added presentation
This commit is contained in:
toni
@@ -1,6 +1,6 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<!DOCTYPE QtCreatorProject>
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<!-- Written by QtCreator 4.0.3, 2016-09-21T13:13:17. -->
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<!-- Written by QtCreator 4.0.3, 2016-09-24T23:35:19. -->
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<qtcreator>
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<data>
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<variable>EnvironmentId</variable>
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@@ -1,20 +1,20 @@
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E0:91:53:1B:36:F0,25.9334,38.9436,-0.0524627,-39.1386,3.49982,-9.36092
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00:0B:86:27:35:80,10.4727,31.8167,-2.71109,-35.0022,3.44592,-10.3489
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00:0B:86:27:35:90,90.3394,15.4303,2.04479,-49.8716,2.68872,-6.04702
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00:0B:86:27:3E:E0,6.17818,4.15351,0.139055,-35,3.4997,-5.7909
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00:90:4C:91:00:00,83.9248,11.7224,12.29,-49.9992,2.82737,-7.04282
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B8:A3:86:65:E3:20,4.69674,5.5026,0.464426,-40.543,3.49904,-7.30668
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1A:FE:34:9D:0D:20,31.2992,33.9625,0.145345,-41.5356,3.49953,-4.3978
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72:77:81:A4:9E:30,28.7311,38.3731,6.2193,-49.9932,3.21405,-5.31385
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A0:2B:B8:6E:F8:00,-5.31735,104.568,4.70765,-49.9934,2.06603,-9.35664
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00:80:2F:19:26:70,27.4261,37.3301,0.866323,-49.9991,3.08838,-5.47872
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82:B6:BE:58:5C:50,62.9964,33.7411,0.140919,-49.9989,2.72436,-9.15091
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00:0B:86:27:35:10,34.2176,6.17748,-0.0693621,-41.6553,3.49999,-6.08537
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F8:8E:85:CF:2D:D0,39.8152,108.911,11.3717,-49.9954,2.12391,-7.82796
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E0:91:53:1B:36:F0,25.8999,38.9701,1.10956,-39.1205,3.5,-4.94459
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00:0B:86:27:35:80,10.5028,31.8707,3.95646,-35.0007,3.44512,-10.8759
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00:0B:86:27:35:90,90.372,15.2894,1.53025,-49.9994,2.68004,-6.94256
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00:0B:86:27:3E:E0,6.17656,4.05443,1.3057,-35.0028,3.49573,-7.25185
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00:90:4C:91:00:00,83.9013,11.7317,13.5704,-49.9653,2.8296,-6.28655
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B8:A3:86:65:E3:20,4.68423,5.49643,1.03361,-40.5158,3.49879,-9.26018
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1A:FE:34:9D:0D:20,31.2849,33.9562,1.23252,-41.5591,3.49978,-5.89092
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72:77:81:A4:9E:30,29.4428,36.2108,-0.636792,-49.9991,2.38446,-11.8965
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00:80:2F:17:A2:B0,24.9658,36.7921,1.58163,-46.6008,3.37182,-6.0539
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00:0B:86:27:3E:D0,36.0543,33.7532,1.24904,-40.7008,3.49971,-6.08534
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00:80:2F:19:26:70,27.3932,36.9894,-0.00116745,-41.2201,2.92455,-10.9093
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82:B6:BE:58:5C:50,62.5578,31.2947,-0.00236711,-49.4869,2.16555,-8.86118
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00:0B:86:27:36:C0,53.766,27.6455,0.968536,-36.6346,3.27684,-7.32646
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00:0B:86:27:32:E0,63.4204,32.082,1.35965,-49.9944,2.44058,-8.94785
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00:0B:86:27:35:10,34.2133,6.21805,1.27939,-41.6772,3.49991,-6.69982
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00:0B:86:27:3E:80,18.2714,22.2452,0.990597,-39.2623,3.42874,-9.27818
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00:0B:86:27:37:B0,30.4014,26.7286,2.53775,-42.694,3.4999,-5.34677
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00:0B:86:27:45:B0,57.2736,7.33802,1.17219,-39.0982,3.49899,-6.02998
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F8:8E:85:CF:2D:D0,40.8893,107.896,-11.7498,-49.9764,1.35164,-15.5905
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@@ -29,7 +29,7 @@
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// MyWalkState(const GridPoint& gp, const Heading head, const float relativePressure) : WalkState(gp), WalkStateHeading(head, 0), WalkStateRelativePressure(relativePressure) {;}
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//};
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const bool barometer = true;
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const bool barometer = false;
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struct MyNode : public GridPoint, public GridNode, public GridNodeImportance {
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@@ -120,7 +120,7 @@ struct PFTrans : public K::ParticleFilterTransition<MyState, MyControl> {
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PFTrans(Grid<MyNode>& grid, MyControl* ctrl) : grid(grid), modHead(ctrl, 4.5f), modButterActPerc(ctrl) {//, modPressure(ctrl, 0.100) {
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walker.addModule(&modHead);
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//walker.addModule(&modSpread); // might help in some situations! keep in mind!
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walker.addModule(&modSpread); // might help in some situations! keep in mind!
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//walker.addModule(&modHeadUgly);
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walker.addModule(&modImportance);
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@@ -162,7 +162,7 @@ struct PFTrans : public K::ParticleFilterTransition<MyState, MyControl> {
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/** stell sicher, das er die treppe läuft, auch wenn kein step erkannt wurde*/
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if(node.getType() == 1){
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dist = control->numSteps * 0.4 + 0.6; // * varUpDown * (control->barometer.actProbs.stairsDown > control->barometer.actProbs.stairsUp ? control->barometer.actProbs.stairsDown : control->barometer.actProbs.stairsUp); //* wahrscheinlichkeit treppe
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dist = control->numSteps * 0.4 + 0.4; // * varUpDown * (control->barometer.actProbs.stairsDown > control->barometer.actProbs.stairsUp ? control->barometer.actProbs.stairsDown : control->barometer.actProbs.stairsUp); //* wahrscheinlichkeit treppe
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}
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}
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@@ -351,13 +351,17 @@ struct BFTrans : public K::BackwardFilterTransition<MyState> {
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double diffDeg = Angle::radToDeg(diffRad);
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double angularChange = Angle::radToDeg(p2->state.refTurnAngle);
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const double headingProb = Distribution::Normal<double>::getProbability(angularChange, 5.0, diffDeg);
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double headingProb = Distribution::Normal<double>::getProbability(angularChange, 5.0, diffDeg);
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//check how near we are to the measurement
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double diffZ = (p2->state.position.z_cm - p1->state.position.z_cm) / 100.0;
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const double floorProb = Distribution::Normal<double>::getProbability(muFloor, sigmaFloor, diffZ);
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double floorProb = Distribution::Normal<double>::getProbability(muFloor, sigmaFloor, diffZ);
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if(!barometer){
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floorProb = 1.0;
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actProb = 1.0;
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}
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//combine the probabilities
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double prob = distProb * headingProb * floorProb * actProb;
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@@ -541,12 +545,17 @@ struct PFEval : public K::ParticleFilterEvaluation<MyState, MyObs> {
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// //Wenn partikel noch auf treppe, dann sollte das hier etwas höher sein, wenn aber nicht mehr... sehr sehr klein!
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// if (observation.act == ActivityButterPressure::Activity::STAY){
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// return observation.actProbs.stay * 0.5;
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// }
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float curTS = observation.curTS;
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// if(curTS > 460000 && curTS < 540000){
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// return 1.0;
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// }
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if (deltaZ_cm > 0){return observation.actProbs.stairsDown;}
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if (deltaZ_cm < 0){return observation.actProbs.stairsUp;}
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return 0.8 * observation.actProbs.stairsDown > observation.actProbs.stairsUp ? observation.actProbs.stairsDown : observation.actProbs.stairsUp;
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return 0.7 * observation.actProbs.stairsDown > observation.actProbs.stairsUp ? observation.actProbs.stairsDown : observation.actProbs.stairsUp;
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}
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@@ -556,12 +565,20 @@ struct PFEval : public K::ParticleFilterEvaluation<MyState, MyObs> {
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// //Wenn partikel noch im aufzug, dann sollte das hier etwas höher sein, wenn aber nicht mehr... sehr sehr klein!
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// if (observation.act == ActivityButterPressure::Activity::STAY){
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// return observation.actProbs.stay * 0.5;
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// }
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// if(observation.actProbs.stairsDown > observation.actProbs.elevatorDown){
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// return observation.actProbs.stairsDown;
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// }
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// if(observation.actProbs.stairsUp > observation.actProbs.elevatorUp){
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// return observation.actProbs.stairsUp;
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// }
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if (deltaZ_cm > 0){return observation.actProbs.elevatorDown;}
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if (deltaZ_cm < 0){return observation.actProbs.elevatorUp;}
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return 0.8 * observation.actProbs.elevatorDown > observation.actProbs.elevatorUp ? observation.actProbs.elevatorDown : observation.actProbs.elevatorUp;
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return 0.7 * observation.actProbs.elevatorDown > observation.actProbs.elevatorUp ? observation.actProbs.elevatorDown : observation.actProbs.elevatorUp;
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}
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return 1.0;
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@@ -599,7 +616,7 @@ struct PFEval : public K::ParticleFilterEvaluation<MyState, MyObs> {
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_assertNot0(pBaroPercent,"pBaroPercent is null");
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return pWifi*pGps*pBaroPercent*pBaroPressure;
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return pWifi*pGps*pBaroPressure*pBaroPercent;
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}
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virtual double evaluation(std::vector<K::Particle<MyState>>& particles, const MyObs& observation) override {
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@@ -136,6 +136,10 @@ public:
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// high signal strength? higher sigma!
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const Timestamp age = curTS - ap.getTimestamp();
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// if(curTS.ms() > 460000 && curTS.ms() < 540000){
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// return 1.0;
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// }
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const float sigma = 11.0 + 1.2 * age.sec() + rssiSigma(scanRSSI);
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double apProb = Distribution::Normal<double>::getProbability(modelRSSI, sigma, scanRSSI);
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@@ -111,7 +111,7 @@ struct Data {
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DataSetup CAR = {
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mapDir + "CAR/CAR9.xml",
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mapDir + "CAR/CAR11.xml",
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{
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dataDir + "car/logfile_CAR_R1_S3.txt",
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@@ -134,7 +134,7 @@ struct Data {
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DataSetup UAH = {
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mapDir + "UAH/UAH13_rawObstacles.xml",
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mapDir + "UAH/UAH9.xml",
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{
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dataDir + "uah/logfile_UAH_R1_S3.txt",
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@@ -161,7 +161,7 @@ struct Data {
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DataSetup UJI_TI = {
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mapDir + "UJI-TI/UJI-TI4.xml",
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mapDir + "UJI-TI/UJI-TI5.xml",
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{
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dataDir + "uji-ti/logfile_UJITI_R1_NEXUS5.txt",
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@@ -300,23 +300,23 @@ void run(DataSetup setup, int numFile, std::string folder) {
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// // build the grid
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Grid<MyNode> grid(20);
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// GridFactory<MyNode> factory(grid);
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// factory.build(map);
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GridFactory<MyNode> factory(grid);
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factory.build(map);
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// std::filebuf fb;
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// fb.open (dataDir + "uah/grid13",std::ios::out);
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// fb.open (dataDir + "car/grid10",std::ios::out);
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// std::ostream os(&fb);
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// grid.write(os);
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// fb.close();
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std::filebuf fb;
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if (fb.open (dataDir + "uah/grid13",std::ios::in))
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{
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std::istream is(&fb);
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grid.read(is);
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}
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fb.close();
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// std::filebuf fb;
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// if (fb.open (dataDir + "car/grid10",std::ios::in))
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// {
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// std::istream is(&fb);
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// grid.read(is);
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// }
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// fb.close();
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Importance::addImportance(grid);
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@@ -367,8 +367,8 @@ void run(DataSetup setup, int numFile, std::string folder) {
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pf.setTransition(std::unique_ptr<PFTrans>(new PFTrans(grid, &ctrl)));
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pf.setEvaluation(std::unique_ptr<PFEval>(eval));
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pf.setResampling(std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()));
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//pf.setResampling(std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>>(new K::ParticleFilterResamplingPercent<MyState>(0.04)));
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//pf.setResampling(std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()));
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pf.setResampling(std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>>(new K::ParticleFilterResamplingPercent<MyState>(0.04)));
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pf.setNEffThreshold(0.5);
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//pf.setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
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@@ -440,6 +440,8 @@ void run(DataSetup setup, int numFile, std::string folder) {
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std::ofstream errorFileSmoothing;
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errorFileSmoothing.open ("/home/toni/Documents/programme/localization/IPIN2016/competition/eval/"+ folder + "/errorSmoothing_" + std::to_string(numFile) + "_" + std::to_string(t) + ".csv");
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std::ofstream baro;
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baro.open("/tmp/bar2.dat");
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MovingAVG<float> hPaRef(20);
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MovingAVG<float> hPaCur(5);
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@@ -480,6 +482,9 @@ void run(DataSetup setup, int numFile, std::string folder) {
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relBaro.add(ts, fr.getBarometer()[e.idx].data);
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//baroTend.add(ts, fr.getBarometer()[e.idx].data);
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//std::cout << "add tendence" << std::endl;
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baro << ms << " " << fr.getBarometer()[e.idx].data.hPa << "\n";
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ctrl.barometer.hPaRelativeToT0 = relBaro.getPressureRealtiveToStart();
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ctrl.barometer.estimatedSigma = relBaro.getSigma();
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ctrl.barometer.tendence = baroTend.get();
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@@ -522,6 +527,15 @@ void run(DataSetup setup, int numFile, std::string folder) {
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}
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//testing a dynamical n_eff
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if(obs.act != ActivityButterPressure::Activity::STAY){
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pf.setNEffThreshold(0.5);
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}
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else{
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pf.setNEffThreshold(1.0);
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}
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/** baro for eval test */
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// hPaHist.push_back(fr.getBarometer()[e.idx].data.hPa);
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@@ -594,7 +608,7 @@ void run(DataSetup setup, int numFile, std::string folder) {
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plot.setEst(estPos);
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plot.setGT(mapPos);
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plot.addEstimationNode(estPos);
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//plot.addParticles(pf.getParticles());
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plot.addParticles(pf.getParticles());
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//plot.gp << "set arrow 919 from " << tt.pos.x << "," << tt.pos.y << "," << tt.pos.z << " to "<< tt.pos.x << "," << tt.pos.y << "," << tt.pos.z+1 << "lw 3\n";
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//plot.gp << "set label 1001 at screen 0.02, 0.98 'base:" << relBaro.getBaseAvg() << " sigma:" << relBaro.getSigma() << " cur:" << relBaro.getPressureRealtiveToStart() << " hPa " << -relBaro.getPressureRealtiveToStart()/0.10/4.0f << " floor'\n";
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@@ -614,7 +628,7 @@ void run(DataSetup setup, int numFile, std::string folder) {
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errorFile << err_m << "\n";
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plot.show();
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usleep(100*100);
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usleep(100*10);
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lastUpdateMS = ms;
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@@ -628,6 +642,7 @@ void run(DataSetup setup, int numFile, std::string folder) {
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errorFile.close();
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baro.close();
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// Smoothing Part starts here
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// ========================= //
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@@ -716,7 +731,7 @@ void run(DataSetup setup, int numFile, std::string folder) {
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int main(int argc, char** argv) {
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for(int i = 0; i < 11; ++i){
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for(int i = 0; i < 10; ++i){
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@@ -744,14 +759,14 @@ int main(int argc, char** argv) {
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//Evaluation files
|
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// run(data.UJI_TI, 2, "EVAL"); // 1 no Baro
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// run(data.UJI_UB, 5, "EVAL"); // 2
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run(data.UAH, 6, "EVAL"); // 3
|
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run(data.UJI_UB, 5, "EVAL"); // 2
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// run(data.UAH, 6, "EVAL"); // 3
|
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// run(data.UJI_TI, 3, "EVAL"); // 4 no Baro
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||||
// run(data.UAH, 7, "EVAL"); // 5
|
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// run(data.CAR, 4, "EVAL"); // 6
|
||||
// run(data.UAH, 8, "EVAL"); // 7
|
||||
// run(data.UAH, 9, "EVAL"); // 8
|
||||
// run(data.CAR, 5, "EVAL2"); // 9
|
||||
// run(data.CAR, 5, "EVAL"); // 9
|
||||
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||||
|
||||
}
|
||||
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@@ -273,7 +273,7 @@
|
||||
<door material="2" type="1" x1="35.400002" y1="3" x2="35.400002" y2="1.8000001" height="2.0999999" swap="0"/>
|
||||
</obstacles>
|
||||
<underlays>
|
||||
<underlay x="-0" y="0" sx="0.052076001" sy="0.052076001" name="" file="/mnt/data/workspaces/IPIN2016/IPIN2016/competition/maps/CAR/CAR.jpg"/>
|
||||
<underlay x="-0" y="0" sx="0.052076001" sy="0.052076001" name="" file="/home/toni/Documents/programme/localization/IPIN2016/competition/logfiles/car/CAR.jpg"/>
|
||||
</underlays>
|
||||
<pois/>
|
||||
<accesspoints/>
|
||||
|
||||
@@ -137,6 +137,20 @@
|
||||
<part connect="0" x1="108.3" y1="104.1" z1="2" x2="110.4" y2="102" z2="2" w="1.1"/>
|
||||
<part connect="0" x1="110.4" y1="102.8" z1="2" x2="112.2" y2="104.6" z2="4" w="1.1"/>
|
||||
</stair>
|
||||
<stair type="0">
|
||||
<part connect="0" x1="108.18" y1="24.4" z1="0" x2="108.2" y2="22" z2="1.2" w="1.7"/>
|
||||
<part connect="0" x1="107.38" y1="21.359999" z1="1.2" x2="109.04" y2="21.379999" z2="1.2" w="1.3"/>
|
||||
<part connect="0" x1="109.07999" y1="21.379999" z1="1.2" x2="111.1" y2="21.4" z2="2.7" w="1.3"/>
|
||||
<part connect="0" x1="111.74" y1="20.74" z1="2.7" x2="111.74" y2="22.02" z2="2.7" w="1.3"/>
|
||||
<part connect="0" x1="111.72" y1="22.02" z1="2.7" x2="111.7" y2="24.300001" z2="4" w="1.3"/>
|
||||
</stair>
|
||||
<stair type="0">
|
||||
<part connect="0" x1="117.6" y1="30.300001" z1="0" x2="119.9" y2="30.300001" z2="1.3" w="1.7"/>
|
||||
<part connect="0" x1="119.9" y1="30.300001" z1="1.3" x2="121.6" y2="30.300001" z2="1.3" w="1.7"/>
|
||||
<part connect="0" x1="120.74" y1="31.16" z1="1.3" x2="120.74" y2="33" z2="2.7" w="1.7"/>
|
||||
<part connect="0" x1="120.75999" y1="33" z1="2.7" x2="120.74" y2="34.66" z2="2.7" w="1.7"/>
|
||||
<part connect="0" x1="119.9" y1="33.799999" z1="2.7" x2="117.6" y2="33.799999" z2="4" w="1.7"/>
|
||||
</stair>
|
||||
</stairs>
|
||||
<elevators>
|
||||
<elevator cx="40.200001" cy="73.5" width="2.3" depth="2" rotation="1.5707964"/>
|
||||
@@ -282,6 +296,20 @@
|
||||
<part connect="0" x1="108.3" y1="104.1" z1="2" x2="110.4" y2="102" z2="2" w="1.1"/>
|
||||
<part connect="0" x1="110.4" y1="102.8" z1="2" x2="112.2" y2="104.6" z2="4" w="1.1"/>
|
||||
</stair>
|
||||
<stair type="0">
|
||||
<part connect="0" x1="108.18" y1="24.4" z1="0" x2="108.2" y2="22" z2="1.2" w="1.7"/>
|
||||
<part connect="0" x1="107.38" y1="21.359999" z1="1.2" x2="109.04" y2="21.379999" z2="1.2" w="1.3"/>
|
||||
<part connect="0" x1="109.07999" y1="21.379999" z1="1.2" x2="111.1" y2="21.4" z2="2.7" w="1.3"/>
|
||||
<part connect="0" x1="111.74" y1="20.74" z1="2.7" x2="111.74" y2="22.02" z2="2.7" w="1.3"/>
|
||||
<part connect="0" x1="111.72" y1="22.02" z1="2.7" x2="111.7" y2="24.300001" z2="4" w="1.3"/>
|
||||
</stair>
|
||||
<stair type="0">
|
||||
<part connect="0" x1="117.6" y1="30.300001" z1="0" x2="119.9" y2="30.300001" z2="1.3" w="1.7"/>
|
||||
<part connect="0" x1="119.9" y1="30.300001" z1="1.3" x2="121.6" y2="30.300001" z2="1.3" w="1.7"/>
|
||||
<part connect="0" x1="120.74" y1="31.16" z1="1.3" x2="120.74" y2="33" z2="2.7" w="1.7"/>
|
||||
<part connect="0" x1="120.75999" y1="33" z1="2.7" x2="120.74" y2="34.66" z2="2.7" w="1.7"/>
|
||||
<part connect="0" x1="119.9" y1="33.799999" z1="2.7" x2="117.6" y2="33.799999" z2="4" w="1.7"/>
|
||||
</stair>
|
||||
</stairs>
|
||||
<elevators>
|
||||
<elevator cx="40.200001" cy="73.5" width="2.3" depth="2" rotation="1.5707964"/>
|
||||
@@ -427,6 +455,20 @@
|
||||
<part connect="0" x1="108.3" y1="104.1" z1="2" x2="110.4" y2="102" z2="2" w="1.1"/>
|
||||
<part connect="0" x1="110.4" y1="102.8" z1="2" x2="112.2" y2="104.6" z2="4" w="1.1"/>
|
||||
</stair>
|
||||
<stair type="0">
|
||||
<part connect="0" x1="108.18" y1="24.4" z1="0" x2="108.2" y2="22" z2="1.2" w="1.7"/>
|
||||
<part connect="0" x1="107.38" y1="21.359999" z1="1.2" x2="109.04" y2="21.379999" z2="1.2" w="1.3"/>
|
||||
<part connect="0" x1="109.07999" y1="21.379999" z1="1.2" x2="111.1" y2="21.4" z2="2.7" w="1.3"/>
|
||||
<part connect="0" x1="111.74" y1="20.74" z1="2.7" x2="111.74" y2="22.02" z2="2.7" w="1.3"/>
|
||||
<part connect="0" x1="111.72" y1="22.02" z1="2.7" x2="111.7" y2="24.300001" z2="4" w="1.3"/>
|
||||
</stair>
|
||||
<stair type="0">
|
||||
<part connect="0" x1="117.6" y1="30.300001" z1="0" x2="119.9" y2="30.300001" z2="1.3" w="1.7"/>
|
||||
<part connect="0" x1="119.9" y1="30.300001" z1="1.3" x2="121.6" y2="30.300001" z2="1.3" w="1.7"/>
|
||||
<part connect="0" x1="120.74" y1="31.16" z1="1.3" x2="120.74" y2="33" z2="2.7" w="1.7"/>
|
||||
<part connect="0" x1="120.75999" y1="33" z1="2.7" x2="120.74" y2="34.66" z2="2.7" w="1.7"/>
|
||||
<part connect="0" x1="119.9" y1="33.799999" z1="2.7" x2="117.6" y2="33.799999" z2="4" w="1.7"/>
|
||||
</stair>
|
||||
</stairs>
|
||||
<elevators>
|
||||
<elevator cx="40.200001" cy="73.5" width="2.3" depth="2" rotation="1.5707964"/>
|
||||
|
||||
@@ -40,7 +40,7 @@
|
||||
</outline>
|
||||
<obstacles/>
|
||||
<underlays>
|
||||
<underlay x="-0" y="0" sx="0.085564934" sy="0.085564934" name="" file="/mnt/data/workspaces/IPIN2016/IPIN2016/competition/maps/UJI-TI/UJITI_N1.jpg"/>
|
||||
<underlay x="-0" y="0" sx="0.085564934" sy="0.085564934" name="" file="/home/toni/Documents/programme/localization/IPIN2016/competition/src/competition/map/UJI-TI/UJITI_N1.jpg"/>
|
||||
</underlays>
|
||||
<pois/>
|
||||
<accesspoints/>
|
||||
@@ -113,7 +113,7 @@
|
||||
</outline>
|
||||
<obstacles/>
|
||||
<underlays>
|
||||
<underlay x="0" y="0" sx="0.085564934" sy="0.085564934" name="" file="/mnt/data/workspaces/IPIN2016/IPIN2016/competition/maps/UJI-TI/UJITI_N2.jpg"/>
|
||||
<underlay x="0" y="0" sx="0.085564934" sy="0.085564934" name="" file="/home/toni/Documents/programme/localization/IPIN2016/competition/src/competition/map/UJI-TI/UJITI_N2.jpg"/>
|
||||
</underlays>
|
||||
<pois/>
|
||||
<accesspoints/>
|
||||
@@ -187,7 +187,7 @@
|
||||
</outline>
|
||||
<obstacles/>
|
||||
<underlays>
|
||||
<underlay x="0" y="0" sx="0.085564934" sy="0.085564934" name="" file="/mnt/data/workspaces/IPIN2016/IPIN2016/competition/maps/UJI-TI/UJITI_N3.jpg"/>
|
||||
<underlay x="0" y="0" sx="0.085564934" sy="0.085564934" name="" file="/home/toni/Documents/programme/localization/IPIN2016/competition/src/competition/map/UJI-TI/UJITI_N3.jpg"/>
|
||||
</underlays>
|
||||
<pois/>
|
||||
<accesspoints/>
|
||||
|
||||
129
presentation/beamercolorthememetropolis.sty
Normal file
129
presentation/beamercolorthememetropolis.sty
Normal file
@@ -0,0 +1,129 @@
|
||||
%%
|
||||
%% This is file `beamercolorthememetropolis.sty',
|
||||
%% generated with the docstrip utility.
|
||||
%%
|
||||
%% The original source files were:
|
||||
%%
|
||||
%% beamercolorthememetropolis.dtx (with options: `package')
|
||||
%% ---------------------------------------------------------------------------
|
||||
%% Copyright 2015 Matthias Vogelgesang and the LaTeX community. A full list of
|
||||
%% contributors can be found at
|
||||
%%
|
||||
%% https://github.com/matze/mtheme/graphs/contributors
|
||||
%%
|
||||
%% and the original template was based on the HSRM theme by Benjamin Weiss.
|
||||
%%
|
||||
%% This work is licensed under a Creative Commons Attribution-ShareAlike 4.0
|
||||
%% International License (https://creativecommons.org/licenses/by-sa/4.0/).
|
||||
%% ---------------------------------------------------------------------------
|
||||
\NeedsTeXFormat{LaTeX2e}
|
||||
\ProvidesPackage{beamercolorthememetropolis}
|
||||
[2015/06/12 A Modern Beamer Color Theme]
|
||||
\RequirePackage{pgfopts}
|
||||
\pgfkeys{
|
||||
/metropolis/color/block/.cd,
|
||||
.is choice,
|
||||
transparent/.code=\@metropolis@block@transparent,
|
||||
fill/.code=\@metropolis@block@fill,
|
||||
}
|
||||
\pgfkeys{
|
||||
/metropolis/color/background/.cd,
|
||||
.is choice,
|
||||
dark/.code=\@metropolis@colors@dark,
|
||||
light/.code=\@metropolis@colors@light,
|
||||
}
|
||||
\newcommand{\@metropolis@color@setdefaults}{
|
||||
\pgfkeys{/metropolis/color/.cd,
|
||||
background=light,
|
||||
block=transparent,
|
||||
}
|
||||
}
|
||||
\definecolor{mDarkBrown}{HTML}{604c38}
|
||||
\definecolor{mDarkTeal}{HTML}{23373b}
|
||||
\definecolor{mLightBrown}{HTML}{EB811B}
|
||||
\definecolor{mLightGreen}{HTML}{14B03D}
|
||||
\newcommand{\@metropolis@colors@dark}{
|
||||
\setbeamercolor{normal text}{%
|
||||
fg=black!2,
|
||||
bg=mDarkTeal
|
||||
}
|
||||
}
|
||||
\newcommand{\@metropolis@colors@light}{
|
||||
\setbeamercolor{normal text}{%
|
||||
fg=mDarkTeal,
|
||||
bg=black!2
|
||||
}
|
||||
}
|
||||
\setbeamercolor{alerted text}{%
|
||||
fg=mLightBrown
|
||||
}
|
||||
\setbeamercolor{example text}{%
|
||||
fg=mLightGreen
|
||||
}
|
||||
\setbeamercolor{titlelike}{%
|
||||
use=normal text,
|
||||
parent=normal text
|
||||
}
|
||||
\setbeamercolor{structure}{%
|
||||
fg=normal text.fg
|
||||
}
|
||||
\setbeamercolor{palette primary}{%
|
||||
use=normal text,
|
||||
fg=normal text.bg,
|
||||
bg=normal text.fg
|
||||
}
|
||||
\setbeamercolor{frametitle}{%
|
||||
use=palette primary,
|
||||
parent=palette primary
|
||||
}
|
||||
\setbeamercolor{progress bar}{%
|
||||
use=alerted text,
|
||||
fg=alerted text.fg,
|
||||
bg=normal text.bg!50!normal text.fg
|
||||
}
|
||||
\setbeamercolor{title separator}{
|
||||
use=progress bar,
|
||||
parent=progress bar
|
||||
}
|
||||
\setbeamercolor{progress bar in head/foot}{%
|
||||
use=progress bar,
|
||||
parent=progress bar
|
||||
}
|
||||
\setbeamercolor{progress bar in section page}{
|
||||
use=progress bar,
|
||||
parent=progress bar
|
||||
}
|
||||
\newcommand{\@metropolis@block@transparent}{
|
||||
\setbeamercolor{block title}{use=normal text, parent=normal text}
|
||||
}
|
||||
\newcommand{\@metropolis@block@fill}{
|
||||
\setbeamercolor{block title}{%
|
||||
use=normal text,
|
||||
fg=normal text.fg,
|
||||
bg=normal text.bg!80!fg
|
||||
}
|
||||
}
|
||||
\setbeamercolor{block title alerted}{%
|
||||
use={block title, alerted text},
|
||||
bg=block title.bg,
|
||||
fg=alerted text.fg
|
||||
}
|
||||
\setbeamercolor{block title example}{%
|
||||
use={block title, example text},
|
||||
bg=block title.bg,
|
||||
fg=example text.fg
|
||||
}
|
||||
\setbeamercolor{block body alerted}{use=block body, parent=block body}
|
||||
\setbeamercolor{block body example}{use=block body, parent=block body}
|
||||
\setbeamercolor{block body}{
|
||||
use={block title, normal text},
|
||||
bg=block title.bg!50!normal text.bg
|
||||
}
|
||||
\setbeamercolor{footnote}{fg=normal text.fg!90}
|
||||
\setbeamercolor{footnote mark}{fg=.}
|
||||
\@metropolis@color@setdefaults
|
||||
\ProcessPgfPackageOptions{/metropolis/color}
|
||||
\mode<all>
|
||||
\endinput
|
||||
%%
|
||||
%% End of file `beamercolorthememetropolis.sty'.
|
||||
56
presentation/beamerfontthememetropolis.sty
Normal file
56
presentation/beamerfontthememetropolis.sty
Normal file
@@ -0,0 +1,56 @@
|
||||
%%
|
||||
%% This is file `beamerfontthememetropolis.sty',
|
||||
%% generated with the docstrip utility.
|
||||
%%
|
||||
%% The original source files were:
|
||||
%%
|
||||
%% beamerfontthememetropolis.dtx (with options: `package')
|
||||
%% ---------------------------------------------------------------------------
|
||||
%% Copyright 2015 Matthias Vogelgesang and the LaTeX community. A full list of
|
||||
%% contributors can be found at
|
||||
%%
|
||||
%% https://github.com/matze/mtheme/graphs/contributors
|
||||
%%
|
||||
%% and the original template was based on the HSRM theme by Benjamin Weiss.
|
||||
%%
|
||||
%% This work is licensed under a Creative Commons Attribution-ShareAlike 4.0
|
||||
%% International License (https://creativecommons.org/licenses/by-sa/4.0/).
|
||||
%% ---------------------------------------------------------------------------
|
||||
\NeedsTeXFormat{LaTeX2e}
|
||||
\ProvidesPackage{beamerfontthememetropolis}
|
||||
[2015/06/12 A Modern Beamer Font Theme]
|
||||
\RequirePackage[no-math]{fontspec}
|
||||
\defaultfontfeatures{Mapping=tex-text}
|
||||
\setsansfont[BoldItalicFont={Fira Sans Italic},%
|
||||
ItalicFont={Fira Sans Light Italic},%
|
||||
BoldFont={Fira Sans}]{Fira Sans Light}
|
||||
\setmonofont{Fira Mono}
|
||||
\newfontfamily\ExtraLight{Fira Sans ExtraLight}
|
||||
\newfontfamily\Light{Fira Sans Light}
|
||||
\newfontfamily\Book{Fira Sans}
|
||||
\newfontfamily\Medium{Fira Sans Medium}
|
||||
\AtBeginEnvironment{tabular}{%
|
||||
\setsansfont[BoldFont={Fira Sans},%
|
||||
Numbers={Monospaced}]{Fira Sans Light}%
|
||||
}
|
||||
\setbeamerfont{title}{family=\Book, size=\Large, shape=\scshape}
|
||||
\setbeamerfont{author}{family=\ExtraLight, size=\small}
|
||||
\setbeamerfont{date}{family=\ExtraLight, size=\small}
|
||||
\setbeamerfont{section title}{family=\Book, size=\Large, shape=\scshape}
|
||||
\setbeamerfont{block title}{family=\Book, size=\normalsize}
|
||||
\setbeamerfont{block title alerted}{family=\Book,size=\normalsize}
|
||||
\setbeamerfont{subtitle}{family=\Light, size=\fontsize{12}{14}}
|
||||
\setbeamerfont{frametitle}{family=\Book, size=\large, shape=\scshape}
|
||||
\setbeamerfont{caption}{size=\small}
|
||||
\setbeamerfont{caption name}{family=\Book}
|
||||
\setbeamerfont{description item}{family=\Book}
|
||||
\setbeamerfont{page number in head/foot}{size=\scriptsize}
|
||||
\setbeamerfont{bibliography entry author}{family=\Light, size=\normalsize}
|
||||
\setbeamerfont{bibliography entry title}{family=\Book, size=\normalsize}
|
||||
\setbeamerfont{bibliography entry location}{family=\Light, size=\normalsize}
|
||||
\setbeamerfont{bibliography entry note}{family=\Light, size=\small}
|
||||
\linespread{1.15}
|
||||
|
||||
\endinput
|
||||
%%
|
||||
%% End of file `beamerfontthememetropolis.sty'.
|
||||
274
presentation/beamerinnerthememetropolis.sty
Normal file
274
presentation/beamerinnerthememetropolis.sty
Normal file
@@ -0,0 +1,274 @@
|
||||
%%
|
||||
%% This is file `beamerinnerthememetropolis.sty',
|
||||
%% generated with the docstrip utility.
|
||||
%%
|
||||
%% The original source files were:
|
||||
%%
|
||||
%% beamerinnerthememetropolis.dtx (with options: `package')
|
||||
%% ---------------------------------------------------------------------------
|
||||
%% Copyright 2015 Matthias Vogelgesang and the LaTeX community. A full list of
|
||||
%% contributors can be found at
|
||||
%%
|
||||
%% https://github.com/matze/mtheme/graphs/contributors
|
||||
%%
|
||||
%% and the original template was based on the HSRM theme by Benjamin Weiss.
|
||||
%%
|
||||
%% This work is licensed under a Creative Commons Attribution-ShareAlike 4.0
|
||||
%% International License (https://creativecommons.org/licenses/by-sa/4.0/).
|
||||
%% ---------------------------------------------------------------------------
|
||||
\NeedsTeXFormat{LaTeX2e}
|
||||
\ProvidesPackage{beamerinnerthememetropolis}
|
||||
[2015/06/12 A Modern Beamer Theme]
|
||||
\RequirePackage{etoolbox}
|
||||
\RequirePackage{calc}
|
||||
\RequirePackage{pgfopts}
|
||||
\RequirePackage{tikz}
|
||||
\pgfkeys{
|
||||
/metropolis/inner/block/.cd,
|
||||
.is choice,
|
||||
transparent/.code=\setlength{\@metropolis@blockskip}{0ex},
|
||||
fill/.code=\setlength{\@metropolis@blockskip}{1ex},
|
||||
}
|
||||
\pgfkeys{
|
||||
/metropolis/inner/titleformat/.cd,
|
||||
.is choice,
|
||||
regular/.code=\renewcommand{\@metropolis@titleformat}{},
|
||||
lowercase/.code={%
|
||||
\renewcommand{\@metropolis@titleformat}{\MakeLowercase}
|
||||
},
|
||||
uppercase/.code={%
|
||||
\renewcommand{\@metropolis@titleformat}{\MakeUppercase}
|
||||
},
|
||||
}
|
||||
\pgfkeys{
|
||||
/metropolis/inner/sectiontitleformat/.cd,
|
||||
.is choice,
|
||||
regular/.code=\renewcommand{\@metropolis@sectiontitleformat}{},
|
||||
lowercase/.code={%
|
||||
\renewcommand{\@metropolis@sectiontitleformat}{\MakeLowercase}
|
||||
},
|
||||
uppercase/.code={%
|
||||
\renewcommand{\@metropolis@sectiontitleformat}{\MakeUppercase}
|
||||
},
|
||||
}
|
||||
\pgfkeys{
|
||||
/metropolis/inner/sectionpage/.cd,
|
||||
.is choice,
|
||||
none/.code=\@metropolis@sectionpage@none,
|
||||
progressbar/.code=\@metropolis@sectionpage@progressbar,
|
||||
}
|
||||
\newcommand{\@metropolis@inner@setdefaults}{
|
||||
\pgfkeys{/metropolis/inner/.cd,
|
||||
sectionpage=progressbar,
|
||||
block=transparent,
|
||||
titleformat=lowercase,
|
||||
sectiontitleformat=lowercase,
|
||||
}
|
||||
}
|
||||
\def\@metropolis@titleformat#1{#1}
|
||||
\def\@metropolis@sectiontitleformat#1{#1}
|
||||
\patchcmd{\sectionentry}
|
||||
{\def\insertsectionhead{#2}}
|
||||
{\def\insertsectionhead{\@metropolis@sectiontitleformat{#2}}}
|
||||
{}
|
||||
{\PackageError{beamerinnerthememetropolis}{Patching section title failed.}}
|
||||
\patchcmd{\beamer@section}
|
||||
{\def\insertsectionhead{\hyperlink{Navigation\the\c@page}{#1}}}
|
||||
{\def\insertsectionhead{\hyperlink{Navigation\the\c@page}{\@metropolis@sectiontitleformat{#1}}}}
|
||||
{}
|
||||
{\PackageError{beamerinnerthememetropolis}{Patching section title failed.}}
|
||||
\setbeamertemplate{title page}{
|
||||
\begin{minipage}[b][\paperheight]{\textwidth}
|
||||
\ifx\inserttitlegraphic\@empty\else{%
|
||||
\vbox to 0pt {
|
||||
\vspace*{2em}
|
||||
\usebeamercolor[fg]{titlegraphic}%
|
||||
\inserttitlegraphic%
|
||||
}%
|
||||
\nointerlineskip%
|
||||
}
|
||||
\fi
|
||||
\vfill%
|
||||
\ifx\inserttitle\@empty\else{{%
|
||||
\raggedright%
|
||||
\linespread{1.0}%
|
||||
\usebeamerfont{title}%
|
||||
\usebeamercolor[fg]{title}%
|
||||
\@metropolis@titleformat{\inserttitle}%
|
||||
\par%
|
||||
\vspace*{0.5em}
|
||||
}}
|
||||
\fi
|
||||
\ifx\insertsubtitle\@empty\else{{%
|
||||
\usebeamerfont{subtitle}%
|
||||
\usebeamercolor[fg]{subtitle}%
|
||||
\insertsubtitle%
|
||||
\par%
|
||||
\vspace*{0.5em}
|
||||
}}
|
||||
\fi
|
||||
\begin{tikzpicture}
|
||||
\usebeamercolor{title separator}
|
||||
\draw[fg] (0, 0) -- (\textwidth, 0);
|
||||
\end{tikzpicture}%
|
||||
\par%
|
||||
\vspace*{1em}%
|
||||
\ifx\beamer@shortauthor\@empty\else{{%
|
||||
\usebeamerfont{author}%
|
||||
\usebeamercolor[fg]{author}%
|
||||
\insertauthor%
|
||||
\par%
|
||||
\vspace*{0.25em}
|
||||
}}
|
||||
\fi
|
||||
\ifx\insertdate\@empty\else{{%
|
||||
\usebeamerfont{date}%
|
||||
\usebeamercolor[fg]{date}%
|
||||
\insertdate%
|
||||
\par%
|
||||
}}
|
||||
\fi
|
||||
\ifx\insertinstitute\@empty\else{{%
|
||||
\vspace*{3mm}
|
||||
\usebeamerfont{institute}%
|
||||
\usebeamercolor[fg]{institute}%
|
||||
\insertinstitute%
|
||||
\par%
|
||||
}}
|
||||
\fi
|
||||
\vfill
|
||||
\vspace*{1mm}
|
||||
\end{minipage}
|
||||
}
|
||||
\def\maketitle{%
|
||||
\ifbeamer@inframe
|
||||
\titlepage
|
||||
\else
|
||||
\frame[plain]{\titlepage}
|
||||
\fi
|
||||
}
|
||||
\def\titlepage{%
|
||||
\usebeamertemplate{title page}
|
||||
}
|
||||
\newcommand{\@metropolis@sectionpage@none}{
|
||||
\AtBeginSection{
|
||||
% intenionally empty
|
||||
}
|
||||
}
|
||||
\defbeamertemplate{section page}{progressbar}{
|
||||
\centering
|
||||
\begin{minipage}{22em}
|
||||
\usebeamercolor[fg]{section title}
|
||||
\usebeamerfont{section title}
|
||||
\insertsectionhead\\[-1ex]
|
||||
\usebeamertemplate*{progress bar in section page}
|
||||
\end{minipage}
|
||||
\par
|
||||
}
|
||||
\newcommand{\@metropolis@sectionpage@progressbar}{
|
||||
\setbeamertemplate{section page}[progressbar]
|
||||
\AtBeginSection{
|
||||
\ifbeamer@inframe
|
||||
\sectionpage
|
||||
\else
|
||||
\frame[plain,c]{\sectionpage}
|
||||
\fi
|
||||
}
|
||||
}
|
||||
\newlength{\metropolis@progressonsectionpage}
|
||||
\setbeamertemplate{progress bar in section page}{
|
||||
\setlength{\metropolis@progressonsectionpage}{%
|
||||
\textwidth * \ratio{\insertframenumber pt}{\inserttotalframenumber pt}%
|
||||
}%
|
||||
\begin{tikzpicture}
|
||||
\draw[bg, fill=bg] (0,0) rectangle (\textwidth, 0.4pt);
|
||||
\draw[fg, fill=fg] (0,0) rectangle (\metropolis@progressonsectionpage, 0.4pt);
|
||||
\end{tikzpicture}%
|
||||
}
|
||||
\def\inserttotalframenumber{100}
|
||||
\newlength{\@metropolis@blockskip}
|
||||
\setbeamertemplate{block begin}{%
|
||||
\vspace*{1ex}
|
||||
\begin{beamercolorbox}[%
|
||||
ht=2.4ex,
|
||||
dp=1ex,
|
||||
leftskip=\@metropolis@blockskip,
|
||||
rightskip=\@metropolis@blockskip]{block title}
|
||||
\usebeamerfont*{block title}\insertblocktitle%
|
||||
\end{beamercolorbox}%
|
||||
\vspace*{-1pt}
|
||||
\usebeamerfont{block body}%
|
||||
\begin{beamercolorbox}[%
|
||||
dp=1ex,
|
||||
leftskip=\@metropolis@blockskip,
|
||||
rightskip=\@metropolis@blockskip,
|
||||
vmode]{block body}%
|
||||
}
|
||||
\setbeamertemplate{block end}{%
|
||||
\end{beamercolorbox}
|
||||
\vspace*{0.2ex}
|
||||
}
|
||||
\setbeamertemplate{block alerted begin}{%
|
||||
\vspace*{1ex}
|
||||
\begin{beamercolorbox}[%
|
||||
ht=2.4ex,
|
||||
dp=1ex,
|
||||
leftskip=\@metropolis@blockskip,
|
||||
rightskip=\@metropolis@blockskip]{block title alerted}
|
||||
\usebeamerfont*{block title alerted}\insertblocktitle%
|
||||
\end{beamercolorbox}%
|
||||
\vspace*{-1pt}
|
||||
\usebeamerfont{block body alerted}%
|
||||
\begin{beamercolorbox}[%
|
||||
dp=1ex,
|
||||
leftskip=\@metropolis@blockskip,
|
||||
rightskip=\@metropolis@blockskip,
|
||||
vmode]{block body}%
|
||||
}
|
||||
\setbeamertemplate{block alerted end}{%
|
||||
\end{beamercolorbox}
|
||||
\vspace*{0.2ex}
|
||||
}
|
||||
\setbeamertemplate{block example begin}{%
|
||||
\vspace*{1ex}
|
||||
\begin{beamercolorbox}[%
|
||||
ht=2.4ex,
|
||||
dp=1ex,
|
||||
leftskip=\@metropolis@blockskip,
|
||||
rightskip=\@metropolis@blockskip]{block title example}
|
||||
\usebeamerfont*{block title example}\insertblocktitle%
|
||||
\end{beamercolorbox}%
|
||||
\vspace*{-1pt}
|
||||
\usebeamerfont{block body example}%
|
||||
\begin{beamercolorbox}[%
|
||||
dp=1ex,
|
||||
leftskip=\@metropolis@blockskip,
|
||||
rightskip=\@metropolis@blockskip,
|
||||
vmode]{block body}%
|
||||
}
|
||||
\setbeamertemplate{block example end}{%
|
||||
\end{beamercolorbox}
|
||||
\vspace*{0.2ex}
|
||||
}
|
||||
\setbeamertemplate{itemize items}{\textbullet}
|
||||
\setbeamertemplate{caption label separator}{: }
|
||||
\setbeamertemplate{caption}[numbered]
|
||||
\setbeamertemplate{footnote}{%
|
||||
\parindent 0em\noindent%
|
||||
\raggedright
|
||||
\usebeamercolor{footnote}\hbox to 0.8em{\hfil\insertfootnotemark}\insertfootnotetext\par%
|
||||
}
|
||||
\setlength{\parskip}{0.5em}
|
||||
\linespread{1.15}
|
||||
\define@key{beamerframe}{c}[true]{% centered
|
||||
\beamer@frametopskip=0pt plus 1fill\relax%
|
||||
\beamer@framebottomskip=0pt plus 1fill\relax%
|
||||
\beamer@frametopskipautobreak=0pt plus .4\paperheight\relax%
|
||||
\beamer@framebottomskipautobreak=0pt plus .6\paperheight\relax%
|
||||
\def\beamer@initfirstlineunskip{}%
|
||||
}
|
||||
\@metropolis@inner@setdefaults
|
||||
\ProcessPgfPackageOptions{/metropolis/inner}
|
||||
\endinput
|
||||
%%
|
||||
%% End of file `beamerinnerthememetropolis.sty'.
|
||||
134
presentation/beamerouterthememetropolis.sty
Normal file
134
presentation/beamerouterthememetropolis.sty
Normal file
@@ -0,0 +1,134 @@
|
||||
%%
|
||||
%% This is file `beamerouterthememetropolis.sty',
|
||||
%% generated with the docstrip utility.
|
||||
%%
|
||||
%% The original source files were:
|
||||
%%
|
||||
%% beamerouterthememetropolis.dtx (with options: `package')
|
||||
%% ---------------------------------------------------------------------------
|
||||
%% Copyright 2015 Matthias Vogelgesang and the LaTeX community. A full list of
|
||||
%% contributors can be found at
|
||||
%%
|
||||
%% https://github.com/matze/mtheme/graphs/contributors
|
||||
%%
|
||||
%% and the original template was based on the HSRM theme by Benjamin Weiss.
|
||||
%%
|
||||
%% This work is licensed under a Creative Commons Attribution-ShareAlike 4.0
|
||||
%% International License (https://creativecommons.org/licenses/by-sa/4.0/).
|
||||
%% ---------------------------------------------------------------------------
|
||||
\NeedsTeXFormat{LaTeX2e}
|
||||
\ProvidesPackage{beamerouterthememetropolis}
|
||||
[2015/06/12 A Modern Beamer Theme]
|
||||
\RequirePackage{etoolbox}
|
||||
\RequirePackage{calc}
|
||||
\RequirePackage{pgfopts}
|
||||
\pgfkeys{
|
||||
/metropolis/outer/numbering/.cd,
|
||||
.is choice,
|
||||
none/.code=\setbeamertemplate{frame numbering}[none],
|
||||
counter/.code=\setbeamertemplate{frame numbering}[counter],
|
||||
fraction/.code=\setbeamertemplate{frame numbering}[fraction],
|
||||
}
|
||||
\pgfkeys{
|
||||
/metropolis/outer/progressbar/.cd,
|
||||
.is choice,
|
||||
none/.code={%
|
||||
\setbeamertemplate{headline}[plain]
|
||||
\setbeamertemplate{frametitle}[plain]
|
||||
\setbeamertemplate{footline}[plain]
|
||||
},
|
||||
head/.code={\pgfkeys{/metropolis/outer/progressbar=none}
|
||||
\addtobeamertemplate{headline}{}{\usebeamertemplate*{progress bar in head/foot}}
|
||||
},
|
||||
frametitle/.code={\pgfkeys{/metropolis/outer/progressbar=none}
|
||||
\addtobeamertemplate{frametitle}{}{\usebeamertemplate*{progress bar in head/foot}}
|
||||
},
|
||||
foot/.code={\pgfkeys{/metropolis/outer/progressbar=none}
|
||||
\addtobeamertemplate{footline}{}{\usebeamertemplate*{progress bar in head/foot}}
|
||||
},
|
||||
}
|
||||
\pgfkeys{
|
||||
/metropolis/outer/frametitleformat/.cd,
|
||||
.is choice,
|
||||
regular/.code={%
|
||||
\renewcommand{\@metropolis@frametitleformat}{}%
|
||||
\renewcommand{\@metropolis@frametitlestrut}{%
|
||||
\rule{0pt}{\heightof{ABCDEFGHIJKLMNOPQRSTUVWXYZ}}
|
||||
}
|
||||
},
|
||||
lowercase/.code={%
|
||||
\renewcommand{\@metropolis@frametitleformat}{\MakeLowercase}%
|
||||
\renewcommand{\@metropolis@frametitlestrut}{%
|
||||
\rule{0pt}{\heightof{abcdefghijklmnopqrstuvwxyz}}
|
||||
}
|
||||
},
|
||||
uppercase/.code={%
|
||||
\renewcommand{\@metropolis@frametitleformat}{\MakeUppercase}%
|
||||
\renewcommand{\@metropolis@frametitlestrut}{%
|
||||
\rule{0pt}{\heightof{ABCDEFGHIJKLMNOPQRSTUVWXYZ}}
|
||||
}
|
||||
},
|
||||
}
|
||||
\newcommand{\@metropolis@outer@setdefaults}{
|
||||
\pgfkeys{/metropolis/outer/.cd,
|
||||
numbering=counter,
|
||||
progressbar=none,
|
||||
frametitleformat=lowercase,
|
||||
}
|
||||
}
|
||||
\setbeamertemplate{navigation symbols}{}
|
||||
\defbeamertemplate{frame numbering}{none}{}
|
||||
\defbeamertemplate{frame numbering}{counter}{\insertframenumber}
|
||||
\defbeamertemplate{frame numbering}{fraction}{
|
||||
\insertframenumber/\inserttotalframenumber
|
||||
}
|
||||
\defbeamertemplate{headline}{plain}{}
|
||||
\defbeamertemplate{footline}{plain}{%
|
||||
\begin{beamercolorbox}[wd=\textwidth, sep=3ex]{footline}%
|
||||
\hfill%
|
||||
\usebeamerfont{page number in head/foot}%
|
||||
\usebeamertemplate*{frame numbering}
|
||||
\end{beamercolorbox}%
|
||||
}
|
||||
\def\@metropolis@frametitleformat#1{#1}
|
||||
\patchcmd{\beamer@@frametitle}
|
||||
{\beamer@ifempty{#2}{}{%
|
||||
\gdef\insertframetitle{{#2\ifnum\beamer@autobreakcount>0\relax{}\space\usebeamertemplate*{frametitle continuation}\fi}}%
|
||||
\gdef\beamer@frametitle{#2}%
|
||||
\gdef\beamer@shortframetitle{#1}%
|
||||
}}
|
||||
{\beamer@ifempty{#2}{}{%
|
||||
\gdef\insertframetitle{{\@metropolis@frametitleformat{#2}\ifnum\beamer@autobreakcount>0\relax{}\space\usebeamertemplate*{frametitle continuation}\fi}}%
|
||||
\gdef\beamer@frametitle{#2}%
|
||||
\gdef\beamer@shortframetitle{#1}%
|
||||
}}
|
||||
{}
|
||||
{\PackageError{beamerouterthememetropolis}{Patching frame title failed.}}
|
||||
\newlength{\@metropolis@frametitlestrut}
|
||||
\defbeamertemplate{frametitle}{plain}{%
|
||||
\nointerlineskip%
|
||||
\begin{beamercolorbox}[%
|
||||
wd=\paperwidth,%
|
||||
sep=1.5ex,%
|
||||
]{frametitle}%
|
||||
\@metropolis@frametitlestrut\insertframetitle\@metropolis@frametitlestrut%
|
||||
\end{beamercolorbox}%
|
||||
}
|
||||
\newlength{\metropolis@progressinheadfoot}
|
||||
\setbeamertemplate{progress bar in head/foot}{
|
||||
\nointerlineskip
|
||||
\setlength{\metropolis@progressinheadfoot}{%
|
||||
\paperwidth * \ratio{\insertframenumber pt}{\inserttotalframenumber pt}%
|
||||
}%
|
||||
\begin{beamercolorbox}[wd=\paperwidth]{progress bar in head/foot}
|
||||
\begin{tikzpicture}
|
||||
\draw[bg, fill=bg] (0,0) rectangle (\paperwidth, 0.4pt);
|
||||
\draw[fg, fill=fg] (0,0) rectangle (\metropolis@progressinheadfoot, 0.4pt);
|
||||
\end{tikzpicture}%
|
||||
\end{beamercolorbox}
|
||||
}
|
||||
\@metropolis@outer@setdefaults
|
||||
\ProcessPgfPackageOptions{/metropolis/outer}
|
||||
\endinput
|
||||
%%
|
||||
%% End of file `beamerouterthememetropolis.sty'.
|
||||
106
presentation/beamerthemem.sty
Normal file
106
presentation/beamerthemem.sty
Normal file
@@ -0,0 +1,106 @@
|
||||
%%
|
||||
%% This is file `beamerthemem.sty',
|
||||
%% generated with the docstrip utility.
|
||||
%%
|
||||
%% The original source files were:
|
||||
%%
|
||||
%% beamerthemem.dtx (with options: `package')
|
||||
%% ---------------------------------------------------------------------------
|
||||
%% Copyright 2015 Matthias Vogelgesang and the LaTeX community. A full list of
|
||||
%% contributors can be found at
|
||||
%%
|
||||
%% https://github.com/matze/mtheme/graphs/contributors
|
||||
%%
|
||||
%% and the original template was based on the HSRM theme by Benjamin Weiss.
|
||||
%%
|
||||
%% This work is licensed under a Creative Commons Attribution-ShareAlike 4.0
|
||||
%% International License (https://creativecommons.org/licenses/by-sa/4.0/).
|
||||
%% ---------------------------------------------------------------------------
|
||||
\NeedsTeXFormat{LaTeX2e}
|
||||
\ProvidesPackage{beamerthemem}
|
||||
[2015/06/12 A Modern Beamer Theme]
|
||||
\RequirePackage{etoolbox}
|
||||
\RequirePackage{pgfopts}
|
||||
\RequirePackage{ifxetex}
|
||||
\RequirePackage{ifluatex}
|
||||
\newcommand{\metroset}[1]{\pgfkeys{/metropolis/.cd,#1}}
|
||||
\pgfkeys{/metropolis/.cd,
|
||||
.search also={
|
||||
/metropolis/inner,
|
||||
/metropolis/outer,
|
||||
/metropolis/color,
|
||||
},
|
||||
block/.code=\pgfkeysalso{
|
||||
inner/block=#1,
|
||||
color/block=#1,
|
||||
},
|
||||
}
|
||||
\pgfkeys{
|
||||
/metropolis/plaintitleformat/.cd,
|
||||
.is choice,
|
||||
regular/.code=\renewcommand{\@metropolis@plaintitleformat}{#1},
|
||||
lowercase/.code={%
|
||||
\renewcommand{\@metropolis@plaintitleformat}{\MakeLowercase{#1}}
|
||||
},
|
||||
uppercase/.code={%
|
||||
\renewcommand{\@metropolis@plaintitleformat}{\MakeUppercase{#1}}
|
||||
},
|
||||
}
|
||||
\pgfkeys{
|
||||
/metropolis/everytitleformat/.code=\pgfkeysalso{
|
||||
inner/titleformat=#1,
|
||||
inner/sectiontitleformat=#1,
|
||||
outer/frametitleformat=#1,
|
||||
plaintitleformat=#1,
|
||||
}
|
||||
}
|
||||
\pgfkeys{/metropolis/.cd,
|
||||
usetitleprogressbar/.code=\pgfkeysalso{outer/progressbar=frametitle},
|
||||
noslidenumbers/.code=\pgfkeysalso{outer/numbering=none},
|
||||
usetotalslideindicator/.code=\pgfkeysalso{outer/numbering=fraction},
|
||||
nosectionslide/.code=\pgfkeysalso{inner/sectionpage=none},
|
||||
darkcolors/.code=\pgfkeysalso{color/background=dark},
|
||||
blockbg/.code=\pgfkeysalso{color/block=fill, inner/block=fill},
|
||||
}
|
||||
\newcommand{\@metropolis@setdefaults}{
|
||||
\pgfkeys{/metropolis/.cd,
|
||||
plaintitleformat=lowercase,
|
||||
}
|
||||
}
|
||||
\useinnertheme{metropolis}
|
||||
\useoutertheme{metropolis}
|
||||
\usecolortheme{metropolis}
|
||||
\ifboolexpr{bool {xetex} or bool {luatex}}{
|
||||
\usefonttheme{metropolis}
|
||||
}{
|
||||
\PackageWarning{beamerthemem}{%
|
||||
You need to compile with XeLaTeX or LuaLaTeX to use the Fira fonts.
|
||||
}
|
||||
}
|
||||
\AtEndPreamble{%
|
||||
\@ifpackageloaded{pgfplots}{%
|
||||
\RequirePackage{pgfplotsthemetol}
|
||||
}{}
|
||||
}
|
||||
\def\@metropolis@plaintitleformat#1{#1}
|
||||
\newcommand{\plain}[2][]{%
|
||||
\begingroup
|
||||
\setbeamercolor{background canvas}{
|
||||
use=palette primary,
|
||||
parent=palette primary
|
||||
}
|
||||
\begin{frame}[c]{#1}
|
||||
\begin{center}
|
||||
\usebeamercolor[fg]{palette primary}
|
||||
\usebeamerfont{section title}
|
||||
\@metropolis@plaintitleformat{#2}
|
||||
\end{center}
|
||||
\end{frame}
|
||||
\endgroup
|
||||
}
|
||||
\newcommand{\mreducelistspacing}{\vspace{-\topsep}}
|
||||
\@metropolis@setdefaults
|
||||
\ProcessPgfOptions{/metropolis}
|
||||
\endinput
|
||||
%%
|
||||
%% End of file `beamerthemem.sty'.
|
||||
43
presentation/demo.bib
Normal file
43
presentation/demo.bib
Normal file
@@ -0,0 +1,43 @@
|
||||
@article{Knuth92,
|
||||
author = "D.E. Knuth",
|
||||
title = "Two notes on notation",
|
||||
journal = "Amer. Math. Monthly",
|
||||
volume = "99",
|
||||
year = "1992",
|
||||
pages = "403--422",
|
||||
}
|
||||
|
||||
@book{ConcreteMath,
|
||||
author = "R.L. Graham and D.E. Knuth and O. Patashnik",
|
||||
title = "Concrete mathematics",
|
||||
publisher = "Addison-Wesley",
|
||||
address = "Reading, MA",
|
||||
year = "1989"
|
||||
}
|
||||
|
||||
@unpublished{Simpson,
|
||||
author = "H. Simpson",
|
||||
title = "Proof of the {R}iemann {H}ypothesis",
|
||||
note = "preprint (2003), available at
|
||||
\texttt{http://www.math.drofnats.edu/riemann.ps}",
|
||||
year = "2003"
|
||||
}
|
||||
|
||||
@incollection{Er01,
|
||||
author = "P. Erd{\H o}s",
|
||||
title = "A selection of problems and results in combinatorics",
|
||||
booktitle = "Recent trends in combinatorics (Matrahaza, 1995)",
|
||||
publisher = "Cambridge Univ. Press",
|
||||
address = "Cambridge",
|
||||
pages = "1--6",
|
||||
year = "1995"
|
||||
}
|
||||
@article{greenwade93,
|
||||
author = "George D. Greenwade",
|
||||
title = "The {C}omprehensive {T}ex {A}rchive {N}etwork ({CTAN})",
|
||||
year = "1993",
|
||||
journal = "TUGBoat",
|
||||
volume = "14",
|
||||
number = "3",
|
||||
pages = "342--351"
|
||||
}
|
||||
644
presentation/demo.tex
Normal file
644
presentation/demo.tex
Normal file
@@ -0,0 +1,644 @@
|
||||
\documentclass[10pt]{beamer}
|
||||
|
||||
\usetheme[everytitleformat=regular]{m}
|
||||
\usepackage[percent]{overpic}
|
||||
\usepackage{booktabs}
|
||||
\usepackage[scale=2]{ccicons}
|
||||
\usepackage[outdir=./gfx/]{epstopdf}
|
||||
\usepackage{pgfplots}
|
||||
\usepackage{multimedia}
|
||||
\usepackage{graphicx}
|
||||
\usepackage{epsfig}
|
||||
\usepackage{psfrag}
|
||||
\usepackage{color}
|
||||
\usepackage{caption}
|
||||
\usepackage{transparent}
|
||||
\usepackage{caption}
|
||||
\usepackage{subcaption}
|
||||
\usepackage{algorithm}
|
||||
\usepackage{algpseudocode}
|
||||
\setbeamerfont{caption}{size=\tiny}
|
||||
\setbeamertemplate{caption}{\raggedright\insertcaption\par}
|
||||
|
||||
\makeatletter
|
||||
\renewcommand{\ALG@beginalgorithmic}{\scriptsize}
|
||||
\renewcommand{\alglinenumber}{\scriptsize}
|
||||
\makeatother
|
||||
|
||||
\graphicspath{{./gfx/}}
|
||||
|
||||
\usepgfplotslibrary{dateplot}
|
||||
|
||||
\definecolor{pro}{HTML}{198c19}
|
||||
\definecolor{con}{HTML}{CB410B}
|
||||
|
||||
% Costumizing the m-theme here
|
||||
\setbeamertemplate{footline}[text line]{%
|
||||
\parbox{\linewidth}{
|
||||
\vspace*{-35pt}\insertpagenumber
|
||||
\hfill\inserttitle
|
||||
\hspace*{-30pt}
|
||||
\hfill\includegraphics[width=0.20\textwidth]{gfx/logo_orange}
|
||||
\hspace*{-30pt}
|
||||
}
|
||||
}
|
||||
|
||||
\definecolor{mBGColor}{HTML}{FAFAFA}
|
||||
\definecolor{mWhite}{HTML}{FFFFFF}
|
||||
\definecolor{mOrange}{HTML}{e84e25}
|
||||
\setbeamercolor{frametitle}{%
|
||||
use=mWhite,
|
||||
fg=mWhite,
|
||||
bg=mOrange
|
||||
}
|
||||
\setbeamercolor{alerted text}{%
|
||||
fg=mOrange
|
||||
}
|
||||
% End Costumizing
|
||||
|
||||
\usepackage{amsmath}
|
||||
\renewcommand{\vec}[1]{\boldsymbol{#1}}
|
||||
\newcommand{\mat}[1]{\boldsymbol{#1}}
|
||||
%\renewcommand{\hat}[1]{\oldhat{\mathbf{#1}}}
|
||||
|
||||
\newcommand{\SI}[2]{\ensuremath{#1}\text{\,#2}}
|
||||
\newcommand{\SIrange}[3]{\ensuremath{#1} to \ensuremath{#2}\text{\,#3}}
|
||||
\newcommand{\cm}{cm}
|
||||
\newcommand{\meter}{m}
|
||||
\newcommand{\per}{/}
|
||||
\newcommand{\milli}{m}
|
||||
\newcommand{\second}{s}
|
||||
\newcommand{\giga}{G}
|
||||
\newcommand{\hertz}{Hz}
|
||||
\newcommand{\dBm}{dBm}
|
||||
\newcommand{\percent}{\%}
|
||||
\newcommand{\decibel}{dB}
|
||||
\newcommand{\dB}{dB}
|
||||
\newcommand{\degree}{\ensuremath{^{\circ}}}
|
||||
|
||||
|
||||
\newcommand{\R}{\mathbb{R}}
|
||||
\newcommand{\N}{\mathbb{N}}
|
||||
\newcommand{\NDist}{\mathcal{N}}
|
||||
\newcommand{\UDist}{\mathcal{U}}
|
||||
|
||||
|
||||
\newcommand{\qTurn}{\theta}
|
||||
\newcommand{\qBaro}{\hat\rho_{\text{rel}}}
|
||||
|
||||
|
||||
\newcommand{\oWifi}{s_{\text{wifi}}}
|
||||
\newcommand{\oBeacons}{s_{\text{beacons}}}
|
||||
\newcommand{\oStep}{n_\text{step}}
|
||||
\newcommand{\oTurn}{\Delta\theta}
|
||||
\newcommand{\oBaro}{\rho_{\text{rel}}}
|
||||
|
||||
\newcommand{\ispace}{\vspace{2mm}}
|
||||
|
||||
\newcommand{\vecB}[2]{\begin{pmatrix} #1\\ #2 \end{pmatrix}}
|
||||
\newcommand{\matD}[4]{\begin{bmatrix} #1 & #2 \\ #3 & #4 \end{bmatrix}}
|
||||
|
||||
\title{On Monte Carlo Smoothing in Multi Sensor Indoor Localisation}
|
||||
\date{\today}
|
||||
\newcommand{\insertmail}{toni.fetzer@fhws.de}
|
||||
\author{T. Fetzer$^\star$, F. Ebner$^\star$, F. Deinzer$^\star$, L. K\"oping$^\dagger$, M. Grzegorzek$^\dagger$}
|
||||
\date{\today}
|
||||
\institute{ $^\star$ University of Applied Sciences W\"urzburg - Schweinfurt \\
|
||||
$^\dagger$ University of Siegen - Pattern Recognition Group}
|
||||
|
||||
|
||||
%\input{misc/keywords}
|
||||
%\input{misc/functions}
|
||||
|
||||
\begin{document}
|
||||
|
||||
\maketitle
|
||||
|
||||
\begin{frame}
|
||||
\frametitle{Table of Contents}
|
||||
\setbeamertemplate{section in toc}[sections numbered]
|
||||
\tableofcontents[hideallsubsections]
|
||||
\end{frame}
|
||||
|
||||
\section{General Idea \& Motivation}
|
||||
|
||||
\begin{frame}[fragile]
|
||||
\frametitle{Indoor Localisation System}
|
||||
|
||||
\begin{figure}
|
||||
\centering
|
||||
\includegraphics[width=\linewidth]{gfx/info_graphic}
|
||||
\end{figure}%
|
||||
|
||||
|
||||
\end{frame}
|
||||
|
||||
\begin{frame}[fragile]
|
||||
\frametitle{Multimodal Distribution}
|
||||
|
||||
\begin{figure}
|
||||
\centering
|
||||
\def\svgwidth{0.9\columnwidth}
|
||||
\input{gfx/multimodalpath.eps_tex}
|
||||
\end{figure}%
|
||||
|
||||
\end{frame}
|
||||
|
||||
\begin{frame}[fragile]
|
||||
\frametitle{Research Objectives}
|
||||
\textbf{Goal:} Provide and discuss Monte-Carlo smoothing methods in the context of indoor localisation.
|
||||
\newline
|
||||
\newline
|
||||
\textbf{General Assumptions:}
|
||||
\begin{itemize}
|
||||
\item A time-sequential, non-linear and non-Gaussian state-space
|
||||
\newline $\rightarrow$ Monte-Carlo methods for approximation
|
||||
\item A given indoor localisation system based on a statistical sensor fusion
|
||||
\item No multi-target tracking (more than one person)
|
||||
\end{itemize}
|
||||
|
||||
\end{frame}
|
||||
|
||||
%Section: Transition Model
|
||||
\section{Forward Propagation}
|
||||
|
||||
\begin{frame}
|
||||
\frametitle{Recursive Density Estimation}
|
||||
\begin{itemize}
|
||||
\item<1-> Current State\\
|
||||
$\vec{q} = (x,y,z, \qTurn, \qBaro)^T, \enskip{}
|
||||
\overbrace{x,y,z \in \R}^{\text{position}}, \enskip
|
||||
\overbrace{\qTurn \in \R}^{\text{heading}},\enskip{}
|
||||
\overbrace{\qBaro \in \R}^{\text{rel. pressure}}
|
||||
$ \\
|
||||
$\vec{q}_0 = $ uniformly distributed, $\qBaro = 0$
|
||||
\ispace
|
||||
\item<2-> Observation\\
|
||||
$\vec{o} = (\vec{\oWifi}, \vec{\oBeacons}, \oStep, \oTurn, \oBaro, \Omega)$
|
||||
\ispace
|
||||
\item<3-> \small$
|
||||
\underbrace{ p(\vec{q}_t\mid \vec{o}_{1:t})}_{\text{estimation}}
|
||||
\propto %
|
||||
\underbrace{ p(\vec{o}_t \mid \vec{q}_t) }_{\text{evaluation}}%
|
||||
\int
|
||||
\underbrace{ p(\vec{q}_t \mid \vec{q}_{t-1}, \vec{o}_{t-1}) }_{\text{transition}}%
|
||||
\underbrace{ p(\vec{q}_{t-1} \mid \vec{o}_{1:t-1})}_{\text{recursion}}%
|
||||
d\vec{q}_{t-1}%
|
||||
$
|
||||
\end{itemize}
|
||||
\end{frame}
|
||||
|
||||
\begin{frame}
|
||||
\frametitle{Observation}
|
||||
\begin{itemize}
|
||||
\item<1-> a location's probability based on the current sensor readings
|
||||
\begin{equation*}
|
||||
\begin{split}
|
||||
p(\vec{o}_t \mid \vec{q}_t) =&\\
|
||||
&p(\vec{o}_t \mid \vec{q}_t)_{\text{wifi}} \\
|
||||
&p(\vec{o}_t \mid \vec{q}_t)_{\text{beacons}} \\
|
||||
&p(\vec{o}_t \mid \vec{q}_t)_{\text{baro}} \\
|
||||
\end{split}
|
||||
\end{equation*}
|
||||
\ispace
|
||||
\item<1-> assuming statistical independence
|
||||
\item<1-> \textit{step- and turn detection are used within the transition}
|
||||
\end{itemize}
|
||||
\end{frame}
|
||||
|
||||
|
||||
\begin{frame}
|
||||
\frametitle{Observation - Wi-Fi/iBeacons}
|
||||
\begin{itemize}
|
||||
|
||||
%\only<1>{
|
||||
\item<1->
|
||||
$p(\vec{o}_t \mid \vec{q}_t)_\text{wifi}=$
|
||||
$p(\vec{\oWifi} \mid \vec{q}_t) = \prod_{\oWifi} \NDist(s_i \mid \overbrace{P_r(d_i, \Delta f_i)}^\text{model prediction}, \sigma_{\text{wifi}}^2)$,\\
|
||||
\ispace
|
||||
\only<1>{%
|
||||
\small{\textit{probability to measure all currently received signal-strengths $\vec{\oWifi}$ at a location $\vec{q}_t$, by comparing them with corresponding estimations from a prediction model}}%
|
||||
%\vspace{2.9cm}%
|
||||
}
|
||||
|
||||
%}
|
||||
|
||||
\item<2->
|
||||
3D signal strength prediction\\\ispace
|
||||
$
|
||||
P_r(d,\Delta f) =
|
||||
\underbrace{P_0}_{\text{reference}}\enskip
|
||||
\underbrace{- 10 \gamma \cdot \log_{10}(\tfrac{d}{d_0})}_{\text{attenuation per meter}}\enskip
|
||||
\underbrace{+ \Delta f \lambda}_\text{floor attenuation}
|
||||
\underbrace{+ X}_{\text{ noise }}
|
||||
$
|
||||
%\\\ispace$
|
||||
% X \sim \NDist(0,\sigma^2_{\text{wifi}}),\enskip
|
||||
% \underbrace{\Delta f \in \N}_{\text{number of floors}},\enskip
|
||||
% \underbrace{\lambda \approx -8}_{\text{attenuation per floor}}
|
||||
%$
|
||||
%\ispace
|
||||
\newline
|
||||
\raisebox{5.0cm}{
|
||||
%\only<2>{ \vspace{4.0cm} }
|
||||
\only<3>{ \includegraphics[width = 0.35\textwidth]{gfx/wifi1.png} }%
|
||||
\only<4->{ \includegraphics[width = 0.35\textwidth]{gfx/wifi2.png} }%
|
||||
\only<5>{ \includegraphics[width = 0.35\textwidth]{gfx/wifi3.png} }%
|
||||
\only<6->{ \includegraphics[width = 0.35\textwidth]{gfx/wifi4.png} }%
|
||||
}
|
||||
%\vspace{6mm}
|
||||
|
||||
\end{itemize}
|
||||
\end{frame}
|
||||
|
||||
|
||||
\begin{frame}
|
||||
\frametitle{Observation - Barometer}
|
||||
\begin{itemize}
|
||||
\item<1->
|
||||
$p(\vec{o}_t \mid \vec{q}_t)_{\text{baro}} = $
|
||||
$\NDist(o_t^{\oBaro} \mid q_t^{\qBaro}, \sigma_{\text{baro}}^2)$\\
|
||||
\ispace
|
||||
\small{\textit{probability to measure the pressure $o_t^{\oBaro}$ (relative to the start) at a location $\vec{q}_t$}, by comparing it with the corresponding prediction}
|
||||
|
||||
\item<2->
|
||||
each transition performs a relative pressure prediction:\\
|
||||
\ispace
|
||||
$q_t^{\qBaro} = q_{t-1}^{\qBaro} + \Delta z \cdot b$, \enskip
|
||||
$\underbrace{\Delta z = q_{t-1}^z - q_{t}^z}_{\text{height change}}$, \enskip
|
||||
$\underbrace{b \in \R}_{\text{pressure change / meter}}$\\
|
||||
%
|
||||
\vspace{5mm}
|
||||
\begin{figure}
|
||||
\centering
|
||||
\includegraphics[width = 0.4\textwidth]{gfx/baroChange}
|
||||
\end{figure}
|
||||
|
||||
\end{itemize}
|
||||
\end{frame}
|
||||
|
||||
|
||||
\begin{frame}
|
||||
\frametitle{Transition - Floorplan}
|
||||
\only<1>{%
|
||||
1) start with the building's floorplan\\%
|
||||
\includegraphics[width = 1.0\textwidth]{gfx/step1}%
|
||||
}%
|
||||
\only<2>{%
|
||||
2) divide into cells and remove those intersecting with walls\\%
|
||||
\includegraphics[width = 1.0\textwidth]{gfx/step2}%
|
||||
}%
|
||||
\only<3>{%
|
||||
3) add edges to all (available) adjacent cells\\%
|
||||
\includegraphics[width = 1.0\textwidth]{gfx/step3}%
|
||||
}%
|
||||
\only<4>{%
|
||||
4) add stairs and remove unreachable cells\\%
|
||||
\includegraphics[width = 1.0\textwidth]{gfx/step4}%
|
||||
}%
|
||||
\end{frame}
|
||||
|
||||
\newcommand{\leHeading}{\theta_{\text{walk}}}
|
||||
%\newcommand{\leDistance}{d_{\text{walk}}}
|
||||
\newcommand{\leDistance}{d}
|
||||
|
||||
\begin{frame}
|
||||
\frametitle{Transition - Random Walk}
|
||||
\begin{minipage}{0.49\textwidth}
|
||||
$p(\vec{q}_t \mid \vec{q}_{t-1}, \vec{o}_{t-1})$:
|
||||
\begin{enumerate}
|
||||
\item get node $\vec{q}_{t-1}$ belongs to
|
||||
\item draw distance $\leDistance$ to walk%\\ \textit{depends on the number of detected steps}
|
||||
\item repeat until $\leDistance$ is reached
|
||||
\begin{enumerate}
|
||||
\item draw edge $e_{i,j}$ according to its probability $p(e_{i,j})$
|
||||
\item walk along the edge
|
||||
\item $\leDistance = \leDistance - \|e_{i,j}\|$
|
||||
\end{enumerate}
|
||||
\end{enumerate}
|
||||
\end{minipage}
|
||||
\begin{minipage}{0.49\textwidth}
|
||||
\begin{figure}
|
||||
\includegraphics[width = 1.0\textwidth]{gfx/walk}
|
||||
\end{figure}
|
||||
\end{minipage}
|
||||
\end{frame}
|
||||
|
||||
|
||||
|
||||
\begin{frame}
|
||||
\frametitle{Transition - Random Walk}
|
||||
\begin{itemize}
|
||||
|
||||
\item<1-> distance to walk\\
|
||||
\ispace
|
||||
$%
|
||||
\leDistance =
|
||||
\underbrace{{o}_{t-1}^{\oStep}}_\text{steps detected} \cdot
|
||||
\underbrace{s_\text{step}}_\text{step size} +
|
||||
\underbrace{\mathcal{N}(0, \sigma^2_{\leDistance})}_\text{uncertainty}
|
||||
$\newline\newline
|
||||
|
||||
\item<2-> pedestrian's heading\\
|
||||
\ispace
|
||||
$p(e_{i,j})_\text{turn} = p(e_{i,j} \mid \leHeading) = \NDist(\angle e_{i,j} \mid \leHeading, \sigma^2_{\text{dev}} )$\\
|
||||
\ispace
|
||||
$%
|
||||
\underbrace{\leHeading = {q}_{t}^{\qTurn}}_\text{current heading} =
|
||||
\underbrace{{q}_{t-1}^{\qTurn}}_\text{previous heading} +
|
||||
\underbrace{{o}_{t-1}^{\oTurn}}_\text{sensor readings} +
|
||||
\underbrace{\mathcal{N}(0, \sigma^2_{\leHeading})}_\text{uncertainty}
|
||||
$\\
|
||||
|
||||
|
||||
\end{itemize}
|
||||
\end{frame}
|
||||
|
||||
\begin{frame}
|
||||
\frametitle{Transition - Activity Recognition}
|
||||
\begin{itemize}
|
||||
\item additionally activity detection with\\
|
||||
\ispace
|
||||
$\Omega \in \{ \tt{unknown}, \tt{standing}, \tt{walking}, \tt{stairs\_up}, \tt{stairs\_down} \}$\newline
|
||||
|
||||
\item edges $e_{i,j}$ matching the currently detected
|
||||
activity are favoured using $p(e_{i,j})_\text{act} = 0.8$ and $0.2$ otherwise
|
||||
|
||||
\end{itemize}
|
||||
\end{frame}
|
||||
|
||||
%Section: Backward Propagation
|
||||
\section{Backward Propagation}
|
||||
|
||||
\begin{frame}[fragile]
|
||||
\frametitle{Basics of Particle Smoothing}
|
||||
\begin{figure}
|
||||
\centering
|
||||
\def\svgwidth{0.9\columnwidth}
|
||||
\input{gfx/basicssmoothing.eps_tex}
|
||||
\end{figure}%
|
||||
\end{frame}
|
||||
|
||||
\begin{frame}[fragile]
|
||||
\frametitle{Forward-Backward Smoothing}
|
||||
\begin{algorithm}[H]
|
||||
\caption{Forward-Backward Smoother}
|
||||
\label{alg:forward-backwardSmoother}
|
||||
\begin{algorithmic}[1] % The number tells where the line numbering should start
|
||||
\Statex{\textbf{Input:} Prior $\mu(\vec{X}^i_1)$}
|
||||
\Statex{~}
|
||||
\For{$t = 1$ \textbf{to} $T$} \Comment{Filtering}
|
||||
\State{Perform particle filtering to obtain the weighted trajectories $ \{ W^i_t, \vec{X}^i_t\}^N_{i=1}$}
|
||||
\EndFor
|
||||
\For{ $i = 1$ \textbf{to} $N$} \Comment{Initialization}
|
||||
\State{Set $W^i_{T \mid T} = W^i_T$}
|
||||
\EndFor
|
||||
\For{$t = T-1$ \textbf{to} $1$} \Comment{Smoothing}
|
||||
\For{$i = 1$ \textbf{to} $N$}
|
||||
\State{Compute the weights
|
||||
\fcolorbox{mOrange}{mBGColor}{
|
||||
$
|
||||
W^i_{t \mid T} = W^i_t \left[ \sum^N_{j=1} W^j_{t+1 \mid T} \frac{p(\vec{X}^j_{t+1} \mid \vec{X}^i_t)}{\sum^N_{k=1} W^k_t ~ p(\vec{X}^j_{t+1} \mid \vec{X}^k_t)} \right]
|
||||
$}
|
||||
}
|
||||
\EndFor
|
||||
\EndFor
|
||||
\end{algorithmic}
|
||||
\end{algorithm}
|
||||
\end{frame}
|
||||
|
||||
\begin{frame}[fragile]
|
||||
\frametitle{Backward Simulation}
|
||||
|
||||
\begin{algorithm}[H]
|
||||
\caption{Backward Simulation Smoothing}
|
||||
\label{alg:backwardSimulation}
|
||||
\begin{algorithmic}[1] % The number tells where the line numbering should start
|
||||
\Statex{\textbf{Input:} Prior $\mu(\vec{X}^i_1)$}
|
||||
\Statex{~}
|
||||
\For{$t = 1$ \textbf{to} $T$} \Comment{Filtering}
|
||||
\State{Perform particle filtering to obtain the weighted trajectories $ \{ W^i_t, \vec{X}^i_t\}^N_{i=1}$}
|
||||
\EndFor
|
||||
\For{ $k = 1$ \textbf{to} $N_{\text{sample}}$}
|
||||
\State{Choose $\tilde{\vec{q}}^k_T = \vec{X}^i_T$ with probability $W^i_T$} \Comment{Initialize realization}
|
||||
|
||||
\For{$t = T-1$ \textbf{to} $1$} \Comment{Smoothing}
|
||||
\For{$j = 1$ \textbf{to} $N$}
|
||||
\State{Compute the weights \fcolorbox{mOrange}{mBGColor}{$W^j_{t \mid t+1} = W^j_t ~ p(\tilde{\vec{q}}_{t+1} \mid \vec{X}^j_{t})$}}
|
||||
\EndFor
|
||||
\State{\fcolorbox{mOrange}{mBGColor}{Choose $\tilde{\vec{q}}^k_t = \vec{X}^j_t$ with probability $W^j_{t\mid t+1}$}}
|
||||
\EndFor
|
||||
\State{$\tilde{\vec{q}}^k_{1:T} = (\tilde{\vec{q}}^k_1, \tilde{\vec{q}}^k_2, ..., \tilde{\vec{q}}^k_T)$ is one approximate realization from $p(\vec{q}_{1:T} \mid \vec{o}_{1:T})$}
|
||||
\EndFor
|
||||
\end{algorithmic}
|
||||
\end{algorithm}
|
||||
\end{frame}
|
||||
|
||||
|
||||
\begin{frame}[fragile]
|
||||
\frametitle{Backward Transition}
|
||||
|
||||
\begin{columns}[T,onlytextwidth]
|
||||
\column{0.55\textwidth}
|
||||
Very simple model for calculating the state transition $p(q_{t+1} \mid q_{t})$:
|
||||
\begin{itemize}
|
||||
\setlength{\itemindent}{-0.5cm}
|
||||
\item Linear distance: $p(\vec{q}_{t+1} \mid \vec{q}_t)_{\text{step}} = $\\
|
||||
\ispace
|
||||
$%
|
||||
\mathcal{N}(\Delta d_t \mid \mu_{\text{step}}, \sigma_{\text{step}}^2)
|
||||
$\newline
|
||||
|
||||
\item Heading change: $p(\vec{q}_{t+1} \mid \vec{q}_t, \vec{o}_t)_{\text{turn}} = $\\
|
||||
\ispace
|
||||
$%
|
||||
\mathcal{N}(\Delta\alpha_t \mid \oTurn, \sigma^2_{\text{turn}})
|
||||
$\newline
|
||||
|
||||
\item Height change: $p(\vec{q}_{t+1} \mid \vec{q}_t, \vec{o}_t)_{\text{baro}} = $\\
|
||||
\ispace
|
||||
$
|
||||
\mathcal{N}(\Delta z \mid \mu_z, \sigma^2_{z})
|
||||
$
|
||||
|
||||
\end{itemize}
|
||||
|
||||
%\column{0.05\textwidth}
|
||||
|
||||
\column{0.60\textwidth}
|
||||
|
||||
\centering
|
||||
\input{gfx/backwardTransition.eps_tex}{}
|
||||
|
||||
\end{columns}
|
||||
|
||||
\end{frame}
|
||||
|
||||
\begin{frame}
|
||||
\frametitle{Backward Transition}
|
||||
\begin{itemize}
|
||||
\item<1-> the probability density of the smoothing transition is then given by
|
||||
\begin{equation*}
|
||||
\arraycolsep=1.2pt
|
||||
\begin{array}{ll}
|
||||
p(\vec{q}_{t+1} \mid \vec{q}_t, \vec{o}_t) =
|
||||
&p(\vec{q}_{t+1} \mid \vec{q}_t)_{\text{step}}\\
|
||||
&p(\vec{q}_{t+1} \mid \vec{q}_t, \vec{o}_t)_{\text{turn}}\\
|
||||
&p(\vec{q}_{t+1} \mid \vec{q}_t, \vec{o}_t)_{\text{baro}}
|
||||
\end{array}
|
||||
\enspace .
|
||||
\end{equation*}
|
||||
\ispace
|
||||
\item<1-> assuming again statistical independence
|
||||
\item<1-> important: to do all this, we need to save all particles and their weight at each time step while filtering.
|
||||
\end{itemize}
|
||||
\end{frame}
|
||||
|
||||
%Section Evaluation
|
||||
\section{Evaluation}
|
||||
|
||||
\begin{frame}[fragile]
|
||||
\frametitle{Test Environment}
|
||||
|
||||
\begin{figure}
|
||||
\centering
|
||||
\scalebox{1.2}{
|
||||
\input{gfx/paths}}
|
||||
\end{figure}
|
||||
%
|
||||
|
||||
\end{frame}
|
||||
|
||||
|
||||
\begin{frame}[fragile]
|
||||
\frametitle{Fixed-interval Smoothing - Path 2}
|
||||
|
||||
\begin{figure}
|
||||
\centering
|
||||
\scalebox{1.2}{
|
||||
\input{gfx/path2_interval_compare}}
|
||||
%\caption{a) Exemplary results for path 2 where BS (blue) and filtering (green) using 2500 particles and 500 sample realisations. b) A situation where smoothing provides a worse error in regard to the ground truth, but obviously a more realistic path.}
|
||||
%\label{fig:int_path2}
|
||||
\end{figure}
|
||||
%
|
||||
|
||||
\end{frame}
|
||||
|
||||
\begin{frame}[fragile]
|
||||
\frametitle{Fixed-interval Smoothing - UAH (This building)}
|
||||
|
||||
\begin{figure}
|
||||
\centering
|
||||
\includegraphics[width=0.8\textwidth]{gfx/uah_live.png}
|
||||
\end{figure}
|
||||
%
|
||||
|
||||
\end{frame}
|
||||
|
||||
\begin{frame}[fragile]
|
||||
\frametitle{Fixed-lag Smoothing - Path 4}
|
||||
|
||||
\begin{figure}
|
||||
\centering
|
||||
\scalebox{1.2}{
|
||||
\input{gfx/path4_lag_comp}}
|
||||
%\caption{Estimation results on path 4 for the filter and both smoothers using fixed-lag smoothing with $\tau = 5$. For a better visualisation, the segments are divided using an outline of alternating grey levels. The corresponding segment-error can be seen in fig. \ref{fig:lag_error_path4}.}
|
||||
%\label{fig:lag_comp_path4}
|
||||
\end{figure}
|
||||
|
||||
\end{frame}
|
||||
|
||||
\begin{frame}[fragile]
|
||||
\frametitle{Fixed-lag Smoothing - Path 4}
|
||||
|
||||
\begin{figure}
|
||||
\centering
|
||||
\scalebox{1.2}{
|
||||
\input{gfx/error_timed}}
|
||||
%\caption{Estimation results on path 4 for the filter and both smoothers using fixed-lag smoothing with $\tau = 5$. For a better visualisation, the segments are divided using an outline of alternating grey levels. The corresponding segment-error can be seen in fig. \ref{fig:lag_error_path4}.}
|
||||
%\label{fig:lag_comp_path4}
|
||||
\end{figure}
|
||||
|
||||
\end{frame}
|
||||
|
||||
\begin{frame}[fragile]
|
||||
\frametitle{Overall Results}
|
||||
|
||||
Overall estimation results for all paths on 10 MC runs:
|
||||
|
||||
\centering
|
||||
\begin{tabular}{ |l |c |c |}
|
||||
\hline
|
||||
& Galaxy S5 & Nexus 6 \\ \hline
|
||||
Filtering & \SI{7.92}{m} & \SI{5.50}{m} \\\hline
|
||||
Forwards-Backward & \SI{6.48}{m} & \SI{4.47}{m} \\\hline
|
||||
Backward Simulation & \SI{6.68}{m} & \SI{4.80}{m} \\
|
||||
\hline
|
||||
\end{tabular}
|
||||
|
||||
\begin{itemize}
|
||||
\item even with 50 particles backward simulation is still able to provide good results.
|
||||
\item bigger lags improve the results with increasing temporal error
|
||||
\end{itemize}
|
||||
|
||||
\end{frame}
|
||||
|
||||
|
||||
%Section Conclusion
|
||||
\section{Conclusion}
|
||||
|
||||
\begin{frame}[fragile]
|
||||
\frametitle{Conclusion}
|
||||
\textcolor{mLightBrown}{What you have seen:}
|
||||
\begin{itemize}
|
||||
\item Successful use of \textbf{different smoothing algorithm} in context of indoor localisation
|
||||
\item A \textbf{very simple} backward transition model
|
||||
\item \textbf{Practical} and \textbf{theoretical comparison} between the single approaches
|
||||
\end{itemize}
|
||||
\begin{columns}[T,onlytextwidth]
|
||||
\column{0.5\textwidth}
|
||||
|
||||
\textcolor{pro}{What's good:}
|
||||
\begin{itemize}
|
||||
\item Realistic paths and good error compensation
|
||||
\item \textbf{Low computational cost} and \textbf{low complexity} by using backward simulation
|
||||
\end{itemize}
|
||||
\column{0.05\textwidth}
|
||||
\column{0.5\textwidth}
|
||||
|
||||
\textcolor{con}{What's future work?}
|
||||
\begin{itemize}
|
||||
\item Dynamic-lag smoothing
|
||||
\item Prediction of future observations to reduce the estimation lag
|
||||
\end{itemize}
|
||||
\end{columns}
|
||||
|
||||
\end{frame}
|
||||
|
||||
|
||||
\begin{frame}[fragile]{}
|
||||
\setbeamercolor{frametitle}{use=mDarkTeal,fg=mDarkTeal, bg=mWhite}
|
||||
\vfill
|
||||
\begin{center}
|
||||
\vspace{1em}
|
||||
\usebeamerfont{section title}
|
||||
Thank you. Any questions?
|
||||
\end{center}
|
||||
\vfill
|
||||
|
||||
Toni Fetzer \\
|
||||
\insertmail \\
|
||||
University of Applied Sciences W\"urzburg - Schweinfurt
|
||||
\end{frame}
|
||||
|
||||
|
||||
%\begin{frame}[allowframebreaks]
|
||||
|
||||
% \frametitle{References}
|
||||
|
||||
% \bibliography{demo}
|
||||
% \bibliographystyle{abbrv}
|
||||
|
||||
%\end{frame}
|
||||
|
||||
\end{document}
|
||||
329
presentation/gfx/backwardTransition.eps
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329
presentation/gfx/backwardTransition.eps
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62
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57
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470
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334
presentation/gfx/graph2D_end.eps
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presentation/gfx/graph2D_end.eps
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60
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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3876
presentation/gfx/heading.eps
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3876
presentation/gfx/heading.eps
Normal file
File diff suppressed because it is too large
Load Diff
2484
presentation/gfx/info_graphic.eps
Normal file
2484
presentation/gfx/info_graphic.eps
Normal file
File diff suppressed because it is too large
Load Diff
992
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Normal file
992
presentation/gfx/integral_new.eps
Normal file
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||||
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||||
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||||
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||||
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||||
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||||
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%%Trailer
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69
presentation/gfx/integral_new.eps_tex
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69
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100.164 223.555 100.867 222.07 102.184 c 220.133 100.289 l 222.277 98.352
|
||||
223.969 97.57 227.016 97.57 c 232.336 97.57 235.469 101.238 235.469 106.262
|
||||
c 232.5 117.188 m 232.5 113.395 231.883 109.602 227.473 109.602 c 223.059
|
||||
109.602 222.402 113.395 222.402 117.188 c 222.402 120.98 223.059 124.773
|
||||
227.473 124.773 c 231.883 124.773 232.5 120.98 232.5 117.188 c 258.426
|
||||
116.238 m 258.426 117.598 l 258.426 123.617 255.332 127.41 250.098 127.41
|
||||
c 244.945 127.41 241.773 123.578 241.773 117.023 c 241.773 109.852 245.277
|
||||
106.633 250.637 106.633 c 254.098 106.633 255.992 107.707 258.055 109.77
|
||||
c 256.035 111.539 l 254.426 109.934 253.066 109.234 250.719 109.234 c 246.844
|
||||
109.234 244.742 111.789 244.742 116.238 c h
|
||||
255.457 118.465 m 244.742 118.465 l 244.824 120.113 244.906 120.734 245.359
|
||||
121.844 c 246.141 123.699 247.957 124.895 250.098 124.895 c 252.242 124.895
|
||||
254.055 123.699 254.84 121.844 c 255.293 120.734 255.375 120.113 255.457
|
||||
118.465 c 290.207 127.164 m 286.992 127.164 l 282.379 110.879 l 277.02
|
||||
127.164 l 274.465 127.164 l 269.145 110.879 l 264.488 127.164 l 261.273
|
||||
127.164 l 267.703 106.883 l 270.465 106.883 l 275.742 122.629 l 281.059
|
||||
106.883 l 283.82 106.883 l h
|
||||
308.84 106.883 m 308.84 120.648 l 308.84 125.059 306.16 127.41 300.719
|
||||
127.41 c 297.422 127.41 295.359 126.75 293.547 124.402 c 295.566 122.543
|
||||
l 296.762 124.234 298.082 124.852 300.676 124.852 c 304.387 124.852 305.871
|
||||
123.371 305.871 120.402 c 305.871 118.465 l 299.77 118.465 l 295.238 118.465
|
||||
292.766 116.156 292.766 112.613 c 292.766 111.004 293.301 109.48 294.289
|
||||
108.492 c 295.566 107.172 297.215 106.633 300.02 106.633 c 302.738 106.633
|
||||
304.223 107.172 305.871 108.82 c 305.871 106.883 l h
|
||||
305.871 114.055 m 305.871 112.367 305.543 111.211 304.84 110.551 c 303.562
|
||||
109.316 302.039 109.191 300.305 109.191 c 297.09 109.191 295.648 110.305
|
||||
295.648 112.652 c 295.648 115 297.133 116.238 300.184 116.238 c 305.871
|
||||
116.238 l h
|
||||
332.004 106.883 m 332.004 119.867 l 332.004 122.215 331.344 124.113 329.898
|
||||
125.512 c 328.664 126.75 326.891 127.41 324.707 127.41 c 322.438 127.41
|
||||
320.461 126.586 319.02 124.938 c 319.02 127.164 l 316.051 127.164 l 316.051
|
||||
106.883 l 319.02 106.883 l 319.02 119.371 l 319.02 122.918 320.996 124.773
|
||||
324.047 124.773 c 327.098 124.773 329.035 122.957 329.035 119.371 c 329.035
|
||||
106.883 l h
|
||||
354.258 106.883 m 354.258 136.23 l 351.293 136.23 l 351.293 124.812 l 349.645
|
||||
126.914 347.789 127.41 345.562 127.41 c 343.5 127.41 341.688 126.707 340.617
|
||||
125.637 c 338.555 123.578 338.145 120.195 338.145 117.023 c 338.145 113.848
|
||||
338.555 110.469 340.617 108.41 c 341.688 107.336 343.5 106.633 345.562
|
||||
106.633 c 347.789 106.633 349.684 107.172 351.332 109.316 c 351.332 106.883
|
||||
l h
|
||||
351.293 117.023 m 351.293 113.066 350.633 109.273 346.223 109.273 c 341.812
|
||||
109.273 341.109 113.066 341.109 117.023 c 341.109 120.98 341.812 124.773
|
||||
346.223 124.773 c 350.633 124.773 351.293 120.98 351.293 117.023 c 369.469
|
||||
106.883 m 369.469 109.438 l 367.902 109.438 l 366.008 109.438 365.141 110.551
|
||||
365.141 112.406 c 365.141 124.773 l 369.469 124.773 l 369.469 127.039 l
|
||||
365.141 127.039 l 365.141 133.383 l 362.172 133.383 l 362.172 127.039 l
|
||||
359.617 127.039 l 359.617 124.773 l 362.172 124.773 l 362.172 112.324 l
|
||||
362.172 109.316 363.902 106.883 367.367 106.883 c h
|
||||
390.57 116.238 m 390.57 117.598 l 390.57 123.617 387.477 127.41 382.242
|
||||
127.41 c 377.09 127.41 373.918 123.578 373.918 117.023 c 373.918 109.852
|
||||
377.422 106.633 382.777 106.633 c 386.242 106.633 388.137 107.707 390.199
|
||||
109.77 c 388.18 111.539 l 386.57 109.934 385.211 109.234 382.859 109.234
|
||||
c 378.988 109.234 376.883 111.789 376.883 116.238 c h
|
||||
387.602 118.465 m 376.883 118.465 l 376.969 120.113 377.051 120.734 377.504
|
||||
121.844 c 378.285 123.699 380.098 124.895 382.242 124.895 c 384.387 124.895
|
||||
386.199 123.699 386.984 121.844 c 387.438 120.734 387.52 120.113 387.602
|
||||
118.465 c 437.969 136.23 m 434.629 136.23 l 428.898 112.57 l 422.43 136.23
|
||||
l 419.629 136.23 l 413.156 112.57 l 407.426 136.23 l 404.09 136.23 l 411.59
|
||||
106.883 l 414.516 106.883 l 421.027 130.375 l 427.539 106.883 l 430.469
|
||||
106.883 l h
|
||||
445.305 127.164 m 442.336 127.164 l 442.336 106.883 l 445.305 106.883 l
|
||||
h
|
||||
445.512 136.273 m 442.172 136.273 l 442.172 132.934 l 445.512 132.934 l
|
||||
h
|
||||
467.398 112.82 m 467.398 116.609 464.965 117.969 461.422 118.301 c 458.164
|
||||
118.586 l 455.609 118.793 454.621 119.824 454.621 121.555 c 454.621 123.617
|
||||
456.188 124.895 459.152 124.895 c 461.254 124.895 463.109 124.402 464.555
|
||||
123.289 c 466.488 125.223 l 464.676 126.707 462.082 127.41 459.195 127.41
|
||||
c 454.867 127.41 451.734 125.184 451.734 121.473 c 451.734 118.133 453.836
|
||||
116.363 457.793 116.035 c 461.133 115.746 l 463.48 115.539 464.512 114.547
|
||||
464.512 112.777 c 464.512 110.387 462.449 109.191 459.113 109.191 c 456.598
|
||||
109.191 454.414 109.852 452.805 111.539 c 450.828 109.562 l 453.055 107.418
|
||||
455.73 106.633 459.152 106.633 c 464.059 106.633 467.398 108.902 467.398
|
||||
112.82 c 487.176 112.82 m 487.176 116.609 484.746 117.969 481.199 118.301
|
||||
c 477.941 118.586 l 475.387 118.793 474.398 119.824 474.398 121.555 c 474.398
|
||||
123.617 475.965 124.895 478.934 124.895 c 481.035 124.895 482.891 124.402
|
||||
484.332 123.289 c 486.27 125.223 l 484.457 126.707 481.859 127.41 478.973
|
||||
127.41 c 474.645 127.41 471.512 125.184 471.512 121.473 c 471.512 118.133
|
||||
473.613 116.363 477.57 116.035 c 480.91 115.746 l 483.262 115.539 484.293
|
||||
114.547 484.293 112.777 c 484.293 110.387 482.23 109.191 478.891 109.191
|
||||
c 476.379 109.191 474.191 109.852 472.586 111.539 c 470.605 109.562 l 472.832
|
||||
107.418 475.512 106.633 478.934 106.633 c 483.836 106.633 487.176 108.902
|
||||
487.176 112.82 c 508.527 116.238 m 508.527 117.598 l 508.527 123.617 505.434
|
||||
127.41 500.199 127.41 c 495.047 127.41 491.875 123.578 491.875 117.023
|
||||
c 491.875 109.852 495.379 106.633 500.734 106.633 c 504.199 106.633 506.094
|
||||
107.707 508.156 109.77 c 506.137 111.539 l 504.527 109.934 503.168 109.234
|
||||
500.816 109.234 c 496.945 109.234 494.844 111.789 494.844 116.238 c h
|
||||
505.559 118.465 m 494.844 118.465 l 494.926 120.113 495.008 120.734 495.461
|
||||
121.844 c 496.242 123.699 498.059 124.895 500.199 124.895 c 502.344 124.895
|
||||
504.156 123.699 504.941 121.844 c 505.395 120.734 505.477 120.113 505.559
|
||||
118.465 c 530.781 106.883 m 530.781 119.867 l 530.781 122.215 530.125 124.113
|
||||
528.68 125.512 c 527.445 126.75 525.672 127.41 523.488 127.41 c 521.223
|
||||
127.41 519.242 126.586 517.801 124.938 c 517.801 127.164 l 514.832 127.164
|
||||
l 514.832 106.883 l 517.801 106.883 l 517.801 119.371 l 517.801 122.918
|
||||
519.777 124.773 522.828 124.773 c 525.879 124.773 527.816 122.957 527.816
|
||||
119.371 c 527.816 106.883 l h
|
||||
552.629 112.82 m 552.629 116.609 550.195 117.969 546.652 118.301 c 543.395
|
||||
118.586 l 540.84 118.793 539.852 119.824 539.852 121.555 c 539.852 123.617
|
||||
541.418 124.895 544.387 124.895 c 546.488 124.895 548.344 124.402 549.785
|
||||
123.289 c 551.723 125.223 l 549.906 126.707 547.312 127.41 544.426 127.41
|
||||
c 540.098 127.41 536.965 125.184 536.965 121.473 c 536.965 118.133 539.066
|
||||
116.363 543.023 116.035 c 546.363 115.746 l 548.715 115.539 549.742 114.547
|
||||
549.742 112.777 c 549.742 110.387 547.684 109.191 544.344 109.191 c 541.828
|
||||
109.191 539.645 109.852 538.039 111.539 c 536.059 109.562 l 538.285 107.418
|
||||
540.965 106.633 544.387 106.633 c 549.289 106.633 552.629 108.902 552.629
|
||||
112.82 c 572.988 109.645 m 570.969 111.582 l 569.445 109.891 568.25 109.273
|
||||
566.312 109.273 c 564.332 109.273 562.688 110.055 561.613 111.582 c 560.664
|
||||
112.902 560.293 114.465 560.293 117.023 c 560.293 119.578 560.664 121.145
|
||||
561.613 122.461 c 562.688 123.988 564.332 124.773 566.312 124.773 c 568.25
|
||||
124.773 569.445 124.195 570.969 122.504 c 572.988 124.402 l 570.887 126.668
|
||||
569.113 127.41 566.312 127.41 c 561.199 127.41 557.324 123.949 557.324
|
||||
117.023 c 557.324 110.098 561.199 106.633 566.312 106.633 c 569.113 106.633
|
||||
570.887 107.375 572.988 109.645 c 594.586 106.883 m 594.586 119.906 l 594.586
|
||||
124.484 591.867 127.41 587.293 127.41 c 585.023 127.41 583.086 126.625
|
||||
581.602 124.938 c 581.602 136.23 l 578.637 136.23 l 578.637 106.883 l 581.602
|
||||
106.883 l 581.602 119.414 l 581.602 122.918 583.625 124.773 586.672 124.773
|
||||
c 589.723 124.773 591.621 122.957 591.621 119.414 c 591.621 106.883 l h
|
||||
616.27 106.883 m 616.27 120.648 l 616.27 125.059 613.59 127.41 608.148
|
||||
127.41 c 604.852 127.41 602.789 126.75 600.977 124.402 c 602.996 122.543
|
||||
l 604.191 124.234 605.508 124.852 608.105 124.852 c 611.816 124.852 613.301
|
||||
123.371 613.301 120.402 c 613.301 118.465 l 607.199 118.465 l 602.664 118.465
|
||||
600.191 116.156 600.191 112.613 c 600.191 111.004 600.727 109.48 601.719
|
||||
108.492 c 602.996 107.172 604.645 106.633 607.445 106.633 c 610.168 106.633
|
||||
611.648 107.172 613.301 108.82 c 613.301 106.883 l h
|
||||
613.301 114.055 m 613.301 112.367 612.969 111.211 612.27 110.551 c 610.992
|
||||
109.316 609.465 109.191 607.734 109.191 c 604.52 109.191 603.078 110.305
|
||||
603.078 112.652 c 603.078 115 604.562 116.238 607.609 116.238 c 613.301
|
||||
116.238 l h
|
||||
631.434 124.773 m 631.434 127.039 l 627.105 127.039 l 627.105 130.789 l
|
||||
627.105 132.645 627.93 133.754 629.828 133.754 c 631.434 133.754 l 631.434
|
||||
136.312 l 629.293 136.312 l 625.828 136.312 624.141 133.879 624.141 130.871
|
||||
c 624.141 127.039 l 621.543 127.039 l 621.543 124.773 l 624.141 124.773
|
||||
l 624.141 106.883 l 627.105 106.883 l 627.105 124.773 l h
|
||||
644.211 106.883 m 644.211 109.438 l 642.645 109.438 l 640.75 109.438 639.883
|
||||
110.551 639.883 112.406 c 639.883 124.773 l 644.211 124.773 l 644.211 127.039
|
||||
l 639.883 127.039 l 639.883 133.383 l 636.918 133.383 l 636.918 127.039
|
||||
l 634.359 127.039 l 634.359 124.773 l 636.918 124.773 l 636.918 112.324
|
||||
l 636.918 109.316 638.648 106.883 642.109 106.883 c h
|
||||
665.312 116.238 m 665.312 117.598 l 665.312 123.617 662.219 127.41 656.984
|
||||
127.41 c 651.836 127.41 648.66 123.578 648.66 117.023 c 648.66 109.852
|
||||
652.164 106.633 657.523 106.633 c 660.984 106.633 662.879 107.707 664.941
|
||||
109.77 c 662.922 111.539 l 661.312 109.934 659.953 109.234 657.605 109.234
|
||||
c 653.73 109.234 651.629 111.789 651.629 116.238 c h
|
||||
662.344 118.465 m 651.629 118.465 l 651.711 120.113 651.793 120.734 652.246
|
||||
121.844 c 653.027 123.699 654.844 124.895 656.984 124.895 c 659.129 124.895
|
||||
660.941 123.699 661.727 121.844 c 662.18 120.734 662.262 120.113 662.344
|
||||
118.465 c 687.57 106.883 m 687.57 119.867 l 687.57 122.215 686.91 124.113
|
||||
685.469 125.512 c 684.23 126.75 682.457 127.41 680.273 127.41 c 678.008
|
||||
127.41 676.027 126.586 674.586 124.938 c 674.586 127.164 l 671.617 127.164
|
||||
l 671.617 106.883 l 674.586 106.883 l 674.586 119.371 l 674.586 122.918
|
||||
676.562 124.773 679.613 124.773 c 682.664 124.773 684.602 122.957 684.602
|
||||
119.371 c 684.602 106.883 l h
|
||||
687.57 106.883 m f
|
||||
133.043 148.863 m 133.043 178.211 l 127.316 178.211 l 127.316 166.219 l
|
||||
117.379 166.219 l 117.379 178.211 l 111.652 178.211 l 111.652 148.863 l
|
||||
117.379 148.863 l 117.379 161.145 l 127.316 161.145 l 127.316 148.863 l
|
||||
h
|
||||
156.742 159.621 m 156.742 163.496 156.25 165.926 154.312 167.949 c 152.992
|
||||
169.348 150.809 170.586 147.633 170.586 c 144.461 170.586 142.316 169.348
|
||||
141 167.949 c 139.062 165.926 138.566 163.496 138.566 159.621 c 138.566
|
||||
155.707 139.062 153.273 141 151.254 c 142.316 149.852 144.461 148.617 147.633
|
||||
148.617 c 150.809 148.617 152.992 149.852 154.312 151.254 c 156.25 153.273
|
||||
156.742 155.707 156.742 159.621 c 151.387 159.621 m 151.387 157.395 151.262
|
||||
155.5 150.148 154.387 c 149.531 153.77 148.707 153.438 147.633 153.438
|
||||
c 146.562 153.438 145.781 153.77 145.16 154.387 c 144.047 155.5 143.926
|
||||
157.395 143.926 159.621 c 143.926 161.848 144.047 163.703 145.16 164.816
|
||||
c 145.781 165.434 146.562 165.762 147.633 165.762 c 148.707 165.762 149.531
|
||||
165.434 150.148 164.816 c 151.262 163.703 151.387 161.848 151.387 159.621
|
||||
c 177.477 151.543 m 173.848 155.129 l 172.734 153.934 171.789 153.438 170.387
|
||||
153.438 c 169.109 153.438 168.121 153.891 167.336 154.84 c 166.512 155.871
|
||||
166.141 157.355 166.141 159.621 c 166.141 161.887 166.512 163.332 167.336
|
||||
164.363 c 168.121 165.309 169.109 165.762 170.387 165.762 c 171.789 165.762
|
||||
172.734 165.27 173.848 164.074 c 177.477 167.699 l 175.578 169.68 173.355
|
||||
170.586 170.387 170.586 c 166.098 170.586 160.781 168.32 160.781 159.621
|
||||
c 160.781 150.926 166.098 148.617 170.387 148.617 c 173.355 148.617 175.578
|
||||
149.566 177.477 151.543 c 199.32 148.863 m 199.32 162.754 l 199.32 167.289
|
||||
196.848 170.586 192.148 170.586 c 190.254 170.586 188.441 169.844 186.996
|
||||
168.359 c 186.996 178.211 l 181.637 178.211 l 181.637 148.863 l 186.996
|
||||
148.863 l 186.996 161.969 l 186.996 164.773 188.77 165.762 190.457 165.762
|
||||
c 192.148 165.762 193.961 164.816 193.961 161.969 c 193.961 148.863 l h
|
||||
221.246 155.625 m 221.246 159.25 219.105 161.516 214.859 161.93 c 211.48
|
||||
162.258 l 209.582 162.426 209.254 163.332 209.254 164.113 c 209.254 165.184
|
||||
210.16 166.176 212.305 166.176 c 214.16 166.176 216.055 165.844 217.289
|
||||
164.734 c 220.59 168.07 l 218.527 170.008 215.723 170.586 212.387 170.586
|
||||
c 208.016 170.586 204.102 168.195 204.102 163.742 c 204.102 159.785 206.492
|
||||
158.098 210.367 157.727 c 213.746 157.395 l 215.438 157.23 216.012 156.488
|
||||
216.012 155.418 c 216.012 153.809 214.074 153.191 212.223 153.191 c 210.574
|
||||
153.191 208.266 153.438 206.492 155.211 c 202.988 151.707 l 205.707 148.988
|
||||
208.758 148.617 212.137 148.617 c 217.207 148.617 221.246 150.883 221.246
|
||||
155.625 c 241.363 151.543 m 237.734 155.129 l 236.621 153.934 235.672 153.438
|
||||
234.273 153.438 c 232.996 153.438 232.004 153.891 231.223 154.84 c 230.398
|
||||
155.871 230.027 157.355 230.027 159.621 c 230.027 161.887 230.398 163.332
|
||||
231.223 164.363 c 232.004 165.309 232.996 165.762 234.273 165.762 c 235.672
|
||||
165.762 236.621 165.27 237.734 164.074 c 241.363 167.699 l 239.465 169.68
|
||||
237.238 170.586 234.273 170.586 c 229.984 170.586 224.668 168.32 224.668
|
||||
159.621 c 224.668 150.926 229.984 148.617 234.273 148.617 c 237.238 148.617
|
||||
239.465 149.566 241.363 151.543 c 263.207 148.863 m 263.207 162.754 l 263.207
|
||||
167.289 260.734 170.586 256.035 170.586 c 254.137 170.586 252.324 169.844
|
||||
250.883 168.359 c 250.883 178.211 l 245.523 178.211 l 245.523 148.863 l
|
||||
250.883 148.863 l 250.883 161.969 l 250.883 164.773 252.656 165.762 254.344
|
||||
165.762 c 256.035 165.762 257.848 164.816 257.848 161.969 c 257.848 148.863
|
||||
l h
|
||||
286.578 148.863 m 286.578 170.336 l 281.219 170.336 l 281.219 157.355 l
|
||||
281.219 154.426 279.32 153.438 277.633 153.438 c 275.941 153.438 274.086
|
||||
154.426 274.086 157.355 c 274.086 170.336 l 268.73 170.336 l 268.73 156.613
|
||||
l 268.73 154.262 269.184 152.242 270.914 150.512 c 272.109 149.316 273.84
|
||||
148.617 275.984 148.617 c 277.961 148.617 279.941 149.359 281.34 150.844
|
||||
c 281.34 148.863 l h
|
||||
301.703 148.863 m 301.703 153.398 l 299.641 153.398 l 298.281 153.398 297.746
|
||||
154.055 297.746 155.336 c 297.746 178.211 l 292.387 178.211 l 292.387 155.004
|
||||
l 292.387 151.953 294.242 148.863 298.652 148.863 c h
|
||||
322.605 157.93 m 322.605 160.32 l 322.605 166.219 319.223 170.586 313.246
|
||||
170.586 c 307.684 170.586 303.891 166.629 303.891 159.621 c 303.891 150.926
|
||||
308.754 148.617 313.824 148.617 c 317.699 148.617 319.801 149.812 321.984
|
||||
151.996 c 318.73 155.168 l 317.371 153.809 316.215 153.152 313.867 153.152
|
||||
c 310.859 153.152 309.168 155.168 309.168 157.93 c h
|
||||
317.328 161.598 m 309.168 161.598 l 309.207 162.547 309.332 163.125 309.66
|
||||
163.906 c 310.238 165.184 311.434 166.133 313.246 166.133 c 315.062 166.133
|
||||
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||||
307.602 186 m 51.602 186 l 51.602 83.602 l 0.398 83.602 l 0.398 0.398 l
|
||||
211.602 0.398 l 211.629 78 l 313.199 78 l 364.398 129.199 l 364.398 210.801
|
||||
l 307.602 210.801 l h
|
||||
307.602 186 m S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
139.629 83.602 40.801 19.199 re S Q
|
||||
0.643137 g
|
||||
1 J
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
285.23 131.602 25.598 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
285.23 106 25.598 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
285.23 80.398 25.598 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
310.828 131.602 25.602 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
310.828 106 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
336.43 131.602 25.598 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
285.23 157.199 25.598 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
310.828 157.199 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
336.43 157.199 25.598 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
310.828 182.801 25.602 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
336.43 182.801 25.598 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
259.629 131.602 25.602 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
259.629 106 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
259.629 80.398 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
259.629 157.199 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
234.027 131.602 25.602 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
234.027 106 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
234.027 80.398 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
234.027 157.199 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
182.828 80.398 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
208.43 131.602 25.598 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
208.43 106 25.598 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
182.828 157.199 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
208.43 157.199 25.598 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
157.23 131.602 25.598 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
157.23 106 25.598 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
157.23 157.199 25.598 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
131.629 131.602 25.602 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
131.629 106 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
131.629 157.199 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
182.828 106 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
208.43 80.398 25.598 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
106.027 131.602 25.602 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
106.027 106 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
106.027 80.398 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
106.027 157.199 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
80.43 131.602 25.598 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
80.43 106 25.598 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
80.43 80.398 25.598 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
80.43 157.199 25.598 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
54.828 131.602 25.602 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
54.828 106 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
54.828 80.398 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
54.828 157.199 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
182.828 54.801 25.602 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
157.23 54.801 25.598 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
131.629 54.801 25.602 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
106.027 54.801 25.602 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
80.43 54.801 25.598 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
54.828 54.801 25.602 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
182.828 29.199 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
157.23 29.199 25.598 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
131.629 29.199 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
106.027 29.199 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
80.43 29.199 25.598 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
54.828 29.199 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
182.828 3.602 25.602 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
157.23 3.602 25.598 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
131.629 3.602 25.602 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
106.027 3.602 25.602 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
80.43 3.602 25.598 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
54.828 3.602 25.602 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
29.23 54.801 25.598 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
29.23 29.199 25.598 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
29.23 3.602 25.598 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
3.629 54.801 25.602 25.598 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
3.629 29.199 25.602 25.602 re S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
3.629 3.602 25.602 25.598 re S Q
|
||||
0 g
|
||||
0 J
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
298.027 144.398 m 298.027 93.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
298.027 118.801 m 323.629 118.801 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
323.629 144.398 m 323.629 118.801 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
349.23 144.398 m 323.629 118.801 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
298.027 144.398 m 323.629 118.801 l S Q
|
||||
323.629 66.802 m 298.027 92.399 l f*
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
323.629 144.398 m 298.027 118.801 l S Q
|
||||
323.629 92.399 m 298.027 118.001 l f*
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
323.629 118.801 m 298.027 93.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
246.828 144.398 m 246.828 93.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
246.828 118.801 m 272.43 118.801 l S Q
|
||||
0.211765 0.835294 0.411765 rg
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
246.828 144.398 m 298.027 144.398 l S Q
|
||||
0 g
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
272.43 144.398 m 272.43 118.801 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
246.828 144.398 m 272.43 118.801 l S Q
|
||||
0.909804 0.305882 0.145098 rg
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
272.43 144.398 m 246.828 118.801 l S Q
|
||||
0.211765 0.835294 0.411765 rg
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
323.629 195.602 m 323.629 144.398 l S Q
|
||||
0 g
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
323.629 170 m 349.23 170 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
349.23 195.602 m 349.23 170 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
323.629 195.602 m 349.23 170 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
349.23 195.602 m 323.629 170 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
349.23 170 m 349.23 144.398 l h
|
||||
349.23 170 m S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
246.828 93.199 m 272.43 93.199 l h
|
||||
246.828 93.199 m S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
272.43 93.199 m 272.43 118.801 l h
|
||||
272.43 93.199 m S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
246.828 93.199 m 272.43 118.801 l h
|
||||
246.828 93.199 m S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
246.828 118.801 m 272.43 93.199 l h
|
||||
246.828 118.801 m S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
272.43 118.801 m 298.027 118.801 l h
|
||||
272.43 118.801 m S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
323.629 170 m 349.23 144.398 l h
|
||||
323.629 170 m S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
349.23 170 m 323.629 144.398 l h
|
||||
349.23 170 m S Q
|
||||
0.909804 0.305882 0.145098 rg
|
||||
298.027 41.2 m 323.629 66.802 l h
|
||||
298.027 41.2 m f*
|
||||
0 g
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
298.027 170 m 323.629 144.398 l h
|
||||
298.027 170 m S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
272.43 170 m 298.027 144.398 l h
|
||||
272.43 170 m S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
246.828 170 m 272.43 144.398 l h
|
||||
246.828 170 m S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
323.629 195.602 m 349.23 195.602 l h
|
||||
323.629 195.602 m S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
246.828 93.199 m 221.23 93.199 l 221.23 119.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
221.23 118.801 m 246.828 118.801 l 221.23 93.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
221.23 118.801 m 246.828 92.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
246.828 93.199 m 221.23 93.199 l 221.23 119.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
246.828 93.199 m 221.23 93.199 l 221.23 119.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
221.23 118.801 m 246.828 92.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
246.828 93.199 m 221.23 93.199 l 221.23 119.602 l S Q
|
||||
0.909804 0.305882 0.145098 rg
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
221.23 118.801 m 246.828 118.801 l 221.23 93.199 l S Q
|
||||
0 g
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
246.828 93.199 m 221.23 93.199 l 221.23 119.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
195.629 118.801 m 221.23 92.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
195.629 118.801 m 221.23 118.801 l 195.629 93.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
221.23 93.199 m 195.629 93.199 l 195.629 119.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
195.629 144.398 m 221.23 118 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
221.23 118.801 m 195.629 118.801 l 195.629 145.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
195.629 144.398 m 221.23 118 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
221.23 118.801 m 195.629 118.801 l 195.629 145.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
221.23 144.398 m 246.828 118 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
246.828 118.801 m 221.23 118.801 l 221.23 145.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
221.23 170 m 246.828 143.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
221.23 170 m 246.828 170 l 221.23 144.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
195.629 170 m 221.23 143.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
195.629 170 m 221.23 170 l 195.629 144.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
170.027 118.801 m 195.629 92.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
170.027 144.398 m 195.629 118 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
195.629 118.801 m 170.027 118.801 l 170.027 145.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
170.027 170 m 195.629 143.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
170.027 170 m 195.629 170 l 170.027 144.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
144.43 144.398 m 170.027 118 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
170.027 118.801 m 144.43 118.801 l 144.43 145.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
144.43 170 m 170.027 143.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
144.43 170 m 170.027 170 l 144.43 144.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
118.828 118.801 m 144.43 118.801 l 118.828 93.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
118.828 144.398 m 144.43 118 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
144.43 118.801 m 118.828 118.801 l 118.828 145.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
118.828 170 m 144.43 143.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
118.828 170 m 144.43 170 l 118.828 144.398 l S Q
|
||||
118.543 119.079 m 92.941 92.677 l 93.516 92.122 l 119.117 118.52 l h
|
||||
118.543 119.079 m f*
|
||||
93.512 118.282 m 92.945 117.716 l 117.863 92.802 l 93.23 92.802 l 93.23
|
||||
92.001 l 119.793 92.001 l h
|
||||
93.512 118.282 m f*
|
||||
0.211765 0.835294 0.411765 rg
|
||||
92.828 118.399 m 92.828 91.598 l 93.629 91.598 l 93.629 117.598 l 118.828
|
||||
117.598 l 118.828 118.399 l h
|
||||
92.828 118.399 m f*
|
||||
0 g
|
||||
118.543 93.477 m 92.941 67.079 l 93.516 66.52 l 119.117 92.923 l h
|
||||
118.543 93.477 m f*
|
||||
118.543 67.88 m 92.941 41.477 l 93.516 40.923 l 119.117 67.321 l h
|
||||
118.543 67.88 m f*
|
||||
93.512 67.083 m 92.945 66.516 l 117.863 41.598 l 93.23 41.598 l 93.23 40.802
|
||||
l 119.793 40.802 l h
|
||||
93.512 67.083 m f*
|
||||
92.941 119.079 m 67.34 92.677 l 67.918 92.122 l 93.516 118.52 l h
|
||||
92.941 119.079 m f*
|
||||
67.91 118.282 m 67.348 117.716 l 92.262 92.802 l 67.629 92.802 l 67.629
|
||||
92.001 l 94.195 92.001 l h
|
||||
67.91 118.282 m f*
|
||||
67.23 118.399 m 67.23 91.598 l 68.027 91.598 l 68.027 117.598 l 93.23 117.598
|
||||
l 93.23 118.399 l h
|
||||
67.23 118.399 m f*
|
||||
92.941 93.477 m 67.34 67.079 l 67.918 66.52 l 93.516 92.923 l h
|
||||
92.941 93.477 m f*
|
||||
67.91 92.684 m 67.348 92.118 l 92.262 67.2 l 67.629 67.2 l 67.629 66.399
|
||||
l 94.195 66.399 l h
|
||||
67.91 92.684 m f*
|
||||
67.23 92.802 m 67.23 66.001 l 68.027 66.001 l 68.027 92.001 l 93.23 92.001
|
||||
l 93.23 92.802 l h
|
||||
67.23 92.802 m f*
|
||||
92.941 67.88 m 67.34 41.477 l 67.918 40.923 l 93.516 67.321 l h
|
||||
92.941 67.88 m f*
|
||||
67.91 67.083 m 67.348 66.516 l 92.262 41.598 l 67.629 41.598 l 67.629 40.802
|
||||
l 94.195 40.802 l h
|
||||
67.91 67.083 m f*
|
||||
67.23 67.2 m 67.23 40.399 l 68.027 40.399 l 68.027 66.399 l 93.23 66.399
|
||||
l 93.23 67.2 l h
|
||||
67.23 67.2 m f*
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
170.027 118.801 m 195.629 92.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
195.629 67.602 m 195.629 93.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
118.828 93.199 m 144.43 66.801 l S Q
|
||||
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|
||||
144.43 67.602 m 118.828 67.602 l 118.828 94 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
93.23 93.199 m 118.828 66.801 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
93.23 93.199 m 118.828 93.199 l 93.23 67.602 l S Q
|
||||
0.211765 0.835294 0.411765 rg
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
118.828 67.602 m 93.23 67.602 l 93.23 94 l S Q
|
||||
0 g
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
67.629 93.199 m 93.23 66.801 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
67.629 93.199 m 93.23 93.199 l 67.629 67.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
93.23 67.602 m 67.629 67.602 l 67.629 94 l S Q
|
||||
0.909804 0.305882 0.145098 rg
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
221.23 93.199 m 195.629 67.602 l S Q
|
||||
0 g
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
170.027 67.602 m 195.629 41.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
195.629 42 m 170.027 42 l 170.027 68.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
195.629 42 m 195.629 67.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
144.43 67.602 m 170.027 41.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
170.027 42 m 144.43 42 l 144.43 68.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
118.828 67.602 m 144.43 41.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
118.828 67.602 m 144.43 67.602 l 118.828 42 l S Q
|
||||
0.211765 0.835294 0.411765 rg
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
93.23 67.602 m 118.828 41.199 l S Q
|
||||
0 g
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
93.23 67.602 m 118.828 67.602 l 93.23 42 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
118.828 42 m 93.23 42 l 93.23 68.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
67.629 67.602 m 93.23 41.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
67.629 67.602 m 93.23 67.602 l 67.629 42 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
93.23 42 m 67.629 42 l 67.629 68.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
170.027 42 m 195.629 15.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
170.027 42 m 195.629 42 l 170.027 16.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
195.629 16.398 m 170.027 16.398 l 170.027 42.801 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
195.629 16.398 m 195.629 42 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
144.43 42 m 170.027 15.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
144.43 42 m 170.027 42 l 144.43 16.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
170.027 16.398 m 144.43 16.398 l 144.43 42.801 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
118.828 42 m 144.43 15.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
144.43 16.398 m 118.828 16.398 l 118.828 42.801 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
93.23 42 m 118.828 15.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
93.23 42 m 118.828 42 l 93.23 16.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
118.828 16.398 m 93.23 16.398 l 93.23 42.801 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
67.629 42 m 93.23 15.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
67.629 42 m 93.23 42 l 67.629 16.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
93.23 16.398 m 67.629 16.398 l 67.629 42.801 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
42.027 67.602 m 67.629 41.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
42.027 67.602 m 67.629 67.602 l 42.027 42 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
67.629 42 m 42.027 42 l 42.027 68.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
42.027 42 m 67.629 15.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
42.027 42 m 67.629 42 l 42.027 16.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
67.629 16.398 m 42.027 16.398 l 42.027 42.801 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
16.43 67.602 m 42.027 41.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
16.43 67.602 m 42.027 67.602 l 16.43 42 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
42.027 42 m 16.43 42 l 16.43 68.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
16.43 42 m 42.027 15.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
16.43 42 m 42.027 42 l 16.43 16.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
42.027 16.398 m 16.43 16.398 l 16.43 42.801 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
67.629 93.199 m 42.027 67.602 l S Q
|
||||
0.909804 0.305882 0.145098 rg
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
323.629 195.602 m 298.027 170 l S Q
|
||||
0 g
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
118.828 118.801 m 118.828 93.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
195.629 93.199 m 170.027 67.602 l S Q
|
||||
0.909804 0.305882 0.145098 rg
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
298.027 170 m 272.43 144.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
195.629 67.602 m 170.027 67.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
170.027 67.602 m 144.43 42 l S Q
|
||||
0 g
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
144.43 67.602 m 170.027 67.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
170.027 42 m 195.629 67.602 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
323.629 170 m 298.027 144.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
298.027 170 m 323.629 170 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
298.027 170 m 298.027 144.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
298.027 170 m 272.43 170 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
246.828 144.398 m 246.828 170.801 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
272.43 170 m 272.43 144.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
246.828 170 m 272.43 170 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
246.828 144.398 m 272.43 170 l S Q
|
||||
0.211765 0.835294 0.411765 rg
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
298.027 144.398 m 323.629 144.398 l S Q
|
||||
0 g
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
349.23 144.398 m 323.629 144.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
272.43 93.199 m 298.027 93.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
298.027 118.801 m 272.43 93.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
298.027 93.199 m 272.43 118.801 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
298.027 144.398 m 272.43 118.801 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
272.43 144.398 m 298.027 118.801 l S Q
|
||||
0.211765 0.835294 0.411765 rg
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
118.828 42 m 144.477 42.039 l S Q
|
||||
0 g
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
118.828 16.398 m 144.477 42.039 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
118.828 67.602 m 118.828 42 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
93.516 170.277 m 93.23 144.801 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
118.828 170 m 118.828 144.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
144.43 170 m 144.43 145.199 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
170.027 170 m 170.027 144.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
195.629 170 m 195.629 144.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
221.23 170 m 221.23 144.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
195.629 118.801 m 221.23 144.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
221.23 118.801 m 246.828 144.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
170.027 118.801 m 195.629 144.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
144.43 118.801 m 170.027 144.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
118.828 118.574 m 144.43 144.398 l S Q
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
93.23 119.199 m 118.828 144.398 l S Q
|
||||
0.211765 0.835294 0.411765 rg
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
246.828 144.398 m 92.945 144.684 l 93.23 119.199 l S Q
|
||||
0.376471 g
|
||||
301.23 92.399 m 301.23 90.634 299.797 89.2 298.027 89.2 c 296.262 89.2
|
||||
294.828 90.634 294.828 92.399 c 294.828 94.169 296.262 95.598 298.027 95.598
|
||||
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|
||||
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|
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|
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|
||||
294.828 65.032 294.828 66.802 c 294.828 68.567 296.262 70.001 298.027 70.001
|
||||
c 299.797 70.001 301.23 68.567 301.23 66.802 c h
|
||||
301.23 66.802 m f
|
||||
0.376471 g
|
||||
326.828 92.399 m 326.828 90.634 325.395 89.2 323.629 89.2 c 321.859 89.2
|
||||
320.43 90.634 320.43 92.399 c 320.43 94.169 321.859 95.598 323.629 95.598
|
||||
c 325.395 95.598 326.828 94.169 326.828 92.399 c h
|
||||
326.828 92.399 m f
|
||||
301.23 118.001 m 301.23 116.231 299.797 114.802 298.027 114.802 c 296.262
|
||||
114.802 294.828 116.231 294.828 118.001 c 294.828 119.766 296.262 121.2
|
||||
298.027 121.2 c 299.797 121.2 301.23 119.766 301.23 118.001 c h
|
||||
301.23 118.001 m f
|
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0.211765 0.835294 0.411765 rg
|
||||
326.828 66.802 m 326.828 65.032 325.395 63.598 323.629 63.598 c 321.859
|
||||
63.598 320.43 65.032 320.43 66.802 c 320.43 68.567 321.859 70.001 323.629
|
||||
70.001 c 325.395 70.001 326.828 68.567 326.828 66.802 c h
|
||||
326.828 66.802 m f
|
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0 0.498039 1 rg
|
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2.4 w
|
||||
1 J
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
326.828 144.398 m 326.828 146.168 325.395 147.602 323.629 147.602 c 321.859
|
||||
147.602 320.43 146.168 320.43 144.398 c 320.43 142.633 321.859 141.199
|
||||
323.629 141.199 c 325.395 141.199 326.828 142.633 326.828 144.398 c h
|
||||
326.828 144.398 m S Q
|
||||
0.376471 g
|
||||
352.43 66.802 m 352.43 65.032 350.996 63.598 349.23 63.598 c 347.461 63.598
|
||||
346.027 65.032 346.027 66.802 c 346.027 68.567 347.461 70.001 349.23 70.001
|
||||
c 350.996 70.001 352.43 68.567 352.43 66.802 c h
|
||||
352.43 66.802 m f
|
||||
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|
||||
269.23 90.634 269.23 92.399 c 269.23 94.169 270.66 95.598 272.43 95.598
|
||||
c 274.195 95.598 275.629 94.169 275.629 92.399 c h
|
||||
275.629 92.399 m f
|
||||
275.629 118.001 m 275.629 116.231 274.195 114.802 272.43 114.802 c 270.66
|
||||
114.802 269.23 116.231 269.23 118.001 c 269.23 119.766 270.66 121.2 272.43
|
||||
121.2 c 274.195 121.2 275.629 119.766 275.629 118.001 c h
|
||||
275.629 118.001 m f
|
||||
0.909804 0.305882 0.145098 rg
|
||||
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|
||||
243.629 90.634 243.629 92.399 c 243.629 94.169 245.062 95.598 246.828 95.598
|
||||
c 248.598 95.598 250.027 94.169 250.027 92.399 c h
|
||||
250.027 92.399 m f
|
||||
0.376471 g
|
||||
250.027 118.001 m 250.027 116.231 248.598 114.802 246.828 114.802 c 245.062
|
||||
114.802 243.629 116.231 243.629 118.001 c 243.629 119.766 245.062 121.2
|
||||
246.828 121.2 c 248.598 121.2 250.027 119.766 250.027 118.001 c h
|
||||
250.027 118.001 m f
|
||||
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|
||||
243.629 39.434 243.629 41.2 c 243.629 42.966 245.062 44.399 246.828 44.399
|
||||
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|
||||
250.027 41.2 m f
|
||||
0.211765 0.835294 0.411765 rg
|
||||
250.027 66.802 m 250.027 65.032 248.598 63.598 246.828 63.598 c 245.062
|
||||
63.598 243.629 65.032 243.629 66.802 c 243.629 68.567 245.062 70.001 246.828
|
||||
70.001 c 248.598 70.001 250.027 68.567 250.027 66.802 c h
|
||||
250.027 66.802 m f
|
||||
0.376471 g
|
||||
275.629 41.2 m 275.629 39.434 274.195 38.001 272.43 38.001 c 270.66 38.001
|
||||
269.23 39.434 269.23 41.2 c 269.23 42.966 270.66 44.399 272.43 44.399 c
|
||||
274.195 44.399 275.629 42.966 275.629 41.2 c h
|
||||
275.629 41.2 m f
|
||||
0.211765 0.835294 0.411765 rg
|
||||
272.43 70.001 m 273.57 70.001 274.629 69.391 275.199 68.399 c 275.77 67.411
|
||||
275.77 66.188 275.199 65.2 c 274.629 64.212 273.57 63.598 272.43 63.598
|
||||
c h
|
||||
272.43 70.001 m f
|
||||
0.376471 g
|
||||
352.43 15.598 m 352.43 13.833 350.996 12.399 349.23 12.399 c 347.461 12.399
|
||||
346.027 13.833 346.027 15.598 c 346.027 17.368 347.461 18.802 349.23 18.802
|
||||
c 350.996 18.802 352.43 17.368 352.43 15.598 c h
|
||||
352.43 15.598 m f
|
||||
352.43 41.2 m 352.43 39.434 350.996 38.001 349.23 38.001 c 347.461 38.001
|
||||
346.027 39.434 346.027 41.2 c 346.027 42.966 347.461 44.399 349.23 44.399
|
||||
c 350.996 44.399 352.43 42.966 352.43 41.2 c h
|
||||
352.43 41.2 m f
|
||||
0.211765 0.835294 0.411765 rg
|
||||
326.828 41.2 m 326.828 39.434 325.395 38.001 323.629 38.001 c 321.859 38.001
|
||||
320.43 39.434 320.43 41.2 c 320.43 42.966 321.859 44.399 323.629 44.399
|
||||
c 325.395 44.399 326.828 42.966 326.828 41.2 c h
|
||||
326.828 41.2 m f
|
||||
0.909804 0.305882 0.145098 rg
|
||||
301.23 41.2 m 301.23 39.434 299.797 38.001 298.027 38.001 c 296.262 38.001
|
||||
294.828 39.434 294.828 41.2 c 294.828 42.966 296.262 44.399 298.027 44.399
|
||||
c 299.797 44.399 301.23 42.966 301.23 41.2 c h
|
||||
301.23 41.2 m f
|
||||
0.376471 g
|
||||
224.43 92.399 m 224.43 90.634 222.996 89.2 221.23 89.2 c 219.461 89.2 218.027
|
||||
90.634 218.027 92.399 c 218.027 94.169 219.461 95.598 221.23 95.598 c 222.996
|
||||
95.598 224.43 94.169 224.43 92.399 c h
|
||||
224.43 92.399 m f
|
||||
0.211765 0.835294 0.411765 rg
|
||||
224.43 66.802 m 224.43 65.032 222.996 63.598 221.23 63.598 c 219.461 63.598
|
||||
218.027 65.032 218.027 66.802 c 218.027 68.567 219.461 70.001 221.23 70.001
|
||||
c 222.996 70.001 224.43 68.567 224.43 66.802 c h
|
||||
224.43 66.802 m f
|
||||
0.909804 0.305882 0.145098 rg
|
||||
224.43 118.001 m 224.43 116.231 222.996 114.802 221.23 114.802 c 219.461
|
||||
114.802 218.027 116.231 218.027 118.001 c 218.027 119.766 219.461 121.2
|
||||
221.23 121.2 c 222.996 121.2 224.43 119.766 224.43 118.001 c h
|
||||
224.43 118.001 m f
|
||||
0.376471 g
|
||||
198.828 92.399 m 198.828 90.634 197.395 89.2 195.629 89.2 c 193.859 89.2
|
||||
192.43 90.634 192.43 92.399 c 192.43 94.169 193.859 95.598 195.629 95.598
|
||||
c 197.395 95.598 198.828 94.169 198.828 92.399 c h
|
||||
198.828 92.399 m f
|
||||
198.828 118.001 m 198.828 116.231 197.395 114.802 195.629 114.802 c 193.859
|
||||
114.802 192.43 116.231 192.43 118.001 c 192.43 119.766 193.859 121.2 195.629
|
||||
121.2 c 197.395 121.2 198.828 119.766 198.828 118.001 c h
|
||||
198.828 118.001 m f
|
||||
173.23 92.399 m 173.23 90.634 171.797 89.2 170.027 89.2 c 168.262 89.2
|
||||
166.828 90.634 166.828 92.399 c 166.828 94.169 168.262 95.598 170.027 95.598
|
||||
c 171.797 95.598 173.23 94.169 173.23 92.399 c h
|
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|
||||
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|
||||
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|
||||
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||||
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|
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
96.43 144.398 m S Q
|
||||
0.376471 g
|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
70.001 c 120.598 70.001 122.027 68.567 122.027 66.802 c h
|
||||
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|
||||
0.376471 g
|
||||
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|
||||
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|
||||
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|
||||
147.629 41.2 m f
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
195.629 146.802 c 197.395 146.802 198.828 145.368 198.828 143.598 c h
|
||||
198.828 143.598 m f
|
||||
173.23 143.598 m 173.23 141.833 171.797 140.399 170.027 140.399 c 168.262
|
||||
140.399 166.828 141.833 166.828 143.598 c 166.828 145.368 168.262 146.802
|
||||
170.027 146.802 c 171.797 146.802 173.23 145.368 173.23 143.598 c h
|
||||
173.23 143.598 m f
|
||||
0.376471 g
|
||||
147.629 143.598 m 147.629 141.833 146.195 140.399 144.43 140.399 c 142.66
|
||||
140.399 141.23 141.833 141.23 143.598 c 141.23 145.368 142.66 146.802 144.43
|
||||
146.802 c 146.195 146.802 147.629 145.368 147.629 143.598 c h
|
||||
147.629 143.598 m f
|
||||
122.027 143.598 m 122.027 141.833 120.598 140.399 118.828 140.399 c 117.062
|
||||
140.399 115.629 141.833 115.629 143.598 c 115.629 145.368 117.062 146.802
|
||||
118.828 146.802 c 120.598 146.802 122.027 145.368 122.027 143.598 c h
|
||||
122.027 143.598 m f
|
||||
0.211765 0.835294 0.411765 rg
|
||||
96.43 143.598 m 96.43 141.833 94.996 140.399 93.23 140.399 c 91.461 140.399
|
||||
90.027 141.833 90.027 143.598 c 90.027 145.368 91.461 146.802 93.23 146.802
|
||||
c 94.996 146.802 96.43 145.368 96.43 143.598 c h
|
||||
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|
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0 0.498039 1 rg
|
||||
q 1 0 0 -1 0 211.199997 cm
|
||||
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|
||||
90.027 69.367 90.027 67.602 c 90.027 65.832 91.461 64.398 93.23 64.398 c
|
||||
94.996 64.398 96.43 65.832 96.43 67.602 c h
|
||||
96.43 67.602 m S Q
|
||||
0.376471 g
|
||||
70.828 143.598 m 70.828 141.833 69.395 140.399 67.629 140.399 c 65.859
|
||||
140.399 64.43 141.833 64.43 143.598 c 64.43 145.368 65.859 146.802 67.629
|
||||
146.802 c 69.395 146.802 70.828 145.368 70.828 143.598 c h
|
||||
70.828 143.598 m f
|
||||
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|
||||
166.001 192.43 167.434 192.43 169.2 c 192.43 170.966 193.859 172.399 195.629
|
||||
172.399 c 197.395 172.399 198.828 170.966 198.828 169.2 c h
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
122.027 169.2 m f
|
||||
0.376471 g
|
||||
96.43 169.2 m 96.43 167.434 94.996 166.001 93.23 166.001 c 91.461 166.001
|
||||
90.027 167.434 90.027 169.2 c 90.027 170.966 91.461 172.399 93.23 172.399
|
||||
c 94.996 172.399 96.43 170.966 96.43 169.2 c h
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
191.598 192.43 193.032 192.43 194.802 c 192.43 196.567 193.859 198.001
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
170.027 198.001 c 171.797 198.001 173.23 196.567 173.23 194.802 c h
|
||||
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|
||||
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|
||||
191.598 141.23 193.032 141.23 194.802 c 141.23 196.567 142.66 198.001 144.43
|
||||
198.001 c 146.195 198.001 147.629 196.567 147.629 194.802 c h
|
||||
147.629 194.802 m f
|
||||
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|
||||
191.598 115.629 193.032 115.629 194.802 c 115.629 196.567 117.062 198.001
|
||||
118.828 198.001 c 120.598 198.001 122.027 196.567 122.027 194.802 c h
|
||||
122.027 194.802 m f
|
||||
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|
||||
90.027 193.032 90.027 194.802 c 90.027 196.567 91.461 198.001 93.23 198.001
|
||||
c 94.996 198.001 96.43 196.567 96.43 194.802 c h
|
||||
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|
||||
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|
||||
191.598 64.43 193.032 64.43 194.802 c 64.43 196.567 65.859 198.001 67.629
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
c 18.195 146.802 19.629 145.368 19.629 143.598 c h
|
||||
19.629 143.598 m f
|
||||
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|
||||
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|
||||
c 43.797 172.399 45.23 170.966 45.23 169.2 c h
|
||||
45.23 169.2 m f
|
||||
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|
||||
13.23 167.434 13.23 169.2 c 13.23 170.966 14.66 172.399 16.43 172.399 c
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
c h
|
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272.43 63.598 m f
|
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||||
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|
||||
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|
||||
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|
||||
324.914 -198.418 323.77 c h
|
||||
-192.016 323.77 m S Q
|
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0.909804 0.305882 0.145098 rg
|
||||
323.77 12.782 m 322.625 12.782 321.57 13.395 320.996 14.384 c 320.426 15.376
|
||||
320.426 16.595 320.996 17.583 c 321.57 18.575 322.625 19.184 323.77 19.184
|
||||
c h
|
||||
323.77 12.782 m f
|
||||
0 0.498039 1 rg
|
||||
q 0 -1 -1 0 0 211.199997 cm
|
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198.418 -323.77 m 198.418 -322.625 197.805 -321.57 196.816 -320.996 c 195.824
|
||||
-320.426 194.605 -320.426 193.617 -320.996 c 192.625 -321.57 192.016 -322.625
|
||||
192.016 -323.77 c h
|
||||
198.418 -323.77 m S Q
|
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0.211765 0.835294 0.411765 rg
|
||||
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|
||||
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|
||||
144.477 165.962 c h
|
||||
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0 0.498039 1 rg
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|
||||
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|
||||
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|
||||
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0.909804 0.305882 0.145098 rg
|
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|
||||
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|
||||
144.477 172.36 c h
|
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|
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0 0.498039 1 rg
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q 0 -1 -1 0 0 211.199997 cm
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|
||||
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|
||||
38.84 -144.477 c h
|
||||
45.238 -144.477 m S Q
|
||||
Q Q
|
||||
showpage
|
||||
%%Trailer
|
||||
end restore
|
||||
%%EOF
|
||||
56
presentation/gfx/shortestPath.eps_tex
Normal file
56
presentation/gfx/shortestPath.eps_tex
Normal file
@@ -0,0 +1,56 @@
|
||||
%% Creator: Inkscape inkscape 0.91, www.inkscape.org
|
||||
%% PDF/EPS/PS + LaTeX output extension by Johan Engelen, 2010
|
||||
%% Accompanies image file 'shortestPath.eps' (pdf, eps, ps)
|
||||
%%
|
||||
%% To include the image in your LaTeX document, write
|
||||
%% \input{<filename>.pdf_tex}
|
||||
%% instead of
|
||||
%% \includegraphics{<filename>.pdf}
|
||||
%% To scale the image, write
|
||||
%% \def\svgwidth{<desired width>}
|
||||
%% \input{<filename>.pdf_tex}
|
||||
%% instead of
|
||||
%% \includegraphics[width=<desired width>]{<filename>.pdf}
|
||||
%%
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||||
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||||
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||||
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||||
2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||
2b2b2b2b2b2b2b2b2b1d00>
|
||||
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||||
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||||
%%CreationDate: Thu Oct 21 1999
|
||||
% Copyright URW Software, Copyright 1997 by URW
|
||||
% URW Software, Copyright 1997 by URW
|
||||
% See the file COPYING (GNU General Public License) for license conditions.
|
||||
% As a special exception, permission is granted to include this font
|
||||
% program in a Postscript or PDF file that consists of a document that
|
||||
% contains text to be displayed or printed using this font, regardless
|
||||
% of the conditions or license applying to the document itself.
|
||||
12 dict begin
|
||||
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|
||||
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|
||||
/Notice (URW Software, Copyright 1997 by URW. See the file COPYING (GNU General Public License) for license conditions. As a special exception, permission is granted to include this font program in a Postscript or PDF file that consists of a document that contains text to be displayed or printed using this font, regardless of the conditions or license applying to the document itself.) readonly def
|
||||
/Copyright (Copyright URW Software, Copyright 1997 by URW) readonly def
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
/UnderlineThickness 46 def
|
||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
/Encoding 256 array
|
||||
0 1 255 {1 index exch /.notdef put} for
|
||||
dup 2 /kappa put
|
||||
dup 1 /pi put
|
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|
||||
|
||||
currentdict end
|
||||
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||||
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cleartomark
|
||||
|
||||
%%EndResource
|
||||
%%BeginResource: font NimbusRomNo9L-Regu
|
||||
%!PS-AdobeFont-1.0: NimbusRomNo9L-Regu 1.06
|
||||
%%Title: NimbusRomNo9L-Regu
|
||||
%Version: 1.06
|
||||
%%CreationDate: Thu Aug 2 13:14:49 2007
|
||||
%%Creator: frob
|
||||
%Copyright: Copyright (URW)++,Copyright 1999 by (URW)++ Design &
|
||||
%Copyright: Development; Cyrillic glyphs added by Valek Filippov (C)
|
||||
%Copyright: 2001-2005
|
||||
% Generated by FontForge 20070723 (http://fontforge.sf.net/)
|
||||
%%EndComments
|
||||
|
||||
FontDirectory/NimbusRomNo9L-Regu known{/NimbusRomNo9L-Regu findfont dup/UniqueID known pop false {dup
|
||||
/UniqueID get 5020931 eq exch/FontType get 1 eq and}{pop false}ifelse
|
||||
{save true}{false}ifelse}{false}ifelse
|
||||
11 dict begin
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
/PaintType 0 def
|
||||
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|
||||
/version (1.06) readonly def
|
||||
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|
||||
/FullName (Nimbus Roman No9 L Regular) readonly def
|
||||
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|
||||
/Weight (Regular) readonly def
|
||||
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|
||||
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|
||||
/UnderlinePosition -100 def
|
||||
/UnderlineThickness 50 def
|
||||
end readonly def
|
||||
/Encoding 256 array
|
||||
0 1 255 {1 index exch /.notdef put} for
|
||||
dup 48 /zero put
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
dup 61 /equal put
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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0.5 w
|
||||
0 J
|
||||
1 j
|
||||
[] 0.0 d
|
||||
10 M q 1 0 0 1 0 432 cm
|
||||
54.242 -375.023 m 54.242 -371.023 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
54.242 -23.223 m 54.242 -27.223 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
182.809 -375.023 m 182.809 -371.023 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
182.809 -23.223 m 182.809 -27.223 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
311.375 -375.023 m 311.375 -371.023 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
311.375 -23.223 m 311.375 -27.223 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
439.941 -375.023 m 439.941 -371.023 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
439.941 -23.223 m 439.941 -27.223 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
568.508 -375.023 m 568.508 -371.023 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
568.508 -23.223 m 568.508 -27.223 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
54.242 -375.023 m 58.242 -375.023 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
568.508 -375.023 m 564.508 -375.023 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
54.242 -316.391 m 58.242 -316.391 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
568.508 -316.391 m 564.508 -316.391 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
54.242 -257.758 m 58.242 -257.758 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
568.508 -257.758 m 564.508 -257.758 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
54.242 -199.121 m 58.242 -199.121 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
568.508 -199.121 m 564.508 -199.121 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
54.242 -140.488 m 58.242 -140.488 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
568.508 -140.488 m 564.508 -140.488 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
54.242 -81.855 m 58.242 -81.855 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
568.508 -81.855 m 564.508 -81.855 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
54.242 -23.223 m 58.242 -23.223 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
568.508 -23.223 m 564.508 -23.223 l S Q
|
||||
0.999999 w
|
||||
q 1 0 0 1 0 432 cm
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||||
54.242 -23.223 m 568.508 -23.223 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
568.508 -375.023 m 568.508 -23.223 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
54.242 -375.023 m 568.508 -375.023 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
54.242 -375.023 m 54.242 -23.223 l S Q
|
||||
q 1 0 0 1 0 432 cm
|
||||
441.391 -32.223 118.117 -132.809 re S Q
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||||
0 0 1 rg
|
||||
2 J
|
||||
q 1 0 0 1 0 432 cm
|
||||
453.992 -45.723 m 479.191 -45.723 l S Q
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||||
0 0.501961 0 rg
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||||
q 1 0 0 1 0 432 cm
|
||||
453.992 -71.203 m 479.191 -71.203 l S Q
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||||
1 0 0 rg
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||||
q 1 0 0 1 0 432 cm
|
||||
453.992 -96.688 m 479.191 -96.688 l S Q
|
||||
0 0.74902 0.74902 rg
|
||||
q 1 0 0 1 0 432 cm
|
||||
453.992 -122.168 m 479.191 -122.168 l S Q
|
||||
0.74902 0 0.74902 rg
|
||||
q 1 0 0 1 0 432 cm
|
||||
453.992 -147.652 m 479.191 -147.652 l S Q
|
||||
0 g
|
||||
BT
|
||||
19.925301 0 0 19.925301 41.032 33.4867 Tm
|
||||
/f-0-1 1 Tf
|
||||
<01>Tj
|
||||
19.925282 0 3.327523 19.925282 56.5121 33.4867 Tm
|
||||
/f-1-1 1 Tf
|
||||
<01>Tj
|
||||
19.925301 0 0 19.925301 169.825 35.9656 Tm
|
||||
/f-0-1 1 Tf
|
||||
<01>Tj
|
||||
14.744819 0 2.462385 14.744819 186.505 43.7656 Tm
|
||||
/f-1-1 1 Tf
|
||||
<01>Tj
|
||||
ET
|
||||
186.492 41.355 9.359 -0.84 re f
|
||||
BT
|
||||
14.7448 0 0 14.7448 187.465 29.1258 Tm
|
||||
/f-2-0 1 Tf
|
||||
(2)Tj
|
||||
19.925301 0 0 19.925301 306.393 33.68674 Tm
|
||||
(0)Tj
|
||||
14.744819 0 2.462385 14.744819 436.495 43.8855 Tm
|
||||
/f-1-1 1 Tf
|
||||
<01>Tj
|
||||
ET
|
||||
436.484 41.473 9.359 -0.84 re f
|
||||
BT
|
||||
14.7448 0 0 14.7448 437.454 29.1258 Tm
|
||||
/f-2-0 1 Tf
|
||||
(2)Tj
|
||||
19.925282 0 3.327523 19.925282 563.035 33.6867 Tm
|
||||
/f-1-1 1 Tf
|
||||
<01>Tj
|
||||
19.925301 0 0 19.925301 306.393 6.30391 Tm
|
||||
/f-2-0 1 Tf
|
||||
(x)Tj
|
||||
-14.132535 2.323423 Td
|
||||
(0)Tj
|
||||
/f-0-0 1 Tf
|
||||
(.)Tj
|
||||
/f-2-0 1 Tf
|
||||
[()41(0)]TJ
|
||||
0 2.942671 Td
|
||||
(0)Tj
|
||||
/f-0-0 1 Tf
|
||||
(.)Tj
|
||||
/f-2-0 1 Tf
|
||||
[()41(2)]TJ
|
||||
0 2.942691 Td
|
||||
(0)Tj
|
||||
/f-0-0 1 Tf
|
||||
(.)Tj
|
||||
/f-2-0 1 Tf
|
||||
[()41(4)]TJ
|
||||
0 2.942631 Td
|
||||
(0)Tj
|
||||
/f-0-0 1 Tf
|
||||
(.)Tj
|
||||
/f-2-0 1 Tf
|
||||
[()41(6)]TJ
|
||||
0 2.942711 Td
|
||||
(0)Tj
|
||||
/f-0-0 1 Tf
|
||||
(.)Tj
|
||||
/f-2-0 1 Tf
|
||||
[()41(8)]TJ
|
||||
-0.0000205563 2.942671 Td
|
||||
(1)Tj
|
||||
/f-0-0 1 Tf
|
||||
(.)Tj
|
||||
/f-2-0 1 Tf
|
||||
[()41(0)]TJ
|
||||
-0.00000100375 2.931594 Td
|
||||
(1)Tj
|
||||
/f-0-0 1 Tf
|
||||
(.)Tj
|
||||
/f-2-0 1 Tf
|
||||
[()41(2)]TJ
|
||||
0 19.925301 -19.925301 0 11.1641 215.284 Tm
|
||||
(pdf)Tj
|
||||
23.9104 0 0 23.9104 204.245 413.971 Tm
|
||||
[(v)18(on)-245(Mi)3(ses)-254(distri)4(b)18(ution)]TJ
|
||||
17.932773 0 2.994774 17.932773 498.991 380.093 Tm
|
||||
/f-1-1 1 Tf
|
||||
<02>Tj
|
||||
17.9328 0 0 17.9328 514.831 380.093 Tm
|
||||
/f-2-0 1 Tf
|
||||
[(=)-246(0)]TJ
|
||||
/f-0-0 1 Tf
|
||||
[(.)]TJ
|
||||
/f-2-0 1 Tf
|
||||
[()35(1)]TJ
|
||||
17.932773 0 2.994774 17.932773 498.991 354.496 Tm
|
||||
/f-1-1 1 Tf
|
||||
<02>Tj
|
||||
17.9328 0 0 17.9328 514.831 354.496 Tm
|
||||
/f-2-0 1 Tf
|
||||
[(=)-246(1)]TJ
|
||||
17.932773 0 2.994774 17.932773 498.991 329.014 Tm
|
||||
/f-1-1 1 Tf
|
||||
<02>Tj
|
||||
17.9328 0 0 17.9328 514.831 329.014 Tm
|
||||
/f-2-0 1 Tf
|
||||
[(=)-246(2)]TJ
|
||||
17.932773 0 2.994774 17.932773 498.991 303.532 Tm
|
||||
/f-1-1 1 Tf
|
||||
<02>Tj
|
||||
17.9328 0 0 17.9328 514.831 303.532 Tm
|
||||
/f-2-0 1 Tf
|
||||
[(=)-246(4)]TJ
|
||||
17.932773 0 2.994774 17.932773 498.991 278.164 Tm
|
||||
/f-1-1 1 Tf
|
||||
<02>Tj
|
||||
17.9328 0 0 17.9328 514.831 278.164 Tm
|
||||
/f-2-0 1 Tf
|
||||
[(=)-246(8)]TJ
|
||||
ET
|
||||
Q Q
|
||||
showpage
|
||||
%%Trailer
|
||||
end restore
|
||||
BIN
presentation/gfx/wifi1.png
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BIN
presentation/gfx/wifi1.png
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|
After Width: | Height: | Size: 159 KiB |
BIN
presentation/gfx/wifi2.png
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BIN
presentation/gfx/wifi2.png
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|
After Width: | Height: | Size: 153 KiB |
BIN
presentation/gfx/wifi3.png
Executable file
BIN
presentation/gfx/wifi3.png
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|
After Width: | Height: | Size: 179 KiB |
BIN
presentation/gfx/wifi4.png
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presentation/gfx/wifi4.png
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|
After Width: | Height: | Size: 157 KiB |
9913
presentation/live/gnu1_1474543073.gp
Normal file
9913
presentation/live/gnu1_1474543073.gp
Normal file
File diff suppressed because it is too large
Load Diff
103
presentation/misc/functions.tex
Normal file
103
presentation/misc/functions.tex
Normal file
@@ -0,0 +1,103 @@
|
||||
|
||||
\newcommand{\mAvgSquaredError}{\ensuremath{\overline{e}}}
|
||||
|
||||
\newcommand{\mLogDistGamma}{\ensuremath{\gamma}}
|
||||
\newcommand{\mLogDistTX}{TX}
|
||||
|
||||
\newcommand{\mDongle}[1]{\ensuremath{D_{#1}}}
|
||||
%\newcommand{\mDongle}{d} % dongle
|
||||
\newcommand{\mBeacon}[1]{\ensuremath{B_{#1}}} % beacon
|
||||
|
||||
\newcommand{\mRssi}{\ensuremath{s}} % client's signal-strength measurement
|
||||
\newcommand{\mMdlRSSI}{\ensuremath{\varsigma}} % model's signal-strength
|
||||
|
||||
\newcommand{\mPosAP}{\varrho} % char for access point position vector
|
||||
\newcommand{\mPos}{\rho} % char for positions
|
||||
|
||||
|
||||
\newcommand{\mPosVec}{\vec{\mPos}} % position vector
|
||||
\newcommand{\mRssiVec}{\vec{s}} % client signal strength measurements
|
||||
|
||||
\newcommand{\mState}{q} % state variable
|
||||
\newcommand{\mStateVec}{\vec{q}} % state vector variable
|
||||
\newcommand{\mObs}{o} % observation variable
|
||||
\newcommand{\mObsVec}{\vec{o}} % observation vector variable
|
||||
\newcommand{\mObsWifi}{\vec{o}_{\text{wifi}}} % wifi observation
|
||||
|
||||
\newcommand{\mProb}{p} % char for probability
|
||||
|
||||
\newcommand{\mMovingAvgWithSize}[1]{\ensuremath{\text{avg}_{#1}}}
|
||||
|
||||
%\newcommand{\docIBeacon}{iBeacon}
|
||||
|
||||
% for equation references
|
||||
\newcommand{\refeq}[1]{eq. \eqref{#1}}
|
||||
|
||||
% add todo notes
|
||||
\newcommand{\todo}[1]{%
|
||||
\noindent%
|
||||
\fcolorbox{black}{yellow}{%
|
||||
\parbox[position]{0.45\textwidth}{%
|
||||
\footnotesize%
|
||||
{\bf TODO} #1%
|
||||
}%
|
||||
}%
|
||||
}
|
||||
|
||||
%comments
|
||||
\newcommand{\commentByFrank}[1]{%
|
||||
\noindent%
|
||||
\fcolorbox{black}{cyan}{%
|
||||
\parbox[position]{0.45\textwidth}{%
|
||||
\footnotesize%
|
||||
{\bf Frank:} #1%
|
||||
}%
|
||||
}%
|
||||
}
|
||||
\newcommand{\commentByLukas}[1]{%
|
||||
\noindent%
|
||||
\fcolorbox{black}{green}{%
|
||||
\parbox[position]{0.45\textwidth}{%
|
||||
\footnotesize%
|
||||
{\bf Lukas:} #1%
|
||||
}%
|
||||
}%
|
||||
}
|
||||
\newcommand{\commentByToni}[1]{%
|
||||
\noindent%
|
||||
\fcolorbox{black}{red}{%
|
||||
\parbox[position]{0.45\textwidth}{%
|
||||
\footnotesize%
|
||||
{\bf Toni:} #1%
|
||||
}%
|
||||
}%
|
||||
}
|
||||
|
||||
\newcommand{\docRSSI}{RSSI}
|
||||
\newcommand{\docTX}{TX}
|
||||
\newcommand{\docLogDist}{log-distance}
|
||||
|
||||
%\newcommand{\docAP}{access-point}
|
||||
%\newcommand{\docAPs}{access-points}
|
||||
|
||||
|
||||
|
||||
|
||||
\newcommand{\R}{\mathbb{R}}
|
||||
\newcommand{\N}{\mathbb{N}}
|
||||
|
||||
\newcommand{\mPLE}{\ensuremath{\gamma}} % path-loss exponent
|
||||
\newcommand{\mTXP}{\ensuremath{P_0}} % tx-power
|
||||
\newcommand{\mWAF}{\ensuremath{\lambda}} % wall attenuation factor
|
||||
|
||||
\newcommand{\mMdlDist}{\ensuremath{d}} % distance used within propagation models
|
||||
|
||||
\newcommand{\mGraph}{\ensuremath{G}}
|
||||
\newcommand{\mVertices}{\ensuremath{V}}
|
||||
\newcommand{\mVertex}{\ensuremath{v}}
|
||||
\newcommand{\mVertexB}{\ensuremath{w}}
|
||||
\newcommand{\mEdges}{\ensuremath{E}}
|
||||
\newcommand{\mEdge}{\ensuremath{e}}
|
||||
|
||||
|
||||
|
||||
31
presentation/misc/keywords.tex
Normal file
31
presentation/misc/keywords.tex
Normal file
@@ -0,0 +1,31 @@
|
||||
% keyword macros
|
||||
\newcommand{\docIBeacon}{iBeacon}
|
||||
|
||||
% wifi naming
|
||||
\newcommand{\wifiRSSI}{RSSI}
|
||||
\newcommand{\wifiTxPower}{TX-Power}
|
||||
\newcommand{\wifiPathLossExp}{PathLoss}
|
||||
|
||||
\newcommand{\wifiPropLogScale}{Log-Scale}
|
||||
\newcommand{\wifiPropLogScaleWalls}{Log-Scale-Walls}
|
||||
\newcommand{\docLogDistance}{log-distance}
|
||||
\newcommand{\docLogDistanceWalls}{wall-attenuation-factor}
|
||||
|
||||
|
||||
% misc
|
||||
\newcommand{\docTxPower}{TX-Power}
|
||||
\newcommand{\docPathLossExp}{PathLoss}
|
||||
\newcommand{\docPathLoss}{Pathloss}
|
||||
|
||||
\newcommand{\docsAP}{AP}
|
||||
\newcommand{\docAPshort}{AP}
|
||||
\newcommand{\docAP}{access-point}
|
||||
\newcommand{\docAPs}{access-points}
|
||||
|
||||
\newcommand{\docWIFI}{Wi\hbox{-}Fi}
|
||||
\newcommand{\docBeacon}{\Gls{Beacon}}
|
||||
\newcommand{\docBeacons}{\Glspl{Beacon}}
|
||||
|
||||
\newcommand{\docsRSSI}{RSSI}
|
||||
|
||||
\newcommand{\docDSimplex}{downhill-simplex}
|
||||
123
presentation/pgfplotsthemetol.sty
Normal file
123
presentation/pgfplotsthemetol.sty
Normal file
@@ -0,0 +1,123 @@
|
||||
%%
|
||||
%% This is file `pgfplotsthemetol.sty',
|
||||
%% generated with the docstrip utility.
|
||||
%%
|
||||
%% The original source files were:
|
||||
%%
|
||||
%% pgfplotsthemetol.dtx (with options: `package')
|
||||
%% ---------------------------------------------------------------------------
|
||||
%% Copyright 2015 Matthias Vogelgesang and the LaTeX community. A full list of
|
||||
%% contributors can be found at
|
||||
%%
|
||||
%% https://github.com/matze/mtheme/graphs/contributors
|
||||
%%
|
||||
%% and the original template was based on the HSRM theme by Benjamin Weiss.
|
||||
%%
|
||||
%% This work is licensed under a Creative Commons Attribution-ShareAlike 4.0
|
||||
%% International License (https://creativecommons.org/licenses/by-sa/4.0/).
|
||||
%% ---------------------------------------------------------------------------
|
||||
\NeedsTeXFormat{LaTeX2e}
|
||||
\ProvidesPackage{pgfplotsthemetol}
|
||||
[2015/06/16 PGFplots colors based on Paul Tol's SRON technical note]
|
||||
\definecolor{TolDarkPurple}{HTML}{332288}
|
||||
\definecolor{TolDarkBlue}{HTML}{6699CC}
|
||||
\definecolor{TolLightBlue}{HTML}{88CCEE}
|
||||
\definecolor{TolLightGreen}{HTML}{44AA99}
|
||||
\definecolor{TolDarkGreen}{HTML}{117733}
|
||||
\definecolor{TolDarkBrown}{HTML}{999933}
|
||||
\definecolor{TolLightBrown}{HTML}{DDCC77}
|
||||
\definecolor{TolDarkRed}{HTML}{661100}
|
||||
\definecolor{TolLightRed}{HTML}{CC6677}
|
||||
\definecolor{TolLightPink}{HTML}{AA4466}
|
||||
\definecolor{TolDarkPink}{HTML}{882255}
|
||||
\definecolor{TolLightPurple}{HTML}{AA4499}
|
||||
\pgfplotscreateplotcyclelist{mbarplot cycle}{%
|
||||
{draw=TolDarkBlue, fill=TolDarkBlue!70},
|
||||
{draw=TolLightBrown, fill=TolLightBrown!70},
|
||||
{draw=TolLightGreen, fill=TolLightGreen!70},
|
||||
{draw=TolDarkPink, fill=TolDarkPink!70},
|
||||
{draw=TolDarkPurple, fill=TolDarkPurple!70},
|
||||
{draw=TolDarkRed, fill=TolDarkRed!70},
|
||||
{draw=TolDarkBrown, fill=TolDarkBrown!70},
|
||||
{draw=TolLightRed, fill=TolLightRed!70},
|
||||
{draw=TolLightPink, fill=TolLightPink!70},
|
||||
{draw=TolLightPurple, fill=TolLightPurple!70},
|
||||
{draw=TolLightBlue, fill=TolLightBlue!70},
|
||||
{draw=TolDarkGreen, fill=TolDarkGreen!70},
|
||||
}
|
||||
\pgfplotscreateplotcyclelist{mlineplot cycle}{%
|
||||
{TolDarkBlue, mark=*, mark size=1.5pt},
|
||||
{TolLightBrown, mark=square*, mark size=1.3pt},
|
||||
{TolLightGreen, mark=triangle*, mark size=1.5pt},
|
||||
{TolDarkBrown, mark=diamond*, mark size=1.5pt},
|
||||
}
|
||||
\pgfplotsset{
|
||||
compat=1.9,
|
||||
mlineplot/.style={
|
||||
mbaseplot,
|
||||
xmajorgrids=true,
|
||||
ymajorgrids=true,
|
||||
major grid style={dotted},
|
||||
axis x line=bottom,
|
||||
axis y line=left,
|
||||
legend style={
|
||||
cells={anchor=west},
|
||||
draw=none
|
||||
},
|
||||
cycle list name=mlineplot cycle,
|
||||
},
|
||||
mbarplot base/.style={
|
||||
mbaseplot,
|
||||
bar width=6pt,
|
||||
axis y line*=none,
|
||||
},
|
||||
mbarplot/.style={
|
||||
mbarplot base,
|
||||
ybar,
|
||||
xmajorgrids=false,
|
||||
ymajorgrids=true,
|
||||
area legend,
|
||||
legend image code/.code={%
|
||||
\draw[#1] (0cm,-0.1cm) rectangle (0.15cm,0.1cm);
|
||||
},
|
||||
cycle list name=mbarplot cycle,
|
||||
},
|
||||
horizontal mbarplot/.style={
|
||||
mbarplot base,
|
||||
xmajorgrids=true,
|
||||
ymajorgrids=false,
|
||||
xbar stacked,
|
||||
area legend,
|
||||
legend image code/.code={%
|
||||
\draw[#1] (0cm,-0.1cm) rectangle (0.15cm,0.1cm);
|
||||
},
|
||||
cycle list name=mbarplot cycle,
|
||||
},
|
||||
mbaseplot/.style={
|
||||
legend style={
|
||||
draw=none,
|
||||
fill=none,
|
||||
cells={anchor=west},
|
||||
},
|
||||
x tick label style={
|
||||
font=\footnotesize
|
||||
},
|
||||
y tick label style={
|
||||
font=\footnotesize
|
||||
},
|
||||
legend style={
|
||||
font=\footnotesize
|
||||
},
|
||||
major grid style={
|
||||
dotted,
|
||||
},
|
||||
axis x line*=bottom,
|
||||
},
|
||||
disable thousands separator/.style={
|
||||
/pgf/number format/.cd,
|
||||
1000 sep={}
|
||||
},
|
||||
}
|
||||
\endinput
|
||||
%%
|
||||
%% End of file `pgfplotsthemetol.sty'.
|
||||
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user