name it, we do it!


TabBarController
public class TabBarController : UIViewController
extension TabBarController: TabBarButtonDelegate
TabBar controller
-
insert to viewController
Declaration
Swift
open class func insert(into parent: UIViewController, withTabIconNames names: [String], andSelectedIconNames sNames: [String]? = nil) -> TabBarController
Parameters
parent
viewController
names
names of icon
sNames
selected icon name
Return Value
return UITabBarController
-
This function creates an instance of AZTabBarController using the specifed icons and inserts it into the provided view controller.
Declaration
Swift
open class func insert(into parent: UIViewController, withTabIcons icons: [UIImage], andSelectedIcons sIcons: [UIImage]? = nil) -> TabBarController
Parameters
parent
The controller which we are inserting our Tab Bar controller into.
icons
An array which contains the images of the icons that will be displayed as default.
sIcons
An optional array which contains the images of the icons that will be displayed when the menu is selected.
Return Value
The instance of AZTabBarController which was created.
-
The color of icon in the tab bar when the menu is selected.
Declaration
Swift
open var selectedColor: UIColor! { get set }
-
The default icon color of the buttons in the tab bar.
Declaration
Swift
open var defaultColor: UIColor! { get set }
-
Undocumented
Declaration
Swift
open var highlightColor: UIColor! { get set }
-
The background color of a highlighted button.
Declaration
Swift
open var highlightedBackgroundColor: UIColor! { get set }
-
The color of the selection indicator.
Declaration
Swift
open var selectionIndicatorColor: UIColor! { get set }
-
The background color of the buttons in the tab bar.
Declaration
Swift
open var buttonsBackgroundColor: UIColor! { get set }
-
When setting this to true, The tab bar will display the icons with their orignal colors instead of template color.
Declaration
Swift
open var ignoreIconColors: Bool { get set }
-
Should the tab bar have animated transitions enabled?
Declaration
Swift
open var animateTabChange: Bool
-
The current selected index.
Declaration
Swift
fileprivate(set) open var selectedIndex: Int! { get }
-
Is the tab bar in the middle of an animation.
Declaration
Swift
fileprivate(set) open var isAnimating: Bool { get }
-
If the separator line view that is between the buttons container and the primary view container is visable.
Declaration
Swift
open var separatorLineVisible: Bool { get set }
-
The color of the separator.
Declaration
Swift
open var separatorLineColor: UIColor! { get set }
-
Change the alpha of the deselected menus that do not have actions set on them to 0.5
Declaration
Swift
open var highlightsSelectedButton: Bool
-
The appearance of the notification badge.
Declaration
Swift
open var notificationBadgeAppearance: BadgeAppearance
-
The height of the selection indicator.
Declaration
Swift
open var selectionIndicatorHeight: CGFloat { get set }
-
Set the tab bar height.
Declaration
Swift
open var tabBarHeight: CGFloat { get set }
-
If you are setting a text for each menu using the function
setTitle(_:_:)
, you can decide how the text will be presented. When the value of this variable is false, then all titles will be visable. However if it is true, then only the title of the selected index is visale.Declaration
Swift
open var onlyShowTextForSelectedButtons: Bool { get set }
-
The UIFont for the buttons.
Declaration
Swift
open var font: UIFont? { get set }
-
Returns the current controller if exists.
Declaration
Swift
public var currentTab: UIViewController? { get }
-
The duration that is needed to invoke a long click.
Declaration
Swift
open var longClickTriggerDuration: TimeInterval
-
The duration of the starting animation.
Declaration
Swift
open var iconStartAnimationDuration: TimeInterval
-
The duration of the ending (spring) animation.
Declaration
Swift
open var iconEndAnimationDuration: TimeInterval
-
The duration of the animation of the selection indicator’s movement.
Declaration
Swift
open var selectionIndicatorAnimationDuration: TimeInterval
-
Spring damping.
Declaration
Swift
open var iconSpringWithDamping: CGFloat
-
Initial spring velocity.
Declaration
Swift
open var iconInitialSpringVelocity: CGFloat
-
The TabBar Delegate
Declaration
Swift
open weak var delegate: TabBarDelegate?
-
Undocumented
Declaration
Swift
override public var preferredStatusBarStyle: UIStatusBarStyle { get }
-
Undocumented
Declaration
Swift
override public var childForStatusBarStyle: UIViewController? { get }
-
The view that holds the views of the controllers.
Declaration
Swift
fileprivate(set) public var controllersContainer: UIView! { get }
-
The view that holds the stack and selection indicator
Declaration
Swift
fileprivate(set) public var buttonsContainer: UIView! { get }
-
The view that goes inside the buttons container and indicates which menu is selected.
Declaration
Swift
internal(set) public var selectionIndicator: UIView! { get }
-
Undocumented
Declaration
Swift
override public func loadView()
-
Public initializer that creates a controller using tabIcons and (optional) highlightedIcons.
Declaration
Swift
public init(withTabIcons tabIcons: [UIImage], highlightedIcons: [UIImage]? = nil)
Parameters
tabIcons
The default icons of the tabs.
highlightedIcons
The icons of the tabs when selected.
-
Public initializer that creates a controller using tabIcons and (optional) highlightedIcon names.
Declaration
Swift
public convenience init(withTabIconNames iconNames: [String], highlightedIcons: [String]? = nil)
Parameters
iconNames
The names of the icons.
highlightedIcons
The names of the highlighted icons.
-
Undocumented
Declaration
Swift
required public init?(coder aDecoder: NSCoder)
-
Undocumented
Declaration
Swift
override public func viewDidLoad()
-
Undocumented
Declaration
Swift
override public func viewDidAppear(_ animated: Bool)
-
Undocumented
Declaration
Swift
override public func didRotate(from fromInterfaceOrientation: UIInterfaceOrientation)
-
Undocumented
Declaration
Swift
public override func viewSafeAreaInsetsDidChange()
-
Set a UIViewController at an index.
Declaration
Swift
open func setViewController(_ controller: UIViewController, atIndex index: Int)
Parameters
controller
The view controller which you wish to display at a certain index.
index
The index of the menu.
-
Remove view controller at a given index. This won’t work if you are trying to remove a view controller at a current index.
Declaration
Swift
open func removeViewController(atIndex index: Int)
Parameters
index
The index of which you want to remove the view controller
-
Change the current menu programatically.
Declaration
Swift
open func setIndex(_ index: Int, animated: Bool = true)
Parameters
index
The index of the menu.
animated
animate the selection indicator or not.
-
Set an action at a certain index.
Declaration
Swift
open func setAction(atIndex index: Int, action: @escaping TabBarAction)
Parameters
action
A closure which contains the action that will be executed when clicking the menu at a certain index.
index
The index of the menu of which you would like to add an action to.
-
Remove an action from an index.
Declaration
Swift
open func removeAction(atIndex index: Int)
Parameters
index
The index at which you wish to remove the action.
-
Set a badge with a text on a menu at a certain index. In order to remove an existing badge use
nil
for thetext
parameter.Declaration
Swift
open func setBadgeText(_ text: String?, atIndex index: Int)
Parameters
text
The text you wish to set.
index
The index of the menu in which you would like to add the badge.
-
Add text
Declaration
Swift
open func setTitle(_ text: String?, atIndex index: Int)
Parameters
text
The text to set.
index
The index at which you would like to set the title.
-
Get the title at a certain index
Declaration
Swift
open func getTitle(atIndex index: Int) -> String?
Parameters
index
The index of which you would like to get the title.
Return Value
The title.
-
Make a button look highlighted.
Declaration
Swift
open func highlightButton(atIndex index: Int)
Parameters
index
The index of the button which you would like to highlight.
-
Make button normal again.
Declaration
Swift
open func removeHighlight(atIndex index: Int)
Parameters
index
The index of the button which you would like to un-highlight.
-
Set a tint color for a button at a certain index.
Declaration
Swift
open func setButtonTintColor(color: UIColor, atIndex index: Int)
Parameters
color
The color which you would like to set as tint color for the button at a certain index.
index
The index of the button.
-
Show and hide the tab bar.
Declaration
Swift
open func setBar(hidden: Bool, animated: Bool, duration: TimeInterval = 0.3, completion: ((Bool) -> Void)? = nil)
Parameters
hidden
To hide or show.
animated
To animate or not.
duration
The duration of the animation.
completion
The completion handler that is called once the animation is completed.
-
Insert a tab at a certain index
Declaration
Swift
open func insertTab(atIndex index: Int,icon: UIImage, selectedIcon: UIImage? = nil, animated: Bool = false, duration: TimeInterval = 0.2, completion: ((Bool)->Void)? = nil)
Parameters
index
The index of the new tab.
icon
The default icon of the tab
selectedIcon
The highlighted (selected) icon of the tab
animated
Add the button with animation.
duration
The duration of the animation, default is 0.2
completion
The completion block of the animation.
-
Remove a tab at a certain index. This will not work if attempted to remove at index that equals to the selected index.
Declaration
Swift
open func removeTab(atIndex index: Int, animated: Bool = false, duration: TimeInterval = 0.2, completion: ((Bool) -> Void)? = nil)
Parameters
index
The index of the tab to remove.
-
Change the tab icon at a certain index.
Declaration
Swift
open func setTabIcon(forIndex index: Int, normal: UIImage, selected: UIImage? = nil)
Parameters
index
The index of which you would like to change the icon image.
normal
The default icon.
selected
The highlighted (selected) icon.
-
Declaration
Swift
public func beginAnimationDuration(_ tabBarButton: TabBarButton) -> TimeInterval
-
Declaration
Swift
public func endAnimationDuration(_ tabBarButton: TabBarButton) -> TimeInterval
-
Declaration
Swift
public func usingSpringWithDamping(_ tabBarButton: TabBarButton) -> CGFloat
-
Declaration
Swift
public func initialSpringVelocity(_ tabBarButton: TabBarButton) -> CGFloat
-
Declaration
Swift
public func longClickTriggerDuration(_ tabBarButton: TabBarButton) -> TimeInterval
-
Declaration
Swift
public func longClickAction(_ tabBarButton: TabBarButton)
-
Declaration
Swift
public func shouldLongClick(_ tabBarButton: TabBarButton) -> Bool
-
Declaration
Swift
public func shouldAnimate(_ tabBarButton: TabBarButton) -> Bool


Start
Tasks
Restocks
Checkout
Timer
Running:
Autobuy:
ms
Checkout Delay:
preme-HP
by hype_pickups
Log out


A multiplayer tron-like game... with curves!
You're always moving. But you can choose to go left or right.
If you hit another player's line or your own: you're dead!
There are bonuses on the map that can help you.
| {{ ::room.name }} |
|
Join |
| {{ ::room.name }} |
|
Spectate |


This tests that media element controls are reset to their default state when the src is changed to an invalid url.
This test only runs in DRT!


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Reports calls to run() on java.lang.Thread or any of its subclasses.
run()
java.lang.Thread
While occasionally intended, this is usually a mistake, because run() doesn't start a new thread. To execute the code in a separate thread, start() should be used.
start()


Translator: Zero
Author: labuladong
The calculator function we will eventually implement is as follows:
1、Enter a string that can include +-* /
, numbers, brackets, and spaces. Your algorithm returns the structure of the operation.
2、To comply with the algorithm, parentheses have the highest priority, multiply and divide first, then add and subtract.
3、The division sign is an integer division, rounded to zero regardless of the sign (5/2 = 2, -5 / 2 = -2).
4、It can be assumed that the input formula must be legal, and there will be no integer overflow in the calculation process, and there will be no unexpected situation where the divisor is 0.
For example, if you enter the following string, the algorithm will return 9:
3 * (2-6 /(3 -7))
As you can see, this is very close to the calculator we use in real life. Although we have definitely used the calculator before, if we think about its algorithm implementation, we will find that it is not easy to implment:
1、To handle parentheses according to common sense, first calculate the innermost parentheses, and then gradually simplify them outward. This process is easy to make mistakes, let alone write algorithms!
2、It is not difficult to teach children to multiply and divide first, then add and subtract, but it may be difficult to teach computers.
3、To handle spaces. For the sake of beauty, we habitually put spaces between numbers and operators, but we have to figure out ways to ignore these spaces.
I remember a lot of textbooks on university data structure. When talking about data structures like stacks, they may use calculators as examples, but most can’t make it clear. I don’t know how many future computer scientists may quit because of such a simple data structure .
Then this article talks about how to implement one of the above-mentioned full-featured calculator functions.The key lies in dismantling the problems layer by layer and solving the problems one by one, I believe that this way of thinking can help everyone solve various complex problems.
Let’s take apart. Starting with the simplest question.
Yes, it is such a simple question. First tell me, how to convert a positive integer in the form of a string into an int?
string s = "458";
int n = 0;
for (int i = 0; i < s.size(); i++) {
char c = s[i];
n = 10 * n + (c - '0');
}
// n is now equal to 458
This is still very simple, old-fashioned. But even so simple, there are still issues that need attention: This bracket in (c - '0')
cannot be omitted, otherwise it may cause integer overflow
Because the variable c
is an ASCII code, if there is no parentheses, it will be added first and then subtracted. Imagine thats
will overflow if it approaches INT_MAX. So use parentheses to ensure that you subtract before adding.
Now further more, If the input formula only contains addition and subtraction, and there are no spaces, how do you calculate the result? Let’s take the string expression 1-12 + 3
as an example. A very simple idea is implemented below:
1、First add a default symbol +
to the first number and change it to + 1-12 + 3
.
2、Combine an operator and a number into a pair, that is, three pairs of + 1
,-12
, + 3
, convert them into numbers, and put them on a stack.
3、Summing all the numbers in the stack , which is the result of the original calculation.
Let’s look directly at the code and see it in combination with a picture:
int calculate(string s) {
stack<int> stk;
// Record numbers in calculations
int num = 0;
// Record the sign before num, initialized to +
char sign = '+';
for (int i = 0; i < s.size(); i++) {
char c = s[i];
// If it is a number, assign it continuously to num
if (isdigit(c))
num = 10 * num + (c - '0');
// If it's not a number, it must be the next symbol,
// the previous numbers and symbols should be stored on the stack
if (!isdigit(c) || i == s.size() - 1) {
switch (sign) {
case '+':
stk.push(num); break;
case '-':
stk.push(-num); break;
}
// Update the symbol to the current symbol and clear the number
sign = c;
num = 0;
}
}
// Sum all the results in the stack is the answer
int res = 0;
while (!stk.empty()) {
res += stk.top();
stk.pop();
}
return res;
}
I guess the part with the switch
statement in the middle is a bit hard to understand. i
is scanned from left to right, and sign
and num
follow it. When s [i]
encounters an operator, the situation is this:
Therefore, at this time, the sign of nums
should be selected according to the case ofsign
, stored in the stack, and then sign
is updated and thenums
is cleared to record the next pair of sign and numbers.
Also note that not only the new symbol will trigger the stack. When i
reaches the end of the expression (i == s.size ()-1
), the previous number should also be pushed on the stack for subsequent calculate the final result.
At this point, the algorithm for processing only the compact addition and subtraction strings is complete. Please ensure that you understand the above. The subsequent content will be modified based on this framework.
In fact, the idea is no different from just adding and subtracting. Take the string 2-3 * 4 + 5
as an example. The core idea is still to decompose the string into a combination of symbols and numbers.
For example, the above example can be decomposed into + 2
,-3
, * 4
,+ 5
. We have not dealt with the multiplication and division signs just now. It is very simple. No other parts need to be changed, add the corresponding case to the switch
section:
for (int i = 0; i < s.size(); i++) {
char c = s[i];
if (isdigit(c))
num = 10 * num + (c - '0');
if (!isdigit(c) || i == s.size() - 1) {
switch (sign) {
int pre;
case '+':
stk.push(num); break;
case '-':
stk.push(-num); break;
// Just take out the previous number and do the corresponding operation
case '*':
pre = stk.top();
stk.pop();
stk.push(pre * num);
break;
case '/':
pre = stk.top();
stk.pop();
stk.push(pre / num);
break;
}
// Update the symbol to the current symbol and clear the number
sign = c;
num = 0;
}
}
** Multiplication and division take precedence over addition and subtraction in that multiplication and division can be combined with numbers on the top of the stack, and addition and subtraction can only put themselves on the stack **.
Now let’s think about how to deal with the possible space characters in a string. In fact, it is very simple. Think about what part of our existing code whil be affected by the appearance of the space character.
// If c is not a number
if (!isdigit(c) || i == s.size() - 1) {
switch (c) {...}
sign = c;
num = 0;
}
Obviously spaces will enter this if statement, but we don’t want to let spaces enter this if, because sign
will be updated and nums
will be cleared. Spaces are not operators at all and should be ignored.
Then just add one more condition:
if ((!isdigit(c) && c != ' ') || i == s.size() - 1) {
...
}
Well, now our algorithm can calculate addition, subtraction, multiplication and division according to the correct rules, and automatically ignore the space characters. The rest is how to make the algorithm recognize the brackets correctly.
Dealing with parentheses in calculations should seem the hardest, but it’s not as difficult as it seems.
To avoid the tedious details of the programming language, I translated the previous solution code into a Python version:
def calculate(s: str) -> int:
def helper(s: List) -> int:
stack = []
sign = '+'
num = 0
while len(s) > 0:
c = s.pop(0)
if c.isdigit():
num = 10 * num + int(c)
if (not c.isdigit() and c != ' ') or len(s) == 0:
if sign == '+':
stack.append(num)
elif sign == '-':
stack.append(-num)
elif sign == '*':
stack[-1] = stack[-1] * num
elif sign == '/':
# Python division to 0 rounding
stack[-1] = int(stack[-1] / float(num))
num = 0
sign = c
return sum(stack)
# Need to turn strings into lists for easy operation
return helper(list(s))
This code is exactly the same as the C ++ code just now. The only difference is that instead of traversing the string from left to right, it continues to pop out characters from the left.
So why isn’t it so hard to deal with parentheses, because parentheses are recursive Let’s take the string 3 * (4-5 / 2) -6
as an example:
calculate(3*(4-5/2)-6
) = 3 * calculate(4-5/2
) - 6 = 3 * 2 - 6 = 0
In fact, no matter how many levels of parentheses are nested, you can reduce the calculation in the parentheses to a number by calling itself recursively through the calculate function. In other words, the calculations in parentheses are just a number.
The question is, what are the start and end conditions for recursion? Meet (
begin recursion, encounter )
end recursion:
def calculate(s: str) -> int:
def helper(s: List) -> int:
stack = []
sign = '+'
num = 0
while len(s) > 0:
c = s.pop(0)
if c.isdigit():
num = 10 * num + int(c)
# Meet the left parenthesis and start recursive calculation of num
if c == '(':
num = helper(s)
if (not c.isdigit() and c != ' ') or len(s) == 0:
if sign == '+': ...
elif sign == '-': ...
elif sign == '*': ...
elif sign == '/': ...
num = 0
sign = c
# Return recursive result when encountering right parenthesis
if c == ')': break
return sum(stack)
return helper(list(s))
As you can see, with two or three lines of code, you can handle parentheses, which is the charm of recursion. At this point, all the functions of the calculator have been realized. By dismantling the problem layer by layer and solving the problems one by one, the problem does not seem so complicated. ### 5. Final summary
In this article, I want to express the idea of dealing with complex problems by implementing the functions of a calculator.
We start with the simple problem of converting strings to numbers, and then work with expressions that only include addition and subtraction, then work with expressions that include four operations: addition, subtraction, multiplication, and division, then space characters, and then expressions that include parentheses.
It can be seen that for some difficult problems, the solution is not achieved overnight, but it is advanced step by step and spirally rises. If you give you the original question at the beginning, you may fail to handel it, and you even can’t understand the answer. It ’s normal. The key lies in how we simplify the problem ourselves and how to retreat for the sake of advancing.
It’s a very clever strategy to retreat and take the second best。Think about it, assuming this is an exam question, you won’t implement this calculator, but you wrote the string to integer algorithm and pointed out the easy-to-overflow trap, then at least you can get 20 points; if you can handle addition and subtraction, you can get 40 points; if you can handle addition, subtraction, multiplication and division, that is at least 70 points; plus the space character, 80. I just don’t handle parentheses, so forget it, 80 is OK, OK?