int
main(int argc, char *argv[])
{
	const char *cp, *tp;
	const char *sep;
	int op, i;
	u_int32_t debug, ndebug;
	size_t debuglen;
	char oid[256];

	progname = argv[0];
	setoid(oid, sizeof(oid), "wlan0");
	if (argc > 1) {
		if (strcmp(argv[1], "-d") == 0) {
			setoid(oid, sizeof(oid), NULL);
			argc -= 1, argv += 1;
		} else if (strcmp(argv[1], "-i") == 0) {
			if (argc <= 2)
				errx(1, "missing interface name for -i option");
			get_orig_iface_name(oid, sizeof(oid), argv[2]);
			argc -= 2, argv += 2;
		} else if (strcmp(argv[1], "-?") == 0)
			usage();
	}

	debuglen = sizeof(debug);
	if (sysctlbyname(oid, &debug, &debuglen, NULL, 0) < 0)
		err(1, "sysctl-get(%s)", oid);
	ndebug = debug;
	for (; argc > 1; argc--, argv++) {
		cp = argv[1];
		do {
			u_int bit;

			if (*cp == '-') {
				cp++;
				op = -1;
			} else if (*cp == '+') {
				cp++;
				op = 1;
			} else
				op = 0;
			for (tp = cp; *tp != '\0' && *tp != '+' && *tp != '-';)
				tp++;
			bit = getflag(cp, tp-cp);
			if (op < 0)
				ndebug &= ~bit;
			else if (op > 0)
				ndebug |= bit;
			else {
				if (bit == 0) {
					int c = *cp;
					if (isdigit(c))
						bit = strtoul(cp, NULL, 0);
					else
						errx(1, "unknown flag %.*s",
							(int)(tp-cp), cp);
				}
				ndebug = bit;
			}
		} while (*(cp = tp) != '\0');
	}
	if (debug != ndebug) {
		printf("%s: 0x%x => ", oid, debug);
		if (sysctlbyname(oid, NULL, NULL, &ndebug, sizeof(ndebug)) < 0)
			err(1, "sysctl-set(%s)", oid);
		printf("0x%x", ndebug);
		debug = ndebug;
	} else
		printf("%s: 0x%x", oid, debug);
	sep = "<";
	for (i = 0; i < N(flags); i++)
		if (debug & flags[i].bit) {
			printf("%s%s", sep, flags[i].name);
			sep = ",";
		}
	printf("%s\n", *sep != '<' ? ">" : "");
	return 0;
}

int
drd_info_rep::get_writability (tree_label l, int nr) {
  if (nr >= N(info[l]->ci)) return WRITABILITY_NORMAL;
  return info[l]->ci[nr].writability;
}

tree
drd_info_rep::arg_access (tree t, tree arg, tree env, int& type) {
  // returns "" if unaccessible and the env if accessible
  //cout << "  arg_access " << t << ", " << arg << ", " << env << "\n";
  if (is_atomic (t)) return "";
  else if (t == arg) return env;
  else if (is_func (t, QUOTE_ARG, 1) && N(arg) == 1 && t[0] == arg[0])
    return env;
  else if (is_func (t, MAP_ARGS) && (t[2] == arg[0])) {
    if ((N(t) >= 4) && (N(arg) >= 2) && (as_int (t[3]) > as_int (arg[1])))
      return "";
    if ((N(t) == 5) && (N(arg) >= 2) && (as_int (t[3]) <= as_int (arg[1])))
      return "";
    tree_label inner= make_tree_label (as_string (t[0]));
    tree_label outer= make_tree_label (as_string (t[1]));
    if (get_nr_indices (inner) > 0)
      type= get_type_child (tree (inner, arg), 0);
    if ((get_nr_indices (inner) > 0) &&
	(get_accessible (inner, 0) == ACCESSIBLE_ALWAYS) &&
	all_accessible (outer))
      return env;
    return "";
  }
  else if (is_func (t, MACRO)) return "";
  else if (is_func (t, WITH)) {
    int n= N(t)-1;
    //cout << "env= " << drd_env_merge (env, t (0, n)) << "\n";
    return arg_access (t[n], arg, drd_env_merge (env, t (0, n)), type);
  }
  else if (is_func (t, TFORMAT)) {
    int n= N(t)-1;
    tree oldf= drd_env_read (env, CELL_FORMAT, tree (TFORMAT));
    tree newf= oldf * tree (TFORMAT, A (t (0, n)));
    tree w   = tree (ATTR, CELL_FORMAT, newf);
    tree cenv= get_env_child (t, n, drd_env_merge (env, w));
    return arg_access (t[n], arg, cenv, type);
  }
  else if (is_func (t, COMPOUND) && N(t) >= 1 && is_atomic (t[0]))
    return arg_access (compound (t[0]->label, A (t (1, N(t)))),
		       arg, env, type);
  else if ((is_func (t, IF) || is_func (t, VAR_IF)) && N(t) >= 2)
    return arg_access (t[1], arg, env, type);
  else {
    int i, n= N(t);
    for (i=0; i<n; i++) {
      int  ctype= get_type_child (t, i);
      tree cenv = get_env_child (t, i, env);
      tree aenv = arg_access (t[i], arg, cenv, ctype);
      if (aenv != "") {
	if (ctype != TYPE_INVALID) type= ctype;
	if (is_accessible_child (t, i)) return aenv;
      }
      else if (type == TYPE_UNKNOWN &&
               ctype != TYPE_INVALID &&
               ctype != TYPE_UNKNOWN) {
        type= ctype;
        //cout << "  found type " << t << ", " << arg << ", " << type << "\n";
      }
    }
    return "";
  }
}

bool
drd_info_rep::is_parent_enforcing (tree t) {
  return ((info[L(t)]->pi.border_mode & BORDER_OUTER) != 0) &&
         (N(t) != 0);
}

sp<MediaPlayerBase>	AmSuperPlayer::CreatePlayer()
{
	sp<MediaPlayerBase> p;
	char *filetype;
	int mvideo,maudio;
	
	player_type newtype=AMLOGIC_PLAYER;
	mTypeReady=false;
	//p= new AmlogicPlayer();
Retry:
	{
		Mutex::Autolock N(mNotifyMutex);
		oldmsg_num=0;
		memset(oldmsg,0,sizeof(oldmsg));
	}
	p=android::createPlayer(newtype, this,notify);
	if (!p->hardwareOutput()) {
        static_cast<MediaPlayerInterface*>(p.get())->setAudioSink(mAudioSink);
    }
	TRACE();
	if(url_valid)
		p->setDataSource(muri,&mheaders);
	else if(fd_valid)
		p->setDataSource(mfd,moffset,mlength);
	else 
		return NULL;
    if(mSurface != NULL)
        p->setVideoSurface(mSurface);
	p->prepareAsync();
	if(!mTypeReady && p->playerType()==AMLOGIC_PLAYER){
		AmlogicPlayer* amplayer; 
		bool FileTypeReady=false;
		amplayer=(AmlogicPlayer *)p.get();
		while(!mTypeReady)
		{
			int ret;
			Mutex::Autolock l(mMutex);
			mCondition.wait(mMutex);
			if(mEXIT)
				break;
		}
		if(mTypeReady){
				FileTypeReady=!amplayer->GetFileType(&filetype,&mvideo,&maudio);
				TRACE();		
		}
		if(FileTypeReady){
			LOGV("SuperGetPlayerType:type=%s,videos=%d,audios=%d\n",filetype,mvideo,maudio);
			newtype=SuperGetPlayerType(filetype,mvideo,maudio);
			LOGV("GET New type =%d\n",newtype);
		}
		else{
			newtype=SuperGetPlayerType(NULL,0,0);
		}
	}
	TRACE();
	if(mEXIT){
		p->stop();
		p.clear();
		p=NULL;
	}
	else if(newtype!=p->playerType()){
		LOGV("Need to creat new player=%d\n",newtype);
		p->stop();
		p.clear();
		if(fd_valid){
			lseek(mfd,moffset,SEEK_SET);/*reset to before*/
		}
		p=NULL;
		goto Retry;
	}
	TRACE();
	LOGV("Start new player now=%d\n",newtype);
	return p;
}

int
drd_info_rep::get_nr_indices (tree_label l) {
  return N(info[l]->ci);
}

/*static*/ void
initialize_default_env () {
  if (N(default_env) != 0) return;
  hashmap<string,tree>& env= default_env;

  tree identity_m (MACRO, "x", tree (ARG, "x"));
  tree tabular_m (MACRO, "x", tree (TFORMAT, tree (ARG, "x")));
  tree the_page (MACRO, compound ("page-nr"));

  tree gr_geometry (TUPLE, "geometry", "1par", "0.6par", "center");
  tree gr_frame (TUPLE, "scale", "1cm", tree (TUPLE, "0.5gw", "0.5gh"));

  tree gr_grid ("");
  tree gr_edit_grid ("");
  tree gr_grid_aspect (TUPLE,
		       tuple ("axes", "#808080"),
		       tuple ("1", "#c0c0c0"),
		       tuple ("10", "#e0e0ff"));

  tree gr_transf (TUPLE,
                  tuple ("1.0", "0.0", "0.0", "0.0"),
                  tuple ("0.0", "1.0", "0.0", "0.0"),
                  tuple ("0.0", "0.0", "1.0", "0.0"),
                  tuple ("0.0", "0.0", "0.0", "1.0"));         

  env (DPI)              = "600";       // resolution in dots per inch
  env (ZOOM_FACTOR)      = "1";         // zoom factor on screen
  env (PREAMBLE)         = "false";     // preamble mode ?
  env (SAVE_AUX)         = "true";      // save auxiliary data on disk ?
  env (MODE)             = "text";      // typesetting mode
  env (INFO_FLAG)        = "minimal";   // information about labels, etc.
  env (WINDOW_BARS)      = "auto";      // override menu/icon bar settings
  env (SCROLL_BARS)      = "true";      // allow scroll bars around canvas?
  env (IDENTITY)         = identity_m;  // identity macro
  env (TABULAR)          = tabular_m;   // tabular macro
  env (THE_LABEL)        = "?";         // value of the next label
  env (THE_TAGS)         = tree(TUPLE); // current tags
  env (THE_MODULES)      = tree(TUPLE); // necessary modules and plug-ins
  env (WARN_MISSING)     = "true";      // warn about missing references
  env (GLOBAL_TITLE)     = "";          // global document title
  env (GLOBAL_AUTHOR)    = "";          // global document author
  env (GLOBAL_SUBJECT)   = "";          // global document subject

  env (FONT)             = "roman";     // the font name in text mode
  env (FONT_FAMILY)      = "rm";        // the font family in text mode
  env (FONT_SERIES)      = "medium";    // the font series in text mode
  env (FONT_SHAPE)       = "right";     // the font shape in text mode
  env (FONT_SIZE)        = "1";         // the font size multiplier
  env (FONT_BASE_SIZE)   = "10";        // the font base size
  env (MAGNIFICATION)    = "1";         // magnification (slides for instance)
  env (COLOR)            = "black";     // the color
  env (OPACITY)          = "100%";      // the opacity
  env (BG_COLOR)         = "white";     // the background color
  env (LOCUS_COLOR)      = "global";    // the color of loci
  env (VISITED_COLOR)    = "global";    // the color of visited loci
  env (NO_PATTERNS)      = "false";     // disable background patterns
  env (LANGUAGE)         = "english";   // the language
  env (ATOM_DECORATIONS) = DATOMS;      // dots, underline, hyperlinks?, etc.
  env (LINE_DECORATIONS) = DLINES;      // boxed pars, nested envs, etc.
  env (PAGE_DECORATIONS) = DPAGES;      // future headers, footers, etc.
  env (XOFF_DECORATIONS) = "0tmpt";     // hor. placement of decorations
  env (YOFF_DECORATIONS) = "0tmpt";     // vert. placement of decorations

  env (MATH_LANGUAGE)    = "std-math";  // the default mathematical language
  env (MATH_FONT)        = "roman";     // the font name in math mode
  env (MATH_FONT_FAMILY) = "mr";        // the font family in math mode
  env (MATH_FONT_SERIES) = "medium";    // the font series in math mode
  env (MATH_FONT_SHAPE)  = "normal";    // the font shape in math mode
  env (MATH_LEVEL)       = "0";         // the index level (0, 1 or 2)
  env (MATH_DISPLAY)     = "false";     // true if we are in display style
  env (MATH_CONDENSED)   = "false";     // ignore spaces between operators ?
  env (MATH_VPOS)        = "0";         // used in fractions (-1, 0 or 1)
  env (MATH_NESTING_MODE)= "off";       // color nested brackets?
  env (MATH_NESTING_LEVEL)= "0";        // nesting level inside brackets

  env (PROG_LANGUAGE)    = "scheme";    // the default programming language
  env (PROG_SCRIPTS)     = "scheme";    // the scripting language
  env (PROG_FONT)        = "roman";     // the font name in prog mode
  env (PROG_FONT_FAMILY) = "tt";        // the font family in prog mode
  env (PROG_FONT_SERIES) = "medium";    // the font series in prog mode
  env (PROG_FONT_SHAPE)  = "right";     // the font shape in prog mode
  env (PROG_SESSION)     = "default";   // computer algebra session name

  env (PAR_MODE)         = "justify";   // outline method
  env (PAR_FLEXIBILITY)  = "1000";      // threshold for switching to ragged
  env (PAR_HYPHEN)       = "professional"; // quality of hyphenation
  env (PAR_SPACING)      = "plain";     // spacing mode (for CJK)
  env (PAR_KERNING_STRETCH)= "auto";    // extra kerning around characters
  env (PAR_KERNING_MARGIN) = "false";   // use marginal kerning (protrusion)
  env (PAR_WIDTH)        = "auto";      // width of paragraph
  env (PAR_LEFT)         = "0cm";       // left indentation
  env (PAR_RIGHT)        = "0cm";       // right indentation
  env (PAR_FIRST)        = "1.5fn";     // extra first indentation
  env (PAR_NO_FIRST)     = "false";     // no extra first indent. on next line
  env (PAR_SEP)          = "0.2fn";     // extra space between paragraph lines
  env (PAR_HOR_SEP)      = "0.5fn";     // min. hor. spc. between ink for shove
  env (PAR_VER_SEP)      = "0.2fn";     // min. ver. spc. between ink
  env (PAR_LINE_SEP)     = "0.025fns";  // extra (small) space between lines
  env (PAR_PAR_SEP)      = "0.5fns";    // extra space between paragraphs
  env (PAR_FNOTE_SEP)    = "0.2fn";     // min space between diff footnotes
//.........这里部分代码省略.........

Bool WeatherPronounAir(Obj *obj)
{
  return(WeatherPronoun(obj) || N("air") == obj);
}

Bool WeatherPronounSky(Obj *obj)
{
  return(WeatherPronoun(obj) || N("sky") == obj);
}

Bool WeatherPronoun(Obj *obj)
{
  return(ISA(N("pronoun-it-expletive"), obj) ||
         ISA(N("pronoun-ce-expletive"), obj));
}

void
Beam<nDim,nOrder>::run()
{

    this->changeRepository( boost::format( "doc/manual/solid/%1%/%2%/P%3%/h_%4%/" )
                            % this->about().appName()
                            % entity_type::name()
                            % nOrder
                            % meshSize );
    /*
     * First we create the mesh
     */
    mesh_ptrtype mesh = createGMSHMesh( _mesh=new mesh_type,
                                        _update=MESH_UPDATE_EDGES|MESH_UPDATE_FACES|MESH_CHECK,
                                        _desc=domain( _name=( boost::format( "beam-%1%" ) % nDim ).str() ,

                                                      _shape="hypercube",
                                                      _xmin=0., _xmax=0.351,
                                                      _ymin=0., _ymax=0.02,
                                                      _zmin=0., _zmax=0.02,
                                                      _h=meshSize ) );
    // add marker clamped to the mesh
    mesh->addMarkerName( "clamped",( nDim==2 )?1:19, (nDim==2)?1:2);
    mesh->addMarkerName( "tip",( nDim==2)?3:27, (nDim==2)?1:2);
    /*
     * The function space and some associate elements are then defined
     */
    timers["init"].first.restart();
    space_ptrtype Xh = space_type::New( mesh );
    Xh->printInfo();

    element_type u( Xh, "u" );
    element_type v( Xh, "v" );
    timers["init"].second = timers["init"].first.elapsed();

    /*
     * Data associated with the simulation
     */
    auto E = doption(_name="E")*pascal;
    const double nu = doption(_name="nu");

    auto mu = E/( 2*( 1+nu ) );
    auto lambda = E*nu/( ( 1+nu )*( 1-2*nu ) );
    auto density = 1e3;
    auto gravity = -2*newton/pow<Dim>(meter);//-density*0.05;
    LOG(INFO) << "lambda = " << lambda << "\n"
          << "mu     = " << mu << "\n"
          << "gravity= " << gravity << "\n";

    /*
     * Construction of the right hand side
     *
     * \f$ f = \int_\Omega g * v \f$ where \f$ g \f$ is a vector
     * directed in the \f$ y \f$ direction.
     */
    auto F = backend()->newVector( Xh );
    F->zero();
    timers["assembly"].first.restart();

    if ( Dim == 3 )
        form1( _test=Xh, _vector=F ) = integrate( elements( mesh ), trans( gravity.value()*oneZ() )*id( v ) );
    else
        form1( _test=Xh, _vector=F ) = integrate( elements( mesh ), trans( gravity.value()*oneY() )*id( v ) );

    timers["assembly"].second = timers["assembly"].first.elapsed();

    /*
     * Construction of the left hand side
     */
    auto D = backend()->newMatrix( Xh, Xh );
    timers["assembly"].first.restart();
    auto deft = sym(gradt(u));
    auto def = sym(grad(u));
    auto a = form2( _test=Xh, _trial=Xh, _matrix=D );
    a = integrate( elements( mesh ),
                   lambda.value()*divt( u )*div( v )  +
                   2.*mu.value()*trace( trans( deft )*def ) );

    if ( M_bctype == 1 ) // weak Dirichlet bc
    {
        auto Id = eye<nDim>();
        a += integrate( markedfaces( mesh, "clamped" ),
                        - trans( ( 2.*mu.value()*deft+lambda.value()*trace( deft )*Id )*N() )*id( v )
                        - trans( ( 2.*mu.value()*def+lambda.value()*trace( def )*Id )*N() )*idt( u )
                        + bcCoeff*std::max(2.*mu.value(),lambda.value())*trans( idt( u ) )*id( v )/hFace() );
    }

    if ( M_bctype == 0 )
        a += on( markedfaces( mesh, "clamped" ), u, F, zero<nDim,1>() );

    timers["assembly"].second += timers["assembly"].first.elapsed();

    backend(_rebuild=true)->solve( _matrix=D, _solution=u, _rhs=F );

    v = vf::project( Xh, elements( Xh->mesh() ), P() );
    this->exportResults( 0, u, v );

    auto i1 = mean( _range=markedfaces( mesh, "tip"  ), _expr=idv( u ) );
    LOG(INFO) << "deflection: " << i1 << "\n";

//.........这里部分代码省略.........

    return TRUE;

  /* Finally check for the default architecture.  */
  if (strcasecmp (string, "aarch64") == 0)
    return info->the_default;

  return FALSE;
}

#define N(NUMBER, PRINT, DEFAULT, NEXT)				\
  { 64, 64, 8, bfd_arch_aarch64, NUMBER,			\
    "aarch64", PRINT, 4, DEFAULT, compatible, scan,		\
    bfd_arch_default_fill, NEXT }

const bfd_arch_info_type bfd_aarch64_arch =
  N (0, "aarch64", TRUE, NULL);


bfd_boolean
bfd_is_aarch64_special_symbol_name (const char *name, int type)
{
  if (!name || name[0] != '$')
    return FALSE;
  if (name[1] == 'x' || name[1] == 'd')
    type &= BFD_AARCH64_SPECIAL_SYM_TYPE_MAP;
  else if (name[1] == 'm' || name[1] == 'f' || name[1] == 'p')
    type &= BFD_AARCH64_SPECIAL_SYM_TYPE_TAG;
  else
    return FALSE;

  return (type != 0 && (name[2] == 0 || name[2] == '.'));

int main(int argc, char** argv)
{
  double taubin_radius = 0.03; // radius of curvature-estimation neighborhood

  std::string file = "/home/andreas/data/mlaffordance/round21l_reg.pcd";
  PointCloud::Ptr cloud(new PointCloud);
  if (pcl::io::loadPCDFile<pcl::PointXYZRGBA>(file, *cloud) == -1) //* load the file
  {
    PCL_ERROR("Couldn't read input PCD file\n");
    return (-1);
  }

  pcl::search::OrganizedNeighbor<pcl::PointXYZRGBA>::Ptr organized_neighbor(
      new pcl::search::OrganizedNeighbor<pcl::PointXYZRGBA>());
  std::vector<int> nn_outer_indices;
  std::vector<float> nn_outer_dists;
  pcl::KdTreeFLANN<pcl::PointXYZRGBA>::Ptr tree(new pcl::KdTreeFLANN<pcl::PointXYZRGBA>());

  int sample_index = 0;
  if (cloud->isOrganized())
  {
    organized_neighbor->setInputCloud(cloud);
    organized_neighbor->radiusSearch(cloud->points[sample_index], taubin_radius, nn_outer_indices, nn_outer_dists);
  }
  else
  {
    tree->setInputCloud(cloud);
    tree->radiusSearch(cloud->points[sample_index], taubin_radius, nn_outer_indices, nn_outer_dists);
  }

  Eigen::Matrix4d T_base, T_sqrt;
  T_base << 0, 0.445417, 0.895323, 0.22, 1, 0, 0, -0.02, 0, 0.895323, -0.445417, 0.24, 0, 0, 0, 1;

  T_sqrt << 0.9366, -0.0162, 0.3500, -0.2863, 0.0151, 0.9999, 0.0058, 0.0058, -0.3501, -0.0002, 0.9367, 0.0554, 0, 0, 0, 1;

  std::vector<Eigen::Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d> > T_cams;
  T_cams.push_back(T_base * T_sqrt.inverse());

  Eigen::Vector3d sample = cloud->points[sample_index].getVector3fMap().cast<double>();
  Quadric quadric(T_cams, cloud, sample, true);
  quadric.fitQuadric(nn_outer_indices);

  Eigen::MatrixXi cam_source = Eigen::MatrixXi::Zero(1, cloud->points.size());
  quadric.findTaubinNormalAxis(nn_outer_indices, cam_source);

  quadric.print();

  std::set<Eigen::Vector3i, VectorComparator> s;
  Eigen::Matrix3i M;
  M << 1,1,1,2,3,4,1,1,1;
  for (int i=0; i < M.rows(); i++)
    s.insert(M.row(i));
  std::cout << "M:" << std::endl;
  std::cout << M << std::endl;
  Eigen::Matrix<int, Eigen::Dynamic, 3> N(s.size(), 3);
  int i = 0;
  for (std::set<Eigen::Vector3i, VectorComparator>::iterator it=s.begin(); it!=s.end(); ++it)
  {
    N.row(i) = *it;
    i++;
  }
  std::cout << "N:" << std::endl;
  std::cout << N << std::endl;

  return 0;
}

//-----------------------------------------------------------------------------
bool CCollision::CollisionTriangleSphere( const CVector3D &v0,const CVector3D &v1,const CVector3D &v2,const CVector3D &center,float radius ,CVector3D *cross,float *length)
{
   
     CVector3D V1(v1-v0);
	 CVector3D V2(v2-v1);
	 CVector3D N(CVector3D::Cross(V1,V2).GetNormalize());
	 
	 CVector3D V = center - v0;
	 //平面と点の距離を求める
	 float Dist = CVector3D::Dot(V,N);
  
	//球の半径より離れている場合は接触無し
	 if(abs(Dist) > radius) return false;

	 //点から平面上に垂直に下ろした地点を求める
	 CVector3D Point =  center - ( N * Dist );
	 
	 
	 //上記の点が三角形ポリゴン内なら接触している
	 if(TriangleIntersect( Point, v0, v1, v2 , N)) {
		if(cross) *cross = Point;
		if(length) *length = Dist;
		return true;
	}



	 //各辺に球がかすっている可能性がある
	 //１辺ごとに球と辺の最短距離を求める

	 //最短距離
	 float l;
	 //最短接触地点
	 CVector3D c;
	 
	 //距離比較用
	 float LengthSq;



	 //辺１(v0→v1)
	 Point = PointOnLineSegmentNearestPoint( v0, v1, center );
	 LengthSq = (center - Point).LengthSq();
	 l  = LengthSq;
	 c = Point;

	 //辺２(v1→v2)
	 Point = PointOnLineSegmentNearestPoint( v1, v2, center );
	 LengthSq = (center - Point).LengthSq();
	 if(l>LengthSq) {
		 l = LengthSq;
		 c = Point;
	 }
	 
	 //辺３(v2→v0)
	 Point = PointOnLineSegmentNearestPoint( v2, v0, center );
	 LengthSq = (center - Point).LengthSq();
	 if(l>LengthSq) {
		 l = LengthSq;
		 c = Point;
	 }


	 l = sqrt(l);
	 //最短距離を確定
	 if(length) *length = l;
	 //最短地点を確定
	 if(cross) *cross = c;
	
    return (l<=radius);
}

int main(int argc, char** argv)
{
    if(argc != 10) {
        std::cerr << "Usage: " << argv[0] << " w h match.txt good_match.txt ntrials verb noseed mode stop" <<std::endl;
        std::cerr << "w: width of image" <<std::endl;
        std::cerr << "h: height of image" <<std::endl;
        std::cerr << "match.txt: x1 y1 x2 y2 for each line" <<std::endl;
        std::cerr << "good_match.txt: good matchings (x1 y1 x2 y2 for each line)" <<std::endl;
        std::cerr << "ntrials: maximum number of ransac trials" <<std::endl;
        std::cerr << "verb: verbose mode (1 enabled, 0 disabled)" <<std::endl;
        std::cerr << "seed: random seed (0=reinitialize)" <<std::endl;
        std::cerr << "mode: 0=all 1=ransac 2=optimized ransac (ORSA) 3=automatic" <<std::endl;
        std::cerr << "stop: stop when first meaningful F is found (1 enabled, 0 disabled)" <<std::endl;
        return 1;
    }

    int width = 0, height = 0; // dimensions of image
    int ntrials = 0;           // maximum number of ransac trials
    bool verb = false;         // verbose
    unsigned long seed = 0;    // seed value (0=reinitialize)
    int mode = -1;    // 0=all 1=ransac 2=optimized ransac (ORSA) 3=automatic
    bool stop = false;         // stop when first meaningful F is found   

    if(! (std::istringstream(argv[1]) >> width).eof()) width = 0;
    if(! (std::istringstream(argv[2]) >> height).eof()) height = 0;
    if(width <=0 || height <= 0) {
        std::cerr << "Wrong dimensions of image" << std::endl;
        return 1;
    }

    std::vector<Match> match;
    if(! loadMatch(argv[3],match)) {
        std::cerr << "Failed reading " << argv[3] << std::endl;
        return 1;
    }

    if(! (std::istringstream(argv[5]) >> ntrials).eof() || ntrials <= 0) {
        std::cerr << "ntrials should be greater than 0" << std::endl;
        return 1;
    }

    if(! (std::istringstream(argv[6]) >> verb).eof()) {
        std::cerr << "verb can only be 0 or 1" << std::endl;
        return 1;
    }

    if(! (std::istringstream(argv[7]) >> seed).eof()) {
        std::cerr << "seed must be a non-negative integer value" << std::endl;
        return 1;
    }

    if(! (std::istringstream(argv[8]) >> mode).eof() || mode < 0 || mode > 3) {
        std::cerr << "mode can only be 0, 1, 2, or 3" << std::endl;
        return 1;
    }

    if(! (std::istringstream(argv[9]) >> stop).eof()) {
        std::cerr << "stop can only be 0 or 1" << std::endl;
        return 1;
    }

    // Initialize random seed if necessary
    if(seed == 0) {
        seed = (long int)time(NULL);
        if(verb)
            std::cout << "seed: " << seed << std::endl; // Useful for debugging
    }
    srand(seed);

    // Remove duplicates (frequent with SIFT)
    std::sort(match.begin(), match.end());
    std::vector<Match>::iterator end = std::unique(match.begin(), match.end());
    if(end != match.end()) {
        if(verb)
            std::cout << "Remove " << std::distance(end,match.end())
                      << "/" << match.size() << " duplicate matches"<<std::endl;
        match.erase(end, match.end());
    }

    // Normalize coordinates
    std::vector<Match> matchBackup(match);
    float nx = (float)width;
    float ny = (float)height;
    float norm = 1.0f/sqrt((float)(nx*ny));
    for(size_t i=0; i<match.size(); i++) {
        match[i].x1 =  (match[i].x1-0.5f*nx)*norm;
        match[i].y1 =  (match[i].y1-0.5f*ny)*norm;
        match[i].x2 =  (match[i].x2-0.5f*nx)*norm;
        match[i].y2 =  (match[i].y2-0.5f*ny)*norm;
    }
    libNumerics::matrix<float> N(3,3); // Normalization matrix
    N = 0;
    N(0,0) = N(1,1) = norm; N(2,2) = 1.0f;
    N(0,2) = -0.5f*nx*norm;
    N(1,2) = -0.5f*ny*norm;

    // log proba of a uniform point in image within a band of 1 pixel from line
    float logalpha0 = log10(2.0f)+0.5f*log10((nx*nx+ny*ny)/float(nx*ny));
    std::vector<size_t> inliers;
    float error;
//.........这里部分代码省略.........

bool CCollision::CollisionTriangleCapsule(const CVector3D &v0,const CVector3D &v1,const CVector3D &v2,const CVector3D &top,const CVector3D &bottom,float radius,CVector3D *cross,float *length ){
	
	CVector3D V(top-bottom);

	CVector3D  VP;
	float Dist = 1e10;

	//ポリゴンの法線を求める
	CVector3D N(CVector3D::Cross(v1 - v0, v2 - v0).GetNormalize());

	//始点からポリゴン上のある地点（どこでもいい）へのベクトル
	CVector3D PV1 = top-v0;
	//終点からポリゴン上のある地点（どこでもいい）へのベクトル
	CVector3D PV2 = bottom-v0;

	//ポリゴンの法線との内積を求める
	float d1 = CVector3D::Dot(PV1,N);
	float d2 = CVector3D::Dot(PV2,N);

	if(d1*d2<0) {
		//貫通している場合は線とポリゴンの判定を行う
		if(IntersectTriangleRay(cross,top+CVector3D(0,radius,0),bottom+CVector3D(0,-radius,0),v0,v1,v2,&Dist)) {
			if(length) {
				//貫通点までの距離を求める
				float lt = (*cross - top).LengthSq();
				float lb = (*cross - bottom).LengthSq();
				if(lt<lb) *length = sqrt(lt);
				else *length = sqrt(lb);
			}
			return true;
		}
	}

	d1=abs(d1);
	d2=abs(d2);
	//平面上の点との最短地点を求める
	CVector3D C1(top-N*d1);
	CVector3D C2(bottom-N*d2);
	//点が平面上にない場合は無効、後の辺との接触で調べる
	if(!TriangleIntersect(C1,v0,v1,v2,N)) d1=1e10;
	if(!TriangleIntersect(C2,v0,v1,v2,N)) d2=1e10;


	//面との距離が近い点の距離を選択
	Dist = (d1<d2) ? d1:d2; 
	if(Dist<=radius) {
		//追加
		if(length) *length = Dist;
		return true;
	}
	

	//各辺との距離を求める
	Dist = min(min(DistanceLine(v0,v1,top,bottom),DistanceLine(v1,v2,top,bottom)),DistanceLine(v2,v0,top,bottom));

	if(length) *length = Dist;

    return (Dist<=radius);
	




}

ENetError pnGateKeeperClient::performConnect()
{
    uint8_t connectHeader[51];  // ConnectHeader + GateKeeperConnectHeader
    /* Begin ConnectHeader */
    *(uint8_t* )(connectHeader     ) = kConnTypeCliToGateKeeper;
    *(uint16_t*)(connectHeader +  1) = 31;
    *(uint32_t*)(connectHeader +  3) = fBuildId;
    *(uint32_t*)(connectHeader +  7) = fBuildType;
    *(uint32_t*)(connectHeader + 11) = fBranchId;
    fProductId.write(connectHeader + 15);
    /* Begin GateKeeperConnectHeader */
    *(uint32_t*)(connectHeader + 31) = 20;
    memset(connectHeader + 35, 0, 16);
    fSock->send(connectHeader, 51);

    if (!fSock->isConnected()) {
        delete fSock;
        fSock = NULL;
        plDebug::Error("Error establishing GateKeeper connection");
        return kNetErrConnectFailed;
    }

    /* Set up encryption */
    uint8_t y_data[64];
    pnBigInteger clientSeed;
    {
        pnBigInteger X(fKeyX, 64, fLittleEndianKeys);
        pnBigInteger N(fKeyN, 64, fLittleEndianKeys);
        pnBigInteger b = pnBigInteger::Random(512);
        clientSeed = X.PowMod(b, N);
        pnBigInteger serverSeed = pnBigInteger(4).PowMod(b, N);
        serverSeed.getData(y_data, 64);
    }

    uint8_t cryptHeader[66];
    *(uint8_t*)(cryptHeader    ) = kNetCliCli2SrvConnect;
    *(uint8_t*)(cryptHeader + 1) = 66;
    memcpy(cryptHeader + 2, y_data, 64);
    fSock->send(cryptHeader, 66);

    uint8_t msg, len;
    if (fSock->recv(&msg, 1) <= 0 || fSock->recv(&len, 1) <= 0) {
        delete fSock;
        fSock = NULL;
        plDebug::Error("Error negotiating GateKeeper connection");
        return kNetErrConnectFailed;
    }

    if (msg == kNetCliSrv2CliEncrypt) {
        uint8_t serverSeed[7];
        fSock->recv(serverSeed, 7);
        uint8_t seedData[64];
        clientSeed.getData(seedData, 64);
        for (size_t i=0; i<7; i++)
            serverSeed[i] ^= seedData[i];
        fSock->init(7, serverSeed);
    } else if (msg == kNetCliSrv2CliError) {
        uint32_t errorCode;
        fSock->recv(&errorCode, sizeof(uint32_t));
        delete fSock;
        fSock = NULL;
        plDebug::Error("Error connecting to GateKeeper server: %s",
                       GetNetErrorString(errorCode));
        return (ENetError)errorCode;
    } else {
        delete fSock;
        fSock = NULL;
        plDebug::Error("Got junk response from server");
        return kNetErrConnectFailed;
    }
    fDispatch = new Dispatch(this);
    if (fThreaded)
        fIface = new pnThreadedSocket(fDispatch, fSock);
    else
        fIface = new pnPolledSocket(fDispatch, fSock);
    fIface->run();
    return kNetSuccess;
}

/*
 * Control Adaptive Noise Immunity Parameters
 */
u8_t zfHpAniControl(zdev_t *dev, ZM_HAL_ANI_CMD cmd, int param)
{
#define N(a) (sizeof(a)/sizeof(a[0]))
    typedef s32_t TABLE[];
    struct zsHpPriv *HpPriv;
    struct zsAniState *aniState;

    zmw_get_wlan_dev(dev);
    HpPriv = (struct zsHpPriv *)wd->hpPrivate;
    aniState = HpPriv->curani;

    switch (cmd)
    {
    case ZM_HAL_ANI_NOISE_IMMUNITY_LEVEL:
    {
        u32_t level = param;

        if (level >= N(HpPriv->totalSizeDesired)) {
          zm_debug_msg1("level out of range, desired level : ", level);
          zm_debug_msg1("max level : ", N(HpPriv->totalSizeDesired));
          return FALSE;
        }

        zfDelayWriteInternalReg(dev, AR_PHY_DESIRED_SZ,
                (HpPriv->regPHYDesiredSZ & ~AR_PHY_DESIRED_SZ_TOT_DES)
                | ((HpPriv->totalSizeDesired[level] << AR_PHY_DESIRED_SZ_TOT_DES_S)
                & AR_PHY_DESIRED_SZ_TOT_DES));
        zfDelayWriteInternalReg(dev, AR_PHY_AGC_CTL1,
                (HpPriv->regPHYAgcCtl1 & ~AR_PHY_AGC_CTL1_COARSE_LOW)
                | ((HpPriv->coarseLow[level] << AR_PHY_AGC_CTL1_COARSE_LOW_S)
                & AR_PHY_AGC_CTL1_COARSE_LOW));
        zfDelayWriteInternalReg(dev, AR_PHY_AGC_CTL1,
                (HpPriv->regPHYAgcCtl1 & ~AR_PHY_AGC_CTL1_COARSE_HIGH)
                | ((HpPriv->coarseHigh[level] << AR_PHY_AGC_CTL1_COARSE_HIGH_S)
                & AR_PHY_AGC_CTL1_COARSE_HIGH));
        zfDelayWriteInternalReg(dev, AR_PHY_FIND_SIG,
                (HpPriv->regPHYFindSig & ~AR_PHY_FIND_SIG_FIRPWR)
                | ((HpPriv->firpwr[level] << AR_PHY_FIND_SIG_FIRPWR_S)
                & AR_PHY_FIND_SIG_FIRPWR));
        zfFlushDelayWrite(dev);

        if (level > aniState->noiseImmunityLevel)
            HpPriv->stats.ast_ani_niup++;
        else if (level < aniState->noiseImmunityLevel)
            HpPriv->stats.ast_ani_nidown++;
        aniState->noiseImmunityLevel = (u8_t)level;
        break;
    }
    case ZM_HAL_ANI_OFDM_WEAK_SIGNAL_DETECTION:
    {
        const TABLE m1ThreshLow   = { 127,   50 };
        const TABLE m2ThreshLow   = { 127,   40 };
        const TABLE m1Thresh      = { 127, 0x4d };
        const TABLE m2Thresh      = { 127, 0x40 };
        const TABLE m2CountThr    = {  31,   16 };
        const TABLE m2CountThrLow = {  63,   48 };
        u32_t on = param ? 1 : 0;

        zfDelayWriteInternalReg(dev, AR_PHY_SFCORR_LOW,
                (HpPriv->regPHYSfcorrLow & ~AR_PHY_SFCORR_LOW_M1_THRESH_LOW)
                | ((m1ThreshLow[on] << AR_PHY_SFCORR_LOW_M1_THRESH_LOW_S)
                & AR_PHY_SFCORR_LOW_M1_THRESH_LOW));
        zfDelayWriteInternalReg(dev, AR_PHY_SFCORR_LOW,
                (HpPriv->regPHYSfcorrLow & ~AR_PHY_SFCORR_LOW_M2_THRESH_LOW)
                | ((m2ThreshLow[on] << AR_PHY_SFCORR_LOW_M2_THRESH_LOW_S)
                & AR_PHY_SFCORR_LOW_M2_THRESH_LOW));
        zfDelayWriteInternalReg(dev, AR_PHY_SFCORR,
                (HpPriv->regPHYSfcorr & ~AR_PHY_SFCORR_M1_THRESH)
                | ((m1Thresh[on] << AR_PHY_SFCORR_M1_THRESH_S)
                & AR_PHY_SFCORR_M1_THRESH));
        zfDelayWriteInternalReg(dev, AR_PHY_SFCORR,
                (HpPriv->regPHYSfcorr & ~AR_PHY_SFCORR_M2_THRESH)
                | ((m2Thresh[on] << AR_PHY_SFCORR_M2_THRESH_S)
                & AR_PHY_SFCORR_M2_THRESH));
        zfDelayWriteInternalReg(dev, AR_PHY_SFCORR,
                (HpPriv->regPHYSfcorr & ~AR_PHY_SFCORR_M2COUNT_THR)
                | ((m2CountThr[on] << AR_PHY_SFCORR_M2COUNT_THR_S)
                & AR_PHY_SFCORR_M2COUNT_THR));
        zfDelayWriteInternalReg(dev, AR_PHY_SFCORR_LOW,
                (HpPriv->regPHYSfcorrLow & ~AR_PHY_SFCORR_LOW_M2COUNT_THR_LOW)
                | ((m2CountThrLow[on] << AR_PHY_SFCORR_LOW_M2COUNT_THR_LOW_S)
                & AR_PHY_SFCORR_LOW_M2COUNT_THR_LOW));

        if (on)
        {
            zfDelayWriteInternalReg(dev, AR_PHY_SFCORR_LOW,
                    HpPriv->regPHYSfcorrLow | AR_PHY_SFCORR_LOW_USE_SELF_CORR_LOW);
        }
        else
        {
            zfDelayWriteInternalReg(dev, AR_PHY_SFCORR_LOW,
                    HpPriv->regPHYSfcorrLow & ~AR_PHY_SFCORR_LOW_USE_SELF_CORR_LOW);
        }
        zfFlushDelayWrite(dev);
        if (!on != aniState->ofdmWeakSigDetectOff)
        {
            if (on)
//.........这里部分代码省略.........

xml_html_parser::xml_html_parser (): entities ("") {
  if (N(html_empty_tag_table) == 0) {
    html_empty_tag_table->insert ("basefont");
    html_empty_tag_table->insert ("br");
    html_empty_tag_table->insert ("area");
    html_empty_tag_table->insert ("link");
    html_empty_tag_table->insert ("param");
    html_empty_tag_table->insert ("hr");
    html_empty_tag_table->insert ("input");
    html_empty_tag_table->insert ("col");
    html_empty_tag_table->insert ("frame");
    html_empty_tag_table->insert ("isindex");
    html_empty_tag_table->insert ("base");
    html_empty_tag_table->insert ("meta");
    html_empty_tag_table->insert ("img");
  }

  if (N(html_auto_close_table) == 0) {
    html_auto_close_table->insert ("body");
    html_auto_close_table->insert ("p");
    html_auto_close_table->inse