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book.js
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book.js
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// Definitions for mathjax
var mathjax_setup = `
<div style="display:none" id="mathjax_setup">
\\[
\\newcommand{\\pd}[2]{\\frac{\\partial #1}{\\partial #2}}
\\newcommand{\\Re}{{\\mathbb{R}}}
\\newcommand{\\bc}{{\\bf c}}
\\newcommand{\\bg}{{\\bf g}}
\\newcommand{\\bh}{{\\bf h}}
\\newcommand{\\bp}{{\\bf p}}
\\newcommand{\\bq}{{\\bf q}}
\\newcommand{\\bv}{{\\bf v}}
\\newcommand{\\bx}{{\\bf x}}
\\newcommand{\\by}{{\\bf y}}
\\newcommand{\\bu}{{\\bf u}}
\\newcommand{\\bw}{{\\bf w}}
\\newcommand{\\bz}{{\\bf z}}
\\newcommand{\\bA}{{\\bf A}}
\\newcommand{\\bB}{{\\bf B}}
\\newcommand{\\bC}{{\\bf C}}
\\newcommand{\\bD}{{\\bf D}}
\\newcommand{\\bH}{{\\bf H}}
\\newcommand{\\bI}{{\\bf I}}
\\newcommand{\\bJ}{{\\bf J}}
\\newcommand{\\bK}{{\\bf K}}
\\newcommand{\\bM}{{\\bf M}}
\\newcommand{\\bQ}{{\\bf Q}}
\\newcommand{\\bR}{{\\bf R}}
\\newcommand{\\bT}{{\\bf T}}
\\newcommand{\\balpha}{{\\bf \\alpha}}
\\newcommand{\\bbeta}{{\\bf \\beta}}
\\newcommand{\\blambda}{{\\bf \\lambda}}
\\newcommand{\\btau}{{\\bf \\tau}}
\\newcommand{\\bphi}{{\\bf \\phi}}
\\newcommand{\\bPhi}{{\\bf \\Phi}}
\\newcommand{\\bpi}{{\\bf \\pi}}
\\newcommand{\\bpsi}{{\\bf \\psi}}
\\newcommand{\\bPsi}{{\\bf \\Psi}}
\\newcommand{\\avg}[1]{E\\left[ #1 \\right]}
\\newcommand{\\subjto}{\\textrm{subject to}}
\\newcommand{\\find}{\\operatorname{\\textrm{find}}}
\\newcommand{\\minimize}{\\operatorname{\\textrm{minimize}}}
\\newcommand{\\maximize}{\\operatorname{\\textrm{maximize}}}
\\DeclareMathOperator*{\\find}{find}
\\DeclareMathOperator*{\\rank}{rank}
\\DeclareMathOperator{\\tr}{tr}
\\newcommand{\\argmax}{\\operatorname{\\textrm{argmax}}}
\\newcommand{\\argmin}{\\operatorname{\\textrm{argmin}}}
\\newcommand{\\atantwo}{\\operatorname{\\textrm{atan2}}}
\\newcommand{\\sgn}{\\operatorname{\\textrm{sgn}}}
\\newcommand{\\trace}{\\operatorname{\\textrm{tr}}}
\\newcommand{\\sos}{\\text{ is SOS}}
\\]
</div>
<div id="debug_output"></div>
`;
function setPlatform(platform) {
function hide(items) { for (let item of items) { item.style.display = "none"; } }
function show(items) { for (let item of items) { item.style.display = "inline"; } }
hide(document.getElementsByClassName("mac"));
hide(document.getElementsByClassName("bionic"));
hide(document.getElementsByClassName("focal"));
show(document.getElementsByClassName(platform));
}
function customTags() {
// We cannot add a link via CSS, so do it here instead.
var drakeTags = document.getElementsByTagName('drake');
for (j = 0; j < drakeTags.length; j++) {
drakeTags[j].innerHTML =
'<a style="font-variant:small-caps; text-decoration:none;" href="http://drake.mit.edu">Drake</a>';
}
var bib = [];
var elibTags = document.getElementsByTagName('elib');
for (i = 0; i < elibTags.length; i++) {
var c = elibTags[i].innerHTML;
var str = "";
var index;
c.split("+").forEach(function(b) {
b = b.trim();
index = bib.indexOf(b);
if (index == -1) {
index = bib.length;
bib.push(b);
}
if (str.length > 0) {
str += ", ";
}
str += '<a href="#' + b + '">' + (index+1) + '</a>';
});
// for citing part of a work: https://blog.apastyle.org/apastyle/2013/11/how-to-cite-part-of-a-work.html
if (elibTags[i].hasAttribute('part')) {
str += ", " + elibTags[i].getAttribute('part');
}
elibTags[i].innerHTML = '[' + str + ']';
}
}
// This is to maintain backwards compatibility (for now)
function forwardOldChapterLink() {
function getParameterByName(name) {
name = name.replace(/[\[]/, "\\[").replace(/[\]]/, "\\]");
var regex = new RegExp("[\\?&]" + name + "=([^&#]*)"),
results = regex.exec(location.search);
return results == null ? "" : decodeURIComponent(results[1].replace(/\+/g, " "));
}
var chapter = getParameterByName("chapter");
if (chapter) {
var hash = window.location.hash.substr(1);
if (hash) {
window.location = chapter + ".html" + "#" + hash;
} else {
window.location = chapter + ".html";
}
}
}
function loadIndex() {
forwardOldChapterLink();
customTags();
var mathjax = document.getElementById("mathjax");
mathjax.innerHTML = mathjax_setup + mathjax.innerHTML;
MathJax.typeset();
}
function loadChapter(project) {
var url = window.location.pathname;
var filename = url.substring(url.lastIndexOf('/')+1);
var chapter_id = filename.slice(0, -5);
var chapter = document.getElementsByTagName("chapter")[0];
chapter.innerHTML = mathjax_setup + chapter.innerHTML;
// Make sure all sections have ids and links.
var sections = chapter.getElementsByTagName("section");
for (j=0; j<sections.length; j++) {
if (!sections[j].id) {
sections[j].id = "section" + (j+1);
}
sections[j].getElementsByTagName("h1")[0].innerHTML = "<a href=#" + sections[j].id + ">" + sections[j].getElementsByTagName("h1")[0].innerHTML + "</a>";
}
// Make sure all examples have ids and links.
var examples = chapter.getElementsByTagName("example");
for (j=0; j<examples.length; j++) {
if (!examples[j].id) {
examples[j].id = "example" + (j+1);
}
examples[j].getElementsByTagName("h1")[0].innerHTML = "<a href=#" + examples[j].id + ">" + examples[j].getElementsByTagName("h1")[0].innerHTML + "</a>";
}
var codeTags = chapter.getElementsByTagName('pysrcinclude');
for (j = 0; j < codeTags.length; j++) {
var file = codeTags[j].innerHTML;
var xhttp = new XMLHttpRequest();
xhttp.onreadystatechange = ( function (j) { return function() {
if (this.readyState == 4 && this.status == 200) {
var text = hljs.highlight('python',this.responseText,true)
codeTags[j].innerHTML =
'<div><pre><code class="python">'+text.value+'</code></pre></div>';
}
} })(j);
xhttp.overrideMimeType('text/plain');
xhttp.open('GET', file, true);
// note: only works for files in or below current directory http://jquery-howto.blogspot.com/2008/12/access-to-restricted-uri-denied-code.html
xhttp.send();
}
var pysrcTags = chapter.getElementsByTagName('pysrc');
for (j = 0; j < pysrcTags.length; j++) {
var file = pysrcTags[j].innerHTML;
var tmp =
'<p><pre style="margin-left:6px; display:inline"><code>python3 <a target="' + file +'" href="' + file + '">' + file + '</a>';
if (pysrcTags[j].hasAttribute("args")) {
tmp += ' '+ pysrcTags[j].getAttribute("args");
}
tmp += '</code></pre>';
if (!pysrcTags[j].hasAttribute("no_colab")) {
tmp +=
'<sidenote><a style="font-size:8pt; margin-left:50%" target="scratchpad" href="https://colab.research.google.com/github/RussTedrake/underactuated/blob/master/setup/colab_scratchpad.ipynb">' + 'Colab scratchpad</a></sidenote>';
}
pysrcTags[j].innerHTML = tmp + '</p>';
}
var jupyterTags = chapter.getElementsByTagName('jupyter');
for (j = 0; j < jupyterTags.length; j++) {
var file = jupyterTags[j].innerHTML;
binder_path = file.replace(/\//g,"%2F")
text = '<p style="text-align:center"> Open <a target="' + file + '_github" href="https://github.com/RussTedrake/underactuated/blob/master/' + file + '">notebook</a>';
if (!jupyterTags[j].hasAttribute("no_binder") || !jupyterTags[j].hasAttribute("no_colab")) {
text += ' with ';
}
if (!jupyterTags[j].hasAttribute("no_binder")) {
text += ' <a target="' + file + '_binder" href="https://mybinder.org/v2/gh/RussTedrake/' + project + '/master?filepath=' + binder_path + '">\n' + '<img style="vertical-align:bottom" src="https://mybinder.org/badge_logo.svg" alt="Open in Binder"/></a>';
if (!jupyterTags[j].hasAttribute("no_colab")) {
text += ' or ';
}
}
if (!jupyterTags[j].hasAttribute("no_colab")) {
text += '<a target="' + file + '_colab" href="https://colab.research.google.com/github/RussTedrake/' + project + '/blob/master/' + file + '">\n' +
' <img style="vertical-align:bottom" src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/></a>';
}
jupyterTags[j].innerHTML = text + ' <span style="display:inline;font-size:x-small">(<a href="?chapter=drake">more info</a>)</span></p>';
}
var exerciseTags = chapter.getElementsByTagName('exercise');
for (j = 0; j < exerciseTags.length; j++) {
var name = exerciseTags[j].getElementsByTagName("h1")[0].innerHTML;
if (name) {
exerciseTags[j].getElementsByTagName("h1")[0].innerHTML = "(" + name + ")";
}
}
customTags();
platform = 'focal';
if (navigator.appVersion.indexOf("Mac")>=0) { platform = 'mac'; }
setPlatform(platform);
MathJax.typeset();
// Process any anchors again now that the proper elements are visible.
var hash = document.getElementById(location.hash.substr(1));
if (hash) {
hash.scrollIntoView();
}
}
function system_html(sys, url = null) {
let input_port_html = "";
if ('input_ports' in sys) {
sys.input_ports.forEach(port => {
input_port_html += `<tr><td align=right style=\"padding:5px 0px 5px 0px\">${port} →</td></tr>`;
});
}
let output_port_html = "";
if ('output_ports' in sys) {
sys.output_ports.forEach(port => {
output_port_html += `<tr><td align=left style=\"padding:5px 0px 5px 0px\">→ ${port}</td></tr>`;
});
}
let name_html = sys.name;
if (url) {
name_html = `<a href="${url}">${sys.name}</a>`;
}
return `<table align=center cellpadding=0 cellspacing=0><tr align=center><td style=\"vertical-align:middle\"><table cellspacing=0 cellpadding=0>${input_port_html}</table></td><td align=center style=\"border:solid;padding-left:20px;padding-right:20px;vertical-align:middle\" bgcolor=#F0F0F0>${name_html}</td><td style=\"vertical-align:middle\"><table cellspacing=0 cellpadding=0>${output_port_html}</table></td></tr></table>`;
}
function notebook_header(chapter) {
if (chapter in chapter_project_ids) {
return `<a href="https://deepnote.com/workspace/${deepnote_workspace_id}/project/${chapter_project_ids[chapter]}/" style="float:right; margin-top:20px; margin-bottom:-100px;background:white;border:0;" target="${chapter}">
<img src="https://deepnote.com/buttons/launch-in-deepnote-white.svg"></a>
<div style="clear:right;"></div>`;
}
return "";
}
drake_tutorials_id = "2b4fc509-aef2-417d-a40d-6071dfed9199"
drake_workspace_id = "Drake-0b3b2c53-a7ad-441b-80f8-bf8350752305"
function drake_tutorials_link(name, link_text="") {
// TODO(russt): Retrieve IDs for sp
if (link_text) {
return `<a href="https://deepnote.com/workspace/${drake_workspace_id}/project/${drake_tutorials_id}" target="drake_tutorials">${link_text}</a>`;
} else {
return `<p><a href="https://deepnote.com/workspace/${drake_workspace_id}/project/${drake_tutorials_id}" style="background:none; border:none;" target="drake_tutorials"> <img src="https://deepnote.com/buttons/launch-in-deepnote-white.svg"></a></p>`;
}
}
function notebook_link(chapter, notebook, link_text="") {
if (!notebook) { notebook = chapter; }
chapter_project_id = chapter_project_ids[chapter];
notebook_id = notebook_ids[chapter][notebook];
if (notebook_id) {
if (link_text) {
return `<a href="https://deepnote.com/workspace/${deepnote_workspace_id}/project/${chapter_project_id}/notebook/${notebook}-${notebook_id}" target="${chapter}">${link_text}</a>`;
} else {
return `<p><a href="https://deepnote.com/workspace/${deepnote_workspace_id}/project/${chapter_project_id}/notebook/${notebook}-${notebook_id}" style="background:none; border:none;" target="${chapter}"> <img src="https://deepnote.com/buttons/launch-in-deepnote-white.svg"></a></p>`;
}
}
return `<p><center>ERROR: <i>Notebook link not found. Please do a "force reload" of this page. If that doesn't fix it, please email [email protected] and let me know.</i></center></p>`;
}
function copy_code_to_clipboard(buttonElement) {
const codeElement = buttonElement.parentElement.nextElementSibling.querySelector('code');
const text = codeElement.textContent;
const textArea = document.createElement('textarea');
textArea.textContent = text;
document.body.appendChild(textArea);
textArea.select();
document.execCommand('copy');
document.body.removeChild(textArea);
}