Thematic tutorial document tree#
- Algebraic Combinatorics in Sage
- Abelian Sandpile Model
- Group Theory and Sage
- Lie Methods and Related Combinatorics in Sage
- The Scope of this Document
- Lie Group Basics
- The Weyl Character Ring
- Maximal Subgroups and Branching Rules
- Weyl Groups, Coxeter Groups and the Bruhat Order
- Classical Crystals
- Affine Root System Basics
- Integrable Highest Weight Representations of Affine Lie algebras
- Affine Finite Crystals
- Affine Highest Weight Crystals
- Elementary crystals
- Infinity Crystals
- Iwahori Hecke Algebras
- Kazhdan-Lusztig Polynomials
- Bibliography
- Tutorial: Vector Calculus in Euclidean Spaces
- Linear Programming (Mixed Integer)
- Number Theory and the RSA Public Key Cryptosystem
- Coding Theory in Sage
- How to write your own classes for coding theory
- Polyhedra
- Steenrod Algebra Modules
- Tutorial: Programming in Python and Sage
- Tutorial: Comprehensions, Iterators, and Iterables
- Tutorial: Objects and Classes in Python and Sage
- Functional Programming for Mathematicians
- How to implement new algebraic structures in Sage
- Tutorial: Implementing Algebraic Structures
- How to call a C code (or a compiled library) from Sage ?
- Numerical Computing with Sage
- Three Lectures about Explicit Methods in Number Theory Using Sage
- Profiling in Sage
- Creating a Tutorial from an old Sage Worksheet (.sws)


[gecode-users] Unresolved externals in Windows XP
Nick Hindle
nick.hindle at tesco.net
Thu Apr 26 21:52:29 CEST 2007
Hi,
I am trying to compile Gecode programs ("all-interval.cc" and "money.cc") in Windows XP using Visual C++ Express, and I get the following unresolved externals:
public: void __thiscall Options::parse(int,char * *)
double __cdecl dev(double * const,int)
double __cdecl am(double * const,int)
I have defined all 6 gecode static libraries in my linker input - if I don't I get 38 unresolved externals, so I know I've got the libraries in the right directory path.
Has anyone managed to compile succesfully in this environment?
Many thanks,
Nick
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Welcome to my poem collection
Hi there.  Have fun exploring my collection of poems by my favorite authors.
Edgar Allan Poe
The Raven
Once upon a midnight dreary, while I pondered, weak and weary,
Over many a quaint and curious volume of forgotten lore,
While I nodded, nearly napping, suddenly there came a tapping,
As of some one gently rapping, rapping at my chamber door.
"'Tis some visiter," I muttered, "tapping at my chamber door—
Only this, and nothing more."
Ah, distinctly I remember it was in the bleak December,
And each separate dying ember wrought its ghost upon the floor.
Eagerly I wished the morrow;—vainly I had tried to borrow
From my books surcease of sorrow—sorrow for the lost Lenore—
For the rare and radiant maiden whom the angels name Lenore—
Nameless here for evermore.
And the silken sad uncertain rustling of each purple curtain
Thrilled me—filled me with fantastic terrors never felt before;
So that now, to still the beating of my heart, I stood repeating
"'Tis some visiter entreating entrance at my chamber door—
Some late visiter entreating entrance at my chamber door;—
This it is, and nothing more."
Presently my soul grew stronger; hesitating then no longer,
"Sir," said I, "or Madam, truly your forgiveness I implore;
But the fact is I was napping, and so gently you came rapping,
And so faintly you came tapping, tapping at my chamber door,
That I scarce was sure I heard you"—here I opened wide the door;—
Darkness there, and nothing more.
Deep into that darkness peering, long I stood there wondering, fearing,
Doubting, dreaming dreams no mortal ever dared to dream before;
But the silence was unbroken, and the darkness gave no token,
And the only word there spoken was the whispered word, "Lenore!"
This I whispered, and an echo murmured back the word, "Lenore!"
Merely this, and nothing more.
Then into the chamber turning, all my soul within me burning,
Soon I heard again a tapping somewhat louder than before.
"Surely," said I, "surely that is something at my window lattice;
Let me see, then, what thereat is, and this mystery explore—
Let my heart be still a moment and this mystery explore;—
'Tis the wind, and nothing more!"
Open here I flung the shutter, when, with many a flirt and flutter,
In there stepped a stately raven of the saintly days of yore;
Not the least obeisance made he; not an instant stopped or stayed he;
But, with mien of lord or lady, perched above my chamber door—
Perched upon a bust of Pallas just above my chamber door—
Perched, and sat, and nothing more.
Then this ebony bird beguiling my sad fancy into smiling,
By the grave and stern decorum of the countenance it wore,
"Though thy crest be shorn and shaven, thou," I said, "art sure no craven,
Ghastly grim and ancient raven wandering from the Nightly shore—
Tell me what thy lordly name is on the Night's Plutonian shore!"
Quoth the raven, "Nevermore."
Much I marvelled this ungainly fowl to hear discourse so plainly,
Though its answer little meaning—little relevancy bore;
For we cannot help agreeing that no sublunary being
Ever yet was blessed with seeing bird above his chamber door—
Bird or beast upon the sculptured bust above his chamber door,
With such name as "Nevermore."
But the raven, sitting lonely on the placid bust, spoke only
That one word, as if his soul in that one word he did outpour.
Nothing farther then he uttered—not a feather then he fluttered—
Till I scarcely more than muttered, "Other friends have flown before—
On the morrow he will leave me, as my hopes have flown before."
Quoth the raven, "Nevermore."
Wondering at the stillness broken by reply so aptly spoken,
"Doubtless," said I, "what it utters is its only stock and store,
Caught from some unhappy master whom unmerciful Disaster
Followed fast and followed faster—so, when Hope he would adjure,
Stern Despair returned, instead of the sweet Hope he dared adjure—
That sad answer, "Nevermore!"
But the raven still beguiling all my sad soul into smiling,
Straight I wheeled a cushioned seat in front of bird, and bust, and door;
Then upon the velvet sinking, I betook myself to linking
Fancy unto fancy, thinking what this ominous bird of yore—
What this grim, ungainly, ghastly, gaunt, and ominous bird of yore
Meant in croaking "Nevermore."
This I sat engaged in guessing, but no syllable expressing
To the fowl whose fiery eyes now burned into my bosom's core;
This and more I sat divining, with my head at ease reclining
On the cushion's velvet lining that the lamplight gloated o'er,
But whose velvet violet lining with the lamplight gloating o'er,
She shall press, ah, nevermore!
Then, methought, the air grew denser, perfumed from an unseen censer
Swung by angels whose faint foot-falls tinkled on the tufted floor.
"Wretch," I cried, "thy God hath lent thee—by these angels he hath sent thee
Respite—respite and Nepenthe from thy memories of Lenore!
Let me quaff this kind Nepenthe and forget this lost Lenore!"
Quoth the raven, "Nevermore."
"Prophet!" said I, "thing of evil!—prophet still, if bird or devil!—
Whether Tempter sent, or whether tempest tossed thee here ashore,
Desolate, yet all undaunted, on this desert land enchanted—
On this home by Horror haunted—tell me truly, I implore—
Is there—is there balm in Gilead?—tell me—tell me, I implore!"
Quoth the raven, "Nevermore."
"Prophet!" said I, "thing of evil!—prophet still, if bird or devil!
By that Heaven that bends above us—by that God we both adore—
Tell this soul with sorrow laden if, within the distant Aidenn,
It shall clasp a sainted maiden whom the angels name Lenore—
Clasp a rare and radiant maiden whom the angels name Lenore."
Quoth the raven, "Nevermore."
"Be that word our sign of parting, bird or fiend!" I shrieked, upstarting—
"Get thee back into the tempest and the Night's Plutonian shore!

Leave my loneliness unbroken!—quit the bust above my door!
Take thy beak from out my heart, and take thy form from off my door!"
Quoth the raven, "Nevermore."
And the raven, never flitting, still is sitting, still is sitting
On the pallid bust of Pallas just above my chamber door;
And his eyes have all the seeming of a demon that is dreaming,
And the lamp-light o'er him streaming throws his shadow on the floor;
And my soul from out that shadow that lies floating on the floor
Shall be lifted—nevermore!
William Blake
The Tyger
Tyger Tyger, burning bright,
In the forests of the night;
What immortal hand or eye,
Could frame thy fearful symmetry?
In what distant deeps or skies.
Burnt the fire of thine eyes?
On what wings dare he aspire?

And what shoulder, & what art,
Could twist the sinews of thy heart?
And when thy heart began to beat,
What dread hand? & what dread feet?
What the hammer? what the chain,
In what furnace was thy brain?
What the anvil? what dread grasp,
Dare its deadly terrors clasp!
When the stars threw down their spears
And water'd heaven with their tears:
Did he smile his work to see?
Did he who made the Lamb make thee?
Tyger Tyger burning bright,
In the forests of the night:
What immortal hand or eye,
Dare frame thy fearful symmetry?
Robert Frost
The Road Not Taken
Two roads diverged in a yellow wood,
And sorry I could not travel both
And be one traveler, long I stood
And looked down one as far as I could
To where it bent in the undergrowth;
Then took the other, as just as fair,
And having perhaps the better claim,
Because it was grassy and wanted wear;
Though as for that the passing there
Had worn them really about the same,
And both that morning equally lay
In leaves no step had trodden black.
Oh, I kept the first for another day!
Yet knowing how way leads on to way,
I doubted if I should ever come back.
I shall be telling this with a sigh
Somewhere ages and ages hence:
Two roads diverged in a wood, and I—
I took the one less traveled by,
And that has made all the difference.
CONTACT
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Mozart - A Clientside Framework in CoffeeScript
Current Stable Version: 0.3.0, 21 October 2013
Development Version: 0.4.0, November 2013
Please see http://mozart.io for documentation, examples etc.
Testing, Building, Packaging
grunt test
will build and test Mozart
grunt build
will build Mozart into ./mozart.js
grunt package
will build and minify Mozart into ./mozart.min.js and write the current version to ./VERSION
CoDo Documentation
./node_modules/codo/bin/codo src/mozart
will generate the CoDo documentation in ./doc
Changelog
0.4.0
0.3.0
- Mozart Now follows semantic versioning
- Added
Mozart.Resource
class - Added
displayWhenEmpty
to collection - Added
idField
to collection - Added
position
object to views rendered with a collection - Added
hide
property to views - Added
findBy<fieldname>
,getBy<fieldname>
methods on indexed fields - Added warning when Layout cannot bind to rootElement
- Added Codo Docs to all classes
- Added extended options capability to verbs on
Mozart.HTTP
0.2.0
- Added attrHtml[Observe|Notify]Binding capability on views
0.1.9
- Declarative View Actions (/name/Action)
- Handlebars {{action}} 'target' attribute now deprecated, use full path
- bind/one/unbind/trigger deprecated, use subscribe/subscribeOne/unsubscribe/publish
0.1.8
- HTTP CORS Support
- Binding, Routing Bugfixes
0.1.7
- Introduced transferrable bindings to correct problems with new binding implementation
- Extra specs and tests for greater code coverage
0.1.6
- HTTP Abstraction Layer
- i18n Bugfixes, Lookup properties allowed
- Firefox popstate fixes
- Fixed Double-route bug when using Browser History routing
- Plugin Framework
0.1.5
- Rewrote MztObject binding
- Refactored for node 0.10.0 support
0.1.4
- Updated Mozart Build Chain to use Grunt v0.4.0
0.1.3
- Moved to Browser History based routing, Hash routing is an optional mode
0.1.2
- i18n now conforms to RFC4646
- DOM Manager reworked to support more events
- More descriptive exceptions and warnings
- Minor bug fixes
0.1.1
- Added *Lookup properties to MztObject, action helper
- View handlebars helper can now take a property as the viewclass (partials)
- Added CoDo Document Generation
0.1.0
- Added localStorage support
0.0.9
- Renamed to Mozart
0.0.8
- Major fixes to IE compatibility. Now works in IE8+.
0.0.7
- Switched to Grunt from Brunch
- Views are now deferred for release, and released off-DOM
- Mozart Framework now uses CommonJS
- Global Keybindings in DOMManager
0.0.6
- Added messageFormat Internationalization support
0.0.5
- Added basic AJAX layer
0.0.4
- Added mobile ToDo App demo, added mobile generators, fixed IE incompatibiliy bug
0.0.3
- Renamed from RazorMVC, including all namespaces
0.0.2
- New, faster off-DOM render engine


{% extends "layout.html" %} {% set mainClasses = "govuk-main-wrapper--l" %} {% block pageTitle %} Confirmation page {% endblock %} {% block content %}
We've sent a confirmation email to {{ userEmail }} which contains your reference number and application information.
{% if authCodeFlag === true %}You should receive the authentication code at the registered office within 5 working days.
{% endif %}It usually takes up to 5 working days to review the application, but there may be a delay because of the impact of the coronavirus (COVID-19) outbreak.
If you need help urgently, email<EMAIL_ADDRESS>We'll contact you by email with our decision. Accepted applications normally receive an extension of 30 days. If the company is affected by coronavirus, it will receive a 3 month extension.
We may contact you by email if we need more information.
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<%= require('html!./includes/nav.html') %>
Zoom map to all
Source of Data:
Synthea
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Computational Simulation Tools¶
Contents¶
The purpose of these notes is to provide an introduction to the physical properties of solids, which are of extraordinarily important in the modern world. It focuses upon fundamental, unifying concepts in solid-state physics but with a computational approach to under the properties of nuclei and electrons in solids rather than the typical experimental approach found in most solid state physics books. These notes look to provide a practical introduction to computational materials to establish the basic principles, to describe phenomena responsible for the importance of solids in science and technology, while at the same time orienting the discussion toward understanding computational materials techniques and using them for explanatory purposes as well as to predict behavior.
The purpose of these notes is not intended to be exhaustive there exists many existing textbooks on computational materials as well the theory in materials science. As a result, I have attempted to provide a fairly extensive bibliography which include recommended textbooks, as well as citation to the original journal articles. Since this is an online reference, I intend to develop this website as a series of monographs and tutorials.
Introduction to Computational Tools¶
General Reference Books for Computational Material Science¶
[Lee16] Lee, J.G. Computational Materials Science: an Introduction. 2016. CRC Press.
Crystallography¶
For building crystal structres in a programatic way, the atomistic simulation environment is well-developed package.
Atomic Simulation Environment. Building Things
Density Functional Theory¶
Introduction to Density Functional Theory, by Eugene Ragasa
pypospack VASP examples <pypospack/examples/vasp/index>
Molecular Dynamics¶
Introduction to Molecular Dynamics, by Eugene Ragasa
Introduction to Molecular Dynamics Simulation, by Micheal P. Allen
Lattice Dynamics¶
The study of vibrations of atoms inside crystals, lattice dynamics, is basic to many fields of study in solid state physics and materials science.
Introduction to Lattice Dynamics, by Martin T. Dove is a well written book accessible to advanced undergraduates, graduate students, and reserach workers looking to understand phonons from an approachable but fairly rigorous perspective.
gulp is software written in Fortran which can do a variety of molecular dynamics type tasks, but really excells in calculated phonons and phonon density of states for a variety of empirical interatomic potentials.
Material Properties and Defects in Crystals¶
These links are useful for building defect stuctures.
Atomic Simulation Environment. General crystal structure


*Number of housekeepers create the number of boards for rooms to clean
Enter room number associated to board {{ currentBoard + 1 }}
{{ dupRoomWarning }}


Christian Merfels is with Volkswagen Group Research, Wolfsburg, and Institute of Geodesy and Geoinformation, University of Bonn, Germany.
Cyrill Stachniss is with Institute of Geodesy and Geoinformation, University of Bonn, Germany.
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Combining multiple localization systems in a plug and play manner.
Formulate this approach as a sliding window pose graph.
The pose fusion approach scales from a filtering-based to a batch solution by increasing the size of the sliding window.
The experiment runs at 20Hz on both simulated and real data.
Individual localization system is not enough, and the combination of orthogonal localization systems is more powerful.
This paper provides an approach to multi-sensor data fusion decouples the localization from the fusion task, which eneables the ability to incorporate third-party localization modules for which source code is unavailable.
A coarse localization (red triangles), a precise but only temporary available localization (blue triangles), and odometry as dead reckoning trajectory (blue) are used to estimate the true trajectory (red) of a vehicle. The estimated poses are shown as black triangles: the goal is to approximate the unknown red line as closely as possible with the black triangles.
efficient sensor fusion of generic odometry and global pose inputs \(\Rightarrow\) an intuitive architecture for pose estimation and timing issues.
graph construction algorithm \(\Rightarrow\) a sparse block-tridiagonal structure of the system matrix \(\Rightarrow\) fast solution
filtering-based approaches: Kalman filter and its variants
feature: rely at a very early stage on the Markov assumption and marginalize all older information
problem: prematurely incorporating the linearization error.
sliding window smoothing algorithms: compute the maximum likelihood (ML) estimate by nonlinear least squares optimization to a Bayesian network, Markov random field (MRF), or factor graph.
feature: consider all past measurements up to the current one; and also consider future measurements for offline batch optimization.
solution: online batch optimization becomes feasible through the usage of incremental smoothing techniques, such as iSAM21, that recalculate only the part of the graph that is affected by new measurements.
Some implementations keep the size of the graph bounded by simply discarding older nodes and edges, thus potentially obtaining overconfident estimates.
Sibley et al.2, who are the first to introduce the concept of a slibing window filter in the context of robotics.
Differences:
apply this to the use case of pose fusion
special design for a faster way of solving the nonlinear least squares equations, performing marginalization, and estimating the uncertainty of the output.
provide a way of semantically reasoning about the prior information arising from marginalization by deriving a prior node.
This paper exploits the state-of-the-art graph optimization framework g2o3.
The key idea is that given the state vector \(x=(x_1^T, ..., x_m^T)^T\) and a set of measurements, where \(z_{ij}\) is the mean and \(\Omega_{ij}\) is the information matrix4 of a single measurement relating \(x_i\) to \(x_j\), least squares estimation seeks the state
\[x^*=\arg\min_x{\sum_{i,j}e_{ij}^T\Omega_{ij}e_{ij}} \label{eq:state}\]
that best explains all measurements given the \(\mathit{l}_2\) norm. The vector error function \(e_{ij}=e(x_i,x_j,z_{ij})\) measures how well the constraint from the measurement \(z_{ij}\) is satisfied. Solving \((\ref{eq:state})\) requires iteratively solving a linear system with the system matrix5 \(H\) and the right-hand side vector \(b\) such that \[H=\sum_{i,j}{J_{ij}(x)^T\Omega_{ij}J_{ij}(x)}\] \[b^T=\sum_{i,j}e_{ij}^T\Omega_{ij}J_{ij}(x)\] where \(J_{ij}(x)\) refers to the Jacobian6 of the error function computed in state \(x\).
general nonlinear least squares estimation taks into account all available information within the full pose graph
to keep the problem computationally tractable, it is necessary to limit the considered information.
this approach achieves this by marginalizing out prior state state variables and the state vector \(x\) in a sliding window pose graph is reduced to the M most recent states \(x=(x_{t-M+1}^T,...,x_t^T)^T\).
global pose source: measure poses within a global coordinate system, e.g. Universal Transverse Mercator (UTM) coordinate
local pose source: measure spatial transformations relative to the previous pose, e.g. odometry
hidden nodes (from MRFs): state variables
observed nodes (from MRFs): global pose constraints, connected to hidden nodes to constrain them in the global coordinate frame.
edge between hidden nodes: local pose constraints.
The resulting form or the graph is called chain pose graph.
Related graph-based approaches.
generate a hidden node (state variables) every time a measurement arrives
or tie their generation to a specific pose source
This approach constructs a hidden node every time stamp.
it queries all global pose sources for measurements and interpolate one observed node per source at the timestamp of the hidden node if measurements are available.
it queries each local pose source to interpolate the edges between all two successive hidden nodes.
enforce a certain matrix structure for H, to include all measurement sources in a generic way independetly of their specific output frequencies, and to a priori relate the number of state variables to the length of the interval of the sliding window.
The block-tridiagonal structure is a consequence of the linear temporal ordering of the state variables combined with the fact that edges are at most constructed between successive nodes.
This structure does not produce fill-in in system matrix \(H\) after marginalization of the oldest state variables.
Beyond that, even the Cholesky factorization7 \(H=R^TR\), which this paper perform to solve the linear system, does not suffer from fill-in in its triangular matrix \(R\) (becomes a band matrix).
The computational complexity of this approach is efficiently solvable in \(\mathcal{O}(n)\).
Define time behavior as the latency, frequency, and availability of estimate. The output of the PoseGraphFusion is time-triggered.
Difficulties:
multi-rate sources,
nonconstant input frequencies,
out-of-sequence estimates,
time-varying latencies.
Steps:
buffering all incoming data.
preprocessing it before the next graph construction phase.
constructing and optimizing the graph.
computation time
the most recent state is estimated with a sliding window pose graph over the current set of measurements.
The estimation result is subsequently propagated into the future to the start of the next cycle with a constant turn rate and velocity model.
The backward-forward computations problem of conventional Kalman filtering approaches: to integrate a new measurement, it has to propagate its state back in time to the time of the measurement, apply the measurement, and re-apply all other stored measurements.
Motivation: limit the amount of hidden nodes to maintain constant runtime complexity.
Problem: Simply removing edges and nodes leads to information loss and is equivalent to conditioning, which potentially leads to overconfidence.
Solution: only marginalize the oldest nodes. This truncates the graph but retains the same information (given te linearization point).
Common method: Computing the Schur complement8 on the system matrix \(H\).
Potential problem: may introduce conditional dependencies between state variables that are connected.
however, the structure of the chain pose graph is able to retain the same sparsity pattern and do not suffer from a denser system matrix after marginalization.
Prior node: this paper says, by exploiting the particular block-tridiagonal matrix structure, it derives the concept of a prior node, which carries the same information as introduced by the Schur complement. Therefore, it is advantageous to construct a prior node for marginalization instead of performing the Schur complement:
user has the possibility to understand how the prior information affects the rest of the graph.
it allows to store and load the optimization problem with solely the help of its graph representation.
it opens up the possibility to explicitly apply a robust kernel on the cost function of the prior node and to adjust the uncertainty of the prior information based on context.
\[H^{small} \Delta x^{small} =\left[\begin{array}{cc} H_{bb}^{small} & H_{bc}^{small} \\ H_{cb}^{small} & H_{cc}^{small} \\ \end{array}\right] \Delta x^{small} = - \left[\begin{array}{c} b_{b}^{small} \\ b_{c}^{small} \\ \end{array}\right]\]
\[\begin{array}{rcl} H^{full} \Delta x^{full} & = & \left[\begin{array}{ccc} \bar{H}_{aa} + \hat{H}_{aa} & \hat{H}_{ab} & 0 \\ \hat{H}_{ba} & H_{bb}^{small} + \hat{H}_{bb} & H_{bc}^{small} \\ 0 & H_{cb}^{small} & H_{cc}^{small} \\ \end{array}\right] \Delta x^{full} \\ & = & \left(\left[\begin{array}{ccc} 0 & 0 & 0 \\ 0 & H_{bb}^{small} & H_{bc}^{small} \\ 0 & H_{cb}^{small} & H_{cc}^{small} \\ \end{array}\right]+\left[\begin{array}{ccc} \bar{H}_{aa} + \hat{H}_{aa} & \hat{H}_{ab} & 0 \\ \hat{H}_{ba} & \hat{H}_{bb} & 0 \\ 0 & 0 & 0 \\ \end{array}\right]\right) \Delta x^{full} \\ & = & -\left[\begin{array}{c} 0 \\ b_b^{small} \\ b_c^{small} \\ \end{array}\right] - \left[\begin{array}{c} \bar{b}_a+\hat{b}_a \\ \hat{b}_b \\ 0 \\ \end{array}\right] = -\left[\begin{array}{c} \bar{b}_a + \hat{b}_a \\ b_b^{small} + \hat{b}_b \\ b_c^{small} \\ \end{array}\right]\\ \end{array}\]
Use Schur complement of \(H^{full}\) and \(b^{full}\) to marginalize \(x_a\) 9
\[\begin{array}{rcl} \left[\begin{array}{cc} \bar{H}_{aa} + \hat{H}_{aa} & \hat{H}_{ab} \\ \hat{H}_{ba} & \hat{H}_{bb} \\ \end{array}\right] & \Rightarrow & H^{schur}=\hat{H}_{bb}-\hat{H}_{ba}(\bar{H}_{aa}+\hat{H}_{aa})^{-1}\hat{H}_{ab} \\ b^{schur}=H^{schur}\Delta x_b & = & \hat{b}_b - \hat{H}_{ba}(\bar{H}_{aa}+\hat{H}_{aa})^{-1}(\bar{b}_a+\hat{b}_a) \\ \end{array}\]
The marginalized system matrix \(H^{marg}\) and coefficient vector \(b^{marg}\)
\[\begin{array}{rcl} H^{marg} & = & \left[\begin{array}{cc} H_{bb}^{small} + H^{schur} & H_{bc}^{small} \\ H_{cb}^{small} & H_{cc}^{small} \\ \end{array}\right] \\ b^{marg} & = & \left[\begin{array}{c} b_b^{small} + b^{schur} \\ b_c^{small} \\ \end{array}\right] \end{array}\]
After the marginalization, the structure of the system matrix is still block-tridiagonal due to the particular design of the chain pose graph, meaning that the sparsity pattern of \(H\) is retained after marginalization without fill-in.
A different marginalization method to replace \(x_a\) and its connected observed nodes and edges with a prior node \(\bar{x}_p\) (will be a measurement). The result is same, but the marginalized nodes can be visualized as an observed node.
\[\begin{array}{rcl} H^{prior} & = & \left[\begin{array}{cc} H_{bb}^{small} + \bar{H}^{prior} & H_{bc}^{small} \\ H_{cb}^{small} & H_{cc}^{small} \\ \end{array}\right] \\ b^{prior} & = & \left[\begin{array}{c} b_b^{small} + \bar{b}^{prior} \\ b_c^{small} \\ \end{array}\right] \end{array}\]
The \(x_p\) can be defined as the mean estimate of any observed node of \(x_b\). Then define the error function \(e_{pb}\) and consequently its Jacobian \(J_{pb}(x)\).
\[\begin{array}{rcl} e_{pb} & = & \left[\begin{array}{cc} R & 0 \\ 0 & 1 \\ \end{array}\right] (x_b-\bar{x}_p) \\ J_{pb}(x) & = & \left[\begin{array}{cc} R & 0 \\ 0 & 1 \\ \end{array}\right] \end{array}\]
Therefore
\[\begin{array}{rcl} \bar{H}_p & = & J_{pb}(x)^T \bar{\Omega}_p J_{pb}(x) = H^{schur}\\ \Rightarrow \bar{\Omega}_p & = & (J_{pb}(x)^T)^{-1} H^{schur} (J_{pb}(x))^{-1} \\ \bar{b}_p & = & J_{pb}(x)^T \bar{\Omega}_p e_{pb} = J_{pb}(x)^T \bar{\Omega}_p J_{pb}(x) (x_b-\bar{x}_p) = \bar{H}_p(x_b-\bar{x}_p) \\ \Rightarrow \bar{x}_p & = & x_b-(H^{schur})^-1 b^{schur} \\ \end{array}\]
The optimization assigns to the hidden nodes the global poses which best satisfy all constraints. Solving the nonlinear least squares problem of the pose fusion with a sparse solver typically involves computing the Cholesky factorization \(H=R^TR\), where \(R\) is an upper triangular matrix with entries \(r_ij\). Following the referred paper [13]10, the uncertainty matrix of the hidden nodes \(H^{-1}\) with entries \(H_{ij}^{-1}\) is obtained by the recursive formula:
\[\begin{array}{rcl} H_{ii}^{-1} & = & \frac{1}{r_{ii}}\left[\frac{1}{r_{ii}}-\sum_{\begin{array}{c} k=i+1 \\ r_{ik} \neq 0 \\ \end{array}}^{n}{r_{ik}H_{ki}^{-1}}\right] \\ H_{ij}^{-1} & = & \frac{1}{r_{ii}}\left[-\sum_{\begin{array}{c} k=i+1 \\ r_{ik} \neq 0 \\ \end{array}}^{j}{r_{ik}H_{kj}^{-1}}-\sum_{\begin{array}{c} k=j+1 \\ r_{ik} \neq 0 \\ \end{array}}^{n}{r_{ik}H_{jk}^{-1}}\right] \end{array}\]
The formula yields an \(\mathbb{O}(n)\) time complexity with \(n\) being the number of state variables. It becomes constant time for sliding window pose graphs as the number of state variables is upper bounded by a constant value.
This method needs to apply appropriate preprocessing (covariance intersection11) if noise is correlated between input sources:
different input source build up on the same sensor data
the same algorithm runs on two physically different sensors.
Combine groups of sources with correlated noise into a single consistent estimate.
Baseline: the online ML (maximum likelihood) estimate, scaling from a filtering to a batch least squares solution.
global sources:
source 0: coarse LiDAR scans to a globally referenced point cloud. (3rd-party)
source 1: GPS (3rd-party)
source 2: visual localization system with a globally referenced feature map.
local source: wheel odometry.
sliding window size: \(M=1000\)
temporal resolution: \(\Delta t=25ms\)
experiment route: \(16km\) in rural and urban areas in Germany.
Baseline: batch solution.
Noises are not independently distributed with zero mean and the uncertainty models are unknown.
source 0: \(RMS=1.06m\)
source 1: \(RMS=1.23m\)
source 2: \(RMS=0.28m\)
PoseGraphFusion: \(RMS=0.38m\)
Latency: \(\leq 10ms\).
Availability:
source 0: \(66.98\%\)
source 1 with odometry: \(100\%\)
source 2: \(97.76\%\)
PoseGraphFusion: \(100\%\)
a single core of a laptop with an Intel i7-4800QM processor
Larger sliding window size \(\Rightarrow\) more accurate result
More pose sources \(\Rightarrow\) more accurate result
Motivation: the need for fast, recent, accurate, and highly available pose estimates.
Method: a sliding window graph-based optimization scheme.
The design of chain pose graphs for efficient optimization.
M. Kaess, H. Johannsson, R. Roberts, V. Ila, J. Leonard, and F. Del- laert, ``iSAM2: Incremental Smoothing and Mapping using the Bayes tree," Int. Journal of Robotics Research, pp. 216–235, 2012.↩
G. Sibley, L. Matthies, and G. Sukhatme, ``SlidingWindow Filter with Application to Planetary Landing," Journal of Field Robotics, vol. 27, no. 5, pp. 587–608, 2010↩
R. K¨ ummerle, G. Grisetti, H. Strasdat, K. Konolige, and W. Burgard, ``g2o: A General Framework for Graph Optimization," in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), 2011, pp. 3607–3613.↩
\(\Omega=\Sigma^{-1}\), \(b=\Omega \mu\)↩
https://en.wikipedia.org/wiki/Jacobian_matrix_and_determinant↩
\(\hat{H}_{ab}\Delta x_b=(\bar{b}_a+\hat{b}_a)-(\bar{H}_{aa}+\hat{H}_aa)\Delta x_a,\text{~where~}\Delta x_a=0\)↩
M. Kaess and F. Dellaert, ``Covariance Recovery from a Square Root Information Matrix for Data Association," Robotics and Autonomous Systems, pp. 1198–1210, 2009.↩
S. J. Julier and J. K. Uhlmann, ``A non-divergent estimation algorithm in the presence of unknown correlations," in Proc. Amer. Control Conf. (ACC), 1997, pp. 2369–2373.↩


Naming Guidelines
Of all the components that make up a coding standard, naming standards are the most visible and arguably the most important.
Having a consistent standard for naming the various objects in your program will save you an enormous amount of time both during the development process itself and also during any later maintenance work.
General Rules
- Names are in US-English (e.g. use "color" instead of "colour").
- Names conform to English grammatical conventions (e.g. use ImportableDatabase instead of DatabaseImportable).
- Names should be as short as possible without losing meaning.
- Prefer whole words or stick to predefined short forms or abbreviations of words.
- Make sure to capitalize compound words correctly; if the word is not hyphenated, then it does not need a capital letter in the camel- or Pascal-cased form. For > example, "metadata" is written as Metadata in Pascal-case, not MetaData.
- Acronyms should be Pascal-case as well (e.g. "Xml" or "Sql") unless they are only two letters long. Acronyms at the beginning of a camel-case identifier are always all lowercase (more info see Abbreviations).
- Identifiers differing only by case may be defined within the same scope only if they identify different language elements (e.g. a local variable and a property).
Capitalization Styles
Use the following convention for capitalizing identifiers in Back End.
Pascal Case
The first letter in the identifier and the first letter of each subsequent concatenated word are capitalized. You can use Pascal case for identifiers of three or more characters. For example:
B ack C olor
Camel Case
The first letter of an identifier is lowercase and the first letter of each subsequent concatenated word is capitalized. For example:
b ack C olor
Upper Case
All letters in the identifier are capitalized. Use this convention only for identifiers that consist of two or fewer letters. For example:
System.IO
System.Web.IO
You might also have to capitalize identifiers to maintain compatibility with existing, unmanaged symbol schemes, where all uppercase characters are often used for enumerations and constant values. In general, these symbols should not be visible outside of the assembly that uses them.
The following table summarizes the capitalization rules and provides examples for the different types of identifiers:
| Identifier | Case | Example |
|---|---|---|
| Class | Pascal | AppDomain |
| Enum type | Pascal | ErrorLevel |
| Enum values | Pascal | FatalError |
| Event | Pascal | ValueChange |
| Exception class | Pascal | WebException Note: Always ends with the suffix Exception. |
| Read-only Static field | Pascal | RedValue |
| Interface | Pascal | IDisposable Note: Interfaces always begin with the prefix I. |
| Method | Pascal | ToString |
| Namespace | Pascal | System.Drawing |
| Parameter | Camel | typeName |
| Property | Pascal | BackColor |
| Private instance field | "_" + Camel | _redValueThe underscore breaks ambiguity between a private instance field and its public access property in internal class code. |
| Protected instance field | Camel | redValue Note: Rarely used. A property is preferable to using a protected instance field. |
| Public instance field | Pascal | RedValue Note: Rarely used. A property is preferable to using a public instance field. |
Case Sensitivity
To avoid confusion and guarantee cross-language interoperation, follow these rules regarding the use of case sensitivity:
- Do not use names that require case sensitivity. Components must be fully usable from both case-sensitive and case-insensitive languages. Case-insensitive languages cannot distinguish between two names within the same context that differ only by case. Therefore, you must avoid this situation in the components or classes that you create.
- Do not create two namespaces with names that differ only by case. For example, a case insensitive language cannot distinguish between the following two namespace declarations.
namespace MyLibrary{} namespace Mylibrary{}
- Do not create a function with parameter names that differ only by case. The following example is incorrect.
void MyFunction(string a, string A);
- Do not create a namespace with type names that differ only by case. In the following example, Point p and POINT p are inappropriate type names because they differ only by case.
System.Windows.Forms.Point p; System.Windows.Forms.POINT p;
- Do not create a type with property names that differ only by case. In the following example, int Color and int COLOR are inappropriate property names because they differ only by case.
int Color {get; set;} int COLOR {get; set;}
- Do not create a type with method names that differ only by case. In the following example, calculate and Calculate are inappropriate method names because they differ only by case
void calculate(); void Calculate();
Note
Namespaces
- Do not use the global namespace; the only exception is for ASP.NET pages that are generated into the global namespace.
- Avoid fully-qualified type names; use the using statement instead.
- If the IDE inserts a fully-qualified type name in your code, you should fix it. If the unadorned name conflicts with other already-included namespaces, make an alias for the class with a using clause.
- Avoid putting a using statement inside a namespace (unless you must do so to resolve a conflict).
- Avoid deep namespace-hierarchies (five or more levels) as that makes it difficult to browse and understand.
- Do not reference unnecessary libraries, include unnecessary header files, or reference unnecessary assemblies. Paying attention to small things like this can improve build times, minimize chances for mistakes, and give readers a good impression
- Never declare more than 1 namespace per file.
- Avoid making too many namespaces; instead, use catch-all namespace suffixes, like "Utilities", "Core" or "General" until it is clearer whether a class or group of classes warrant their own namespace. Refactoring is your friend here.
- Do not include the version number in a namespace name.
- Use long-lived identifiers in a namespace name.
- Namespaces should be plural, as they will contain multiple types (e.g. DevTeam.Expressions instead of DevTeam.Expression).
- If your framework or application encompasses more than one tier, use the same namespace identifiers for similar tasks. For example, common data-access code goes in DevTeam.Data.
- Avoid using "reserved" namespace names like System because these will conflict with standard .NET namespaces and require resolution using the global::namespace prefix.
Fallere antiquam thyrso visceribus
Si mandate videt
Lorem markdownum perspice caelestia orsa tamen rorant titulum Amycus parens deplangitur fuit est; duxit cura est. Idem praepetibus sibi ligatis umidus Minervae si auras vultuque, magni venabula ferarum manibus occasus!
Note
This is a note which needs your attention, but it's not super important.
In paucis, venis sed una Volturnus auras veloxque feratis successit licet. Oras Nestor hoc nymphae belua. Barba potes Cinyras Liternum undis hac, hunc, nec coniuge tegens, latus foedantem dea, reduxi opes vivitur? Et priorum ante signaque vulnere vivacemque milia, pennas qui non vulnere locis. Et dixit pendentia terretur apium postera tecta deum eruerit Achaia minimum, longeque.
Warning
This is a warning containing some important message.
Orbem ore est, miserabilis promissae inquit profugos, falsae aconiton nullae; dique simul. Eris deum cepit furoris nympha. Dies iste telae cum fidelius, mihi esse est nominat quod, Anaxareten. Venit Confremuere, inplet, tibi inspiciunt iamque maesta his suis.
Caution
This is a warning containing some very important message.
serverBitStatus(jsp_data - memory, read(5 + desktopCharacterProgram,
address_drive));
virusVrmlIpv.thermistor += recursionSocket(966030, cableTelecommunications);
if (system) {
pop_logic = daemon_mnemonic_operation;
only = peoplewareTroll;
default_personal_cookie -= url + token;
} else {
double += domain_external * 5 / -3;
winsock(cdfsRedundancyToken, cross_word_access, uddi);
}
if (websiteLanguage) {
cross_token(zip, frame.mbr(4));
golden.backsideOsMenu += serp;
whiteRestore.videoDimmOpen += mountPlain * 15;
} else {
spool.irc = play_suffix;
cmos += 96;
artUpImpact.leafWebmasterHorse = domainBrowser;
}
Rogavi umeris tulisse
Pictas leto vix novem nitidi mentem Phoeboque, inposuere incubat thalamo: mugitibus. Busto siquid adspexerit venerit tenentibus suo habet ardet Troes. Arethusa annua dura more accessit aliquid dabas, qui Tegeaea papavera si Troas.
- Vota ipsa in peremi
- Possent anhelatos
- Poena quem
- Nutrit super eodem
- Donis adhaesit requiemque petit Antaeo sustinet feram
Studeat occupat viro talia truncas pectine redit crimina divum illud, precesque et Minos, quidquid gratia. Cremarat mutare advehar vultu longa meritus illos Bromiumque aquosae aevis te modo forma, legi robora: plus arbor latrator. Palluit in quanta mitte miluus; amantes hominesque imago, si Ianthe, unda. Acies in vulnere secum, forte, barba fumo solet ignibus; sanguine!
if (webcamSystem.modemPointClob(3) < 14) {
yobibyteReimage = simplex_readme / 4 + responsive_server;
} else {
big(thumbnailVirtual, data_primary_lamp);
}
kibibyte_protector_active += nocPackBridge + white;
var firewall_socket_bus = up;
module_carrier += webmail_source_hardware(us, metadata, radcab - 3) - 3;
cpcPartitionLink *= sessionSoa / surface * systemHacker;
Nutantem spatiis, corruat memor in sed nate, auro, ora amissa fatidicus et. Manusque amore spectabat tyranni ipsa Mimasque, et tum post parvo, dedit vires et aestus et Rhoetus! Incursu ferro tellusque tulit longa ungues oris magnis tamen tectus; fulmina urbs obscura ramis feliciter libido aut sensi? Vidi oenea puppibus amanti, pro foliis, hoc est amicitiae et! Caput favorem, inimica in spinae hoc simul stantibus pependit opesque pericula avorum paene.


{% extends 'core/base.html' %} {% block content %}
{{ field_name }}
| Documents with Field | Documents without | Count of Total Values for Field | Count of Distinct Values for Field | Percentage of Field Values that are Unique | Instance of Field in Total Indexed Records |
|---|---|---|---|---|---|
| {{ field_metrics.metrics.doc_instances }} | {{ field_metrics.metrics.doc_missing }} | {{ field_metrics.metrics.val_instances }} | {{ field_metrics.metrics.distinct }} | {{ field_metrics.metrics.distinct_ratio }} | {{ field_metrics.metrics.percentage_of_total_records }} |
The following table shows values for the field {{ field_name }}
across all documents for this job's ElasticSearch index, with a count for how many times that value occurs.
| Field Value | Count | Actions |
|---|


I am getting ready to enter a fighting contest on my server.
The only banned class is PM.
I am looking for orc build, with high AB, decent AC, and Dev Crit. Saves are not that important, well fort is. There is no magic involved as spell casters are having there own contest. Any help would be appreciated. I have checked the chac build search engine, but there are so many, not sure which would be the best. I was looking at MIth's Master fo Melee build ,but that is human, not sure if I could switch to Half-orc or not.Galelabriel suggested to take a look at Shock and Awe: Barbarian 7 / Rogue 17 / Fighter 16 by the mighty Dwarflord
Kail, thanks so much for switching me over to the right forum.
Galelabriel, thanks so much for Shock and Awe by the Dwarf Lord. Have use a few of his builds before, and even one of yours Kail, all turnout excellent.
Tired building my own but got confused, even using Nwiki as a ref. So I rely on Chac build alot.
Scott
How come you ask for Tank and what you list you want is offense? I was kinda hoping the request would work for a Dwarven Defender build when I read the topic but there are no Orcish Defenders here
When I read Dev Crit and AB my mind always goes thinking Red Dragon Disciple or Weapon Master... minding PvP and no magics, I'll probably take a Fighter 10 / Monk 2 / Weapon Master 28, but I just like the kama cheese, mind me, a Fighter 6 / Champion of Torm 6 / Weapon Master 28 with scimitar and shield is probably better, it rounds up very good stats and since PM is banned, the critical hits are ought to work nicely. _________________ "My name is Thaxll'ssyllia, but you simians may refer to me merely as "Sir", if you prefer a less... syllable intensive workout."
Edwin Odesseiron - Baldur's Gate II: Shadows of Amn
Are there alignment restrictions?
If not, I'd definitely recommend a 23 Pally 2 Bard 15 RDD. Gets respective AC w/ or w/o Divine Shield (don't go half-orc if you want d-shield), very very high AB, solid dmg, and good dev DC (51 or 51 if I recall correctly). _________________ For the Bioware joke of the day, press Ctrl + W.
I might suggest a ranger. But a RDD is probably the easiest way to beat 'em! _________________ " -- They give birth astride of a grave, the light gleams an instant, then it's night once more."
- Pozzo in Waiting for Godot by Samuel Beckett
Edited By FinneousPJ on 02/06/08 16:40
Oh nevermind he doesn't have DC _________________ " -- They give birth astride of a grave, the light gleams an instant, then it's night once more."
- Pozzo in Waiting for Godot by Samuel Beckett
Thanks all for replying you have all given me a lot of good info. Nice to hear from the Masters of Chac build.


Looking for a marketing executive to strategize and implement a marketing plan for a new technology in the digital segment. The product is slated to be the highest end technology in the web to print industry. The job will involve coordination with relevant teams to ideate and create entire marketing collaterals for online promotions and brand building.
In case of a prior experience in the marketing field, a showcase of what you have done will fetch you higher points. While in case of a fresher, relevant knowl edge in the field of online marketing is what we would look forward to.
ApplyYou will be working as a Module lead who could independently handle all modular designs, create responsive web applications, and develop web app using modern client side MVC frameworks such as AngularJs, Backbone.js, or KnockoutJS


sub-domain using base scheme
sub-domain (http)
sub-domain (https)
relative
absolute
ftp
ping first
Ignored anchors but picked pings:
no href
mailto:
javascript:
scheme:
Ignored anchors and pings:
no href
mailto:
javascript:
scheme:
Should find multiple ping URLs:
Multiple with spaces
Multiple with spaces


--- layout: page title: "Speaking" comments: true sharing: true footer: true alias: [/pages/talks] ---


--- title: Blog layout: default image: danieldesira.jpg --- {% include blogroll.html %} {% include post-list.html %}


Currently under development
Check out our videos and code
YouTube Channel
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The ValveStudio is the recitation for an upcoming
Udemy Vacuum Tube Amplifier Design course


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Convert VCF to binary pedigree file
This tool takes a VCF and produces a binary pedigree as used by PLINK, consisting of three associated files (.bed/.bim/.fam).
A VCF file and a metadata file.
The metaData file can take two formats, the first of which is the first 6 lines of the standard pedigree file. This is what Plink describes as a .fam file. Note that the sex encoding convention is 1=male; 2=female; other=unknown. An example .fam file is as follows (note that there is no header):
CEUTrio NA12878 NA12891 NA12892 2 -9 CEUTrio NA12891 UNKN1 UNKN2 1 -9 CEUTrio NA12892 UNKN3 UNKN4 2 -9
where the entries are: FamilyID IndividualID DadID MomID Sex Phenotype.
An alternate format is a two-column key-value file:
NA12878 fid=CEUTrio;dad=NA12891;mom=NA12892;sex=2;phenotype=-9 NA12891 fid=CEUTrio;sex=1;phenotype=-9 NA12892 fid=CEUTrio;sex=2;phenotype=-9
where unknown parents do not need to be specified. The columns are the individual ID and a list of key-value pairs.
Regardless of which file is specified, the tool will output a .fam file alongside the pedigree file. If the command line has "-m [name].fam", the fam file will be subset and reordered to match the sample content and ordering of the VCF. However, if a metadata file of the alternate format is passed by "-m [name].txt", the tool will construct a formatted .fam file from the data.
A binary pedigree in PLINK format, composed of three files (.bed/.bim/.fam). See the PLINK format specification for more details.
java -jar GenomeAnalysisTK.jar \ -T VariantsToBinaryPed \ -R reference.fasta \ -V variants.vcf \ -m metadata.fam \ -bed output.bed \ -bim output.bim \ -fam output.fam
These Read Filters are automatically applied to the data by the Engine before processing by VariantsToBinaryPed.
This tool uses a sliding window on the reference.
All tools inherit arguments from the GATK Engine' "CommandLineGATK" argument collection, which can be used to modify various aspects of the tool's function. For example, the -L argument directs the GATK engine to restrict processing to specific genomic intervals; or the -rf argument allows you to apply certain read filters to exclude some of the data from the analysis.
This table summarizes the command-line arguments that are specific to this tool. For more details on each argument, see the list further down below the table or click on an argument name to jump directly to that entry in the list.
| Argument name(s) | Default value | Summary | |
|---|---|---|---|
| Required Inputs | |||
| --metaData -m |
NA | Sample metadata file | |
| --variant -V |
NA | Input VCF file | |
| Required Outputs | |||
| --bed |
NA | output bed file | |
| --bim |
NA | output map file | |
| --fam |
NA | output fam file | |
| Required Parameters | |||
| --minGenotypeQuality -mgq |
0 | If genotype quality is lower than this value, output NO_CALL | |
| Optional Inputs | |||
| --dbsnp -D |
none | dbSNP file | |
| --outputMode -mode |
INDIVIDUAL_MAJOR | The output file mode (SNP major or individual major) | |
| Optional Flags | |||
| --checkAlternateAlleles |
false | Checks that alternate alleles actually appear in samples, erroring out if they do not | |
| --majorAlleleFirst |
false | Sets the major allele to be 'reference' for the bim file, rather than the ref allele |
Arguments in this list are specific to this tool. Keep in mind that other arguments are available that are shared with other tools (e.g. command-line GATK arguments); see Inherited arguments above.
output bed file
R PrintStream NA
output map file
R PrintStream NA
Checks that alternate alleles actually appear in samples, erroring out if they do not
boolean false
dbSNP file
This argument supports reference-ordered data (ROD) files in the following formats: BCF2, VCF, VCF3
RodBinding[VariantContext] none
output fam file
R PrintStream NA
Sets the major allele to be 'reference' for the bim file, rather than the ref allele
boolean false
Sample metadata file
R File NA
If genotype quality is lower than this value, output NO_CALL
R int 0 [ [ -∞ ∞ ] ]
The output file mode (SNP major or individual major)
The --outputMode argument is an enumerated type (OutputMode), which can have one of the following values:
OutputMode INDIVIDUAL_MAJOR
Input VCF file
Variants from this VCF file are used by this tool as input.
The file must at least contain the standard VCF header lines, but
can be empty (i.e., no variants are contained in the file).
This argument supports reference-ordered data (ROD) files in the following formats: BCF2, VCF, VCF3
R RodBinding[VariantContext] NA
See also GATK Documentation Index | Tool Docs Index | Support Forum
GATK version 3.6-0-g89b7209 built at 2017/02/09 12:52:48.


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