├── .gitignore ├── ChangeLog.txt ├── README.md ├── asdf_check.py ├── cram-14.04.rosinstall ├── cram-16.04.rosinstall ├── cram-18.04.rosinstall ├── cram_3d_world ├── .gitignore ├── CHANGELOG.md ├── README.md ├── cffi_ros_utils │ ├── CMakeLists.txt │ ├── cffi-ros-utils.asd │ ├── package.xml │ └── src │ │ ├── package.lisp │ │ └── ros-libraries.lisp ├── cl_bullet │ ├── CMakeLists.txt │ ├── cl-bullet-examples.asd │ ├── cl-bullet.asd │ ├── package.xml │ └── src │ │ ├── collision_shapes.cpp │ │ ├── constraints.cpp │ │ ├── debug_draw.cpp │ │ ├── dynamics_world.cpp │ │ ├── lisp │ │ ├── bt-world.lisp │ │ ├── cffi.lisp │ │ ├── cl-bullet.asd │ │ ├── collision-shapes.lisp │ │ ├── constraints.lisp │ │ ├── contact-manifold.lisp │ │ ├── debug-draw.lisp │ │ ├── examples │ │ │ ├── cl-bullet-examples.asd │ │ │ ├── hello-world.lisp │ │ │ └── package.lisp │ │ ├── foreign-class.lisp │ │ ├── foreign-types.lisp │ │ ├── hinge-constraint.lisp │ │ ├── motion-state.lisp │ │ ├── package.lisp │ │ ├── point-2-point-constraint.lisp │ │ ├── rigid-body.lisp │ │ ├── slider-constraint.lisp │ │ └── world-state.lisp │ │ ├── motion_state.cpp │ │ └── rigid_body.cpp ├── cl_bullet_vis │ ├── CMakeLists.txt │ ├── cl-bullet-vis-examples.asd │ ├── cl-bullet-vis-tests.asd │ ├── cl-bullet-vis.asd │ ├── examples │ │ ├── hello-world.lisp │ │ └── package.lisp │ ├── package.xml │ ├── src │ │ ├── bullet-body-visualization.lisp │ │ ├── bullet-colored-shapes.lisp │ │ ├── bullet-mesh-shape.lisp │ │ ├── bullet-shape-visualization.lisp │ │ ├── bullet-textured-shapes.lisp │ │ ├── bullet-world-gl-context.lisp │ │ ├── bullet-world-visualization.lisp │ │ ├── bullet-world-window.lisp │ │ ├── display-lists.lisp │ │ ├── gl-context.lisp │ │ ├── gl-utils.lisp │ │ ├── math-function-visualization.lisp │ │ ├── package.lisp │ │ ├── pixmap-gl-context.lisp │ │ ├── shaders.lisp │ │ ├── textures.lisp │ │ ├── transforms.lisp │ │ └── visualization.lisp │ └── tests │ │ ├── bullet-world-gl-context-test.lisp │ │ ├── package.lisp │ │ └── utilities.lisp ├── cl_glx │ ├── .gitignore │ ├── CMakeLists.txt │ ├── cl-glx.asd │ ├── package.xml │ └── src │ │ ├── cffi.lisp │ │ ├── glx-grovel.lisp │ │ ├── package.lisp │ │ └── pixmap-rendering-context.lisp ├── cl_opengl │ ├── .gitignore │ ├── CMakeLists.txt │ ├── Makefile │ └── package.xml ├── cram_3d_world │ ├── CMakeLists.txt │ └── package.xml ├── cram_btr_spatial_relations_costmap │ ├── CMakeLists.txt │ ├── cram-btr-spatial-relations-costmap.asd │ ├── package.xml │ └── src │ │ ├── cost-functions.lisp │ │ ├── designator-integration.lisp │ │ ├── knowledge.lisp │ │ ├── location-of-item-object.lisp │ │ ├── package.lisp │ │ └── prolog.lisp ├── cram_btr_visibility_costmap │ ├── CMakeLists.txt │ ├── cram-btr-visibility-costmap.asd │ ├── package.xml │ └── src │ │ ├── location-designator-facts.lisp │ │ ├── location-designator-integration.lisp │ │ ├── package.lisp │ │ └── visibility-costmap.lisp ├── cram_bullet_reasoning │ ├── CMakeLists.txt │ ├── bullet-reasoning-test.asd │ ├── cram-bullet-reasoning.asd │ ├── package.xml │ ├── resource │ │ ├── axes.stl │ │ ├── bowl.stl │ │ ├── cap.stl │ │ ├── fork.stl │ │ ├── glasses.stl │ │ ├── glove.stl │ │ ├── gripper.stl │ │ ├── knife.stl │ │ ├── mondamin.stl │ │ ├── mug.stl │ │ ├── plate.stl │ │ ├── pot-ww.stl │ │ ├── shoe.stl │ │ ├── spatula.stl │ │ └── ww.stl │ ├── src │ │ ├── aabb.lisp │ │ ├── action-facts.lisp │ │ ├── articulated-objects.lisp │ │ ├── debug-window.lisp │ │ ├── gl-scenes.lisp │ │ ├── items.lisp │ │ ├── objects.lisp │ │ ├── package.lisp │ │ ├── pose-facts.lisp │ │ ├── pose-generators.lisp │ │ ├── pose-sampling-facts.lisp │ │ ├── prolog-handlers.lisp │ │ ├── reachability-facts.lisp │ │ ├── reachability.lisp │ │ ├── reasoning-world.lisp │ │ ├── robot-model-facts.lisp │ │ ├── robot-model-utils.lisp │ │ ├── robot-model.lisp │ │ ├── ros-household-object-database.lisp │ │ ├── semantic-map-facts.lisp │ │ ├── semantic-map.lisp │ │ ├── simple-semantic-map.lisp │ │ ├── temporal-reasoning │ │ │ ├── events.lisp │ │ │ ├── prolog.lisp │ │ │ └── timeline.lisp │ │ ├── textures.lisp │ │ ├── urdf-semantic-map.lisp │ │ ├── utils.lisp │ │ ├── visibility-facts.lisp │ │ ├── visibility-reasoning.lisp │ │ ├── world-facts.lisp │ │ └── world-utils.lisp │ └── test │ │ ├── bounding-box-tests.lisp │ │ ├── copy-world-tests.lisp │ │ ├── moveit-test.lisp │ │ ├── package.lisp │ │ └── timeline.lisp ├── cram_bullet_reasoning_belief_state │ ├── CMakeLists.txt │ ├── cram-bullet-reasoning-belief-state.asd │ ├── package.xml │ └── src │ │ ├── belief-state.lisp │ │ ├── broadcaster.lisp │ │ ├── environment-joint-publisher.lisp │ │ ├── event-handlers.lisp │ │ ├── giskard-environment-client.lisp │ │ ├── object-perceptions.lisp │ │ ├── occasions.lisp │ │ ├── package.lisp │ │ ├── tf.lisp │ │ └── time.lisp ├── cram_bullet_reasoning_utilities │ ├── CMakeLists.txt │ ├── cram-bullet-reasoning-utilities.asd │ ├── package.xml │ └── src │ │ ├── objects-database.lisp │ │ ├── objects.lisp │ │ ├── package.lisp │ │ ├── robot.lisp │ │ └── vis-tools.lisp └── cram_physics_utils │ ├── .gitattributes │ ├── .gitignore │ ├── CMakeLists.txt │ ├── cram-physics-utils.asd │ ├── package.xml │ ├── patch │ └── assimp-grovel-12.04.patch │ └── src │ ├── assimp-cffi.lisp │ ├── assimp-grovel.lisp │ ├── assimp-model-loader.lisp │ ├── event-queue.lisp │ ├── masses.lisp │ ├── mesh-utils.lisp │ ├── object-designator-extensions.lisp │ ├── package.lisp │ ├── patches │ └── assimp-grovel.diff │ ├── ros-shape-utils.lisp │ └── ros-uri-parser.lisp ├── cram_3rdparty ├── .gitignore ├── CHANGELOG.md ├── README.md ├── alexandria │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── .boring │ │ ├── .gitignore │ │ ├── AUTHORS │ │ ├── LICENCE │ │ ├── README │ │ ├── alexandria-tests.asd │ │ ├── alexandria.asd │ │ ├── arrays.lisp │ │ ├── binding.lisp │ │ ├── conditions.lisp │ │ ├── control-flow.lisp │ │ ├── definitions.lisp │ │ ├── doc │ │ ├── .gitignore │ │ ├── Makefile │ │ ├── alexandria.texinfo │ │ └── docstrings.lisp │ │ ├── features.lisp │ │ ├── functions.lisp │ │ ├── hash-tables.lisp │ │ ├── io.lisp │ │ ├── lists.lisp │ │ ├── macros.lisp │ │ ├── numbers.lisp │ │ ├── package.lisp │ │ ├── sequences.lisp │ │ ├── strings.lisp │ │ ├── symbols.lisp │ │ ├── tests.lisp │ │ └── types.lisp ├── antik │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── README.txt │ │ ├── antik-base.asd │ │ ├── antik.asd │ │ ├── calculus │ │ └── jacobian.lisp │ │ ├── cartesian │ │ ├── cartesian.lisp │ │ ├── polar.lisp │ │ └── rotation.lisp │ │ ├── date-time │ │ ├── convert-timescale.lisp │ │ ├── dtmath.lisp │ │ ├── dtspec.lisp │ │ ├── eop.dat │ │ ├── eop.lisp │ │ ├── format-output.lisp │ │ ├── formats.lisp │ │ ├── iso8601.lisp │ │ ├── linear-timepoint.lisp │ │ ├── read-time.lisp │ │ ├── relative-time.lisp │ │ ├── time-interval-tests.lisp │ │ ├── time-interval.lisp │ │ ├── timepoint.lisp │ │ └── ut1.lisp │ │ ├── documentation-texinfo │ │ ├── COPYING │ │ ├── LICENSE │ │ ├── affi │ │ │ ├── Makefile │ │ │ ├── tutorial.pdf │ │ │ └── tutorial.tex │ │ ├── antik.pdf │ │ ├── antik.texi │ │ ├── antik │ │ │ ├── AFFI.html │ │ │ ├── About-physical-dimension.html │ │ │ ├── Antik-tests.html │ │ │ ├── Capabilities-and-Internals.html │ │ │ ├── Cartesian.html │ │ │ ├── Classes.html │ │ │ ├── Composition-functions.html │ │ │ ├── Condition.html │ │ │ ├── Conditions.html │ │ │ ├── Constants-and-Variables.html │ │ │ ├── Copying-this-software.html │ │ │ ├── Copying.html │ │ │ ├── Creating-a-grid.html │ │ │ ├── Date-and-time.html │ │ │ ├── Dimensions.html │ │ │ ├── Download-and-installation.html │ │ │ ├── Efficiency.html │ │ │ ├── Elements.html │ │ │ ├── Foreign-Library-Kit.html │ │ │ ├── Functions-and-Macros.html │ │ │ ├── Functions-for-creation-of-grids.html │ │ │ ├── Generic-Functions.html │ │ │ ├── Grids.html │ │ │ ├── Higher.html │ │ │ ├── Index.html │ │ │ ├── Input-and-Output.html │ │ │ ├── Internals.html │ │ │ ├── Introduction-to-grids.html │ │ │ ├── Introduction-to-organization.html │ │ │ ├── Introduction-to-physical-dimension.html │ │ │ ├── Introduction-to-physical-quantities.html │ │ │ ├── Introduction.html │ │ │ ├── Iterate-generalized-numbers.html │ │ │ ├── Iterate.html │ │ │ ├── Linear-Algebra.html │ │ │ ├── Making-physical-dimension-quantities.html │ │ │ ├── Mapping.html │ │ │ ├── Mathematical-Utility.html │ │ │ ├── Mathematics.html │ │ │ ├── Numerical-Output-Format.html │ │ │ ├── Operations.html │ │ │ ├── Optimization.html │ │ │ ├── Organization-of-Computation.html │ │ │ ├── Package.html │ │ │ ├── Parameters.html │ │ │ ├── Physical-Quantities.html │ │ │ ├── Physical-constants.html │ │ │ ├── Physical-dimension.html │ │ │ ├── Physical-quantities.html │ │ │ ├── Polar.html │ │ │ ├── Properties.html │ │ │ ├── Reader-macro-and-function-_003ccode_003egrid_003c_002fcode_003e.html │ │ │ ├── Reader-macro-and-function-grid.html │ │ │ ├── Rotation.html │ │ │ ├── Simple-grids-and-default-values.html │ │ │ ├── Summary.html │ │ │ ├── Summary_003a-ways-to-make-grids.html │ │ │ ├── Systems-of-units.html │ │ │ ├── Tests.html │ │ │ ├── The-_003csamp_003e_003cspan-class_003d_0022command_0022_003eforeign_002darray_003c_002fspan_003e_003c_002fsamp_003e-class.html │ │ │ ├── The-foreign_002darray-class.html │ │ │ ├── The-grid-concept.html │ │ │ ├── Three-Dimensional-Space.html │ │ │ ├── Time-arithmetic-and-time-intervals.html │ │ │ ├── Types-of-grids.html │ │ │ ├── Units.html │ │ │ ├── Vector-products-and-norms.html │ │ │ ├── Vector-products.html │ │ │ ├── codimension_002done_002dsubspace.html │ │ │ ├── column.html │ │ │ ├── concatenate_002dgrids.html │ │ │ ├── diagonal.html │ │ │ ├── drop.html │ │ │ ├── elementwise.html │ │ │ ├── ensure_002dforeign_002darray.html │ │ │ ├── grid.html │ │ │ ├── identity_002dmatrix.html │ │ │ ├── index.html │ │ │ ├── make_002dforeign_002darray.html │ │ │ ├── make_002dforeign_002darray_002dfrom_002dpointer.html │ │ │ ├── make_002dgrid.html │ │ │ ├── make_002dsimple_002dgrid.html │ │ │ ├── map_002dgrid.html │ │ │ ├── map_002dn_002dgrids.html │ │ │ ├── matrix_002dfrom_002dcolumns.html │ │ │ ├── row.html │ │ │ ├── slice.html │ │ │ ├── stride.html │ │ │ ├── subgrid.html │ │ │ └── transpose.html │ │ ├── changes-from-gsd.text │ │ ├── docstrings.lisp │ │ ├── flysheet.html │ │ ├── grid-symbols.texi │ │ ├── ifnottex.texinfo │ │ ├── include │ │ │ ├── class-antik-acceleration.texinfo │ │ │ ├── class-antik-dtspec.texinfo │ │ │ ├── class-antik-physical-quantity.texinfo │ │ │ ├── class-antik-timepoint.texinfo │ │ │ ├── class-grid-foreign-array.texinfo │ │ │ ├── class-grid-matrix.texinfo │ │ │ ├── class-grid-mvector.texinfo │ │ │ ├── compiler-macro-grid-aref-star.texinfo │ │ │ ├── compiler-macro-grid-aref.texinfo │ │ │ ├── condition-antik-coerce-nil.texinfo │ │ │ ├── condition-antik-coerce-undefined.texinfo │ │ │ ├── condition-antik-making-complex-number.texinfo │ │ │ ├── condition-grid-array-mismatch.texinfo │ │ │ ├── constant-grid-plus-foreign-pointer-class-plus.texinfo │ │ │ ├── constant-grid-plus-foreign-pointer-type-plus.texinfo │ │ │ ├── fun-antik--.texinfo │ │ │ ├── fun-antik-abs.texinfo │ │ │ ├── fun-antik-acos.texinfo │ │ │ ├── fun-antik-add-attribute-to-parameter.texinfo │ │ │ ├── fun-antik-all-same.texinfo │ │ │ ├── fun-antik-all-time-units.texinfo │ │ │ ├── fun-antik-angle-as-time.texinfo │ │ │ ├── fun-antik-angle-dms.texinfo │ │ │ ├── fun-antik-angle-law-of-cosines.texinfo │ │ │ ├── fun-antik-apply-to-arguments.texinfo │ │ │ ├── fun-antik-asin.texinfo │ │ │ ├── fun-antik-atan.texinfo │ │ │ ├── fun-antik-attributep.texinfo │ │ │ ├── fun-antik-check-dimension.texinfo │ │ │ ├── fun-antik-clut-to-timepoint.texinfo │ │ │ ├── fun-antik-coerce.texinfo │ │ │ ├── fun-antik-convert-time-scale.texinfo │ │ │ ├── fun-antik-coordinate-unit-vector.texinfo │ │ │ ├── fun-antik-coplanar.texinfo │ │ │ ├── fun-antik-copy-state.texinfo │ │ │ ├── fun-antik-cos.texinfo │ │ │ ├── fun-antik-cosh.texinfo │ │ │ ├── fun-antik-creation-form.texinfo │ │ │ ├── fun-antik-datime-.texinfo │ │ │ ├── fun-antik-datime-j2000day.texinfo │ │ │ ├── fun-antik-datime-plus.texinfo │ │ │ ├── fun-antik-datime-relation.texinfo │ │ │ ├── fun-antik-days-.texinfo │ │ │ ├── fun-antik-days-plus.texinfo │ │ │ ├── fun-antik-define-unit.texinfo │ │ │ ├── fun-antik-define-units.texinfo │ │ │ ├── fun-antik-defined-attributes.texinfo │ │ │ ├── fun-antik-determinant.texinfo │ │ │ ├── fun-antik-distance.texinfo │ │ │ ├── fun-antik-dms-angle.texinfo │ │ │ ├── fun-antik-dtspec-from-julian-day-number.texinfo │ │ │ ├── fun-antik-equals.texinfo │ │ │ ├── fun-antik-euler-angle-rotation.texinfo │ │ │ ├── fun-antik-exp.texinfo │ │ │ ├── fun-antik-expt.texinfo │ │ │ ├── fun-antik-first-3vector.texinfo │ │ │ ├── fun-antik-flatten-angle.texinfo │ │ │ ├── fun-antik-floor.texinfo │ │ │ ├── fun-antik-format-attribute-name.texinfo │ │ │ ├── fun-antik-format-matlab-list.texinfo │ │ │ ├── fun-antik-from-jd.texinfo │ │ │ ├── fun-antik-from-yyddd.texinfo │ │ │ ├── fun-antik-gt-equals.texinfo │ │ │ ├── fun-antik-gt.texinfo │ │ │ ├── fun-antik-invert-matrix.texinfo │ │ │ ├── fun-antik-iso8601-parse-time-interval.texinfo │ │ │ ├── fun-antik-iso8601-time-interval.texinfo │ │ │ ├── fun-antik-jd-table.texinfo │ │ │ ├── fun-antik-julian-day-number.texinfo │ │ │ ├── fun-antik-knots.texinfo │ │ │ ├── fun-antik-linear-least-squares-1d.texinfo │ │ │ ├── fun-antik-log.texinfo │ │ │ ├── fun-antik-long-print-name.texinfo │ │ │ ├── fun-antik-low-discrepancy-sample.texinfo │ │ │ ├── fun-antik-lt-equals.texinfo │ │ │ ├── fun-antik-lt.texinfo │ │ │ ├── fun-antik-make-dtspec.texinfo │ │ │ ├── fun-antik-make-new-physical-state.texinfo │ │ │ ├── fun-antik-make-parameter-with-attribute.texinfo │ │ │ ├── fun-antik-make-parameter.texinfo │ │ │ ├── fun-antik-make-parameters-from-table.texinfo │ │ │ ├── fun-antik-make-physical-state.texinfo │ │ │ ├── fun-antik-make-pq.texinfo │ │ │ ├── fun-antik-make-timepoint-j2000sec.texinfo │ │ │ ├── fun-antik-make-timepoint.texinfo │ │ │ ├── fun-antik-make-user-package.texinfo │ │ │ ├── fun-antik-map-state.texinfo │ │ │ ├── fun-antik-maximize-1d.texinfo │ │ │ ├── fun-antik-minimize-1d.texinfo │ │ │ ├── fun-antik-minusp.texinfo │ │ │ ├── fun-antik-mkstr.texinfo │ │ │ ├── fun-antik-nf-readably.texinfo │ │ │ ├── fun-antik-nf-string.texinfo │ │ │ ├── fun-antik-nf.texinfo │ │ │ ├── fun-antik-norm-denorm-angle.texinfo │ │ │ ├── fun-antik-normalize-angle.texinfo │ │ │ ├── fun-antik-object-as-nf.texinfo │ │ │ ├── fun-antik-orbit.texinfo │ │ │ ├── fun-antik-org-table-line.texinfo │ │ │ ├── fun-antik-org-table.texinfo │ │ │ ├── fun-antik-parameter-help.texinfo │ │ │ ├── fun-antik-plus.texinfo │ │ │ ├── fun-antik-plusp.texinfo │ │ │ ├── fun-antik-polar-to-rectangular.texinfo │ │ │ ├── fun-antik-pqval.texinfo │ │ │ ├── fun-antik-pqwu.texinfo │ │ │ ├── fun-antik-prime-factors.texinfo │ │ │ ├── fun-antik-print-readably.texinfo │ │ │ ├── fun-antik-psi.texinfo │ │ │ ├── fun-antik-read-time.texinfo │ │ │ ├── fun-antik-read-timepoint-iso8601.texinfo │ │ │ ├── fun-antik-read-timepoint.texinfo │ │ │ ├── fun-antik-read-us-date.texinfo │ │ │ ├── fun-antik-rectangular-to-polar.texinfo │ │ │ ├── fun-antik-redimension.texinfo │ │ │ ├── fun-antik-relative-time.texinfo │ │ │ ├── fun-antik-reset-system-of-units.texinfo │ │ │ ├── fun-antik-right-angle.texinfo │ │ │ ├── fun-antik-root-1d.texinfo │ │ │ ├── fun-antik-rotate-3d.texinfo │ │ │ ├── fun-antik-rotate-3daa.texinfo │ │ │ ├── fun-antik-rotate.texinfo │ │ │ ├── fun-antik-round.texinfo │ │ │ ├── fun-antik-second-3vector.texinfo │ │ │ ├── fun-antik-seconds-per-day.texinfo │ │ │ ├── fun-antik-set-default-system-of-units.texinfo │ │ │ ├── fun-antik-set-showing.texinfo │ │ │ ├── fun-antik-set-state-value.texinfo │ │ │ ├── fun-antik-set-system-of-units.texinfo │ │ │ ├── fun-antik-short-print-name.texinfo │ │ │ ├── fun-antik-show-state.texinfo │ │ │ ├── fun-antik-si.texinfo │ │ │ ├── fun-antik-signum.texinfo │ │ │ ├── fun-antik-sin.texinfo │ │ │ ├── fun-antik-single.texinfo │ │ │ ├── fun-antik-sinh.texinfo │ │ │ ├── fun-antik-slash.texinfo │ │ │ ├── fun-antik-solve-linear.texinfo │ │ │ ├── fun-antik-sqrt.texinfo │ │ │ ├── fun-antik-star.texinfo │ │ │ ├── fun-antik-start-of-day.texinfo │ │ │ ├── fun-antik-state-formula.texinfo │ │ │ ├── fun-antik-state-value.texinfo │ │ │ ├── fun-antik-stream-to-string.texinfo │ │ │ ├── fun-antik-symb.texinfo │ │ │ ├── fun-antik-tait-bryan-angles.texinfo │ │ │ ├── fun-antik-tait-bryan-rotation.texinfo │ │ │ ├── fun-antik-tan.texinfo │ │ │ ├── fun-antik-tanh.texinfo │ │ │ ├── fun-antik-tex-print-name.texinfo │ │ │ ├── fun-antik-time-as-angle.texinfo │ │ │ ├── fun-antik-time-interval-timeparse.texinfo │ │ │ ├── fun-antik-time-limits.texinfo │ │ │ ├── fun-antik-timeparse-time-interval.texinfo │ │ │ ├── fun-antik-timepoint-j2000sec.texinfo │ │ │ ├── fun-antik-to-yyddd.texinfo │ │ │ ├── fun-antik-vector-angle.texinfo │ │ │ ├── fun-antik-write-dms.texinfo │ │ │ ├── fun-antik-write-us-date.texinfo │ │ │ ├── fun-antik-zerop.texinfo │ │ │ ├── fun-grid-all-types.texinfo │ │ │ ├── fun-grid-aref-star.texinfo │ │ │ ├── fun-grid-aref.texinfo │ │ │ ├── fun-grid-cffi-cl.texinfo │ │ │ ├── fun-grid-check-dimensions.texinfo │ │ │ ├── fun-grid-cl-cffi.texinfo │ │ │ ├── fun-grid-cl-single.texinfo │ │ │ ├── fun-grid-codimension-one-subspace.texinfo │ │ │ ├── fun-grid-column.texinfo │ │ │ ├── fun-grid-component-float-type.texinfo │ │ │ ├── fun-grid-concatenate-grids.texinfo │ │ │ ├── fun-grid-contents.texinfo │ │ │ ├── fun-grid-copy-to.texinfo │ │ │ ├── fun-grid-copy.texinfo │ │ │ ├── fun-grid-cross.texinfo │ │ │ ├── fun-grid-data-class-name.texinfo │ │ │ ├── fun-grid-diagonal.texinfo │ │ │ ├── fun-grid-dim0.texinfo │ │ │ ├── fun-grid-dim1.texinfo │ │ │ ├── fun-grid-dimensions.texinfo │ │ │ ├── fun-grid-drop.texinfo │ │ │ ├── fun-grid-element-size.texinfo │ │ │ ├── fun-grid-element-type.texinfo │ │ │ ├── fun-grid-element-types.texinfo │ │ │ ├── fun-grid-elementwise.texinfo │ │ │ ├── fun-grid-ensure-foreign-array.texinfo │ │ │ ├── fun-grid-euclidean.texinfo │ │ │ ├── fun-grid-gref-star.texinfo │ │ │ ├── fun-grid-gref.texinfo │ │ │ ├── fun-grid-grid.texinfo │ │ │ ├── fun-grid-gridp.texinfo │ │ │ ├── fun-grid-identity-matrix.texinfo │ │ │ ├── fun-grid-inner.texinfo │ │ │ ├── fun-grid-lookup-type.texinfo │ │ │ ├── fun-grid-make-foreign-array-from-pointer.texinfo │ │ │ ├── fun-grid-make-foreign-array.texinfo │ │ │ ├── fun-grid-make-grid.texinfo │ │ │ ├── fun-grid-make-simple-grid.texinfo │ │ │ ├── fun-grid-map-grid.texinfo │ │ │ ├── fun-grid-map-n-grids.texinfo │ │ │ ├── fun-grid-matrix-from-columns.texinfo │ │ │ ├── fun-grid-norm.texinfo │ │ │ ├── fun-grid-normalize.texinfo │ │ │ ├── fun-grid-number-class.texinfo │ │ │ ├── fun-grid-rank.texinfo │ │ │ ├── fun-grid-read-data-file.texinfo │ │ │ ├── fun-grid-read-data-stream.texinfo │ │ │ ├── fun-grid-read-vector-from-string.texinfo │ │ │ ├── fun-grid-row.texinfo │ │ │ ├── fun-grid-set-diagonal.texinfo │ │ │ ├── fun-grid-setf-aref-star.texinfo │ │ │ ├── fun-grid-setf-aref.texinfo │ │ │ ├── fun-grid-setf-codimension-one-subspace.texinfo │ │ │ ├── fun-grid-setf-column.texinfo │ │ │ ├── fun-grid-setf-diagonal.texinfo │ │ │ ├── fun-grid-setf-gref-star.texinfo │ │ │ ├── fun-grid-setf-gref.texinfo │ │ │ ├── fun-grid-setf-row.texinfo │ │ │ ├── fun-grid-setf-subgrid.texinfo │ │ │ ├── fun-grid-slice.texinfo │ │ │ ├── fun-grid-spec-scalar-p.texinfo │ │ │ ├── fun-grid-specification.texinfo │ │ │ ├── fun-grid-st-pointerp.texinfo │ │ │ ├── fun-grid-stride.texinfo │ │ │ ├── fun-grid-subgrid.texinfo │ │ │ ├── fun-grid-transpose.texinfo │ │ │ ├── ifnottex.texinfo │ │ │ ├── macro-antik-arithmetic-errors-return-nan.texinfo │ │ │ ├── macro-antik-components.texinfo │ │ │ ├── macro-antik-constraints.texinfo │ │ │ ├── macro-antik-creation-form-readably.texinfo │ │ │ ├── macro-antik-def-dyadic-scalar.texinfo │ │ │ ├── macro-antik-def-make-load-form.texinfo │ │ │ ├── macro-antik-def-monadic.texinfo │ │ │ ├── macro-antik-defattribute.texinfo │ │ │ ├── macro-antik-define-derived-system-of-units.texinfo │ │ │ ├── macro-antik-define-parameter-category.texinfo │ │ │ ├── macro-antik-define-parameter.texinfo │ │ │ ├── macro-antik-define-physical-constant.texinfo │ │ │ ├── macro-antik-define-system-of-units.texinfo │ │ │ ├── macro-antik-dimension.texinfo │ │ │ ├── macro-antik-dimensionless-call.texinfo │ │ │ ├── macro-antik-export-value.texinfo │ │ │ ├── macro-antik-handling-complex-number.texinfo │ │ │ ├── macro-antik-make-set-system-of-units-symbol.texinfo │ │ │ ├── macro-antik-nf-option.texinfo │ │ │ ├── macro-antik-parameter-value-star.texinfo │ │ │ ├── macro-antik-parameter-value.texinfo │ │ │ ├── macro-antik-parameters-set.texinfo │ │ │ ├── macro-antik-print-name.texinfo │ │ │ ├── macro-antik-pythagorean-complement.texinfo │ │ │ ├── macro-antik-pythagorean-sum.texinfo │ │ │ ├── macro-antik-reset-parameters.texinfo │ │ │ ├── macro-antik-see-intermediate-value.texinfo │ │ │ ├── macro-antik-see-values.texinfo │ │ │ ├── macro-antik-serialize-binding.texinfo │ │ │ ├── macro-antik-set-nf-options.texinfo │ │ │ ├── macro-antik-set-parameter-value.texinfo │ │ │ ├── macro-antik-set-parameter.texinfo │ │ │ ├── macro-antik-set-parameters.texinfo │ │ │ ├── macro-antik-val.texinfo │ │ │ ├── macro-antik-with-nf-options.texinfo │ │ │ ├── macro-antik-with-parameters.texinfo │ │ │ ├── macro-antik-with-pq.texinfo │ │ │ ├── macro-antik-with-si-units.texinfo │ │ │ ├── macro-antik-with-system-of-units-star.texinfo │ │ │ ├── macro-antik-with-system-of-units.texinfo │ │ │ ├── macro-antik-with-units.texinfo │ │ │ ├── macro-antik-without-units.texinfo │ │ │ ├── macro-grid-dcref.texinfo │ │ │ ├── macro-grid-metadata-slot.texinfo │ │ │ ├── var-antik-star-cgsu-star.texinfo │ │ │ ├── var-antik-star-code-block-eval-nf-options-star.texinfo │ │ │ ├── var-antik-star-datime-readable-star.texinfo │ │ │ ├── var-antik-star-default-sfg-star.texinfo │ │ │ ├── var-antik-star-englishu-star.texinfo │ │ │ ├── var-antik-star-format-float-significant-figures-star.texinfo │ │ │ ├── var-antik-star-real-ut1-utc-star.texinfo │ │ │ ├── var-antik-star-return-formula-star.texinfo │ │ │ ├── var-antik-star-siu-star.texinfo │ │ │ ├── var-antik-star-timepoint-print-scale-name-star.texinfo │ │ │ ├── var-antik-star-timepoint-print-scale-star.texinfo │ │ │ ├── var-antik-star-timescales-star.texinfo │ │ │ ├── var-antik-star-use-readable-print-form-star.texinfo │ │ │ ├── var-antik-star-zero-is-dimensionless-star.texinfo │ │ │ ├── var-grid-star-array-element-types-no-complex-star.texinfo │ │ │ ├── var-grid-star-array-element-types-star.texinfo │ │ │ ├── var-grid-star-complex-types-star.texinfo │ │ │ ├── var-grid-star-cstd-cl-type-mapping-star.texinfo │ │ │ ├── var-grid-star-cstd-integer-types-star.texinfo │ │ │ ├── var-grid-star-double-types-star.texinfo │ │ │ ├── var-grid-star-float-complex-types-star.texinfo │ │ │ ├── var-grid-star-float-types-star.texinfo │ │ │ ├── var-grid-star-grid-types-star.texinfo │ │ │ ├── var-grid-star-print-contents-star.texinfo │ │ │ └── var-grid-star-print-foreign-array-readably-star.texinfo │ │ ├── macros.texinfo │ │ ├── makedoc │ │ ├── overview.html │ │ ├── site.css │ │ └── style.css │ │ ├── documentation │ │ ├── Makefile │ │ ├── build │ │ │ ├── doctrees │ │ │ │ ├── conditions.doctree │ │ │ │ ├── creating.doctree │ │ │ │ ├── elemmath.doctree │ │ │ │ ├── environment.pickle │ │ │ │ ├── gridintro.doctree │ │ │ │ ├── grids.doctree │ │ │ │ ├── intro.doctree │ │ │ │ ├── linalg.doctree │ │ │ │ ├── mathematics.doctree │ │ │ │ ├── optimize.doctree │ │ │ │ ├── packages.doctree │ │ │ │ ├── parameters.doctree │ │ │ │ ├── root.doctree │ │ │ │ ├── starting.doctree │ │ │ │ ├── statistics.doctree │ │ │ │ ├── trigonometry.doctree │ │ │ │ ├── utility.doctree │ │ │ │ └── workflow.doctree │ │ │ └── html │ │ │ │ ├── .buildinfo │ │ │ │ ├── _sources │ │ │ │ ├── conditions.txt │ │ │ │ ├── creating.txt │ │ │ │ ├── elemmath.txt │ │ │ │ ├── gridintro.txt │ │ │ │ ├── grids.txt │ │ │ │ ├── intro.txt │ │ │ │ ├── linalg.txt │ │ │ │ ├── mathematics.txt │ │ │ │ ├── optimize.txt │ │ │ │ ├── packages.txt │ │ │ │ ├── parameters.txt │ │ │ │ ├── root.txt │ │ │ │ ├── starting.txt │ │ │ │ ├── statistics.txt │ │ │ │ ├── trigonometry.txt │ │ │ │ ├── utility.txt │ │ │ │ └── workflow.txt │ │ │ │ ├── _static │ │ │ │ ├── ajax-loader.gif │ │ │ │ ├── basic.css │ │ │ │ ├── classic.css │ │ │ │ ├── comment-bright.png │ │ │ │ ├── comment-close.png │ │ │ │ ├── comment.png │ │ │ │ ├── doctools.js │ │ │ │ ├── down-pressed.png │ │ │ │ ├── down.png │ │ │ │ ├── file.png │ │ │ │ ├── jquery-1.11.1.js │ │ │ │ ├── jquery.js │ │ │ │ ├── minus.png │ │ │ │ ├── plus.png │ │ │ │ ├── pygments.css │ │ │ │ ├── searchtools.js │ │ │ │ ├── sidebar.js │ │ │ │ ├── underscore-1.3.1.js │ │ │ │ ├── underscore.js │ │ │ │ ├── up-pressed.png │ │ │ │ ├── up.png │ │ │ │ └── websupport.js │ │ │ │ ├── conditions.html │ │ │ │ ├── creating.html │ │ │ │ ├── elemmath.html │ │ │ │ ├── genindex.html │ │ │ │ ├── gridintro.html │ │ │ │ ├── grids.html │ │ │ │ ├── intro.html │ │ │ │ ├── linalg.html │ │ │ │ ├── mathematics.html │ │ │ │ ├── objects.inv │ │ │ │ ├── optimize.html │ │ │ │ ├── packages.html │ │ │ │ ├── parameters.html │ │ │ │ ├── root.html │ │ │ │ ├── search.html │ │ │ │ ├── searchindex.js │ │ │ │ ├── starting.html │ │ │ │ ├── statistics.html │ │ │ │ ├── trigonometry.html │ │ │ │ ├── utility.html │ │ │ │ └── workflow.html │ │ └── source │ │ │ ├── conditions.rst │ │ │ ├── conf.py │ │ │ ├── creating.rst │ │ │ ├── elemmath.rst │ │ │ ├── gridintro.rst │ │ │ ├── grids.rst │ │ │ ├── intro.rst │ │ │ ├── linalg.rst │ │ │ ├── mathematics.rst │ │ │ ├── optimize.rst │ │ │ ├── packages.rst │ │ │ ├── parameters.rst │ │ │ ├── root.rst │ │ │ ├── starting.rst │ │ │ ├── statistics.rst │ │ │ ├── trigonometry.rst │ │ │ ├── utility.rst │ │ │ └── workflow.rst │ │ ├── foreign-array.asd │ │ ├── foreign-array │ │ ├── complex-types.lisp │ │ ├── element-types.lisp │ │ ├── foreign-array.lisp │ │ ├── format-output.lisp │ │ ├── methods.lisp │ │ ├── number-conversion.lisp │ │ ├── subclass.lisp │ │ ├── symbol-type.lisp │ │ ├── tests │ │ │ ├── aref.lisp │ │ │ ├── compose.lisp │ │ │ ├── fast-array-access.lisp │ │ │ ├── lisp-unit-extension.lisp │ │ │ └── timing.lisp │ │ ├── types.lisp │ │ └── vector-matrix.lisp │ │ ├── grid │ │ ├── affi │ │ │ ├── affi.lisp │ │ │ ├── package.lisp │ │ │ ├── transformers.lisp │ │ │ └── utility.lisp │ │ ├── array.lisp │ │ ├── compose.lisp │ │ ├── copy.lisp │ │ ├── format-output.lisp │ │ ├── functions.lisp │ │ ├── index-functions.lisp │ │ ├── indexed.lisp │ │ ├── iterate.lisp │ │ ├── loop-grid-test.lisp │ │ ├── map.lisp │ │ ├── mathematics.lisp │ │ ├── multiarray.lisp │ │ ├── norm-vector-product.lisp │ │ ├── parameters.lisp │ │ ├── slice.lisp │ │ ├── specification.lisp │ │ ├── tests │ │ │ ├── affi-tests.lisp │ │ │ ├── augment.lisp │ │ │ ├── compose.lisp │ │ │ ├── map.lisp │ │ │ ├── norm-vector-product.lisp │ │ │ ├── sequence.lisp │ │ │ └── slice.lisp │ │ └── util.lisp │ │ ├── init │ │ ├── conditions.lisp │ │ ├── generic.lisp │ │ ├── intermediate.lisp │ │ ├── iterate.lisp │ │ ├── object.lisp │ │ ├── package.lisp │ │ ├── pass-through.lisp │ │ ├── pd-shadow-symbols.lisp │ │ └── utility.lisp │ │ ├── input-output │ │ ├── float.lisp │ │ ├── format-output.lisp │ │ ├── matlab.lisp │ │ ├── org-mode.lisp │ │ ├── parameters.lisp │ │ ├── read.lisp │ │ ├── readtable.lisp │ │ └── write.lisp │ │ ├── linear-algebra │ │ ├── linear-algebra-tests.lisp │ │ └── linear-algebra.lisp │ │ ├── mathematics │ │ ├── integers.lisp │ │ └── trigonometry.lisp │ │ ├── optimize │ │ ├── least-squares.lisp │ │ ├── multi-dim.lisp │ │ ├── one-dim-pq.lisp │ │ └── one-dim.lisp │ │ ├── physical-dimension.asd │ │ ├── physical-quantities │ │ ├── angle-component.lisp │ │ ├── angle.lisp │ │ ├── arithmetic.lisp │ │ ├── degree-symbol.lisp │ │ ├── format-output.lisp │ │ ├── funcall.lisp │ │ ├── grid.lisp │ │ ├── physical-quantities.lisp │ │ ├── scalar.lisp │ │ ├── separate-pq-grid.lisp │ │ ├── state.lisp │ │ ├── sysunit-definitions.lisp │ │ ├── undimension.lisp │ │ ├── unit-definitions.lisp │ │ └── units.lisp │ │ ├── sample │ │ ├── low-discrepancy-sequence.lisp │ │ └── monte-carlo.lisp │ │ ├── science-data.asd │ │ └── tests │ │ ├── format-grid.lisp │ │ ├── numbers.lisp │ │ ├── physical-quantities-grid.lisp │ │ └── physical-quantities.lisp ├── babel │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── .travis.yml │ │ ├── COPYRIGHT │ │ ├── HEADER │ │ ├── NOTES │ │ ├── README.md │ │ ├── babel-streams.asd │ │ ├── babel-tests.asd │ │ ├── babel.asd │ │ ├── doc │ │ ├── Makefile │ │ ├── babel.texinfo │ │ ├── license.texinfo │ │ └── macros.texinfo │ │ ├── scripts │ │ └── release.lisp │ │ ├── src │ │ ├── enc-ascii.lisp │ │ ├── enc-cp1251.lisp │ │ ├── enc-cp1252.lisp │ │ ├── enc-ebcdic-int.lisp │ │ ├── enc-ebcdic.lisp │ │ ├── enc-gbk.lisp │ │ ├── enc-iso-8859.lisp │ │ ├── enc-jpn.lisp │ │ ├── enc-koi8.lisp │ │ ├── enc-unicode.lisp │ │ ├── encodings.lisp │ │ ├── external-format.lisp │ │ ├── gbk-map.lisp │ │ ├── jpn-table.lisp │ │ ├── packages.lisp │ │ ├── sharp-backslash.lisp │ │ ├── streams.lisp │ │ └── strings.lisp │ │ └── tests │ │ ├── ascii.txt │ │ ├── ascii.txt-utf8 │ │ ├── benchmarks.lisp │ │ ├── ebcdic-us.txt │ │ ├── ebcdic-us.txt-utf8 │ │ ├── gen-test-files.sh │ │ ├── streams.lisp │ │ ├── tests.lisp │ │ ├── utf-16-with-le-bom.txt │ │ ├── utf-16.txt │ │ ├── utf-16.txt-utf8 │ │ ├── utf-32-with-le-bom.txt │ │ ├── utf-32.txt │ │ ├── utf-32.txt-utf8 │ │ ├── utf-8.txt │ │ └── utf-8.txt-utf8 ├── cffi │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── .gitignore │ │ ├── .travis.yml │ │ ├── COPYRIGHT │ │ ├── HEADER │ │ ├── Makefile │ │ ├── README.md │ │ ├── TODO │ │ ├── cffi-examples.asd │ │ ├── cffi-grovel.asd │ │ ├── cffi-libffi.asd │ │ ├── cffi-tests.asd │ │ ├── cffi-toolchain.asd │ │ ├── cffi-uffi-compat.asd │ │ ├── cffi.asd │ │ ├── doc │ │ ├── Makefile │ │ ├── allegro-internals.txt │ │ ├── cffi-manual.texinfo │ │ ├── cffi-sys-spec.texinfo │ │ ├── colorize-lisp-examples.lisp │ │ ├── gendocs.sh │ │ ├── gendocs_template │ │ ├── mem-vector.txt │ │ ├── shareable-vectors.txt │ │ └── style.css │ │ ├── examples │ │ ├── examples.lisp │ │ ├── gethostname.lisp │ │ ├── gettimeofday.lisp │ │ ├── grovel-example.lisp │ │ ├── main-example.lisp │ │ ├── mapping.lisp │ │ ├── package.lisp │ │ ├── run-examples.lisp │ │ ├── translator-test.lisp │ │ └── wrapper-example.lisp │ │ ├── grovel │ │ ├── asdf.lisp │ │ ├── common.h │ │ ├── grovel.lisp │ │ └── package.lisp │ │ ├── libffi │ │ ├── funcall.lisp │ │ ├── libffi-functions.lisp │ │ ├── libffi-types.lisp │ │ ├── libffi.lisp │ │ └── type-descriptors.lisp │ │ ├── scripts │ │ └── release.lisp │ │ ├── src │ │ ├── c2ffi │ │ │ ├── asdf.lisp │ │ │ ├── c2ffi.lisp │ │ │ ├── generator.lisp │ │ │ └── package.lisp │ │ ├── cffi-abcl.lisp │ │ ├── cffi-allegro.lisp │ │ ├── cffi-clasp.lisp │ │ ├── cffi-clisp.lisp │ │ ├── cffi-cmucl.lisp │ │ ├── cffi-corman.lisp │ │ ├── cffi-ecl.lisp │ │ ├── cffi-gcl.lisp │ │ ├── cffi-lispworks.lisp │ │ ├── cffi-mcl.lisp │ │ ├── cffi-mkcl.lisp │ │ ├── cffi-openmcl.lisp │ │ ├── cffi-sbcl.lisp │ │ ├── cffi-scl.lisp │ │ ├── early-types.lisp │ │ ├── enum.lisp │ │ ├── features.lisp │ │ ├── foreign-vars.lisp │ │ ├── functions.lisp │ │ ├── libraries.lisp │ │ ├── package.lisp │ │ ├── strings.lisp │ │ ├── structures.lisp │ │ ├── types.lisp │ │ └── utils.lisp │ │ ├── tests │ │ ├── GNUmakefile │ │ ├── Makefile │ │ ├── arrays.lisp │ │ ├── bindings.lisp │ │ ├── callbacks.lisp │ │ ├── compile.bat │ │ ├── defcfun.lisp │ │ ├── enum.lisp │ │ ├── foreign-globals.lisp │ │ ├── fsbv.lisp │ │ ├── funcall.lisp │ │ ├── grovel.lisp │ │ ├── libfsbv.c │ │ ├── libtest.c │ │ ├── libtest2.c │ │ ├── memory.lisp │ │ ├── misc-types.lisp │ │ ├── misc.lisp │ │ ├── package.lisp │ │ ├── random-tester.lisp │ │ ├── run-tests.lisp │ │ ├── strings.lisp │ │ ├── struct.lisp │ │ ├── test-asdf.lisp │ │ ├── test-static-link.sh │ │ └── union.lisp │ │ ├── toolchain │ │ ├── bundle.lisp │ │ ├── c-toolchain.lisp │ │ ├── package.lisp │ │ └── static-link.lisp │ │ └── uffi-compat │ │ ├── uffi-compat.lisp │ │ └── uffi.asd ├── cl_ppcre │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── CHANGELOG │ │ ├── README.md │ │ ├── api.lisp │ │ ├── charmap.lisp │ │ ├── charset.lisp │ │ ├── chartest.lisp │ │ ├── cl-ppcre-unicode.asd │ │ ├── cl-ppcre-unicode │ │ ├── packages.lisp │ │ └── resolver.lisp │ │ ├── cl-ppcre.asd │ │ ├── closures.lisp │ │ ├── convert.lisp │ │ ├── doc │ │ └── index.html │ │ ├── errors.lisp │ │ ├── lexer.lisp │ │ ├── optimize.lisp │ │ ├── packages.lisp │ │ ├── parser.lisp │ │ ├── regex-class-util.lisp │ │ ├── regex-class.lisp │ │ ├── repetition-closures.lisp │ │ ├── scanner.lisp │ │ ├── specials.lisp │ │ ├── test │ │ ├── packages.lisp │ │ ├── perl-tests.lisp │ │ ├── perltest.pl │ │ ├── perltestdata │ │ ├── perltestinput │ │ ├── simple │ │ ├── tests.lisp │ │ ├── unicode-tests.lisp │ │ └── unicodetestdata │ │ └── util.lisp ├── cl_store │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── ChangeLog │ │ ├── acl │ │ └── custom.lisp │ │ ├── allegrocl │ │ └── custom.lisp │ │ ├── backends.lisp │ │ ├── circularities.lisp │ │ ├── cl-store-xml.noasd │ │ ├── cl-store.asd │ │ ├── clisp │ │ ├── custom.lisp │ │ └── mop.lisp │ │ ├── cmucl │ │ ├── custom-xml.lisp │ │ └── custom.lisp │ │ ├── default-backend.lisp │ │ ├── doc │ │ ├── cl-store.texi │ │ ├── index.html │ │ └── style.css │ │ ├── ecl │ │ └── mop.lisp │ │ ├── licence │ │ ├── lispworks │ │ ├── custom-xml.lisp │ │ └── custom.lisp │ │ ├── openmcl │ │ └── custom.lisp │ │ ├── package.lisp │ │ ├── plumbing.lisp │ │ ├── readme │ │ ├── sbcl │ │ ├── custom-xml.lisp │ │ └── custom.lisp │ │ ├── tests.lisp │ │ ├── utils.lisp │ │ ├── xml-backend.lisp │ │ ├── xml-package.lisp │ │ └── xml-tests.lisp ├── cl_utilities │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── README │ │ ├── README.md │ │ ├── cl-utilities.asd │ │ ├── collecting.lisp │ │ ├── compose.lisp │ │ ├── copy-array.lisp │ │ ├── doc │ │ ├── collecting.html │ │ ├── compose.html │ │ ├── copy-array.html │ │ ├── expt-mod.html │ │ ├── extremum.html │ │ ├── index.html │ │ ├── once-only.html │ │ ├── read-delimited.html │ │ ├── rotate-byte.html │ │ ├── split-sequence.html │ │ ├── style.css │ │ └── with-unique-names.html │ │ ├── expt-mod.lisp │ │ ├── extremum.lisp │ │ ├── once-only.lisp │ │ ├── package.lisp │ │ ├── package.sh │ │ ├── read-delimited.lisp │ │ ├── rotate-byte.lisp │ │ ├── split-sequence.lisp │ │ ├── test.lisp │ │ └── with-unique-names.lisp ├── cram_3rdparty │ ├── CMakeLists.txt │ └── package.xml ├── fiveam │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── .boring │ │ ├── COPYING │ │ ├── README │ │ ├── docs │ │ └── make-qbook.lisp │ │ ├── fiveam.asd │ │ ├── src │ │ ├── check.lisp │ │ ├── classes.lisp │ │ ├── explain.lisp │ │ ├── fixture.lisp │ │ ├── package.lisp │ │ ├── random.lisp │ │ ├── run.lisp │ │ ├── style.css │ │ ├── suite.lisp │ │ ├── test.lisp │ │ └── utils.lisp │ │ ├── t │ │ ├── example.lisp │ │ ├── suite.lisp │ │ └── tests.lisp │ │ └── version.lisp-expr ├── float_features │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── LICENSE │ │ ├── README.md │ │ ├── doc │ │ └── index.html │ │ ├── documentation.lisp │ │ ├── float-features.asd │ │ └── float-features.lisp ├── gsll │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── basis-splines.lisp │ │ ├── calculus │ │ ├── monte-carlo-structs.lisp │ │ ├── monte-carlo.lisp │ │ ├── numerical-differentiation.lisp │ │ ├── numerical-integration-with-tables.lisp │ │ └── numerical-integration.lisp │ │ ├── chebyshev.lisp │ │ ├── data │ │ ├── array-structs.lisp │ │ ├── array-tests.lisp │ │ ├── both.lisp │ │ ├── combination.lisp │ │ ├── foreign-array.lisp │ │ ├── matrix.lisp │ │ ├── permutation.lisp │ │ └── vector.lisp │ │ ├── documentation │ │ ├── COPYING │ │ ├── index.html │ │ ├── missing-features.text │ │ ├── readme.html │ │ ├── site.css │ │ ├── status.text │ │ └── style.css │ │ ├── eigensystems │ │ ├── eigen-struct.lisp │ │ ├── generalized.lisp │ │ ├── nonsymmetric-generalized.lisp │ │ ├── nonsymmetric.lisp │ │ └── symmetric-hermitian.lisp │ │ ├── fast-fourier-transforms │ │ ├── backward.lisp │ │ ├── discrete.lisp │ │ ├── example.lisp │ │ ├── extras.lisp │ │ ├── forward.lisp │ │ ├── inverse.lisp │ │ ├── select-direction.lisp │ │ ├── unpack.lisp │ │ └── wavetable-workspace.lisp │ │ ├── floating-point │ │ ├── floating-point.html │ │ ├── floating-point.lisp │ │ └── ieee-modes.lisp │ │ ├── gsll.asd │ │ ├── hankel.lisp │ │ ├── histogram │ │ ├── histogram.lisp │ │ ├── ntuple.lisp │ │ ├── operations.lisp │ │ ├── probability-distribution.lisp │ │ ├── statistics.lisp │ │ └── updating-accessing.lisp │ │ ├── init │ │ ├── analysis.lisp │ │ ├── body-expand.lisp │ │ ├── callback-compile-defs.lisp │ │ ├── callback-included.lisp │ │ ├── callback-struct.lisp │ │ ├── callback.lisp │ │ ├── conditions.lisp │ │ ├── defmfun-array.lisp │ │ ├── defmfun-single.lisp │ │ ├── defmfun.lisp │ │ ├── forms.lisp │ │ ├── funcallable.lisp │ │ ├── generate-examples.lisp │ │ ├── generic.lisp │ │ ├── gsl-version.lisp │ │ ├── init.lisp │ │ ├── interface.lisp │ │ ├── libgsl-unix.lisp │ │ ├── mobject.lisp │ │ ├── types.lisp │ │ └── utility.lisp │ │ ├── interpolation │ │ ├── evaluation.lisp │ │ ├── interpolation.lisp │ │ ├── lookup.lisp │ │ ├── spline-example.lisp │ │ └── types.lisp │ │ ├── linear-algebra │ │ ├── blas1.lisp │ │ ├── blas2.lisp │ │ ├── blas3.lisp │ │ ├── cholesky.lisp │ │ ├── diagonal.lisp │ │ ├── exponential.lisp │ │ ├── householder.lisp │ │ ├── lu.lisp │ │ ├── matrix-generation.lisp │ │ ├── qr.lisp │ │ ├── qrpt.lisp │ │ └── svd.lisp │ │ ├── list │ │ ├── mathematical │ │ ├── complex.lisp │ │ └── mathematical.lisp │ │ ├── ordinary-differential-equations │ │ ├── control.lisp │ │ ├── evolution.lisp │ │ ├── ode-example.lisp │ │ ├── ode-struct.lisp │ │ ├── ode-system.lisp │ │ └── stepping.lisp │ │ ├── physical-constants │ │ ├── cgsm.lisp │ │ ├── dimensioned.lisp │ │ ├── export.lisp │ │ ├── mksa.lisp │ │ └── num.lisp │ │ ├── polynomial.lisp │ │ ├── random │ │ ├── bernoulli.lisp │ │ ├── beta.lisp │ │ ├── binomial.lisp │ │ ├── cauchy.lisp │ │ ├── chi-squared.lisp │ │ ├── dirichlet.lisp │ │ ├── discrete.lisp │ │ ├── exponential-power.lisp │ │ ├── exponential.lisp │ │ ├── fdist.lisp │ │ ├── flat.lisp │ │ ├── gamma.lisp │ │ ├── gaussian-bivariate.lisp │ │ ├── gaussian-tail.lisp │ │ ├── gaussian.lisp │ │ ├── generators.lisp │ │ ├── geometric.lisp │ │ ├── gumbel1.lisp │ │ ├── gumbel2.lisp │ │ ├── hypergeometric.lisp │ │ ├── landau.lisp │ │ ├── laplace.lisp │ │ ├── levy.lisp │ │ ├── logarithmic.lisp │ │ ├── logistic.lisp │ │ ├── lognormal.lisp │ │ ├── multinomial.lisp │ │ ├── negative-binomial.lisp │ │ ├── pareto.lisp │ │ ├── poisson.lisp │ │ ├── quasi.lisp │ │ ├── rayleigh-tail.lisp │ │ ├── rayleigh.lisp │ │ ├── rng-types.lisp │ │ ├── shuffling-sampling.lisp │ │ ├── spherical-vector.lisp │ │ ├── tdist.lisp │ │ ├── tests.lisp │ │ └── weibull.lisp │ │ ├── series-acceleration.lisp │ │ ├── series-struct.lisp │ │ ├── solve-minimize-fit │ │ ├── generic.lisp │ │ ├── linear-least-squares.lisp │ │ ├── minimization-multi.lisp │ │ ├── minimization-one.lisp │ │ ├── nonlinear-least-squares.lisp │ │ ├── roots-multi.lisp │ │ ├── roots-one.lisp │ │ ├── simulated-annealing.lisp │ │ └── solver-struct.lisp │ │ ├── sorting.lisp │ │ ├── special-functions │ │ ├── airy.lisp │ │ ├── bessel.lisp │ │ ├── clausen.lisp │ │ ├── coulomb.lisp │ │ ├── coupling.lisp │ │ ├── dawson.lisp │ │ ├── debye.lisp │ │ ├── dilogarithm.lisp │ │ ├── elementary.lisp │ │ ├── elliptic-functions.lisp │ │ ├── elliptic-integrals.lisp │ │ ├── error-functions.lisp │ │ ├── exponential-functions.lisp │ │ ├── exponential-integrals.lisp │ │ ├── fermi-dirac.lisp │ │ ├── gamma.lisp │ │ ├── gegenbauer.lisp │ │ ├── hypergeometric.lisp │ │ ├── laguerre.lisp │ │ ├── lambert.lisp │ │ ├── legendre.lisp │ │ ├── logarithm.lisp │ │ ├── mathieu.lisp │ │ ├── power.lisp │ │ ├── psi.lisp │ │ ├── return-structures.lisp │ │ ├── sf-result.lisp │ │ ├── synchrotron.lisp │ │ ├── transport.lisp │ │ ├── trigonometry.lisp │ │ └── zeta.lisp │ │ ├── statistics │ │ ├── absolute-deviation.lisp │ │ ├── autocorrelation.lisp │ │ ├── covariance.lisp │ │ ├── higher-moments.lisp │ │ ├── mean-variance.lisp │ │ └── median-percentile.lisp │ │ ├── test-unit │ │ ├── augment.lisp │ │ ├── convert.lisp │ │ ├── generate-tests.lisp │ │ ├── gsl-tests.lisp │ │ └── machine.lisp │ │ ├── tests │ │ ├── absolute-deviation.lisp │ │ ├── absolute-sum.lisp │ │ ├── airy.lisp │ │ ├── autocorrelation.lisp │ │ ├── axpy.lisp │ │ ├── basis-spline.lisp │ │ ├── bernoulli.lisp │ │ ├── bessel.lisp │ │ ├── beta.lisp │ │ ├── binomial.lisp │ │ ├── blas-copy.lisp │ │ ├── blas-swap.lisp │ │ ├── cauchy.lisp │ │ ├── cdot.lisp │ │ ├── chebyshev.lisp │ │ ├── chi-squared.lisp │ │ ├── cholesky.lisp │ │ ├── clausen.lisp │ │ ├── column.lisp │ │ ├── combination.lisp │ │ ├── correlation.lisp │ │ ├── coulomb.lisp │ │ ├── coupling.lisp │ │ ├── covariance.lisp │ │ ├── dawson.lisp │ │ ├── debye.lisp │ │ ├── dilogarithm.lisp │ │ ├── dirichlet.lisp │ │ ├── discrete.lisp │ │ ├── dot.lisp │ │ ├── eigensystems.lisp │ │ ├── elementary.lisp │ │ ├── elliptic-functions.lisp │ │ ├── elliptic-integrals.lisp │ │ ├── error-functions.lisp │ │ ├── euclidean-norm.lisp │ │ ├── exponential-functions.lisp │ │ ├── exponential-integrals.lisp │ │ ├── exponential-power.lisp │ │ ├── exponential.lisp │ │ ├── fast-fourier-transform.lisp │ │ ├── fdist.lisp │ │ ├── fermi-dirac.lisp │ │ ├── flat.lisp │ │ ├── gamma-randist.lisp │ │ ├── gamma.lisp │ │ ├── gaussian-bivariate.lisp │ │ ├── gaussian-tail.lisp │ │ ├── gaussian.lisp │ │ ├── gegenbauer.lisp │ │ ├── geometric.lisp │ │ ├── givens.lisp │ │ ├── gumbel1.lisp │ │ ├── gumbel2.lisp │ │ ├── hankel.lisp │ │ ├── higher-moments.lisp │ │ ├── histogram.lisp │ │ ├── householder.lisp │ │ ├── hypergeometric-randist.lisp │ │ ├── hypergeometric.lisp │ │ ├── index-max.lisp │ │ ├── interpolation.lisp │ │ ├── inverse-matrix-product.lisp │ │ ├── laguerre.lisp │ │ ├── lambert.lisp │ │ ├── landau.lisp │ │ ├── laplace.lisp │ │ ├── legendre.lisp │ │ ├── levy.lisp │ │ ├── linear-least-squares.lisp │ │ ├── logarithm.lisp │ │ ├── logarithmic.lisp │ │ ├── logistic.lisp │ │ ├── lognormal.lisp │ │ ├── lu.lisp │ │ ├── mathematical.lisp │ │ ├── mathieu.lisp │ │ ├── matrix-add-scalar.lisp │ │ ├── matrix-add.lisp │ │ ├── matrix-div.lisp │ │ ├── matrix-max-index.lisp │ │ ├── matrix-max.lisp │ │ ├── matrix-mean.lisp │ │ ├── matrix-min-index.lisp │ │ ├── matrix-min.lisp │ │ ├── matrix-minmax-index.lisp │ │ ├── matrix-minmax.lisp │ │ ├── matrix-mult-scalar.lisp │ │ ├── matrix-mult.lisp │ │ ├── matrix-product-hermitian.lisp │ │ ├── matrix-product-nonsquare.lisp │ │ ├── matrix-product-symmetric.lisp │ │ ├── matrix-product-triangular.lisp │ │ ├── matrix-product.lisp │ │ ├── matrix-set-all.lisp │ │ ├── matrix-set-zero.lisp │ │ ├── matrix-standard-deviation-with-fixed-mean.lisp │ │ ├── matrix-standard-deviation-with-mean.lisp │ │ ├── matrix-standard-deviation.lisp │ │ ├── matrix-sub.lisp │ │ ├── matrix-swap.lisp │ │ ├── matrix-transpose-copy.lisp │ │ ├── matrix-transpose.lisp │ │ ├── matrix-variance-with-fixed-mean.lisp │ │ ├── matrix-variance-with-mean.lisp │ │ ├── matrix-variance.lisp │ │ ├── median-percentile.lisp │ │ ├── minimization-multi.lisp │ │ ├── minimization-one.lisp │ │ ├── monte-carlo.lisp │ │ ├── multinomial.lisp │ │ ├── negative-binomial.lisp │ │ ├── nonlinear-least-squares.lisp │ │ ├── ntuple.lisp │ │ ├── numerical-differentiation.lisp │ │ ├── numerical-integration.lisp │ │ ├── ode.lisp │ │ ├── pareto.lisp │ │ ├── permutation.lisp │ │ ├── poisson.lisp │ │ ├── polynomial.lisp │ │ ├── power.lisp │ │ ├── psi.lisp │ │ ├── qr.lisp │ │ ├── qrpt.lisp │ │ ├── quasi-random-number-generators.lisp │ │ ├── random-number-generators.lisp │ │ ├── rank-1-update.lisp │ │ ├── rayleigh-tail.lisp │ │ ├── rayleigh.lisp │ │ ├── roots-multi.lisp │ │ ├── roots-one.lisp │ │ ├── row.lisp │ │ ├── scale.lisp │ │ ├── series-acceleration.lisp │ │ ├── set-basis.lisp │ │ ├── set-identity.lisp │ │ ├── setf-column.lisp │ │ ├── setf-row.lisp │ │ ├── shuffling-sampling.lisp │ │ ├── sort-matrix-largest.lisp │ │ ├── sort-matrix-smallest.lisp │ │ ├── sort-matrix.lisp │ │ ├── sort-vector-index.lisp │ │ ├── sort-vector-largest-index.lisp │ │ ├── sort-vector-largest.lisp │ │ ├── sort-vector-smallest-index.lisp │ │ ├── sort-vector-smallest.lisp │ │ ├── sort-vector.lisp │ │ ├── spherical-vector.lisp │ │ ├── svd.lisp │ │ ├── swap-columns.lisp │ │ ├── swap-elements.lisp │ │ ├── swap-row-column.lisp │ │ ├── swap-rows.lisp │ │ ├── synchrotron.lisp │ │ ├── tdist.lisp │ │ ├── transport.lisp │ │ ├── trigonometry.lisp │ │ ├── vector-add-scalar.lisp │ │ ├── vector-add.lisp │ │ ├── vector-div.lisp │ │ ├── vector-max-index.lisp │ │ ├── vector-max.lisp │ │ ├── vector-mean.lisp │ │ ├── vector-min-index.lisp │ │ ├── vector-min.lisp │ │ ├── vector-minmax-index.lisp │ │ ├── vector-minmax.lisp │ │ ├── vector-mult-scalar.lisp │ │ ├── vector-mult.lisp │ │ ├── vector-reverse.lisp │ │ ├── vector-set-all.lisp │ │ ├── vector-set-zero.lisp │ │ ├── vector-standard-deviation-with-fixed-mean.lisp │ │ ├── vector-standard-deviation-with-mean.lisp │ │ ├── vector-standard-deviation.lisp │ │ ├── vector-sub.lisp │ │ ├── vector-swap.lisp │ │ ├── vector-variance-with-fixed-mean.lisp │ │ ├── vector-variance-with-mean.lisp │ │ ├── vector-variance.lisp │ │ ├── weibull.lisp │ │ └── zeta.lisp │ │ └── wavelet.lisp ├── iterate │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── Makefile │ │ ├── bin │ │ └── release.sh │ │ ├── doc │ │ ├── Makefile │ │ ├── examples │ │ │ └── iterate-pg.lisp │ │ ├── gendocs.sh │ │ ├── gendocs_template │ │ ├── iterate.texinfo │ │ ├── style.css │ │ └── tex │ │ │ ├── GNUmakefile │ │ │ ├── aimemo.sty │ │ │ ├── iterate-bare.pdf │ │ │ ├── iterate-bare.tex │ │ │ ├── iterate-manual.pdf │ │ │ └── iterate-manual.tex │ │ ├── iterate-test.lisp │ │ ├── iterate.asd │ │ ├── iterate.lisp │ │ └── package.lisp ├── lisp_unit │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── .gitignore │ │ ├── README.md │ │ ├── extensions │ │ ├── floating-point.lisp │ │ ├── rational.lisp │ │ └── test-anything-protocol.lisp │ │ ├── internal-test │ │ ├── example-tests.lisp │ │ ├── floating-point.lisp │ │ └── fundamental-assertions.lisp │ │ ├── lisp-unit.asd │ │ └── lisp-unit.lisp ├── metabang_bind │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── .boring │ │ ├── .gitignore │ │ ├── COPYING │ │ ├── README │ │ ├── dev │ │ ├── bind-cl-ppcre.lisp │ │ ├── bind-re-allegro.lisp │ │ ├── bind.lisp │ │ ├── binding-forms.lisp │ │ ├── macros.lisp │ │ └── packages.lisp │ │ ├── lift-standard.config │ │ ├── metabang-bind-test.asd │ │ ├── metabang-bind.asd │ │ ├── unit-tests │ │ ├── arrays.lisp │ │ ├── classes.lisp │ │ ├── functions.lisp │ │ ├── package.lisp │ │ ├── plists.lisp │ │ ├── regex.lisp │ │ ├── structures.lisp │ │ ├── test-bind.lisp │ │ └── utilities.lisp │ │ └── website │ │ └── source │ │ ├── images │ │ └── index.mmd │ │ ├── index.mmd │ │ ├── resources │ │ ├── footer.md │ │ ├── guide-footer.md │ │ ├── guide-header.md │ │ ├── header.md │ │ ├── navigation.md │ │ └── shared.md │ │ ├── user-guide.css │ │ └── user-guide.mmd ├── named_readtables │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── .gitignore │ │ ├── LICENSE │ │ ├── README │ │ ├── README.md │ │ ├── doc │ │ └── named-readtables.html │ │ ├── named-readtables.asd │ │ ├── src │ │ ├── cruft.lisp │ │ ├── define-api.lisp │ │ ├── doc.lisp │ │ ├── named-readtables.lisp │ │ ├── package.lisp │ │ └── utils.lisp │ │ └── test │ │ ├── package.lisp │ │ ├── rt.lisp │ │ └── tests.lisp ├── split_sequence │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── README.md │ │ ├── split-sequence.asd │ │ ├── split-sequence.lisp │ │ ├── tests.lisp │ │ └── version.lisp-expr ├── synchronization_tools │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── synchronization-tools.asd │ │ ├── synchronization-tools.lisp │ │ └── tests.lisp ├── trivial_features │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── .travis.yml │ │ ├── COPYRIGHT │ │ ├── README.md │ │ ├── SPEC.md │ │ ├── release.lisp │ │ ├── src │ │ ├── tf-abcl.lisp │ │ ├── tf-allegro.lisp │ │ ├── tf-clasp.lisp │ │ ├── tf-clisp.lisp │ │ ├── tf-cmucl.lisp │ │ ├── tf-corman.lisp │ │ ├── tf-ecl.lisp │ │ ├── tf-lispworks.lisp │ │ ├── tf-mcl.lisp │ │ ├── tf-mkcl.lisp │ │ ├── tf-mocl.lisp │ │ ├── tf-openmcl.lisp │ │ ├── tf-sbcl.lisp │ │ ├── tf-scl.lisp │ │ └── tf-xcl.lisp │ │ ├── tests │ │ ├── package.lisp │ │ ├── sysinfo.lisp │ │ ├── tests.lisp │ │ └── utsname.lisp │ │ ├── trivial-features-tests.asd │ │ └── trivial-features.asd ├── trivial_garbage │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── .gitignore │ │ ├── .travis.yml │ │ ├── README.md │ │ ├── build.xcvb │ │ ├── doc │ │ └── index.css │ │ ├── gendocs.lisp │ │ ├── release.lisp │ │ ├── tests.lisp │ │ ├── trivial-garbage.asd │ │ └── trivial-garbage.lisp ├── trivial_gray_streams │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── COPYING │ │ ├── Makefile │ │ ├── README │ │ ├── build.xcvb │ │ ├── package.lisp │ │ ├── streams.lisp │ │ ├── test │ │ ├── package.lisp │ │ ├── run-on-many-lisps.lisp │ │ ├── test-framework.lisp │ │ └── test.lisp │ │ ├── trivial-gray-streams-test.asd │ │ └── trivial-gray-streams.asd └── yason │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ ├── .gitignore │ ├── .pre-release.sh │ ├── CHANGELOG │ ├── LICENSE │ ├── README.md │ ├── clixdoc.xsl │ ├── doc.xml │ ├── encode.lisp │ ├── index.html │ ├── package.lisp │ ├── parse.lisp │ ├── render-doc.sh │ ├── test.lisp │ └── yason.asd ├── cram_boxy ├── .gitignore ├── CATKIN_IGNORE ├── README.md ├── cram_boxy │ ├── CMakeLists.txt │ └── package.xml ├── cram_boxy_assembly_demo │ ├── CMakeLists.txt │ ├── cram-boxy-assembly-demo.asd │ ├── launch │ │ └── sandbox.launch │ ├── package.xml │ ├── resource │ │ ├── blue_metal_plate.stl │ │ ├── bottle.dae │ │ ├── bowl.dae │ │ ├── bowl.stl │ │ ├── breakfast_cereal.stl │ │ ├── buttermilk.dae │ │ ├── cereal.dae │ │ ├── cup.dae │ │ ├── fork.dae │ │ ├── knife.dae │ │ ├── milk.dae │ │ ├── milk.stl │ │ ├── red_metal_plate.stl │ │ ├── spoon.dae │ │ └── spoon.stl │ └── src │ │ ├── demo.lisp │ │ ├── package.lisp │ │ ├── projection-demo.lisp │ │ └── setup.lisp ├── cram_boxy_description │ ├── CMakeLists.txt │ ├── cram-boxy-description.asd │ ├── package.xml │ └── src │ │ ├── arms.lisp │ │ ├── general-knowledge.lisp │ │ ├── neck.lisp │ │ └── package.lisp ├── cram_boxy_designators │ ├── CMakeLists.txt │ ├── cram-boxy-designators.asd │ ├── package.xml │ └── src │ │ ├── motions.lisp │ │ └── package.lisp ├── cram_boxy_low_level │ ├── CATKIN_IGNORE │ ├── CMakeLists.txt │ ├── cram-boxy-low-level.asd │ ├── package.xml │ └── src │ │ ├── force-torque-sensor.lisp │ │ ├── giskard-cartesian.lisp │ │ ├── giskard-common.lisp │ │ ├── giskard-joint.lisp │ │ ├── grippers.lisp │ │ ├── joint-states.lisp │ │ ├── low-level-common.lisp │ │ ├── nav-pcontroller.lisp │ │ ├── neck.lisp │ │ ├── package.lisp │ │ ├── simple-actionlib-client.lisp │ │ └── wiggle.lisp ├── cram_boxy_plans │ ├── CMakeLists.txt │ ├── cram-boxy-plans.asd │ ├── package.xml │ └── src │ │ ├── atomic-action-designators.lisp │ │ ├── atomic-action-plans.lisp │ │ ├── connect-look-place-designators.lisp │ │ ├── connect-look-plans.lisp │ │ ├── high-level-plans.lisp │ │ └── package.lisp ├── cram_boxy_process_modules │ ├── CATKIN_IGNORE │ ├── CMakeLists.txt │ ├── cram-boxy-process-modules.asd │ ├── package.xml │ └── src │ │ ├── definitions.lisp │ │ ├── interface.lisp │ │ └── package.lisp └── cram_boxy_projection │ ├── CMakeLists.txt │ ├── cram-boxy-projection.asd │ ├── package.xml │ └── src │ ├── giskard.lisp │ ├── low-level.lisp │ ├── package.lisp │ ├── process-modules.lisp │ ├── projection-environment.lisp │ └── tf.lisp ├── cram_common ├── .gitignore ├── CHANGELOG.md ├── README.md ├── cram_commander │ ├── CMakeLists.txt │ ├── cram-commander.asd │ ├── package.xml │ ├── src │ │ ├── action-designator-server.lisp │ │ ├── action-json-parser.lisp │ │ ├── choose-agent.lisp │ │ ├── package.lisp │ │ └── robots-ros.lisp │ └── srv │ │ ├── PerformDesignator.srv │ │ └── ReferenceDesignator.srv ├── cram_common │ ├── CMakeLists.txt │ └── package.xml ├── cram_common_designators │ ├── CMakeLists.txt │ ├── cram-common-designators.asd │ ├── package.xml │ └── src │ │ ├── motions.lisp │ │ ├── package.lisp │ │ ├── pick-and-place.lisp │ │ └── semantic-map.lisp ├── cram_common_failures │ ├── CMakeLists.txt │ ├── cram-common-failures.asd │ ├── package.xml │ └── src │ │ ├── common.lisp │ │ ├── high-level.lisp │ │ ├── manipulation.lisp │ │ ├── navigation.lisp │ │ ├── package.lisp │ │ ├── perception.lisp │ │ ├── ptu.lisp │ │ └── torso.lisp ├── cram_designator_specification │ ├── CMakeLists.txt │ ├── cram-designator-specification.asd │ ├── package.xml │ └── src │ │ ├── package.lisp │ │ └── specs.lisp ├── cram_location_costmap │ ├── .gitignore │ ├── CMakeLists.txt │ ├── cram-location-costmap.asd │ ├── location-costmap-test.asd │ ├── package.xml │ ├── src │ │ ├── 2d-value-map.lisp │ │ ├── cost-function-utils.lisp │ │ ├── cost-functions.lisp │ │ ├── costmap-generators.lisp │ │ ├── designator-integration.lisp │ │ ├── facts.lisp │ │ ├── location-costmap.lisp │ │ ├── location-prolog-handlers.lisp │ │ ├── occupancy-grid.lisp │ │ ├── package.lisp │ │ ├── padding-mask.lisp │ │ ├── ros-grid-cells.lisp │ │ ├── ros-occupancy-grid.lisp │ │ └── visualization.lisp │ └── test │ │ ├── location-costmap-tests.lisp │ │ └── package.lisp ├── cram_mobile_pick_place_plans │ ├── CMakeLists.txt │ ├── cram-mobile-pick-place-plans.asd │ ├── package.xml │ └── src │ │ ├── atomic-action-designators.lisp │ │ ├── atomic-action-plans.lisp │ │ ├── high-level-plans.lisp │ │ ├── package.lisp │ │ ├── pick-place-designators.lisp │ │ └── pick-place-plans.lisp ├── cram_object_interfaces │ ├── CMakeLists.txt │ ├── cram-object-interfaces.asd │ ├── package.xml │ └── src │ │ ├── manipulation.lisp │ │ ├── object-designator-interfaces.lisp │ │ ├── package.lisp │ │ └── standard-grasps.lisp ├── cram_occupancy_grid_costmap │ ├── CMakeLists.txt │ ├── cram-occupancy-grid-costmap.asd │ ├── package.xml │ └── src │ │ ├── package.lisp │ │ ├── prolog.lisp │ │ └── ros.lisp ├── cram_plan_occasions_events │ ├── CMakeLists.txt │ ├── cram-plan-occasions-events.asd │ ├── package.xml │ └── src │ │ ├── default-plan-events.lisp │ │ ├── occasion-declarations.lisp │ │ └── package.lisp ├── cram_robot_interfaces │ ├── CMakeLists.txt │ ├── cram-robot-interfaces.asd │ ├── package.xml │ └── src │ │ ├── arms.lisp │ │ ├── designator-utils.lisp │ │ ├── grasps.lisp │ │ ├── package.lisp │ │ ├── ptu.lisp │ │ ├── robot.lisp │ │ ├── trajectories.lisp │ │ ├── urdf.lisp │ │ └── utilities.lisp ├── cram_robot_pose_gaussian_costmap │ ├── CMakeLists.txt │ ├── cram-robot-pose-gaussian-costmap.asd │ ├── package.xml │ └── src │ │ ├── current-pose-generator-and-pose-validator.lisp │ │ ├── package.lisp │ │ └── prolog.lisp ├── cram_simple_actionlib_client │ ├── CMakeLists.txt │ ├── cram-simple-actionlib-client.asd │ ├── package.xml │ └── src │ │ ├── package.lisp │ │ └── simple-actionlib-client.lisp └── cram_tf │ ├── CMakeLists.txt │ ├── cram-tf.asd │ ├── package.xml │ └── src │ ├── designator-extensions.lisp │ ├── designator-filters.lisp │ ├── facts.lisp │ ├── package.lisp │ ├── robot-current-pose.lisp │ ├── setup.lisp │ ├── tf-broadcaster.lisp │ ├── utilities.lisp │ └── visualization.lisp ├── cram_core ├── .gitignore ├── CHANGELOG.md ├── README.md ├── cram_core │ ├── CMakeLists.txt │ ├── TODO.org │ └── package.xml ├── cram_designators │ ├── CMakeLists.txt │ ├── cram-designators-test.asd │ ├── cram-designators.asd │ ├── cram-language-designator-support.asd │ ├── package.xml │ ├── src │ │ ├── cram-designators │ │ │ ├── action-designator.lisp │ │ │ ├── designator-id-mixin.lisp │ │ │ ├── designator-pose.lisp │ │ │ ├── designator-protocol.lisp │ │ │ ├── equate-notification-mixin.lisp │ │ │ ├── facts.lisp │ │ │ ├── human-designator.lisp │ │ │ ├── initialization-macros.lisp │ │ │ ├── location-designator-filters.lisp │ │ │ ├── location-designator.lisp │ │ │ ├── motion-designator.lisp │ │ │ ├── object-designator.lisp │ │ │ ├── package.lisp │ │ │ ├── properties.lisp │ │ │ └── utils.lisp │ │ └── cram-language-designator-support │ │ │ ├── fluents.lisp │ │ │ ├── package.lisp │ │ │ └── with-designators.lisp │ └── test │ │ ├── designators-tests.lisp │ │ └── package.lisp ├── cram_execution_trace │ ├── .gitignore │ ├── CMakeLists.txt │ ├── cram-execution-trace.asd │ ├── package.xml │ └── src │ │ ├── auto-tracing.lisp │ │ ├── episode-knowledge-backend.lisp │ │ ├── episode-knowledge │ │ ├── episode-knowledge.lisp │ │ ├── live-episode-knowledge.lisp │ │ └── offline-episode-knowledge.lisp │ │ ├── fluent-tracing.lisp │ │ ├── interface.lisp │ │ ├── offline-task.lisp │ │ ├── package.lisp │ │ ├── serialize.lisp │ │ └── utils.lisp ├── cram_executive │ ├── CMakeLists.txt │ ├── cram-executive.asd │ ├── package.xml │ └── src │ │ ├── package.lisp │ │ └── perform.lisp ├── cram_language │ ├── .gitignore │ ├── CMakeLists.txt │ ├── cram-language-tests.asd │ ├── cram-language.asd │ ├── mainpage.dox │ ├── package.xml │ ├── src │ │ ├── default-policies.lisp │ │ ├── fluent-interface.lisp │ │ ├── fluent-operators.lisp │ │ ├── fluents │ │ │ ├── fluent-net.lisp │ │ │ ├── fluent.lisp │ │ │ ├── pulse-fluent.lisp │ │ │ └── value-fluent.lisp │ │ ├── goals.lisp │ │ ├── language.lisp │ │ ├── logging.lisp │ │ ├── packages.lisp │ │ ├── plans.lisp │ │ ├── sbcl-hotpatches.lisp │ │ ├── swank-indentation.lisp │ │ ├── task-interface.lisp │ │ ├── tasks │ │ │ ├── failures.lisp │ │ │ ├── task-tree.lisp │ │ │ └── task.lisp │ │ ├── utils.lisp │ │ ├── walker │ │ │ ├── env-impl-specific.lisp │ │ │ ├── env.lisp │ │ │ ├── interface.lisp │ │ │ ├── plan-tree.lisp │ │ │ └── walker.lisp │ │ └── with-policy.lisp │ └── tests │ │ ├── execution-trace-tests.lisp │ │ ├── fluent-tests.lisp │ │ ├── fluent-utils.lisp │ │ ├── language-tests.lisp │ │ ├── package.lisp │ │ ├── suite.lisp │ │ ├── task-tests.lisp │ │ ├── task-utils.lisp │ │ ├── test-infrastructure.lisp │ │ └── walker-tests.lisp ├── cram_math │ ├── CMakeLists.txt │ ├── cram-math-test.asd │ ├── cram-math.asd │ ├── package.xml │ ├── src │ │ ├── functions.lisp │ │ ├── geometry.lisp │ │ ├── matrix.lisp │ │ ├── package.lisp │ │ └── random.lisp │ └── test │ │ ├── package.lisp │ │ └── random-tests.lisp ├── cram_occasions_events │ ├── CMakeLists.txt │ ├── cram-occasions-events.asd │ ├── package.xml │ └── src │ │ ├── belief-state.lisp │ │ ├── event-protocol.lisp │ │ ├── occasions.lisp │ │ ├── package.lisp │ │ ├── tasks.lisp │ │ └── time.lisp ├── cram_process_modules │ ├── CMakeLists.txt │ ├── cram-process-modules-test.asd │ ├── cram-process-modules.asd │ ├── package.xml │ ├── src │ │ ├── asynchronous-process-module.lisp │ │ ├── facts.lisp │ │ ├── package.lisp │ │ ├── process-module-protocol.lisp │ │ └── process-module.lisp │ └── test │ │ ├── asynchronous-process-module-tests.lisp │ │ ├── package.lisp │ │ ├── process-module-tests.lisp │ │ ├── run-tests.lisp │ │ ├── test-condition.lisp │ │ └── test-designator.lisp ├── cram_projection │ ├── CMakeLists.txt │ ├── cram-projection-tests.asd │ ├── cram-projection.asd │ ├── package.xml │ ├── src │ │ ├── default-projection-variables.lisp │ │ ├── linear-clock.lisp │ │ ├── package.lisp │ │ ├── partially-ordered-clock.lisp │ │ ├── projection-clock.lisp │ │ └── projection-environment.lisp │ └── tests │ │ ├── linear-clock-test.lisp │ │ ├── package.lisp │ │ ├── partially-ordered-clock-test.lisp │ │ └── projection-environment-test.lisp ├── cram_prolog │ ├── .gitignore │ ├── CMakeLists.txt │ ├── cram-prolog-tests.asd │ ├── cram-prolog.asd │ ├── package.xml │ ├── src │ │ ├── built-in-predicates.lisp │ │ ├── fact-groups.lisp │ │ ├── package.lisp │ │ ├── prolog-facts.lisp │ │ ├── prolog-handlers.lisp │ │ ├── prolog.lisp │ │ ├── rete-prolog-handlers.lisp │ │ ├── rete │ │ │ ├── alpha-memory-node.lisp │ │ │ ├── alpha-network.lisp │ │ │ ├── alpha-node.lisp │ │ │ ├── beta-join-node.lisp │ │ │ ├── productions.lisp │ │ │ ├── prolog-node.lisp │ │ │ ├── prove.lisp │ │ │ ├── rete.lisp │ │ │ └── token.lisp │ │ ├── swank-indentation.lisp │ │ └── utils.lisp │ └── tests │ │ ├── package.lisp │ │ ├── prolog.lisp │ │ ├── rete.lisp │ │ ├── unify.lisp │ │ └── utilities.lisp ├── cram_test_utilities │ ├── .gitignore │ ├── CMakeLists.txt │ ├── cram-test-utilities-tests.asd │ ├── cram-test-utilities.asd │ ├── package.xml │ ├── src │ │ ├── misc-utils.lisp │ │ └── package.lisp │ └── tests │ │ ├── package.lisp │ │ ├── suite.lisp │ │ └── utils.lisp └── cram_utilities │ ├── .gitignore │ ├── CMakeLists.txt │ ├── cram-utilities-tests.asd │ ├── cram-utilities.asd │ ├── package.xml │ ├── src │ ├── clos.lisp │ ├── data-pool.lisp │ ├── deprecation.lisp │ ├── file-cache.lisp │ ├── lazy.lisp │ ├── macros.lisp │ ├── package.lisp │ ├── patmatch.lisp │ ├── quad-tree.lisp │ ├── threads.lisp │ ├── time.lisp │ └── utils.lisp │ └── tests │ ├── lazy-lists.lisp │ ├── package.lisp │ ├── patmatch.lisp │ └── utilities.lisp ├── cram_json_prolog ├── .gitignore ├── CHANGELOG.md ├── CMakeLists.txt ├── README.md ├── cram-json-prolog.asd ├── package.xml └── src │ ├── json-conversion.lisp │ ├── package.lisp │ ├── prolog-handlers.lisp │ ├── prolog-interface.lisp │ └── server.lisp ├── cram_knowrob ├── .gitignore ├── CHANGELOG.md ├── README.md ├── cram_cloud_logger │ ├── CMakeLists.txt │ ├── cram-cloud-logger.asd │ ├── package.xml │ └── src │ │ ├── action-parameter-handler.lisp │ │ ├── cloud-logger-client.lisp │ │ ├── cloud-logger-query-handler.lisp │ │ ├── knowrob-action-name-handler.lisp │ │ ├── logging-functions.lisp │ │ ├── object-interface.lisp │ │ ├── package.lisp │ │ ├── prolog-query-handler.lisp │ │ ├── utils-for-perform.lisp │ │ └── utils.lisp ├── cram_knowrob │ ├── CMakeLists.txt │ └── package.xml ├── cram_knowrob_assembly │ ├── CMakeLists.txt │ ├── README.md │ ├── cram-knowrob-assembly.asd │ ├── package.xml │ └── src │ │ ├── assertions.lisp │ │ ├── cloud-interface.lisp │ │ ├── conversions.lisp │ │ ├── event-handlers.lisp │ │ ├── extracting-info.lisp │ │ ├── grasping.lisp │ │ ├── looking.lisp │ │ ├── package.lisp │ │ └── placing.lisp ├── cram_knowrob_cloud │ ├── CMakeLists.txt │ ├── certificates │ │ ├── asil.crt │ │ ├── asil.pem │ │ ├── iai.crt │ │ ├── iai.pem │ │ ├── jsk.crt │ │ ├── jsk.pem │ │ ├── mycert.pem │ │ ├── pr2-queries.txt │ │ └── simon.pem │ ├── cram-knowrob-cloud.asd │ ├── package.xml │ └── src │ │ ├── cloud-interface.lisp │ │ └── package.lisp ├── cram_knowrob_pick_place │ ├── CMakeLists.txt │ ├── cram-knowrob-pick-place.asd │ ├── package.xml │ └── src │ │ ├── grasping.lisp │ │ ├── package.lisp │ │ └── type-hierarchy.lisp ├── cram_semantic_map │ ├── CMakeLists.txt │ ├── cram-semantic-map.asd │ ├── package.xml │ └── src │ │ ├── events.lisp │ │ ├── package.lisp │ │ └── semantic-map-cache.lisp ├── cram_semantic_map_costmap │ ├── CMakeLists.txt │ ├── cram-semantic-map-costmap.asd │ ├── package.xml │ └── src │ │ ├── cost-functions.lisp │ │ ├── facts.lisp │ │ └── package.lisp ├── cram_semantic_map_designators │ ├── CMakeLists.txt │ ├── cram-semantic-map-designators.asd │ ├── package.xml │ └── src │ │ ├── designator-utils.lisp │ │ ├── package.lisp │ │ └── prolog.lisp └── cram_semantic_map_utils │ ├── CMakeLists.txt │ ├── cram-semantic-map-utils.asd │ ├── package.xml │ └── src │ ├── articulation-utilities.lisp │ ├── owl-type-initializers.lisp │ ├── package.lisp │ └── semantic-map.lisp ├── cram_learning └── cram_sim_log_generator │ ├── CMakeLists.txt │ ├── cram-sim-log-generator.asd │ ├── launch │ └── neem-generation.launch │ ├── package.xml │ └── src │ ├── main.lisp │ ├── neem-generator.lisp │ └── package.lisp ├── cram_pr2 ├── .gitignore ├── CHANGELOG.md ├── README.md ├── cram_pr2 │ ├── CMakeLists.txt │ └── package.xml ├── cram_pr2_arm_kinematics │ ├── CMakeLists.txt │ ├── cram-pr2-arm-kinematics.asd │ ├── launch │ │ └── arm_kinematics.launch │ ├── package.xml │ └── src │ │ ├── fk.lisp │ │ ├── ik.lisp │ │ └── package.lisp ├── cram_pr2_cloud │ ├── CATKIN_IGNORE │ ├── CMakeLists.txt │ ├── cram-pr2-cloud.asd │ ├── package.xml │ └── src │ │ ├── cloud-data.lisp │ │ ├── costmaps.lisp │ │ ├── geometry-calculations.lisp │ │ ├── local-data.lisp │ │ ├── package.lisp │ │ ├── projection-plans.lisp │ │ ├── real-world-plans.lisp │ │ └── tf-utilities.lisp ├── cram_pr2_description │ ├── CMakeLists.txt │ ├── cram-pr2-description.asd │ ├── package.xml │ └── src │ │ ├── arm-kinematics.lisp │ │ ├── package.lisp │ │ └── pr2-knowledge.lisp ├── cram_pr2_environment_manipulation │ ├── CMakeLists.txt │ ├── README.md │ ├── cram-pr2-environment-manipulation.asd │ ├── package.xml │ └── src │ │ ├── action-designators.lisp │ │ ├── costmaps.lisp │ │ ├── environment.lisp │ │ ├── grasping.lisp │ │ ├── math.lisp │ │ ├── package.lisp │ │ └── plans.lisp ├── cram_pr2_fetch_deliver_plans │ ├── CMakeLists.txt │ ├── cram-pr2-fetch-deliver-plans.asd │ ├── package.xml │ └── src │ │ ├── fetch-and-deliver-designators.lisp │ │ ├── fetch-and-deliver-plans.lisp │ │ └── package.lisp ├── cram_pr2_launch_files │ ├── CATKIN_IGNORE │ ├── CMakeLists.txt │ ├── launch │ │ ├── gazebo_kitchen_and_pr2.launch │ │ ├── gazebo_localization.launch │ │ ├── nav_p_pr2.launch │ │ ├── pr2_static_localization.launch │ │ └── upload_maps_and_lowres_robot.launch │ └── package.xml ├── cram_pr2_low_level │ ├── CATKIN_IGNORE │ ├── CMakeLists.txt │ ├── cram-pr2-low-level.asd │ ├── package.xml │ └── src │ │ ├── base-controller.lisp │ │ ├── giskard-cartesian.lisp │ │ ├── giskard-common.lisp │ │ ├── giskard-joint.lisp │ │ ├── giskard-yaml.lisp │ │ ├── gripper.lisp │ │ ├── joint-states.lisp │ │ ├── joint-trajectory.lisp │ │ ├── kinematics-trajectory.lisp │ │ ├── low-level-common.lisp │ │ ├── nav-pcontroller.lisp │ │ ├── new-giskard-cartesian.lisp │ │ ├── new-giskard-common.lisp │ │ ├── new-giskard-joint.lisp │ │ ├── package.lisp │ │ ├── ptu.lisp │ │ ├── torso.lisp │ │ ├── yaml-builder.lisp │ │ └── yaml-test.lisp ├── cram_pr2_pick_place_demo │ ├── CMakeLists.txt │ ├── cram-pr2-pick-place-demo.asd │ ├── launch │ │ └── sandbox.launch │ ├── package.xml │ ├── resource │ │ ├── blue_metal_plate.stl │ │ ├── bottle.dae │ │ ├── bowl.dae │ │ ├── bowl.stl │ │ ├── breakfast_cereal.stl │ │ ├── buttermilk.dae │ │ ├── cereal.dae │ │ ├── cube.stl │ │ ├── cup.dae │ │ ├── fork.dae │ │ ├── knife.dae │ │ ├── milk.dae │ │ ├── milk.stl │ │ ├── red_metal_plate.stl │ │ ├── spoon.dae │ │ ├── spoon.stl │ │ ├── tray-base.stl │ │ └── tray.stl │ └── src │ │ ├── costmaps.lisp │ │ ├── demo.lisp │ │ ├── package.lisp │ │ ├── projection-demo.lisp │ │ └── setup.lisp ├── cram_pr2_process_modules │ ├── CATKIN_IGNORE │ ├── CMakeLists.txt │ ├── cram-pr2-process-modules.asd │ ├── launch │ │ ├── gazebo_kitchen_and_pr2.launch │ │ ├── gazebo_localization.launch │ │ ├── nav_p_pr2.launch │ │ └── pr2_static_localization.launch │ ├── package.xml │ └── src │ │ ├── arms.lisp │ │ ├── base.lisp │ │ ├── designators.lisp │ │ ├── grippers.lisp │ │ ├── package.lisp │ │ ├── ptu.lisp │ │ └── with-real-robot.lisp ├── cram_pr2_projection │ ├── CMakeLists.txt │ ├── cram-pr2-projection.asd │ ├── package.xml │ └── src │ │ ├── action-designators.lisp │ │ ├── ik.lisp │ │ ├── low-level.lisp │ │ ├── package.lisp │ │ ├── process-modules.lisp │ │ ├── projection-clock.lisp │ │ ├── projection-environment.lisp │ │ ├── resources.lisp │ │ └── tf.lisp └── cram_pr2_projection_reasoning │ ├── CMakeLists.txt │ ├── cram-pr2-projection-reasoning.asd │ ├── package.xml │ └── src │ ├── check-collisions.lisp │ ├── package.lisp │ ├── projection-prediction.lisp │ └── task-tree-prolog.lisp ├── cram_robosherlock ├── .gitignore ├── CATKIN_IGNORE ├── CMakeLists.txt ├── README.md ├── cram-robosherlock.asd ├── package.xml └── src │ ├── api.lisp │ ├── designator-integration.lisp │ ├── json-parser.lisp │ ├── package.lisp │ └── robosherlock-ros.lisp ├── cram_tutorials ├── .gitignore ├── README.md ├── cram_beginner_tutorial │ ├── CMakeLists.txt │ ├── cram-beginner-tutorial-tests.asd │ ├── cram-beginner-tutorial.asd │ ├── package.xml │ ├── src │ │ ├── action-designators.lisp │ │ ├── conditions.lisp │ │ ├── control-turtlesim.lisp │ │ ├── high-level-plans.lisp │ │ ├── location-designators.lisp │ │ ├── motion-designators.lisp │ │ ├── package.lisp │ │ ├── process-modules.lisp │ │ ├── selecting-process-modules.lisp │ │ └── simple-plans.lisp │ └── tests │ │ ├── package.lisp │ │ └── simple-plans-tests.lisp ├── cram_bullet_world_tutorial │ ├── CMakeLists.txt │ ├── cram-bullet-world-tutorial.asd │ ├── launch │ │ └── world.launch │ ├── package.xml │ ├── resource │ │ ├── blue_metal_plate.stl │ │ ├── bottle.dae │ │ ├── buttermilk.dae │ │ ├── cup.dae │ │ ├── fork_plastic.dae │ │ ├── knife_plastic.dae │ │ └── red_metal_plate.stl │ └── src │ │ ├── package.lisp │ │ ├── setup.lisp │ │ └── tutorial.lisp ├── cram_intermediate_tutorial │ ├── CATKIN_IGNORE │ ├── CMakeLists.txt │ ├── cram-intermediate-tutorial.asd │ ├── package.xml │ └── src │ │ ├── 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