Fed's Mester: US economy is doing well, Fed is on hold
by Ross J BurlandFedspeak has resumed on Monday with Cleveland president Mester (hawk) at the University of Maryland who has stated that the US economy is doing well and that the Fed is on hold while watching how it evolves.
Further comments:
- US economic growth is basically around trend.
- There is still solid growth in the labour market.
- The underlying inflation rate looks like it is rising toward Fed's 2% goal.
- Some risks remain, such as uncertainty on U.S. trade policy.
- The U.S. consumer has been strong and resilient.
- Monetary policy is now well-calibrated to the economy.
- The Fed is basically "on hold," watching how US economy evolves.
- She is watching for any signs of sectoral weakness spreading to wider US economy.
- She preferred not to cut interest rates at the Fed's last meeting.
- She is sympathetic to the view though that those interest rate cuts made sense and was a close call.
- Says the Fed should be reviewing its framework periodically.
- Fed is talking about whether to have standing repo facility.
- Fed has not come yet to a determination as to whether to set up a standing repo facility.
- Negative interest rates are negative in Europe and are working better than anticipated.
- She doesn't support using negative rates in the US.
-
Fed's Mester: Forward guidance in future may be tied to economic conditions
FX market implications:
There has been no reaction to the comments from Mester, a known hawk, despite her sympathy for the recent rate cuts which took some sting out of the US Dollar which reached a peak of 99.67 back on the 1st of October earlier this year. The DXY is currently trading at 97.74, -0.27% on the day having travelled between 97.68 and 97.98. Manwhile, and according to analysts at Westpac, the markets are pricing a "minimal chance of easing at the December meeting and a terminal rate of 1.27% (vs 1.63% currently)."


EECS Research Students Symposium - 2016
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Venue: Faculty Hall, Indian Institute of Science
Documentary on Shannon
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{{object_name}}
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{%- if object_ip != None and object_name != object_ip %}
IP-ADDRESS: {{object_ip}}
{%- endif %} {%- if object_mac != None and object_name != object_mac %}
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{%- endif %}
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Health Score: {{object_health}}
{%- endif %} {%- if object_error != None and object_error != '' %}
Last Error: {{object_error}}
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{%- endif %}


| Title | Created on |
| Benefits of not using an IDE (300+ comments on Hacker News, lol) | 04.11.2019 |
| Apache Shiro Introduction | 10.03.2020 |
| Hackathon Checklist | 04.05.2020 |
| favorite Youtubers | 09.05.2020 |
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Photographer Terry O’Neill dies aged 81
Photographer Terry O’Neill has died at the age of 81.
Mr O’Neill, who rose to fame with his work with the Beatles and The Rolling Stones, died at home on Saturday following a long illness.
Mr O'Neill's father Leonard was born on Blarney St in Cork city and worked in Henry Ford & Son Ltd before transferring to its plant in Dagenham.
A spokesman for Iconic Images, which represents his impressive archive of photographic work, said: “It is with a heavy heart that Iconic Images announces the passing of Terence “Terry” O’Neill, CBE.
“Terry was a class act, quick witted and filled with charm.
“Anyone who was lucky enough to know or work with him can attest to his generosity and modesty.
“As one of the most iconic photographers of the last 60 years, his legendary pictures will forever remain imprinted in our memories as well as in our hearts and minds.”
One of his last major public appearances was when he collected his CBE for services to photography from the Duke of Cambridge at Buckingham Palace in October.
After receiving his honour Mr O’Neill, who had been suffering from prostate cancer and was in a wheelchair, said the award “surpasses anything I’ve had happen to me in my life”.


assigned
by None at 2020-07-06 14:27:01.referenced
by None at 2020-07-06 15:39:22.merged
by None at 2020-07-06 15:39:22.closed
by None at 2020-07-06 15:39:23.head_ref_deleted
by None at 2020-07-06 15:39:35.This should inform how best to work with importing ETDs and provide an opportunity for documenting more of this process.
assigned
by James R. Griffin III at 2020-07-06 14:50:13.Stale object error with audio recording: https://figgy.princeton.edu/concern/scanned_resources/e24dd511-f43e-45d3-bfee-234de62509ca/order_manager
labeled
by Kim Leaman at 2020-07-06 16:13:38.labeled
by Kim Leaman at 2020-07-06 16:13:38.labeled
by Kim Leaman at 2020-07-06 16:13:38.renamed
by Kim Leaman at 2020-07-06 16:14:32.renamed
by Kim Leaman at 2020-07-06 16:14:58.Wasn't completed, but I don't think it's an issue at the moment. Closing for now.
closed
by Eliot Jordan at 2020-07-06 16:59:08.renamed
by Christina Chortaria at 2020-07-06 17:02:35.closed
by Christina Chortaria at 2020-07-06 18:02:22.I can see 'patron group' but not a 'type'. after asking in the checkin 'type'we mean charge or renewal.
we get the patron group info from https://github.com/pulibrary/voyager_helpers/blob/0d8f633f1fbf258331cbf64baec4ba937f999224/lib/voyager_helpers/liberator.rb#L794
assigned
by Christina Chortaria at 2020-07-06 14:09:55.review_requested
by Christina Chortaria at 2020-07-06 17:18:17.referenced
by Christina Chortaria at 2020-07-06 18:02:21.merged
by Christina Chortaria at 2020-07-06 18:02:22.closed
by Christina Chortaria at 2020-07-06 18:02:22.head_ref_deleted
by Eliot Jordan at 2020-07-06 18:34:59.assigned
by Trey Pendragon at 2020-07-06 18:44:24.referenced
by Trey Pendragon at 2020-07-06 18:55:12.closed
by Eliot Jordan at 2020-07-06 20:15:17.referenced
by Eliot Jordan at 2020-07-06 20:15:17.merged
by Eliot Jordan at 2020-07-06 20:15:17.closed
by Eliot Jordan at 2020-07-06 20:15:17.head_ref_deleted
by Eliot Jordan at 2020-07-06 20:15:20.labeled
by Trey Pendragon at 2020-07-06 19:11:55.assigned
by Trey Pendragon at 2020-07-06 19:13:47.referenced
by Trey Pendragon at 2020-07-06 19:41:39.closed
by Eliot Jordan at 2020-07-06 20:47:52.review_dismissed
by Trey Pendragon at 2020-07-06 20:13:23.referenced
by Eliot Jordan at 2020-07-06 20:47:52.merged
by Eliot Jordan at 2020-07-06 20:47:52.closed
by Eliot Jordan at 2020-07-06 20:47:52.head_ref_deleted
by Eliot Jordan at 2020-07-06 20:47:57.labeled
by Trey Pendragon at 2020-07-06 19:45:05.referenced
by Trey Pendragon at 2020-07-06 22:03:40.assigned
by Trey Pendragon at 2020-07-06 22:04:01.referenced
by Trey Pendragon at 2020-07-06 23:00:15.head_ref_force_pushed
by Trey Pendragon at 2020-07-06 23:00:15.review_requested
by Axa Mei Liauw at 2020-07-06 14:46:06.referenced
by None at 2020-07-06 15:41:36.merged
by None at 2020-07-06 15:41:36.closed
by None at 2020-07-06 15:41:36.head_ref_deleted
by None at 2020-07-06 15:41:39.assigned
by James R. Griffin III at 2020-07-06 13:55:50.Done.
Wrote to Dan G. to let him know.
closed
by None at 2020-07-06 11:15:19.closed
by Francis Kayiwa at 2020-07-06 10:10:40.review_requested
by Francis Kayiwa at 2020-07-06 10:09:32.referenced
by Eliot Jordan at 2020-07-06 16:47:49.merged
by Eliot Jordan at 2020-07-06 16:47:49.closed
by Eliot Jordan at 2020-07-06 16:47:49.head_ref_deleted
by Eliot Jordan at 2020-07-06 16:47:53.renamed
by Christina Chortaria at 2020-07-06 15:06:14.closed
by Trey Pendragon at 2020-07-06 18:20:43.referenced
by Trey Pendragon at 2020-07-06 18:20:43.merged
by Trey Pendragon at 2020-07-06 18:20:43.closed
by Trey Pendragon at 2020-07-06 18:20:43.head_ref_deleted
by Trey Pendragon at 2020-07-06 18:20:48.Contacted Julie M. about this.
Julie has paged the missing plate and will be ready whenever it can be added to the studio pipeline. Contacted @roelmoon.
mentioned
by Roel Munoz at 2020-07-06 18:30:40.subscribed
by Roel Munoz at 2020-07-06 18:30:40.pudl0083/2012 has not been migrated.
reopened
by Cliff Wulfman at 2020-07-06 20:57:44.Hi there @carolyncole, good catch! Dan Linke and Sara Logue have some guidance on this so I encourage you to reach out to them about it, particularly Sara (slogue@princeton.edu). They're working on some larger changes.
mentioned
by None at 2020-07-06 15:35:26.subscribed
by None at 2020-07-06 15:35:27.mentioned
by None at 2020-07-06 15:37:57.subscribed
by None at 2020-07-06 15:37:57.As of last week, the APIs are ready for testing.
closed
by James R. Griffin III at 2020-07-06 17:48:30.The documentation for this should include the information which is transmitted to the Aeon web APIs.
This is how an Aeon request works in PULFA 2.0: https://github.com/PrincetonUniversityLibrary/pulfa/wiki/How-Aeon-Requests-are-created-in-PULFA
renamed
by James R. Griffin III at 2020-07-06 17:49:36.This was not identified as a functional requirement once the wireframes were drafted and met with approval. The search box should simply default to searching within a collection in the updated design.
closed
by James R. Griffin III at 2020-07-06 17:54:47.We also would like to prevent people from requesting multiple folders from the same box separately. Currently if people request folders piecemeal, they do not get collapsed into a single request and inundate public services with unnecessary requests.
labeled
by James R. Griffin III at 2020-07-06 19:18:56.Duplicates #117
closed
by James R. Griffin III at 2020-07-06 19:19:34.labeled
by James R. Griffin III at 2020-07-06 19:22:30.unlabeled
by James R. Griffin III at 2020-07-06 19:22:43.labeled
by James R. Griffin III at 2020-07-06 19:22:43.unlabeled
by James R. Griffin III at 2020-07-06 19:23:07.labeled
by James R. Griffin III at 2020-07-06 19:23:07.labeled
by James R. Griffin III at 2020-07-06 19:23:28.labeled
by James R. Griffin III at 2020-07-06 19:23:41.There is an almost-finished table of contents component in LUX: https://github.com/pulibrary/lux.
@tpendragon did raise some concerns regarding the performance of using this when compared with jQuery.
We can create an artificial hierarchy for testing against sample data for larger EAD Collections. @regineheberlein was having difficulty with the extremely large collections with regards to exporting this from ArchivesSpace.
mentioned
by Trey Pendragon at 2020-07-06 19:26:00.subscribed
by Trey Pendragon at 2020-07-06 19:26:00.mentioned
by None at 2020-07-06 19:27:37.subscribed
by None at 2020-07-06 19:27:37.labeled
by James R. Griffin III at 2020-07-06 19:29:27.ArcLight does not come with this out of the box, hence, we are going to need to implement an entirely separate view for this.
This is termed as the "expanded view" in the design documents.
This also ensures that users can use in-browser search (CTRL+F) in order to search within the finding aids.
renamed
by James R. Griffin III at 2020-07-06 19:31:38.renamed
by James R. Griffin III at 2020-07-06 19:32:17.This has been deprecated by #238
closed
by James R. Griffin III at 2020-07-06 19:35:33.This was determined in #238
closed
by James R. Griffin III at 2020-07-06 19:36:54.labeled
by James R. Griffin III at 2020-07-06 19:38:12.labeled
by James R. Griffin III at 2020-07-06 19:38:12.milestoned
by James R. Griffin III at 2020-07-06 19:38:12.This navigation feature is going to be removed entirely, as on the current site, there is a single-level depth hierarchy, and introducing a second hierarchical navigation interface would become confusing to users.
This may still be implemented (or reconsidered), hence it should not be closed yet.
closed
by James R. Griffin III at 2020-07-06 19:41:59.reopened
by James R. Griffin III at 2020-07-06 19:42:05.labeled
by James R. Griffin III at 2020-07-06 19:47:43.labeled
by James R. Griffin III at 2020-07-06 19:47:43.labeled
by James R. Griffin III at 2020-07-06 19:47:43.milestoned
by James R. Griffin III at 2020-07-06 19:47:44.It will need to be determined how this can be implemented.
labeled
by James R. Griffin III at 2020-07-06 17:45:42.labeled
by James R. Griffin III at 2020-07-06 19:51:33.renamed
by James R. Griffin III at 2020-07-06 20:12:54.Depending upon whether or not this improves the indexing performance, this might not be necessary.
assigned
by James R. Griffin III at 2020-07-06 20:18:31.After indexing ArchivesSpace EADs, components should be visible within PULFALight. Does this require that we revert the nested indexing logic?
It should be clarified here that SVN is being used here as an intermediary step to track the new ArchivesSpace-generated EADs, as they may still need to be also pushed into PULFA 2.0.
assigned
by James R. Griffin III at 2020-07-06 13:21:05.unassigned
by James R. Griffin III at 2020-07-06 17:51:11.assigned
by James R. Griffin III at 2020-07-06 17:52:44.assigned
by Eliot Jordan at 2020-07-06 17:52:49.labeled
by James R. Griffin III at 2020-07-06 20:48:07.milestoned
by James R. Griffin III at 2020-07-06 20:48:07.labeled
by None at 2020-07-06 15:30:08.I had added the transaction number to the email, but now would be a good opportunity to determine what other clean up should be done...
@kevinreiss I had already fixed this in the PR which is why I did not ticket it. #740 was discovered while looking at this issue.
mentioned
by Kevin Reiss at 2020-07-06 11:55:15.subscribed
by Kevin Reiss at 2020-07-06 11:55:15.assigned
by None at 2020-07-06 12:13:28.@kevinreiss I had already fixed this in the PR, which is why I did not ticket it.
mentioned
by Kevin Reiss at 2020-07-06 11:56:00.subscribed
by Kevin Reiss at 2020-07-06 11:56:00.assigned
by None at 2020-07-06 12:13:36.@kevinreiss this was already fixed in the branch, which was why I did not ticket it.
assigned
by None at 2020-07-06 12:14:08.mentioned
by Kevin Reiss at 2020-07-06 12:14:15.subscribed
by Kevin Reiss at 2020-07-06 12:14:15.assigned
by None at 2020-07-06 12:15:30.assigned
by None at 2020-07-06 12:17:26.


--- date: 2010-02-19T00:00:00Z published: true title: 25 Beautiful Examples of “Coming Soon” Pages url: /2010/02/19/25-beautiful-examples-of-coming-soon-pages/ ---
Coming soon" pages are a great way to tide over your visitors until you finish your new website. They can be used as a teaser for your future website, or places to simply put your information where people can get to it while you are under digital construction. We are going to look at a collection of how websites are successfully using "coming soon" pages.


Try Out These Cool Recipes!
Local Weather
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Or time for ice cream?
Home Cooked Comfort
A Time for Giving Thanks
Love to cook? Not sure what to make? Let us help!
Check out recipes from across the web two ways:
Our cool recipe feature offers an array of different recipes. Try making something you've never heard of!
In the mood for an old favorite? Head to the recipes page and search for that something special! Dietary restrictions? No problem! Use our handy checkboxes to filter your results to your preferences and needs.
Happy cooking!


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Stay in style
To receive the Group room rate at our conference hotels, be sure to mention the GopherCon room block. Rates will be honored until the block sells out.
Stay in style
To receive the Group room rate at our conference hotels, be sure to mention the GopherCon room block. Rates will be honored until the block sells out.


How mobile is reshaping the B2B landscape for growth
For effective video ads, look beyond demographics to behavior and context
Smarter with data: Using cloud technology to turn data streams into results
Smarter with data: Using cloud technology to turn data streams into results/p>
How YouTube influencers are rewriting the marketing rulebook


GII_attrs, MSG_GEN_INTERACTION_GET_ATTRS, MSG_GEN_INTERACTION_SET_ATTRS
The
GII_attrs
instance field describes how the Interaction behaves under various circumstances. These attributes
only
affect the behavior of dialog boxes. If the Interaction given these attributes is not a dialog box, the attributes will have no effect. This field specifies how a GIV_DIALOG Interaction may be initiated and whether input to other parts of the UI is allowed while the Interaction is active. The
GII_attrs
instance field is a bitfield and therefore any combination of these attributes may be set.
None of these attributes is set by default.
MSG_GEN_INTERACTION_INITIATE.
Usually, these Interactions should be direct children of either a GenPrimary or GenApplication.
UserDoDialog
()
. You should use this routine in special cases where you need the user to respond to a dialog box before continuing with your application thread. (This routine blocks the calling thread until the user responds to the dialog box.) Any dialog boxes marked with this attribute should
not
be initiated with MSG_GEN_INTERACTION_INITIATE. The UI won't include a default activation trigger for dialog boxes with this attribute.
You may retrieve or set the
GII_attrs
of any Interaction at run-time. To retrieve the
GenInteractionAttrs
, send the Interaction a
MSG_GEN_INTERACTION_GET_ATTRS
. You can set the
GenInteractionAttrs
of any Interaction by sending it a
MSG_GEN_INTERACTION_SET_ATTRS
. Make sure that any Interaction you set these attributes for is not currently GS_USABLE or an error will result.
If your application contains several dialog boxes sitting directly under a GenPrimary (typically with their GIA_NOT_USER_INITIATABLE attribute), the application may take longer to start up. This happens because the system will have to process each of the dialogs individually and determine at that point that a trigger should not be created for them.
You may instead wish to create an organizational Interaction to manage these non-user initiatable Interactions. To do this, create a single GIT_ORGANIZATIONAL GIA_NOT_USER_INITIATABLE dialog box under the GenPrimary. All "real" dialogs should then be placed as children of this "holding" Interaction. When the application starts up, it only needs to process this one Interaction.
Grouping dialogs in this way also allows easier initiation and dismissal of the dialogs all at once. Simply encapsulate
MSG_GEN_INTERACTION_INITIATE
or
MSG_GEN_GUP_INTERACTION_COMMAND
with IC_DISMISS and use
MSG_GEN_SEND_TO_CHILDREN
on the one Interaction.
byte MSG_GEN_INTERACTION_GET_ATTRS();
This message retrieves the current
GII_attrs
instance field from the Interaction sent the message.
Source: Unrestricted.
Destination: Any GenInteraction object.
Parameters: None.
Return:
GenInteractionAttrs
of the Interaction.
Interception: Generally not intercepted.
void MSG_GEN_INTERACTION_SET_ATTRS( byte setAttrs, byte clearAttrs);
This message sets the
GII_attrs
instance data for the GenInteraction sent the message. The Interaction must not be GS_USABLE when receiving this message. The new attributes will take effect when the Interaction is next made GS_USABLE.
Source: Unrestricted.
Destination: Any non-usable GenInteraction object.
Parameters:
setAttrs
GenInteractionAttrs
to set.
GenInteractionAttrs
to clear.Return: Nothing.
Interception: Generally not intercepted.
Warnings: Make sure that the object is not GS_USABLE when sending it this message.


Mobile home and resume webpages are complete.
Putting a job on the side, decided to put my time in the stock market. I start again in February.
Wish me Luck!
- Omar Guzman
Mobile home and resume webpages are complete.
Putting a job on the side, decided to put my time in the stock market. I start again in February.
Wish me Luck!
- Omar Guzman
The resume page is now up. Going to publish a to do list soon. My downloads page should be finished by next week.
I wonder how many websites I'm going to make.
On a side note, I decided to make alot of money through the stock exchange to make alot of businesses and jobs.
And find a software engineer job first.
Wish me luck!
- Omar Guzman
Currently the mobile, desktop, and blog websites are up!
The resume page should be up by next week and the projects page
should be up the week after that. I’m a couple steps closer to finishing the website!
- Omar Guzman


Day/Period |
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III 9:20-10:00 |
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IV 10:30-11:10 |
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| Monday | English | Maths | Chemistry | L |
LAB | Physics | ||
| Tuesday | LAB | English | Chemistry | Maths | SPORTS | |||
| Wednesday | Maths | Physics | English | Chemistry | Comp Science | |||
| Thursday | Physics | English | Chemistry | LAB | Maths | |||
| Friday | LAB | Comp Science | Chemistry | English | Physics | |||
| Saturday | English | Chemistry | Maths | SEMINAR | SPORTS |
| Subjects | Book name |
|---|---|
| English | Flamingo |
| Vistas | |
| Maths | Part I |
| Part II | |
| Chemistry | Part I |
| Part II | |
| Physics | Part I |
| Part II |
YouTube lectures can be downloaded using THIS link.
Already have Recorded class/Meeting?!Note: Only .mp4 and .mp3 files are allowed.


Looping
What is it?
Iteration is when a code is repeated to avoid duplicating the code in a program. It facilitates efficiency both in keep the code readible and short but also in facilitating its maintainence in the future.
It is a concept driven by the need to branch within a code i.e. to create code that a program runs should a condition be true or a condition be false.
What are the options?
There are many ways to iterate or "loop" within Code. There are many reasons driving the choice of loop, the first being whether the number of times required to loop is known or not.
- For loop - when a condition is checked to see if it is true and the number of times needed to iterate is known.
- Times loop - this is a compact For loop, again useful if number of iterations is known.
- While loop - the code keeps running whilst the while condition is true, without needing to know the number of iterations.
- Until loop - this is the reverse of the While loop, the code keeps running until the until condition is true.
- Each loop - this instructs the code to iterate through each item in an array, checking the method condition against each item.
The above loops all return a copy of an element, elements or values from an array whilst maintaining the original array. The following return a new array.
- Select loop - this is also an array but returns a new array, which is subset of an array.
- Map loop - returns a transformed value by applying a function to each element, e.g. transforming 70% to 0.70.
- Fold/Inject/Reduce loop - this reduces an array to a single value, that doesn't match the values in the array, e.g. the sum of an array.
Summary
Looping is a dynamic and efficient way to re-use code within a program. The type of loop is determined by the data structure in place, the activity and outcome required and the level of performance desired.


--- layout: archive title: Zulip Chat Archive permalink: /stream/113488-general/topic/le.20for.20div.3F.html ---
This seems like a silly question but I've scoured mathlib and init for this lemma and I can't find it: ∀ {n m : ℕ} (h : n ≤ m) {k}, n/k ≤ m/k
I don't think it can be derived from div_le_of_le_mul
since k*(n/k) = n
does not necessarily hold (only if k | n
)
a version for multiplication would be nice too
does this exist? is there a nice way to prove it?
I think le_div_iff_mul_le
with div_mul_le_self
should allow you to prove that
It doesn't. Applying le_div_of_mul_le
gives you something false to prove, if say n=4
, m=5
, k=3
Don't use le_div_of_mul_le
; use le_div_iff_mul_le
instead
Sorry, I was talking about a div_le
not le_div
Thanks for the tip! :bow: I think I got it working now:
lemma nat.le_mul {n m : ℕ} (h : n ≤ m) {k} : n*k ≤ m*k := begin cases k with k, rw [nat.mul_zero, nat.mul_zero], apply (nat.le_div_iff_mul_le n (m*nat.succ k) (nat.zero_lt_succ k)).1, rw [nat.mul_div_left], exact h, apply nat.zero_lt_succ, end lemma nat.le_div {n m : ℕ} (h : n ≤ m) {k} : n/k ≤ m/k := begin cases k with k, rw [nat.div_zero, nat.div_zero], apply (nat.le_div_iff_mul_le (n/nat.succ k) (m) (nat.zero_lt_succ k)).2, transitivity, apply nat.div_mul_le_self, exact h, end
A a matter of style, you may prefer cases lt_or_eq_of_le (zero_le k) with hk hk
instead of cases k with k
peanut gallery question, but how long does that take to run
About 51ms on my system
Sorry, wrong proof. @Nicholas Scheel 's proof takes 6ms
@Nicholas Scheel Feel free to send a pull request of that theorem to mathlib. You should call it nat.div_le_div
.
nat.mul_le_mul_right : ∀ {n m : ℕ} (k : ℕ), n ≤ m → n * k ≤ m * k
is already there
but I haven't seen the div version before
I'm also surprised to find this is missing. I will add it to mathlib, by the name nat.div_le_div_right
@Mario Carneiro @Simon Hudon How about this? https://github.com/MonoidMusician/mathlib/pull/1 ;)
I'm also going to rewrite the proof, since it's a one-liner. I think Simon gave a hint earlier about this, see if you can shorten your proof
hmm okay, I don’t know enough to see how to shorten it like that and I’ve run out of time tonight, feel free to pick it up if you want :simple_smile:
oh, actually I forgot about the zero case. Anyway here's my attempt at shortening it:
protected theorem div_le_div {n m : ℕ} (h : n ≤ m) {k : ℕ} : n / k ≤ m / k := (nat.eq_zero_or_pos k).elim (λ k0, by simp [k0]) $ λ hk, (nat.le_div_iff_mul_le _ _ hk).2 $ le_trans (nat.div_mul_le_self _ _) h
(whoops didn’t realize that I PRed my own repo)
looking at the differences, I guess I didn't do much besides compactify the same steps, more or less
{% endraw %}Last updated: Apr 24 2020 at 19:02 UTC


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pydrake.multibody.inverse_kinematics¶
InverseKinematics module
-
class
pydrake.multibody.inverse_kinematics.
AngleBetweenVectorsConstraint
¶ Bases:
pydrake.solvers.mathematicalprogram.Constraint
Constrains that the angle between a vector
a
and another vectorb
is between [θ_lower, θ_upper].a
is fixed to a frame A, whileb
is fixed to a frame B. Mathematically, if we denote a_unit_A asa
expressed in frame A after normalization (a_unit_A has unit length), and b_unit_B asb
expressed in frame B after normalization, the constraint is cos(θ_upper) ≤ a_unit_Aᵀ * R_AB * b_unit_B ≤ cos(θ_lower)-
__init__
(*args, **kwargs)¶ Overloaded function.
- __init__(self: pydrake.multibody.inverse_kinematics.AngleBetweenVectorsConstraint, plant: pydrake.multibody.plant.MultibodyPlant_[float], frameA: pydrake.multibody.tree.Frame_[float], a_A: numpy.ndarray[numpy.float64[3, 1]], frameB: pydrake.multibody.tree.Frame_[float], b_B: numpy.ndarray[numpy.float64[3, 1]], angle_lower: float, angle_upper: float, plant_context: pydrake.systems.framework.Context_[float]) -> None
Constructs an AngleBetweenVectorsConstraint.
- Parameter
plant
: - The MultibodyPlant on which the constraint is imposed.
plant
should be alive during the lifetime of this constraint. - Parameter
frameA
: - The Frame object for frame A.
- Parameter
a_A
: - The vector
a
fixed to frame A, expressed in frame A. - Parameter
frameB
: - The Frame object for frame B.
- Parameter
b_B
: - The vector
b
fixed to frame B, expressed in frameB. - Parameter
angle_lower
: - The lower bound on the angle between
a
andb
. It is denoted as θ_lower in the class documentation. - Parameter
angle_upper
: - The upper bound on the angle between
a
andb
. it is denoted as θ_upper in the class documentation. - Parameter
plant_context
: - The Context that has been allocated for this
plant
. We will update the context when evaluating the constraint.plant_context
should be alive during the lifetime of this constraint. - Precondition:
frameA
andframeB
must belong toplant
.
Raises: ValueError if plant
is nullptr.Raises: ValueError if a_A
is close to zero.Raises: ValueError if b_B
is close to zero.Raises: ValueError if angle_lower
is negative.Raises: ValueError if angle_upper
∉ [angle_lower, π].Raises: ValueError if plant_context
is nullptr.- __init__(self: pydrake.multibody.inverse_kinematics.AngleBetweenVectorsConstraint, plant: pydrake.multibody.plant.MultibodyPlant_[AutoDiffXd], frameA: pydrake.multibody.tree.Frame_[AutoDiffXd], a_A: numpy.ndarray[numpy.float64[3, 1]], frameB: pydrake.multibody.tree.Frame_[AutoDiffXd], b_B: numpy.ndarray[numpy.float64[3, 1]], angle_lower: float, angle_upper: float, plant_context: pydrake.systems.framework.Context_[AutoDiffXd]) -> None
Overloaded constructor. Constructs the constraint using MultibodyPlant<AutoDiffXd>
-
-
class
pydrake.multibody.inverse_kinematics.
DistanceConstraint
¶ Bases:
pydrake.solvers.mathematicalprogram.Constraint
Constrains the distance between a pair of geometries to be within a range [distance_lower, distance_upper].
-
__init__
(*args, **kwargs)¶ Overloaded function.
- __init__(self: pydrake.multibody.inverse_kinematics.DistanceConstraint, plant: pydrake.multibody.plant.MultibodyPlant_[float], geometry_pair: Tuple[pydrake.geometry.GeometryId], plant_context: pydrake.systems.framework.Context_[float], distance_lower: float, distance_upper: float) -> None
- Parameter
plant
: - The plant to which the pair of geometries belong.
plant
should outlive this DistanceConstraint object. - Parameter
geometry_pair
: - The pair of geometries between which the distance is constrained. Notice that we only consider the distance between a static geometry and a dynamic geometry, or a pair of dynamic geometries. We don’t allow constraining the distance between two static geometries.
- Parameter
plant_context
: - The context for the plant.
plant_context
should outlive this DistanceConstraint object. - Parameter
distance_lower
: - The lower bound on the distance.
- Parameter
distance_upper
: - The upper bound on the distance.
- __init__(self: pydrake.multibody.inverse_kinematics.DistanceConstraint, plant: pydrake.multibody.plant.MultibodyPlant_[AutoDiffXd], geometry_pair: Tuple[pydrake.geometry.GeometryId], plant_context: pydrake.systems.framework.Context_[AutoDiffXd], distance_lower: float, distance_upper: float) -> None
Overloaded constructor. Constructs the constraint using MultibodyPlant<AutoDiffXd>
-
-
class
pydrake.multibody.inverse_kinematics.
GazeTargetConstraint
¶ Bases:
pydrake.solvers.mathematicalprogram.Constraint
Constrains a target point T to be within a cone K. The point T (“T” stands for “target”) is fixed in a frame B, with position p_BT. The cone originates from a point S (“S” stands for “source”), fixed in frame A with position p_AS, with the axis of the cone being n, also fixed in frame A. The half angle of the cone is θ. A common usage of this constraint is that a camera should gaze at some target; namely the target falls within a gaze cone, originating from the camera eye.
Mathematically the constraint is p_ST_Aᵀ * n_unit_A ≥ 0 (p_ST_Aᵀ * n_unit_A)² ≥ (cosθ)²p_ST_Aᵀ * p_ST_A where p_ST_A is the vector from S to T, expressed in frame A. n_unit_A is the unit length directional vector representing the center ray of the cone.
-
__init__
(*args, **kwargs)¶ Overloaded function.
- __init__(self: pydrake.multibody.inverse_kinematics.GazeTargetConstraint, plant: pydrake.multibody.plant.MultibodyPlant_[float], frameA: pydrake.multibody.tree.Frame_[float], p_AS: numpy.ndarray[numpy.float64[3, 1]], n_A: numpy.ndarray[numpy.float64[3, 1]], frameB: pydrake.multibody.tree.Frame_[float], p_BT: numpy.ndarray[numpy.float64[3, 1]], cone_half_angle: float, plant_context: pydrake.systems.framework.Context_[float]) -> None
- Parameter
plant
: - The MultibodyPlant on which the constraint is imposed.
plant
should be alive during the lifetime of this constraint. - Parameter
frameA
: - The frame to which the gaze cone is fixed.
- Parameter
p_AS
: - The position of the cone source point S, measured and expressed in frame A.
- Parameter
n_A
: - The directional vector representing the center ray of the cone, expressed in frame A.
- Parameter
frameB
: - The frame to which the target point T is fixed.
- Parameter
p_BT
: - The position of the target point T, measured and expressed in frame B.
- Parameter
cone_half_angle
: - The half angle of the cone. We denote it as θ in the class
documentation.
cone_half_angle
is in radians. - Parameter
plant_context
: - The Context that has been allocated for this
plant
. We will update the context when evaluating the constraint.plant_context
should be alive during the lifetime of this constraint. - Precondition:
frameA
andframeB
must belong toplant
.
Raises: ValueError if plant
is nullptr.Raises: ValueError if n_A
is close to zero.Raises: ValueError if cone_half_angle
∉ [0, π/2].Raises: ValueError if plant_context
is nullptr.- __init__(self: pydrake.multibody.inverse_kinematics.GazeTargetConstraint, plant: pydrake.multibody.plant.MultibodyPlant_[AutoDiffXd], frameA: pydrake.multibody.tree.Frame_[AutoDiffXd], p_AS: numpy.ndarray[numpy.float64[3, 1]], n_A: numpy.ndarray[numpy.float64[3, 1]], frameB: pydrake.multibody.tree.Frame_[AutoDiffXd], p_BT: numpy.ndarray[numpy.float64[3, 1]], cone_half_angle: float, plant_context: pydrake.systems.framework.Context_[AutoDiffXd]) -> None
Overloaded constructor. Constructs the constraint using MultibodyPlant<AutoDiffXd>
-
-
class
pydrake.multibody.inverse_kinematics.
InverseKinematics
¶ Solves an inverse kinematics (IK) problem on a MultibodyPlant, to find the postures of the robot satisfying certain constraints. The decision variables include the generalized position of the robot.
-
__init__
(*args, **kwargs)¶ Overloaded function.
- __init__(self: pydrake.multibody.inverse_kinematics.InverseKinematics, plant: pydrake.multibody.plant.MultibodyPlant_[float], with_joint_limits: bool = True) -> None
Constructs an inverse kinematics problem for a MultibodyPlant. This constructor will create and own a context for
- Parameter
plant
: - .
- Parameter
plant
: - The robot on which the inverse kinematics problem will be solved.
- Parameter
with_joint_limits
: - If set to true, then the constructor imposes the joint limit (obtained from plant.GetPositionLowerLimits() and plant.GetPositionUpperLimits(). If set to false, then the constructor does not impose the joint limit constraints in the constructor.
Note
The inverse kinematics problem constructed in this way doesn’t permit collision related constraint (such as calling AddMinimumDistanceConstraint). To enable collision related constraint, call InverseKinematics(const MultibodyPlant<double>& plant, systems::Context<double>* plant_context);
- __init__(self: pydrake.multibody.inverse_kinematics.InverseKinematics, plant: pydrake.multibody.plant.MultibodyPlant_[float], plant_context: pydrake.systems.framework.Context_[float], with_joint_limits: bool = True) -> None
Constructs an inverse kinematics problem for a MultibodyPlant. If the user wants to solve the problem with collision related constraint (like calling AddMinimumDistanceConstraint), please use this constructor.
- Parameter
plant
: - The robot on which the inverse kinematics problem will be solved. This plant should have been connected to a SceneGraph within a Diagram
- Parameter
context
: - The context for the plant. This context should be a part of the
Diagram context. To construct a plant connected to a SceneGraph,
with the corresponding plant_context, the steps are // 1. Add a
diagram containing the MultibodyPlant and SceneGraph
systems::DiagramBuilder<double> builder; auto items =
AddMultibodyPlantSceneGraph(&builder, 0.0); // 2. Add collision
geometries to the plant
Parser(&(items.plant)).AddModelFromFile(“model.sdf”); // 3.
Construct the diagram auto diagram = builder.Build(); // 4. Create
diagram context. auto diagram_context=
diagram->CreateDefaultContext(); // 5. Get the context for the
plant. auto plant_context =
&(diagram->GetMutableSubsystemContext(items.plant,
diagram_context.get())); This context will be modified during
calling ik.prog.Solve(…). When Solve() returns
result
, context will store the optimized posture, namely plant.GetPositions(*context) will be the same as in result.GetSolution(ik.q()). The user could then use this context to perform kinematic computation (like computing the position of the end-effector etc.). - Parameter
with_joint_limits
: - If set to true, then the constructor imposes the joint limit (obtained from plant.GetPositionLowerLimits() and plant.GetPositionUpperLimits(). If set to false, then the constructor does not impose the joint limit constraints in the constructor.
-
AddAngleBetweenVectorsConstraint
(self: pydrake.multibody.inverse_kinematics.InverseKinematics, frameA: pydrake.multibody.tree.Frame_[float], na_A: numpy.ndarray[numpy.float64[3, 1]], frameB: pydrake.multibody.tree.Frame_[float], nb_B: numpy.ndarray[numpy.float64[3, 1]], angle_lower: float, angle_upper: float) → pydrake.solvers.mathematicalprogram.Binding_Constraint¶ Constrains that the angle between a vector na and another vector nb is between [θ_lower, θ_upper]. na is fixed to a frame A, while nb is fixed to a frame B. Mathematically, if we denote na_unit_A as na expressed in frame A after normalization (na_unit_A has unit length), and nb_unit_B as nb expressed in frame B after normalization, the constraint is cos(θ_upper) ≤ na_unit_Aᵀ * R_AB * nb_unit_B ≤ cos(θ_lower), where R_AB is the rotation matrix, representing the orientation of frame B expressed in frame A.
- Parameter
frameA
: - The frame to which na is fixed.
- Parameter
na_A
: - The vector na fixed to frame A, expressed in frame A.
- Precondition:
- na_A should be a non-zero vector.
Raises: ValueError if na_A is close to zero. - Parameter
frameB
: - The frame to which nb is fixed.
- Parameter
nb_B
: - The vector nb fixed to frame B, expressed in frame B.
- Precondition:
- nb_B should be a non-zero vector.
Raises: ValueError if nb_B is close to zero. - Parameter
angle_lower
: - The lower bound on the angle between na and nb. It is denoted as
θ_lower in the documentation.
angle_lower
is in radians. - Precondition:
- angle_lower >= 0.
Raises: ValueError if angle_lower is negative. - Parameter
angle_upper
: - The upper bound on the angle between na and nb. it is denoted as
θ_upper in the class documentation.
angle_upper
is in radians. - Precondition:
- angle_lower <= angle_upper <= pi.
Raises: ValueError if angle_upper is outside the bounds. - Parameter
-
AddDistanceConstraint
(self: pydrake.multibody.inverse_kinematics.InverseKinematics, geometry_pair: Tuple[pydrake.geometry.GeometryId], distance_lower: float, distance_upper: float) → pydrake.solvers.mathematicalprogram.Binding_Constraint¶ Adds the constraint that the distance between a pair of geometries is within some bounds.
- Parameter
geometry_pair
: - The pair of geometries between which the distance is constrained. Notice that we only consider the distance between a static geometry and a dynamic geometry, or a pair of dynamic geometries. We don’t allow constraining the distance between two static geometries.
- Parameter
distance_lower
: - The lower bound on the distance.
- Parameter
distance_upper
: - The upper bound on the distance.
- Parameter
-
AddGazeTargetConstraint
(self: pydrake.multibody.inverse_kinematics.InverseKinematics, frameA: pydrake.multibody.tree.Frame_[float], p_AS: numpy.ndarray[numpy.float64[3, 1]], n_A: numpy.ndarray[numpy.float64[3, 1]], frameB: pydrake.multibody.tree.Frame_[float], p_BT: numpy.ndarray[numpy.float64[3, 1]], cone_half_angle: float) → pydrake.solvers.mathematicalprogram.Binding_Constraint¶ Constrains a target point T to be within a cone K. The point T (“T” stands for “target”) is fixed in a frame B, with position p_BT. The cone originates from a point S (“S” stands for “source”), fixed in frame A with position p_AS, with the axis of the cone being n, also fixed in frame A. The half angle of the cone is θ. A common usage of this constraint is that a camera should gaze at some target; namely the target falls within a gaze cone, originating from the camera eye.
- Parameter
frameA
: - The frame where the gaze cone is fixed to.
- Parameter
p_AS
: - The position of the cone source point S, measured and expressed in frame A.
- Parameter
n_A
: - The directional vector representing the center ray of the cone, expressed in frame A.
- Precondition:
n_A
cannot be a zero vector.
Raises: ValueError is n_A is close to a zero vector. - Parameter
frameB
: - The frame where the target point T is fixed to.
- Parameter
p_BT
: - The position of the target point T, measured and expressed in frame B.
- Parameter
cone_half_angle
: - The half angle of the cone. We denote it as θ in the
documentation.
cone_half_angle
is in radians. - Precondition:
0
<= cone_half_angle <= pi.
Raises: ValueError if cone_half_angle is outside of the bound. - Parameter
-
AddMinimumDistanceConstraint
(self: pydrake.multibody.inverse_kinematics.InverseKinematics, minimum_distance: float, threshold_distance: float = 1.0) → pydrake.solvers.mathematicalprogram.Binding_Constraint¶ Adds the constraint that the pairwise distance between objects should be no smaller than
minimum_distance
. We consider the distance between pairs of 1. Anchored (static) object and a dynamic object. 2. A dynamic object and another dynamic object, if one is not the parent link of the other.- Parameter
minimum_distance
: - The minimum allowed value, dₘᵢₙ, of the signed distance between any candidate pair of geometries.
- Parameter
influence_distance_offset
: - The difference (in meters) between the influence distance, d_influence, and the minimum distance, dₘᵢₙ. This value must be finite and strictly positive, as it is used to scale the signed distances between pairs of geometries. Smaller values may improve performance, as fewer pairs of geometries need to be considered in each constraint evaluation. $*Default:* 1 meter
See also
MinimumDistanceConstraint for more details on the constraint formulation.
- Precondition:
- The MultibodyPlant passed to the constructor of
this
has registered its geometry with a SceneGraph. - Precondition:
- 0 <
influence_distance_offset
< ∞
- Parameter
-
AddOrientationConstraint
(self: pydrake.multibody.inverse_kinematics.InverseKinematics, frameAbar: pydrake.multibody.tree.Frame_[float], R_AbarA: pydrake.math.RotationMatrix_[float], frameBbar: pydrake.multibody.tree.Frame_[float], R_BbarB: pydrake.math.RotationMatrix_[float], theta_bound: float) → pydrake.solvers.mathematicalprogram.Binding_Constraint¶ Constrains that the angle difference θ between the orientation of frame A and the orientation of frame B to satisfy θ ≤ θ_bound. Frame A is fixed to frame A_bar, with orientation R_AbarA measured in frame A_bar. Frame B is fixed to frame B_bar, with orientation R_BbarB measured in frame B_bar. The angle difference between frame A’s orientation R_WA and B’s orientation R_WB is θ, (θ ∈ [0, π]), if there exists a rotation axis a, such that rotating frame A by angle θ about axis a aligns it with frame B. Namely R_AB = I + sinθ â + (1-cosθ)â² (1) where R_AB is the orientation of frame B expressed in frame A. â is the skew symmetric matrix of the rotation axis a. Equation (1) is the Rodrigues formula that computes the rotation matrix from a rotation axis a and an angle θ, https://en.wikipedia.org/wiki/Rodrigues%27_rotation_formula If the users want frame A and frame B to align perfectly, they can set θ_bound = 0. Mathematically, this constraint is imposed as trace(R_AB) ≥ 2cos(θ_bound) + 1 (1) To derive (1), using Rodrigues formula R_AB = I + sinθ â + (1-cosθ)â² where trace(R_AB) = 2cos(θ) + 1 ≥ 2cos(θ_bound) + 1
- Parameter
frameAbar
: - frame A_bar, the frame A is fixed to frame A_bar.
- Parameter
R_AbarA
: - The orientation of frame A measured in frame A_bar.
- Parameter
frameBbar
: - frame B_bar, the frame B is fixed to frame B_bar.
- Parameter
R_BbarB
: - The orientation of frame B measured in frame B_bar.
- Parameter
theta_bound
: - The bound on the angle difference between frame A’s orientation
and frame B’s orientation. It is denoted as θ_bound in the
documentation.
theta_bound
is in radians.
- Parameter
-
AddPointToPointDistanceConstraint
(self: pydrake.multibody.inverse_kinematics.InverseKinematics, frame1: pydrake.multibody.tree.Frame_[float], p_B1P1: numpy.ndarray[numpy.float64[3, 1]], frame2: pydrake.multibody.tree.Frame_[float], p_B2P2: numpy.ndarray[numpy.float64[3, 1]], distance_lower: float, distance_upper: float) → pydrake.solvers.mathematicalprogram.Binding_Constraint¶ Add a constraint that the distance between point P1 attached to frame 1 and point P2 attached to frame 2 is within the range [distance_lower, distance_upper].
- Parameter
frame1
: - The frame to which P1 is attached.
- Parameter
p_B1P1
: - The position of P1 measured and expressed in frame 1.
- Parameter
frame2
: - The frame to which P2 is attached.
- Parameter
p_B2P2
: - The position of P2 measured and expressed in frame 2.
- Parameter
distance_lower
: - The lower bound on the distance.
- Parameter
distance_upper
: - The upper bound on the distance.
- Parameter
-
AddPositionConstraint
(self: pydrake.multibody.inverse_kinematics.InverseKinematics, frameB: pydrake.multibody.tree.Frame_[float], p_BQ: numpy.ndarray[numpy.float64[3, 1]], frameA: pydrake.multibody.tree.Frame_[float], p_AQ_lower: numpy.ndarray[numpy.float64[3, 1]], p_AQ_upper: numpy.ndarray[numpy.float64[3, 1]]) → pydrake.solvers.mathematicalprogram.Binding_Constraint¶ Adds the kinematic constraint that a point Q, fixed in frame B, should lie within a bounding box expressed in another frame A as p_AQ_lower <= p_AQ <= p_AQ_upper, where p_AQ is the position of point Q measured and expressed in frame A.
- Parameter
frameB
: - The frame in which point Q is fixed.
- Parameter
p_BQ
: - The position of the point Q, rigidly attached to frame B, measured and expressed in frame B.
- Parameter
frameA
: - The frame in which the bounding box p_AQ_lower <= p_AQ <= p_AQ_upper is expressed.
- Parameter
p_AQ_lower
: - The lower bound on the position of point Q, measured and expressed in frame A.
- Parameter
p_AQ_upper
: - The upper bound on the position of point Q, measured and expressed in frame A.
- Parameter
-
context
(self: pydrake.multibody.inverse_kinematics.InverseKinematics) → pydrake.systems.framework.Context_[float]¶ Getter for the plant context.
-
get_mutable_context
(self: pydrake.multibody.inverse_kinematics.InverseKinematics) → pydrake.systems.framework.Context_[float]¶ Getter for the mutable plant context.
-
get_mutable_prog
(self: pydrake.multibody.inverse_kinematics.InverseKinematics) → pydrake.solvers.mathematicalprogram.MathematicalProgram¶ Getter for the optimization program constructed by InverseKinematics.
-
prog
(self: pydrake.multibody.inverse_kinematics.InverseKinematics) → pydrake.solvers.mathematicalprogram.MathematicalProgram¶ Getter for the optimization program constructed by InverseKinematics.
-
q
(self: pydrake.multibody.inverse_kinematics.InverseKinematics) → numpy.ndarray[object[m, 1]]¶ Getter for q. q is the decision variable for the generalized positions of the robot.
-
-
class
pydrake.multibody.inverse_kinematics.
MinimumDistanceConstraint
¶ Bases:
pydrake.solvers.mathematicalprogram.Constraint
Constrain the signed distance between all candidate pairs of geometries (according to the logic of SceneGraphInspector::GetCollisionCandidates()) to be no smaller than a specified minimum distance.
The formulation of the constraint is
0 ≤ SmoothMax( φ((dᵢ - d_influence)/(d_influence - dₘᵢₙ)) / φ(-1) ) ≤ 1
where dᵢ is the signed distance of the i-th pair, dₘᵢₙ is the minimum allowable distance, d_influence is the “influence distance” (the distance below which a pair of geometries influences the constraint), φ is a multibody::MinimumDistancePenaltyFunction, and SmoothMax(d) is smooth approximation of max(d). We require that dₘᵢₙ < d_influence. The input scaling (dᵢ - d_influence)/(d_influence - dₘᵢₙ) ensures that at the boundary of the feasible set (when dᵢ == dₘᵢₙ), we evaluate the penalty function at -1, where it is required to have a non-zero gradient.
-
__init__
(*args, **kwargs)¶ Overloaded function.
- __init__(self: pydrake.multibody.inverse_kinematics.MinimumDistanceConstraint, plant: pydrake.multibody.plant.MultibodyPlant_[float], minimum_distance: float, plant_context: pydrake.systems.framework.Context_[float], penalty_function: Callable[[float, float, float], None] = None, influence_distance_offset: float = 1) -> None
Constructs a MinimumDistanceConstraint.
- Parameter
plant
: - The multibody system on which the constraint will be evaluated.
- Parameter
minimum_distance
: - The minimum allowed value, dₘᵢₙ, of the signed distance between any candidate pair of geometries.
- Parameter
penalty_function
: - The penalty function formulation.
- Default: QuadraticallySmoothedHinge
- $Parameter
influence_distance_offset
:
The difference (in meters) between the influence distance, d_influence, and the minimum distance, dₘᵢₙ (see class documentation). This value must be finite and strictly positive, as it is used to scale the signed distances between pairs of geometries. Smaller values may improve performance, as fewer pairs of geometries need to be considered in each constraint evaluation. $*Default:* 1 meter
Raises: - ValueError if
plant
has not registered its geometry with a - SceneGraph object.
Raises: ValueError if influence_distance_offset = ∞.
Raises: ValueError if influence_distance_offset ≤ 0.
- __init__(self: pydrake.multibody.inverse_kinematics.MinimumDistanceConstraint, plant: pydrake.multibody.plant.MultibodyPlant_[AutoDiffXd], minimum_distance: float, plant_context: pydrake.systems.framework.Context_[AutoDiffXd], penalty_function: Callable[[float, float, float], None] = None, influence_distance_offset: float = 1) -> None
Overloaded constructor. Constructs the constraint using MultibodyPlant<AutoDiffXd>
-
-
class
pydrake.multibody.inverse_kinematics.
OrientationConstraint
¶ Bases:
pydrake.solvers.mathematicalprogram.Constraint
Constrains that the angle difference θ between the orientation of frame A and the orientation of frame B to satisfy θ ≤ θ_bound. The angle difference between frame A’s orientation R_WA and B’s orientation R_WB is θ (θ ∈ [0, π]), if there exists a rotation axis a, such that rotating frame A by angle θ about axis a aligns it with frame B. Namely R_AB = I + sinθ â + (1-cosθ)â² (1) where R_AB is the orientation of frame B expressed in frame A. â is the skew symmetric matrix of the rotation axis a. Equation (1) is the Rodrigues formula that computes the rotation matrix froma rotation axis a and an angle θ, https://en.wikipedia.org/wiki/Rodrigues%27_rotation_formula If the users want frame A and frame B to align perfectly, they can set θ_bound = 0. Mathematically, this constraint is imposed as trace(R_AB) ≥ 2cos(θ_bound) + 1 (1) To derive (1), using Rodrigues formula R_AB = I + sinθ â + (1-cosθ)â² where trace(R_AB) = 2cos(θ) + 1 ≥ 2cos(θ_bound) + 1
-
__init__
(*args, **kwargs)¶ Overloaded function.
- __init__(self: pydrake.multibody.inverse_kinematics.OrientationConstraint, plant: pydrake.multibody.plant.MultibodyPlant_[float], frameAbar: pydrake.multibody.tree.Frame_[float], R_AbarA: pydrake.math.RotationMatrix_[float], frameBbar: pydrake.multibody.tree.Frame_[float], R_BbarB: pydrake.math.RotationMatrix_[float], theta_bound: float, plant_context: pydrake.systems.framework.Context_[float]) -> None
Constructs an OrientationConstraint object. The frame A is fixed to a frame A̅, with orientatation
R_AbarA
measured in frame A̅. The frame B is fixed to a frame B̅, with orientationR_BbarB
measured in frame B. We constrain the angle between frame A and B to be less thantheta_bound
.- Parameter
plant
: - The MultibodyPlant on which the constraint is imposed.
plant
should be alive during the lifetime of this constraint. - Parameter
frameAbar
: - The frame A̅ in the model to which frame A is fixed.
- Parameter
R_AbarA
: - The orientation of frame A measured in frame A̅.
- Parameter
frameBbar
: - The frame B̅ in the model to which frame B is fixed.
- Parameter
R_BbarB
: - The orientation of frame B measured in frame B̅.
- Parameter
theta_bound
: - The bound on the angle difference between frame A’s orientation
and frame B’s orientation. It is denoted as θ_bound in the class
documentation.
theta_bound
is in radians. - Parameter
plant_context
: - The Context that has been allocated for this
tree
. We will update the context when evaluating the constraint.plant_context
should be alive during the lifetime of this constraint.
Raises: ValueError if
plant
is nullptr.Raises: - RuntimeError if
frameAbar
orframeBbar
does not belong to plant
.
Raises: ValueError if angle_bound < 0.
Raises: ValueError if
plant_context
is nullptr.- __init__(self: pydrake.multibody.inverse_kinematics.OrientationConstraint, plant: pydrake.multibody.plant.MultibodyPlant_[AutoDiffXd], frameAbar: pydrake.multibody.tree.Frame_[AutoDiffXd], R_AbarA: pydrake.math.RotationMatrix_[float], frameBbar: pydrake.multibody.tree.Frame_[AutoDiffXd], R_BbarB: pydrake.math.RotationMatrix_[float], theta_bound: float, plant_context: pydrake.systems.framework.Context_[AutoDiffXd]) -> None
Overloaded constructor. Constructs the constraint using MultibodyPlant<AutoDiffXd>
-
-
class
pydrake.multibody.inverse_kinematics.
PointToPointDistanceConstraint
¶ Bases:
pydrake.solvers.mathematicalprogram.Constraint
Constrain that the distance between a point P1 on frame B1 and another point P2 on frame B2 is within a range [distance_lower, distance_upper].
-
__init__
(*args, **kwargs)¶ Overloaded function.
- __init__(self: pydrake.multibody.inverse_kinematics.PointToPointDistanceConstraint, plant: pydrake.multibody.plant.MultibodyPlant_[float], frame1: pydrake.multibody.tree.Frame_[float], p_B1P1: numpy.ndarray[numpy.float64[3, 1]], frame2: pydrake.multibody.tree.Frame_[float], p_B2P2: numpy.ndarray[numpy.float64[3, 1]], distance_lower: float, distance_upper: float, plant_context: pydrake.systems.framework.Context_[float]) -> None
Constrain that the distance between a point P1 attached to frame B1 and another point P2 attached to frame B2 is within the range [distance_lower, distance_upper]. Mathematically, we impose the constraint distance_lower² <= distance(P1, P2)² <= distance_upper². We impose the constraint on the distance square instead of distance directly, because the gradient of distance is not well defined at distance=0, the the gradient of the distance square is well defined everywhere.
- Parameter
plant
: - The MultibodyPlant on which the constraint is imposed.
plant
should be alive during the lifetime of this constraint. - Parameter
frame1
: - The frame in which P1 is attached to.
- Parameter
p_B1P1
: - The position of P1 measured and expressed in B1.
- Parameter
frame2
: - The frame in which P2 is attached to.
- Parameter
p_B2P2
: - The position of P2 measured and expressed in B2.
- Parameter
distance_lower
: - The lower bound on the distance, must be non-negative.
- Parameter
distance_upper
: - The upper bound on the distance, must be non-negative.
- Parameter
plant_context
: - The Context that has been allocated for this
plant
. We will update the context when evaluating the constraint.plant_context
should be alive during the lifetime of this constraint.
- __init__(self: pydrake.multibody.inverse_kinematics.PointToPointDistanceConstraint, plant: pydrake.multibody.plant.MultibodyPlant_[AutoDiffXd], frame1: pydrake.multibody.tree.Frame_[AutoDiffXd], p_B1P1: numpy.ndarray[numpy.float64[3, 1]], frame2: pydrake.multibody.tree.Frame_[AutoDiffXd], p_B2P2: numpy.ndarray[numpy.float64[3, 1]], distance_lower: float, distance_upper: float, plant_context: pydrake.systems.framework.Context_[AutoDiffXd]) -> None
Overloaded constructor. Constructs the constraint using MultibodyPlant<AutoDiffXd>
-
-
class
pydrake.multibody.inverse_kinematics.
PositionConstraint
¶ Bases:
pydrake.solvers.mathematicalprogram.Constraint
Constrains the position of a point Q, rigidly attached to a frame B, to be within a bounding box measured and expressed in frame A. Namely p_AQ_lower <= p_AQ <= p_AQ_upper.
-
__init__
(*args, **kwargs)¶ Overloaded function.
- __init__(self: pydrake.multibody.inverse_kinematics.PositionConstraint, plant: pydrake.multibody.plant.MultibodyPlant_[float], frameA: pydrake.multibody.tree.Frame_[float], p_AQ_lower: numpy.ndarray[numpy.float64[3, 1]], p_AQ_upper: numpy.ndarray[numpy.float64[3, 1]], frameB: pydrake.multibody.tree.Frame_[float], p_BQ: numpy.ndarray[numpy.float64[3, 1]], plant_context: pydrake.systems.framework.Context_[float]) -> None
Constructs PositionConstraint object.
- Parameter
plant
: - The MultibodyPlant on which the constraint is imposed.
plant
should be alive during the lifetime of this constraint. - Parameter
frameA
: - The frame in which point Q’s position is measured.
- Parameter
p_AQ_lower
: - The lower bound on the position of point Q, measured and expressed in frame A.
- Parameter
p_AQ_upper
: - The upper bound on the position of point Q, measured and expressed in frame A.
- Parameter
frameB
: - The frame to which point Q is rigidly attached.
- Parameter
p_BQ
: - The position of the point Q, rigidly attached to frame B, measured and expressed in frame B.
- Parameter
plant_context
: - The Context that has been allocated for this
plant
. We will update the context when evaluating the constraint.plant_context
should be alive during the lifetime of this constraint. - Precondition:
frameA
andframeB
must belong toplant
.- Precondition:
- p_AQ_lower(i) <= p_AQ_upper(i) for i = 1, 2, 3.
Raises: ValueError if plant
is nullptr.Raises: ValueError if plant_context
is nullptr.- __init__(self: pydrake.multibody.inverse_kinematics.PositionConstraint, plant: pydrake.multibody.plant.MultibodyPlant_[AutoDiffXd], frameA: pydrake.multibody.tree.Frame_[AutoDiffXd], p_AQ_lower: numpy.ndarray[numpy.float64[3, 1]], p_AQ_upper: numpy.ndarray[numpy.float64[3, 1]], frameB: pydrake.multibody.tree.Frame_[AutoDiffXd], p_BQ: numpy.ndarray[numpy.float64[3, 1]], plant_context: pydrake.systems.framework.Context_[AutoDiffXd]) -> None
Overloaded constructor. Constructs the constraint using MultibodyPlant<AutoDiffXd>
-


4. Number of elements
Write a function to count the number of div elements on the web page
Count
Sensitive


Try out our Premium Member services: Virtual Legal Assistant, Query Alert Service and an ad-free experience. Free for one month and pay only if you like it.
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{% include "components/account_check_context.html" %}
{%- if allowlist and allowlist|length > 0 -%}
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{% include "components/account_check_allowlist_form.html" %}


This document discusses how to execute a Magic Lantern Title. The first section identifies how to run the title from within the Magic Lantern Studio IDE. The second section discusses how to run the title from the redistributable application bundle.
After creating a Magic Lantern Project using the Magic Lantern Java2D Project wizard, the application developer will wish to execute and test his/her title. This may be done without leaving the IDE. The Magic Lantern Java2D Studio uses the Eclipse launch configuration mechanism for running a title within the framework of the IDE. A launch configuration is a description of how to launch and execute a program. Launching in Eclipse is closely tied to the infrastructure for debugging, enabling the developer to make the logical progression from running the title to interactively debugging the title.
A launch configuration is created using an Eclipse wizard. To create a new configuration, use "Run->Run Configurations..." from the main Eclipse menu bar. This will start the launch configuration wizard dialog (see Figure 3.1)
Figure 3.1: Magic Studio Launch Configuration Wizard
Select the "Magic Lantern Java2D Runtime" entry on the left-hand side of the dialog. The entry is highlighted in Figure 3.1.
Next press the 'New' button to create a configuration of the selected type. Doing so will create a new launch configuration for executing your title. Figure 3.2 shows an example the new configuration.
Figure 3.2: Launch Configuration for HelloWorld Title
If you are following along in the "Magic Lantern Quick Start Guide", creating your first title using the HelloWorld template, then fill in the information for launching your title. Type in the "Name" of your launch configuration (i.e. HelloWorld), the Project (i.e HelloWorld), and the main class of execution (i.e. helloworld.title.HelloWorld).
If you choose to Run the application at this time, then you will see the following message printed to your Eclipse Console: "usage: HelloWorld <file>". The title is telling you that you need to provide a Digital Playprint file. The DPP file was generated for you when you created the project. It can be found in the "src/gen" directory and is called "HelloWorld.dpp".
To specify the Digital Playprint, select the "Arguments" tab.
Figure 3.3: Launch Configuration Arguments for HelloWorld
Type in "src/gen/HelloWorld.dpp" into the Program arguments text box. Select "Apply" to finalize your configuration.
Selecting "Run" will now launch your application title. It should look like this:
Figure 3.4: HelloWorld Title Execution
There are several ways to stop the title. Since the title is a Java application, you can simply select the Close button ('X') in the application window. Another way to stop title execution is to use the Debug perspective.
To stop title execution using the Magic Lantern Studio Debug perspective, do the following:
The Title Application Bundle is a redistributable Java archive, or jar file. To run the HelloWorld title from the application bundle, the following steps should be taken:
TBD


Cups-2.3.1
Kernel Configuration
Note
There used to be a conflict between the Cups libusb
backend and the usblp kernel driver. This is no longer the case
and cups will work with both of these enabled.
If you want to use the kernel usblp driver (for example, if you
wish to use escputil from
Gutenprint-5.3.3) enable the following
options in your kernel configuration and recompile the kernel:
Device Drivers --->
[*] USB support ---> [CONFIG_USB_SUPPORT]
<*/M> OHCI HCD (USB 1.1) support [CONFIG_USB_OHCI_HCD]
<*/M> UHCI HCD (most Intel and VIA) support [CONFIG_USB_UHCI_HCD]
<*/M> USB Printer support [CONFIG_USB_PRINTER]
If you have a parallel printer, enable the following options in
your kernel configuration and recompile the kernel:
Device Drivers --->
<*/M> Parallel port support ---> [CONFIG_PARPORT]
<*/M> PC-style hardware [CONFIG_PARPORT_PC]
Character devices --->
<*/M> Parallel printer support [CONFIG_PRINTER]
Installation of Cups
You will need to add an lp
user, as
Cups will create some files owned
by this user. (The lp
user is the
default used by Cups, but may be
changed to a different user by passing a parameter to the
configure script.)
Use the following command as the root
user:
useradd -c "Print Service User" -d /var/spool/cups -g lp -s /bin/false -u 9 lp
You will also need a dedicated group that will contain users
allowed to do Cups administrative
tasks. Add the group by running the following command as the
root
user:
groupadd -g 19 lpadmin
If you want to add a user to the Cups administrative group, run the following
command as the root
user:
usermod -a -G lpadmin <username>
If you didn't install xdg-utils-1.1.3, use the following
sed to change the
default browser that will be used to access the Cups web interface:
sed -i 's#@CUPS_HTMLVIEW@#firefox#' desktop/cups.desktop.in
Replace firefox with
the web browser of your choice.
Build Cups by running the
following commands:
sed -i '/stat.h/a #include <asm-generic/ioctls.h>' tools/ipptool.c &&
CC=gcc CXX=g++ \
./configure --libdir=/usr/lib \
--disable-systemd \
--with-rcdir=/tmp/cupsinit \
--with-system-groups=lpadmin \
--with-docdir=/usr/share/cups/doc-2.3.1 &&
make
To test the results, issue: make -k
check. An already active graphical session with bus
address is necessary to run the tests. One test, httpAddrGetList
, is known to fail.
Now, as the root
user:
make install &&
rm -rf /tmp/cupsinit &&
ln -svnf ../cups/doc-2.3.1 /usr/share/doc/cups-2.3.1
Create a basic Cups client
configuration file by running the following command as the
root
user:
echo "ServerName /run/cups/cups.sock" > /etc/cups/client.conf
Note
This package installs icon files into the /usr/share/icons/hicolor
hierarchy and you can
improve system performance and memory usage by updating
/usr/share/icons/hicolor/index.theme
. To
perform the update you must have GTK+-2.24.32 or
GTK+-3.24.16 installed and issue the following
command as the root
user:
gtk-update-icon-cache -qtf /usr/share/icons/hicolor
Command Explanations
sed ...
tools/ipptool.c: This sed fixes a bug caused by
glibc-2.30 changing the user-space API for sockets.
CC=gcc CXX=g++
: This environment
variable ensures that gcc is used, if clang is installed. Remove
it, if you prefer to use clang. Using clang almost doubles build
time and slightly decreases build disk space. Installed disk space
is not appreciably modified.
--disable-systemd
: Systemd
is not supported by this version of BLFS.
--with-rcdir=/tmp/cupsinit
:
This switch tells the build process to install the shipped
bootscript into /tmp
instead of
/etc/rc.d
.
--with-system-groups=lpadmin
: This
switch ensures that only lpadmin
will be used as the Cups
administrative group.
--disable-libusb
: Use this switch if
you have installed libusb-1.0.23, but wish to use the kernel
usblp driver.
--enable-libpaper
: Use this switch if
you have installed libpaper and
wish to use it with Cups.
Configuring Cups
Configuration Information
Normally, printers are set up via a web browser. The Cups server will normally connect via the
url http://localhost:631. From there printers, print jobs, and
the server configuration can be set up and managed. Remote system
administration can also be set up. Configuration can also be done
from the command line via the lpadmin, lpoptions, and lpstat commands.
Configuration of Cups is
dependent on the type of printer and can be complex. Generally,
PostScript printers are easier. For detailed instructions on
configuration and use of Cups,
see http://www.cups.org/documentation.php.
For non-PostScript printers to print with Cups, you need to install ghostscript-9.52 to
convert PostScript to raster images and a driver (e.g. from
Gutenprint-5.3.3) to convert the resulting
raster images to a form that the printer understands.
Foomatic drivers use ghostscript-9.52 to convert PostScript to
a printable form directly, but this is considered suboptimal by
Cups developers.
Linux
PAM Configuration
If CUPS has been built with
Linux PAM support, you need to
create a PAM configuration file
to get it working correctly with BLFS.
Issue the following command as the root
user to create the configuration file
for Linux PAM:
cat > /etc/pam.d/cups << "EOF"
# Begin /etc/pam.d/cups
auth include system-auth
account include system-account
session include system-session
# End /etc/pam.d/cups
EOF
Boot
Script
If you want the Cups print
service to start automatically when the system is booted, install
the init script included in the blfs-bootscripts-20191204 package:
make install-cups
Contents
Installed Programs:
accept, cancel, cupsaccept, cupsaddsmb,
cups-config, cupsctl, cupsd, cupsdisable, cupsenable,
cupsfilter, cupsreject, cupstestdsc, cupstestppd, ippfind,
ipptool, lp, lpadmin, lpc, lpinfo, lpmove, lpoptions, lpq, lpr,
lprm, lpstat, ppdc, ppdhtml, ppdi, ppdmerge, ppdpo, and
reject
Installed Libraries:
libcupscgi.so, libcupsimage.so,
libcupsmime.so, libcupsppdc.so, and libcups.so
Installed Directories:
/etc/cups, /usr/{include,lib,share}/cups,
/usr/share/doc/cups-2.3.1, and
/var/{cache,log,run,spool}/cups
Short Descriptions
|
accept
|
instructs the printing system to accept print jobs to the
specified destinations.
|
|
cancel
|
cancels existing print jobs from the print queues.
|
|
cupsaccept
|
accept jobs sent to a destination.
|
|
cupsaddsmb
|
exports printers to the Samba software for use with Windows
clients.
|
|
cups-config
|
is a Cups program
configuration utility.
|
|
cupsctl
|
updates or queries the cupsd.conf file for a server.
|
|
cupsd
|
is the scheduler for the Common Unix Printing System.
|
|
cupsdisable
|
stop printers and classes.
|
|
cupsenable
|
start printers and classes.
|
|
cupsfilter
|
is a front-end to the Cups filter subsystem which allows
you to convert a file to a specific format.
|
|
cupsreject
|
reject jobs sent to a destination.
|
|
cupstestdsc
|
tests the conformance of PostScript files.
|
|
cupstestppd
|
tests the conformance of PPD files.
|
|
ippfind
|
finds internet printing protocol printers.
|
|
ipptool
|
sends IPP requests to the specified URI and tests and/or
displays the results.
|
|
lp
|
submits files for printing or alters a pending job.
|
|
lpadmin
|
configures printer and class queues provided by
Cups.
|
|
lpc
|
provides limited control over printer and class queues
provided by Cups.
|
|
lpinfo
|
lists the available devices or drivers known to the
Cups server.
|
|
lpmove
|
moves the specified job to a new destination.
|
|
lpoptions
|
displays or sets printer options and defaults.
|
|
lpq
|
shows the current print queue status on the named
printer.
|
|
lpr
|
submits files for printing.
|
|
lprm
|
cancels print jobs that have been queued for printing.
|
|
lpstat
|
displays status information about the current classes,
jobs, and printers.
|
|
ppdc
|
compiles PPDC source files into one or more PPD files.
|
|
ppdhtml
|
reads a driver information file and produces a HTML
summary page that lists all of the drivers in a file and
the supported options.
|
|
ppdi
|
imports one or more PPD files into a PPD compiler source
file.
|
|
ppdmerge
|
merges two or more PPD files into a single,
multi-language PPD file.
|
|
ppdpo
|
extracts UI strings from PPDC source files and updates
either a GNU gettext or Mac OS X strings format message
catalog source file for translation.
|
|
reject
|
instructs the printing system to reject print jobs to the
specified destinations.
|
|
libcups.so
|
contains the Cups API
functions.
|
Last updated on 2020-03-25 07:06:24 -0500


To insert data into Sds, you must first create an SdsType that will enforce what type of data is written to a stream. For this sample, we will be writing events of the WaveData type discussed in the README. Press the button below to create the WaveDatan SdsType.
Now that we have an SdsType, we can create an SdsStream. Once we create a stream and associate it with a type, we can write data of that type to Sds. Press the button below to create a stream.
Press the button below to write 10 WaveData events to Sds using the InsertValues call.
There are several ways to read data back from Sds. Using GetRangeValues, we can start at index location "1" of our wave data and get the remaining events. We didn't actually write a value with an index of 1, but since we use SdsBoundaryType.ExactOrCalculated in our request, we get an interpolated value at index location 1.
| Order | Radians | Tau | Sin | Cos | Tan | Sinh | Cosh | Tanh |
|---|---|---|---|---|---|---|---|---|
| {{event.Order}} | {{event.Radians}} | {{event.Tau}} | {{event.Sin}} | {{event.Cos}} | {{event.Tan}} | {{event.Sinh}} | {{event.Cosh}} | {{event.Tanh}} |
We can repeat the same call, but instead of retreiving the data as json array with can get it back as table with headers.
A call to update values will either create or replace an event at the associated index location.  Press Retrieve Events above to see the updated data.
A call to replace values will either create or replace an event at the associated Index location. Press Retrieve Events above to see the replaced data.
We can make a call using a start and end value with a certain number of points expected and interpolation will occur automatically.
We can make a call using a start and end value with a certain number of points expected and interpolation will occur automatically. In this case we are asking for values with: radians < 3
Sds can return a sample of data that is representative of the trends in a larger dataset. In this case the call asks for selection across 4 intervals sampled by the sin property. Property types that cannot be interpolated do not support sampling requests. Strings are an example of a property that cannot be interpolated. For more information see Interpolation.
Sds can interpolate or extrapolate data at an index location where data does not explicitly exist. Using the default (Continuous) read behavior and requesting data starting at index location '1', where we have not entered data, Sds will interpolate a value for each property. We can override this read behavior on a property by property basis, here we override the Radians property instructing Sds not to interpolate. Sds will now return the default value for the data type.
SdsStreamViews can return a StreamView of the data stored on the server, we can use them to coerce SdsStream data of a certain type to be returned as another type. A simple example of this would be to provide a type with the same data shape using different names for each property.
Once we have created our target type we create an SdsStreamView specifying a SourceTypeId (our original SdsType) and a TargetTypeId.
We can now use this SdsStreamView on any GET request and our data will be returned with the structure of the target SdsType.
| OrderTarget | RadiansTarget | TauTarget | SinTarget | CosTarget | TanTarget | SinhTarget | CoshTarget | TanhTarget |
|---|---|---|---|---|---|---|---|---|
| {{event.OrderTarget}} | {{event.RadiansTarget}} | {{event.TauTarget}} | {{event.SinTarget}} | {{event.CosTarget}} | {{event.TanTarget}} | {{event.SinhTarget}} | {{event.CoshTarget}} | {{event.TanhTarget}} |
We can also specify target types that have different shapes and data types, in the simple example above Sds was able to perform the mapping automatically. To make more complex changes we will need to specify the mappings explicitly. For this we add an SdsStreamViewProperty mapping the source property to the target property. We will create three SdsStreamViewProperties and return Sin, Cos and Tan as though they were integers.
Speficying this SdsStreamView on our GET request we see that Sds has only returned values for those Properties that have an explicit mapping.
| OrderTarget | SinInt | CosInt | TanInt |
|---|---|---|---|
| {{event.OrderTarget}} | {{event.SinhInt}} | {{event.CoshInt}} | {{event.TanhInt}} |
Finally, if we are ever curious about the mapping for a specific StreamView we can request its SdsStreamViewMap. This will show the relationship between the SourceType and the TargetType.
| SourceTypeId | TargetTypeId | {{streamViewMap.SourceTypeId}} | {{streamViewMap.TargetTypeId}} |
|---|
| SourcePropertyId | TargetPropertyId |
|---|---|
| {{prop.SourceId}} | {{prop.TargetId}} |
We can change the streams type using the streamview
We can query the types we return based upon many things, including in this example whether their Id contains: Target.
Let's add some tags and metadata to our stream
| Key | Value |
|---|---|
| Region | {{metadataMap["Region"]}} |
| Country | {{metadataMap["Country"]}} |
| Province | {{metadataMap["Province"]}} |
Press the button below to delete all values from the SdsStream, pressing Retrieve Events above should now return an empty array.
Streams can have a secondary index that is different than its type primary index. In this case we create a new stream to show this, with a seconadry index on radians.
Streams can have a secondary index that is different than its type primary index. In this case we add an index to our first stream to show this, with a seconadry index on SinhInt.
Types can have a compound index.
Types can have a compound index. With that you send data normally and retreive data using the complex indicies
Press the button below to delete the types, streams and streamViews that this sample has created. Failure to do so could cause conflicts if the sample runs again. Please note that deleting a stream deletes all of the data written to that stream.


Wicket Secure Forms Homepage
Welcome, this a Swarm/WASP based sample for the use of secure forms.
To My Secure Form Page
To My Secure Anonymous Form Page
To the Login Page
Secure Linked Page


A Basic Form
Student Information
General
Name:
Birthdate:
Grade:
Contact
Phone
E-mail
Personal
Residence
House
Apartment
Cabin
Castle
Driver License
Eating:
Vegan
Vegetarian
Omnivore
Carnivore
Comments
Name
Birthday
Grade
Phone
Email
Residency
Drivers Liscence
Eating Habits


Use the previously created Eclipse project to implement your service in Java. The SOCIETIES Interfaces and classes will be available for consumption on your classpath when the API External jar is configured in your project's Maven pom.xml, as below:
To integrate your service implementation with the SOCIETIES API include Spring OSGi references in the bundle-context-osgi.xml file, as follows:
The definition of your service implementation (or Spring bean) should include a property of service reference that you wish to use, as below:


Whether you are travelling for business or pleasure, the
tremendous hostel services offered by the Grand NOSTALGIA HOSTEL
make it an ideal choice for you to stay in Ginatilan
Cebu,Philippines. The hostel's amazing surrounding, comfort,
thoughtful touches and a pesonalized services sets it apart from
any other hostel, allowing you to feel like being at home from
your very first step into the hostel.
We are geared towards the fulfillment of the needs of any
descerning guest as we prepared the following services and
satisfying accommodition the guest deserve.
About Rooms!
It's delicate,but potent. In Greek,"nostalgia "literally means"
the pain from an old wound." It's a twinge in your heart far more
powerful than memory alone a feeling of a place where we ache to
go again. A sentimental longing or wistful affection for a period
or place in the past. The affectionate feeling of the
past,especially for a happy time.
Human beings are
meaning-markers,and nostalgia provides us with an automatic
mechanism to reflect on the past and draw meaning from our
experiences
Shampoo & Conditioner
Soap or Shower gel
Mouth wash
Toothbrush & Toothpaste
Sewing kit
Bathrobes
Slippers
Extra pillows & Blankets
Phone charger
Body lotion
Free food and drinks at the hostel restaurant
Spa
Semi open & Outdoor Restaurant
Poolside Bar
Car Parking
24 Hour Security
Complementary Wi-Fi internet throughout the entire Hostel
...
...
... ...
...
...


Making progress for our kids
by New Zealand GovernmentRt Hon Jacinda Ardern
Prime Minister
Minister for Child Poverty Reduction
Hon Tracey Martin
Minister for Children
20 November 2019
PĀNUI PĀPĀHO
MEDIA STATEMENT
The Government is making progress on improving the wellbeing of the one million New Zealanders under the age of 18,” Prime Minister Jacinda Ardern said on World Children’s Day.
The Government has today recommitted to the most widely ratified human rights treaty in history – the United Nation’s Convention on the Rights of the Child, which enshrines in international law specific rights for children to have safe, happy and fulfilled childhoods.
“New Zealand can and should be the best place in the world to be a child, but we must think about what that means from a child’s perspective.
“When we asked children and young people what it would take to improve their lives, they were quick to talk about their families’ situation.
“One of our toughest long-term challenges is to tackle child poverty.
“I’m proud that we’ve made a good start on our plan to ensure families can give their kids the best possible start at life, which benefits all of New Zealand.
That’s why the Government:
· Is boosting the incomes of 384,000 families through the Families Package
· Passed a law to halve child poverty in a decade
· Is rolling out free lunches in schools starting in term 1 next year
· Extended free GP visits to those aged up 14 (total – 883,397 children)
· Extended Nurses in Schools to cover decile 4 (total – 77,000 young people)
· Increased paid parental leave to 22 weeks, up to 26 by 2020
· Scrapped a sanction that cuts a woman’s benefit if she doesn’t name the father
· Indexed main benefits to wage growth
· Has built more houses than any Government since the 1970s
· Increased funding so parents don’t have to pay for school donations or NCEA fees
· Is building and funding a proper care and protection agency to better help at-risk children and their families
“The Families Package and Wellbeing Budget means we’re on track to lift 50,000 to 74,000 children out of poverty by putting more money in the pockets of parents and our wider plan eases the pressure on families across health, education and housing,” Jacinda Ardern said.
“The voices and views of more than 6000 young people recently helped to shape New Zealand’s first Child, Youth and Wellbeing Strategy that drives the ongoing improvements to the health and wellbeing of our children,” Minister for Children Tracey Martin said.
“The plan sets the direction for not just three years ahead but 30, and with the next generation in mind.
“I am proud that we are making children our focus,” Tracey Martin said.
The Prime Minister and Speaker officially opened a playground on Parliament Lawn today alongside children from early learning centres around Wellington.
Today is the 30th anniversary of the United Nation’s Convention on the Rights of the Child (the Children’s Convention). New Zealand ratified the convention on 6 April 1993 and was invited to and subsequently recommitted its pledge recently to align with its 30th anniversary. 196 countries have become State Parties to the Convention.
ends


instractor name
instractor name
Some quick example text to build on the Cource Title and make up the bulk of the card's content.
instractor name
instractor name
Some quick example text to build on the Cource Title and make up the bulk of the card's content.
instractor name
instractor name
Some quick example text to build on the Cource Title and make up the bulk of the card's content.
instractor name
instractor name
Some quick example text to build on the Cource Title and make up the bulk of the card's content.
instractor name
instractor name
Some quick example text to build on the Cource Title and make up the bulk of the card's content.
instractor name
instractor name
Some quick example text to build on the Cource Title and make up the bulk of the card's content.


To the begining
1. Open Deluge and go to: Edit -> Options
2. Click the "Proxy" tab, set the values as in the screenshot and click "OK"
1. Open qBittorrent and go to: Tools -> Options ...
2. Click the "Connection" tab, set the values as in the screenshot and click "OK"
1. Open uTorrent and go to: Settings -> Application Settings
2. Click the "Connection" tab, set the values as in the screenshot and click "OK"
1. Open Vuze and go to: Tools -> Settings ...
2. Click the "Mode" tab and select "Professional" as in the screenshot.
3. Click the Connection -> Proxy tab, set the values as in the screenshot, click "Save" and reload the Vuze


Error:
This playlist contains too many tracks to be posted to Playlistr. Please adjust your playlist to be {{environment.maxPlaylistLength}} tracks or fewer and then try submitting again.
This playlist contains too many tracks to be posted to Playlistr. Please adjust your playlist to be {{environment.maxPlaylistLength}} tracks or fewer and then try submitting again.


Delicious Caterers
We The Best
Here are some of the packages we offer
Executive Class
- food for 100 heads
- Rice/pilau
- mukimo
- beef stew
- githeri
- chicken&fish
- soft drinks
- wine
- cocktails
- chairs and tables
- tent
- lighting
- transport
- till late
- Entertainment
- bouncing castle
- Music
- live pefrformance
Business Class
- food for 20-50 heads
- Rice/pilau
- mukimo
- beef stew
- githeri
- chicken&fish
- soft drinks
- wine
- cocktails
- chairs and tables
- tent
- lighting
economy package
- food for 20 heads
- Rice/pilau
- mukimo
- beef stew
- githeri
- soft drinks
- chairs and tables
Granton Muchai The services were much more especially at the executive class where they hosted my wedding


--- permalink: /deck/ title: Meeting Deck ---
{% include datetime.html date=post.date day=true time=false %}
https://bit.ly/2EBSZRP
| Type | Sponsor | |
| {{job.title}} | {{job.type}} | {{job.sponsor}} |
See nhdnug.org for links to all available positions
Hiring? On the market? Interested in speaking? Have a favorite speaker? Let an officer know!
{{post.survey-url}}
{{post.subtitle}}
{% for speaker in post.speakers %}


--- layout: default title: nevercast.net subtitle: Josh Lloyd - Software Developer - Student nav: true nav_title: Home nav_order: 1 ---
This is my personal website with blog stuff and project stuff and other such... stuff. This website is kindly hosted by Github, you can see the sourcecode here. The template is a pre-built from Github's Page Generator but I'll be redesigning this site myself over the next few months.
Check out my Github while you're lurking
You can now access the posts from my blog here. But it's also in the navigation at the top!


header
My Powerfull Team
Home
Imagesbanner
Jas's Team
Home
Jaskaran
Superman
click on name to read the bio


About Us
We are a group of 4 Mission San Jose sophomores who are very interested in coding. We recently decided to spread this knowledge to younger kids and gain some teaching experience ourselves. We are proficient in Python and Java, and would love to teach your children how to code in Python this spring break!


#JSON Web Tokens
JSON Web Tokens is an open standard that defines a compact and self-contained way for securely transmitting information between parties as a JSON object.
This information can be verified and trusted because it is digitally signed.
JSON Web Tokens are three parts separated by dots (.
), which are:
JWT can use public/private key pay for signing, more compact than XML.
JSON parsers typically map directly to objects in most languages.


You should login E-mail to verify your e-mail address first.
Login Email
You want to verify later.
Get Started


Thank you for the prayers for my health.
Many on the Woodway team experienced flu-like symptoms while they were here (it's flu season here in Namibia). At 8:45 PM last night, I started shaking from the chill of my fever rising. Immediately, my host family gave me tylenol and other medicines for the impending stomach problems. They also started praying for me.
My temperature started to rise quickly. I SMSed (texted) Katie and told her I was sick. My fever maxed out at 102.5. By the Lord's grace, my fever stayed there for only half an hour and then started dropping at the same rate it rose. By midnight, my fever was below 100 and I was able to fall asleep. When I awoke at 9:00 AM this morning, my temperature was a cool 97.4.
Although my illness was short, I was able to learn from it. Illness reminds us that we are not in control - that the Lord is our strength.
I must go now.
Cheers.
-PJ


I'm an Atlanta, Ga based Full Stack Flex Software Engineer and Web Developer, I enjoy designing the front end UI as well as the back end. My imagination and my attitude, I believe, are an amazing asset to any company. I love finding solutions to any problem. It's my thing!
My Skills


chelsie
you are not alone
objectives
give a voice to survivors
foster community healing
shed light on campus sexual assault
DEMO
chelsie.io
a public API that serves local resources for people in crisis
chelsie.io/centers
chelsie.io/centers/:id
chelsie.io/centers/:id/services
chelsie.io/centers/:id/population
chelsie.io/centers/search/:query
chelsie.io/centers/geo/:lat/:lng/:radius
technology stack
front-end: react-native
college students are mobile first
backend: rails
lightweight, decoupled API
deployment: heroku
easy as 3.14...
team cadence
played 'hot potato' with complex tasks
have fun and don't let the subject matter get you down
define tasks as a group but pick what you work on individually
next steps
device agnostic
launch and let the community tell us what to do next
provide support and lend visibility
questions


JOY RIDE A film review by Blake French Copyright 2001 filmcritic.com
Ever make someone else the brunt of a practical joke -- only to learn the joke is really on you? The characters in Joy Ride have, and after the lessons they learn, you can bet they'll never, ever tease anyone else again.
Joy Ride has clearly learned from similar, high-octane road thrillers like Breakdown. It calculates every move, but seldom do we see the surprises coming. The film explores the misadventures of a college student named Lewis (Paul Walker). Lewis is a nice guy, having just bought a used car to travel all the way across the country to help a friend in need (Leelee Sobieski). Along the way, he also stops to post bail for his troublemaking brother, Fuller (Steve Zahn), and give him a ride as well.
Fuller buys a CB radio at a gas station to chat with the truck drivers who cruise the deserted highways of Nevada, and soon they receive a signal from a man with a deep, scruffy voice who calls himself Rusty Nail. Fuller thinks it would be funny if Lewis pretended he was a woman and sexually teased Rusty Nail. Lewis reluctantly agrees and eventually invites him to a hotel. They will stay in room 18, while they tell Rusty Nail to visit room 17, where a fat, grumpy man will rest for the night.
Not a very nice thing to do, and Rusty Nail doesn't particularly appreciate the prank. So little that the police find room 17's lodger on the highway the next morning, lying in a permanent coma with the lower half of his jaw ripped off. And this is only the beginning, because Rusty Nail wants revenge, and he'll stop at nothing to get it.
 This works, but eventually becomes somewhat redundant after the third or fourth time around the track. That does not terribly injure the film, however, for several reasons. We don't know who is behind the voice of Rusty Nail or the steering wheel of that massive semi, as the mystery and suspense always keep us guessing. We also care about the characters; the actors' performances are believable, as is the terrifying reality of the situation. As well, the story continually raises the stakes, introducing new conflicts and characters, and exploring new environments, thanks to a well-written script by Clay Tarver and J.J. Abrams.
Thankfully, the film doesn't go overboard with needless gore and violence. The cinematography is also some of the year's most effective work. The characters' faces dimly lit by red neon hotel lights or the soft glow of a fire, the mood contributes to the tension of the film.
Sadly, the ending an abuse of the old deus ex machina contrivance. Sure, we're on the edge of our seats, but really, it's a bit lazy.
Formerly known as Squelch.

Visit filmcritic.com on the Web at http://www.filmcritic.com
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Welcome to this part of FastAuto where anyone can add their own cars for rent or sale & enjoying our services into finding a new driver for them ! If you’re looking for the finest used cars retailer in the area, you’ve come to the right place. We’ve been providing quality pre-owned vehicles at affordable prices for years. Our honesty and integrity is what keeps people coming back, and we’re always striving to get better.