+plot distance error
+formationControl 1 dan 2 model +formationControl 2 +param sx/sy fncSpeedRefmaster
parent
bc1085f9eb
commit
d55d7c2a5c
|
|
@ -2,3 +2,4 @@
|
|||
*.csv
|
||||
*.png
|
||||
/SOURCE/octave-workspace
|
||||
*.matrix
|
||||
|
|
|
|||
|
|
@ -0,0 +1,14 @@
|
|||
{
|
||||
// Use IntelliSense to learn about possible attributes.
|
||||
// Hover to view descriptions of existing attributes.
|
||||
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
{
|
||||
"type": "OctaveDebugger",
|
||||
"request": "launch",
|
||||
"name": "SM DEBUG",
|
||||
"program": "${workspaceFolder}/SOURCE/SM_2015_Rozenheck.m"
|
||||
}
|
||||
]
|
||||
}
|
||||
Binary file not shown.
|
|
@ -0,0 +1,17 @@
|
|||
\relax
|
||||
\providecommand\zref@newlabel[2]{}
|
||||
\providecommand \oddpage@label [2]{}
|
||||
\@writefile{toc}{\contentsline {section}{\numberline {1}Notasi-Notasi}{1}}
|
||||
\@writefile{toc}{\contentsline {section}{\numberline {2} Edge Function}{1}}
|
||||
\@writefile{lof}{\contentsline {figure}{\numberline {1}{\ignorespaces Skema General}}{2}}
|
||||
\newlabel{f1}{{1}{2}}
|
||||
\@writefile{toc}{\contentsline {section}{\numberline {3}Kendali}{2}}
|
||||
\@writefile{toc}{\contentsline {subsection}{\numberline {3.1}Orde Satu}{2}}
|
||||
\newlabel{controller}{{8}{2}}
|
||||
\@writefile{toc}{\contentsline {subsection}{\numberline {3.2}Orde Dua}{3}}
|
||||
\newlabel{orde_dua_ss}{{23}{3}}
|
||||
\@writefile{toc}{\contentsline {subsection}{\numberline {3.3}Implementasi}{3}}
|
||||
\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.3.1} time varian bentuk diskrit }{3}}
|
||||
\@writefile{lof}{\contentsline {figure}{\numberline {2}{\ignorespaces Hasil Membuat Ulang Simulasi}}{4}}
|
||||
\newlabel{sim_fig1}{{2}{4}}
|
||||
\@writefile{toc}{\contentsline {section}{\numberline {4}Kesimpulan}{4}}
|
||||
|
|
@ -0,0 +1,213 @@
|
|||
# Fdb version 3
|
||||
["pdflatex"] 1601464994 "RP_2015_Rozenheck.tex" "../DOC/RP_2015_Rozenheck.pdf" "RP_2015_Rozenheck" 1601464996
|
||||
"../DOC/RP_2015_Rozenheck.aux" 1601464995 1009 6cbb458358a59d36b8023851bc3a1255 "pdflatex"
|
||||
"/home/adnr/.texlive2018/texmf-var/web2c/pdftex/pdflatex.fmt" 1554267738 3679504 18b532cc93a737252166ca6ecc52ed1a ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/enc/dvips/cm-super/cm-super-t1.enc" 1480098666 2971 def0b6c1f0b107b3b936def894055589 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/enc/dvips/xcharter/xch_tuu2ww.enc" 1528060576 3134 ffda81628686473fb93def2a46f20d83 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/map/fontname/texfonts.map" 1511824771 3332 103109f5612ad95229751940c61aada0 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/map/pdftex/updmap/pdftex.map" 1530836625 2850648 765161d183c5509465c2744baf096a7a ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/adobe/times/ptmr8t.tfm" 1480098689 6672 e3ab9e37e925f3045c9005e6d1473d56 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/jknappen/ec/ecrm1000.tfm" 1480098696 3584 adb004a0c8e7c46ee66cad73671f37b4 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/jknappen/ec/ectt1200.tfm" 1480098696 1536 487c9b46984a816c7ed238d0674595c7 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/cmextra/cmex7.tfm" 1480098698 1004 54797486969f23fa377b128694d548df ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/cmextra/cmex8.tfm" 1480098698 988 bdf658c3bfc2d96d3c8b02cfc1c94c20 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/symbols/msam10.tfm" 1480098698 916 f87d7c45f9c908e672703b83b72241a3 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/symbols/msam5.tfm" 1480098698 924 9904cf1d39e9767e7a3622f2a125a565 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/symbols/msam7.tfm" 1480098698 928 2dc8d444221b7a635bb58038579b861a ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/symbols/msbm10.tfm" 1480098698 908 2921f8a10601f252058503cc6570e581 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/symbols/msbm5.tfm" 1480098698 940 75ac932a52f80982a9f8ea75d03a34cf ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/symbols/msbm7.tfm" 1480098698 940 228d6584342e91276bf566bcf9716b83 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmex10.tfm" 1480098701 992 662f679a0b3d2d53c1b94050fdaa3f50 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmmi12.tfm" 1480098701 1524 4414a8315f39513458b80dfc63bff03a ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmmi6.tfm" 1480098701 1512 f21f83efb36853c0b70002322c1ab3ad ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmmi8.tfm" 1480098701 1520 eccf95517727cb11801f4f1aee3a21b4 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmr10.tfm" 1480098701 1296 45809c5a464d5f32c8f98ba97c1bb47f ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmr12.tfm" 1480098701 1288 655e228510b4c2a1abe905c368440826 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmr6.tfm" 1480098701 1300 b62933e007d01cfd073f79b963c01526 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmr8.tfm" 1480098701 1292 21c1c5bfeaebccffdb478fd231a0997d ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmsy10.tfm" 1480098701 1124 6c73e740cf17375f03eec0ee63599741 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmsy6.tfm" 1480098701 1116 933a60c408fc0a863a92debe84b2d294 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmsy8.tfm" 1480098701 1120 8b7d695260f3cff42e636090a8002094 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/stmaryrd/stmary10.tfm" 1480098718 848 f478e0761563bbc369eca609a1741348 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/stmaryrd/stmary5.tfm" 1480098718 848 e1bc58a31b9ed9c3729ffea165acfaac ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/stmaryrd/stmary6.tfm" 1480098718 848 068dd119e13b75777e62821af7d4f2a6 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/stmaryrd/stmary7.tfm" 1480098718 848 26631fcb3e4cb6757598b9cda7967b63 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/stmaryrd/stmary8.tfm" 1480098718 848 6125cdd3627e68d3db8013b98e587508 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/xcharter/XCharter-Bold-tlf-t1--base.tfm" 1483401675 1692 6cb410702ad6d85129d764bee0e48c01 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/xcharter/XCharter-Bold-tlf-t1.tfm" 1509663637 22804 f559d366aa2373c9534843e3408b36e5 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/xcharter/XCharter-Italic-tlf-t1--base.tfm" 1528060576 1784 caf417d7578318ac67759912bdb161f9 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/xcharter/XCharter-Italic-tlf-t1.tfm" 1528060576 22864 738d348ccaef0ea4829351da7265f347 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/xcharter/XCharter-Roman-tlf-t1--base.tfm" 1483401675 1672 7f68299454a9f50fe85994a146908388 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/tfm/public/xcharter/XCharter-Roman-tlf-t1.tfm" 1509663637 23400 a5c4a8c9d60dacfffc7d9351086b2ef5 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/cm/cmex10.pfb" 1480098733 30251 6afa5cb1d0204815a708a080681d4674 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/cm/cmmi10.pfb" 1480098733 36299 5f9df58c2139e7edcf37c8fca4bd384d ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/cm/cmmi7.pfb" 1480098733 36281 c355509802a035cadc5f15869451dcee ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/cm/cmr10.pfb" 1480098733 35752 024fb6c41858982481f6968b5fc26508 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/cm/cmr5.pfb" 1480098733 31809 8670ca339bf94e56da1fc21c80635e2a ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/cm/cmr7.pfb" 1480098733 32762 224316ccc9ad3ca0423a14971cfa7fc1 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/cm/cmsy10.pfb" 1480098733 32569 5e5ddc8df908dea60932f3c484a54c0d ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/cm/cmsy7.pfb" 1480098733 32716 08e384dc442464e7285e891af9f45947 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/symbols/msam10.pfb" 1480098733 31764 459c573c03a4949a528c2cc7f557e217 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/symbols/msbm10.pfb" 1480098734 34694 ad62b13721ee8eda1dcc8993c8bd7041 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/type1/public/cm-super/sftt1200.pfb" 1480098737 167085 68de377d2744a68a88fa40a1f610615a ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/type1/public/xcharter/XCharter-Bold.pfb" 1528060576 130164 e3938bf066fe7fbe060582bc9a330106 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/type1/public/xcharter/XCharter-Italic.pfb" 1528060576 110012 9d742f80c261e6cdbd65f0b457dcff54 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/type1/public/xcharter/XCharter-Roman.pfb" 1528060576 128314 031279b889ebdba0a84b16c2f9ec6e74 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/vf/public/xcharter/XCharter-Bold-tlf-t1.vf" 1480098769 1728 d8790da7b7fe43d3b744cf1fa0541683 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/vf/public/xcharter/XCharter-Italic-tlf-t1.vf" 1480098769 1728 5dcbea0ad0a2eda319e943e8de293d36 ""
|
||||
"/usr/share/texlive/texmf-dist/fonts/vf/public/xcharter/XCharter-Roman-tlf-t1.vf" 1480098769 1728 f78b882116f7c445dc9259a67246c794 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/context/base/mkii/supp-pdf.mkii" 1553009389 71627 94eb9990bed73c364d7f53f960cc8c5b ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/ifxetex/ifxetex.sty" 1480098815 1458 43ab4710dc82f3edeabecd0d099626b2 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/oberdiek/atbegshi.sty" 1553009392 24580 144573175d90c8e36676f97ae1d11ec2 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/oberdiek/etexcmds.sty" 1553009392 7612 729a8cc22a1ee0029997c7f74717ae05 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/oberdiek/ifluatex.sty" 1480098815 7324 2310d1247db0114eb4726807c8837a0e ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/oberdiek/ifpdf.sty" 1553009392 1251 d170e11a3246c3392bc7f59595af42cb ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/oberdiek/ifvtex.sty" 1553009392 6797 90b7f83b0ad46826bc16058b1e3d48df ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/oberdiek/infwarerr.sty" 1553009392 8253 473e0e41f9adadb1977e8631b8f72ea6 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/oberdiek/kvdefinekeys.sty" 1553009392 5152 b67a3a964ad9851e095110c854a1d461 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/oberdiek/kvsetkeys.sty" 1553009392 14040 ac8866aac45982ac84021584b0abb252 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/oberdiek/ltxcmds.sty" 1553009392 18425 5b3c0c59d76fac78978b5558e83c1f36 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/oberdiek/pdftexcmds.sty" 1553009392 20418 ca44694be1c8df491925faa194fe6edf ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcore.code.tex" 1480098816 1006 b103be0bfc8c1682ff1fa9760697a329 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcorearrows.code.tex" 1480098816 43226 167a99346bfe2676e3efcdde2d81fe45 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcoreexternal.code.tex" 1480098816 19302 4f089dc590e71f7331e6d5b5ea85273b ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcoregraphicstate.code.tex" 1480098816 6068 edae1e768a7d8d8f0f00e953d2b0153e ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcoreimage.code.tex" 1480098816 7041 a891ad72049e17c4e366c40ca37b0ccb ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcorelayers.code.tex" 1480098816 4625 40c07e9f6f2f7c674704b3f2055560ce ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcoreobjects.code.tex" 1480098816 2631 7eefa6cdbefd8d4e2bad7262cf1094cd ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcorepathconstruct.code.tex" 1480098816 43477 81143b33d9ebafdeead07ede13372427 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcorepathprocessing.code.tex" 1480098816 17436 8d99d4113be311daf23deff86991ee7d ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcorepathusage.code.tex" 1480098816 20772 c57e34db4aa7b1da013169d04b743eac ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcorepatterns.code.tex" 1480098816 9641 711f0edc22c180a5caf168b6e8970057 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcorepoints.code.tex" 1480098816 34516 658a71478d21df554bce9d9cd436203a ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcorequick.code.tex" 1480098816 3052 e5672c657232fd63b0a9853b0746297c ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcorescopes.code.tex" 1480098816 16669 4ec6e40088fc6de6334b443fe2dc59f0 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcoreshade.code.tex" 1480098816 21541 4cd19f8ff7dd74d5aa7d803a6397af84 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcoretransformations.code.tex" 1480098816 19998 d77fef95c7369827753d17fd11be19c4 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcoretransparency.code.tex" 1480098816 8943 2e2495b057f8f0035b5568394d489963 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/frontendlayer/tikz/libraries/tikzlibrarytopaths.code.tex" 1480098816 11599 d694704a88e2f9007c996d3a6a4d629c ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/frontendlayer/tikz/tikz.code.tex" 1480098816 176652 1c2926908e2b356d454795c35385d580 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/libraries/pgflibraryplothandlers.code.tex" 1480098816 32969 dbcfd5a7de6a0f7255c333ef60287d59 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmath.code.tex" 1480098816 454 9e9e7c99f4da4f41698be21eaef4938e ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathcalc.code.tex" 1480098816 13416 940ea6971d7a65dc440d3479939c66ae ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathfloat.code.tex" 1480098816 94097 62ac62cda46eb715560dc27f9ed6e8b1 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathfunctions.base.code.tex" 1480098816 9375 5adc70f722abd29fc250d59e0694b548 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathfunctions.basic.code.tex" 1480098816 22069 7c21c42b15718ce922f36235be360490 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathfunctions.code.tex" 1480098816 8210 a7be5b52ef3d2c087b7dc3d52898b67e ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathfunctions.comparison.code.tex" 1480098816 3534 c7f28fbac13616513e513efe93b8569b ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathfunctions.integerarithmetics.code.tex" 1480098816 3167 7c9394e79aac27db96a92f9b2792b858 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathfunctions.misc.code.tex" 1480098816 9289 261407875b9dbb0194691c3eb893610f ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathfunctions.random.code.tex" 1480098816 7078 946ddf4a7e57219b6afdbad98eb6731b ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathfunctions.round.code.tex" 1480098816 2688 139c6abc86761a6190c2f4bef5d752be ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathfunctions.trigonometric.code.tex" 1480098816 92284 dcf023dbaa84e6c50e11c2f79fe8cfa6 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathparser.code.tex" 1480098816 35430 046e15fbb65e74d8f0e7945f99741fdb ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathutil.code.tex" 1480098816 7099 f44d505bae6c7c2b933cdd63441db4b9 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/modules/pgfmodulematrix.code.tex" 1480098816 20934 2328bd2e04520e1ab077ac4ee13b8935 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/modules/pgfmoduleplot.code.tex" 1480098816 16203 83cbe1220e389eeee283a6168f9a567b ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/modules/pgfmoduleshapes.code.tex" 1480098816 42906 d54376d96df1a2ae2d33fb722236d8e9 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/systemlayer/pgf.cfg" 1480098816 978 15af626ebd3d4d790aac19170dac04f2 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/systemlayer/pgfsys-common-pdf.def" 1480098816 5437 d91f93ed61ecdc57e119849b2d784a0b ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/systemlayer/pgfsys-pdftex.def" 1480098816 13507 809d848d9262638e1b1705a68a73c566 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/systemlayer/pgfsys.code.tex" 1480098816 35113 2ccc50c1c9573e4bac9230d030f9c67c ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/systemlayer/pgfsysprotocol.code.tex" 1480098816 1983 b5994ebbcee17f1ba3d29bb1bd696fcf ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/systemlayer/pgfsyssoftpath.code.tex" 1480098816 7881 d459d6057e13d10ce7a227ae44b7295e ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/utilities/pgffor.code.tex" 1480098816 22211 d696ef78c12269178882d218b2cf191d ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/utilities/pgfkeys.code.tex" 1480098816 36194 e194ef4e0b396b531a3891feb4b1cc22 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/utilities/pgfkeysfiltered.code.tex" 1480098816 33377 af391d6ad1bfcbe2278e191f48e43ba8 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/utilities/pgfrcs.code.tex" 1480098816 2536 a3b0529d815a2759ba157b56610a6377 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/utilities/pgfutil-common-lists.tex" 1480098816 6833 114eda2cf1d348e0e7e477a1a4dc1941 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/utilities/pgfutil-common.tex" 1480098816 16501 ab0135765e27b6b8dae047831fe84818 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/pgf/utilities/pgfutil-latex.def" 1480098816 5544 294baac9629ba59f675b1f2027ad7136 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/unicode-data/UnicodeData.txt" 1528926238 1769137 acc291106c3758d2025f8d7bd5518bee ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/xkeyval/xkeyval.tex" 1480098819 19231 26434a5656c684f5ffb1f26f98006baa ""
|
||||
"/usr/share/texlive/texmf-dist/tex/generic/xkeyval/xkvutils.tex" 1480098819 7677 6f5ce7c1124cad7ec57d05b2562bd8fe ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/algorithm2e/algorithm2e.sty" 1500498588 167160 d91cee26d3ef5727644d2110445741dd ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/amsfonts/amsfonts.sty" 1480098820 5949 3f3fd50a8cc94c3d4cbf4fc66cd3df1c ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/amsfonts/amssymb.sty" 1480098820 13829 94730e64147574077f8ecfea9bb69af4 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/amsfonts/umsa.fd" 1480098820 961 6518c6525a34feb5e8250ffa91731cff ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/amsfonts/umsb.fd" 1480098820 961 d02606146ba5601b5645f987c92e6193 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/amsmath/amsbsy.sty" 1523134290 2211 ca7ce284ab93c8eecdc6029dc5ccbd73 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/amsmath/amsgen.sty" 1523134290 4161 7f6eb9092061a11f87d08ed13515b48d ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/amsmath/amsmath.sty" 1523134290 84354 7292177bb735c466b78634ee4efd537e ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/amsmath/amsopn.sty" 1523134290 4116 32e6abd27229755a83a8b7f18e583890 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/amsmath/amstext.sty" 1523134290 2432 8ff93b1137020e8f21930562a874ae66 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/base/article.cls" 1553009392 19823 fcbc01552b07b608574cbf8e1977e0c0 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/base/fontenc.sty" 1553009392 4573 ae83473dfe6aea3508ab88d22c4457b2 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/base/ifthen.sty" 1553009392 5161 c004ea5a189d4bdcf42e86754ad75a58 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/base/inputenc.sty" 1553009392 5052 f2525dfd6e503dc383e90b568c6c9f02 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/base/ly1enc.dfu" 1553009392 6686 9f101cc24a44fa25b9c89c234fd21943 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/base/size10.clo" 1553009392 8294 b0f177401f895563eb19304d2389582d ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/base/t1cmtt.fd" 1553009392 2446 898e9a1961d873c4471b5d9a683366d0 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/base/t1enc.def" 1553009392 10008 3208fbcdd7b3f5dd0dda02e6507bf38c ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/base/t2aenc.dfu" 1553009392 9438 7822a3a266d2a7807a1c4e1fe1584b64 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/base/textcomp.sty" 1553009392 16156 c88fab7ab9716ccedc3dc1fa0f1f22da ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/base/ts1cmr.fd" 1553009392 2433 cdefd2509a12ba58001f2024f63aae9a ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/base/ts1enc.def" 1553009392 7769 97b639552068544f7c98d557abb19f41 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/base/ts1enc.dfu" 1553009392 4973 a0ebe45f171b33c2df4e84416140511f ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/cyrillic/t2acmr.fd" 1553009392 2562 d9552c7bbba7c739be0e3edc79b79dbb ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/cyrillic/t2aenc.def" 1553009392 12038 0675a914f4ef655c59b5d82e90103345 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/etoolbox/etoolbox.sty" 1518389458 43862 d90315ae4a46ef887a38b4ccba021f91 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/fontaxes/fontaxes.sty" 1480098829 14170 4202cf11062745283a9a5fdc97c16c48 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/geometry/geometry.sty" 1525727744 41645 0653033a985e06c69a2a9cea9a95e31a ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/graphics-cfg/color.cfg" 1480098830 1213 620bba36b25224fa9b7e1ccb4ecb76fd ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/graphics-cfg/graphics.cfg" 1480098830 1224 978390e9c2234eab29404bc21b268d1e ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/graphics-def/pdftex.def" 1515537368 17334 520b9b85ad8a2a48eda3f643e27a5179 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/graphics/color.sty" 1523134385 7028 112f909feb676788e7ea1c5b0b76320f ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/graphics/graphics.sty" 1523134385 15272 5a97061616e0c8b2aa79c6615ff769f4 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/graphics/graphicx.sty" 1523134385 9063 d0a305975932762117cd1f06a582f896 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/graphics/keyval.sty" 1523134385 2591 6404d0c7d28505fb38ce0d86c2e28ae7 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/graphics/trig.sty" 1523134385 3977 cb9221976ed8a183afad65b59aa8629a ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/ifoddpage/ifoddpage.sty" 1480098831 2148 0426cd8bb94163c1e23726d0c15e2c21 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/l3kernel/expl3-code.tex" 1529097033 951713 2221a8befff901e852635ea205ef9f7f ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/l3kernel/expl3.sty" 1529097033 9867 4e775f31f3ae375cab2ffd34788fe667 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/l3kernel/l3pdfmode.def" 1529097033 13673 5b5bd41708d9804460e8bae67a5cfab7 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/l3packages/xparse/xparse.sty" 1526248607 77213 9d7407dbdd9d11c497209c4b44354bb8 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/latexconfig/epstopdf-sys.cfg" 1480098833 678 4792914a8f45be57bb98413425e4c7af ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/listings/listings.cfg" 1480098833 1827 d72ad54409ca5c1068a1939c63441bd2 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/listings/listings.sty" 1480098833 80336 ff90c926c3d7bfdaa3d80ca57123b0bb ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/listings/lstmisc.sty" 1480098833 77028 c3eb00afb55a32bc13ca8da7f5234377 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/ly1/ly1enc.def" 1480098833 11946 d12ad5d7adce38642490713f93964ec2 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/ly1/ly1ptm.fd" 1480098833 1053 1946f431f0fed8f7fd7d097237037354 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/mdframed/md-frame-1.mdf" 1480098833 24632 760c4c81e779e6958bac43417deb524f ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/mdframed/mdframed.sty" 1480098833 53487 3e997243f47cb3ba8b4c7b8df9c82989 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/ms/everyshi.sty" 1480098835 3878 6aa7c08ff2621006e0603349e40a30a8 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/mweights/mweights.sty" 1490909540 4953 67f29a12ea26221103fce6bae3433e60 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/needspace/needspace.sty" 1480098835 852 0e34dbb72efc69fa07602405ad95585e ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/oberdiek/auxhook.sty" 1553009392 3834 4363110eb0ef1eb2b71c8fcbcdb6c357 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/oberdiek/epstopdf-base.sty" 1553009393 12095 5337833c991d80788a43d3ce26bd1c46 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/oberdiek/grfext.sty" 1553009392 7075 2fe3d848bba95f139de11ded085e74aa ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/oberdiek/kvoptions.sty" 1553009392 22417 1d9df1eb66848aa31b18a593099cf45c ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/oberdiek/zref-abspage.sty" 1553009393 2153 d19aab1852eaa8dc344880608fac789e ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/oberdiek/zref-base.sty" 1553009392 20510 c85fce26ec1b831d7c2882604a05e777 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/pgf/basiclayer/pgf.sty" 1480098837 1197 8a80cdde14696a9198f1793a55dcf332 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/pgf/basiclayer/pgfcore.sty" 1480098837 410 5bf12ea7330e5f12c445332a4fe9a263 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/pgf/compatibility/pgfcomp-version-0-65.sty" 1480098837 21115 facf03b7dbe5ea2f5f1dce1ac84b5d05 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/pgf/compatibility/pgfcomp-version-1-18.sty" 1480098837 1091 d9163d29def82ee90370c8a63667742c ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/pgf/frontendlayer/tikz.sty" 1480098837 339 592cf35cba3d400082b8a9a5d0199d70 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/pgf/math/pgfmath.sty" 1480098837 306 0796eafca5e159e6ec2167a6d22d81b1 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/pgf/systemlayer/pgfsys.sty" 1480098837 443 0b2e781830192df35c0fd357cf13e26e ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/pgf/utilities/pgffor.sty" 1480098837 348 8927fde343487e003b01a4c2ca34073b ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/pgf/utilities/pgfkeys.sty" 1480098837 274 4cad6e665cc93ac2ac979039a94fa1e1 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/pgf/utilities/pgfrcs.sty" 1480098837 325 2bcd023400636339210573e2b3ee298b ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/psnfss/t1ptm.fd" 1480098837 774 61d7da1e9f9e74989b196d147e623736 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/relsize/relsize.sty" 1480098838 15542 c4cc3164fe24f2f2fbb06eb71b1da4c4 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/stmaryrd/Ustmry.fd" 1480098839 1766 216b0f832c406513647608b5bb9bb8ff ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/stmaryrd/stmaryrd.sty" 1480098839 11080 aa7f81da60ce104f0dbb8b827dd14383 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/tools/enumerate.sty" 1523050425 3465 3f63ff30365d38132fb55859c9cabd4d ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/tools/xspace.sty" 1523050425 4542 5251001fb2c96205905dbac86c51c5ab ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/xcharter/T1XCharter-TLF.fd" 1498686173 2098 296c2460cd905b27e5e33e914ed19616 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/xcharter/XCharter.sty" 1513811743 5273 f0035871cbc95649d013a968a60dbbb3 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/xcolor/xcolor.sty" 1480098843 55589 34128738f682d033422ca125f82e5d62 ""
|
||||
"/usr/share/texlive/texmf-dist/tex/latex/xkeyval/xkeyval.sty" 1480098843 4962 9c1069474ff71dbc47d5006555e352d3 ""
|
||||
"/usr/share/texlive/texmf-dist/web2c/texmf.cnf" 1553009379 33523 3a2c32bd77384f8f4508d61b4be83582 ""
|
||||
"IMG/SIM_FIG1.png" 1561014690 23128 a936488b7bb7b365f706458ea79169d1 ""
|
||||
"IMG/SIM_FIG2.png" 1561015433 24044 69660646c402b5cfc7a2edf869cc07cb ""
|
||||
"IMG/circle_form.png" 1563844833 28472 af6dbc67783898be2d01db5d5aa2e636 ""
|
||||
"IMG/fig2.png" 1560832117 11077 edb6310692e7ef1ff9ca29b72ac30bd0 ""
|
||||
"IMG/sin_form.png" 1563845223 30960 baa3836a7df36fcaf46e2a35bdc1528e ""
|
||||
"RP_2015_Rozenheck.tex" 1601464990 8313 08aae4dd6be168362e2233ca7c071fb0 ""
|
||||
"structure.tex" 1560751616 6618 1043799a5c02c7ab089aed10062b9247 ""
|
||||
(generated)
|
||||
"../DOC/RP_2015_Rozenheck.aux"
|
||||
"../DOC/RP_2015_Rozenheck.log"
|
||||
"../DOC/RP_2015_Rozenheck.pdf"
|
||||
|
|
@ -0,0 +1,372 @@
|
|||
PWD /home/adnr/Disk/Opo/PASCASARJANA/DEVELOPMENT/FORMATION/2015_Rozenheck_Formation/SOURCE
|
||||
INPUT /usr/share/texlive/texmf-dist/web2c/texmf.cnf
|
||||
INPUT /usr/share/texlive/texmf-dist/web2c/texmf.cnf
|
||||
INPUT /home/adnr/.texlive2018/texmf-var/web2c/pdftex/pdflatex.fmt
|
||||
INPUT RP_2015_Rozenheck.tex
|
||||
OUTPUT ../DOC/RP_2015_Rozenheck.log
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/article.cls
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/article.cls
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/size10.clo
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/size10.clo
|
||||
INPUT structure.tex
|
||||
INPUT structure.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/amsmath/amsmath.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/amsmath/amsmath.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/amsmath/amstext.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/amsmath/amstext.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/amsmath/amsgen.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/amsmath/amsgen.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/amsmath/amsbsy.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/amsmath/amsbsy.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/amsmath/amsopn.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/amsmath/amsopn.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/amsfonts/amsfonts.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/amsfonts/amsfonts.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/stmaryrd/stmaryrd.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/stmaryrd/stmaryrd.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/amsfonts/amssymb.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/amsfonts/amssymb.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/tools/enumerate.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/tools/enumerate.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/algorithm2e/algorithm2e.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/algorithm2e/algorithm2e.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/ifthen.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/ifthen.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/ifoddpage/ifoddpage.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/ifoddpage/ifoddpage.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/tools/xspace.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/tools/xspace.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/relsize/relsize.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/relsize/relsize.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/mdframed/mdframed.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/mdframed/mdframed.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/oberdiek/kvoptions.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/oberdiek/kvoptions.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/graphics/keyval.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/graphics/keyval.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/oberdiek/ltxcmds.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/oberdiek/ltxcmds.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/oberdiek/kvsetkeys.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/oberdiek/kvsetkeys.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/oberdiek/infwarerr.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/oberdiek/infwarerr.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/oberdiek/etexcmds.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/oberdiek/etexcmds.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/oberdiek/ifluatex.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/oberdiek/ifluatex.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/l3packages/xparse/xparse.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/l3packages/xparse/xparse.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/l3kernel/expl3.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/l3kernel/expl3.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/l3kernel/expl3-code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/l3kernel/expl3-code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/map/fontname/texfonts.map
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmr10.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmr10.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmr10.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmr10.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmr10.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmr10.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmr10.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmr10.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmr10.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmr10.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/unicode-data/UnicodeData.txt
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/unicode-data/UnicodeData.txt
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/l3kernel/l3pdfmode.def
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/l3kernel/l3pdfmode.def
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/etoolbox/etoolbox.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/etoolbox/etoolbox.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/oberdiek/zref-abspage.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/oberdiek/zref-abspage.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/oberdiek/zref-base.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/oberdiek/zref-base.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/oberdiek/kvdefinekeys.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/oberdiek/kvdefinekeys.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/oberdiek/pdftexcmds.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/oberdiek/pdftexcmds.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/oberdiek/ifpdf.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/oberdiek/ifpdf.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/oberdiek/auxhook.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/oberdiek/auxhook.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/oberdiek/atbegshi.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/oberdiek/atbegshi.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/needspace/needspace.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/needspace/needspace.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/graphics/color.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/graphics/color.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/graphics-cfg/color.cfg
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/graphics-cfg/color.cfg
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/graphics-def/pdftex.def
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/graphics-def/pdftex.def
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/pgf/frontendlayer/tikz.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/pgf/frontendlayer/tikz.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/pgf/frontendlayer/tikz.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/pgf/basiclayer/pgf.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/pgf/basiclayer/pgf.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/pgf/utilities/pgfrcs.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/pgf/utilities/pgfrcs.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/utilities/pgfutil-common.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/utilities/pgfutil-common-lists.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/utilities/pgfutil-latex.def
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/ms/everyshi.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/ms/everyshi.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/utilities/pgfrcs.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/utilities/pgfrcs.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/pgf/basiclayer/pgfcore.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/pgf/basiclayer/pgfcore.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/graphics/graphicx.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/graphics/graphicx.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/graphics/graphics.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/graphics/graphics.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/graphics/trig.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/graphics/trig.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/graphics-cfg/graphics.cfg
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/graphics-cfg/graphics.cfg
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/pgf/systemlayer/pgfsys.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/pgf/systemlayer/pgfsys.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/systemlayer/pgfsys.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/systemlayer/pgfsys.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/utilities/pgfkeys.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/utilities/pgfkeysfiltered.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/systemlayer/pgf.cfg
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/systemlayer/pgfsys-pdftex.def
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/systemlayer/pgfsys-pdftex.def
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/systemlayer/pgfsys-common-pdf.def
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/systemlayer/pgfsyssoftpath.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/systemlayer/pgfsyssoftpath.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/systemlayer/pgfsysprotocol.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/systemlayer/pgfsysprotocol.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/xcolor/xcolor.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/xcolor/xcolor.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/graphics-cfg/color.cfg
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/graphics-cfg/color.cfg
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcore.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcore.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmath.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathcalc.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathutil.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathparser.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathfunctions.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathfunctions.basic.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathfunctions.trigonometric.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathfunctions.random.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathfunctions.comparison.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathfunctions.base.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathfunctions.round.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathfunctions.misc.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathfunctions.integerarithmetics.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmathfloat.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcorepoints.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcorepathconstruct.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcorepathusage.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcorescopes.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcoregraphicstate.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcoretransformations.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcorequick.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcoreobjects.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcorepathprocessing.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcorearrows.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcoreshade.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcoreimage.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcoreexternal.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcorelayers.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcoretransparency.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/basiclayer/pgfcorepatterns.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/modules/pgfmoduleshapes.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/modules/pgfmoduleplot.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/pgf/compatibility/pgfcomp-version-0-65.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/pgf/compatibility/pgfcomp-version-0-65.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/pgf/compatibility/pgfcomp-version-1-18.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/pgf/compatibility/pgfcomp-version-1-18.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/pgf/utilities/pgffor.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/pgf/utilities/pgffor.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/pgf/utilities/pgfkeys.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/pgf/utilities/pgfkeys.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/utilities/pgfkeys.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/utilities/pgfkeys.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/pgf/math/pgfmath.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/pgf/math/pgfmath.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmath.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmath.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/utilities/pgffor.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/utilities/pgffor.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/math/pgfmath.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/frontendlayer/tikz/tikz.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/frontendlayer/tikz/tikz.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/libraries/pgflibraryplothandlers.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/libraries/pgflibraryplothandlers.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/modules/pgfmodulematrix.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/frontendlayer/tikz/libraries/tikzlibrarytopaths.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/pgf/frontendlayer/tikz/libraries/tikzlibrarytopaths.code.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/mdframed/md-frame-1.mdf
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/mdframed/md-frame-1.mdf
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/listings/listings.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/listings/listings.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/listings/lstmisc.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/listings/lstmisc.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/listings/listings.cfg
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/listings/listings.cfg
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/geometry/geometry.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/geometry/geometry.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/oberdiek/ifvtex.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/oberdiek/ifvtex.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/ifxetex/ifxetex.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/ifxetex/ifxetex.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/inputenc.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/inputenc.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/fontenc.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/fontenc.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/t1enc.def
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/t1enc.def
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/jknappen/ec/ecrm1000.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/xcharter/XCharter.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/xcharter/XCharter.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/fontenc.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/fontenc.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/cyrillic/t2aenc.def
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/cyrillic/t2aenc.def
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/t2aenc.dfu
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/t2aenc.dfu
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/ly1/ly1enc.def
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/ly1/ly1enc.def
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/ly1enc.dfu
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/ly1enc.dfu
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/t1enc.def
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/t1enc.def
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/psnfss/t1ptm.fd
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/psnfss/t1ptm.fd
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/adobe/times/ptmr8t.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/textcomp.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/textcomp.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/ts1enc.def
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/ts1enc.def
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/ts1enc.dfu
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/ts1enc.dfu
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/mweights/mweights.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/mweights/mweights.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/mweights/mweights.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/fontaxes/fontaxes.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/fontaxes/fontaxes.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/fontaxes/fontaxes.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/xkeyval/xkeyval.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/xkeyval/xkeyval.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/xkeyval/xkeyval.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/xkeyval/xkeyval.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/generic/xkeyval/xkvutils.tex
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/xcharter/T1XCharter-TLF.fd
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/xcharter/T1XCharter-TLF.fd
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/xcharter/XCharter-Roman-tlf-t1.tfm
|
||||
INPUT ../DOC/RP_2015_Rozenheck.aux
|
||||
INPUT ../DOC/RP_2015_Rozenheck.aux
|
||||
OUTPUT ../DOC/RP_2015_Rozenheck.aux
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/cyrillic/t2acmr.fd
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/cyrillic/t2acmr.fd
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/ly1/ly1ptm.fd
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/ly1/ly1ptm.fd
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/ts1cmr.fd
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/ts1cmr.fd
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/context/base/mkii/supp-pdf.mkii
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/context/base/mkii/supp-pdf.mkii
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/oberdiek/epstopdf-base.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/oberdiek/epstopdf-base.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/oberdiek/grfext.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/oberdiek/grfext.sty
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/latexconfig/epstopdf-sys.cfg
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/latexconfig/epstopdf-sys.cfg
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/xcharter/XCharter-Roman-tlf-t1.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/xcharter/XCharter-Roman-tlf-t1.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmr12.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmr8.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmr6.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmmi12.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmmi8.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmmi6.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmsy10.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmsy8.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmsy6.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/cm/cmex10.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/cmextra/cmex8.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/cmextra/cmex7.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/amsfonts/umsa.fd
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/amsfonts/umsa.fd
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/symbols/msam10.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/symbols/msam10.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/symbols/msam7.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/amsfonts/umsb.fd
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/amsfonts/umsb.fd
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/symbols/msbm10.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/symbols/msbm10.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/symbols/msbm7.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/stmaryrd/Ustmry.fd
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/stmaryrd/Ustmry.fd
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/stmaryrd/stmary10.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/stmaryrd/stmary8.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/stmaryrd/stmary6.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/t1cmtt.fd
|
||||
INPUT /usr/share/texlive/texmf-dist/tex/latex/base/t1cmtt.fd
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/jknappen/ec/ectt1200.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/xcharter/XCharter-Roman-tlf-t1.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/xcharter/XCharter-Bold-tlf-t1.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/xcharter/XCharter-Italic-tlf-t1.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/cmextra/cmex7.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/cmextra/cmex7.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/symbols/msam10.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/symbols/msam7.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/symbols/msam5.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/symbols/msbm10.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/symbols/msbm7.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/amsfonts/symbols/msbm5.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/stmaryrd/stmary10.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/stmaryrd/stmary7.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/stmaryrd/stmary5.tfm
|
||||
OUTPUT ../DOC/RP_2015_Rozenheck.pdf
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/vf/public/xcharter/XCharter-Roman-tlf-t1.vf
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/xcharter/XCharter-Roman-tlf-t1--base.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/map/pdftex/updmap/pdftex.map
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/vf/public/xcharter/XCharter-Roman-tlf-t1.vf
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/xcharter/XCharter-Roman-tlf-t1--base.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/vf/public/xcharter/XCharter-Bold-tlf-t1.vf
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/xcharter/XCharter-Bold-tlf-t1--base.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/vf/public/xcharter/XCharter-Roman-tlf-t1.vf
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/xcharter/XCharter-Roman-tlf-t1--base.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/vf/public/xcharter/XCharter-Italic-tlf-t1.vf
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/xcharter/XCharter-Italic-tlf-t1--base.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/xcharter/XCharter-Bold-tlf-t1.tfm
|
||||
INPUT ./IMG/fig2.png
|
||||
INPUT ./IMG/fig2.png
|
||||
INPUT ./IMG/fig2.png
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/vf/public/xcharter/XCharter-Bold-tlf-t1.vf
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/xcharter/XCharter-Bold-tlf-t1--base.tfm
|
||||
INPUT ./IMG/SIM_FIG1.png
|
||||
INPUT ./IMG/SIM_FIG1.png
|
||||
INPUT ./IMG/SIM_FIG1.png
|
||||
INPUT ./IMG/SIM_FIG2.png
|
||||
INPUT ./IMG/SIM_FIG2.png
|
||||
INPUT ./IMG/SIM_FIG2.png
|
||||
INPUT ./IMG/circle_form.png
|
||||
INPUT ./IMG/circle_form.png
|
||||
INPUT ./IMG/circle_form.png
|
||||
INPUT ./IMG/sin_form.png
|
||||
INPUT ./IMG/sin_form.png
|
||||
INPUT ./IMG/sin_form.png
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/xcharter/XCharter-Bold-tlf-t1.tfm
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/vf/public/xcharter/XCharter-Bold-tlf-t1.vf
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/tfm/public/xcharter/XCharter-Bold-tlf-t1--base.tfm
|
||||
INPUT ../DOC/RP_2015_Rozenheck.aux
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/enc/dvips/xcharter/xch_tuu2ww.enc
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/enc/dvips/cm-super/cm-super-t1.enc
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/type1/public/xcharter/XCharter-Bold.pfb
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/type1/public/xcharter/XCharter-Italic.pfb
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/type1/public/xcharter/XCharter-Roman.pfb
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/cm/cmex10.pfb
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/cm/cmmi10.pfb
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/cm/cmmi7.pfb
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/cm/cmr10.pfb
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/cm/cmr5.pfb
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/cm/cmr7.pfb
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/cm/cmsy10.pfb
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/cm/cmsy7.pfb
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/symbols/msam10.pfb
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/symbols/msbm10.pfb
|
||||
INPUT /usr/share/texlive/texmf-dist/fonts/type1/public/cm-super/sftt1200.pfb
|
||||
File diff suppressed because it is too large
Load Diff
Binary file not shown.
Binary file not shown.
File diff suppressed because it is too large
Load Diff
|
After Width: | Height: | Size: 74 KiB |
File diff suppressed because it is too large
Load Diff
|
After Width: | Height: | Size: 74 KiB |
File diff suppressed because it is too large
Load Diff
|
After Width: | Height: | Size: 74 KiB |
|
|
@ -204,7 +204,7 @@ Dalam bentuk matrix
|
|||
\end{bmatrix} +
|
||||
\begin{bmatrix}
|
||||
0 \\ k_{p2}R(x_1)^T \\ 0 \\ -k_{i2}
|
||||
\end{bmatrix} d
|
||||
\end{bmatrix} d \label{orde_dua_ss}
|
||||
\end{align}
|
||||
|
||||
\subsection{Implementasi}
|
||||
|
|
@ -226,6 +226,17 @@ dengan kecepatan vector $[-5;\ 5]$. Akan tetapi ada sebuah error apabila $vref$
|
|||
dengan kecepatan vector $[5;\, 5]$. Ini diakibatkan ada masalah pada rigiditas
|
||||
graph.
|
||||
|
||||
\subsubsection{ time varian bentuk diskrit }
|
||||
Sederhana dari persamaan-()\ref{orde_dua_ss})
|
||||
\begin{align}
|
||||
\dot{x} &= A(x)x + B(x) d \\
|
||||
\frac{x[k+1]-x[k]}{h} &= A(x[k])x[k] + B(x[k])d \\
|
||||
x[k+1] &= I + hA(x[k])x[k] + hB(x[k])d\\
|
||||
x]k+1] &= A_d[k] x[k] + B_d[k]d \\
|
||||
A_d[k] &= I +hA(x[k]) \\
|
||||
B_d[k] &= hB(x[k])
|
||||
\end{align}
|
||||
|
||||
\section{Kesimpulan}
|
||||
Implementasi berhasil. Penelitian mengalami kekurangan apabila vref diberikan
|
||||
pada robot yang berpotensi menghasilkan lipatan pada graph.
|
||||
|
|
|
|||
|
|
@ -1,5 +1,7 @@
|
|||
clear -all
|
||||
|
||||
graphics_toolkit('gnuplot')
|
||||
omni = omni = omnidirectional(0.94, 0.96, 0.01, 2.2, 1.5,0.099,0.1,1.5,0.025,30,0.035,19,0.00011,1.69,0.0059,0.0059,0.9,9.1,6,'./');
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% config nang kene
|
||||
conRobot = [1 2 1;
|
||||
3 2 1;
|
||||
|
|
@ -14,22 +16,25 @@ corRobot = [1.5; 1.7;0;
|
|||
2; 2.5;0;
|
||||
2.5; 2.8;0;
|
||||
]; % xy xy xy
|
||||
robStateLen = length(corRobot)/length(dRobot)
|
||||
robStateLen = size(omni.origin.A,1);
|
||||
B = [
|
||||
1 0; 0 1;
|
||||
0 0; 0 0;
|
||||
0 0; 0 0;
|
||||
];
|
||||
kp = 80;
|
||||
ki = 1;
|
||||
kp = 150;
|
||||
ki = 3;
|
||||
% fvref = fncSpeedRef('ysin',50,2,robStateLen);
|
||||
% fvref = fncSpeedRef('xsin',50,2,robStateLen);
|
||||
% fvref = fncSpeedRef('cw',-300,1,robStateLen);
|
||||
% fvref = fncSpeedRef('s',50,50,robStateLen);
|
||||
fvref = fncSpeedRef('s',0,0,robStateLen);
|
||||
h = .1;
|
||||
h = .01;
|
||||
tspan = 1:h:10;
|
||||
sys = formationControl2ndBuilder(conRobot,robStateLen,kp,kp,ki,ki,length_d,1);
|
||||
% sys = formationControl2ndModelBuilder(conRobot,omni.origin,kp,kp,ki,ki,length_d,1);
|
||||
% sys = formationControl1stModelBuilder(conRobot,omni.origin,kp,kp,ki,ki,length_d,1);
|
||||
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% config nang nduwur
|
||||
|
||||
[R,K,d] = rigidityMatrixFnc(conRobot,robStateLen);
|
||||
|
|
@ -37,16 +42,34 @@ _zero = zeros(size(R(corRobot,K),1),1);
|
|||
sInit = [corRobot; _zero;];
|
||||
sAnsInit =[_zero; _zero;];
|
||||
s2ndInit = [corRobot; %x1
|
||||
zeros(length(corRobot),1); %x2
|
||||
zeros(length(corRobot),1); %xi1
|
||||
_zero]; %xi2
|
||||
zeros(length(corRobot),1); %x2
|
||||
zeros(length(corRobot),1); %xi1
|
||||
_zero;]; %xi2
|
||||
% _zero; zeros(length(corRobot),1);]; %x2*
|
||||
s1stInit = [corRobot; zeros(size(corRobot)); zeros(size(dRobot))];
|
||||
|
||||
% state_init = sInit;
|
||||
state_init = s2ndInit;
|
||||
% state_init = s1stInit;
|
||||
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% start solving
|
||||
printf("Mulai memecakan masalah \n\n");
|
||||
startExe = tic;
|
||||
|
||||
dydt = @(t, y) sys.ss(y,fvref(t));
|
||||
[t,y] = ode45(dydt, tspan, s2ndInit);
|
||||
% continue
|
||||
% dydt = @(t, y) sys.ss(y,fvref(t));
|
||||
% [t,y] = ode45(dydt, tspan, state_init);
|
||||
|
||||
% discrate taylor methode
|
||||
dydt = @(t, y) sys.dss(y, h, fvref(t))
|
||||
t(1,:) = tspan(1);
|
||||
y(1,:) = dydt(t(1), state_init);
|
||||
Dd(1,:) = [norm((K*y(1,1:9)')(1:3)) norm((K*y(1,1:9)')(4:6)) norm((K*y(1,1:9)')(7:9))]';
|
||||
for i = 2:length(tspan)
|
||||
t(i,:) = tspan(i);
|
||||
y(i,:) = dydt(t(i),y(i-1,:)');
|
||||
Dd(i,:) = [norm((K*y(i,1:9)')(1:3)) norm((K*y(i,1:9)')(4:6)) norm((K*y(i,1:9)')(7:9))]';
|
||||
endfor
|
||||
|
||||
endExe = toc(startExe);
|
||||
printf("Membutuhkan waktu %i menit, %i detik \n untuk memecahkan masalah mu \n\n",
|
||||
|
|
@ -111,6 +134,11 @@ str_tmp =strcat(str_tmp,sprintf("\"R%i \" )",++i));
|
|||
eval(str_tmp)
|
||||
title("Motion dari Robot");
|
||||
|
||||
figure(2)
|
||||
plot(t,Dd(:,1),t,Dd(:,2),t,Dd(:,3))
|
||||
title("distance error")
|
||||
legend()
|
||||
|
||||
csvwrite("DataOutMotion.csv", [t y])
|
||||
% save DataOutMotion.data y
|
||||
% save DataErrorEdge.data yans
|
||||
|
|
|
|||
|
|
@ -24,9 +24,21 @@ function fncSr = fncSpeedRef(param,r,v,robStateLen)
|
|||
strSfy = strcat(sprintf("%i*cos(%i*t)",r,v));
|
||||
endif
|
||||
|
||||
elseif (param == 's')
|
||||
strSfx = strcat(sprintf("%i",r));
|
||||
strSfy = strcat(sprintf("%i",v));
|
||||
elseif (param(1) == 's')
|
||||
strSinOcos = strcat(sprintf("%s", param(3:end)));
|
||||
if (length(param) > 1)
|
||||
if (param(2) == 'y')
|
||||
strSfx = strcat(sprintf("%i*%s(%i*t)",r,strSinOcos,v));
|
||||
strSfy = strcat(sprintf("%i",0));
|
||||
% 'ysin' / 'ycos'
|
||||
else %if (param(2) == 'x')
|
||||
strSfx = strcat(sprintf("%i",0));
|
||||
strSfy = strcat(sprintf("%i*%s(%i*t)",r,strSinOcos,v));
|
||||
endif
|
||||
else
|
||||
strSfx = strcat(sprintf("%i",r));
|
||||
strSfy = strcat(sprintf("%i",v));
|
||||
endif
|
||||
else
|
||||
printf("Karepmu opo ? \n\n bukak fungsi speedRef sek diwoco komen e \n\n");
|
||||
endif
|
||||
|
|
|
|||
|
|
@ -0,0 +1,30 @@
|
|||
function obj = formationControl1stModelBuilder(edgeL,model,kp1,kp2,ki1,ki2,dScale,nNodeVref)
|
||||
addpath("./networks-toolbox");
|
||||
obj = struct();
|
||||
robStateLen = size(model.A,1)
|
||||
[obj.R, obj.K, obj.d] = rigidityMatrixFnc(edgeL,robStateLen);
|
||||
obj.m = length(obj.d);
|
||||
obj.n = numNodes(edgeL);
|
||||
obj.nodeStateLength = robStateLen*obj.n;
|
||||
obj.stateLength = 2 * obj.nodeStateLength + obj.m;
|
||||
_nst = kron(eye(obj.n), model.Nst);
|
||||
_kst = kron([zeros(obj.n) eye(obj.n)], model.Kst);
|
||||
%obj.A = kron([zeros(obj.n) zeros(obj.n);zeros(obj.n) eye(obj.n)],model.A) + kron([zeros(obj.n) eye(obj.n);zeros(obj.n) zeros(obj.n)],eye(obj.n));
|
||||
% pilih robot mana yang ingin dijalankan dengan mengganti 0 menjadi 1
|
||||
% r 1 2 3 r 1 2 3
|
||||
% v v v v v v
|
||||
obj.A = kron([zeros(obj.n) zeros(obj.n);zeros(obj.n) diag([1 0 0])],model.A) + kron([zeros(obj.n) diag([1 0 0]);zeros(obj.n) zeros(obj.n)],eye(obj.n));
|
||||
obj.B = kron([zeros(obj.n); eye(obj.n)],model.B);
|
||||
obj.Ksgn = kron([zeros(obj.n) zeros(obj.n);zeros(obj.n) eye(obj.n)],model.K);
|
||||
obj.controller = @(set_point,st) arrayfun(model.limit_motor,_nst * set_point + _kst * st(1:(2 * obj.nodeStateLength)));
|
||||
obj.formation_controller = @(st) -obj.R(st(1:obj.nodeStateLength),obj.K)'*kp1*(obj.R(st(1:obj.nodeStateLength),obj.K)*st(1:obj.nodeStateLength)-(obj.d*dScale)) -obj.R(st(1:obj.nodeStateLength),obj.K)'*ki1*st(obj.stateLength-obj.m+1:obj.stateLength,1);
|
||||
obj.formation_control_dot = @(st) [obj.R(st(1:obj.nodeStateLength),obj.K) zeros(obj.m, obj.nodeStateLength + obj.m)];
|
||||
obj.stateA = @(st) [obj.A zeros(obj.stateLength-obj.m, obj.m); obj.formation_control_dot(st)];
|
||||
obj.stateB = [obj.B zeros(obj.stateLength-obj.m, obj.m); zeros(obj.m, size(model.B,2)*obj.n) eye(obj.m)];
|
||||
obj.stateKsgn = @(st,h) (h*[obj.Ksgn zeros(obj.stateLength-obj.m, obj.m); zeros(obj.m,obj.stateLength)])*arrayfun(model.sgn,st);
|
||||
obj.stateInput = @(st) [obj.controller(obj.formation_controller(st), st); obj.d*dScale];
|
||||
|
||||
obj.ss = @(st,vRef) obj.stateA(st)*st + obj.stateKsgn(st,1) + obj.stateB *obj.stateInput(st);
|
||||
|
||||
obj.dss = @(st,h,vRef) (eye(size(obj.stateA(st))) + (h*obj.stateA(st)))*st + obj.stateKsgn(st,h) + (h*obj.stateB)*obj.stateInput(st);
|
||||
endfunction
|
||||
|
|
@ -24,10 +24,11 @@ function obj = formationControl2ndBuilder(edgeL,robStateLen,kp1,kp2,ki1,ki2,dSca
|
|||
obj.Kb(obj.n+nNodeVref) = 1;
|
||||
obj.Kb = [kron(obj.Kb,eye(robStateLen)); zeros(obj.m,robStateLen)];
|
||||
obj.d = obj.d*dScale;
|
||||
obj.ssDisc = @(st,vRef,h) (eye(obj.sizeA) + (obj.A(st)*h))*st + obj.B(st)*h*obj.d + obj.Kb*vRef;
|
||||
obj.dss = @(st,h,vRef) (eye(obj.sizeA) + (obj.A(st)*h))*st + (obj.B(st)*h)*obj.d + (obj.Kb*h)*vRef;
|
||||
obj.ss = @(st,vRef) obj.A(st)*st + obj.B(st)*obj.d + obj.Kb*vRef;
|
||||
|
||||
printf("============== Formation Control ============ \n");
|
||||
printf(" state model : %i \n", obj.nodeStateLength);
|
||||
printf(" Node : %i \n", obj.n);
|
||||
printf(" Edge : %i \n", obj.m);
|
||||
printf("Dimention State : %i \n", obj.stateLength);
|
||||
|
|
|
|||
|
|
@ -0,0 +1,44 @@
|
|||
function obj = formationControl2ndModelBuilder(edgeL,model,kp1,kp2,ki1,ki2,dScale,nNodeVref)
|
||||
addpath("./networks-toolbox");
|
||||
% pkg load parallel
|
||||
obj = struct();
|
||||
robStateLen = size(model.syscl.A,1)
|
||||
[obj.R, obj.K, obj.d] = rigidityMatrixFnc(edgeL,robStateLen);
|
||||
obj.m = length(obj.d);
|
||||
obj.n = numNodes(edgeL);
|
||||
obj.nodeStateLength = robStateLen*obj.n;
|
||||
obj.stateLength = 4 * obj.nodeStateLength + obj.m;
|
||||
|
||||
% build matrix sistem
|
||||
obj.A1 = @(st) [zeros(obj.nodeStateLength), zeros(obj.nodeStateLength), zeros(obj.nodeStateLength),zeros(obj.nodeStateLength,obj.m), eye(obj.nodeStateLength)];
|
||||
obj.A2 = @(st) [-kp2*obj.R(st(1:(obj.nodeStateLength)),obj.K)'*obj.R(st(1:(obj.nodeStateLength)),obj.K), -kp1*eye(obj.nodeStateLength), -eye(obj.nodeStateLength), -obj.R(st(1:(obj.nodeStateLength)),obj.K)',zeros(obj.nodeStateLength)];
|
||||
obj.A3 = @(st) [zeros(obj.nodeStateLength), ki1*eye(obj.nodeStateLength), zeros(obj.nodeStateLength), zeros(obj.nodeStateLength,obj.m), zeros(obj.nodeStateLength)];
|
||||
obj.A4 = @(st) [ki2*obj.R(st(1:(obj.nodeStateLength)),obj.K), zeros(obj.m,obj.nodeStateLength), zeros(obj.m,obj.nodeStateLength), zeros(obj.m), zeros(obj.m,obj.nodeStateLength)];
|
||||
obj.MOsgn =@(st) diag([model.sgn(st(1)) model.sgn(st(2)) model.sgn(st(3))]);
|
||||
obj.MOdist = @(st) [obj.MOsgn(st(31:33)) zeros(robStateLen) zeros(robStateLen); zeros(robStateLen) obj.MOsgn(st(34:36)) zeros(robStateLen); zeros(robStateLen) zeros(robStateLen) obj.MOsgn(st(37:39))];
|
||||
obj.MO = @(st) [zeros(obj.nodeStateLength), kron(eye(robStateLen),model.syscl.B) , zeros(obj.nodeStateLength), zeros(obj.nodeStateLength,obj.m), kron(eye(robStateLen),model.syscl.A)+obj.MOdist(st)];
|
||||
obj.A = @(st) [obj.A1(st); obj.A2(st); obj.A3(st); obj.A4(st); obj.MO(st)];
|
||||
obj.sizeA = size(obj.A(ones(obj.stateLength,1)));
|
||||
|
||||
% build matrix input
|
||||
obj.B = @(st) [zeros(obj.nodeStateLength,obj.m); kp2*obj.R(st(1:(obj.nodeStateLength)),obj.K)'; zeros(obj.nodeStateLength,obj.m); -ki2*eye(obj.m,obj.m); zeros(obj.nodeStateLength,obj.m)]
|
||||
obj.sizeB = size(obj.B(ones(obj.stateLength,1)));
|
||||
|
||||
%build state space
|
||||
obj.Kb = zeros(obj.n*3,1);
|
||||
obj.Kb(obj.n+nNodeVref) = 1;
|
||||
obj.Kb = [kron(obj.Kb,eye(robStateLen)); zeros(obj.m,robStateLen); zeros(obj.nodeStateLength,robStateLen)];
|
||||
obj.d = obj.d*dScale;
|
||||
obj.dss = @(st,h,vRef) (eye(obj.sizeA) + (obj.A(st)*h))*st + obj.B(st)*h*obj.d + obj.Kb*h*vRef;
|
||||
obj.ss = @(st,vRef) obj.A(st)*st + obj.B(st)*obj.d + obj.Kb*vRef;
|
||||
|
||||
printf("============== Formation Control ============ \n");
|
||||
printf(" state model : %i \n", obj.nodeStateLength);
|
||||
printf(" Node : %i \n", obj.n);
|
||||
printf(" Edge : %i \n", obj.m);
|
||||
printf("Dimention State : %i \n", obj.stateLength);
|
||||
printf(" Dimention A : %i x %i \n", obj.sizeA);
|
||||
printf(" Dimention B : %i x %i \n", obj.sizeB);
|
||||
printf("============================================= \n");
|
||||
|
||||
endfunction
|
||||
|
|
@ -0,0 +1,37 @@
|
|||
omni = omnidirectional(0.94, 0.96, 0.01, 2.2, 1.5,0.099,0.1,1.5,0.025,30,0.035,19,0.00011,1.69,0.0059,0.0059,0.9,9.1,6,'./');
|
||||
|
||||
A = kron(eye(3), [zeros(size(omni.origin.syscl.a)) eye(size(omni.origin.syscl.a)); zeros(size(omni.origin.syscl.a)) omni.origin.syscl.a]);
|
||||
B = kron(eye(3),kron([0;1],omni.origin.syscl.b));
|
||||
R = @(the) [[cos(deg2rad(the)) -sin(deg2rad(the)) 0; sin(deg2rad(the)) cos(deg2rad(the)) 0; [0 0 1];] zeros(size(omni.origin.syscl.a)); zeros(size(omni.origin.syscl.a)) zeros(size(omni.origin.syscl.a))];
|
||||
C = @(the1,the2, the3) kron(diag([1 0 0]), R(the1)) + kron(diag([0 1 0]), R(the2)) + kron(diag([0 0 1]), R(the3));
|
||||
fvref_cw = fncSpeedRef('cw',4,6,3);
|
||||
fvref_ysin = fncSpeedRef('sysin',8,6,3);
|
||||
fvref_xsin = fncSpeedRef('sxsin',8,6,3);
|
||||
finput = @(t) [fvref_cw(t)+[0 0 90*sin(deg2rad(5*t))]'; fvref_xsin(t); fvref_ysin(t);]
|
||||
|
||||
sys = @(st, input) A*st + B* input;
|
||||
dydt = @(t, y) sys(y, finput(t));
|
||||
RX = @(x,y,the) x*cos(deg2rad(the))-y*sin(deg2rad(the));
|
||||
RY = @(x,y,the) y*cos(deg2rad(the))+x*sin(deg2rad(the));
|
||||
|
||||
init = [0 0 0 0 0 0 5 7 45 0 0 0 -8 4 270 0 0 0]';
|
||||
tSpan = 1:.1:50;
|
||||
[t, y] = ode45(dydt,tSpan,init);
|
||||
for i=1:size(t,1)
|
||||
out(i,:) = C(y(i,3),y(i,9)+y(i,3),y(i,15)+y(i,3))*y(i,:)';
|
||||
u(i,:) = finput(t(i))';
|
||||
d1(i,1) = hypot(out(i,7)-out(i,1),out(i,8)-out(i,2));
|
||||
d2(i,1) = hypot(out(i,13)-out(i,1),out(i,14)-out(i,2));
|
||||
endfor
|
||||
|
||||
close all
|
||||
figure(1)
|
||||
plot(out(:,1), out(:,2), out(:,7), out(:,8), out(:,13), out(:,14));
|
||||
figure(2)
|
||||
plot(t(:,1), d1(:,1), t(:,1), d2(:,1));
|
||||
figure(3)
|
||||
plot(t(:,1), u(:,1), t(:,1), u(:,2), t(:,1), u(:,3));
|
||||
% figure(4)
|
||||
% plot(t(:,1), u(:,4), t(:,1), u(:,5),t(:,1), u(:,6));
|
||||
% figure(5)
|
||||
% plot(t(:,1), u(:,7), t(:,1), u(:,8),t(:,1), u(:,9));
|
||||
|
|
@ -0,0 +1,180 @@
|
|||
## Omnidirectional Modeling API of Octave by Adnr
|
||||
function obj = omnidirectional(
|
||||
%% viscous friction coefficient related to v
|
||||
%B v (N/m/s)
|
||||
cBv%0.94
|
||||
%% viscous friction coefficient related to v n
|
||||
%B vn (N/m/s)
|
||||
, cBvn%0.96
|
||||
%% viscous friction coefficient related to ω
|
||||
%B ω (N/rad/s)
|
||||
, cBw%0.01
|
||||
%% coulomb friction coefficient related to v
|
||||
%C v (N )
|
||||
, cCv%2.2
|
||||
%% coulomb friction coefficient related to v n
|
||||
%C vn (N )
|
||||
, cCvn%1.5
|
||||
%% coulomb friction coefficient related to ω
|
||||
%C ω (N.m)
|
||||
, cCw%0.099
|
||||
%% radius of the robot
|
||||
%b(m)
|
||||
, cb%0.1
|
||||
%% mass of the robot
|
||||
%M (kg)
|
||||
, cM%1.5
|
||||
%% inertia moment of the robot
|
||||
%I n (kg.m 2 )
|
||||
, cIn%0.025
|
||||
%% angle
|
||||
%δ
|
||||
, cdlt%30
|
||||
%% radius of the wheels
|
||||
%r 1 , r 2 , r 3 (m)
|
||||
, cri%0.035
|
||||
%% reduction of the motors
|
||||
%l 1 , l 2 , l 3
|
||||
, cli%19
|
||||
%% motor’s armature inductance
|
||||
%L a 1...3 (H)
|
||||
, cLi%0.00011
|
||||
%% motor’s armature resistance
|
||||
%R a 1...3 (Ω)
|
||||
, cRai%1.69
|
||||
%% motor’s emf constant
|
||||
%K v 1...3 (V olts/rad/s)
|
||||
, cKv%0.0059
|
||||
%% motor’s torque constant
|
||||
%K t 1...3 (N.m/A)
|
||||
, cKt%0.0059
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
%% Criterion of canonical second-orde system
|
||||
, zeta
|
||||
, omega
|
||||
%% Input constrain
|
||||
, InCon
|
||||
, path_file
|
||||
)
|
||||
|
||||
pkg load control
|
||||
obj = struct();
|
||||
|
||||
%%%%%%% Origin builder
|
||||
|
||||
obj.origin = struct();
|
||||
obj.origin.A = [-((3*(cli^2)*(cKt^2))/(2*cM*cRai*(cri^2)))-(cBv/cM),0,0;
|
||||
0, -((3*(cli^2)*(cKt^2))/(2*cM*cRai*(cri^2)))-(cBvn/cM),0;
|
||||
0,0,-((3*(cb^2)*(cli^2)*(cKt^2))/(2*cIn*cRai*(cri^2)))-(cBw/cIn)];
|
||||
obj.origin.B = [0, (cos(cdlt*pi/180)/cM), -(cos(cdlt*pi/180)/cM);
|
||||
-1/cM, sin(cdlt*pi/180)/cM, sin(cdlt*pi/180)/cM;
|
||||
cb/cIn, cb/cIn, cb/cIn];
|
||||
obj.origin.K = [-cCv/cM, 0,0;
|
||||
0, -cCvn/cM, 0;
|
||||
0,0,-cCw/cM];
|
||||
obj.LENGTH_STATE = size(obj.origin.A,1);
|
||||
obj.LENGTH_INTPUT = size(obj.origin.B,1);
|
||||
Q = [500 0 0; 0 500 0; 0 0 5;]
|
||||
R = eye(3)*0.3;
|
||||
kst_ = lqr(obj.origin.A,obj.origin.B,Q,R);
|
||||
nst_ = -pinv(eye(size(obj.origin.A))*inv(obj.origin.A-obj.origin.B*kst_)*obj.origin.B);
|
||||
syscl = ss(obj.origin.A-obj.origin.B*kst_, obj.origin.B*nst_, eye(3),0);
|
||||
% step(syscl);
|
||||
obj.origin.Kst = kst_;
|
||||
obj.origin.Nst = nst_;
|
||||
obj.origin.syscl = syscl
|
||||
%%%%%%%
|
||||
|
||||
A = obj.origin.A;
|
||||
B = obj.origin.B;
|
||||
K = obj.origin.K;
|
||||
obj.LENGTH_STATE = size(A,1)+3;
|
||||
obj.LENGTH_INPUT = size(B,1);
|
||||
obj.A = [zeros(size(A)),eye(size(A));zeros(size(A)),A;];
|
||||
obj.B = [zeros(size(B));B;];
|
||||
obj.K = [zeros(size(B,2),size(B,2));K];
|
||||
obj.getState = @(o) zeros(size(A,1)+3,1);
|
||||
obj.getInput = @(o) zeros(size(B,2),1);
|
||||
obj.InCon = ones(obj.LENGTH_INPUT)*InCon;
|
||||
|
||||
|
||||
%%%%%%%%% Make Controller
|
||||
obj.controllabilityTest = @(a,b) rank(ctrb(a,b));
|
||||
obj.observabilityTest = @(a,c) rank(obsv(a,c));
|
||||
s = tf('s');
|
||||
obj.Gref = omega^2/(s^2+(2*zeta*omega)*s+omega^2);
|
||||
p = pole(obj.Gref);
|
||||
Kst = zeros(3,6);
|
||||
Nst = zeros(3,6);
|
||||
Q = {
|
||||
[ 100 0; 0 10;], %x
|
||||
[ 100 0; 0 10;], %y
|
||||
[2000 0; 0 10;] %theta
|
||||
};
|
||||
R = eye(3)*1;
|
||||
for i = [1:3]
|
||||
A_ = [0 1;
|
||||
0 A(i,i)];
|
||||
B_ = [0 0 0;
|
||||
B(i,1) B(i,2) B(i,3)];
|
||||
kst_ = lqr(A_,B_,Q{i},R);
|
||||
nst_ = -pinv(eye(size(A_))*inv(A_-B_*kst_)*B_);
|
||||
% syscl = ss(A_-B_*kst_, B_*nst_, eye(2),0); % uncomment for debugging
|
||||
% step(syscl);
|
||||
j = ((i-1)*2);
|
||||
Kst(:,1+j:2+j) = kst_;
|
||||
Nst(:,1+j:2+j) = nst_;
|
||||
endfor
|
||||
obj.Kst = [Kst(:,1) Kst(:,3) Kst(:,5) Kst(:,2) Kst(:,4) Kst(:,6)];
|
||||
obj.Nst = [Nst(:,1) Nst(:,3) Nst(:,5) Nst(:,2) Nst(:,4) Nst(:,6)];
|
||||
obj.syscl = ss(obj.A-obj.B*obj.Kst,obj.B*obj.Nst,eye(size(obj.A)),[0]);
|
||||
|
||||
%%%%%%%%% Generate discrete state space function
|
||||
% sgn function, in octave comparison (x compare value) return integer
|
||||
% result of comparison used to address to value in matrix
|
||||
obj.sgn = @(x) [0,1,-1](4-(1*(x<0))-(2*(x>0))-(3*(x==0)));
|
||||
obj.origin.sgn = obj.sgn;
|
||||
obj.limit_motor = @(x) [x,6,-6](4-(1*(x<-6))-(2*(x>6))-(3*(x<6 & x>-6)));
|
||||
obj.origin.limit_motor = obj.limit_motor;
|
||||
|
||||
% Kinematic function for coordinate robot to global
|
||||
obj.rotationOrtogonal = @(the) [cos(the) sin(the) 0; -sin(the) cos(the) 0; 0 0 1];
|
||||
|
||||
% https://en.wikibooks.org/wiki/Control_Systems/State-Space_Equations#Discretization
|
||||
% x[k+1] = (1 + AT)x[k] + TBu[k] + TKsgn(x[k])
|
||||
% Not using function from control package becouse the system have K term
|
||||
obj.Aterm = @(o,T,st) (eye(o.LENGTH_STATE,o.LENGTH_STATE)+(o.A*T))*st;
|
||||
obj.Bterm = @(o,T,st,in) (T*o.B)*in;
|
||||
obj.Kterm = @(o,T,st,in) ((T*o.K)*[o.sgn(st(4));o.sgn(st(5));o.sgn(st(6))]);
|
||||
% Original state space robot
|
||||
obj.disDotState = @(o,T,st,in) o.Aterm(o,T,st)+o.Bterm(o,T,st,in)+o.Kterm(o,T,st,in);
|
||||
|
||||
obj.Uterm = @(o,st,ref) (o.Nst*ref - o.Kst*st);
|
||||
obj.Cons = @(u) [u,InCon,-InCon](1+(2*(u<-InCon)+(1*(u>InCon))));
|
||||
obj.UCons = @(o,u) [o.Cons(u(1)); o.Cons(u(2)); o.Cons(u(3))];
|
||||
obj.UIn = @(o,st,ref) o.UCons(o,o.Uterm(o,st,ref));
|
||||
% State space included controller
|
||||
obj.disDotStateCl = @(o,T,st,ref) o.disDotState(o,T,st,o.UCons(o,o.Uterm(o,st,ref)));
|
||||
obj.Y = @(o,st) [o.rotationOrtogonal(st(3))', zeros(size(A))]*st;
|
||||
|
||||
|
||||
% Time eq
|
||||
obj.disTime = @(T,ti) (ti + abs(T));
|
||||
obj.testStabilityExplicit = @(h) abs(eye(size(A))+(h*(A+K)));
|
||||
obj.testStabilityImplicit = @(h) abs(eye(size(A))-(h*(A+K)));
|
||||
|
||||
%%%%%%%%% PRINT the matrix to file used matrix in python app
|
||||
csvwrite(strcat(path_file,'A.matrix'),obj.A);
|
||||
csvwrite(strcat(path_file,'B.matrix'),obj.B);
|
||||
csvwrite(strcat(path_file,'C.matrix'),[eye(size(A)), zeros(size(A))]);
|
||||
csvwrite(strcat(path_file,'K.matrix'),obj.K);
|
||||
csvwrite(strcat(path_file,'Kst.matrix'),obj.Kst);
|
||||
csvwrite(strcat(path_file,'Nst.matrix'),obj.Nst);
|
||||
|
||||
[y,t] = step(obj.Gref);
|
||||
csvwrite(strcat(path_file,'Gref.csv'),[y,t]);
|
||||
csvwrite(strcat(path_file,'poleGref.csv'),pole(obj.Gref));
|
||||
|
||||
|
||||
endfunction
|
||||
|
||||
|
|
@ -12,8 +12,9 @@ function [R,K, d] = rigidityMatrixFnc (edgeL,stateLen)
|
|||
printf("Jumlah Robot : %i \n", tmp);
|
||||
% generasi vector error menggunakan matrix
|
||||
% koneksi
|
||||
tmp = getNodes(gInc,'adjacency');
|
||||
% tmp = getNodes(gInc,'adjacency');
|
||||
K = kron(adj2inc(edgeL2adj(edgeL))',eye(stateLen));
|
||||
tmp = 1:(size(K,1)/stateLen);
|
||||
edgeVector = @(x,k) k*x;
|
||||
% hasil turunan dari fungsi edge
|
||||
str = "errBlockDiagonal = @(errVec) (blkdiag(";
|
||||
|
|
|
|||
|
|
@ -0,0 +1,26 @@
|
|||
#Friction multiplied
|
||||
function xo = sgn( x=[x1; x2; x3])
|
||||
xo = [0;0;0;];
|
||||
if x(1) > 0 ;
|
||||
xo(1) = 1;
|
||||
elseif x(1) < 0;
|
||||
xo(1) = -1;
|
||||
else;
|
||||
%% xo(1) = x(1);
|
||||
endif;
|
||||
if x(2) > 0 ;
|
||||
xo(2) = 1;
|
||||
elseif x(2) < 0;
|
||||
xo(2) = -1;
|
||||
else;
|
||||
%% xo(2) = x(2);
|
||||
endif;
|
||||
if x(3) > 0 ;
|
||||
xo(3) = 1;
|
||||
elseif x(3) < 0;
|
||||
xo(3) = -1;
|
||||
else;
|
||||
%% xo(3) = x(3);
|
||||
endif;
|
||||
endfunction
|
||||
|
||||
Loading…
Reference in New Issue