sistem_robotik_old/SOURCE/structure.tex

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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% The Legrand Orange Book
% Structural Definitions File
% Version 2.1 (26/09/2018)
%
% Original author:
% Mathias Legrand (legrand.mathias@gmail.com) with modifications by:
% Vel (vel@latextemplates.com)
%
% This file was downloaded from:
% http://www.LaTeXTemplates.com
%
% License:
% CC BY-NC-SA 3.0 (http://creativecommons.org/licenses/by-nc-sa/3.0/)
%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%----------------------------------------------------------------------------------------
% VARIOUS REQUIRED PACKAGES AND CONFIGURATIONS
%----------------------------------------------------------------------------------------
\usepackage{graphicx} % Required for including pictures
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\graphicspath{{Pictures/}} % Specifies the directory where pictures are stored
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\usepackage{lipsum} % Inserts dummy text
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\usepackage{pgfplots}
\usepackage{adjustbox}
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\usepackage{tikz} % Required for drawing custom shapes
\usepackage[english]{babel} % English language/hyphenation
\usepackage{enumitem} % Customize lists
\setlist{nolistsep} % Reduce spacing between bullet points and numbered lists
\usepackage{booktabs} % Required for nicer horizontal rules in tables
\usepackage{xcolor} % Required for specifying colors by name
\definecolor{ocre}{RGB}{243,102,25} % Define the orange color used for highlighting throughout the book
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\usepackage{multicol}
\usepackage{catchfilebetweentags}
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%----------------------------------------------------------------------------------------
% MARGINS
%----------------------------------------------------------------------------------------
\usepackage{geometry} % Required for adjusting page dimensions and margins
\geometry{
paper=a4paper, % Paper size, change to letterpaper for US letter size
top=3cm, % Top margin
bottom=3cm, % Bottom margin
left=3cm, % Left margin
right=3cm, % Right margin
headheight=14pt, % Header height
footskip=1.4cm, % Space from the bottom margin to the baseline of the footer
headsep=10pt, % Space from the top margin to the baseline of the header
%showframe, % Uncomment to show how the type block is set on the page
}
%----------------------------------------------------------------------------------------
% FONTS
%----------------------------------------------------------------------------------------
\usepackage{avant} % Use the Avantgarde font for headings
%\usepackage{times} % Use the Times font for headings
\usepackage{mathptmx} % Use the Adobe Times Roman as the default text font together with math symbols from the Sym­bol, Chancery and Com­puter Modern fonts
\usepackage{microtype} % Slightly tweak font spacing for aesthetics
\usepackage[utf8]{inputenc} % Required for including letters with accents
\usepackage[T1]{fontenc} % Use 8-bit encoding that has 256 glyphs
%----------------------------------------------------------------------------------------
% BIBLIOGRAPHY AND INDEX
%----------------------------------------------------------------------------------------
\usepackage[style=numeric,citestyle=numeric,sorting=nyt,sortcites=true,autopunct=true,babel=hyphen,hyperref=true,abbreviate=false,backref=true,backend=biber]{biblatex}
\addbibresource{bibliography.bib} % BibTeX bibliography file
\defbibheading{bibempty}{}
\usepackage{calc} % For simpler calculation - used for spacing the index letter headings correctly
\usepackage{makeidx} % Required to make an index
\makeindex % Tells LaTeX to create the files required for indexing
%----------------------------------------------------------------------------------------
% MAIN TABLE OF CONTENTS
%----------------------------------------------------------------------------------------
\usepackage{titletoc} % Required for manipulating the table of contents
\contentsmargin{0cm} % Removes the default margin
% Part text styling (this is mostly taken care of in the PART HEADINGS section of this file)
\titlecontents{part}
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[0cm] % Left indentation
{\addvspace{20pt}\bfseries} % Spacing and font options for parts
{}
{}
{}
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% Chapter text styling
\titlecontents{chapter}
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[1.25cm] % Left indentation
{\addvspace{12pt}\large\sffamily\bfseries} % Spacing and font options for chapters
{\color{ocre!60}\contentslabel[\Large\thecontentslabel]{1.25cm}\color{ocre}} % Formatting of numbered sections of this type
{\color{ocre}} % Formatting of numberless sections of this type
{\color{ocre!60}\normalsize\;\titlerule*[.5pc]{.}\;\thecontentspage} % Formatting of the filler to the right of the heading and the page number
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% Section text styling
\titlecontents{section}
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[1.25cm] % Left indentation
{\addvspace{3pt}\sffamily\bfseries} % Spacing and font options for sections
{\contentslabel[\thecontentslabel]{1.25cm}} % Formatting of numbered sections of this type
{} % Formatting of numberless sections of this type
{\hfill\color{black}\thecontentspage} % Formatting of the filler to the right of the heading and the page number
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% Subsection text styling
\titlecontents{subsection}
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[1.25cm] % Left indentation
{\addvspace{1pt}\sffamily\small} % Spacing and font options for subsections
{\contentslabel[\thecontentslabel]{1.25cm}} % Formatting of numbered sections of this type
{} % Formatting of numberless sections of this type
{\ \titlerule*[.5pc]{.}\;\thecontentspage} % Formatting of the filler to the right of the heading and the page number
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% Figure text styling
\titlecontents{figure}
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[1.25cm] % Left indentation
{\addvspace{1pt}\sffamily\small} % Spacing and font options for figures
{\thecontentslabel\hspace*{1em}} % Formatting of numbered sections of this type
{} % Formatting of numberless sections of this type
{\ \titlerule*[.5pc]{.}\;\thecontentspage} % Formatting of the filler to the right of the heading and the page number
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% Table text styling
\titlecontents{table}
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[1.25cm] % Left indentation
{\addvspace{1pt}\sffamily\small} % Spacing and font options for tables
{\thecontentslabel\hspace*{1em}} % Formatting of numbered sections of this type
{} % Formatting of numberless sections of this type
{\ \titlerule*[.5pc]{.}\;\thecontentspage} % Formatting of the filler to the right of the heading and the page number
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%----------------------------------------------------------------------------------------
% MINI TABLE OF CONTENTS IN PART HEADS
%----------------------------------------------------------------------------------------
% Chapter text styling
\titlecontents{lchapter}
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[0em] % Left indentation
{\addvspace{15pt}\large\sffamily\bfseries} % Spacing and font options for chapters
{\color{ocre}\contentslabel[\Large\thecontentslabel]{1.25cm}\color{ocre}} % Chapter number
{}
{\color{ocre}\normalsize\sffamily\bfseries\;\titlerule*[.5pc]{.}\;\thecontentspage} % Page number
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% Section text styling
\titlecontents{lsection}
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[0em] % Left indentation
{\sffamily\small} % Spacing and font options for sections
{\contentslabel[\thecontentslabel]{1.25cm}} % Section number
{}
{}
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% Subsection text styling (note these aren't shown by default, display them by searchings this file for tocdepth and reading the commented text)
\titlecontents{lsubsection}
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[.5em] % Left indentation
{\sffamily\footnotesize} % Spacing and font options for subsections
{\contentslabel[\thecontentslabel]{1.25cm}}
{}
{}
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%----------------------------------------------------------------------------------------
% HEADERS AND FOOTERS
%----------------------------------------------------------------------------------------
\usepackage{fancyhdr} % Required for header and footer configuration
\pagestyle{fancy} % Enable the custom headers and footers
\renewcommand{\chaptermark}[1]{\markboth{\sffamily\normalsize\bfseries\chaptername\ \thechapter.\ #1}{}} % Styling for the current chapter in the header
\renewcommand{\sectionmark}[1]{\markright{\sffamily\normalsize\thesection\hspace{5pt}#1}{}} % Styling for the current section in the header
\fancyhf{} % Clear default headers and footers
\fancyhead[LE,RO]{\sffamily\normalsize\thepage} % Styling for the page number in the header
\fancyhead[LO]{\rightmark} % Print the nearest section name on the left side of odd pages
\fancyhead[RE]{\leftmark} % Print the current chapter name on the right side of even pages
%\fancyfoot[C]{\thepage} % Uncomment to include a footer
\renewcommand{\headrulewidth}{0.5pt} % Thickness of the rule under the header
\fancypagestyle{plain}{% Style for when a plain pagestyle is specified
\fancyhead{}\renewcommand{\headrulewidth}{0pt}%
}
% Removes the header from odd empty pages at the end of chapters
\makeatletter
\renewcommand{\cleardoublepage}{
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\clearpage\ifodd\c@page\else
\hbox{}
\vspace*{\fill}
\thispagestyle{empty}
\newpage
\fi}
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%----------------------------------------------------------------------------------------
% THEOREM STYLES
%----------------------------------------------------------------------------------------
\usepackage{amsmath,amsfonts,amssymb,amsthm} % For math equations, theorems, symbols, etc
\newcommand{\intoo}[2]{\mathopen{]}#1\,;#2\mathclose{[}}
\newcommand{\ud}{\mathop{\mathrm{{}d}}\mathopen{}}
\newcommand{\intff}[2]{\mathopen{[}#1\,;#2\mathclose{]}}
\renewcommand{\qedsymbol}{$\blacksquare$}
\newtheorem{notation}{Notation}[chapter]
% Boxed/framed environments
\newtheoremstyle{ocrenumbox}% Theorem style name
{0pt}% Space above
{0pt}% Space below
{\normalfont}% Body font
{}% Indent amount
{\small\bf\sffamily\color{ocre}}% Theorem head font
{\;}% Punctuation after theorem head
{0.25em}% Space after theorem head
{\small\sffamily\color{ocre}\thmname{#1}\nobreakspace\thmnumber{\@ifnotempty{#1}{}\@upn{#2}}% Theorem text (e.g. Theorem 2.1)
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\thmnote{\nobreakspace\the\thm@notefont\sffamily\bfseries\color{black}---\nobreakspace#3.}} % Optional theorem note
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\newtheoremstyle{blacknumex}% Theorem style name
{5pt}% Space above
{5pt}% Space below
{\normalfont}% Body font
{} % Indent amount
{\small\bf\sffamily}% Theorem head font
{\;}% Punctuation after theorem head
{0.25em}% Space after theorem head
{\small\sffamily{\tiny\ensuremath{\blacksquare}}\nobreakspace\thmname{#1}\nobreakspace\thmnumber{\@ifnotempty{#1}{}\@upn{#2}}% Theorem text (e.g. Theorem 2.1)
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\thmnote{\nobreakspace\the\thm@notefont\sffamily\bfseries---\nobreakspace#3.}}% Optional theorem note
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\newtheoremstyle{blacknumbox} % Theorem style name
{0pt}% Space above
{0pt}% Space below
{\normalfont}% Body font
{}% Indent amount
{\small\bf\sffamily}% Theorem head font
{\;}% Punctuation after theorem head
{0.25em}% Space after theorem head
{\small\sffamily\thmname{#1}\nobreakspace\thmnumber{\@ifnotempty{#1}{}\@upn{#2}}% Theorem text (e.g. Theorem 2.1)
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\thmnote{\nobreakspace\the\thm@notefont\sffamily\bfseries---\nobreakspace#3.}}% Optional theorem note
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% Non-boxed/non-framed environments
\newtheoremstyle{ocrenum}% Theorem style name
{5pt}% Space above
{5pt}% Space below
{\normalfont}% Body font
{}% Indent amount
{\small\bf\sffamily\color{ocre}}% Theorem head font
{\;}% Punctuation after theorem head
{0.25em}% Space after theorem head
{\small\sffamily\color{ocre}\thmname{#1}\nobreakspace\thmnumber{\@ifnotempty{#1}{}\@upn{#2}}% Theorem text (e.g. Theorem 2.1)
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\thmnote{\nobreakspace\the\thm@notefont\sffamily\bfseries\color{black}---\nobreakspace#3.}} % Optional theorem note
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\makeatother
% Defines the theorem text style for each type of theorem to one of the three styles above
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\newcounter{dummy}
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\numberwithin{dummy}{section}
\theoremstyle{ocrenumbox}
\newtheorem{theoremeT}[dummy]{Theorem}
\newtheorem{problem}{Problem}[chapter]
\newtheorem{exerciseT}{Exercise}[chapter]
\theoremstyle{blacknumex}
\newtheorem{exampleT}{Example}[chapter]
\theoremstyle{blacknumbox}
\newtheorem{vocabulary}{Vocabulary}[chapter]
\newtheorem{definitionT}{Definition}[section]
\newtheorem{corollaryT}[dummy]{Corollary}
\theoremstyle{ocrenum}
\newtheorem{proposition}[dummy]{Proposition}
%----------------------------------------------------------------------------------------
% DEFINITION OF COLORED BOXES
%----------------------------------------------------------------------------------------
\RequirePackage[framemethod=default]{mdframed} % Required for creating the theorem, definition, exercise and corollary boxes
% Theorem box
\newmdenv[skipabove=7pt,
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skipbelow=7pt,
backgroundcolor=black!5,
linecolor=ocre,
innerleftmargin=5pt,
innerrightmargin=5pt,
innertopmargin=5pt,
leftmargin=0cm,
rightmargin=0cm,
innerbottommargin=5pt]{tBox}
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% Exercise box
\newmdenv[skipabove=7pt,
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skipbelow=7pt,
rightline=false,
leftline=true,
topline=false,
bottomline=false,
backgroundcolor=ocre!10,
linecolor=ocre,
innerleftmargin=5pt,
innerrightmargin=5pt,
innertopmargin=5pt,
innerbottommargin=5pt,
leftmargin=0cm,
rightmargin=0cm,
linewidth=4pt]{eBox}
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% Definition box
\newmdenv[skipabove=7pt,
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skipbelow=7pt,
rightline=false,
leftline=true,
topline=false,
bottomline=false,
linecolor=ocre,
innerleftmargin=5pt,
innerrightmargin=5pt,
innertopmargin=0pt,
leftmargin=0cm,
rightmargin=0cm,
linewidth=4pt,
innerbottommargin=0pt]{dBox}
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% Corollary box
\newmdenv[skipabove=7pt,
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skipbelow=7pt,
rightline=false,
leftline=true,
topline=false,
bottomline=false,
linecolor=gray,
backgroundcolor=black!5,
innerleftmargin=5pt,
innerrightmargin=5pt,
innertopmargin=5pt,
leftmargin=0cm,
rightmargin=0cm,
linewidth=4pt,
innerbottommargin=5pt]{cBox}
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% Creates an environment for each type of theorem and assigns it a theorem text style from the "Theorem Styles" section above and a colored box from above
\newenvironment{theorem}{\begin{tBox}\begin{theoremeT}}{\end{theoremeT}\end{tBox}}
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\newenvironment{exercise}{\begin{eBox}\begin{exerciseT}}{\hfill{\color{ocre}\tiny\ensuremath{\blacksquare}}\end{exerciseT}\end{eBox}}
\newenvironment{definition}{\begin{dBox}\begin{definitionT}}{\end{definitionT}\end{dBox}}
\newenvironment{example}{\begin{exampleT}}{\hfill{\tiny\ensuremath{\blacksquare}}\end{exampleT}}
\newenvironment{corollary}{\begin{cBox}\begin{corollaryT}}{\end{corollaryT}\end{cBox}}
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%----------------------------------------------------------------------------------------
% REMARK ENVIRONMENT
%----------------------------------------------------------------------------------------
\newenvironment{remark}{\par\vspace{10pt}\small % Vertical white space above the remark and smaller font size
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\begin{list}{}{
\leftmargin=35pt % Indentation on the left
\rightmargin=25pt}\item\ignorespaces % Indentation on the right
\makebox[-2.5pt]{\begin{tikzpicture}[overlay]
\node[draw=ocre!60,line width=1pt,circle,fill=ocre!25,font=\sffamily\bfseries,inner sep=2pt,outer sep=0pt] at (-15pt,0pt){\textcolor{ocre}{R}};\end{tikzpicture}} % Orange R in a circle
\advance\baselineskip -1pt}{\end{list}\vskip5pt} % Tighter line spacing and white space after remark
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%----------------------------------------------------------------------------------------
% SECTION NUMBERING IN THE MARGIN
%----------------------------------------------------------------------------------------
\makeatletter
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\renewcommand{\@seccntformat}[1]{\llap{\textcolor{ocre}{\csname the#1\endcsname}\hspace{1em}}}
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\renewcommand{\section}{\@startsection{section}{1}{\z@}
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{-4ex \@plus -1ex \@minus -.4ex}
{1ex \@plus.2ex }
{\normalfont\large\sffamily\bfseries}}
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\renewcommand{\subsection}{\@startsection {subsection}{2}{\z@}
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{-3ex \@plus -0.1ex \@minus -.4ex}
{0.5ex \@plus.2ex }
{\normalfont\sffamily\bfseries}}
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\renewcommand{\subsubsection}{\@startsection {subsubsection}{3}{\z@}
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{-2ex \@plus -0.1ex \@minus -.2ex}
{.2ex \@plus.2ex }
{\normalfont\small\sffamily\bfseries}}
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\renewcommand\paragraph{\@startsection{paragraph}{4}{\z@}
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{-2ex \@plus-.2ex \@minus .2ex}
{.1ex}
{\normalfont\small\sffamily\bfseries}}
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%----------------------------------------------------------------------------------------
% PART HEADINGS
%----------------------------------------------------------------------------------------
% Numbered part in the table of contents
\newcommand{\@mypartnumtocformat}[2]{%
\setlength\fboxsep{0pt}%
\noindent\colorbox{ocre!20}{\strut\parbox[c][.7cm]{\ecart}{\color{ocre!70}\Large\sffamily\bfseries\centering#1}}\hskip\esp\colorbox{ocre!40}{\strut\parbox[c][.7cm]{\linewidth-\ecart-\esp}{\Large\sffamily\centering#2}}%
}
% Unnumbered part in the table of contents
\newcommand{\@myparttocformat}[1]{%
\setlength\fboxsep{0pt}%
\noindent\colorbox{ocre!40}{\strut\parbox[c][.7cm]{\linewidth}{\Large\sffamily\centering#1}}%
}
\newlength\esp
\setlength\esp{4pt}
\newlength\ecart
\setlength\ecart{1.2cm-\esp}
\newcommand{\thepartimage}{}%
\newcommand{\partimage}[1]{\renewcommand{\thepartimage}{#1}}%
\def\@part[#1]#2{%
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\ifnum \c@secnumdepth >-2\relax%
\refstepcounter{part}%
\addcontentsline{toc}{part}{\texorpdfstring{\protect\@mypartnumtocformat{\thepart}{#1}}{\partname~\thepart\ ---\ #1}}
\else%
\addcontentsline{toc}{part}{\texorpdfstring{\protect\@myparttocformat{#1}}{#1}}%
\fi%
\startcontents%
\markboth{}{}%
{\thispagestyle{empty}%
\begin{tikzpicture}[remember picture,overlay]%
\node at (current page.north west){\begin{tikzpicture}[remember picture,overlay]%
\fill[ocre!20](0cm,0cm) rectangle (\paperwidth,-\paperheight);
\node[anchor=north] at (4cm,-3.25cm){\color{ocre!40}\fontsize{220}{100}\sffamily\bfseries\thepart};
\node[anchor=south east] at (\paperwidth-1cm,-\paperheight+1cm){\parbox[t][][t]{8.5cm}{
\printcontents{l}{0}{\setcounter{tocdepth}{1}}% The depth to which the Part mini table of contents displays headings; 0 for chapters only, 1 for chapters and sections and 2 for chapters, sections and subsections
}};
\node[anchor=north east] at (\paperwidth-1.5cm,-3.25cm){\parbox[t][][t]{15cm}{\strut\raggedleft\color{white}\fontsize{30}{30}\sffamily\bfseries#2}};
\end{tikzpicture}};
\end{tikzpicture}}%
\@endpart}
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\def\@spart#1{%
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\startcontents%
\phantomsection
{\thispagestyle{empty}%
\begin{tikzpicture}[remember picture,overlay]%
\node at (current page.north west){\begin{tikzpicture}[remember picture,overlay]%
\fill[ocre!20](0cm,0cm) rectangle (\paperwidth,-\paperheight);
\node[anchor=north east] at (\paperwidth-1.5cm,-3.25cm){\parbox[t][][t]{15cm}{\strut\raggedleft\color{white}\fontsize{30}{30}\sffamily\bfseries#1}};
\end{tikzpicture}};
\end{tikzpicture}}
\addcontentsline{toc}{part}{\texorpdfstring{%
\setlength\fboxsep{0pt}%
\noindent\protect\colorbox{ocre!40}{\strut\protect\parbox[c][.7cm]{\linewidth}{\Large\sffamily\protect\centering #1\quad\mbox{}}}}{#1}}%
\@endpart}
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\def\@endpart{\vfil\newpage
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\if@twoside
\if@openright
\null
\thispagestyle{empty}%
\newpage
\fi
\fi
\if@tempswa
\twocolumn
\fi}
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%----------------------------------------------------------------------------------------
% CHAPTER HEADINGS
%----------------------------------------------------------------------------------------
% A switch to conditionally include a picture, implemented by Christian Hupfer
\newif\ifusechapterimage
\usechapterimagetrue
\newcommand{\thechapterimage}{}%
\newcommand{\chapterimage}[1]{\ifusechapterimage\renewcommand{\thechapterimage}{#1}\fi}%
\newcommand{\autodot}{.}
\def\@makechapterhead#1{%
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{\parindent \z@ \raggedright \normalfont
\ifnum \c@secnumdepth >\m@ne
\if@mainmatter
\begin{tikzpicture}[remember picture,overlay]
\node at (current page.north west)
{\begin{tikzpicture}[remember picture,overlay]
\node[anchor=north west,inner sep=0pt] at (0,0) {\ifusechapterimage\includegraphics[width=\paperwidth]{\thechapterimage}\fi};
\draw[anchor=west] (\Gm@lmargin,-9cm) node [line width=2pt,rounded corners=15pt,draw=ocre,fill=white,fill opacity=0.5,inner sep=15pt]{\strut\makebox[22cm]{}};
\draw[anchor=west] (\Gm@lmargin+.3cm,-9cm) node {\huge\sffamily\bfseries\color{black}\thechapter\autodot~#1\strut};
\end{tikzpicture}};
\end{tikzpicture}
\else
\begin{tikzpicture}[remember picture,overlay]
\node at (current page.north west)
{\begin{tikzpicture}[remember picture,overlay]
\node[anchor=north west,inner sep=0pt] at (0,0) {\ifusechapterimage\includegraphics[width=\paperwidth]{\thechapterimage}\fi};
\draw[anchor=west] (\Gm@lmargin,-9cm) node [line width=2pt,rounded corners=15pt,draw=ocre,fill=white,fill opacity=0.5,inner sep=15pt]{\strut\makebox[22cm]{}};
\draw[anchor=west] (\Gm@lmargin+.3cm,-9cm) node {\huge\sffamily\bfseries\color{black}#1\strut};
\end{tikzpicture}};
\end{tikzpicture}
\fi\fi\par\vspace*{270\p@}}}
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%-------------------------------------------
\def\@makeschapterhead#1{%
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\begin{tikzpicture}[remember picture,overlay]
\node at (current page.north west)
{\begin{tikzpicture}[remember picture,overlay]
\node[anchor=north west,inner sep=0pt] at (0,0) {\ifusechapterimage\includegraphics[width=\paperwidth]{\thechapterimage}\fi};
\draw[anchor=west] (\Gm@lmargin,-9cm) node [line width=2pt,rounded corners=15pt,draw=ocre,fill=white,fill opacity=0.5,inner sep=15pt]{\strut\makebox[22cm]{}};
\draw[anchor=west] (\Gm@lmargin+.3cm,-9cm) node {\huge\sffamily\bfseries\color{black}#1\strut};
\end{tikzpicture}};
\end{tikzpicture}
\par\vspace*{270\p@}}
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\makeatother
%----------------------------------------------------------------------------------------
% LINKS
%----------------------------------------------------------------------------------------
\usepackage{hyperref}
\hypersetup{hidelinks,backref=true,pagebackref=true,hyperindex=true,colorlinks=false,breaklinks=true,urlcolor=ocre,bookmarks=true,bookmarksopen=false}
\usepackage{bookmark}
\bookmarksetup{
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open,
numbered,
addtohook={%
\ifnum\bookmarkget{level}=0 % chapter
\bookmarksetup{bold}%
\fi
\ifnum\bookmarkget{level}=-1 % part
\bookmarksetup{color=ocre,bold}%
\fi
}
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}