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[Euslisp-commit] SF.net SVN: euslisp:[672] trunk/EusLisp/lisp

From: <ina...@us...> - 2014-05-21 15:09:38

Revision: 672
          http://sourceforge.net/p/euslisp/code/672
Author:   inaba-jsk
Date:     2014-05-21 15:09:30 +0000 (Wed, 21 May 2014)
Log Message:
-----------
add Hendy Baker's contribution on remove-duplicates with hash table

Modified Paths:
--------------
    trunk/EusLisp/lisp/geo/primt.l
    trunk/EusLisp/lisp/l/common.l

Modified: trunk/EusLisp/lisp/geo/primt.l
===================================================================
--- trunk/EusLisp/lisp/geo/primt.l	2014-02-26 10:42:09 UTC (rev 671)
+++ trunk/EusLisp/lisp/geo/primt.l	2014-05-21 15:09:30 UTC (rev 672)
@@ -701,7 +701,7 @@
 
 ;;
 
-
+#|
 (defun make-body-from-vertices (face-vertices &optional (klass *body-class*))
    ; face-vertices=(list #f(x1 y1 z1) #f(x2 y2 z2) ...) ...
    #|(setq a
@@ -728,6 +728,29 @@
      (setq bod (instance *body-class* :init :faces (nreverse faces)))
      (send bod :csg (list (cons :body-from-vertices face-vertices)))
      bod) )
+|#
+;; 2014.5.21 add Henry Baker's contribution of 2013.8.31
+(defun make-body-from-vertices (face-vertices &optional (klass *body-class*))
+                                         ; face-vertices=(list #f(x1 y1 z1) #f(x2 y2 z2) ...) ...
+    (let* ((vlist (mapcar #'list
+                          (remove-duplicates
+                                  (apply #'append face-vertices)
+                                  :test #'equal)))
+            (vhash (make-hash-table :size (* 2 (length vlist)) :test #'equal))
+           faces bod)
+      (dolist (vlist-entry vlist) ; Populate hash table.
+        (or (gethash (car vlist-entry) vhash)
+             (setf (gethash (car vlist-entry) vhash) vlist-entry)))
+      (dolist (fverts face-vertices)
+         (let ((fvlist))
+            (dolist (fv fverts)
+              ;; (push (assoc fv vlist) fvlist)
+              ;; (push (assoc fv vlist :test #'equal) fvlist) ; *** Too slow !!! ***
+              (push (gethash fv vhash) fvlist))
+            (push (make-face-from-vertices (nreverse fvlist)) faces)) )
+      (setq bod (instance *body-class* :init :faces (nreverse faces)))
+      (send bod :csg (list (cons :body-from-vertices face-vertices)))
+      bod) )
 
 
 

Modified: trunk/EusLisp/lisp/l/common.l
===================================================================
--- trunk/EusLisp/lisp/l/common.l	2014-02-26 10:42:09 UTC (rev 671)
+++ trunk/EusLisp/lisp/l/common.l	2014-05-21 15:09:30 UTC (rev 672)
@@ -620,10 +620,30 @@
       ((memq (car l) (cdr l)) (unique (cdr l)))
       (t (cons (car l) (unique (cdr l))))))
 
+#|
 (defun remove-duplicates (seq &key (test #'eq) (test-not) (key #'identity)
 				   (start 0) (end 1000000))
    (system::raw-remove-duplicates seq test test-not key start end))
+|#
+;; 2014.5.21 add Henry Baker's contribution of 2013.7.22, 2013.8.31
+(defun remove-duplicates (seq &key (key #'identity)
+                               (test #'eq) (test-not)
+                               (start 0) (end (length seq)))
+   (if (and (or (eq test #'eq) (eq test #'eql) (eq test #'equal))
+            (> end 100))
+       (let* ((htab (make-hash-table :size (* 2 (length seq)) :test test)))
+         (let* ((res
+                 (remove-if
+                 #'(lambda (k)
+                      (let* ((v (gethash k htab)))
+                        (unless v (setf (gethash k htab) t))
+                        v))
+                 seq
+                 :start start :end end :key key)))
+           res))
+     (system::raw-remove-duplicates seq test test-not key start end)))
 
+
 (defun extream (seq test &optional (key #'identity))
    (if (null seq)
        nil

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[Euslisp-commit] SF.net SVN: euslisp:[672] trunk/EusLisp/lisp

From: <ina...@us...> - 2014-05-21 15:09:36

Revision: 672
          http://sourceforge.net/p/euslisp/code/672
Author:   inaba-jsk
Date:     2014-05-21 15:09:30 +0000 (Wed, 21 May 2014)
Log Message:
-----------
add Hendy Baker's contribution on remove-duplicates with hash table

Modified Paths:
--------------
    trunk/EusLisp/lisp/geo/primt.l
    trunk/EusLisp/lisp/l/common.l

Modified: trunk/EusLisp/lisp/geo/primt.l
===================================================================
--- trunk/EusLisp/lisp/geo/primt.l	2014-02-26 10:42:09 UTC (rev 671)
+++ trunk/EusLisp/lisp/geo/primt.l	2014-05-21 15:09:30 UTC (rev 672)
@@ -701,7 +701,7 @@
 
 ;;
 
-
+#|
 (defun make-body-from-vertices (face-vertices &optional (klass *body-class*))
    ; face-vertices=(list #f(x1 y1 z1) #f(x2 y2 z2) ...) ...
    #|(setq a
@@ -728,6 +728,29 @@
      (setq bod (instance *body-class* :init :faces (nreverse faces)))
      (send bod :csg (list (cons :body-from-vertices face-vertices)))
      bod) )
+|#
+;; 2014.5.21 add Henry Baker's contribution of 2013.8.31
+(defun make-body-from-vertices (face-vertices &optional (klass *body-class*))
+                                         ; face-vertices=(list #f(x1 y1 z1) #f(x2 y2 z2) ...) ...
+    (let* ((vlist (mapcar #'list
+                          (remove-duplicates
+                                  (apply #'append face-vertices)
+                                  :test #'equal)))
+            (vhash (make-hash-table :size (* 2 (length vlist)) :test #'equal))
+           faces bod)
+      (dolist (vlist-entry vlist) ; Populate hash table.
+        (or (gethash (car vlist-entry) vhash)
+             (setf (gethash (car vlist-entry) vhash) vlist-entry)))
+      (dolist (fverts face-vertices)
+         (let ((fvlist))
+            (dolist (fv fverts)
+              ;; (push (assoc fv vlist) fvlist)
+              ;; (push (assoc fv vlist :test #'equal) fvlist) ; *** Too slow !!! ***
+              (push (gethash fv vhash) fvlist))
+            (push (make-face-from-vertices (nreverse fvlist)) faces)) )
+      (setq bod (instance *body-class* :init :faces (nreverse faces)))
+      (send bod :csg (list (cons :body-from-vertices face-vertices)))
+      bod) )
 
 
 

Modified: trunk/EusLisp/lisp/l/common.l
===================================================================
--- trunk/EusLisp/lisp/l/common.l	2014-02-26 10:42:09 UTC (rev 671)
+++ trunk/EusLisp/lisp/l/common.l	2014-05-21 15:09:30 UTC (rev 672)
@@ -620,10 +620,30 @@
       ((memq (car l) (cdr l)) (unique (cdr l)))
       (t (cons (car l) (unique (cdr l))))))
 
+#|
 (defun remove-duplicates (seq &key (test #'eq) (test-not) (key #'identity)
 				   (start 0) (end 1000000))
    (system::raw-remove-duplicates seq test test-not key start end))
+|#
+;; 2014.5.21 add Henry Baker's contribution of 2013.7.22, 2013.8.31
+(defun remove-duplicates (seq &key (key #'identity)
+                               (test #'eq) (test-not)
+                               (start 0) (end (length seq)))
+   (if (and (or (eq test #'eq) (eq test #'eql) (eq test #'equal))
+            (> end 100))
+       (let* ((htab (make-hash-table :size (* 2 (length seq)) :test test)))
+         (let* ((res
+                 (remove-if
+                 #'(lambda (k)
+                      (let* ((v (gethash k htab)))
+                        (unless v (setf (gethash k htab) t))
+                        v))
+                 seq
+                 :start start :end end :key key)))
+           res))
+     (system::raw-remove-duplicates seq test test-not key start end)))
 
+
 (defun extream (seq test &optional (key #'identity))
    (if (null seq)
        nil

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[Euslisp-commit] SF.net SVN: euslisp:[671] trunk/EusLisp/models

From: <ky...@us...> - 2014-02-26 10:42:21

Revision: 671
          http://sourceforge.net/p/euslisp/code/671
Author:   kyouhei
Date:     2014-02-26 10:42:09 +0000 (Wed, 26 Feb 2014)
Log Message:
-----------
add side-table and dewalt-drill

Added Paths:
-----------
    trunk/EusLisp/models/dewalt-drill-object.l
    trunk/EusLisp/models/unknown-side-table-object.l

Added: trunk/EusLisp/models/dewalt-drill-object.l
===================================================================
--- trunk/EusLisp/models/dewalt-drill-object.l	                        (rev 0)
+++ trunk/EusLisp/models/dewalt-drill-object.l	2014-02-26 10:42:09 UTC (rev 671)
@@ -0,0 +1,157 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version 
+;;
+;;
+(defclass dewalt-drill-object
+  :super cascaded-link
+  :slots (sensors
+         ))
+(defmethod dewalt-drill-object
+  (:init
+   (&rest args &key (name "dewalt-drill") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
+   (let (c bc
+         blink0
+                 )
+     (send-super* :init :name name args)
+
+     ;; definition of link
+
+     ;; definition of 'dewalt-drill
+     (setq bc (list
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 23.0 -37.0 68.0) (float-vector 60.0 0.0 68.0) (float-vector 23.0 37.0 68.0) (float-vector -45.0 37.0 68.0) (float-vector -75.0 20.0 68.0) (float-vector -75.0 -20.0 68.0) (float-vector -45.0 -37.0 68.0)))
+         (instance face :init :vertices (list (float-vector 60.0 0.0 0.0) (float-vector 23.0 -37.0 0.0) (float-vector -45.0 -37.0 0.0) (float-vector -75.0 -20.0 0.0) (float-vector -75.0 20.0 0.0) (float-vector -45.0 37.0 0.0) (float-vector 23.0 37.0 0.0)))
+         (instance face :init :vertices (list (float-vector 23.0 -37.0 68.0) (float-vector 23.0 -37.0 0.0) (float-vector 60.0 0.0 0.0) (float-vector 60.0 0.0 68.0)))
+         (instance face :init :vertices (list (float-vector -45.0 -37.0 68.0) (float-vector -45.0 -37.0 0.0) (float-vector 23.0 -37.0 0.0) (float-vector 23.0 -37.0 68.0)))
+         (instance face :init :vertices (list (float-vector -75.0 -20.0 68.0) (float-vector -75.0 -20.0 0.0) (float-vector -45.0 -37.0 0.0) (float-vector -45.0 -37.0 68.0)))
+         (instance face :init :vertices (list (float-vector -75.0 20.0 68.0) (float-vector -75.0 20.0 0.0) (float-vector -75.0 -20.0 0.0) (float-vector -75.0 -20.0 68.0)))
+         (instance face :init :vertices (list (float-vector -45.0 37.0 68.0) (float-vector -45.0 37.0 0.0) (float-vector -75.0 20.0 0.0) (float-vector -75.0 20.0 68.0)))
+         (instance face :init :vertices (list (float-vector 23.0 37.0 68.0) (float-vector 23.0 37.0 0.0) (float-vector -45.0 37.0 0.0) (float-vector -45.0 37.0 68.0)))
+         (instance face :init :vertices (list (float-vector 60.0 0.0 68.0) (float-vector 60.0 0.0 0.0) (float-vector 23.0 37.0 0.0) (float-vector 23.0 37.0 68.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 24.2487 -14.0 200.0) (float-vector 28.0 0.0 200.0) (float-vector 24.2487 14.0 200.0) (float-vector 14.0 24.2487 200.0) (float-vector 1.421085e-14 28.0 200.0) (float-vector -14.0 24.2487 200.0) (float-vector -24.2487 14.0 200.0) (float-vector -28.0 2.842171e-14 200.0) (float-vector -24.2487 -14.0 200.0) (float-vector -14.0 -24.2487 200.0) (float-vector -4.440892e-14 -28.0 200.0) (float-vector 14.0 -24.2487 200.0)))
+         (instance face :init :vertices (list (float-vector 28.0 0.0 68.0) (float-vector 24.2487 -14.0 68.0) (float-vector 14.0 -24.2487 68.0) (float-vector -4.440892e-14 -28.0 68.0) (float-vector -14.0 -24.2487 68.0) (float-vector -24.2487 -14.0 68.0) (float-vector -28.0 2.842171e-14 68.0) (float-vector -24.2487 14.0 68.0) (float-vector -14.0 24.2487 68.0) (float-vector 1.421085e-14 28.0 68.0) (float-vector 14.0 24.2487 68.0) (float-vector 24.2487 14.0 68.0)))
+         (instance face :init :vertices (list (float-vector 24.2487 -14.0 200.0) (float-vector 24.2487 -14.0 68.0) (float-vector 28.0 0.0 68.0) (float-vector 28.0 0.0 200.0)))
+         (instance face :init :vertices (list (float-vector 14.0 -24.2487 200.0) (float-vector 14.0 -24.2487 68.0) (float-vector 24.2487 -14.0 68.0) (float-vector 24.2487 -14.0 200.0)))
+         (instance face :init :vertices (list (float-vector -4.440892e-14 -28.0 200.0) (float-vector -4.440892e-14 -28.0 68.0) (float-vector 14.0 -24.2487 68.0) (float-vector 14.0 -24.2487 200.0)))
+         (instance face :init :vertices (list (float-vector -14.0 -24.2487 200.0) (float-vector -14.0 -24.2487 68.0) (float-vector -4.440892e-14 -28.0 68.0) (float-vector -4.440892e-14 -28.0 200.0)))
+         (instance face :init :vertices (list (float-vector -24.2487 -14.0 200.0) (float-vector -24.2487 -14.0 68.0) (float-vector -14.0 -24.2487 68.0) (float-vector -14.0 -24.2487 200.0)))
+         (instance face :init :vertices (list (float-vector -28.0 2.842171e-14 200.0) (float-vector -28.0 2.842171e-14 68.0) (float-vector -24.2487 -14.0 68.0) (float-vector -24.2487 -14.0 200.0)))
+         (instance face :init :vertices (list (float-vector -24.2487 14.0 200.0) (float-vector -24.2487 14.0 68.0) (float-vector -28.0 2.842171e-14 68.0) (float-vector -28.0 2.842171e-14 200.0)))
+         (instance face :init :vertices (list (float-vector -14.0 24.2487 200.0) (float-vector -14.0 24.2487 68.0) (float-vector -24.2487 14.0 68.0) (float-vector -24.2487 14.0 200.0)))
+         (instance face :init :vertices (list (float-vector 1.421085e-14 28.0 200.0) (float-vector 1.421085e-14 28.0 68.0) (float-vector -14.0 24.2487 68.0) (float-vector -14.0 24.2487 200.0)))
+         (instance face :init :vertices (list (float-vector 14.0 24.2487 200.0) (float-vector 14.0 24.2487 68.0) (float-vector 1.421085e-14 28.0 68.0) (float-vector 1.421085e-14 28.0 200.0)))
+         (instance face :init :vertices (list (float-vector 24.2487 14.0 200.0) (float-vector 24.2487 14.0 68.0) (float-vector 14.0 24.2487 68.0) (float-vector 14.0 24.2487 200.0)))
+         (instance face :init :vertices (list (float-vector 28.0 0.0 200.0) (float-vector 28.0 0.0 68.0) (float-vector 24.2487 14.0 68.0) (float-vector 24.2487 14.0 200.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 0.5 28.0 102.5) (float-vector -38.5 28.0 102.5) (float-vector -38.5 -28.0 102.5) (float-vector 0.5 -28.0 102.5)))
+         (instance face :init :vertices (list (float-vector -38.5 28.0 67.5) (float-vector 0.5 28.0 67.5) (float-vector 0.5 -28.0 67.5) (float-vector -38.5 -28.0 67.5)))
+         (instance face :init :vertices (list (float-vector 0.5 28.0 102.5) (float-vector 0.5 28.0 67.5) (float-vector -38.5 28.0 67.5) (float-vector -38.5 28.0 102.5)))
+         (instance face :init :vertices (list (float-vector 0.5 -28.0 102.5) (float-vector 0.5 -28.0 67.5) (float-vector 0.5 28.0 67.5) (float-vector 0.5 28.0 102.5)))
+         (instance face :init :vertices (list (float-vector -38.5 -28.0 102.5) (float-vector -38.5 -28.0 67.5) (float-vector 0.5 -28.0 67.5) (float-vector 0.5 -28.0 102.5)))
+         (instance face :init :vertices (list (float-vector -38.5 28.0 102.5) (float-vector -38.5 28.0 67.5) (float-vector -38.5 -28.0 67.5) (float-vector -38.5 -28.0 102.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 30.3109 -17.5 230.0) (float-vector 35.0 0.0 230.0) (float-vector 30.3109 17.5 230.0) (float-vector 17.5 30.3109 230.0) (float-vector 1.953993e-14 35.0 230.0) (float-vector -17.5 30.3109 230.0) (float-vector -30.3109 17.5 230.0) (float-vector -35.0 4.085621e-14 230.0) (float-vector -30.3109 -17.5 230.0) (float-vector -17.5 -30.3109 230.0) (float-vector -6.394885e-14 -35.0 230.0) (float-vector 17.5 -30.3109 230.0)))
+         (instance face :init :vertices (list (float-vector 35.0 0.0 200.0) (float-vector 30.3109 -17.5 200.0) (float-vector 17.5 -30.3109 200.0) (float-vector -6.394885e-14 -35.0 200.0) (float-vector -17.5 -30.3109 200.0) (float-vector -30.3109 -17.5 200.0) (float-vector -35.0 4.085621e-14 200.0) (float-vector -30.3109 17.5 200.0) (float-vector -17.5 30.3109 200.0) (float-vector 1.953993e-14 35.0 200.0) (float-vector 17.5 30.3109 200.0) (float-vector 30.3109 17.5 200.0)))
+         (instance face :init :vertices (list (float-vector 30.3109 -17.5 230.0) (float-vector 30.3109 -17.5 200.0) (float-vector 35.0 0.0 200.0) (float-vector 35.0 0.0 230.0)))
+         (instance face :init :vertices (list (float-vector 17.5 -30.3109 230.0) (float-vector 17.5 -30.3109 200.0) (float-vector 30.3109 -17.5 200.0) (float-vector 30.3109 -17.5 230.0)))
+         (instance face :init :vertices (list (float-vector -6.394885e-14 -35.0 230.0) (float-vector -6.394885e-14 -35.0 200.0) (float-vector 17.5 -30.3109 200.0) (float-vector 17.5 -30.3109 230.0)))
+         (instance face :init :vertices (list (float-vector -17.5 -30.3109 230.0) (float-vector -17.5 -30.3109 200.0) (float-vector -6.394885e-14 -35.0 200.0) (float-vector -6.394885e-14 -35.0 230.0)))
+         (instance face :init :vertices (list (float-vector -30.3109 -17.5 230.0) (float-vector -30.3109 -17.5 200.0) (float-vector -17.5 -30.3109 200.0) (float-vector -17.5 -30.3109 230.0)))
+         (instance face :init :vertices (list (float-vector -35.0 4.085621e-14 230.0) (float-vector -35.0 4.085621e-14 200.0) (float-vector -30.3109 -17.5 200.0) (float-vector -30.3109 -17.5 230.0)))
+         (instance face :init :vertices (list (float-vector -30.3109 17.5 230.0) (float-vector -30.3109 17.5 200.0) (float-vector -35.0 4.085621e-14 200.0) (float-vector -35.0 4.085621e-14 230.0)))
+         (instance face :init :vertices (list (float-vector -17.5 30.3109 230.0) (float-vector -17.5 30.3109 200.0) (float-vector -30.3109 17.5 200.0) (float-vector -30.3109 17.5 230.0)))
+         (instance face :init :vertices (list (float-vector 1.953993e-14 35.0 230.0) (float-vector 1.953993e-14 35.0 200.0) (float-vector -17.5 30.3109 200.0) (float-vector -17.5 30.3109 230.0)))
+         (instance face :init :vertices (list (float-vector 17.5 30.3109 230.0) (float-vector 17.5 30.3109 200.0) (float-vector 1.953993e-14 35.0 200.0) (float-vector 1.953993e-14 35.0 230.0)))
+         (instance face :init :vertices (list (float-vector 30.3109 17.5 230.0) (float-vector 30.3109 17.5 200.0) (float-vector 17.5 30.3109 200.0) (float-vector 17.5 30.3109 230.0)))
+         (instance face :init :vertices (list (float-vector 35.0 0.0 230.0) (float-vector 35.0 0.0 200.0) (float-vector 30.3109 17.5 200.0) (float-vector 30.3109 17.5 230.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 19.9186 -11.5 270.0) (float-vector 23.0 0.0 270.0) (float-vector 19.9186 11.5 270.0) (float-vector 11.5 19.9186 270.0) (float-vector 1.243450e-14 23.0 270.0) (float-vector -11.5 19.9186 270.0) (float-vector -19.9186 11.5 270.0) (float-vector -23.0 2.309264e-14 270.0) (float-vector -19.9186 -11.5 270.0) (float-vector -11.5 -19.9186 270.0) (float-vector -3.375078e-14 -23.0 270.0) (float-vector 11.5 -19.9186 270.0)))
+         (instance face :init :vertices (list (float-vector 23.0 0.0 230.0) (float-vector 19.9186 -11.5 230.0) (float-vector 11.5 -19.9186 230.0) (float-vector -3.375078e-14 -23.0 230.0) (float-vector -11.5 -19.9186 230.0) (float-vector -19.9186 -11.5 230.0) (float-vector -23.0 2.309264e-14 230.0) (float-vector -19.9186 11.5 230.0) (float-vector -11.5 19.9186 230.0) (float-vector 1.243450e-14 23.0 230.0) (float-vector 11.5 19.9186 230.0) (float-vector 19.9186 11.5 230.0)))
+         (instance face :init :vertices (list (float-vector 19.9186 -11.5 270.0) (float-vector 19.9186 -11.5 230.0) (float-vector 23.0 0.0 230.0) (float-vector 23.0 0.0 270.0)))
+         (instance face :init :vertices (list (float-vector 11.5 -19.9186 270.0) (float-vector 11.5 -19.9186 230.0) (float-vector 19.9186 -11.5 230.0) (float-vector 19.9186 -11.5 270.0)))
+         (instance face :init :vertices (list (float-vector -3.375078e-14 -23.0 270.0) (float-vector -3.375078e-14 -23.0 230.0) (float-vector 11.5 -19.9186 230.0) (float-vector 11.5 -19.9186 270.0)))
+         (instance face :init :vertices (list (float-vector -11.5 -19.9186 270.0) (float-vector -11.5 -19.9186 230.0) (float-vector -3.375078e-14 -23.0 230.0) (float-vector -3.375078e-14 -23.0 270.0)))
+         (instance face :init :vertices (list (float-vector -19.9186 -11.5 270.0) (float-vector -19.9186 -11.5 230.0) (float-vector -11.5 -19.9186 230.0) (float-vector -11.5 -19.9186 270.0)))
+         (instance face :init :vertices (list (float-vector -23.0 2.309264e-14 270.0) (float-vector -23.0 2.309264e-14 230.0) (float-vector -19.9186 -11.5 230.0) (float-vector -19.9186 -11.5 270.0)))
+         (instance face :init :vertices (list (float-vector -19.9186 11.5 270.0) (float-vector -19.9186 11.5 230.0) (float-vector -23.0 2.309264e-14 230.0) (float-vector -23.0 2.309264e-14 270.0)))
+         (instance face :init :vertices (list (float-vector -11.5 19.9186 270.0) (float-vector -11.5 19.9186 230.0) (float-vector -19.9186 11.5 230.0) (float-vector -19.9186 11.5 270.0)))
+         (instance face :init :vertices (list (float-vector 1.243450e-14 23.0 270.0) (float-vector 1.243450e-14 23.0 230.0) (float-vector -11.5 19.9186 230.0) (float-vector -11.5 19.9186 270.0)))
+         (instance face :init :vertices (list (float-vector 11.5 19.9186 270.0) (float-vector 11.5 19.9186 230.0) (float-vector 1.243450e-14 23.0 230.0) (float-vector 1.243450e-14 23.0 270.0)))
+         (instance face :init :vertices (list (float-vector 19.9186 11.5 270.0) (float-vector 19.9186 11.5 230.0) (float-vector 11.5 19.9186 230.0) (float-vector 11.5 19.9186 270.0)))
+         (instance face :init :vertices (list (float-vector 23.0 0.0 270.0) (float-vector 23.0 0.0 230.0) (float-vector 19.9186 11.5 230.0) (float-vector 19.9186 11.5 270.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 6.9282 -4.0 280.0) (float-vector 8.0 0.0 280.0) (float-vector 6.9282 4.0 280.0) (float-vector 4.0 6.9282 280.0) (float-vector 3.996803e-15 8.0 280.0) (float-vector -4.0 6.9282 280.0) (float-vector -6.9282 4.0 280.0) (float-vector -8.0 8.437695e-15 280.0) (float-vector -6.9282 -4.0 280.0) (float-vector -4.0 -6.9282 280.0) (float-vector -1.376677e-14 -8.0 280.0) (float-vector 4.0 -6.9282 280.0)))
+         (instance face :init :vertices (list (float-vector 8.0 0.0 270.0) (float-vector 6.9282 -4.0 270.0) (float-vector 4.0 -6.9282 270.0) (float-vector -1.376677e-14 -8.0 270.0) (float-vector -4.0 -6.9282 270.0) (float-vector -6.9282 -4.0 270.0) (float-vector -8.0 8.437695e-15 270.0) (float-vector -6.9282 4.0 270.0) (float-vector -4.0 6.9282 270.0) (float-vector 3.996803e-15 8.0 270.0) (float-vector 4.0 6.9282 270.0) (float-vector 6.9282 4.0 270.0)))
+         (instance face :init :vertices (list (float-vector 6.9282 -4.0 280.0) (float-vector 6.9282 -4.0 270.0) (float-vector 8.0 0.0 270.0) (float-vector 8.0 0.0 280.0)))
+         (instance face :init :vertices (list (float-vector 4.0 -6.9282 280.0) (float-vector 4.0 -6.9282 270.0) (float-vector 6.9282 -4.0 270.0) (float-vector 6.9282 -4.0 280.0)))
+         (instance face :init :vertices (list (float-vector -1.376677e-14 -8.0 280.0) (float-vector -1.376677e-14 -8.0 270.0) (float-vector 4.0 -6.9282 270.0) (float-vector 4.0 -6.9282 280.0)))
+         (instance face :init :vertices (list (float-vector -4.0 -6.9282 280.0) (float-vector -4.0 -6.9282 270.0) (float-vector -1.376677e-14 -8.0 270.0) (float-vector -1.376677e-14 -8.0 280.0)))
+         (instance face :init :vertices (list (float-vector -6.9282 -4.0 280.0) (float-vector -6.9282 -4.0 270.0) (float-vector -4.0 -6.9282 270.0) (float-vector -4.0 -6.9282 280.0)))
+         (instance face :init :vertices (list (float-vector -8.0 8.437695e-15 280.0) (float-vector -8.0 8.437695e-15 270.0) (float-vector -6.9282 -4.0 270.0) (float-vector -6.9282 -4.0 280.0)))
+         (instance face :init :vertices (list (float-vector -6.9282 4.0 280.0) (float-vector -6.9282 4.0 270.0) (float-vector -8.0 8.437695e-15 270.0) (float-vector -8.0 8.437695e-15 280.0)))
+         (instance face :init :vertices (list (float-vector -4.0 6.9282 280.0) (float-vector -4.0 6.9282 270.0) (float-vector -6.9282 4.0 270.0) (float-vector -6.9282 4.0 280.0)))
+         (instance face :init :vertices (list (float-vector 3.996803e-15 8.0 280.0) (float-vector 3.996803e-15 8.0 270.0) (float-vector -4.0 6.9282 270.0) (float-vector -4.0 6.9282 280.0)))
+         (instance face :init :vertices (list (float-vector 4.0 6.9282 280.0) (float-vector 4.0 6.9282 270.0) (float-vector 3.996803e-15 8.0 270.0) (float-vector 3.996803e-15 8.0 280.0)))
+         (instance face :init :vertices (list (float-vector 6.9282 4.0 280.0) (float-vector 6.9282 4.0 270.0) (float-vector 4.0 6.9282 270.0) (float-vector 4.0 6.9282 280.0)))
+         (instance face :init :vertices (list (float-vector 8.0 0.0 280.0) (float-vector 8.0 0.0 270.0) (float-vector 6.9282 4.0 270.0) (float-vector 6.9282 4.0 280.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 1.29904 -0.75 315.0) (float-vector 1.5 0.0 315.0) (float-vector 1.29904 0.75 315.0) (float-vector 0.75 1.29904 315.0) (float-vector 6.661338e-16 1.5 315.0) (float-vector -0.75 1.29904 315.0) (float-vector -1.29904 0.75 315.0) (float-vector -1.5 1.221245e-15 315.0) (float-vector -1.29904 -0.75 315.0) (float-vector -0.75 -1.29904 315.0) (float-vector -2.109424e-15 -1.5 315.0) (float-vector 0.75 -1.29904 315.0)))
+         (instance face :init :vertices (list (float-vector 1.5 0.0 280.0) (float-vector 1.29904 -0.75 280.0) (float-vector 0.75 -1.29904 280.0) (float-vector -2.109424e-15 -1.5 280.0) (float-vector -0.75 -1.29904 280.0) (float-vector -1.29904 -0.75 280.0) (float-vector -1.5 1.221245e-15 280.0) (float-vector -1.29904 0.75 280.0) (float-vector -0.75 1.29904 280.0) (float-vector 6.661338e-16 1.5 280.0) (float-vector 0.75 1.29904 280.0) (float-vector 1.29904 0.75 280.0)))
+         (instance face :init :vertices (list (float-vector 1.29904 -0.75 315.0) (float-vector 1.29904 -0.75 280.0) (float-vector 1.5 0.0 280.0) (float-vector 1.5 0.0 315.0)))
+         (instance face :init :vertices (list (float-vector 0.75 -1.29904 315.0) (float-vector 0.75 -1.29904 280.0) (float-vector 1.29904 -0.75 280.0) (float-vector 1.29904 -0.75 315.0)))
+         (instance face :init :vertices (list (float-vector -2.109424e-15 -1.5 315.0) (float-vector -2.109424e-15 -1.5 280.0) (float-vector 0.75 -1.29904 280.0) (float-vector 0.75 -1.29904 315.0)))
+         (instance face :init :vertices (list (float-vector -0.75 -1.29904 315.0) (float-vector -0.75 -1.29904 280.0) (float-vector -2.109424e-15 -1.5 280.0) (float-vector -2.109424e-15 -1.5 315.0)))
+         (instance face :init :vertices (list (float-vector -1.29904 -0.75 315.0) (float-vector -1.29904 -0.75 280.0) (float-vector -0.75 -1.29904 280.0) (float-vector -0.75 -1.29904 315.0)))
+         (instance face :init :vertices (list (float-vector -1.5 1.221245e-15 315.0) (float-vector -1.5 1.221245e-15 280.0) (float-vector -1.29904 -0.75 280.0) (float-vector -1.29904 -0.75 315.0)))
+         (instance face :init :vertices (list (float-vector -1.29904 0.75 315.0) (float-vector -1.29904 0.75 280.0) (float-vector -1.5 1.221245e-15 280.0) (float-vector -1.5 1.221245e-15 315.0)))
+         (instance face :init :vertices (list (float-vector -0.75 1.29904 315.0) (float-vector -0.75 1.29904 280.0) (float-vector -1.29904 0.75 280.0) (float-vector -1.29904 0.75 315.0)))
+         (instance face :init :vertices (list (float-vector 6.661338e-16 1.5 315.0) (float-vector 6.661338e-16 1.5 280.0) (float-vector -0.75 1.29904 280.0) (float-vector -0.75 1.29904 315.0)))
+         (instance face :init :vertices (list (float-vector 0.75 1.29904 315.0) (float-vector 0.75 1.29904 280.0) (float-vector 6.661338e-16 1.5 280.0) (float-vector 6.661338e-16 1.5 315.0)))
+         (instance face :init :vertices (list (float-vector 1.29904 0.75 315.0) (float-vector 1.29904 0.75 280.0) (float-vector 0.75 1.29904 280.0) (float-vector 0.75 1.29904 315.0)))
+         (instance face :init :vertices (list (float-vector 1.5 0.0 315.0) (float-vector 1.5 0.0 280.0) (float-vector 1.29904 0.75 280.0) (float-vector 1.29904 0.75 315.0)))
+       ))
+       ))
+     (dolist (b (cdr bc)) (send (car bc) :assoc b))
+     (send (elt bc 0) :set-color :gray20)
+     (send (elt bc 1) :set-color :gray20)
+     (send (elt bc 2) :set-color :yellow)
+     (send (elt bc 3) :set-color :yellow)
+     (send (elt bc 4) :set-color :gray20)
+     (send (elt bc 5) :set-color :gray20)
+     (send (elt bc 6) :set-color :gray20)
+     (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name 'dewalt-drill :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+
+     ;; definition of assoc
+     (send self :assoc blink0)
+
+     ;; definition of end-coords
+
+     ;; definition of joint
+
+
+     ;; init-ending 
+     (setq links (list blink0))
+     (setq joint-list (list))
+     (send self :init-ending)
+     (send self :move-to (make-coords :pos pos :rot rot))
+     (send-all links :worldcoords)
+
+     self))
+  (:cameras (&rest args)
+   (forward-message-to-all (list) args))
+
+  (:handle (&rest args) (forward-message-to-all (list ) args))
+  (:attention (&rest args) (forward-message-to-all (list ) args))
+  (:button (&rest args) (forward-message-to-all (list ) args))
+  )
+
+(defun dewalt-drill (&rest args) (instance* dewalt-drill-object :init args))
+;; (format *error-output* "(instance dewalt-drill-object :init) for generating model~%")

Added: trunk/EusLisp/models/unknown-side-table-object.l
===================================================================
--- trunk/EusLisp/models/unknown-side-table-object.l	                        (rev 0)
+++ trunk/EusLisp/models/unknown-side-table-object.l	2014-02-26 10:42:09 UTC (rev 671)
@@ -0,0 +1,342 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version 
+;;
+;;
+(defclass unknown-side-table-object
+  :super cascaded-link
+  :slots (sensors
+         handle0 handle1 handle2 handle3
+         joint0 joint1 joint2 ))
+(defmethod unknown-side-table-object
+  (:init
+   (&rest args &key (name "unknown-side-table") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
+   (let (c bc
+         blink0 blink1 blink2 blink3
+                 )
+     (send-super* :init :name name args)
+
+     ;; definition of link
+
+     ;; definition of :root
+     (setq bc (list
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 285.5 210.0 600.0) (float-vector -299.5 210.0 600.0) (float-vector -299.5 -210.0 600.0) (float-vector 285.5 -210.0 600.0)))
+         (instance face :init :vertices (list (float-vector -299.5 210.0 585.0) (float-vector 285.5 210.0 585.0) (float-vector 285.5 -210.0 585.0) (float-vector -299.5 -210.0 585.0)))
+         (instance face :init :vertices (list (float-vector 285.5 210.0 600.0) (float-vector 285.5 210.0 585.0) (float-vector -299.5 210.0 585.0) (float-vector -299.5 210.0 600.0)))
+         (instance face :init :vertices (list (float-vector 285.5 -210.0 600.0) (float-vector 285.5 -210.0 585.0) (float-vector 285.5 210.0 585.0) (float-vector 285.5 210.0 600.0)))
+         (instance face :init :vertices (list (float-vector -299.5 -210.0 600.0) (float-vector -299.5 -210.0 585.0) (float-vector 285.5 -210.0 585.0) (float-vector 285.5 -210.0 600.0)))
+         (instance face :init :vertices (list (float-vector -299.5 210.0 600.0) (float-vector -299.5 210.0 585.0) (float-vector -299.5 -210.0 585.0) (float-vector -299.5 -210.0 600.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 285.5 210.0 44.5) (float-vector -299.5 210.0 44.5) (float-vector -299.5 -210.0 44.5) (float-vector 285.5 -210.0 44.5)))
+         (instance face :init :vertices (list (float-vector -299.5 210.0 -0.5) (float-vector 285.5 210.0 -0.5) (float-vector 285.5 -210.0 -0.5) (float-vector -299.5 -210.0 -0.5)))
+         (instance face :init :vertices (list (float-vector 285.5 210.0 44.5) (float-vector 285.5 210.0 -0.5) (float-vector -299.5 210.0 -0.5) (float-vector -299.5 210.0 44.5)))
+         (instance face :init :vertices (list (float-vector 285.5 -210.0 44.5) (float-vector 285.5 -210.0 -0.5) (float-vector 285.5 210.0 -0.5) (float-vector 285.5 210.0 44.5)))
+         (instance face :init :vertices (list (float-vector -299.5 -210.0 44.5) (float-vector -299.5 -210.0 -0.5) (float-vector 285.5 -210.0 -0.5) (float-vector 285.5 -210.0 44.5)))
+         (instance face :init :vertices (list (float-vector -299.5 210.0 44.5) (float-vector -299.5 210.0 -0.5) (float-vector -299.5 -210.0 -0.5) (float-vector -299.5 -210.0 44.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector -285.5 195.0 585.0) (float-vector -300.5 195.0 585.0) (float-vector -300.5 -195.0 585.0) (float-vector -285.5 -195.0 585.0)))
+         (instance face :init :vertices (list (float-vector -300.5 195.0 45.0) (float-vector -285.5 195.0 45.0) (float-vector -285.5 -195.0 45.0) (float-vector -300.5 -195.0 45.0)))
+         (instance face :init :vertices (list (float-vector -285.5 195.0 585.0) (float-vector -285.5 195.0 45.0) (float-vector -300.5 195.0 45.0) (float-vector -300.5 195.0 585.0)))
+         (instance face :init :vertices (list (float-vector -285.5 -195.0 585.0) (float-vector -285.5 -195.0 45.0) (float-vector -285.5 195.0 45.0) (float-vector -285.5 195.0 585.0)))
+         (instance face :init :vertices (list (float-vector -300.5 -195.0 585.0) (float-vector -300.5 -195.0 45.0) (float-vector -285.5 -195.0 45.0) (float-vector -285.5 -195.0 585.0)))
+         (instance face :init :vertices (list (float-vector -300.5 195.0 585.0) (float-vector -300.5 195.0 45.0) (float-vector -300.5 -195.0 45.0) (float-vector -300.5 -195.0 585.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 285.5 210.5 585.0) (float-vector -299.5 210.5 585.0) (float-vector -299.5 195.5 585.0) (float-vector 285.5 195.5 585.0)))
+         (instance face :init :vertices (list (float-vector -299.5 210.5 45.0) (float-vector 285.5 210.5 45.0) (float-vector 285.5 195.5 45.0) (float-vector -299.5 195.5 45.0)))
+         (instance face :init :vertices (list (float-vector 285.5 210.5 585.0) (float-vector 285.5 210.5 45.0) (float-vector -299.5 210.5 45.0) (float-vector -299.5 210.5 585.0)))
+         (instance face :init :vertices (list (float-vector 285.5 195.5 585.0) (float-vector 285.5 195.5 45.0) (float-vector 285.5 210.5 45.0) (float-vector 285.5 210.5 585.0)))
+         (instance face :init :vertices (list (float-vector -299.5 195.5 585.0) (float-vector -299.5 195.5 45.0) (float-vector 285.5 195.5 45.0) (float-vector 285.5 195.5 585.0)))
+         (instance face :init :vertices (list (float-vector -299.5 210.5 585.0) (float-vector -299.5 210.5 45.0) (float-vector -299.5 195.5 45.0) (float-vector -299.5 195.5 585.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 285.5 -195.5 585.0) (float-vector -299.5 -195.5 585.0) (float-vector -299.5 -210.5 585.0) (float-vector 285.5 -210.5 585.0)))
+         (instance face :init :vertices (list (float-vector -299.5 -195.5 45.0) (float-vector 285.5 -195.5 45.0) (float-vector 285.5 -210.5 45.0) (float-vector -299.5 -210.5 45.0)))
+         (instance face :init :vertices (list (float-vector 285.5 -195.5 585.0) (float-vector 285.5 -195.5 45.0) (float-vector -299.5 -195.5 45.0) (float-vector -299.5 -195.5 585.0)))
+         (instance face :init :vertices (list (float-vector 285.5 -210.5 585.0) (float-vector 285.5 -210.5 45.0) (float-vector 285.5 -195.5 45.0) (float-vector 285.5 -195.5 585.0)))
+         (instance face :init :vertices (list (float-vector -299.5 -210.5 585.0) (float-vector -299.5 -210.5 45.0) (float-vector 285.5 -210.5 45.0) (float-vector 285.5 -210.5 585.0)))
+         (instance face :init :vertices (list (float-vector -299.5 -195.5 585.0) (float-vector -299.5 -195.5 45.0) (float-vector -299.5 -210.5 45.0) (float-vector -299.5 -210.5 585.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 285.0 195.0 364.5) (float-vector -285.0 195.0 364.5) (float-vector -285.0 -195.0 364.5) (float-vector 285.0 -195.0 364.5)))
+         (instance face :init :vertices (list (float-vector -285.0 195.0 349.5) (float-vector 285.0 195.0 349.5) (float-vector 285.0 -195.0 349.5) (float-vector -285.0 -195.0 349.5)))
+         (instance face :init :vertices (list (float-vector 285.0 195.0 364.5) (float-vector 285.0 195.0 349.5) (float-vector -285.0 195.0 349.5) (float-vector -285.0 195.0 364.5)))
+         (instance face :init :vertices (list (float-vector 285.0 -195.0 364.5) (float-vector 285.0 -195.0 349.5) (float-vector 285.0 195.0 349.5) (float-vector 285.0 195.0 364.5)))
+         (instance face :init :vertices (list (float-vector -285.0 -195.0 364.5) (float-vector -285.0 -195.0 349.5) (float-vector 285.0 -195.0 349.5) (float-vector 285.0 -195.0 364.5)))
+         (instance face :init :vertices (list (float-vector -285.0 195.0 364.5) (float-vector -285.0 195.0 349.5) (float-vector -285.0 -195.0 349.5) (float-vector -285.0 -195.0 364.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 285.0 195.0 479.5) (float-vector -285.0 195.0 479.5) (float-vector -285.0 -195.0 479.5) (float-vector 285.0 -195.0 479.5)))
+         (instance face :init :vertices (list (float-vector -285.0 195.0 464.5) (float-vector 285.0 195.0 464.5) (float-vector 285.0 -195.0 464.5) (float-vector -285.0 -195.0 464.5)))
+         (instance face :init :vertices (list (float-vector 285.0 195.0 479.5) (float-vector 285.0 195.0 464.5) (float-vector -285.0 195.0 464.5) (float-vector -285.0 195.0 479.5)))
+         (instance face :init :vertices (list (float-vector 285.0 -195.0 479.5) (float-vector 285.0 -195.0 464.5) (float-vector 285.0 195.0 464.5) (float-vector 285.0 195.0 479.5)))
+         (instance face :init :vertices (list (float-vector -285.0 -195.0 479.5) (float-vector -285.0 -195.0 464.5) (float-vector 285.0 -195.0 464.5) (float-vector 285.0 -195.0 479.5)))
+         (instance face :init :vertices (list (float-vector -285.0 195.0 479.5) (float-vector -285.0 195.0 464.5) (float-vector -285.0 -195.0 464.5) (float-vector -285.0 -195.0 479.5)))
+       ))
+       ))
+     (dolist (b (cdr bc)) (send (car bc) :assoc b))
+     (send (elt bc 0) :set-color :seashell)
+     (send (elt bc 1) :set-color :seashell)
+     (send (elt bc 2) :set-color :seashell)
+     (send (elt bc 3) :set-color :seashell)
+     (send (elt bc 4) :set-color :seashell)
+     (send (elt bc 5) :set-color :seashell)
+     (send (elt bc 6) :set-color :seashell)
+     (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+
+     ;; definition of :unknown-side-table-bodyset2
+     (setq bc (list
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector -285.0 195.0 -47.5) (float-vector -285.0 -195.0 -47.5) (float-vector -285.0 -195.0 47.5) (float-vector -285.0 195.0 47.5)))
+         (instance face :init :vertices (list (float-vector 285.0 -195.0 -47.5) (float-vector 285.0 -195.0 47.5) (float-vector -285.0 -195.0 47.5) (float-vector -285.0 -195.0 -47.5)))
+         (instance face :init :vertices (list (float-vector 285.0 195.0 -47.5) (float-vector 285.0 195.0 47.5) (float-vector 285.0 180.0 47.5) (float-vector 285.0 180.0 -32.5) (float-vector 285.0 -180.0 -32.5) (float-vector 285.0 -180.0 47.5) (float-vector 285.0 -195.0 47.5) (float-vector 285.0 -195.0 -47.5)))
+         (instance face :init :vertices (list (float-vector -285.0 195.0 47.5) (float-vector -285.0 -195.0 47.5) (float-vector 285.0 -195.0 47.5) (float-vector 285.0 -180.0 47.5) (float-vector -270.0 -180.0 47.5) (float-vector -270.0 180.0 47.5) (float-vector 285.0 180.0 47.5) (float-vector 285.0 195.0 47.5)))
+         (instance face :init :vertices (list (float-vector 285.0 195.0 -47.5) (float-vector 285.0 -195.0 -47.5) (float-vector -285.0 -195.0 -47.5) (float-vector -285.0 195.0 -47.5)))
+         (instance face :init :vertices (list (float-vector -285.0 195.0 -47.5) (float-vector -285.0 195.0 47.5) (float-vector 285.0 195.0 47.5) (float-vector 285.0 195.0 -47.5)))
+         (instance face :init :vertices (list (float-vector -270.0 180.0 47.5) (float-vector -270.0 -180.0 47.5) (float-vector -270.0 -180.0 -32.5) (float-vector -270.0 180.0 -32.5)))
+         (instance face :init :vertices (list (float-vector -270.0 -180.0 -32.5) (float-vector -270.0 -180.0 47.5) (float-vector 285.0 -180.0 47.5) (float-vector 285.0 -180.0 -32.5)))
+         (instance face :init :vertices (list (float-vector 285.0 180.0 -32.5) (float-vector 285.0 180.0 47.5) (float-vector -270.0 180.0 47.5) (float-vector -270.0 180.0 -32.5)))
+         (instance face :init :vertices (list (float-vector -270.0 180.0 -32.5) (float-vector -270.0 -180.0 -32.5) (float-vector 285.0 -180.0 -32.5) (float-vector 285.0 180.0 -32.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 300.5 210.0 63.0) (float-vector 285.5 210.0 63.0) (float-vector 285.5 -210.0 63.0) (float-vector 300.5 -210.0 63.0)))
+         (instance face :init :vertices (list (float-vector 285.5 210.0 -47.0) (float-vector 300.5 210.0 -47.0) (float-vector 300.5 -210.0 -47.0) (float-vector 285.5 -210.0 -47.0)))
+         (instance face :init :vertices (list (float-vector 300.5 210.0 63.0) (float-vector 300.5 210.0 -47.0) (float-vector 285.5 210.0 -47.0) (float-vector 285.5 210.0 63.0)))
+         (instance face :init :vertices (list (float-vector 300.5 -210.0 63.0) (float-vector 300.5 -210.0 -47.0) (float-vector 300.5 210.0 -47.0) (float-vector 300.5 210.0 63.0)))
+         (instance face :init :vertices (list (float-vector 285.5 -210.0 63.0) (float-vector 285.5 -210.0 -47.0) (float-vector 300.5 -210.0 -47.0) (float-vector 300.5 -210.0 63.0)))
+         (instance face :init :vertices (list (float-vector 285.5 210.0 63.0) (float-vector 285.5 210.0 -47.0) (float-vector 285.5 -210.0 -47.0) (float-vector 285.5 -210.0 63.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 327.33 -120.0 5.5) (float-vector 328.0 -120.0 8.0) (float-vector 327.33 -120.0 10.5) (float-vector 325.5 -120.0 12.3301) (float-vector 323.0 -120.0 13.0) (float-vector 320.5 -120.0 12.3301) (float-vector 318.67 -120.0 10.5) (float-vector 318.0 -120.0 8.0) (float-vector 318.67 -120.0 5.5) (float-vector 320.5 -120.0 3.66987) (float-vector 323.0 -120.0 3.0) (float-vector 325.5 -120.0 3.66987)))
+         (instance face :init :vertices (list (float-vector 328.0 120.0 8.0) (float-vector 327.33 120.0 5.5) (float-vector 325.5 120.0 3.66987) (float-vector 323.0 120.0 3.0) (float-vector 320.5 120.0 3.66987) (float-vector 318.67 120.0 5.5) (float-vector 318.0 120.0 8.0) (float-vector 318.67 120.0 10.5) (float-vector 320.5 120.0 12.3301) (float-vector 323.0 120.0 13.0) (float-vector 325.5 120.0 12.3301) (float-vector 327.33 120.0 10.5)))
+         (instance face :init :vertices (list (float-vector 327.33 -120.0 5.5) (float-vector 327.33 120.0 5.5) (float-vector 328.0 120.0 8.0) (float-vector 328.0 -120.0 8.0)))
+         (instance face :init :vertices (list (float-vector 325.5 -120.0 3.66987) (float-vector 325.5 120.0 3.66987) (float-vector 327.33 120.0 5.5) (float-vector 327.33 -120.0 5.5)))
+         (instance face :init :vertices (list (float-vector 323.0 -120.0 3.0) (float-vector 323.0 120.0 3.0) (float-vector 325.5 120.0 3.66987) (float-vector 325.5 -120.0 3.66987)))
+         (instance face :init :vertices (list (float-vector 320.5 -120.0 3.66987) (float-vector 320.5 120.0 3.66987) (float-vector 323.0 120.0 3.0) (float-vector 323.0 -120.0 3.0)))
+         (instance face :init :vertices (list (float-vector 318.67 -120.0 5.5) (float-vector 318.67 120.0 5.5) (float-vector 320.5 120.0 3.66987) (float-vector 320.5 -120.0 3.66987)))
+         (instance face :init :vertices (list (float-vector 318.0 -120.0 8.0) (float-vector 318.0 120.0 8.0) (float-vector 318.67 120.0 5.5) (float-vector 318.67 -120.0 5.5)))
+         (instance face :init :vertices (list (float-vector 318.67 -120.0 10.5) (float-vector 318.67 120.0 10.5) (float-vector 318.0 120.0 8.0) (float-vector 318.0 -120.0 8.0)))
+         (instance face :init :vertices (list (float-vector 320.5 -120.0 12.3301) (float-vector 320.5 120.0 12.3301) (float-vector 318.67 120.0 10.5) (float-vector 318.67 -120.0 10.5)))
+         (instance face :init :vertices (list (float-vector 323.0 -120.0 13.0) (float-vector 323.0 120.0 13.0) (float-vector 320.5 120.0 12.3301) (float-vector 320.5 -120.0 12.3301)))
+         (instance face :init :vertices (list (float-vector 325.5 -120.0 12.3301) (float-vector 325.5 120.0 12.3301) (float-vector 323.0 120.0 13.0) (float-vector 323.0 -120.0 13.0)))
+         (instance face :init :vertices (list (float-vector 327.33 -120.0 10.5) (float-vector 327.33 120.0 10.5) (float-vector 325.5 120.0 12.3301) (float-vector 325.5 -120.0 12.3301)))
+         (instance face :init :vertices (list (float-vector 328.0 -120.0 8.0) (float-vector 328.0 120.0 8.0) (float-vector 327.33 120.0 10.5) (float-vector 327.33 -120.0 10.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 323.0 120.0 12.0) (float-vector 293.0 120.0 12.0) (float-vector 293.0 105.0 12.0) (float-vector 323.0 105.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 120.0 4.0) (float-vector 323.0 120.0 4.0) (float-vector 323.0 105.0 4.0) (float-vector 293.0 105.0 4.0)))
+         (instance face :init :vertices (list (float-vector 323.0 120.0 12.0) (float-vector 323.0 120.0 4.0) (float-vector 293.0 120.0 4.0) (float-vector 293.0 120.0 12.0)))
+         (instance face :init :vertices (list (float-vector 323.0 105.0 12.0) (float-vector 323.0 105.0 4.0) (float-vector 323.0 120.0 4.0) (float-vector 323.0 120.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 105.0 12.0) (float-vector 293.0 105.0 4.0) (float-vector 323.0 105.0 4.0) (float-vector 323.0 105.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 120.0 12.0) (float-vector 293.0 120.0 4.0) (float-vector 293.0 105.0 4.0) (float-vector 293.0 105.0 12.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 323.0 -105.0 12.0) (float-vector 293.0 -105.0 12.0) (float-vector 293.0 -120.0 12.0) (float-vector 323.0 -120.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 -105.0 4.0) (float-vector 323.0 -105.0 4.0) (float-vector 323.0 -120.0 4.0) (float-vector 293.0 -120.0 4.0)))
+         (instance face :init :vertices (list (float-vector 323.0 -105.0 12.0) (float-vector 323.0 -105.0 4.0) (float-vector 293.0 -105.0 4.0) (float-vector 293.0 -105.0 12.0)))
+         (instance face :init :vertices (list (float-vector 323.0 -120.0 12.0) (float-vector 323.0 -120.0 4.0) (float-vector 323.0 -105.0 4.0) (float-vector 323.0 -105.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 -120.0 12.0) (float-vector 293.0 -120.0 4.0) (float-vector 323.0 -120.0 4.0) (float-vector 323.0 -120.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 -105.0 12.0) (float-vector 293.0 -105.0 4.0) (float-vector 293.0 -120.0 4.0) (float-vector 293.0 -120.0 12.0)))
+       ))
+       ))
+     (dolist (b (cdr bc)) (send (car bc) :assoc b))
+     (send (elt bc 0) :set-color :white)
+     (send (elt bc 1) :set-color :seashell)
+     (send (elt bc 2) :set-color :gray)
+     (send (elt bc 3) :set-color :gray)
+     (send (elt bc 4) :set-color :gray)
+     (setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :unknown-side-table-bodyset2 :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+
+     ;; definition of :unknown-side-table-bodyset3
+     (setq bc (list
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector -285.0 195.0 -47.5) (float-vector -285.0 -195.0 -47.5) (float-vector -285.0 -195.0 47.5) (float-vector -285.0 195.0 47.5)))
+         (instance face :init :vertices (list (float-vector 285.0 -195.0 -47.5) (float-vector 285.0 -195.0 47.5) (float-vector -285.0 -195.0 47.5) (float-vector -285.0 -195.0 -47.5)))
+         (instance face :init :vertices (list (float-vector 285.0 195.0 -47.5) (float-vector 285.0 195.0 47.5) (float-vector 285.0 180.0 47.5) (float-vector 285.0 180.0 -32.5) (float-vector 285.0 -180.0 -32.5) (float-vector 285.0 -180.0 47.5) (float-vector 285.0 -195.0 47.5) (float-vector 285.0 -195.0 -47.5)))
+         (instance face :init :vertices (list (float-vector -285.0 195.0 47.5) (float-vector -285.0 -195.0 47.5) (float-vector 285.0 -195.0 47.5) (float-vector 285.0 -180.0 47.5) (float-vector -270.0 -180.0 47.5) (float-vector -270.0 180.0 47.5) (float-vector 285.0 180.0 47.5) (float-vector 285.0 195.0 47.5)))
+         (instance face :init :vertices (list (float-vector 285.0 195.0 -47.5) (float-vector 285.0 -195.0 -47.5) (float-vector -285.0 -195.0 -47.5) (float-vector -285.0 195.0 -47.5)))
+         (instance face :init :vertices (list (float-vector -285.0 195.0 -47.5) (float-vector -285.0 195.0 47.5) (float-vector 285.0 195.0 47.5) (float-vector 285.0 195.0 -47.5)))
+         (instance face :init :vertices (list (float-vector -270.0 180.0 47.5) (float-vector -270.0 -180.0 47.5) (float-vector -270.0 -180.0 -32.5) (float-vector -270.0 180.0 -32.5)))
+         (instance face :init :vertices (list (float-vector -270.0 -180.0 -32.5) (float-vector -270.0 -180.0 47.5) (float-vector 285.0 -180.0 47.5) (float-vector 285.0 -180.0 -32.5)))
+         (instance face :init :vertices (list (float-vector 285.0 180.0 -32.5) (float-vector 285.0 180.0 47.5) (float-vector -270.0 180.0 47.5) (float-vector -270.0 180.0 -32.5)))
+         (instance face :init :vertices (list (float-vector -270.0 180.0 -32.5) (float-vector -270.0 -180.0 -32.5) (float-vector 285.0 -180.0 -32.5) (float-vector 285.0 180.0 -32.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 300.5 210.0 63.0) (float-vector 285.5 210.0 63.0) (float-vector 285.5 -210.0 63.0) (float-vector 300.5 -210.0 63.0)))
+         (instance face :init :vertices (list (float-vector 285.5 210.0 -47.0) (float-vector 300.5 210.0 -47.0) (float-vector 300.5 -210.0 -47.0) (float-vector 285.5 -210.0 -47.0)))
+         (instance face :init :vertices (list (float-vector 300.5 210.0 63.0) (float-vector 300.5 210.0 -47.0) (float-vector 285.5 210.0 -47.0) (float-vector 285.5 210.0 63.0)))
+         (instance face :init :vertices (list (float-vector 300.5 -210.0 63.0) (float-vector 300.5 -210.0 -47.0) (float-vector 300.5 210.0 -47.0) (float-vector 300.5 210.0 63.0)))
+         (instance face :init :vertices (list (float-vector 285.5 -210.0 63.0) (float-vector 285.5 -210.0 -47.0) (float-vector 300.5 -210.0 -47.0) (float-vector 300.5 -210.0 63.0)))
+         (instance face :init :vertices (list (float-vector 285.5 210.0 63.0) (float-vector 285.5 210.0 -47.0) (float-vector 285.5 -210.0 -47.0) (float-vector 285.5 -210.0 63.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 327.33 -120.0 5.5) (float-vector 328.0 -120.0 8.0) (float-vector 327.33 -120.0 10.5) (float-vector 325.5 -120.0 12.3301) (float-vector 323.0 -120.0 13.0) (float-vector 320.5 -120.0 12.3301) (float-vector 318.67 -120.0 10.5) (float-vector 318.0 -120.0 8.0) (float-vector 318.67 -120.0 5.5) (float-vector 320.5 -120.0 3.66987) (float-vector 323.0 -120.0 3.0) (float-vector 325.5 -120.0 3.66987)))
+         (instance face :init :vertices (list (float-vector 328.0 120.0 8.0) (float-vector 327.33 120.0 5.5) (float-vector 325.5 120.0 3.66987) (float-vector 323.0 120.0 3.0) (float-vector 320.5 120.0 3.66987) (float-vector 318.67 120.0 5.5) (float-vector 318.0 120.0 8.0) (float-vector 318.67 120.0 10.5) (float-vector 320.5 120.0 12.3301) (float-vector 323.0 120.0 13.0) (float-vector 325.5 120.0 12.3301) (float-vector 327.33 120.0 10.5)))
+         (instance face :init :vertices (list (float-vector 327.33 -120.0 5.5) (float-vector 327.33 120.0 5.5) (float-vector 328.0 120.0 8.0) (float-vector 328.0 -120.0 8.0)))
+         (instance face :init :vertices (list (float-vector 325.5 -120.0 3.66987) (float-vector 325.5 120.0 3.66987) (float-vector 327.33 120.0 5.5) (float-vector 327.33 -120.0 5.5)))
+         (instance face :init :vertices (list (float-vector 323.0 -120.0 3.0) (float-vector 323.0 120.0 3.0) (float-vector 325.5 120.0 3.66987) (float-vector 325.5 -120.0 3.66987)))
+         (instance face :init :vertices (list (float-vector 320.5 -120.0 3.66987) (float-vector 320.5 120.0 3.66987) (float-vector 323.0 120.0 3.0) (float-vector 323.0 -120.0 3.0)))
+         (instance face :init :vertices (list (float-vector 318.67 -120.0 5.5) (float-vector 318.67 120.0 5.5) (float-vector 320.5 120.0 3.66987) (float-vector 320.5 -120.0 3.66987)))
+         (instance face :init :vertices (list (float-vector 318.0 -120.0 8.0) (float-vector 318.0 120.0 8.0) (float-vector 318.67 120.0 5.5) (float-vector 318.67 -120.0 5.5)))
+         (instance face :init :vertices (list (float-vector 318.67 -120.0 10.5) (float-vector 318.67 120.0 10.5) (float-vector 318.0 120.0 8.0) (float-vector 318.0 -120.0 8.0)))
+         (instance face :init :vertices (list (float-vector 320.5 -120.0 12.3301) (float-vector 320.5 120.0 12.3301) (float-vector 318.67 120.0 10.5) (float-vector 318.67 -120.0 10.5)))
+         (instance face :init :vertices (list (float-vector 323.0 -120.0 13.0) (float-vector 323.0 120.0 13.0) (float-vector 320.5 120.0 12.3301) (float-vector 320.5 -120.0 12.3301)))
+         (instance face :init :vertices (list (float-vector 325.5 -120.0 12.3301) (float-vector 325.5 120.0 12.3301) (float-vector 323.0 120.0 13.0) (float-vector 323.0 -120.0 13.0)))
+         (instance face :init :vertices (list (float-vector 327.33 -120.0 10.5) (float-vector 327.33 120.0 10.5) (float-vector 325.5 120.0 12.3301) (float-vector 325.5 -120.0 12.3301)))
+         (instance face :init :vertices (list (float-vector 328.0 -120.0 8.0) (float-vector 328.0 120.0 8.0) (float-vector 327.33 120.0 10.5) (float-vector 327.33 -120.0 10.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 323.0 120.0 12.0) (float-vector 293.0 120.0 12.0) (float-vector 293.0 105.0 12.0) (float-vector 323.0 105.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 120.0 4.0) (float-vector 323.0 120.0 4.0) (float-vector 323.0 105.0 4.0) (float-vector 293.0 105.0 4.0)))
+         (instance face :init :vertices (list (float-vector 323.0 120.0 12.0) (float-vector 323.0 120.0 4.0) (float-vector 293.0 120.0 4.0) (float-vector 293.0 120.0 12.0)))
+         (instance face :init :vertices (list (float-vector 323.0 105.0 12.0) (float-vector 323.0 105.0 4.0) (float-vector 323.0 120.0 4.0) (float-vector 323.0 120.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 105.0 12.0) (float-vector 293.0 105.0 4.0) (float-vector 323.0 105.0 4.0) (float-vector 323.0 105.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 120.0 12.0) (float-vector 293.0 120.0 4.0) (float-vector 293.0 105.0 4.0) (float-vector 293.0 105.0 12.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 323.0 -105.0 12.0) (float-vector 293.0 -105.0 12.0) (float-vector 293.0 -120.0 12.0) (float-vector 323.0 -120.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 -105.0 4.0) (float-vector 323.0 -105.0 4.0) (float-vector 323.0 -120.0 4.0) (float-vector 293.0 -120.0 4.0)))
+         (instance face :init :vertices (list (float-vector 323.0 -105.0 12.0) (float-vector 323.0 -105.0 4.0) (float-vector 293.0 -105.0 4.0) (float-vector 293.0 -105.0 12.0)))
+         (instance face :init :vertices (list (float-vector 323.0 -120.0 12.0) (float-vector 323.0 -120.0 4.0) (float-vector 323.0 -105.0 4.0) (float-vector 323.0 -105.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 -120.0 12.0) (float-vector 293.0 -120.0 4.0) (float-vector 323.0 -120.0 4.0) (float-vector 323.0 -120.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 -105.0 12.0) (float-vector 293.0 -105.0 4.0) (float-vector 293.0 -120.0 4.0) (float-vector 293.0 -120.0 12.0)))
+       ))
+       ))
+     (dolist (b (cdr bc)) (send (car bc) :assoc b))
+     (send (elt bc 0) :set-color :white)
+     (send (elt bc 1) :set-color :seashell)
+     (send (elt bc 2) :set-color :gray)
+     (send (elt bc 3) :set-color :gray)
+     (send (elt bc 4) :set-color :gray)
+     (setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :unknown-side-table-bodyset3 :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+
+     ;; definition of :unknown-side-table-bodyset4
+     (setq bc (list
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector -285.0 195.0 -150.0) (float-vector -285.0 -195.0 -150.0) (float-vector -285.0 -195.0 150.0) (float-vector -285.0 195.0 150.0)))
+         (instance face :init :vertices (list (float-vector 285.0 -195.0 -150.0) (float-vector 285.0 -195.0 150.0) (float-vector -285.0 -195.0 150.0) (float-vector -285.0 -195.0 -150.0)))
+         (instance face :init :vertices (list (float-vector 285.0 195.0 -150.0) (float-vector 285.0 195.0 150.0) (float-vector 285.0 180.0 150.0) (float-vector 285.0 180.0 -135.0) (float-vector 285.0 -180.0 -135.0) (float-vector 285.0 -180.0 150.0) (float-vector 285.0 -195.0 150.0) (float-vector 285.0 -195.0 -150.0)))
+         (instance face :init :vertices (list (float-vector -285.0 195.0 150.0) (float-vector -285.0 -195.0 150.0) (float-vector 285.0 -195.0 150.0) (float-vector 285.0 -180.0 150.0) (float-vector -270.0 -180.0 150.0) (float-vector -270.0 180.0 150.0) (float-vector 285.0 180.0 150.0) (float-vector 285.0 195.0 150.0)))
+         (instance face :init :vertices (list (float-vector 285.0 195.0 -150.0) (float-vector 285.0 -195.0 -150.0) (float-vector -285.0 -195.0 -150.0) (float-vector -285.0 195.0 -150.0)))
+         (instance face :init :vertices (list (float-vector -285.0 195.0 -150.0) (float-vector -285.0 195.0 150.0) (float-vector 285.0 195.0 150.0) (float-vector 285.0 195.0 -150.0)))
+         (instance face :init :vertices (list (float-vector -270.0 180.0 150.0) (float-vector -270.0 -180.0 150.0) (float-vector -270.0 -180.0 -135.0) (float-vector -270.0 180.0 -135.0)))
+         (instance face :init :vertices (list (float-vector -270.0 -180.0 -135.0) (float-vector -270.0 -180.0 150.0) (float-vector 285.0 -180.0 150.0) (float-vector 285.0 -180.0 -135.0)))
+         (instance face :init :vertices (list (float-vector 285.0 180.0 -135.0) (float-vector 285.0 180.0 150.0) (float-vector -270.0 180.0 150.0) (float-vector -270.0 180.0 -135.0)))
+         (instance face :init :vertices (list (float-vector -270.0 180.0 -135.0) (float-vector -270.0 -180.0 -135.0) (float-vector 285.0 -180.0 -135.0) (float-vector 285.0 180.0 -135.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 300.5 210.0 164.5) (float-vector 285.5 210.0 164.5) (float-vector 285.5 -210.0 164.5) (float-vector 300.5 -210.0 164.5)))
+         (instance face :init :vertices (list (float-vector 285.5 210.0 -150.5) (float-vector 300.5 210.0 -150.5) (float-vector 300.5 -210.0 -150.5) (float-vector 285.5 -210.0 -150.5)))
+         (instance face :init :vertices (list (float-vector 300.5 210.0 164.5) (float-vector 300.5 210.0 -150.5) (float-vector 285.5 210.0 -150.5) (float-vector 285.5 210.0 164.5)))
+         (instance face :init :vertices (list (float-vector 300.5 -210.0 164.5) (float-vector 300.5 -210.0 -150.5) (float-vector 300.5 210.0 -150.5) (float-vector 300.5 210.0 164.5)))
+         (instance face :init :vertices (list (float-vector 285.5 -210.0 164.5) (float-vector 285.5 -210.0 -150.5) (float-vector 300.5 -210.0 -150.5) (float-vector 300.5 -210.0 164.5)))
+         (instance face :init :vertices (list (float-vector 285.5 210.0 164.5) (float-vector 285.5 210.0 -150.5) (float-vector 285.5 -210.0 -150.5) (float-vector 285.5 -210.0 164.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 327.33 -120.0 119.5) (float-vector 328.0 -120.0 122.0) (float-vector 327.33 -120.0 124.5) (float-vector 325.5 -120.0 126.33) (float-vector 323.0 -120.0 127.0) (float-vector 320.5 -120.0 126.33) (float-vector 318.67 -120.0 124.5) (float-vector 318.0 -120.0 122.0) (float-vector 318.67 -120.0 119.5) (float-vector 320.5 -120.0 117.67) (float-vector 323.0 -120.0 117.0) (float-vector 325.5 -120.0 117.67)))
+         (instance face :init :vertices (list (float-vector 328.0 120.0 122.0) (float-vector 327.33 120.0 119.5) (float-vector 325.5 120.0 117.67) (float-vector 323.0 120.0 117.0) (float-vector 320.5 120.0 117.67) (float-vector 318.67 120.0 119.5) (float-vector 318.0 120.0 122.0) (float-vector 318.67 120.0 124.5) (float-vector 320.5 120.0 126.33) (float-vector 323.0 120.0 127.0) (float-vector 325.5 120.0 126.33) (float-vector 327.33 120.0 124.5)))
+         (instance face :init :vertices (list (float-vector 327.33 -120.0 119.5) (float-vector 327.33 120.0 119.5) (float-vector 328.0 120.0 122.0) (float-vector 328.0 -120.0 122.0)))
+         (instance face :init :vertices (list (float-vector 325.5 -120.0 117.67) (float-vector 325.5 120.0 117.67) (float-vector 327.33 120.0 119.5) (float-vector 327.33 -120.0 119.5)))
+         (instance face :init :vertices (list (float-vector 323.0 -120.0 117.0) (float-vector 323.0 120.0 117.0) (float-vector 325.5 120.0 117.67) (float-vector 325.5 -120.0 117.67)))
+         (instance face :init :vertices (list (float-vector 320.5 -120.0 117.67) (float-vector 320.5 120.0 117.67) (float-vector 323.0 120.0 117.0) (float-vector 323.0 -120.0 117.0)))
+         (instance face :init :vertices (list (float-vector 318.67 -120.0 119.5) (float-vector 318.67 120.0 119.5) (float-vector 320.5 120.0 117.67) (float-vector 320.5 -120.0 117.67)))
+         (instance face :init :vertices (list (float-vector 318.0 -120.0 122.0) (float-vector 318.0 120.0 122.0) (float-vector 318.67 120.0 119.5) (float-vector 318.67 -120.0 119.5)))
+         (instance face :init :vertices (list (float-vector 318.67 -120.0 124.5) (float-vector 318.67 120.0 124.5) (float-vector 318.0 120.0 122.0) (float-vector 318.0 -120.0 122.0)))
+         (instance face :init :vertices (list (float-vector 320.5 -120.0 126.33) (float-vector 320.5 120.0 126.33) (float-vector 318.67 120.0 124.5) (float-vector 318.67 -120.0 124.5)))
+         (instance face :init :vertices (list (float-vector 323.0 -120.0 127.0) (float-vector 323.0 120.0 127.0) (float-vector 320.5 120.0 126.33) (float-vector 320.5 -120.0 126.33)))
+         (instance face :init :vertices (list (float-vector 325.5 -120.0 126.33) (float-vector 325.5 120.0 126.33) (float-vector 323.0 120.0 127.0) (float-vector 323.0 -120.0 127.0)))
+         (instance face :init :vertices (list (float-vector 327.33 -120.0 124.5) (float-vector 327.33 120.0 124.5) (float-vector 325.5 120.0 126.33) (float-vector 325.5 -120.0 126.33)))
+         (instance face :init :vertices (list (float-vector 328.0 -120.0 122.0) (float-vector 328.0 120.0 122.0) (float-vector 327.33 120.0 124.5) (float-vector 327.33 -120.0 124.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 323.0 120.0 126.0) (float-vector 293.0 120.0 126.0) (float-vector 293.0 105.0 126.0) (float-vector 323.0 105.0 126.0)))
+         (instance face :init :vertices (list (float-vector 293.0 120.0 118.0) (float-vector 323.0 120.0 118.0) (float-vector 323.0 105.0 118.0) (float-vector 293.0 105.0 118.0)))
+         (instance face :init :vertices (list (float-vector 323.0 120.0 126.0) (float-vector 323.0 120.0 118.0) (float-vector 293.0 120.0 118.0) (float-vector 293.0 120.0 126.0)))
+         (instance face :init :vertices (list (float-vector 323.0 105.0 126.0) (float-vector 323.0 105.0 118.0) (float-vector 323.0 120.0 118.0) (float-vector 323.0 120.0 126.0)))
+         (instance face :init :vertices (list (float-vector 293.0 105.0 126.0) (float-vector 293.0 105.0 118.0) (float-vector 323.0 105.0 118.0) (float-vector 323.0 105.0 126.0)))
+         (instance face :init :vertices (list (float-vector 293.0 120.0 126.0) (float-vector 293.0 120.0 118.0) (float-vector 293.0 105.0 118.0) (float-vector 293.0 105.0 126.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 323.0 -105.0 126.0) (float-vector 293.0 -105.0 126.0) (float-vector 293.0 -120.0 126.0) (float-vector 323.0 -120.0 126.0)))
+         (instance face :init :vertices (list (float-vector 293.0 -105.0 118.0) (float-vector 323.0 -105.0 118.0) (float-vector 323.0 -120.0 118.0) (float-vector 293.0 -120.0 118.0)))
+         (instance face :init :vertices (list (float-vector 323.0 -105.0 126.0) (float-vector 323.0 -105.0 118.0) (float-vector 293.0 -105.0 118.0) (float-vector 293.0 -105.0 126.0)))
+         (instance face :init :vertices (list (float-vector 323.0 -120.0 126.0) (float-vector 323.0 -120.0 118.0) (float-vector 323.0 -105.0 118.0) (float-vector 323.0 -105.0 126.0)))
+         (instance face :init :vertices (list (float-vector 293.0 -120.0 126.0) (float-vector 293.0 -120.0 118.0) (float-vector 323.0 -120.0 118.0) (float-vector 323.0 -120.0 126.0)))
+         (instance face :init :vertices (list (float-vector 293.0 -105.0 126.0) (float-vector 293.0 -105.0 118.0) (float-vector 293.0 -120.0 118.0) (float-vector 293.0 -120.0 126.0)))
+       ))
+       ))
+     (dolist (b (cdr bc)) (send (car bc) :assoc b))
+     (send (elt bc 0) :set-color :white)
+     (send (elt bc 1) :set-color :seashell)
+     (send (elt bc 2) :set-color :gray)
+     (send (elt bc 3) :set-color :gray)
+     (send (elt bc 4) :set-color :gray)
+     (setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :unknown-side-table-bodyset4 :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+
+     ;; definition of assoc
+     (send blink1 :newcoords (make-coords :pos (float-vector 0.0 0.0 195.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+     (send blink0 :assoc blink1)
+     (send blink2 :newcoords (make-coords :pos (float-vector 0.0 0.0 412.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+     (send blink0 :assoc blink2)
+     (send blink3 :newcoords (make-coords :pos (float-vector 0.0 0.0 527.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+     (send blink0 :assoc blink3)
+     (send self :assoc blink0)
+
+     ;; definition of end-coords
+
+     ;; definition of joint
+
+     ;; definition of :drawer2
+     (setq joint0 (instance linear-joint :init
+			     :parent-link blink0 :child-link blink1 :name :drawer2   :axis (float-vector 1.0 0.0 0.0)
+			     :min    0.0 :max  600.0 :max-joint-velocity 0.785398 :max-joint-torque 100))
+
+     ;; definition of :drawer1
+     (setq joint1 (instance linear-joint :init
+			     :parent-link blink0 :child-link blink2 :name :drawer1   :axis (float-vector 1.0 0.0 0.0)
+			     :min    0.0 :max  600.0 :max-joint-velocity 0.785398 :max-joint-torque 100))
+
+     ;; definition of :drawer0
+     (setq joint2 (instance linear-joint :init
+			     :parent-link blink0 :child-link blink3 :name :drawer0   :axis (...
 
[truncated message content]

[Euslisp-commit] SF.net SVN: euslisp:[671] trunk/EusLisp/models

From: <ky...@us...> - 2014-02-26 10:42:19

Revision: 671
          http://sourceforge.net/p/euslisp/code/671
Author:   kyouhei
Date:     2014-02-26 10:42:09 +0000 (Wed, 26 Feb 2014)
Log Message:
-----------
add side-table and dewalt-drill

Added Paths:
-----------
    trunk/EusLisp/models/dewalt-drill-object.l
    trunk/EusLisp/models/unknown-side-table-object.l

Added: trunk/EusLisp/models/dewalt-drill-object.l
===================================================================
--- trunk/EusLisp/models/dewalt-drill-object.l	                        (rev 0)
+++ trunk/EusLisp/models/dewalt-drill-object.l	2014-02-26 10:42:09 UTC (rev 671)
@@ -0,0 +1,157 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version 
+;;
+;;
+(defclass dewalt-drill-object
+  :super cascaded-link
+  :slots (sensors
+         ))
+(defmethod dewalt-drill-object
+  (:init
+   (&rest args &key (name "dewalt-drill") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
+   (let (c bc
+         blink0
+                 )
+     (send-super* :init :name name args)
+
+     ;; definition of link
+
+     ;; definition of 'dewalt-drill
+     (setq bc (list
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 23.0 -37.0 68.0) (float-vector 60.0 0.0 68.0) (float-vector 23.0 37.0 68.0) (float-vector -45.0 37.0 68.0) (float-vector -75.0 20.0 68.0) (float-vector -75.0 -20.0 68.0) (float-vector -45.0 -37.0 68.0)))
+         (instance face :init :vertices (list (float-vector 60.0 0.0 0.0) (float-vector 23.0 -37.0 0.0) (float-vector -45.0 -37.0 0.0) (float-vector -75.0 -20.0 0.0) (float-vector -75.0 20.0 0.0) (float-vector -45.0 37.0 0.0) (float-vector 23.0 37.0 0.0)))
+         (instance face :init :vertices (list (float-vector 23.0 -37.0 68.0) (float-vector 23.0 -37.0 0.0) (float-vector 60.0 0.0 0.0) (float-vector 60.0 0.0 68.0)))
+         (instance face :init :vertices (list (float-vector -45.0 -37.0 68.0) (float-vector -45.0 -37.0 0.0) (float-vector 23.0 -37.0 0.0) (float-vector 23.0 -37.0 68.0)))
+         (instance face :init :vertices (list (float-vector -75.0 -20.0 68.0) (float-vector -75.0 -20.0 0.0) (float-vector -45.0 -37.0 0.0) (float-vector -45.0 -37.0 68.0)))
+         (instance face :init :vertices (list (float-vector -75.0 20.0 68.0) (float-vector -75.0 20.0 0.0) (float-vector -75.0 -20.0 0.0) (float-vector -75.0 -20.0 68.0)))
+         (instance face :init :vertices (list (float-vector -45.0 37.0 68.0) (float-vector -45.0 37.0 0.0) (float-vector -75.0 20.0 0.0) (float-vector -75.0 20.0 68.0)))
+         (instance face :init :vertices (list (float-vector 23.0 37.0 68.0) (float-vector 23.0 37.0 0.0) (float-vector -45.0 37.0 0.0) (float-vector -45.0 37.0 68.0)))
+         (instance face :init :vertices (list (float-vector 60.0 0.0 68.0) (float-vector 60.0 0.0 0.0) (float-vector 23.0 37.0 0.0) (float-vector 23.0 37.0 68.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 24.2487 -14.0 200.0) (float-vector 28.0 0.0 200.0) (float-vector 24.2487 14.0 200.0) (float-vector 14.0 24.2487 200.0) (float-vector 1.421085e-14 28.0 200.0) (float-vector -14.0 24.2487 200.0) (float-vector -24.2487 14.0 200.0) (float-vector -28.0 2.842171e-14 200.0) (float-vector -24.2487 -14.0 200.0) (float-vector -14.0 -24.2487 200.0) (float-vector -4.440892e-14 -28.0 200.0) (float-vector 14.0 -24.2487 200.0)))
+         (instance face :init :vertices (list (float-vector 28.0 0.0 68.0) (float-vector 24.2487 -14.0 68.0) (float-vector 14.0 -24.2487 68.0) (float-vector -4.440892e-14 -28.0 68.0) (float-vector -14.0 -24.2487 68.0) (float-vector -24.2487 -14.0 68.0) (float-vector -28.0 2.842171e-14 68.0) (float-vector -24.2487 14.0 68.0) (float-vector -14.0 24.2487 68.0) (float-vector 1.421085e-14 28.0 68.0) (float-vector 14.0 24.2487 68.0) (float-vector 24.2487 14.0 68.0)))
+         (instance face :init :vertices (list (float-vector 24.2487 -14.0 200.0) (float-vector 24.2487 -14.0 68.0) (float-vector 28.0 0.0 68.0) (float-vector 28.0 0.0 200.0)))
+         (instance face :init :vertices (list (float-vector 14.0 -24.2487 200.0) (float-vector 14.0 -24.2487 68.0) (float-vector 24.2487 -14.0 68.0) (float-vector 24.2487 -14.0 200.0)))
+         (instance face :init :vertices (list (float-vector -4.440892e-14 -28.0 200.0) (float-vector -4.440892e-14 -28.0 68.0) (float-vector 14.0 -24.2487 68.0) (float-vector 14.0 -24.2487 200.0)))
+         (instance face :init :vertices (list (float-vector -14.0 -24.2487 200.0) (float-vector -14.0 -24.2487 68.0) (float-vector -4.440892e-14 -28.0 68.0) (float-vector -4.440892e-14 -28.0 200.0)))
+         (instance face :init :vertices (list (float-vector -24.2487 -14.0 200.0) (float-vector -24.2487 -14.0 68.0) (float-vector -14.0 -24.2487 68.0) (float-vector -14.0 -24.2487 200.0)))
+         (instance face :init :vertices (list (float-vector -28.0 2.842171e-14 200.0) (float-vector -28.0 2.842171e-14 68.0) (float-vector -24.2487 -14.0 68.0) (float-vector -24.2487 -14.0 200.0)))
+         (instance face :init :vertices (list (float-vector -24.2487 14.0 200.0) (float-vector -24.2487 14.0 68.0) (float-vector -28.0 2.842171e-14 68.0) (float-vector -28.0 2.842171e-14 200.0)))
+         (instance face :init :vertices (list (float-vector -14.0 24.2487 200.0) (float-vector -14.0 24.2487 68.0) (float-vector -24.2487 14.0 68.0) (float-vector -24.2487 14.0 200.0)))
+         (instance face :init :vertices (list (float-vector 1.421085e-14 28.0 200.0) (float-vector 1.421085e-14 28.0 68.0) (float-vector -14.0 24.2487 68.0) (float-vector -14.0 24.2487 200.0)))
+         (instance face :init :vertices (list (float-vector 14.0 24.2487 200.0) (float-vector 14.0 24.2487 68.0) (float-vector 1.421085e-14 28.0 68.0) (float-vector 1.421085e-14 28.0 200.0)))
+         (instance face :init :vertices (list (float-vector 24.2487 14.0 200.0) (float-vector 24.2487 14.0 68.0) (float-vector 14.0 24.2487 68.0) (float-vector 14.0 24.2487 200.0)))
+         (instance face :init :vertices (list (float-vector 28.0 0.0 200.0) (float-vector 28.0 0.0 68.0) (float-vector 24.2487 14.0 68.0) (float-vector 24.2487 14.0 200.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 0.5 28.0 102.5) (float-vector -38.5 28.0 102.5) (float-vector -38.5 -28.0 102.5) (float-vector 0.5 -28.0 102.5)))
+         (instance face :init :vertices (list (float-vector -38.5 28.0 67.5) (float-vector 0.5 28.0 67.5) (float-vector 0.5 -28.0 67.5) (float-vector -38.5 -28.0 67.5)))
+         (instance face :init :vertices (list (float-vector 0.5 28.0 102.5) (float-vector 0.5 28.0 67.5) (float-vector -38.5 28.0 67.5) (float-vector -38.5 28.0 102.5)))
+         (instance face :init :vertices (list (float-vector 0.5 -28.0 102.5) (float-vector 0.5 -28.0 67.5) (float-vector 0.5 28.0 67.5) (float-vector 0.5 28.0 102.5)))
+         (instance face :init :vertices (list (float-vector -38.5 -28.0 102.5) (float-vector -38.5 -28.0 67.5) (float-vector 0.5 -28.0 67.5) (float-vector 0.5 -28.0 102.5)))
+         (instance face :init :vertices (list (float-vector -38.5 28.0 102.5) (float-vector -38.5 28.0 67.5) (float-vector -38.5 -28.0 67.5) (float-vector -38.5 -28.0 102.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 30.3109 -17.5 230.0) (float-vector 35.0 0.0 230.0) (float-vector 30.3109 17.5 230.0) (float-vector 17.5 30.3109 230.0) (float-vector 1.953993e-14 35.0 230.0) (float-vector -17.5 30.3109 230.0) (float-vector -30.3109 17.5 230.0) (float-vector -35.0 4.085621e-14 230.0) (float-vector -30.3109 -17.5 230.0) (float-vector -17.5 -30.3109 230.0) (float-vector -6.394885e-14 -35.0 230.0) (float-vector 17.5 -30.3109 230.0)))
+         (instance face :init :vertices (list (float-vector 35.0 0.0 200.0) (float-vector 30.3109 -17.5 200.0) (float-vector 17.5 -30.3109 200.0) (float-vector -6.394885e-14 -35.0 200.0) (float-vector -17.5 -30.3109 200.0) (float-vector -30.3109 -17.5 200.0) (float-vector -35.0 4.085621e-14 200.0) (float-vector -30.3109 17.5 200.0) (float-vector -17.5 30.3109 200.0) (float-vector 1.953993e-14 35.0 200.0) (float-vector 17.5 30.3109 200.0) (float-vector 30.3109 17.5 200.0)))
+         (instance face :init :vertices (list (float-vector 30.3109 -17.5 230.0) (float-vector 30.3109 -17.5 200.0) (float-vector 35.0 0.0 200.0) (float-vector 35.0 0.0 230.0)))
+         (instance face :init :vertices (list (float-vector 17.5 -30.3109 230.0) (float-vector 17.5 -30.3109 200.0) (float-vector 30.3109 -17.5 200.0) (float-vector 30.3109 -17.5 230.0)))
+         (instance face :init :vertices (list (float-vector -6.394885e-14 -35.0 230.0) (float-vector -6.394885e-14 -35.0 200.0) (float-vector 17.5 -30.3109 200.0) (float-vector 17.5 -30.3109 230.0)))
+         (instance face :init :vertices (list (float-vector -17.5 -30.3109 230.0) (float-vector -17.5 -30.3109 200.0) (float-vector -6.394885e-14 -35.0 200.0) (float-vector -6.394885e-14 -35.0 230.0)))
+         (instance face :init :vertices (list (float-vector -30.3109 -17.5 230.0) (float-vector -30.3109 -17.5 200.0) (float-vector -17.5 -30.3109 200.0) (float-vector -17.5 -30.3109 230.0)))
+         (instance face :init :vertices (list (float-vector -35.0 4.085621e-14 230.0) (float-vector -35.0 4.085621e-14 200.0) (float-vector -30.3109 -17.5 200.0) (float-vector -30.3109 -17.5 230.0)))
+         (instance face :init :vertices (list (float-vector -30.3109 17.5 230.0) (float-vector -30.3109 17.5 200.0) (float-vector -35.0 4.085621e-14 200.0) (float-vector -35.0 4.085621e-14 230.0)))
+         (instance face :init :vertices (list (float-vector -17.5 30.3109 230.0) (float-vector -17.5 30.3109 200.0) (float-vector -30.3109 17.5 200.0) (float-vector -30.3109 17.5 230.0)))
+         (instance face :init :vertices (list (float-vector 1.953993e-14 35.0 230.0) (float-vector 1.953993e-14 35.0 200.0) (float-vector -17.5 30.3109 200.0) (float-vector -17.5 30.3109 230.0)))
+         (instance face :init :vertices (list (float-vector 17.5 30.3109 230.0) (float-vector 17.5 30.3109 200.0) (float-vector 1.953993e-14 35.0 200.0) (float-vector 1.953993e-14 35.0 230.0)))
+         (instance face :init :vertices (list (float-vector 30.3109 17.5 230.0) (float-vector 30.3109 17.5 200.0) (float-vector 17.5 30.3109 200.0) (float-vector 17.5 30.3109 230.0)))
+         (instance face :init :vertices (list (float-vector 35.0 0.0 230.0) (float-vector 35.0 0.0 200.0) (float-vector 30.3109 17.5 200.0) (float-vector 30.3109 17.5 230.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 19.9186 -11.5 270.0) (float-vector 23.0 0.0 270.0) (float-vector 19.9186 11.5 270.0) (float-vector 11.5 19.9186 270.0) (float-vector 1.243450e-14 23.0 270.0) (float-vector -11.5 19.9186 270.0) (float-vector -19.9186 11.5 270.0) (float-vector -23.0 2.309264e-14 270.0) (float-vector -19.9186 -11.5 270.0) (float-vector -11.5 -19.9186 270.0) (float-vector -3.375078e-14 -23.0 270.0) (float-vector 11.5 -19.9186 270.0)))
+         (instance face :init :vertices (list (float-vector 23.0 0.0 230.0) (float-vector 19.9186 -11.5 230.0) (float-vector 11.5 -19.9186 230.0) (float-vector -3.375078e-14 -23.0 230.0) (float-vector -11.5 -19.9186 230.0) (float-vector -19.9186 -11.5 230.0) (float-vector -23.0 2.309264e-14 230.0) (float-vector -19.9186 11.5 230.0) (float-vector -11.5 19.9186 230.0) (float-vector 1.243450e-14 23.0 230.0) (float-vector 11.5 19.9186 230.0) (float-vector 19.9186 11.5 230.0)))
+         (instance face :init :vertices (list (float-vector 19.9186 -11.5 270.0) (float-vector 19.9186 -11.5 230.0) (float-vector 23.0 0.0 230.0) (float-vector 23.0 0.0 270.0)))
+         (instance face :init :vertices (list (float-vector 11.5 -19.9186 270.0) (float-vector 11.5 -19.9186 230.0) (float-vector 19.9186 -11.5 230.0) (float-vector 19.9186 -11.5 270.0)))
+         (instance face :init :vertices (list (float-vector -3.375078e-14 -23.0 270.0) (float-vector -3.375078e-14 -23.0 230.0) (float-vector 11.5 -19.9186 230.0) (float-vector 11.5 -19.9186 270.0)))
+         (instance face :init :vertices (list (float-vector -11.5 -19.9186 270.0) (float-vector -11.5 -19.9186 230.0) (float-vector -3.375078e-14 -23.0 230.0) (float-vector -3.375078e-14 -23.0 270.0)))
+         (instance face :init :vertices (list (float-vector -19.9186 -11.5 270.0) (float-vector -19.9186 -11.5 230.0) (float-vector -11.5 -19.9186 230.0) (float-vector -11.5 -19.9186 270.0)))
+         (instance face :init :vertices (list (float-vector -23.0 2.309264e-14 270.0) (float-vector -23.0 2.309264e-14 230.0) (float-vector -19.9186 -11.5 230.0) (float-vector -19.9186 -11.5 270.0)))
+         (instance face :init :vertices (list (float-vector -19.9186 11.5 270.0) (float-vector -19.9186 11.5 230.0) (float-vector -23.0 2.309264e-14 230.0) (float-vector -23.0 2.309264e-14 270.0)))
+         (instance face :init :vertices (list (float-vector -11.5 19.9186 270.0) (float-vector -11.5 19.9186 230.0) (float-vector -19.9186 11.5 230.0) (float-vector -19.9186 11.5 270.0)))
+         (instance face :init :vertices (list (float-vector 1.243450e-14 23.0 270.0) (float-vector 1.243450e-14 23.0 230.0) (float-vector -11.5 19.9186 230.0) (float-vector -11.5 19.9186 270.0)))
+         (instance face :init :vertices (list (float-vector 11.5 19.9186 270.0) (float-vector 11.5 19.9186 230.0) (float-vector 1.243450e-14 23.0 230.0) (float-vector 1.243450e-14 23.0 270.0)))
+         (instance face :init :vertices (list (float-vector 19.9186 11.5 270.0) (float-vector 19.9186 11.5 230.0) (float-vector 11.5 19.9186 230.0) (float-vector 11.5 19.9186 270.0)))
+         (instance face :init :vertices (list (float-vector 23.0 0.0 270.0) (float-vector 23.0 0.0 230.0) (float-vector 19.9186 11.5 230.0) (float-vector 19.9186 11.5 270.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 6.9282 -4.0 280.0) (float-vector 8.0 0.0 280.0) (float-vector 6.9282 4.0 280.0) (float-vector 4.0 6.9282 280.0) (float-vector 3.996803e-15 8.0 280.0) (float-vector -4.0 6.9282 280.0) (float-vector -6.9282 4.0 280.0) (float-vector -8.0 8.437695e-15 280.0) (float-vector -6.9282 -4.0 280.0) (float-vector -4.0 -6.9282 280.0) (float-vector -1.376677e-14 -8.0 280.0) (float-vector 4.0 -6.9282 280.0)))
+         (instance face :init :vertices (list (float-vector 8.0 0.0 270.0) (float-vector 6.9282 -4.0 270.0) (float-vector 4.0 -6.9282 270.0) (float-vector -1.376677e-14 -8.0 270.0) (float-vector -4.0 -6.9282 270.0) (float-vector -6.9282 -4.0 270.0) (float-vector -8.0 8.437695e-15 270.0) (float-vector -6.9282 4.0 270.0) (float-vector -4.0 6.9282 270.0) (float-vector 3.996803e-15 8.0 270.0) (float-vector 4.0 6.9282 270.0) (float-vector 6.9282 4.0 270.0)))
+         (instance face :init :vertices (list (float-vector 6.9282 -4.0 280.0) (float-vector 6.9282 -4.0 270.0) (float-vector 8.0 0.0 270.0) (float-vector 8.0 0.0 280.0)))
+         (instance face :init :vertices (list (float-vector 4.0 -6.9282 280.0) (float-vector 4.0 -6.9282 270.0) (float-vector 6.9282 -4.0 270.0) (float-vector 6.9282 -4.0 280.0)))
+         (instance face :init :vertices (list (float-vector -1.376677e-14 -8.0 280.0) (float-vector -1.376677e-14 -8.0 270.0) (float-vector 4.0 -6.9282 270.0) (float-vector 4.0 -6.9282 280.0)))
+         (instance face :init :vertices (list (float-vector -4.0 -6.9282 280.0) (float-vector -4.0 -6.9282 270.0) (float-vector -1.376677e-14 -8.0 270.0) (float-vector -1.376677e-14 -8.0 280.0)))
+         (instance face :init :vertices (list (float-vector -6.9282 -4.0 280.0) (float-vector -6.9282 -4.0 270.0) (float-vector -4.0 -6.9282 270.0) (float-vector -4.0 -6.9282 280.0)))
+         (instance face :init :vertices (list (float-vector -8.0 8.437695e-15 280.0) (float-vector -8.0 8.437695e-15 270.0) (float-vector -6.9282 -4.0 270.0) (float-vector -6.9282 -4.0 280.0)))
+         (instance face :init :vertices (list (float-vector -6.9282 4.0 280.0) (float-vector -6.9282 4.0 270.0) (float-vector -8.0 8.437695e-15 270.0) (float-vector -8.0 8.437695e-15 280.0)))
+         (instance face :init :vertices (list (float-vector -4.0 6.9282 280.0) (float-vector -4.0 6.9282 270.0) (float-vector -6.9282 4.0 270.0) (float-vector -6.9282 4.0 280.0)))
+         (instance face :init :vertices (list (float-vector 3.996803e-15 8.0 280.0) (float-vector 3.996803e-15 8.0 270.0) (float-vector -4.0 6.9282 270.0) (float-vector -4.0 6.9282 280.0)))
+         (instance face :init :vertices (list (float-vector 4.0 6.9282 280.0) (float-vector 4.0 6.9282 270.0) (float-vector 3.996803e-15 8.0 270.0) (float-vector 3.996803e-15 8.0 280.0)))
+         (instance face :init :vertices (list (float-vector 6.9282 4.0 280.0) (float-vector 6.9282 4.0 270.0) (float-vector 4.0 6.9282 270.0) (float-vector 4.0 6.9282 280.0)))
+         (instance face :init :vertices (list (float-vector 8.0 0.0 280.0) (float-vector 8.0 0.0 270.0) (float-vector 6.9282 4.0 270.0) (float-vector 6.9282 4.0 280.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 1.29904 -0.75 315.0) (float-vector 1.5 0.0 315.0) (float-vector 1.29904 0.75 315.0) (float-vector 0.75 1.29904 315.0) (float-vector 6.661338e-16 1.5 315.0) (float-vector -0.75 1.29904 315.0) (float-vector -1.29904 0.75 315.0) (float-vector -1.5 1.221245e-15 315.0) (float-vector -1.29904 -0.75 315.0) (float-vector -0.75 -1.29904 315.0) (float-vector -2.109424e-15 -1.5 315.0) (float-vector 0.75 -1.29904 315.0)))
+         (instance face :init :vertices (list (float-vector 1.5 0.0 280.0) (float-vector 1.29904 -0.75 280.0) (float-vector 0.75 -1.29904 280.0) (float-vector -2.109424e-15 -1.5 280.0) (float-vector -0.75 -1.29904 280.0) (float-vector -1.29904 -0.75 280.0) (float-vector -1.5 1.221245e-15 280.0) (float-vector -1.29904 0.75 280.0) (float-vector -0.75 1.29904 280.0) (float-vector 6.661338e-16 1.5 280.0) (float-vector 0.75 1.29904 280.0) (float-vector 1.29904 0.75 280.0)))
+         (instance face :init :vertices (list (float-vector 1.29904 -0.75 315.0) (float-vector 1.29904 -0.75 280.0) (float-vector 1.5 0.0 280.0) (float-vector 1.5 0.0 315.0)))
+         (instance face :init :vertices (list (float-vector 0.75 -1.29904 315.0) (float-vector 0.75 -1.29904 280.0) (float-vector 1.29904 -0.75 280.0) (float-vector 1.29904 -0.75 315.0)))
+         (instance face :init :vertices (list (float-vector -2.109424e-15 -1.5 315.0) (float-vector -2.109424e-15 -1.5 280.0) (float-vector 0.75 -1.29904 280.0) (float-vector 0.75 -1.29904 315.0)))
+         (instance face :init :vertices (list (float-vector -0.75 -1.29904 315.0) (float-vector -0.75 -1.29904 280.0) (float-vector -2.109424e-15 -1.5 280.0) (float-vector -2.109424e-15 -1.5 315.0)))
+         (instance face :init :vertices (list (float-vector -1.29904 -0.75 315.0) (float-vector -1.29904 -0.75 280.0) (float-vector -0.75 -1.29904 280.0) (float-vector -0.75 -1.29904 315.0)))
+         (instance face :init :vertices (list (float-vector -1.5 1.221245e-15 315.0) (float-vector -1.5 1.221245e-15 280.0) (float-vector -1.29904 -0.75 280.0) (float-vector -1.29904 -0.75 315.0)))
+         (instance face :init :vertices (list (float-vector -1.29904 0.75 315.0) (float-vector -1.29904 0.75 280.0) (float-vector -1.5 1.221245e-15 280.0) (float-vector -1.5 1.221245e-15 315.0)))
+         (instance face :init :vertices (list (float-vector -0.75 1.29904 315.0) (float-vector -0.75 1.29904 280.0) (float-vector -1.29904 0.75 280.0) (float-vector -1.29904 0.75 315.0)))
+         (instance face :init :vertices (list (float-vector 6.661338e-16 1.5 315.0) (float-vector 6.661338e-16 1.5 280.0) (float-vector -0.75 1.29904 280.0) (float-vector -0.75 1.29904 315.0)))
+         (instance face :init :vertices (list (float-vector 0.75 1.29904 315.0) (float-vector 0.75 1.29904 280.0) (float-vector 6.661338e-16 1.5 280.0) (float-vector 6.661338e-16 1.5 315.0)))
+         (instance face :init :vertices (list (float-vector 1.29904 0.75 315.0) (float-vector 1.29904 0.75 280.0) (float-vector 0.75 1.29904 280.0) (float-vector 0.75 1.29904 315.0)))
+         (instance face :init :vertices (list (float-vector 1.5 0.0 315.0) (float-vector 1.5 0.0 280.0) (float-vector 1.29904 0.75 280.0) (float-vector 1.29904 0.75 315.0)))
+       ))
+       ))
+     (dolist (b (cdr bc)) (send (car bc) :assoc b))
+     (send (elt bc 0) :set-color :gray20)
+     (send (elt bc 1) :set-color :gray20)
+     (send (elt bc 2) :set-color :yellow)
+     (send (elt bc 3) :set-color :yellow)
+     (send (elt bc 4) :set-color :gray20)
+     (send (elt bc 5) :set-color :gray20)
+     (send (elt bc 6) :set-color :gray20)
+     (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name 'dewalt-drill :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+
+     ;; definition of assoc
+     (send self :assoc blink0)
+
+     ;; definition of end-coords
+
+     ;; definition of joint
+
+
+     ;; init-ending 
+     (setq links (list blink0))
+     (setq joint-list (list))
+     (send self :init-ending)
+     (send self :move-to (make-coords :pos pos :rot rot))
+     (send-all links :worldcoords)
+
+     self))
+  (:cameras (&rest args)
+   (forward-message-to-all (list) args))
+
+  (:handle (&rest args) (forward-message-to-all (list ) args))
+  (:attention (&rest args) (forward-message-to-all (list ) args))
+  (:button (&rest args) (forward-message-to-all (list ) args))
+  )
+
+(defun dewalt-drill (&rest args) (instance* dewalt-drill-object :init args))
+;; (format *error-output* "(instance dewalt-drill-object :init) for generating model~%")

Added: trunk/EusLisp/models/unknown-side-table-object.l
===================================================================
--- trunk/EusLisp/models/unknown-side-table-object.l	                        (rev 0)
+++ trunk/EusLisp/models/unknown-side-table-object.l	2014-02-26 10:42:09 UTC (rev 671)
@@ -0,0 +1,342 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version 
+;;
+;;
+(defclass unknown-side-table-object
+  :super cascaded-link
+  :slots (sensors
+         handle0 handle1 handle2 handle3
+         joint0 joint1 joint2 ))
+(defmethod unknown-side-table-object
+  (:init
+   (&rest args &key (name "unknown-side-table") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
+   (let (c bc
+         blink0 blink1 blink2 blink3
+                 )
+     (send-super* :init :name name args)
+
+     ;; definition of link
+
+     ;; definition of :root
+     (setq bc (list
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 285.5 210.0 600.0) (float-vector -299.5 210.0 600.0) (float-vector -299.5 -210.0 600.0) (float-vector 285.5 -210.0 600.0)))
+         (instance face :init :vertices (list (float-vector -299.5 210.0 585.0) (float-vector 285.5 210.0 585.0) (float-vector 285.5 -210.0 585.0) (float-vector -299.5 -210.0 585.0)))
+         (instance face :init :vertices (list (float-vector 285.5 210.0 600.0) (float-vector 285.5 210.0 585.0) (float-vector -299.5 210.0 585.0) (float-vector -299.5 210.0 600.0)))
+         (instance face :init :vertices (list (float-vector 285.5 -210.0 600.0) (float-vector 285.5 -210.0 585.0) (float-vector 285.5 210.0 585.0) (float-vector 285.5 210.0 600.0)))
+         (instance face :init :vertices (list (float-vector -299.5 -210.0 600.0) (float-vector -299.5 -210.0 585.0) (float-vector 285.5 -210.0 585.0) (float-vector 285.5 -210.0 600.0)))
+         (instance face :init :vertices (list (float-vector -299.5 210.0 600.0) (float-vector -299.5 210.0 585.0) (float-vector -299.5 -210.0 585.0) (float-vector -299.5 -210.0 600.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 285.5 210.0 44.5) (float-vector -299.5 210.0 44.5) (float-vector -299.5 -210.0 44.5) (float-vector 285.5 -210.0 44.5)))
+         (instance face :init :vertices (list (float-vector -299.5 210.0 -0.5) (float-vector 285.5 210.0 -0.5) (float-vector 285.5 -210.0 -0.5) (float-vector -299.5 -210.0 -0.5)))
+         (instance face :init :vertices (list (float-vector 285.5 210.0 44.5) (float-vector 285.5 210.0 -0.5) (float-vector -299.5 210.0 -0.5) (float-vector -299.5 210.0 44.5)))
+         (instance face :init :vertices (list (float-vector 285.5 -210.0 44.5) (float-vector 285.5 -210.0 -0.5) (float-vector 285.5 210.0 -0.5) (float-vector 285.5 210.0 44.5)))
+         (instance face :init :vertices (list (float-vector -299.5 -210.0 44.5) (float-vector -299.5 -210.0 -0.5) (float-vector 285.5 -210.0 -0.5) (float-vector 285.5 -210.0 44.5)))
+         (instance face :init :vertices (list (float-vector -299.5 210.0 44.5) (float-vector -299.5 210.0 -0.5) (float-vector -299.5 -210.0 -0.5) (float-vector -299.5 -210.0 44.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector -285.5 195.0 585.0) (float-vector -300.5 195.0 585.0) (float-vector -300.5 -195.0 585.0) (float-vector -285.5 -195.0 585.0)))
+         (instance face :init :vertices (list (float-vector -300.5 195.0 45.0) (float-vector -285.5 195.0 45.0) (float-vector -285.5 -195.0 45.0) (float-vector -300.5 -195.0 45.0)))
+         (instance face :init :vertices (list (float-vector -285.5 195.0 585.0) (float-vector -285.5 195.0 45.0) (float-vector -300.5 195.0 45.0) (float-vector -300.5 195.0 585.0)))
+         (instance face :init :vertices (list (float-vector -285.5 -195.0 585.0) (float-vector -285.5 -195.0 45.0) (float-vector -285.5 195.0 45.0) (float-vector -285.5 195.0 585.0)))
+         (instance face :init :vertices (list (float-vector -300.5 -195.0 585.0) (float-vector -300.5 -195.0 45.0) (float-vector -285.5 -195.0 45.0) (float-vector -285.5 -195.0 585.0)))
+         (instance face :init :vertices (list (float-vector -300.5 195.0 585.0) (float-vector -300.5 195.0 45.0) (float-vector -300.5 -195.0 45.0) (float-vector -300.5 -195.0 585.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 285.5 210.5 585.0) (float-vector -299.5 210.5 585.0) (float-vector -299.5 195.5 585.0) (float-vector 285.5 195.5 585.0)))
+         (instance face :init :vertices (list (float-vector -299.5 210.5 45.0) (float-vector 285.5 210.5 45.0) (float-vector 285.5 195.5 45.0) (float-vector -299.5 195.5 45.0)))
+         (instance face :init :vertices (list (float-vector 285.5 210.5 585.0) (float-vector 285.5 210.5 45.0) (float-vector -299.5 210.5 45.0) (float-vector -299.5 210.5 585.0)))
+         (instance face :init :vertices (list (float-vector 285.5 195.5 585.0) (float-vector 285.5 195.5 45.0) (float-vector 285.5 210.5 45.0) (float-vector 285.5 210.5 585.0)))
+         (instance face :init :vertices (list (float-vector -299.5 195.5 585.0) (float-vector -299.5 195.5 45.0) (float-vector 285.5 195.5 45.0) (float-vector 285.5 195.5 585.0)))
+         (instance face :init :vertices (list (float-vector -299.5 210.5 585.0) (float-vector -299.5 210.5 45.0) (float-vector -299.5 195.5 45.0) (float-vector -299.5 195.5 585.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 285.5 -195.5 585.0) (float-vector -299.5 -195.5 585.0) (float-vector -299.5 -210.5 585.0) (float-vector 285.5 -210.5 585.0)))
+         (instance face :init :vertices (list (float-vector -299.5 -195.5 45.0) (float-vector 285.5 -195.5 45.0) (float-vector 285.5 -210.5 45.0) (float-vector -299.5 -210.5 45.0)))
+         (instance face :init :vertices (list (float-vector 285.5 -195.5 585.0) (float-vector 285.5 -195.5 45.0) (float-vector -299.5 -195.5 45.0) (float-vector -299.5 -195.5 585.0)))
+         (instance face :init :vertices (list (float-vector 285.5 -210.5 585.0) (float-vector 285.5 -210.5 45.0) (float-vector 285.5 -195.5 45.0) (float-vector 285.5 -195.5 585.0)))
+         (instance face :init :vertices (list (float-vector -299.5 -210.5 585.0) (float-vector -299.5 -210.5 45.0) (float-vector 285.5 -210.5 45.0) (float-vector 285.5 -210.5 585.0)))
+         (instance face :init :vertices (list (float-vector -299.5 -195.5 585.0) (float-vector -299.5 -195.5 45.0) (float-vector -299.5 -210.5 45.0) (float-vector -299.5 -210.5 585.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 285.0 195.0 364.5) (float-vector -285.0 195.0 364.5) (float-vector -285.0 -195.0 364.5) (float-vector 285.0 -195.0 364.5)))
+         (instance face :init :vertices (list (float-vector -285.0 195.0 349.5) (float-vector 285.0 195.0 349.5) (float-vector 285.0 -195.0 349.5) (float-vector -285.0 -195.0 349.5)))
+         (instance face :init :vertices (list (float-vector 285.0 195.0 364.5) (float-vector 285.0 195.0 349.5) (float-vector -285.0 195.0 349.5) (float-vector -285.0 195.0 364.5)))
+         (instance face :init :vertices (list (float-vector 285.0 -195.0 364.5) (float-vector 285.0 -195.0 349.5) (float-vector 285.0 195.0 349.5) (float-vector 285.0 195.0 364.5)))
+         (instance face :init :vertices (list (float-vector -285.0 -195.0 364.5) (float-vector -285.0 -195.0 349.5) (float-vector 285.0 -195.0 349.5) (float-vector 285.0 -195.0 364.5)))
+         (instance face :init :vertices (list (float-vector -285.0 195.0 364.5) (float-vector -285.0 195.0 349.5) (float-vector -285.0 -195.0 349.5) (float-vector -285.0 -195.0 364.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 285.0 195.0 479.5) (float-vector -285.0 195.0 479.5) (float-vector -285.0 -195.0 479.5) (float-vector 285.0 -195.0 479.5)))
+         (instance face :init :vertices (list (float-vector -285.0 195.0 464.5) (float-vector 285.0 195.0 464.5) (float-vector 285.0 -195.0 464.5) (float-vector -285.0 -195.0 464.5)))
+         (instance face :init :vertices (list (float-vector 285.0 195.0 479.5) (float-vector 285.0 195.0 464.5) (float-vector -285.0 195.0 464.5) (float-vector -285.0 195.0 479.5)))
+         (instance face :init :vertices (list (float-vector 285.0 -195.0 479.5) (float-vector 285.0 -195.0 464.5) (float-vector 285.0 195.0 464.5) (float-vector 285.0 195.0 479.5)))
+         (instance face :init :vertices (list (float-vector -285.0 -195.0 479.5) (float-vector -285.0 -195.0 464.5) (float-vector 285.0 -195.0 464.5) (float-vector 285.0 -195.0 479.5)))
+         (instance face :init :vertices (list (float-vector -285.0 195.0 479.5) (float-vector -285.0 195.0 464.5) (float-vector -285.0 -195.0 464.5) (float-vector -285.0 -195.0 479.5)))
+       ))
+       ))
+     (dolist (b (cdr bc)) (send (car bc) :assoc b))
+     (send (elt bc 0) :set-color :seashell)
+     (send (elt bc 1) :set-color :seashell)
+     (send (elt bc 2) :set-color :seashell)
+     (send (elt bc 3) :set-color :seashell)
+     (send (elt bc 4) :set-color :seashell)
+     (send (elt bc 5) :set-color :seashell)
+     (send (elt bc 6) :set-color :seashell)
+     (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+
+     ;; definition of :unknown-side-table-bodyset2
+     (setq bc (list
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector -285.0 195.0 -47.5) (float-vector -285.0 -195.0 -47.5) (float-vector -285.0 -195.0 47.5) (float-vector -285.0 195.0 47.5)))
+         (instance face :init :vertices (list (float-vector 285.0 -195.0 -47.5) (float-vector 285.0 -195.0 47.5) (float-vector -285.0 -195.0 47.5) (float-vector -285.0 -195.0 -47.5)))
+         (instance face :init :vertices (list (float-vector 285.0 195.0 -47.5) (float-vector 285.0 195.0 47.5) (float-vector 285.0 180.0 47.5) (float-vector 285.0 180.0 -32.5) (float-vector 285.0 -180.0 -32.5) (float-vector 285.0 -180.0 47.5) (float-vector 285.0 -195.0 47.5) (float-vector 285.0 -195.0 -47.5)))
+         (instance face :init :vertices (list (float-vector -285.0 195.0 47.5) (float-vector -285.0 -195.0 47.5) (float-vector 285.0 -195.0 47.5) (float-vector 285.0 -180.0 47.5) (float-vector -270.0 -180.0 47.5) (float-vector -270.0 180.0 47.5) (float-vector 285.0 180.0 47.5) (float-vector 285.0 195.0 47.5)))
+         (instance face :init :vertices (list (float-vector 285.0 195.0 -47.5) (float-vector 285.0 -195.0 -47.5) (float-vector -285.0 -195.0 -47.5) (float-vector -285.0 195.0 -47.5)))
+         (instance face :init :vertices (list (float-vector -285.0 195.0 -47.5) (float-vector -285.0 195.0 47.5) (float-vector 285.0 195.0 47.5) (float-vector 285.0 195.0 -47.5)))
+         (instance face :init :vertices (list (float-vector -270.0 180.0 47.5) (float-vector -270.0 -180.0 47.5) (float-vector -270.0 -180.0 -32.5) (float-vector -270.0 180.0 -32.5)))
+         (instance face :init :vertices (list (float-vector -270.0 -180.0 -32.5) (float-vector -270.0 -180.0 47.5) (float-vector 285.0 -180.0 47.5) (float-vector 285.0 -180.0 -32.5)))
+         (instance face :init :vertices (list (float-vector 285.0 180.0 -32.5) (float-vector 285.0 180.0 47.5) (float-vector -270.0 180.0 47.5) (float-vector -270.0 180.0 -32.5)))
+         (instance face :init :vertices (list (float-vector -270.0 180.0 -32.5) (float-vector -270.0 -180.0 -32.5) (float-vector 285.0 -180.0 -32.5) (float-vector 285.0 180.0 -32.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 300.5 210.0 63.0) (float-vector 285.5 210.0 63.0) (float-vector 285.5 -210.0 63.0) (float-vector 300.5 -210.0 63.0)))
+         (instance face :init :vertices (list (float-vector 285.5 210.0 -47.0) (float-vector 300.5 210.0 -47.0) (float-vector 300.5 -210.0 -47.0) (float-vector 285.5 -210.0 -47.0)))
+         (instance face :init :vertices (list (float-vector 300.5 210.0 63.0) (float-vector 300.5 210.0 -47.0) (float-vector 285.5 210.0 -47.0) (float-vector 285.5 210.0 63.0)))
+         (instance face :init :vertices (list (float-vector 300.5 -210.0 63.0) (float-vector 300.5 -210.0 -47.0) (float-vector 300.5 210.0 -47.0) (float-vector 300.5 210.0 63.0)))
+         (instance face :init :vertices (list (float-vector 285.5 -210.0 63.0) (float-vector 285.5 -210.0 -47.0) (float-vector 300.5 -210.0 -47.0) (float-vector 300.5 -210.0 63.0)))
+         (instance face :init :vertices (list (float-vector 285.5 210.0 63.0) (float-vector 285.5 210.0 -47.0) (float-vector 285.5 -210.0 -47.0) (float-vector 285.5 -210.0 63.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 327.33 -120.0 5.5) (float-vector 328.0 -120.0 8.0) (float-vector 327.33 -120.0 10.5) (float-vector 325.5 -120.0 12.3301) (float-vector 323.0 -120.0 13.0) (float-vector 320.5 -120.0 12.3301) (float-vector 318.67 -120.0 10.5) (float-vector 318.0 -120.0 8.0) (float-vector 318.67 -120.0 5.5) (float-vector 320.5 -120.0 3.66987) (float-vector 323.0 -120.0 3.0) (float-vector 325.5 -120.0 3.66987)))
+         (instance face :init :vertices (list (float-vector 328.0 120.0 8.0) (float-vector 327.33 120.0 5.5) (float-vector 325.5 120.0 3.66987) (float-vector 323.0 120.0 3.0) (float-vector 320.5 120.0 3.66987) (float-vector 318.67 120.0 5.5) (float-vector 318.0 120.0 8.0) (float-vector 318.67 120.0 10.5) (float-vector 320.5 120.0 12.3301) (float-vector 323.0 120.0 13.0) (float-vector 325.5 120.0 12.3301) (float-vector 327.33 120.0 10.5)))
+         (instance face :init :vertices (list (float-vector 327.33 -120.0 5.5) (float-vector 327.33 120.0 5.5) (float-vector 328.0 120.0 8.0) (float-vector 328.0 -120.0 8.0)))
+         (instance face :init :vertices (list (float-vector 325.5 -120.0 3.66987) (float-vector 325.5 120.0 3.66987) (float-vector 327.33 120.0 5.5) (float-vector 327.33 -120.0 5.5)))
+         (instance face :init :vertices (list (float-vector 323.0 -120.0 3.0) (float-vector 323.0 120.0 3.0) (float-vector 325.5 120.0 3.66987) (float-vector 325.5 -120.0 3.66987)))
+         (instance face :init :vertices (list (float-vector 320.5 -120.0 3.66987) (float-vector 320.5 120.0 3.66987) (float-vector 323.0 120.0 3.0) (float-vector 323.0 -120.0 3.0)))
+         (instance face :init :vertices (list (float-vector 318.67 -120.0 5.5) (float-vector 318.67 120.0 5.5) (float-vector 320.5 120.0 3.66987) (float-vector 320.5 -120.0 3.66987)))
+         (instance face :init :vertices (list (float-vector 318.0 -120.0 8.0) (float-vector 318.0 120.0 8.0) (float-vector 318.67 120.0 5.5) (float-vector 318.67 -120.0 5.5)))
+         (instance face :init :vertices (list (float-vector 318.67 -120.0 10.5) (float-vector 318.67 120.0 10.5) (float-vector 318.0 120.0 8.0) (float-vector 318.0 -120.0 8.0)))
+         (instance face :init :vertices (list (float-vector 320.5 -120.0 12.3301) (float-vector 320.5 120.0 12.3301) (float-vector 318.67 120.0 10.5) (float-vector 318.67 -120.0 10.5)))
+         (instance face :init :vertices (list (float-vector 323.0 -120.0 13.0) (float-vector 323.0 120.0 13.0) (float-vector 320.5 120.0 12.3301) (float-vector 320.5 -120.0 12.3301)))
+         (instance face :init :vertices (list (float-vector 325.5 -120.0 12.3301) (float-vector 325.5 120.0 12.3301) (float-vector 323.0 120.0 13.0) (float-vector 323.0 -120.0 13.0)))
+         (instance face :init :vertices (list (float-vector 327.33 -120.0 10.5) (float-vector 327.33 120.0 10.5) (float-vector 325.5 120.0 12.3301) (float-vector 325.5 -120.0 12.3301)))
+         (instance face :init :vertices (list (float-vector 328.0 -120.0 8.0) (float-vector 328.0 120.0 8.0) (float-vector 327.33 120.0 10.5) (float-vector 327.33 -120.0 10.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 323.0 120.0 12.0) (float-vector 293.0 120.0 12.0) (float-vector 293.0 105.0 12.0) (float-vector 323.0 105.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 120.0 4.0) (float-vector 323.0 120.0 4.0) (float-vector 323.0 105.0 4.0) (float-vector 293.0 105.0 4.0)))
+         (instance face :init :vertices (list (float-vector 323.0 120.0 12.0) (float-vector 323.0 120.0 4.0) (float-vector 293.0 120.0 4.0) (float-vector 293.0 120.0 12.0)))
+         (instance face :init :vertices (list (float-vector 323.0 105.0 12.0) (float-vector 323.0 105.0 4.0) (float-vector 323.0 120.0 4.0) (float-vector 323.0 120.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 105.0 12.0) (float-vector 293.0 105.0 4.0) (float-vector 323.0 105.0 4.0) (float-vector 323.0 105.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 120.0 12.0) (float-vector 293.0 120.0 4.0) (float-vector 293.0 105.0 4.0) (float-vector 293.0 105.0 12.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 323.0 -105.0 12.0) (float-vector 293.0 -105.0 12.0) (float-vector 293.0 -120.0 12.0) (float-vector 323.0 -120.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 -105.0 4.0) (float-vector 323.0 -105.0 4.0) (float-vector 323.0 -120.0 4.0) (float-vector 293.0 -120.0 4.0)))
+         (instance face :init :vertices (list (float-vector 323.0 -105.0 12.0) (float-vector 323.0 -105.0 4.0) (float-vector 293.0 -105.0 4.0) (float-vector 293.0 -105.0 12.0)))
+         (instance face :init :vertices (list (float-vector 323.0 -120.0 12.0) (float-vector 323.0 -120.0 4.0) (float-vector 323.0 -105.0 4.0) (float-vector 323.0 -105.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 -120.0 12.0) (float-vector 293.0 -120.0 4.0) (float-vector 323.0 -120.0 4.0) (float-vector 323.0 -120.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 -105.0 12.0) (float-vector 293.0 -105.0 4.0) (float-vector 293.0 -120.0 4.0) (float-vector 293.0 -120.0 12.0)))
+       ))
+       ))
+     (dolist (b (cdr bc)) (send (car bc) :assoc b))
+     (send (elt bc 0) :set-color :white)
+     (send (elt bc 1) :set-color :seashell)
+     (send (elt bc 2) :set-color :gray)
+     (send (elt bc 3) :set-color :gray)
+     (send (elt bc 4) :set-color :gray)
+     (setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :unknown-side-table-bodyset2 :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+
+     ;; definition of :unknown-side-table-bodyset3
+     (setq bc (list
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector -285.0 195.0 -47.5) (float-vector -285.0 -195.0 -47.5) (float-vector -285.0 -195.0 47.5) (float-vector -285.0 195.0 47.5)))
+         (instance face :init :vertices (list (float-vector 285.0 -195.0 -47.5) (float-vector 285.0 -195.0 47.5) (float-vector -285.0 -195.0 47.5) (float-vector -285.0 -195.0 -47.5)))
+         (instance face :init :vertices (list (float-vector 285.0 195.0 -47.5) (float-vector 285.0 195.0 47.5) (float-vector 285.0 180.0 47.5) (float-vector 285.0 180.0 -32.5) (float-vector 285.0 -180.0 -32.5) (float-vector 285.0 -180.0 47.5) (float-vector 285.0 -195.0 47.5) (float-vector 285.0 -195.0 -47.5)))
+         (instance face :init :vertices (list (float-vector -285.0 195.0 47.5) (float-vector -285.0 -195.0 47.5) (float-vector 285.0 -195.0 47.5) (float-vector 285.0 -180.0 47.5) (float-vector -270.0 -180.0 47.5) (float-vector -270.0 180.0 47.5) (float-vector 285.0 180.0 47.5) (float-vector 285.0 195.0 47.5)))
+         (instance face :init :vertices (list (float-vector 285.0 195.0 -47.5) (float-vector 285.0 -195.0 -47.5) (float-vector -285.0 -195.0 -47.5) (float-vector -285.0 195.0 -47.5)))
+         (instance face :init :vertices (list (float-vector -285.0 195.0 -47.5) (float-vector -285.0 195.0 47.5) (float-vector 285.0 195.0 47.5) (float-vector 285.0 195.0 -47.5)))
+         (instance face :init :vertices (list (float-vector -270.0 180.0 47.5) (float-vector -270.0 -180.0 47.5) (float-vector -270.0 -180.0 -32.5) (float-vector -270.0 180.0 -32.5)))
+         (instance face :init :vertices (list (float-vector -270.0 -180.0 -32.5) (float-vector -270.0 -180.0 47.5) (float-vector 285.0 -180.0 47.5) (float-vector 285.0 -180.0 -32.5)))
+         (instance face :init :vertices (list (float-vector 285.0 180.0 -32.5) (float-vector 285.0 180.0 47.5) (float-vector -270.0 180.0 47.5) (float-vector -270.0 180.0 -32.5)))
+         (instance face :init :vertices (list (float-vector -270.0 180.0 -32.5) (float-vector -270.0 -180.0 -32.5) (float-vector 285.0 -180.0 -32.5) (float-vector 285.0 180.0 -32.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 300.5 210.0 63.0) (float-vector 285.5 210.0 63.0) (float-vector 285.5 -210.0 63.0) (float-vector 300.5 -210.0 63.0)))
+         (instance face :init :vertices (list (float-vector 285.5 210.0 -47.0) (float-vector 300.5 210.0 -47.0) (float-vector 300.5 -210.0 -47.0) (float-vector 285.5 -210.0 -47.0)))
+         (instance face :init :vertices (list (float-vector 300.5 210.0 63.0) (float-vector 300.5 210.0 -47.0) (float-vector 285.5 210.0 -47.0) (float-vector 285.5 210.0 63.0)))
+         (instance face :init :vertices (list (float-vector 300.5 -210.0 63.0) (float-vector 300.5 -210.0 -47.0) (float-vector 300.5 210.0 -47.0) (float-vector 300.5 210.0 63.0)))
+         (instance face :init :vertices (list (float-vector 285.5 -210.0 63.0) (float-vector 285.5 -210.0 -47.0) (float-vector 300.5 -210.0 -47.0) (float-vector 300.5 -210.0 63.0)))
+         (instance face :init :vertices (list (float-vector 285.5 210.0 63.0) (float-vector 285.5 210.0 -47.0) (float-vector 285.5 -210.0 -47.0) (float-vector 285.5 -210.0 63.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 327.33 -120.0 5.5) (float-vector 328.0 -120.0 8.0) (float-vector 327.33 -120.0 10.5) (float-vector 325.5 -120.0 12.3301) (float-vector 323.0 -120.0 13.0) (float-vector 320.5 -120.0 12.3301) (float-vector 318.67 -120.0 10.5) (float-vector 318.0 -120.0 8.0) (float-vector 318.67 -120.0 5.5) (float-vector 320.5 -120.0 3.66987) (float-vector 323.0 -120.0 3.0) (float-vector 325.5 -120.0 3.66987)))
+         (instance face :init :vertices (list (float-vector 328.0 120.0 8.0) (float-vector 327.33 120.0 5.5) (float-vector 325.5 120.0 3.66987) (float-vector 323.0 120.0 3.0) (float-vector 320.5 120.0 3.66987) (float-vector 318.67 120.0 5.5) (float-vector 318.0 120.0 8.0) (float-vector 318.67 120.0 10.5) (float-vector 320.5 120.0 12.3301) (float-vector 323.0 120.0 13.0) (float-vector 325.5 120.0 12.3301) (float-vector 327.33 120.0 10.5)))
+         (instance face :init :vertices (list (float-vector 327.33 -120.0 5.5) (float-vector 327.33 120.0 5.5) (float-vector 328.0 120.0 8.0) (float-vector 328.0 -120.0 8.0)))
+         (instance face :init :vertices (list (float-vector 325.5 -120.0 3.66987) (float-vector 325.5 120.0 3.66987) (float-vector 327.33 120.0 5.5) (float-vector 327.33 -120.0 5.5)))
+         (instance face :init :vertices (list (float-vector 323.0 -120.0 3.0) (float-vector 323.0 120.0 3.0) (float-vector 325.5 120.0 3.66987) (float-vector 325.5 -120.0 3.66987)))
+         (instance face :init :vertices (list (float-vector 320.5 -120.0 3.66987) (float-vector 320.5 120.0 3.66987) (float-vector 323.0 120.0 3.0) (float-vector 323.0 -120.0 3.0)))
+         (instance face :init :vertices (list (float-vector 318.67 -120.0 5.5) (float-vector 318.67 120.0 5.5) (float-vector 320.5 120.0 3.66987) (float-vector 320.5 -120.0 3.66987)))
+         (instance face :init :vertices (list (float-vector 318.0 -120.0 8.0) (float-vector 318.0 120.0 8.0) (float-vector 318.67 120.0 5.5) (float-vector 318.67 -120.0 5.5)))
+         (instance face :init :vertices (list (float-vector 318.67 -120.0 10.5) (float-vector 318.67 120.0 10.5) (float-vector 318.0 120.0 8.0) (float-vector 318.0 -120.0 8.0)))
+         (instance face :init :vertices (list (float-vector 320.5 -120.0 12.3301) (float-vector 320.5 120.0 12.3301) (float-vector 318.67 120.0 10.5) (float-vector 318.67 -120.0 10.5)))
+         (instance face :init :vertices (list (float-vector 323.0 -120.0 13.0) (float-vector 323.0 120.0 13.0) (float-vector 320.5 120.0 12.3301) (float-vector 320.5 -120.0 12.3301)))
+         (instance face :init :vertices (list (float-vector 325.5 -120.0 12.3301) (float-vector 325.5 120.0 12.3301) (float-vector 323.0 120.0 13.0) (float-vector 323.0 -120.0 13.0)))
+         (instance face :init :vertices (list (float-vector 327.33 -120.0 10.5) (float-vector 327.33 120.0 10.5) (float-vector 325.5 120.0 12.3301) (float-vector 325.5 -120.0 12.3301)))
+         (instance face :init :vertices (list (float-vector 328.0 -120.0 8.0) (float-vector 328.0 120.0 8.0) (float-vector 327.33 120.0 10.5) (float-vector 327.33 -120.0 10.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 323.0 120.0 12.0) (float-vector 293.0 120.0 12.0) (float-vector 293.0 105.0 12.0) (float-vector 323.0 105.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 120.0 4.0) (float-vector 323.0 120.0 4.0) (float-vector 323.0 105.0 4.0) (float-vector 293.0 105.0 4.0)))
+         (instance face :init :vertices (list (float-vector 323.0 120.0 12.0) (float-vector 323.0 120.0 4.0) (float-vector 293.0 120.0 4.0) (float-vector 293.0 120.0 12.0)))
+         (instance face :init :vertices (list (float-vector 323.0 105.0 12.0) (float-vector 323.0 105.0 4.0) (float-vector 323.0 120.0 4.0) (float-vector 323.0 120.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 105.0 12.0) (float-vector 293.0 105.0 4.0) (float-vector 323.0 105.0 4.0) (float-vector 323.0 105.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 120.0 12.0) (float-vector 293.0 120.0 4.0) (float-vector 293.0 105.0 4.0) (float-vector 293.0 105.0 12.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 323.0 -105.0 12.0) (float-vector 293.0 -105.0 12.0) (float-vector 293.0 -120.0 12.0) (float-vector 323.0 -120.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 -105.0 4.0) (float-vector 323.0 -105.0 4.0) (float-vector 323.0 -120.0 4.0) (float-vector 293.0 -120.0 4.0)))
+         (instance face :init :vertices (list (float-vector 323.0 -105.0 12.0) (float-vector 323.0 -105.0 4.0) (float-vector 293.0 -105.0 4.0) (float-vector 293.0 -105.0 12.0)))
+         (instance face :init :vertices (list (float-vector 323.0 -120.0 12.0) (float-vector 323.0 -120.0 4.0) (float-vector 323.0 -105.0 4.0) (float-vector 323.0 -105.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 -120.0 12.0) (float-vector 293.0 -120.0 4.0) (float-vector 323.0 -120.0 4.0) (float-vector 323.0 -120.0 12.0)))
+         (instance face :init :vertices (list (float-vector 293.0 -105.0 12.0) (float-vector 293.0 -105.0 4.0) (float-vector 293.0 -120.0 4.0) (float-vector 293.0 -120.0 12.0)))
+       ))
+       ))
+     (dolist (b (cdr bc)) (send (car bc) :assoc b))
+     (send (elt bc 0) :set-color :white)
+     (send (elt bc 1) :set-color :seashell)
+     (send (elt bc 2) :set-color :gray)
+     (send (elt bc 3) :set-color :gray)
+     (send (elt bc 4) :set-color :gray)
+     (setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :unknown-side-table-bodyset3 :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+
+     ;; definition of :unknown-side-table-bodyset4
+     (setq bc (list
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector -285.0 195.0 -150.0) (float-vector -285.0 -195.0 -150.0) (float-vector -285.0 -195.0 150.0) (float-vector -285.0 195.0 150.0)))
+         (instance face :init :vertices (list (float-vector 285.0 -195.0 -150.0) (float-vector 285.0 -195.0 150.0) (float-vector -285.0 -195.0 150.0) (float-vector -285.0 -195.0 -150.0)))
+         (instance face :init :vertices (list (float-vector 285.0 195.0 -150.0) (float-vector 285.0 195.0 150.0) (float-vector 285.0 180.0 150.0) (float-vector 285.0 180.0 -135.0) (float-vector 285.0 -180.0 -135.0) (float-vector 285.0 -180.0 150.0) (float-vector 285.0 -195.0 150.0) (float-vector 285.0 -195.0 -150.0)))
+         (instance face :init :vertices (list (float-vector -285.0 195.0 150.0) (float-vector -285.0 -195.0 150.0) (float-vector 285.0 -195.0 150.0) (float-vector 285.0 -180.0 150.0) (float-vector -270.0 -180.0 150.0) (float-vector -270.0 180.0 150.0) (float-vector 285.0 180.0 150.0) (float-vector 285.0 195.0 150.0)))
+         (instance face :init :vertices (list (float-vector 285.0 195.0 -150.0) (float-vector 285.0 -195.0 -150.0) (float-vector -285.0 -195.0 -150.0) (float-vector -285.0 195.0 -150.0)))
+         (instance face :init :vertices (list (float-vector -285.0 195.0 -150.0) (float-vector -285.0 195.0 150.0) (float-vector 285.0 195.0 150.0) (float-vector 285.0 195.0 -150.0)))
+         (instance face :init :vertices (list (float-vector -270.0 180.0 150.0) (float-vector -270.0 -180.0 150.0) (float-vector -270.0 -180.0 -135.0) (float-vector -270.0 180.0 -135.0)))
+         (instance face :init :vertices (list (float-vector -270.0 -180.0 -135.0) (float-vector -270.0 -180.0 150.0) (float-vector 285.0 -180.0 150.0) (float-vector 285.0 -180.0 -135.0)))
+         (instance face :init :vertices (list (float-vector 285.0 180.0 -135.0) (float-vector 285.0 180.0 150.0) (float-vector -270.0 180.0 150.0) (float-vector -270.0 180.0 -135.0)))
+         (instance face :init :vertices (list (float-vector -270.0 180.0 -135.0) (float-vector -270.0 -180.0 -135.0) (float-vector 285.0 -180.0 -135.0) (float-vector 285.0 180.0 -135.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 300.5 210.0 164.5) (float-vector 285.5 210.0 164.5) (float-vector 285.5 -210.0 164.5) (float-vector 300.5 -210.0 164.5)))
+         (instance face :init :vertices (list (float-vector 285.5 210.0 -150.5) (float-vector 300.5 210.0 -150.5) (float-vector 300.5 -210.0 -150.5) (float-vector 285.5 -210.0 -150.5)))
+         (instance face :init :vertices (list (float-vector 300.5 210.0 164.5) (float-vector 300.5 210.0 -150.5) (float-vector 285.5 210.0 -150.5) (float-vector 285.5 210.0 164.5)))
+         (instance face :init :vertices (list (float-vector 300.5 -210.0 164.5) (float-vector 300.5 -210.0 -150.5) (float-vector 300.5 210.0 -150.5) (float-vector 300.5 210.0 164.5)))
+         (instance face :init :vertices (list (float-vector 285.5 -210.0 164.5) (float-vector 285.5 -210.0 -150.5) (float-vector 300.5 -210.0 -150.5) (float-vector 300.5 -210.0 164.5)))
+         (instance face :init :vertices (list (float-vector 285.5 210.0 164.5) (float-vector 285.5 210.0 -150.5) (float-vector 285.5 -210.0 -150.5) (float-vector 285.5 -210.0 164.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 327.33 -120.0 119.5) (float-vector 328.0 -120.0 122.0) (float-vector 327.33 -120.0 124.5) (float-vector 325.5 -120.0 126.33) (float-vector 323.0 -120.0 127.0) (float-vector 320.5 -120.0 126.33) (float-vector 318.67 -120.0 124.5) (float-vector 318.0 -120.0 122.0) (float-vector 318.67 -120.0 119.5) (float-vector 320.5 -120.0 117.67) (float-vector 323.0 -120.0 117.0) (float-vector 325.5 -120.0 117.67)))
+         (instance face :init :vertices (list (float-vector 328.0 120.0 122.0) (float-vector 327.33 120.0 119.5) (float-vector 325.5 120.0 117.67) (float-vector 323.0 120.0 117.0) (float-vector 320.5 120.0 117.67) (float-vector 318.67 120.0 119.5) (float-vector 318.0 120.0 122.0) (float-vector 318.67 120.0 124.5) (float-vector 320.5 120.0 126.33) (float-vector 323.0 120.0 127.0) (float-vector 325.5 120.0 126.33) (float-vector 327.33 120.0 124.5)))
+         (instance face :init :vertices (list (float-vector 327.33 -120.0 119.5) (float-vector 327.33 120.0 119.5) (float-vector 328.0 120.0 122.0) (float-vector 328.0 -120.0 122.0)))
+         (instance face :init :vertices (list (float-vector 325.5 -120.0 117.67) (float-vector 325.5 120.0 117.67) (float-vector 327.33 120.0 119.5) (float-vector 327.33 -120.0 119.5)))
+         (instance face :init :vertices (list (float-vector 323.0 -120.0 117.0) (float-vector 323.0 120.0 117.0) (float-vector 325.5 120.0 117.67) (float-vector 325.5 -120.0 117.67)))
+         (instance face :init :vertices (list (float-vector 320.5 -120.0 117.67) (float-vector 320.5 120.0 117.67) (float-vector 323.0 120.0 117.0) (float-vector 323.0 -120.0 117.0)))
+         (instance face :init :vertices (list (float-vector 318.67 -120.0 119.5) (float-vector 318.67 120.0 119.5) (float-vector 320.5 120.0 117.67) (float-vector 320.5 -120.0 117.67)))
+         (instance face :init :vertices (list (float-vector 318.0 -120.0 122.0) (float-vector 318.0 120.0 122.0) (float-vector 318.67 120.0 119.5) (float-vector 318.67 -120.0 119.5)))
+         (instance face :init :vertices (list (float-vector 318.67 -120.0 124.5) (float-vector 318.67 120.0 124.5) (float-vector 318.0 120.0 122.0) (float-vector 318.0 -120.0 122.0)))
+         (instance face :init :vertices (list (float-vector 320.5 -120.0 126.33) (float-vector 320.5 120.0 126.33) (float-vector 318.67 120.0 124.5) (float-vector 318.67 -120.0 124.5)))
+         (instance face :init :vertices (list (float-vector 323.0 -120.0 127.0) (float-vector 323.0 120.0 127.0) (float-vector 320.5 120.0 126.33) (float-vector 320.5 -120.0 126.33)))
+         (instance face :init :vertices (list (float-vector 325.5 -120.0 126.33) (float-vector 325.5 120.0 126.33) (float-vector 323.0 120.0 127.0) (float-vector 323.0 -120.0 127.0)))
+         (instance face :init :vertices (list (float-vector 327.33 -120.0 124.5) (float-vector 327.33 120.0 124.5) (float-vector 325.5 120.0 126.33) (float-vector 325.5 -120.0 126.33)))
+         (instance face :init :vertices (list (float-vector 328.0 -120.0 122.0) (float-vector 328.0 120.0 122.0) (float-vector 327.33 120.0 124.5) (float-vector 327.33 -120.0 124.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 323.0 120.0 126.0) (float-vector 293.0 120.0 126.0) (float-vector 293.0 105.0 126.0) (float-vector 323.0 105.0 126.0)))
+         (instance face :init :vertices (list (float-vector 293.0 120.0 118.0) (float-vector 323.0 120.0 118.0) (float-vector 323.0 105.0 118.0) (float-vector 293.0 105.0 118.0)))
+         (instance face :init :vertices (list (float-vector 323.0 120.0 126.0) (float-vector 323.0 120.0 118.0) (float-vector 293.0 120.0 118.0) (float-vector 293.0 120.0 126.0)))
+         (instance face :init :vertices (list (float-vector 323.0 105.0 126.0) (float-vector 323.0 105.0 118.0) (float-vector 323.0 120.0 118.0) (float-vector 323.0 120.0 126.0)))
+         (instance face :init :vertices (list (float-vector 293.0 105.0 126.0) (float-vector 293.0 105.0 118.0) (float-vector 323.0 105.0 118.0) (float-vector 323.0 105.0 126.0)))
+         (instance face :init :vertices (list (float-vector 293.0 120.0 126.0) (float-vector 293.0 120.0 118.0) (float-vector 293.0 105.0 118.0) (float-vector 293.0 105.0 126.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 323.0 -105.0 126.0) (float-vector 293.0 -105.0 126.0) (float-vector 293.0 -120.0 126.0) (float-vector 323.0 -120.0 126.0)))
+         (instance face :init :vertices (list (float-vector 293.0 -105.0 118.0) (float-vector 323.0 -105.0 118.0) (float-vector 323.0 -120.0 118.0) (float-vector 293.0 -120.0 118.0)))
+         (instance face :init :vertices (list (float-vector 323.0 -105.0 126.0) (float-vector 323.0 -105.0 118.0) (float-vector 293.0 -105.0 118.0) (float-vector 293.0 -105.0 126.0)))
+         (instance face :init :vertices (list (float-vector 323.0 -120.0 126.0) (float-vector 323.0 -120.0 118.0) (float-vector 323.0 -105.0 118.0) (float-vector 323.0 -105.0 126.0)))
+         (instance face :init :vertices (list (float-vector 293.0 -120.0 126.0) (float-vector 293.0 -120.0 118.0) (float-vector 323.0 -120.0 118.0) (float-vector 323.0 -120.0 126.0)))
+         (instance face :init :vertices (list (float-vector 293.0 -105.0 126.0) (float-vector 293.0 -105.0 118.0) (float-vector 293.0 -120.0 118.0) (float-vector 293.0 -120.0 126.0)))
+       ))
+       ))
+     (dolist (b (cdr bc)) (send (car bc) :assoc b))
+     (send (elt bc 0) :set-color :white)
+     (send (elt bc 1) :set-color :seashell)
+     (send (elt bc 2) :set-color :gray)
+     (send (elt bc 3) :set-color :gray)
+     (send (elt bc 4) :set-color :gray)
+     (setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :unknown-side-table-bodyset4 :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+
+     ;; definition of assoc
+     (send blink1 :newcoords (make-coords :pos (float-vector 0.0 0.0 195.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+     (send blink0 :assoc blink1)
+     (send blink2 :newcoords (make-coords :pos (float-vector 0.0 0.0 412.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+     (send blink0 :assoc blink2)
+     (send blink3 :newcoords (make-coords :pos (float-vector 0.0 0.0 527.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+     (send blink0 :assoc blink3)
+     (send self :assoc blink0)
+
+     ;; definition of end-coords
+
+     ;; definition of joint
+
+     ;; definition of :drawer2
+     (setq joint0 (instance linear-joint :init
+			     :parent-link blink0 :child-link blink1 :name :drawer2   :axis (float-vector 1.0 0.0 0.0)
+			     :min    0.0 :max  600.0 :max-joint-velocity 0.785398 :max-joint-torque 100))
+
+     ;; definition of :drawer1
+     (setq joint1 (instance linear-joint :init
+			     :parent-link blink0 :child-link blink2 :name :drawer1   :axis (float-vector 1.0 0.0 0.0)
+			     :min    0.0 :max  600.0 :max-joint-velocity 0.785398 :max-joint-torque 100))
+
+     ;; definition of :drawer0
+     (setq joint2 (instance linear-joint :init
+			     :parent-link blink0 :child-link blink3 :name :drawer0   :axis (...
 
[truncated message content]

[Euslisp-commit] SF.net SVN: euslisp:[670] trunk/EusLisp/models/darwin.l

From: <sn...@us...> - 2014-01-31 11:02:52

Revision: 670
          http://sourceforge.net/p/euslisp/code/670
Author:   snozawa
Date:     2014-01-31 11:02:39 +0000 (Fri, 31 Jan 2014)
Log Message:
-----------
add darwin euslisp model converted from ... darwin VRML -> darwin collada -> darwin euslisp

Added Paths:
-----------
    trunk/EusLisp/models/darwin.l

Added: trunk/EusLisp/models/darwin.l
===================================================================
--- trunk/EusLisp/models/darwin.l	                        (rev 0)
+++ trunk/EusLisp/models/darwin.l	2014-01-31 11:02:39 UTC (rev 670)
@@ -0,0 +1,3266 @@
+;;
+;; DO NOT EDIT THIS FILE
+;;
+;; this file is automatically generated from /home/nozawa/ros/groovy/jsk-ros-pkg-unreleased/jsk_robot_common/jsk_hrpsys_ros_bridge/models/DARWIN.dae on (Linux nozawa-ThinkPad-T430 3.2.0-58-generic x86_64) at Fri Jan 31 19:17:25 2014
+
+;;
+;; /home/nozawa/ros/groovy/jsk-ros-pkg-unreleased/jsk_robot_common/jsk_hrpsys_ros_bridge/build $ /home/nozawa/ros/groovy/jsk-ros-pkg/jsk_model_tools/euscollada/bin/collada2eus /home/nozawa/ros/groovy/jsk-ros-pkg-unreleased/jsk_robot_common/jsk_hrpsys_ros_bridge/models/DARWIN.dae /home/nozawa/ros/groovy/jsk-ros-pkg-unreleased/jsk_robot_common/jsk_hrpsys_ros_bridge/models/darwin.yaml /home/nozawa/ros/groovy/jsk-ros-pkg-unreleased/jsk_robot_common/jsk_hrpsys_ros_bridge/models/darwin.l 
+;;
+
+;; copy euscollada-robot class definition from euscollada/src/euscollada-robot.l
+;;
+(defclass euscollada-robot
+;; This euscollada-robot class is for robots converted from collada files.
+;; This class provides :init-ending override.
+  :super robot-model
+  :slots ()
+  )
+(defmethod euscollada-robot
+  (:init-ending
+   ()
+   ;; fix all links' mass properties ;; root link relative (collada) -> link local (euslisp)
+   (dolist (l links)
+     (setq (l . acentroid) (send l :inverse-transform-vector
+                                 (send (send (car links) :worldcoords) :transform-vector
+                                       (l . acentroid))))
+     (setq (l . inertia-tensor) (m* (transpose (send l :worldrot))
+                                    (m* (send (car links) :worldrot)
+                                        (l . inertia-tensor))))
+     )
+   (send-super :init-ending)
+   (dolist (l (send self :links)) (send self :make-detail-collision-model-from-glvertices-for-one-link l))
+
+   ;;
+   (dolist (j (mapcan #'(lambda (x) (if (and (derivedp (cdr x) joint)
+					     (not (memq (cdr x) (send self :joint-list))))
+					(list (cdr x)))) (send self :slots)))
+     (send (send j :child-link) :add-joint j)
+     (send (send j :child-link) :add-parent-link (send j :parent-link))
+     (send (send j :parent-link) :add-child-links (send j :child-link)))
+   ;; add sensor method ;; e.g., (send self :camera 0), (send self :force-sensor :rasensor), ... etc
+   (dolist (sensor-name '(:force-sensor :imu-sensor)) (send self :define-get-sensor-method sensor-name))
+   )
+  (:define-get-sensor-method
+   (sensor-name)
+   (eval `(defmethod ,(send (class self) :name)
+              (,sensor-name (&rest args)
+                            (cond ((integerp (car args))
+                                   (forward-message-to (elt (send self ,(read-from-string (format nil "~As" sensor-name)) ) (car args)) (cdr args)))
+                                  ;; enable to access sensors by limb name
+                                  ((memq (car args) '(:larm :rarm :lleg :rleg :head :torso))
+                                   (find-if
+                                    #'(lambda (x) (member (send x :parent) (send self (car args) :links)))
+                                    (send self ,(read-from-string (format nil "~As" sensor-name)))))
+                                  ((and (keywordp (car args))
+                                        (derivedp (send self (car args)) cascaded-coords))
+                                   (send* self args))
+                                  ((keywordp (car args))
+                                   ;;(warn ";; no such sensor ~A~%" (car args))
+                                   nil)
+                                  (t
+                                   (forward-message-to (car (send self ,(read-from-string (format nil "~As" sensor-name)))) args)
+                                   )))
+              )))
+  ;; fullbody-inverse-kinematics overwrite
+  ;;  reduce root-link's weight based on leg's joint limit
+  ;;  increase stop and cog-gain
+  (:fullbody-inverse-kinematics
+   (target-coords &rest args &key (stop 250) (cog-gain 2.0) (additional-weight-list) &allow-other-keys)
+   (let* ((leg-ul (send self :calc-union-link-list (send self :legs :links))))
+     (send self :reset-joint-angle-limit-weight-old leg-ul)
+     (send-message* self robot-model :fullbody-inverse-kinematics
+                    target-coords
+                    :stop stop :cog-gain cog-gain
+                    :additional-weight-list
+                    (append
+                     additional-weight-list
+                     (list
+                      (list (car (send self :links))
+                            #'(lambda ()
+                                ;; set root-link 6dof-joint's weight based on legs' joint limit
+                                (let* ((min-weight
+                                        (reduce #'(lambda (x y) (min x y))
+                                                (coerce (send self :calc-inverse-kinematics-weight-from-link-list
+                                                              leg-ul :union-link-list leg-ul) cons))))
+                                  (fill (instantiate float-vector 6) min-weight)))
+                            )
+                      ))
+                    args)
+     ))
+  ;; make collision model from gl-vertices
+  (:make-detail-collision-model-from-glvertices-for-one-link
+   (ll &key (fat 0) (collision-func 'pqp-collision-check))
+   (unless (send ll :get (read-from-string (format nil ":~Amodel"
+                                                   (string-right-trim "-COLLISION-CHECK" (string collision-func)))))
+     (send-message ll cascaded-coords
+                   (read-from-string
+                    (format nil ":make-~Amodel"
+                            (string-right-trim "-COLLISION-CHECK" (string collision-func))))
+                   :fat fat
+                   :faces (flatten (mapcar #'(lambda (x)
+                                               (cond
+                                                ((derivedp x collada-body)
+                                                 (send (x . glvertices) :convert-to-faces :wrt :world))
+                                                (t
+                                                 (send x :faces))))
+                                           (send ll :bodies)))))
+   )
+  )
+
+;; copy euscollada-body class definition from euscollada/src/euscollada-robot.l
+(defclass collada-body
+  :super body
+  :slots (glvertices)
+  )
+(defmethod collada-body
+  (:draw (vwr)
+   (when glvertices
+     (send glvertices :draw vwr)))
+  (:set-color (&rest args)
+   (send-super* :set-color args)
+   (when glvertices (send* glvertices :set-color args)))
+  )
+;;
+(defun DARWIN () (setq *DARWIN* (instance DARWIN-robot :init)))
+
+(defclass DARWIN-robot
+  :super euscollada-robot
+  :slots (NECK_jt HEADL_jt PELVYL_jt PELVL_jt LEGUPPERL_jt LEGLOWERL_jt ANKLEL_jt FOOTL_jt PELVYR_jt PELVR_jt LEGUPPERR_jt LEGLOWERR_jt ANKLER_jt FOOTR_jt SHOULDERL_jt ARMUPPERL_jt ARMLOWERL_jt SHOULDERR_jt ARMUPPERR_jt ARMLOWERR_jt HEAD_LINK_lk NECK_LINK_lk FOOTL_LINK_lk ANKLEL_LINK_lk LEGLOWERL_LINK_lk LEGUPPERL_LINK_lk PELVL_LINK_lk PELVYL_LINK_lk FOOTR_LINK_lk ANKLER_LINK_lk LEGLOWERR_LINK_lk LEGUPPERR_LINK_lk PELVR_LINK_lk PELVYR_LINK_lk ARMLOWERL_LINK_lk ARMUPPERL_LINK_lk SHOULDERL_LINK_lk ARMLOWERR_LINK_lk ARMUPPERR_LINK_lk SHOULDERR_LINK_lk BODY_LINK_lk gsensor-sensor-coords gyrometer-sensor-coords Camera-sensor-coords ))
+(defmethod DARWIN-robot
+  (:init
+   (&rest args)
+   (let ()
+     (send-super* :init :name "DARWIN" args)
+
+     ;; node id=v1.node2, name=HEAD_LINK, sid=node2
+     (let ( b_g1_2_geom0 b_g1_2_geom1 b_g1_2_geom2 b_g1_2_geom3 b_g1_2_geom4)
+       ;; define bodyset-link for HEAD_LINK : v1.node2
+       (setq b_g1_2_geom0 (instance DARWIN_g1_2_geom0 :init))
+
+       ;; writeTransform(name=b_g1_2_geom0,domNode=HEAD_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_2_geom0 :transform localcds :world)
+       )
+       (setq b_g1_2_geom1 (instance DARWIN_g1_2_geom1 :init))
+
+       ;; writeTransform(name=b_g1_2_geom1,domNode=HEAD_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_2_geom1 :transform localcds :world)
+       )
+       (setq b_g1_2_geom2 (instance DARWIN_g1_2_geom2 :init))
+
+       ;; writeTransform(name=b_g1_2_geom2,domNode=HEAD_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_2_geom2 :transform localcds :world)
+       )
+       (setq b_g1_2_geom3 (instance DARWIN_g1_2_geom3 :init))
+
+       ;; writeTransform(name=b_g1_2_geom3,domNode=HEAD_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_2_geom3 :transform localcds :world)
+       )
+       (setq b_g1_2_geom4 (instance DARWIN_g1_2_geom4 :init))
+
+       ;; writeTransform(name=b_g1_2_geom4,domNode=HEAD_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_2_geom4 :transform localcds :world)
+       )
+       (send b_g1_2_geom0 :assoc b_g1_2_geom1)
+       (send b_g1_2_geom0 :assoc b_g1_2_geom2)
+       (send b_g1_2_geom0 :assoc b_g1_2_geom3)
+       (send b_g1_2_geom0 :assoc b_g1_2_geom4)
+       (setq HEAD_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_2_geom0 b_g1_2_geom1 b_g1_2_geom2 b_g1_2_geom3 b_g1_2_geom4)
+                       :name "HEAD_LINK"))
+       (send HEAD_LINK_lk :weight 158.042)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 5.1000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 6.3919799999999999e-02 1.8564500000000002e+01 7.6666200000000000e+00) :rot (matrix-exponent (scale 2.6417336902212489e+00 (float-vector 6.7167945353074188e-01 6.6302432332952410e-01 -3.3052300733545109e-01))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (HEAD_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0474191171695740e+05 1.2396566143164740e+05 1.2929242685139530e+05))) (transpose (send tmp-c :worldrot))))
+         (setq (HEAD_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=HEAD_LINK_lk,domNode=HEAD_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send HEAD_LINK_lk :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       ;;1;
+       (setq Camera-sensor-coords (make-cascoords :name "Camera" :coords (send HEAD_LINK_lk :copy-worldcoords)))
+       (send Camera-sensor-coords :put :sensor-type :base_pinhole_camera)
+       (send Camera-sensor-coords :put :sensor-id 3)
+       (send Camera-sensor-coords :transform (make-coords :pos #f( 0.0000000000000000e+00 3.2907400000000003e+01 3.5981600000000000e+01) :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 -1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) :angle 3.1415899999999999e+00))
+       (send HEAD_LINK_lk :assoc Camera-sensor-coords)
+       )
+
+     ;; node id=v1.node1, name=NECK_LINK, sid=node1
+     (let ( b_g1_1_geom0)
+       ;; define bodyset-link for NECK_LINK : v1.node1
+       (setq b_g1_1_geom0 (instance DARWIN_g1_1_geom0 :init))
+
+       ;; writeTransform(name=b_g1_1_geom0,domNode=NECK_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_1_geom0 :transform localcds :world)
+       )
+       (setq NECK_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_1_geom0)
+                       :name "NECK_LINK"))
+       (send NECK_LINK_lk :weight 24.358)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 5.1000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 1.4242800000000000e+00 -1.6567599999999999e+01 -7.1281100000000008e-01) :rot (matrix-exponent (scale 3.1377311432741881e+00 (float-vector -9.0408980651002557e-02 9.9545007233138982e-01 3.0089362124802201e-02))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (NECK_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 5.0356695238550246e+03 8.2854422988662136e+03 1.1391364177278760e+04))) (transpose (send tmp-c :worldrot))))
+         (setq (NECK_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=NECK_LINK_lk,domNode=NECK_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send NECK_LINK_lk :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 5.1000000000000000e+01 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=HEAD_LINK_lk,domNode=NECK_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 5.1000000000000000e+01 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
+       (send HEAD_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send NECK_LINK_lk :assoc HEAD_LINK_lk)
+       )
+
+     ;; node id=v1.node8, name=FOOTL_LINK, sid=node8
+     (let ( b_g1_8_geom0 b_g1_8_geom1)
+       ;; define bodyset-link for FOOTL_LINK : v1.node8
+       (setq b_g1_8_geom0 (instance DARWIN_g1_8_geom0 :init))
+
+       ;; writeTransform(name=b_g1_8_geom0,domNode=FOOTL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_8_geom0 :transform localcds :world)
+       )
+       (setq b_g1_8_geom1 (instance DARWIN_g1_8_geom1 :init))
+
+       ;; writeTransform(name=b_g1_8_geom1,domNode=FOOTL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_8_geom1 :transform localcds :world)
+       )
+       (send b_g1_8_geom0 :assoc b_g1_8_geom1)
+       (setq FOOTL_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_8_geom0 b_g1_8_geom1)
+                       :name "FOOTL_LINK"))
+       (send FOOTL_LINK_lk :weight 79.446)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 9.5058799999999994e+00 -2.5995300000000000e+01 -5.0287700000000002e-01) :rot (matrix-exponent (scale 3.1374881783494764e+00 (float-vector 6.3355814941524424e-02 9.9794679653010854e-01 9.3931894684097673e-03))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (FOOTL_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 6.8003221353508503e+04 8.8232016045823475e+04 3.5821522600668002e+04))) (transpose (send tmp-c :worldrot))))
+         (setq (FOOTL_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=FOOTL_LINK_lk,domNode=FOOTL_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send FOOTL_LINK_lk :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
+       ;;1;
+       )
+
+     ;; node id=v1.node7, name=ANKLEL_LINK, sid=node7
+     (let ( b_g1_7_geom0)
+       ;; define bodyset-link for ANKLEL_LINK : v1.node7
+       (setq b_g1_7_geom0 (instance DARWIN_g1_7_geom0 :init))
+
+       ;; writeTransform(name=b_g1_7_geom0,domNode=ANKLEL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_7_geom0 :transform localcds :world)
+       )
+       (setq ANKLEL_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_7_geom0)
+                       :name "ANKLEL_LINK"))
+       (send ANKLEL_LINK_lk :weight 167.108)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -2.1373200000000001e-01 1.3873099999999999e+01 -1.8536100000000001e+01) :rot (matrix-exponent (scale 3.0379497570860514e+00 (float-vector -9.9932043867120068e-01 3.6659460910665437e-02 3.8398931936168461e-03))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (ANKLEL_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.2106265191898300e+05 1.0967651340802430e+05 4.1131904672992692e+04))) (transpose (send tmp-c :worldrot))))
+         (setq (ANKLEL_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=ANKLEL_LINK_lk,domNode=ANKLEL_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send ANKLEL_LINK_lk :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=FOOTL_LINK_lk,domNode=ANKLEL_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       (send FOOTL_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send ANKLEL_LINK_lk :assoc FOOTL_LINK_lk)
+       )
+
+     ;; node id=v1.node6, name=LEGLOWERL_LINK, sid=node6
+     (let ( b_g1_6_geom0)
+       ;; define bodyset-link for LEGLOWERL_LINK : v1.node6
+       (setq b_g1_6_geom0 (instance DARWIN_g1_6_geom0 :init))
+
+       ;; writeTransform(name=b_g1_6_geom0,domNode=LEGLOWERL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_6_geom0 :transform localcds :world)
+       )
+       (setq LEGLOWERL_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_6_geom0)
+                       :name "LEGLOWERL_LINK"))
+       (send LEGLOWERL_LINK_lk :weight 70.310)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -5.9246900000000002e-01 -3.9045499999999997e+01 6.5476299999999998e+00) :rot (matrix-exponent (scale 3.0125423596492524e+00 (float-vector -6.9866362538497062e-01 7.1259944941643427e-01 6.3805667893410523e-02))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (LEGLOWERL_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 4.3916891334151958e+04 9.3388120663165115e+04 1.1636003800268300e+05))) (transpose (send tmp-c :worldrot))))
+         (setq (LEGLOWERL_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=LEGLOWERL_LINK_lk,domNode=LEGLOWERL_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send LEGLOWERL_LINK_lk :transform
+             (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=ANKLEL_LINK_lk,domNode=LEGLOWERL_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       (send ANKLEL_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send LEGLOWERL_LINK_lk :assoc ANKLEL_LINK_lk)
+       )
+
+     ;; node id=v1.node5, name=LEGUPPERL_LINK, sid=node5
+     (let ( b_g1_5_geom0 b_g1_5_geom1)
+       ;; define bodyset-link for LEGUPPERL_LINK : v1.node5
+       (setq b_g1_5_geom0 (instance DARWIN_g1_5_geom0 :init))
+
+       ;; writeTransform(name=b_g1_5_geom0,domNode=LEGUPPERL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_5_geom0 :transform localcds :world)
+       )
+       (setq b_g1_5_geom1 (instance DARWIN_g1_5_geom1 :init))
+
+       ;; writeTransform(name=b_g1_5_geom1,domNode=LEGUPPERL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_5_geom1 :transform localcds :world)
+       )
+       (send b_g1_5_geom0 :assoc b_g1_5_geom1)
+       (setq LEGUPPERL_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_5_geom0 b_g1_5_geom1)
+                       :name "LEGUPPERL_LINK"))
+       (send LEGUPPERL_LINK_lk :weight 119.043)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -3.2263500000000001e-01 -6.2965499999999992e+01 6.9190600000000002e-01) :rot (matrix-exponent (scale 3.1349165357532121e+00 (float-vector -7.0052749830315086e-01 -7.1349838760778816e-01 -1.3463840544786290e-02))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (LEGUPPERL_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 3.2779794154093579e+04 9.7969132072394365e+04 1.1504953377351201e+05))) (transpose (send tmp-c :worldrot))))
+         (setq (LEGUPPERL_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=LEGUPPERL_LINK_lk,domNode=LEGUPPERL_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send LEGUPPERL_LINK_lk :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=LEGLOWERL_LINK_lk,domNode=LEGUPPERL_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       (send LEGLOWERL_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send LEGUPPERL_LINK_lk :assoc LEGLOWERL_LINK_lk)
+       )
+
+     ;; node id=v1.node4, name=PELVL_LINK, sid=node4
+     (let ( b_g1_4_geom0)
+       ;; define bodyset-link for PELVL_LINK : v1.node4
+       (setq b_g1_4_geom0 (instance DARWIN_g1_4_geom0 :init))
+
+       ;; writeTransform(name=b_g1_4_geom0,domNode=PELVL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_4_geom0 :transform localcds :world)
+       )
+       (setq PELVL_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_4_geom0)
+                       :name "PELVL_LINK"))
+       (send PELVL_LINK_lk :weight 167.108)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 7.9982799999999993e-02 -1.3873099999999999e+01 -1.8242400000000000e+01) :rot (matrix-exponent (scale 2.1278186543466693e+00 (float-vector -5.8206765894392221e-01 -6.1841948818868531e-01 -5.2797213661327491e-01))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (PELVL_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 4.1133583174242623e+04 1.2304396677250660e+05 1.1170008005325080e+05))) (transpose (send tmp-c :worldrot))))
+         (setq (PELVL_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=PELVL_LINK_lk,domNode=PELVL_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send PELVL_LINK_lk :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=LEGUPPERL_LINK_lk,domNode=PELVL_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)) :local)
+       (send LEGUPPERL_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send PELVL_LINK_lk :assoc LEGUPPERL_LINK_lk)
+       )
+
+     ;; node id=v1.node3, name=PELVYL_LINK, sid=node3
+     (let ( b_g1_3_geom0)
+       ;; define bodyset-link for PELVYL_LINK : v1.node3
+       (setq b_g1_3_geom0 (instance DARWIN_g1_3_geom0 :init))
+
+       ;; writeTransform(name=b_g1_3_geom0,domNode=PELVYL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_3_geom0 :transform localcds :world)
+       )
+       (setq PELVYL_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_3_geom0)
+                       :name "PELVYL_LINK"))
+       (send PELVYL_LINK_lk :weight 27.069)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 1.8437200000000001e+01 4.8013500000000003e-01) :rot (matrix-exponent (scale 3.0434509163188275e+00 (float-vector 7.0625355896011288e-01 -4.9110293344152837e-02 -7.0625355896011288e-01))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (PELVYL_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 6.0800445741485273e+03 1.1431265425851470e+04 1.5019139999999999e+04))) (transpose (send tmp-c :worldrot))))
+         (setq (PELVYL_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=PELVYL_LINK_lk,domNode=PELVYL_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send PELVYL_LINK_lk :transform
+             (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=PELVL_LINK_lk,domNode=PELVYL_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
+       (send PELVL_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send PELVYL_LINK_lk :assoc PELVL_LINK_lk)
+       )
+
+     ;; node id=v1.node14, name=FOOTR_LINK, sid=node14
+     (let ( b_g1_14_geom0 b_g1_14_geom1)
+       ;; define bodyset-link for FOOTR_LINK : v1.node14
+       (setq b_g1_14_geom0 (instance DARWIN_g1_14_geom0 :init))
+
+       ;; writeTransform(name=b_g1_14_geom0,domNode=FOOTR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_14_geom0 :transform localcds :world)
+       )
+       (setq b_g1_14_geom1 (instance DARWIN_g1_14_geom1 :init))
+
+       ;; writeTransform(name=b_g1_14_geom1,domNode=FOOTR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_14_geom1 :transform localcds :world)
+       )
+       (send b_g1_14_geom0 :assoc b_g1_14_geom1)
+       (setq FOOTR_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_14_geom0 b_g1_14_geom1)
+                       :name "FOOTR_LINK"))
+       (send FOOTR_LINK_lk :weight 79.446)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -9.5058799999999994e+00 -2.5995300000000000e+01 -5.0287700000000002e-01) :rot (matrix-exponent (scale 3.1374881783494764e+00 (float-vector 6.3355814941524424e-02 -9.9794679653010854e-01 -9.3931894684097673e-03))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (FOOTR_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 6.8003221353508503e+04 8.8232016045823475e+04 3.5821522600668002e+04))) (transpose (send tmp-c :worldrot))))
+         (setq (FOOTR_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=FOOTR_LINK_lk,domNode=FOOTR_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send FOOTR_LINK_lk :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
+       ;;1;
+       )
+
+     ;; node id=v1.node13, name=ANKLER_LINK, sid=node13
+     (let ( b_g1_13_geom0)
+       ;; define bodyset-link for ANKLER_LINK : v1.node13
+       (setq b_g1_13_geom0 (instance DARWIN_g1_13_geom0 :init))
+
+       ;; writeTransform(name=b_g1_13_geom0,domNode=ANKLER_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_13_geom0 :transform localcds :world)
+       )
+       (setq ANKLER_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_13_geom0)
+                       :name "ANKLER_LINK"))
+       (send ANKLER_LINK_lk :weight 167.108)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 2.1373200000000001e-01 1.3873099999999999e+01 -1.8536100000000001e+01) :rot (matrix-exponent (scale 3.0379497570860514e+00 (float-vector -9.9932043867120068e-01 -3.6659460910665437e-02 -3.8398931936168461e-03))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (ANKLER_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.2106265191898300e+05 1.0967651340802430e+05 4.1131904672992692e+04))) (transpose (send tmp-c :worldrot))))
+         (setq (ANKLER_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=ANKLER_LINK_lk,domNode=ANKLER_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send ANKLER_LINK_lk :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=FOOTR_LINK_lk,domNode=ANKLER_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       (send FOOTR_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send ANKLER_LINK_lk :assoc FOOTR_LINK_lk)
+       )
+
+     ;; node id=v1.node12, name=LEGLOWERR_LINK, sid=node12
+     (let ( b_g1_12_geom0)
+       ;; define bodyset-link for LEGLOWERR_LINK : v1.node12
+       (setq b_g1_12_geom0 (instance DARWIN_g1_12_geom0 :init))
+
+       ;; writeTransform(name=b_g1_12_geom0,domNode=LEGLOWERR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_12_geom0 :transform localcds :world)
+       )
+       (setq LEGLOWERR_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_12_geom0)
+                       :name "LEGLOWERR_LINK"))
+       (send LEGLOWERR_LINK_lk :weight 70.310)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 5.9246900000000002e-01 -3.9045499999999997e+01 6.5476299999999998e+00) :rot (matrix-exponent (scale 3.0125423596492524e+00 (float-vector -6.9866362538497062e-01 -7.1259944941643427e-01 -6.3805667893410523e-02))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (LEGLOWERR_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 4.3916891334151958e+04 9.3388120663165115e+04 1.1636003800268300e+05))) (transpose (send tmp-c :worldrot))))
+         (setq (LEGLOWERR_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=LEGLOWERR_LINK_lk,domNode=LEGLOWERR_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send LEGLOWERR_LINK_lk :transform
+             (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=ANKLER_LINK_lk,domNode=LEGLOWERR_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       (send ANKLER_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send LEGLOWERR_LINK_lk :assoc ANKLER_LINK_lk)
+       )
+
+     ;; node id=v1.node11, name=LEGUPPERR_LINK, sid=node11
+     (let ( b_g1_11_geom0 b_g1_11_geom1)
+       ;; define bodyset-link for LEGUPPERR_LINK : v1.node11
+       (setq b_g1_11_geom0 (instance DARWIN_g1_11_geom0 :init))
+
+       ;; writeTransform(name=b_g1_11_geom0,domNode=LEGUPPERR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_11_geom0 :transform localcds :world)
+       )
+       (setq b_g1_11_geom1 (instance DARWIN_g1_11_geom1 :init))
+
+       ;; writeTransform(name=b_g1_11_geom1,domNode=LEGUPPERR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_11_geom1 :transform localcds :world)
+       )
+       (send b_g1_11_geom0 :assoc b_g1_11_geom1)
+       (setq LEGUPPERR_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_11_geom0 b_g1_11_geom1)
+                       :name "LEGUPPERR_LINK"))
+       (send LEGUPPERR_LINK_lk :weight 119.043)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 3.2263500000000001e-01 -6.2965499999999992e+01 6.9190600000000002e-01) :rot (matrix-exponent (scale 3.1349165357532121e+00 (float-vector -7.0052749830315086e-01 7.1349838760778816e-01 1.3463840544786290e-02))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (LEGUPPERR_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 3.2779794154093579e+04 9.7969132072394365e+04 1.1504953377351201e+05))) (transpose (send tmp-c :worldrot))))
+         (setq (LEGUPPERR_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=LEGUPPERR_LINK_lk,domNode=LEGUPPERR_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send LEGUPPERR_LINK_lk :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=LEGLOWERR_LINK_lk,domNode=LEGUPPERR_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       (send LEGLOWERR_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send LEGUPPERR_LINK_lk :assoc LEGLOWERR_LINK_lk)
+       )
+
+     ;; node id=v1.node10, name=PELVR_LINK, sid=node10
+     (let ( b_g1_10_geom0)
+       ;; define bodyset-link for PELVR_LINK : v1.node10
+       (setq b_g1_10_geom0 (instance DARWIN_g1_10_geom0 :init))
+
+       ;; writeTransform(name=b_g1_10_geom0,domNode=PELVR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_10_geom0 :transform localcds :world)
+       )
+       (setq PELVR_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_10_geom0)
+                       :name "PELVR_LINK"))
+       (send PELVR_LINK_lk :weight 167.108)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -7.9982799999999993e-02 -1.3873099999999999e+01 -1.8242400000000000e+01) :rot (matrix-exponent (scale 2.1278186543466693e+00 (float-vector -5.8206765894392221e-01 6.1841948818868531e-01 5.2797213661327491e-01))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (PELVR_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 4.1133583174242623e+04 1.2304396677250660e+05 1.1170008005325080e+05))) (transpose (send tmp-c :worldrot))))
+         (setq (PELVR_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=PELVR_LINK_lk,domNode=PELVR_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send PELVR_LINK_lk :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=LEGUPPERR_LINK_lk,domNode=PELVR_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
+       (send LEGUPPERR_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send PELVR_LINK_lk :assoc LEGUPPERR_LINK_lk)
+       )
+
+     ;; node id=v1.node9, name=PELVYR_LINK, sid=node9
+     (let ( b_g1_9_geom0)
+       ;; define bodyset-link for PELVYR_LINK : v1.node9
+       (setq b_g1_9_geom0 (instance DARWIN_g1_9_geom0 :init))
+
+       ;; writeTransform(name=b_g1_9_geom0,domNode=PELVYR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_9_geom0 :transform localcds :world)
+       )
+       (setq PELVYR_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_9_geom0)
+                       :name "PELVYR_LINK"))
+       (send PELVYR_LINK_lk :weight 27.069)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 1.8437200000000001e+01 4.8013500000000003e-01) :rot (matrix-exponent (scale 3.0434509163188275e+00 (float-vector 7.0625355896011288e-01 -4.9110293344152837e-02 -7.0625355896011288e-01))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (PELVYR_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 6.0800445741485273e+03 1.1431265425851470e+04 1.5019139999999999e+04))) (transpose (send tmp-c :worldrot))))
+         (setq (PELVYR_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=PELVYR_LINK_lk,domNode=PELVYR_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send PELVYR_LINK_lk :transform
+             (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=PELVR_LINK_lk,domNode=PELVYR_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
+       (send PELVR_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send PELVYR_LINK_lk :assoc PELVR_LINK_lk)
+       )
+
+     ;; node id=v1.node17, name=ARMLOWERL_LINK, sid=node17
+     (let ( b_g1_17_geom0 b_g1_17_geom1)
+       ;; define bodyset-link for ARMLOWERL_LINK : v1.node17
+       (setq b_g1_17_geom0 (instance DARWIN_g1_17_geom0 :init))
+
+       ;; writeTransform(name=b_g1_17_geom0,domNode=ARMLOWERL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_17_geom0 :transform localcds :world)
+       )
+       (setq b_g1_17_geom1 (instance DARWIN_g1_17_geom1 :init))
+
+       ;; writeTransform(name=b_g1_17_geom1,domNode=ARMLOWERL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_17_geom1 :transform localcds :world)
+       )
+       (send b_g1_17_geom0 :assoc b_g1_17_geom1)
+       (setq ARMLOWERL_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_17_geom0 b_g1_17_geom1)
+                       :name "ARMLOWERL_LINK"))
+       (send ARMLOWERL_LINK_lk :weight 59.288)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector 8.2000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 -1.6000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 -6.0000000000000000e+01 1.6000000000000000e+01) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -6.6656399999999998e+00 -4.5838200000000001e+01 -1.3490100000000000e+01) :rot (matrix-exponent (scale 2.9760139441600675e+00 (float-vector 6.7568311286212879e-01 7.1948377229020299e-01 1.6060956510744590e-01))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           ...
 
[truncated message content]

[Euslisp-commit] SF.net SVN: euslisp:[670] trunk/EusLisp/models/darwin.l

From: <sn...@us...> - 2014-01-31 11:02:49

Revision: 670
          http://sourceforge.net/p/euslisp/code/670
Author:   snozawa
Date:     2014-01-31 11:02:39 +0000 (Fri, 31 Jan 2014)
Log Message:
-----------
add darwin euslisp model converted from ... darwin VRML -> darwin collada -> darwin euslisp

Added Paths:
-----------
    trunk/EusLisp/models/darwin.l

Added: trunk/EusLisp/models/darwin.l
===================================================================
--- trunk/EusLisp/models/darwin.l	                        (rev 0)
+++ trunk/EusLisp/models/darwin.l	2014-01-31 11:02:39 UTC (rev 670)
@@ -0,0 +1,3266 @@
+;;
+;; DO NOT EDIT THIS FILE
+;;
+;; this file is automatically generated from /home/nozawa/ros/groovy/jsk-ros-pkg-unreleased/jsk_robot_common/jsk_hrpsys_ros_bridge/models/DARWIN.dae on (Linux nozawa-ThinkPad-T430 3.2.0-58-generic x86_64) at Fri Jan 31 19:17:25 2014
+
+;;
+;; /home/nozawa/ros/groovy/jsk-ros-pkg-unreleased/jsk_robot_common/jsk_hrpsys_ros_bridge/build $ /home/nozawa/ros/groovy/jsk-ros-pkg/jsk_model_tools/euscollada/bin/collada2eus /home/nozawa/ros/groovy/jsk-ros-pkg-unreleased/jsk_robot_common/jsk_hrpsys_ros_bridge/models/DARWIN.dae /home/nozawa/ros/groovy/jsk-ros-pkg-unreleased/jsk_robot_common/jsk_hrpsys_ros_bridge/models/darwin.yaml /home/nozawa/ros/groovy/jsk-ros-pkg-unreleased/jsk_robot_common/jsk_hrpsys_ros_bridge/models/darwin.l 
+;;
+
+;; copy euscollada-robot class definition from euscollada/src/euscollada-robot.l
+;;
+(defclass euscollada-robot
+;; This euscollada-robot class is for robots converted from collada files.
+;; This class provides :init-ending override.
+  :super robot-model
+  :slots ()
+  )
+(defmethod euscollada-robot
+  (:init-ending
+   ()
+   ;; fix all links' mass properties ;; root link relative (collada) -> link local (euslisp)
+   (dolist (l links)
+     (setq (l . acentroid) (send l :inverse-transform-vector
+                                 (send (send (car links) :worldcoords) :transform-vector
+                                       (l . acentroid))))
+     (setq (l . inertia-tensor) (m* (transpose (send l :worldrot))
+                                    (m* (send (car links) :worldrot)
+                                        (l . inertia-tensor))))
+     )
+   (send-super :init-ending)
+   (dolist (l (send self :links)) (send self :make-detail-collision-model-from-glvertices-for-one-link l))
+
+   ;;
+   (dolist (j (mapcan #'(lambda (x) (if (and (derivedp (cdr x) joint)
+					     (not (memq (cdr x) (send self :joint-list))))
+					(list (cdr x)))) (send self :slots)))
+     (send (send j :child-link) :add-joint j)
+     (send (send j :child-link) :add-parent-link (send j :parent-link))
+     (send (send j :parent-link) :add-child-links (send j :child-link)))
+   ;; add sensor method ;; e.g., (send self :camera 0), (send self :force-sensor :rasensor), ... etc
+   (dolist (sensor-name '(:force-sensor :imu-sensor)) (send self :define-get-sensor-method sensor-name))
+   )
+  (:define-get-sensor-method
+   (sensor-name)
+   (eval `(defmethod ,(send (class self) :name)
+              (,sensor-name (&rest args)
+                            (cond ((integerp (car args))
+                                   (forward-message-to (elt (send self ,(read-from-string (format nil "~As" sensor-name)) ) (car args)) (cdr args)))
+                                  ;; enable to access sensors by limb name
+                                  ((memq (car args) '(:larm :rarm :lleg :rleg :head :torso))
+                                   (find-if
+                                    #'(lambda (x) (member (send x :parent) (send self (car args) :links)))
+                                    (send self ,(read-from-string (format nil "~As" sensor-name)))))
+                                  ((and (keywordp (car args))
+                                        (derivedp (send self (car args)) cascaded-coords))
+                                   (send* self args))
+                                  ((keywordp (car args))
+                                   ;;(warn ";; no such sensor ~A~%" (car args))
+                                   nil)
+                                  (t
+                                   (forward-message-to (car (send self ,(read-from-string (format nil "~As" sensor-name)))) args)
+                                   )))
+              )))
+  ;; fullbody-inverse-kinematics overwrite
+  ;;  reduce root-link's weight based on leg's joint limit
+  ;;  increase stop and cog-gain
+  (:fullbody-inverse-kinematics
+   (target-coords &rest args &key (stop 250) (cog-gain 2.0) (additional-weight-list) &allow-other-keys)
+   (let* ((leg-ul (send self :calc-union-link-list (send self :legs :links))))
+     (send self :reset-joint-angle-limit-weight-old leg-ul)
+     (send-message* self robot-model :fullbody-inverse-kinematics
+                    target-coords
+                    :stop stop :cog-gain cog-gain
+                    :additional-weight-list
+                    (append
+                     additional-weight-list
+                     (list
+                      (list (car (send self :links))
+                            #'(lambda ()
+                                ;; set root-link 6dof-joint's weight based on legs' joint limit
+                                (let* ((min-weight
+                                        (reduce #'(lambda (x y) (min x y))
+                                                (coerce (send self :calc-inverse-kinematics-weight-from-link-list
+                                                              leg-ul :union-link-list leg-ul) cons))))
+                                  (fill (instantiate float-vector 6) min-weight)))
+                            )
+                      ))
+                    args)
+     ))
+  ;; make collision model from gl-vertices
+  (:make-detail-collision-model-from-glvertices-for-one-link
+   (ll &key (fat 0) (collision-func 'pqp-collision-check))
+   (unless (send ll :get (read-from-string (format nil ":~Amodel"
+                                                   (string-right-trim "-COLLISION-CHECK" (string collision-func)))))
+     (send-message ll cascaded-coords
+                   (read-from-string
+                    (format nil ":make-~Amodel"
+                            (string-right-trim "-COLLISION-CHECK" (string collision-func))))
+                   :fat fat
+                   :faces (flatten (mapcar #'(lambda (x)
+                                               (cond
+                                                ((derivedp x collada-body)
+                                                 (send (x . glvertices) :convert-to-faces :wrt :world))
+                                                (t
+                                                 (send x :faces))))
+                                           (send ll :bodies)))))
+   )
+  )
+
+;; copy euscollada-body class definition from euscollada/src/euscollada-robot.l
+(defclass collada-body
+  :super body
+  :slots (glvertices)
+  )
+(defmethod collada-body
+  (:draw (vwr)
+   (when glvertices
+     (send glvertices :draw vwr)))
+  (:set-color (&rest args)
+   (send-super* :set-color args)
+   (when glvertices (send* glvertices :set-color args)))
+  )
+;;
+(defun DARWIN () (setq *DARWIN* (instance DARWIN-robot :init)))
+
+(defclass DARWIN-robot
+  :super euscollada-robot
+  :slots (NECK_jt HEADL_jt PELVYL_jt PELVL_jt LEGUPPERL_jt LEGLOWERL_jt ANKLEL_jt FOOTL_jt PELVYR_jt PELVR_jt LEGUPPERR_jt LEGLOWERR_jt ANKLER_jt FOOTR_jt SHOULDERL_jt ARMUPPERL_jt ARMLOWERL_jt SHOULDERR_jt ARMUPPERR_jt ARMLOWERR_jt HEAD_LINK_lk NECK_LINK_lk FOOTL_LINK_lk ANKLEL_LINK_lk LEGLOWERL_LINK_lk LEGUPPERL_LINK_lk PELVL_LINK_lk PELVYL_LINK_lk FOOTR_LINK_lk ANKLER_LINK_lk LEGLOWERR_LINK_lk LEGUPPERR_LINK_lk PELVR_LINK_lk PELVYR_LINK_lk ARMLOWERL_LINK_lk ARMUPPERL_LINK_lk SHOULDERL_LINK_lk ARMLOWERR_LINK_lk ARMUPPERR_LINK_lk SHOULDERR_LINK_lk BODY_LINK_lk gsensor-sensor-coords gyrometer-sensor-coords Camera-sensor-coords ))
+(defmethod DARWIN-robot
+  (:init
+   (&rest args)
+   (let ()
+     (send-super* :init :name "DARWIN" args)
+
+     ;; node id=v1.node2, name=HEAD_LINK, sid=node2
+     (let ( b_g1_2_geom0 b_g1_2_geom1 b_g1_2_geom2 b_g1_2_geom3 b_g1_2_geom4)
+       ;; define bodyset-link for HEAD_LINK : v1.node2
+       (setq b_g1_2_geom0 (instance DARWIN_g1_2_geom0 :init))
+
+       ;; writeTransform(name=b_g1_2_geom0,domNode=HEAD_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_2_geom0 :transform localcds :world)
+       )
+       (setq b_g1_2_geom1 (instance DARWIN_g1_2_geom1 :init))
+
+       ;; writeTransform(name=b_g1_2_geom1,domNode=HEAD_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_2_geom1 :transform localcds :world)
+       )
+       (setq b_g1_2_geom2 (instance DARWIN_g1_2_geom2 :init))
+
+       ;; writeTransform(name=b_g1_2_geom2,domNode=HEAD_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_2_geom2 :transform localcds :world)
+       )
+       (setq b_g1_2_geom3 (instance DARWIN_g1_2_geom3 :init))
+
+       ;; writeTransform(name=b_g1_2_geom3,domNode=HEAD_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_2_geom3 :transform localcds :world)
+       )
+       (setq b_g1_2_geom4 (instance DARWIN_g1_2_geom4 :init))
+
+       ;; writeTransform(name=b_g1_2_geom4,domNode=HEAD_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_2_geom4 :transform localcds :world)
+       )
+       (send b_g1_2_geom0 :assoc b_g1_2_geom1)
+       (send b_g1_2_geom0 :assoc b_g1_2_geom2)
+       (send b_g1_2_geom0 :assoc b_g1_2_geom3)
+       (send b_g1_2_geom0 :assoc b_g1_2_geom4)
+       (setq HEAD_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_2_geom0 b_g1_2_geom1 b_g1_2_geom2 b_g1_2_geom3 b_g1_2_geom4)
+                       :name "HEAD_LINK"))
+       (send HEAD_LINK_lk :weight 158.042)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 5.1000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 6.3919799999999999e-02 1.8564500000000002e+01 7.6666200000000000e+00) :rot (matrix-exponent (scale 2.6417336902212489e+00 (float-vector 6.7167945353074188e-01 6.6302432332952410e-01 -3.3052300733545109e-01))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (HEAD_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0474191171695740e+05 1.2396566143164740e+05 1.2929242685139530e+05))) (transpose (send tmp-c :worldrot))))
+         (setq (HEAD_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=HEAD_LINK_lk,domNode=HEAD_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send HEAD_LINK_lk :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       ;;1;
+       (setq Camera-sensor-coords (make-cascoords :name "Camera" :coords (send HEAD_LINK_lk :copy-worldcoords)))
+       (send Camera-sensor-coords :put :sensor-type :base_pinhole_camera)
+       (send Camera-sensor-coords :put :sensor-id 3)
+       (send Camera-sensor-coords :transform (make-coords :pos #f( 0.0000000000000000e+00 3.2907400000000003e+01 3.5981600000000000e+01) :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 -1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) :angle 3.1415899999999999e+00))
+       (send HEAD_LINK_lk :assoc Camera-sensor-coords)
+       )
+
+     ;; node id=v1.node1, name=NECK_LINK, sid=node1
+     (let ( b_g1_1_geom0)
+       ;; define bodyset-link for NECK_LINK : v1.node1
+       (setq b_g1_1_geom0 (instance DARWIN_g1_1_geom0 :init))
+
+       ;; writeTransform(name=b_g1_1_geom0,domNode=NECK_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_1_geom0 :transform localcds :world)
+       )
+       (setq NECK_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_1_geom0)
+                       :name "NECK_LINK"))
+       (send NECK_LINK_lk :weight 24.358)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 5.1000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 1.4242800000000000e+00 -1.6567599999999999e+01 -7.1281100000000008e-01) :rot (matrix-exponent (scale 3.1377311432741881e+00 (float-vector -9.0408980651002557e-02 9.9545007233138982e-01 3.0089362124802201e-02))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (NECK_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 5.0356695238550246e+03 8.2854422988662136e+03 1.1391364177278760e+04))) (transpose (send tmp-c :worldrot))))
+         (setq (NECK_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=NECK_LINK_lk,domNode=NECK_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send NECK_LINK_lk :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 5.1000000000000000e+01 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=HEAD_LINK_lk,domNode=NECK_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 5.1000000000000000e+01 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
+       (send HEAD_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send NECK_LINK_lk :assoc HEAD_LINK_lk)
+       )
+
+     ;; node id=v1.node8, name=FOOTL_LINK, sid=node8
+     (let ( b_g1_8_geom0 b_g1_8_geom1)
+       ;; define bodyset-link for FOOTL_LINK : v1.node8
+       (setq b_g1_8_geom0 (instance DARWIN_g1_8_geom0 :init))
+
+       ;; writeTransform(name=b_g1_8_geom0,domNode=FOOTL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_8_geom0 :transform localcds :world)
+       )
+       (setq b_g1_8_geom1 (instance DARWIN_g1_8_geom1 :init))
+
+       ;; writeTransform(name=b_g1_8_geom1,domNode=FOOTL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_8_geom1 :transform localcds :world)
+       )
+       (send b_g1_8_geom0 :assoc b_g1_8_geom1)
+       (setq FOOTL_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_8_geom0 b_g1_8_geom1)
+                       :name "FOOTL_LINK"))
+       (send FOOTL_LINK_lk :weight 79.446)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 9.5058799999999994e+00 -2.5995300000000000e+01 -5.0287700000000002e-01) :rot (matrix-exponent (scale 3.1374881783494764e+00 (float-vector 6.3355814941524424e-02 9.9794679653010854e-01 9.3931894684097673e-03))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (FOOTL_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 6.8003221353508503e+04 8.8232016045823475e+04 3.5821522600668002e+04))) (transpose (send tmp-c :worldrot))))
+         (setq (FOOTL_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=FOOTL_LINK_lk,domNode=FOOTL_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send FOOTL_LINK_lk :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
+       ;;1;
+       )
+
+     ;; node id=v1.node7, name=ANKLEL_LINK, sid=node7
+     (let ( b_g1_7_geom0)
+       ;; define bodyset-link for ANKLEL_LINK : v1.node7
+       (setq b_g1_7_geom0 (instance DARWIN_g1_7_geom0 :init))
+
+       ;; writeTransform(name=b_g1_7_geom0,domNode=ANKLEL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_7_geom0 :transform localcds :world)
+       )
+       (setq ANKLEL_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_7_geom0)
+                       :name "ANKLEL_LINK"))
+       (send ANKLEL_LINK_lk :weight 167.108)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -2.1373200000000001e-01 1.3873099999999999e+01 -1.8536100000000001e+01) :rot (matrix-exponent (scale 3.0379497570860514e+00 (float-vector -9.9932043867120068e-01 3.6659460910665437e-02 3.8398931936168461e-03))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (ANKLEL_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.2106265191898300e+05 1.0967651340802430e+05 4.1131904672992692e+04))) (transpose (send tmp-c :worldrot))))
+         (setq (ANKLEL_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=ANKLEL_LINK_lk,domNode=ANKLEL_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send ANKLEL_LINK_lk :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=FOOTL_LINK_lk,domNode=ANKLEL_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       (send FOOTL_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send ANKLEL_LINK_lk :assoc FOOTL_LINK_lk)
+       )
+
+     ;; node id=v1.node6, name=LEGLOWERL_LINK, sid=node6
+     (let ( b_g1_6_geom0)
+       ;; define bodyset-link for LEGLOWERL_LINK : v1.node6
+       (setq b_g1_6_geom0 (instance DARWIN_g1_6_geom0 :init))
+
+       ;; writeTransform(name=b_g1_6_geom0,domNode=LEGLOWERL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_6_geom0 :transform localcds :world)
+       )
+       (setq LEGLOWERL_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_6_geom0)
+                       :name "LEGLOWERL_LINK"))
+       (send LEGLOWERL_LINK_lk :weight 70.310)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -5.9246900000000002e-01 -3.9045499999999997e+01 6.5476299999999998e+00) :rot (matrix-exponent (scale 3.0125423596492524e+00 (float-vector -6.9866362538497062e-01 7.1259944941643427e-01 6.3805667893410523e-02))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (LEGLOWERL_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 4.3916891334151958e+04 9.3388120663165115e+04 1.1636003800268300e+05))) (transpose (send tmp-c :worldrot))))
+         (setq (LEGLOWERL_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=LEGLOWERL_LINK_lk,domNode=LEGLOWERL_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send LEGLOWERL_LINK_lk :transform
+             (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=ANKLEL_LINK_lk,domNode=LEGLOWERL_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       (send ANKLEL_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send LEGLOWERL_LINK_lk :assoc ANKLEL_LINK_lk)
+       )
+
+     ;; node id=v1.node5, name=LEGUPPERL_LINK, sid=node5
+     (let ( b_g1_5_geom0 b_g1_5_geom1)
+       ;; define bodyset-link for LEGUPPERL_LINK : v1.node5
+       (setq b_g1_5_geom0 (instance DARWIN_g1_5_geom0 :init))
+
+       ;; writeTransform(name=b_g1_5_geom0,domNode=LEGUPPERL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_5_geom0 :transform localcds :world)
+       )
+       (setq b_g1_5_geom1 (instance DARWIN_g1_5_geom1 :init))
+
+       ;; writeTransform(name=b_g1_5_geom1,domNode=LEGUPPERL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_5_geom1 :transform localcds :world)
+       )
+       (send b_g1_5_geom0 :assoc b_g1_5_geom1)
+       (setq LEGUPPERL_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_5_geom0 b_g1_5_geom1)
+                       :name "LEGUPPERL_LINK"))
+       (send LEGUPPERL_LINK_lk :weight 119.043)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -3.2263500000000001e-01 -6.2965499999999992e+01 6.9190600000000002e-01) :rot (matrix-exponent (scale 3.1349165357532121e+00 (float-vector -7.0052749830315086e-01 -7.1349838760778816e-01 -1.3463840544786290e-02))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (LEGUPPERL_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 3.2779794154093579e+04 9.7969132072394365e+04 1.1504953377351201e+05))) (transpose (send tmp-c :worldrot))))
+         (setq (LEGUPPERL_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=LEGUPPERL_LINK_lk,domNode=LEGUPPERL_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send LEGUPPERL_LINK_lk :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=LEGLOWERL_LINK_lk,domNode=LEGUPPERL_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       (send LEGLOWERL_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send LEGUPPERL_LINK_lk :assoc LEGLOWERL_LINK_lk)
+       )
+
+     ;; node id=v1.node4, name=PELVL_LINK, sid=node4
+     (let ( b_g1_4_geom0)
+       ;; define bodyset-link for PELVL_LINK : v1.node4
+       (setq b_g1_4_geom0 (instance DARWIN_g1_4_geom0 :init))
+
+       ;; writeTransform(name=b_g1_4_geom0,domNode=PELVL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_4_geom0 :transform localcds :world)
+       )
+       (setq PELVL_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_4_geom0)
+                       :name "PELVL_LINK"))
+       (send PELVL_LINK_lk :weight 167.108)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 7.9982799999999993e-02 -1.3873099999999999e+01 -1.8242400000000000e+01) :rot (matrix-exponent (scale 2.1278186543466693e+00 (float-vector -5.8206765894392221e-01 -6.1841948818868531e-01 -5.2797213661327491e-01))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (PELVL_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 4.1133583174242623e+04 1.2304396677250660e+05 1.1170008005325080e+05))) (transpose (send tmp-c :worldrot))))
+         (setq (PELVL_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=PELVL_LINK_lk,domNode=PELVL_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send PELVL_LINK_lk :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=LEGUPPERL_LINK_lk,domNode=PELVL_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)) :local)
+       (send LEGUPPERL_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send PELVL_LINK_lk :assoc LEGUPPERL_LINK_lk)
+       )
+
+     ;; node id=v1.node3, name=PELVYL_LINK, sid=node3
+     (let ( b_g1_3_geom0)
+       ;; define bodyset-link for PELVYL_LINK : v1.node3
+       (setq b_g1_3_geom0 (instance DARWIN_g1_3_geom0 :init))
+
+       ;; writeTransform(name=b_g1_3_geom0,domNode=PELVYL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_3_geom0 :transform localcds :world)
+       )
+       (setq PELVYL_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_3_geom0)
+                       :name "PELVYL_LINK"))
+       (send PELVYL_LINK_lk :weight 27.069)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 1.8437200000000001e+01 4.8013500000000003e-01) :rot (matrix-exponent (scale 3.0434509163188275e+00 (float-vector 7.0625355896011288e-01 -4.9110293344152837e-02 -7.0625355896011288e-01))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (PELVYL_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 6.0800445741485273e+03 1.1431265425851470e+04 1.5019139999999999e+04))) (transpose (send tmp-c :worldrot))))
+         (setq (PELVYL_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=PELVYL_LINK_lk,domNode=PELVYL_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send PELVYL_LINK_lk :transform
+             (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=PELVL_LINK_lk,domNode=PELVYL_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector 3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
+       (send PELVL_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send PELVYL_LINK_lk :assoc PELVL_LINK_lk)
+       )
+
+     ;; node id=v1.node14, name=FOOTR_LINK, sid=node14
+     (let ( b_g1_14_geom0 b_g1_14_geom1)
+       ;; define bodyset-link for FOOTR_LINK : v1.node14
+       (setq b_g1_14_geom0 (instance DARWIN_g1_14_geom0 :init))
+
+       ;; writeTransform(name=b_g1_14_geom0,domNode=FOOTR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_14_geom0 :transform localcds :world)
+       )
+       (setq b_g1_14_geom1 (instance DARWIN_g1_14_geom1 :init))
+
+       ;; writeTransform(name=b_g1_14_geom1,domNode=FOOTR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_14_geom1 :transform localcds :world)
+       )
+       (send b_g1_14_geom0 :assoc b_g1_14_geom1)
+       (setq FOOTR_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_14_geom0 b_g1_14_geom1)
+                       :name "FOOTR_LINK"))
+       (send FOOTR_LINK_lk :weight 79.446)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -9.5058799999999994e+00 -2.5995300000000000e+01 -5.0287700000000002e-01) :rot (matrix-exponent (scale 3.1374881783494764e+00 (float-vector 6.3355814941524424e-02 -9.9794679653010854e-01 -9.3931894684097673e-03))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (FOOTR_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 6.8003221353508503e+04 8.8232016045823475e+04 3.5821522600668002e+04))) (transpose (send tmp-c :worldrot))))
+         (setq (FOOTR_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=FOOTR_LINK_lk,domNode=FOOTR_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send FOOTR_LINK_lk :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
+       ;;1;
+       )
+
+     ;; node id=v1.node13, name=ANKLER_LINK, sid=node13
+     (let ( b_g1_13_geom0)
+       ;; define bodyset-link for ANKLER_LINK : v1.node13
+       (setq b_g1_13_geom0 (instance DARWIN_g1_13_geom0 :init))
+
+       ;; writeTransform(name=b_g1_13_geom0,domNode=ANKLER_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_13_geom0 :transform localcds :world)
+       )
+       (setq ANKLER_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_13_geom0)
+                       :name "ANKLER_LINK"))
+       (send ANKLER_LINK_lk :weight 167.108)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 2.1373200000000001e-01 1.3873099999999999e+01 -1.8536100000000001e+01) :rot (matrix-exponent (scale 3.0379497570860514e+00 (float-vector -9.9932043867120068e-01 -3.6659460910665437e-02 -3.8398931936168461e-03))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (ANKLER_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.2106265191898300e+05 1.0967651340802430e+05 4.1131904672992692e+04))) (transpose (send tmp-c :worldrot))))
+         (setq (ANKLER_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=ANKLER_LINK_lk,domNode=ANKLER_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send ANKLER_LINK_lk :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=FOOTR_LINK_lk,domNode=ANKLER_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector -1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       (send FOOTR_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send ANKLER_LINK_lk :assoc FOOTR_LINK_lk)
+       )
+
+     ;; node id=v1.node12, name=LEGLOWERR_LINK, sid=node12
+     (let ( b_g1_12_geom0)
+       ;; define bodyset-link for LEGLOWERR_LINK : v1.node12
+       (setq b_g1_12_geom0 (instance DARWIN_g1_12_geom0 :init))
+
+       ;; writeTransform(name=b_g1_12_geom0,domNode=LEGLOWERR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_12_geom0 :transform localcds :world)
+       )
+       (setq LEGLOWERR_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_12_geom0)
+                       :name "LEGLOWERR_LINK"))
+       (send LEGLOWERR_LINK_lk :weight 70.310)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 5.9246900000000002e-01 -3.9045499999999997e+01 6.5476299999999998e+00) :rot (matrix-exponent (scale 3.0125423596492524e+00 (float-vector -6.9866362538497062e-01 -7.1259944941643427e-01 -6.3805667893410523e-02))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (LEGLOWERR_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 4.3916891334151958e+04 9.3388120663165115e+04 1.1636003800268300e+05))) (transpose (send tmp-c :worldrot))))
+         (setq (LEGLOWERR_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=LEGLOWERR_LINK_lk,domNode=LEGLOWERR_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send LEGLOWERR_LINK_lk :transform
+             (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=ANKLER_LINK_lk,domNode=LEGLOWERR_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector -0.0000000000000000e+00 -9.3000000000000000e+01 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       (send ANKLER_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send LEGLOWERR_LINK_lk :assoc ANKLER_LINK_lk)
+       )
+
+     ;; node id=v1.node11, name=LEGUPPERR_LINK, sid=node11
+     (let ( b_g1_11_geom0 b_g1_11_geom1)
+       ;; define bodyset-link for LEGUPPERR_LINK : v1.node11
+       (setq b_g1_11_geom0 (instance DARWIN_g1_11_geom0 :init))
+
+       ;; writeTransform(name=b_g1_11_geom0,domNode=LEGUPPERR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_11_geom0 :transform localcds :world)
+       )
+       (setq b_g1_11_geom1 (instance DARWIN_g1_11_geom1 :init))
+
+       ;; writeTransform(name=b_g1_11_geom1,domNode=LEGUPPERR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_11_geom1 :transform localcds :world)
+       )
+       (send b_g1_11_geom0 :assoc b_g1_11_geom1)
+       (setq LEGUPPERR_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_11_geom0 b_g1_11_geom1)
+                       :name "LEGUPPERR_LINK"))
+       (send LEGUPPERR_LINK_lk :weight 119.043)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 3.2263500000000001e-01 -6.2965499999999992e+01 6.9190600000000002e-01) :rot (matrix-exponent (scale 3.1349165357532121e+00 (float-vector -7.0052749830315086e-01 7.1349838760778816e-01 1.3463840544786290e-02))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (LEGUPPERR_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 3.2779794154093579e+04 9.7969132072394365e+04 1.1504953377351201e+05))) (transpose (send tmp-c :worldrot))))
+         (setq (LEGUPPERR_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=LEGUPPERR_LINK_lk,domNode=LEGUPPERR_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send LEGUPPERR_LINK_lk :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=LEGLOWERR_LINK_lk,domNode=LEGUPPERR_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local)
+       (send LEGLOWERR_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send LEGUPPERR_LINK_lk :assoc LEGLOWERR_LINK_lk)
+       )
+
+     ;; node id=v1.node10, name=PELVR_LINK, sid=node10
+     (let ( b_g1_10_geom0)
+       ;; define bodyset-link for PELVR_LINK : v1.node10
+       (setq b_g1_10_geom0 (instance DARWIN_g1_10_geom0 :init))
+
+       ;; writeTransform(name=b_g1_10_geom0,domNode=PELVR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_10_geom0 :transform localcds :world)
+       )
+       (setq PELVR_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_10_geom0)
+                       :name "PELVR_LINK"))
+       (send PELVR_LINK_lk :weight 167.108)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -7.9982799999999993e-02 -1.3873099999999999e+01 -1.8242400000000000e+01) :rot (matrix-exponent (scale 2.1278186543466693e+00 (float-vector -5.8206765894392221e-01 6.1841948818868531e-01 5.2797213661327491e-01))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (PELVR_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 4.1133583174242623e+04 1.2304396677250660e+05 1.1170008005325080e+05))) (transpose (send tmp-c :worldrot))))
+         (setq (PELVR_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=PELVR_LINK_lk,domNode=PELVR_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send PELVR_LINK_lk :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=LEGUPPERR_LINK_lk,domNode=PELVR_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
+       (send LEGUPPERR_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send PELVR_LINK_lk :assoc LEGUPPERR_LINK_lk)
+       )
+
+     ;; node id=v1.node9, name=PELVYR_LINK, sid=node9
+     (let ( b_g1_9_geom0)
+       ;; define bodyset-link for PELVYR_LINK : v1.node9
+       (setq b_g1_9_geom0 (instance DARWIN_g1_9_geom0 :init))
+
+       ;; writeTransform(name=b_g1_9_geom0,domNode=PELVYR_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_9_geom0 :transform localcds :world)
+       )
+       (setq PELVYR_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_9_geom0)
+                       :name "PELVYR_LINK"))
+       (send PELVYR_LINK_lk :weight 27.069)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 1.8437200000000001e+01 4.8013500000000003e-01) :rot (matrix-exponent (scale 3.0434509163188275e+00 (float-vector 7.0625355896011288e-01 -4.9110293344152837e-02 -7.0625355896011288e-01))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           (setq tmp-c (send tmp-c :transform cc)))
+         (setq (PELVYR_LINK_lk . inertia-tensor)
+               (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 6.0800445741485273e+03 1.1431265425851470e+04 1.5019139999999999e+04))) (transpose (send tmp-c :worldrot))))
+         (setq (PELVYR_LINK_lk . acentroid) (send tmp-c :worldpos))
+        )
+
+       ;; writeTransform(name=PELVYR_LINK_lk,domNode=PELVYR_LINK,targetCount=0,parent=:local), translateCount=1, rotateCount=2, matrixCount=0
+       (send PELVYR_LINK_lk :transform
+             (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
+       ;;1;
+
+       ;; writeTransform(name=PELVR_LINK_lk,domNode=PELVYR_LINK,targetCount=0,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send localcds :transform
+             (make-coords :pos (float-vector -3.7000000000000000e+01 -1.2220000000000000e+02 -5.0000000000000000e+00)
+                          :angle 0.0000000000000000e+00 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)) :local)
+       (send PELVR_LINK_lk :transform localcds :world)
+       )
+       ;;2;
+       (send PELVYR_LINK_lk :assoc PELVR_LINK_lk)
+       )
+
+     ;; node id=v1.node17, name=ARMLOWERL_LINK, sid=node17
+     (let ( b_g1_17_geom0 b_g1_17_geom1)
+       ;; define bodyset-link for ARMLOWERL_LINK : v1.node17
+       (setq b_g1_17_geom0 (instance DARWIN_g1_17_geom0 :init))
+
+       ;; writeTransform(name=b_g1_17_geom0,domNode=ARMLOWERL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_17_geom0 :transform localcds :world)
+       )
+       (setq b_g1_17_geom1 (instance DARWIN_g1_17_geom1 :init))
+
+       ;; writeTransform(name=b_g1_17_geom1,domNode=ARMLOWERL_LINK,targetCount=1,parent=:world), translateCount=1, rotateCount=2, matrixCount=0
+       (let ((localcds (make-coords)))
+       (send b_g1_17_geom1 :transform localcds :world)
+       )
+       (send b_g1_17_geom0 :assoc b_g1_17_geom1)
+       (setq ARMLOWERL_LINK_lk
+             (instance bodyset-link
+                       :init (make-cascoords)
+                       :bodies (list  b_g1_17_geom0 b_g1_17_geom1)
+                       :name "ARMLOWERL_LINK"))
+       (send ARMLOWERL_LINK_lk :weight 59.288)
+       (let ((tmp-c-list (list
+                          (make-coords :pos (float-vector 8.2000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 -1.6000000000000000e+01 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector 0.0000000000000000e+00 -6.0000000000000000e+01 1.6000000000000000e+01) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))))
+                          (make-coords :pos (float-vector -6.6656399999999998e+00 -4.5838200000000001e+01 -1.3490100000000000e+01) :rot (matrix-exponent (scale 2.9760139441600675e+00 (float-vector 6.7568311286212879e-01 7.1948377229020299e-01 1.6060956510744590e-01))))
+                          ))
+             (tmp-c (make-coords)))
+         (dolist (cc tmp-c-list)
+           ...
 
[truncated message content]

[Euslisp-commit] SF.net SVN: euslisp:[669] trunk/EusLisp/doc/latex/Makefile

From: <k-...@us...> - 2014-01-23 09:41:46

Revision: 669
          http://sourceforge.net/p/euslisp/code/669
Author:   k-okada
Date:     2014-01-23 09:41:39 +0000 (Thu, 23 Jan 2014)
Log Message:
-----------
add latex2html

Modified Paths:
--------------
    trunk/EusLisp/doc/latex/Makefile

Modified: trunk/EusLisp/doc/latex/Makefile
===================================================================
--- trunk/EusLisp/doc/latex/Makefile	2014-01-23 09:41:12 UTC (rev 668)
+++ trunk/EusLisp/doc/latex/Makefile	2014-01-23 09:41:39 UTC (rev 669)
@@ -10,3 +10,7 @@
 	latex manual ; dvips -o manual.ps manual.pdf
 #	latex manual ; dvi2ps manual.dvi >manual.ps
 
+html:
+	 latex2html -dir ../html/ -local_icons -auto_prefix -iso_language JP manual
+
+

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[Euslisp-commit] SF.net SVN: euslisp:[669] trunk/EusLisp/doc/latex/Makefile

From: <k-...@us...> - 2014-01-23 09:41:44

Revision: 669
          http://sourceforge.net/p/euslisp/code/669
Author:   k-okada
Date:     2014-01-23 09:41:39 +0000 (Thu, 23 Jan 2014)
Log Message:
-----------
add latex2html

Modified Paths:
--------------
    trunk/EusLisp/doc/latex/Makefile

Modified: trunk/EusLisp/doc/latex/Makefile
===================================================================
--- trunk/EusLisp/doc/latex/Makefile	2014-01-23 09:41:12 UTC (rev 668)
+++ trunk/EusLisp/doc/latex/Makefile	2014-01-23 09:41:39 UTC (rev 669)
@@ -10,3 +10,7 @@
 	latex manual ; dvips -o manual.ps manual.pdf
 #	latex manual ; dvi2ps manual.dvi >manual.ps
 
+html:
+	 latex2html -dir ../html/ -local_icons -auto_prefix -iso_language JP manual
+
+

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

[Euslisp-commit] SF.net SVN: euslisp:[668] trunk/EusLisp/doc/jlatex/Makefile

From: <k-...@us...> - 2014-01-23 09:41:23

Revision: 668
          http://sourceforge.net/p/euslisp/code/668
Author:   k-okada
Date:     2014-01-23 09:41:12 +0000 (Thu, 23 Jan 2014)
Log Message:
-----------
add latex2html

Modified Paths:
--------------
    trunk/EusLisp/doc/jlatex/Makefile

Modified: trunk/EusLisp/doc/jlatex/Makefile
===================================================================
--- trunk/EusLisp/doc/jlatex/Makefile	2014-01-23 09:40:32 UTC (rev 667)
+++ trunk/EusLisp/doc/jlatex/Makefile	2014-01-23 09:41:12 UTC (rev 668)
@@ -17,4 +17,12 @@
 	rm -f *~ *.aux *.idx *.log *.toc *.out *.ind *.ilg
 
 distclean: clean
-	rm -f *.dvi *.pdf
\ No newline at end of file
+	rm -f *.dvi *.pdf
+
+html:
+	nkf --in-place -e *.tex
+	latex2html -dir ../html/ -local_icons -auto_prefix -iso_language JP jmanual
+	nkf --in-place -j *.tex
+	(cd ../html; nkf --in-place -s jmanual*.html)
+
+

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

[Euslisp-commit] SF.net SVN: euslisp:[668] trunk/EusLisp/doc/jlatex/Makefile

From: <k-...@us...> - 2014-01-23 09:41:21

Revision: 668
          http://sourceforge.net/p/euslisp/code/668
Author:   k-okada
Date:     2014-01-23 09:41:12 +0000 (Thu, 23 Jan 2014)
Log Message:
-----------
add latex2html

Modified Paths:
--------------
    trunk/EusLisp/doc/jlatex/Makefile

Modified: trunk/EusLisp/doc/jlatex/Makefile
===================================================================
--- trunk/EusLisp/doc/jlatex/Makefile	2014-01-23 09:40:32 UTC (rev 667)
+++ trunk/EusLisp/doc/jlatex/Makefile	2014-01-23 09:41:12 UTC (rev 668)
@@ -17,4 +17,12 @@
 	rm -f *~ *.aux *.idx *.log *.toc *.out *.ind *.ilg
 
 distclean: clean
-	rm -f *.dvi *.pdf
\ No newline at end of file
+	rm -f *.dvi *.pdf
+
+html:
+	nkf --in-place -e *.tex
+	latex2html -dir ../html/ -local_icons -auto_prefix -iso_language JP jmanual
+	nkf --in-place -j *.tex
+	(cd ../html; nkf --in-place -s jmanual*.html)
+
+

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[Euslisp-commit] SF.net SVN: euslisp:[667] trunk/EusLisp/doc/jlatex

From: <k-...@us...> - 2014-01-23 09:40:49

Revision: 667
          http://sourceforge.net/p/euslisp/code/667
Author:   k-okada
Date:     2014-01-23 09:40:32 +0000 (Thu, 23 Jan 2014)
Log Message:
-----------
filter with nkf -j

Modified Paths:
--------------
    trunk/EusLisp/doc/jlatex/jarith.tex
    trunk/EusLisp/doc/jlatex/jcontact.tex
    trunk/EusLisp/doc/jlatex/jcontrols.tex
    trunk/EusLisp/doc/jlatex/jevaluation.tex
    trunk/EusLisp/doc/jlatex/jgenerals.tex
    trunk/EusLisp/doc/jlatex/jgraphics.tex
    trunk/EusLisp/doc/jlatex/jimage.tex
    trunk/EusLisp/doc/jlatex/jintro.tex
    trunk/EusLisp/doc/jlatex/jmatrix.tex
    trunk/EusLisp/doc/jlatex/jmthread.tex
    trunk/EusLisp/doc/jlatex/jsequences.tex
    trunk/EusLisp/doc/jlatex/jsymbols.tex
    trunk/EusLisp/doc/jlatex/jsysfunc.tex
    trunk/EusLisp/doc/jlatex/jvoronoi.tex
    trunk/EusLisp/doc/jlatex/jvxw.tex
    trunk/EusLisp/doc/jlatex/jxtoolkit.tex
    trunk/EusLisp/doc/jlatex/jxwindow.tex
    trunk/EusLisp/doc/jlatex/test.tex

Modified: trunk/EusLisp/doc/jlatex/jarith.tex
===================================================================
--- trunk/EusLisp/doc/jlatex/jarith.tex	2014-01-23 09:39:13 UTC (rev 666)
+++ trunk/EusLisp/doc/jlatex/jarith.tex	2014-01-23 09:40:32 UTC (rev 667)
@@ -1,213 +1,213 @@
-\section{$@?tCM1i;;(B}
-\markright{\arabic{section}. $@?tCM1i;;(B}
-\subsection{$@?tCM1i;;Dj?t(B}
+\section{$B?tCM1i;;(B}
+\markright{\arabic{section}. $B?tCM1i;;(B}
+\subsection{$B?tCM1i;;Dj?t(B}
 \begin{refdesc}
-\constdesc{most-positive-fixnum}{\#x1fffffff=536,870,911$@!#(B{\tt integer}$@$N@5$N:GBgCM!#(B}
-\constdesc{most-negative-fixnum}{-\#x20000000= -536,870,912$@!#(B{\tt integer}$@$NIi$N:GBgCM(B}
-\constdesc{short-float-epsilon}{IEEE$@$NIbF0>.?tE@I=8=7A<0$G$"$k(B{\tt float}$@$O!"(B
-21$@%S%C%H$N8GDj>.?t(B($@$&$AId9f(B
-$@$,(B1$@%S%C%H(B)$@$H(B7$@%S%C%H$N;X?t(B($@$&$AId9f$,(B1$@%S%C%H(B)$@$G9=@.$5$l$F$$$k!#(B
-$@$7$?$,$C$F!"IbF0>.?tE@8m:9(B$\epsilon$$@$O(B $2^{-21}= 4.768368 \times 10^{-7}$$@$H$J$k!#(B}
-\constdesc{single-float-epsilon}{{\bf short-float-epsilon}$@$HF1MM$K(B $2^{-21}$$@$G$"$k!#(B}
-\constdesc{long-float-epsilon}{Euslisp$@$K$O!"(Bdouble$@$b(Blong float$@$b$J$$$?$a!"(B
-{\bf short-float-epsilon}$@$HF1MM$K(B$2^{-21}$$@$G$"$k!#(B}
-\constdesc{pi}{$\pi$$@!#(B $@<B:]$K$O(B 3.14159203$@$G!"(B 3.14159265$@$G$O$J$$!#(B}
-\constdesc{2pi}{$2\times \pi$$@!#(B}
-\constdesc{pi/2}{$\pi/2$$@!#(B}
-\constdesc{-pi}{-3.14159203$@!#(B}
-\constdesc{-2pi}{$-2\times \pi$$@!#(B}
-\constdesc{-pi/2}{$-\pi/2$$@!#(B}
+\constdesc{most-positive-fixnum}{\#x1fffffff=536,870,911$B!#(B{\tt integer}$B$N@5$N:GBgCM!#(B}
+\constdesc{most-negative-fixnum}{-\#x20000000= -536,870,912$B!#(B{\tt integer}$B$NIi$N:GBgCM(B}
+\constdesc{short-float-epsilon}{IEEE$B$NIbF0>.?tE@I=8=7A<0$G$"$k(B{\tt float}$B$O!"(B
+21$B%S%C%H$N8GDj>.?t(B($B$&$AId9f(B
+$B$,(B1$B%S%C%H(B)$B$H(B7$B%S%C%H$N;X?t(B($B$&$AId9f$,(B1$B%S%C%H(B)$B$G9=@.$5$l$F$$$k!#(B
+$B$7$?$,$C$F!"IbF0>.?tE@8m:9(B$\epsilon$$B$O(B $2^{-21}= 4.768368 \times 10^{-7}$$B$H$J$k!#(B}
+\constdesc{single-float-epsilon}{{\bf short-float-epsilon}$B$HF1MM$K(B $2^{-21}$$B$G$"$k!#(B}
+\constdesc{long-float-epsilon}{Euslisp$B$K$O!"(Bdouble$B$b(Blong float$B$b$J$$$?$a!"(B
+{\bf short-float-epsilon}$B$HF1MM$K(B$2^{-21}$$B$G$"$k!#(B}
+\constdesc{pi}{$\pi$$B!#(B $B<B:]$K$O(B 3.14159203$B$G!"(B 3.14159265$B$G$O$J$$!#(B}
+\constdesc{2pi}{$2\times \pi$$B!#(B}
+\constdesc{pi/2}{$\pi/2$$B!#(B}
+\constdesc{-pi}{-3.14159203$B!#(B}
+\constdesc{-2pi}{$-2\times \pi$$B!#(B}
+\constdesc{-pi/2}{$-\pi/2$$B!#(B}
 \end{refdesc}
 
-\subsection{$@Hf3S1i;;4X?t(B}
+\subsection{$BHf3S1i;;4X?t(B}
 \begin{refdesc}
 \funcdesc{numberp}{object}{
-{\em object}$@$,(B{\tt integer}$@$+(B{\tt float}$@$N;~!"(BT$@$rJV$9!#(B
-$@$=$NJ8;z$,?t;z$G9=@.$5$l$F$$$k$H$-$bF1MM$G$"$k!#(B}
+{\em object}$B$,(B{\tt integer}$B$+(B{\tt float}$B$N;~!"(BT$B$rJV$9!#(B
+$B$=$NJ8;z$,?t;z$G9=@.$5$l$F$$$k$H$-$bF1MM$G$"$k!#(B}
 \funcdesc{integerp}{object}{
-{\em object}$@$,(B{\tt integer}$@$N;~!"(BT$@$rJV$9!#(B
-{\tt float}$@$O(B{\bf round, trunc}$@$*$h$S(B{\bf ceiling}$@4X?t$G(B{\tt integer}$@$KJQ49$G$-$k!#(B}
-\funcdesc{floatp}{object}{ {\em object} $@$,(B {\tt float} $@$N;~(B T $@$rJV$9!#(B
-{\tt integer}$@$O(B{\bf float}$@4X?t$G(B{\tt float}$@$KJQ49$G$-$k!#(B}
+{\em object}$B$,(B{\tt integer}$B$N;~!"(BT$B$rJV$9!#(B
+{\tt float}$B$O(B{\bf round, trunc}$B$*$h$S(B{\bf ceiling}$B4X?t$G(B{\tt integer}$B$KJQ49$G$-$k!#(B}
+\funcdesc{floatp}{object}{ {\em object} $B$,(B {\tt float} $B$N;~(B T $B$rJV$9!#(B
+{\tt integer}$B$O(B{\bf float}$B4X?t$G(B{\tt float}$B$KJQ49$G$-$k!#(B}
 
-\funcdesc{zerop}{number}{ {\em number}$@$,(B{\tt integer}$@$N%<%m$^$?$O(B
-{\tt float}$@$N(B0.0$@$N;~!"(B T$@$rJV$9!#(B}
-\funcdesc{plusp}{number}{{\em number}$@$,@5(B($@%<%m$O4^$^$J$$(B)$@$N$H$-!"(BT$@$rJV$9!#(B}
-\funcdesc{minusp}{number}{{\em number}$@$,Ii$N$H$-!"(BT$@$rJV$9!#(B}
+\funcdesc{zerop}{number}{ {\em number}$B$,(B{\tt integer}$B$N%<%m$^$?$O(B
+{\tt float}$B$N(B0.0$B$N;~!"(B T$B$rJV$9!#(B}
+\funcdesc{plusp}{number}{{\em number}$B$,@5(B($B%<%m$O4^$^$J$$(B)$B$N$H$-!"(BT$B$rJV$9!#(B}
+\funcdesc{minusp}{number}{{\em number}$B$,Ii$N$H$-!"(BT$B$rJV$9!#(B}
 
 \funcdesc{oddp}{integer}{
-{\em integer}$@$,4q?t$N$H$-!"(BT$@$rJV$9!#0z?t$O(B{\tt integer}$@$N$_M-8z!#(B}
+{\em integer}$B$,4q?t$N$H$-!"(BT$B$rJV$9!#0z?t$O(B{\tt integer}$B$N$_M-8z!#(B}
 
 \funcdesc{evenp}{integer}{
-{\em integer}$@$,6v?t$N$H$-!"(BT$@$rJV$9!#0z?t$O(B{\tt integer}$@$N$_M-8z!#(B}
+{\em integer}$B$,6v?t$N$H$-!"(BT$B$rJV$9!#0z?t$O(B{\tt integer}$B$N$_M-8z!#(B}
 
 \funcdesc{/=}{num1 num2}{
-{\em num1}$@$,(B{\em num2}$@$HEy$7$/$J$$$H$-!"(BT$@$rJV$9!#(B
-{\em num1}$@$H(B{\em num2}$@$O?tCM$G$"$k$3$H!#(B}
+{\em num1}$B$,(B{\em num2}$B$HEy$7$/$J$$$H$-!"(BT$B$rJV$9!#(B
+{\em num1}$B$H(B{\em num2}$B$O?tCM$G$"$k$3$H!#(B}
 
 \funcdesc{=}{num1 num2 \&rest more-numbers}{
-{\em num1}$@$H(B{\em num2}$@Ey$7$$$H$-$r!"(BT$@JV$9!#(B
-{\em num1}$@$H(B{\em num2}$@$O?tCM$G$"$k$3$H!#(B}
+{\em num1}$B$H(B{\em num2}$BEy$7$$$H$-$r!"(BT$BJV$9!#(B
+{\em num1}$B$H(B{\em num2}$B$O?tCM$G$"$k$3$H!#(B}
 
 \fundesc{$>$}{num1 num2 \&rest more-numbers}
 \fundesc{$<$}{num1 num2 \&rest more-numbers}
 \fundesc{$>=$}{num1 num2 \&rest more-numbers}
 \funcdesc{$<=$}{num1 num2 \&rest more-numbers}{
-$@$3$l$i$NHf3S1i;;$O!"?tCM$N$_E,MQ$G$-$k!#8m:9$r4^$a$??tCMHf3S$KBP$7$F$O!"(B
-\ref{Geometry}$@>O$K=q$+$l$F$$$k4X?t!J$3$l$i$NHf3S1i;;;R$NA0$K(B{\bf eps}$@$,(B
-$@$D$$$F$$$k!K$r;HMQ$9$k!#(B}
+$B$3$l$i$NHf3S1i;;$O!"?tCM$N$_E,MQ$G$-$k!#8m:9$r4^$a$??tCMHf3S$KBP$7$F$O!"(B
+\ref{Geometry}$B>O$K=q$+$l$F$$$k4X?t!J$3$l$i$NHf3S1i;;;R$NA0$K(B{\bf eps}$B$,(B
+$B$D$$$F$$$k!K$r;HMQ$9$k!#(B}
 \end{refdesc}
 
-\subsection{$@@0?t$H%S%C%HKh$NA`:n4X?t(B}
-$@0J2<$N4X?t$N0z?t$O!"$9$Y$F(B{\tt integer}$@$H$9$k!#(B
+\subsection{$B@0?t$H%S%C%HKh$NA`:n4X?t(B}
+$B0J2<$N4X?t$N0z?t$O!"$9$Y$F(B{\tt integer}$B$H$9$k!#(B
 
 \begin{refdesc}
 \funcdesc{mod}{dividend divisor}{
-{\em dividend} $@$r(B {\em divisor}$@$G3d$C$?M>$j$rJV$9!#(B
+{\em dividend} $B$r(B {\em divisor}$B$G3d$C$?M>$j$rJV$9!#(B
 {\tt (mod 6 5)=1, (mod -6 5)=-1, (mod 6 -5)=1, (mod -6 -5)=-1}.}
 
 \funcdesc{1-}{integer}{
-$integer-1$ $@$rJV$9!#%3%s%Q%$%i$G$O!"0z?t$r(B {\tt integer} $@$H2>Dj$9$k!#(B}
+$integer-1$ $B$rJV$9!#%3%s%Q%$%i$G$O!"0z?t$r(B {\tt integer} $B$H2>Dj$9$k!#(B}
 
 \funcdesc{1+}{integer}{
-$integer+1$ $@$rJV$9!#(B
-{\bf 1+} $@$H(B {\bf 1$-$} $@$N0z?t$O!"(B{\tt integer} $@$G$J$1$l$P$J$i$J$$!#(B}
-\funcdesc{logand}{\&rest integers}{{\em integers}$@$N%S%C%HC10L#A#N#D!#(B}
-\funcdesc{logior}{\&rest integers}{{\em integers}$@$N%S%C%HC10L#O#R!#(B}
-\funcdesc{logxor}{\&rest integers}{{\em integers}$@$N%S%C%HC10L#X#O#R!#(B}
+$integer+1$ $B$rJV$9!#(B
+{\bf 1+} $B$H(B {\bf 1$-$} $B$N0z?t$O!"(B{\tt integer} $B$G$J$1$l$P$J$i$J$$!#(B}
+\funcdesc{logand}{\&rest integers}{{\em integers}$B$N%S%C%HC10L#A#N#D!#(B}
+\funcdesc{logior}{\&rest integers}{{\em integers}$B$N%S%C%HC10L#O#R!#(B}
+\funcdesc{logxor}{\&rest integers}{{\em integers}$B$N%S%C%HC10L#X#O#R!#(B}
 \funcdesc{logeqv}{\&rest integers}{
-{\bf logeqv}$@$O(B{\tt (lognot (logxor ...))}$@$HF1Ey$G$"$k!#(B}
-\funcdesc{lognand}{\&rest integers}{{\em integers}$@$N%S%C%HC10L#N#A#N#D!#(B}
-\funcdesc{lognor}{\&rest integers}{{\em integers}$@$N%S%C%HC10L#N#O#R!#(B}
-\funcdesc{lognot}{integer}{{\em integer}$@$N%S%C%HH?E>!#(B}
+{\bf logeqv}$B$O(B{\tt (lognot (logxor ...))}$B$HF1Ey$G$"$k!#(B}
+\funcdesc{lognand}{\&rest integers}{{\em integers}$B$N%S%C%HC10L#N#A#N#D!#(B}
+\funcdesc{lognor}{\&rest integers}{{\em integers}$B$N%S%C%HC10L#N#O#R!#(B}
+\funcdesc{lognot}{integer}{{\em integer}$B$N%S%C%HH?E>!#(B}
 \funcdesc{logtest}{integer1 integer2}{
-{\tt (logand {\em integer1 integer2})}$@$,%<%m$G$J$$$H$-(B T $@$rJV$9!#(B}
+{\tt (logand {\em integer1 integer2})}$B$,%<%m$G$J$$$H$-(B T $B$rJV$9!#(B}
 
 \funcdesc{logbitp}{index integer}{
-{\em integer}$@$,(BNIL$@$G$J$1$l$P!"(BLSB$@$+$i?t$($F(B {\em index}$@HVL\$N(B 
-$@%S%C%H$,(B 1 $@$N$H$-(B T $@$rJV$9!#(B}
+{\em integer}$B$,(BNIL$B$G$J$1$l$P!"(BLSB$B$+$i?t$($F(B {\em index}$BHVL\$N(B 
+$B%S%C%H$,(B 1 $B$N$H$-(B T $B$rJV$9!#(B}
 
 \funcdesc{ash}{integer count}{
-$@?tCM1i;;:8%7%U%H!#(B
-$@$b$7(B {\em count} $@$,@5$N$H$-!"(B{\em integer}$@$r:8$K%7%U%H$9$k!#(B
-$@$b$7(B {\em count} $@$,Ii$N$H$-!"(B
-{\em integer} $@$r(B $\vert${\em count}$\vert$ $@%S%C%H1&$K%7%U%H$9$k!#(B}
+$B?tCM1i;;:8%7%U%H!#(B
+$B$b$7(B {\em count} $B$,@5$N$H$-!"(B{\em integer}$B$r:8$K%7%U%H$9$k!#(B
+$B$b$7(B {\em count} $B$,Ii$N$H$-!"(B
+{\em integer} $B$r(B $\vert${\em count}$\vert$ $B%S%C%H1&$K%7%U%H$9$k!#(B}
 
 \funcdesc{ldb}{target position width}{
 LoaD Byte.
-{\bf ldb} $@$d(B {\bf dpb} $@$N(BByte$@7?$O!"(B EusLisp$@$K$J$$$?$a!"Be$j$K(B
-2$@8D$N(B {\tt integer} $@$r;HMQ$9$k!#(B
-{\em target} $@$N(BLSB$@$h$j(B{\em position}$@HVL\$N0LCV$+$i(BMSB$@$X(B {\em width} $@%S%C%H$N(B
-$@HO0O$rH4$-=P$9!#Nc$($P!"(B {\tt (ldb \#x1234 4 4)} $@$O(B 3$@$H$J$k!#(B}
+{\bf ldb} $B$d(B {\bf dpb} $B$N(BByte$B7?$O!"(B EusLisp$B$K$J$$$?$a!"Be$j$K(B
+2$B8D$N(B {\tt integer} $B$r;HMQ$9$k!#(B
+{\em target} $B$N(BLSB$B$h$j(B{\em position}$BHVL\$N0LCV$+$i(BMSB$B$X(B {\em width} $B%S%C%H$N(B
+$BHO0O$rH4$-=P$9!#Nc$($P!"(B {\tt (ldb \#x1234 4 4)} $B$O(B 3$B$H$J$k!#(B}
 
 \funcdesc{dpb}{value target position width}{
 DePosit Byte.
-{\em target}$@$N(BLSB$@$h$j(B{\em position}$@HVL\$N0LCV$X(B{\em value}$@$r(B
-{\em width}$@%S%C%HCV$-49$($k!#(B}
+{\em target}$B$N(BLSB$B$h$j(B{\em position}$BHVL\$N0LCV$X(B{\em value}$B$r(B
+{\em width}$B%S%C%HCV$-49$($k!#(B}
 
 \end{refdesc}
 
 
-\subsection{$@0lHL?tCM4X?t(B}
+\subsection{$B0lHL?tCM4X?t(B}
 \begin{refdesc}
-\funcdesc{+}{\&rest numbers}{{\em numbers}$@$NOB$rJV$9!#(B}
+\funcdesc{+}{\&rest numbers}{{\em numbers}$B$NOB$rJV$9!#(B}
 \funcdesc{-}{num \&rest more-numbers}{
-$@$b$7(B {\em more-numbers} $@$,M?$($i$l$?$H$-!"(B{\em num}$@$h$j0z$/!#(B
-$@$=$&$G$J$$$H$-!"(B{\em num} $@$OId9fH?E>$5$l$k!#(B}
-\funcdesc{*}{\&rest numbers}{{\em numbers}$@$N@Q$rJV$9!#(B}
+$B$b$7(B {\em more-numbers} $B$,M?$($i$l$?$H$-!"(B{\em num}$B$h$j0z$/!#(B
+$B$=$&$G$J$$$H$-!"(B{\em num} $B$OId9fH?E>$5$l$k!#(B}
+\funcdesc{*}{\&rest numbers}{{\em numbers}$B$N@Q$rJV$9!#(B}
 \funcdesc{/}{num1 num2 \&rest more-numbers}{
-{\em num1} $@$r!"(B{\em num2} $@$d(B {\em more-numbers}$@$G3d$j;;$9$k!#(B
-$@A4$F$N0z?t$,(B{\tt integer}$@$N$H$-!"(B{\tt integer}$@$rJV$7!"(B
-$@0z?t$K(B1$@$D$G$b(B{\tt float}$@$,$"$C$?$H$-$O!"(B{\tt float}$@$rJV$9!#(B}
-\funcdesc{abs}{number}{{\em number}$@$N@dBPCM$rJV$9!#(B}
+{\em num1} $B$r!"(B{\em num2} $B$d(B {\em more-numbers}$B$G3d$j;;$9$k!#(B
+$BA4$F$N0z?t$,(B{\tt integer}$B$N$H$-!"(B{\tt integer}$B$rJV$7!"(B
+$B0z?t$K(B1$B$D$G$b(B{\tt float}$B$,$"$C$?$H$-$O!"(B{\tt float}$B$rJV$9!#(B}
+\funcdesc{abs}{number}{{\em number}$B$N@dBPCM$rJV$9!#(B}
 \funcdesc{round}{number}{
-{\em number}$@$N>.?tBh(B1$@0L$r;M<N8^F~$7(B {\tt integer}$@$rJV$9!#(B
+{\em number}$B$N>.?tBh(B1$B0L$r;M<N8^F~$7(B {\tt integer}$B$rJV$9!#(B
 {\tt (round 1.5)=2, (round -1.5)=2}.}
 
 \funcdesc{floor}{number}{
-{\em number}$@$N>.?t$r@Z<N$F$k!#(B
+{\em number}$B$N>.?t$r@Z<N$F$k!#(B
 {\tt (floor 1.5)=1, (floor -1.5)=-2}.}
 
 \funcdesc{ceiling}{number}{
-{\em number}$@$N>.?t$r@Z$j>e$2$k!#(B
+{\em number}$B$N>.?t$r@Z$j>e$2$k!#(B
 {\tt (ceiling 1.5)=2, (ceiling -1.5)=-1}.}
 
 \funcdesc{truncate}{number}{
-{\em number}$@$,@5$N$H$-$O@Z<N$F!"Ii$N$H$-$O@Z$j>e$2$k!#(B
+{\em number}$B$,@5$N$H$-$O@Z<N$F!"Ii$N$H$-$O@Z$j>e$2$k!#(B
 {\tt (truncate 1.5)=1, (truncate -1.5)=-1}.}
 
 \funcdesc{float}{number}{
- {\em number}$@$r(B{\tt float}$@$K$7$FJV$9!#(B}
+ {\em number}$B$r(B{\tt float}$B$K$7$FJV$9!#(B}
 
 \funcdesc{max}{\&rest numbers}{
- {\em numbers}$@$NCf$+$i!":GBgCM$r$5$,$9!#(B}
+ {\em numbers}$B$NCf$+$i!":GBgCM$r$5$,$9!#(B}
 
 \funcdesc{min}{\&rest numbers}{
-{\em numbers}$@$NCf$+$i!":G>.CM$r$5$,$9!#(B}
+{\em numbers}$B$NCf$+$i!":G>.CM$r$5$,$9!#(B}
 
 \funcdesc{random}{range \&optional (randstate *random-state*)}{
- 0$@$"$k$$$O(B0.0 $@$+$i(B {\em range}$@$^$G$NMp?t$rJV$9!#(B
-$@$b$7(B {\em range} $@$,(B {\tt integer}$@$N$H$-!"(B
-{\tt integer} $@$KJQ49$7$FJV$9!#(B
-$@$=$&$G$J$$$H$-!"(B{\tt float} $@$rJV$9!#(B
-$@%*%W%7%g%s$N(B{\em randstate} $@$O!"7h$^$C$?Mp?tNs$GI=$5$l$k!#(B
-{\em randstate}$@$KFCJL$J%G!<%?$N7?$O$J$/!"(B
-2$@$D$NMWAG$+$i$J$k(B $@@0?t%Y%/%H%k$GI=$5$l$k!#(B
+ 0$B$"$k$$$O(B0.0 $B$+$i(B {\em range}$B$^$G$NMp?t$rJV$9!#(B
+$B$b$7(B {\em range} $B$,(B {\tt integer}$B$N$H$-!"(B
+{\tt integer} $B$KJQ49$7$FJV$9!#(B
+$B$=$&$G$J$$$H$-!"(B{\tt float} $B$rJV$9!#(B
+$B%*%W%7%g%s$N(B{\em randstate} $B$O!"7h$^$C$?Mp?tNs$GI=$5$l$k!#(B
+{\em randstate}$B$KFCJL$J%G!<%?$N7?$O$J$/!"(B
+2$B$D$NMWAG$+$i$J$k(B $B@0?t%Y%/%H%k$GI=$5$l$k!#(B
 }
 
 \macrodesc{incf}{variable \&optional (increment 1)}{
-{\em variable} $@$O0lHL$NJQ?t$G$"$k!#(B
-{\em variable} $@$O!"(B{\em increment}$@$@$1A}2C$5$l!"(B
-{\em variable}$@$KLa$5$l$k!#(B}
+{\em variable} $B$O0lHL$NJQ?t$G$"$k!#(B
+{\em variable} $B$O!"(B{\em increment}$B$@$1A}2C$5$l!"(B
+{\em variable}$B$KLa$5$l$k!#(B}
 \macrodesc{decf}{variable \&optional decrement}{
-{\em variable} $@$O0lHL$NJQ?t$G$"$k!#(B
-{\em variable} $@$O!"(B{\em decrement}$@$@$18:>/$5$l!"(B
-{\em variable}$@$KLa$5$l$k!#(B}
+{\em variable} $B$O0lHL$NJQ?t$G$"$k!#(B
+{\em variable} $B$O!"(B{\em decrement}$B$@$18:>/$5$l!"(B
+{\em variable}$B$KLa$5$l$k!#(B}
 
 \funcdesc{reduce}{func seq}{
-2$@JQ?tA`:n$N(B{\em func}$@4X?t$rMQ$$$F!"(B{\em seq}$@$NCf$NA4$F$NMWAG$r7k9g$5$;$k!#(B
-$@Nc$($P!"(B{\tt (reduce \#'expt '(2 3 4)) = (expt (expt 2 3) 4)=4096}.}
+2$BJQ?tA`:n$N(B{\em func}$B4X?t$rMQ$$$F!"(B{\em seq}$B$NCf$NA4$F$NMWAG$r7k9g$5$;$k!#(B
+$BNc$($P!"(B{\tt (reduce \#'expt '(2 3 4)) = (expt (expt 2 3) 4)=4096}.}
 
-\funcdesc{rad2deg}{radian}{$@%i%8%"%sCM$r(B $@EY?tI=8=$KJQ49$9$k!#(B
-\#R $@$OF1$8$b$N$G$"$k!#(B
-EusLisp $@$NCf$G$N3QEY$NI=5-$O%i%8%"%s$G$"$j!"(B
-EusLisp $@Fb$NA4$F$N4X?t$,MW5a$9$k3QEY0z?t$O!"%i%8%"%sI=8=$G$"$k!#(B}
+\funcdesc{rad2deg}{radian}{$B%i%8%"%sCM$r(B $BEY?tI=8=$KJQ49$9$k!#(B
+\#R $B$OF1$8$b$N$G$"$k!#(B
+EusLisp $B$NCf$G$N3QEY$NI=5-$O%i%8%"%s$G$"$j!"(B
+EusLisp $BFb$NA4$F$N4X?t$,MW5a$9$k3QEY0z?t$O!"%i%8%"%sI=8=$G$"$k!#(B}
 
-\funcdesc{deg2rad}{degree}{$@3QEYCM$r%i%8%"%sI=8=$KJQ49$9$k!#(B
-$@$^$?(B \#D $@$G$b<B9T$G$-$k!#(B}
+\funcdesc{deg2rad}{degree}{$B3QEYCM$r%i%8%"%sI=8=$KJQ49$9$k!#(B
+$B$^$?(B \#D $B$G$b<B9T$G$-$k!#(B}
 \end{refdesc}
 
-\subsection{$@4pK\4X?t(B}
+\subsection{$B4pK\4X?t(B}
 \begin{refdesc}
-\funcdesc{sin}{theta}{{\em theta} $@$O%i%8%"%s$GI=$5$l$k(B {\tt float} $@CM!#(B
-$\sin(theta)$$@$rJV$9!#(B}
-\funcdesc{cos}{theta}{{\em theta} $@$O%i%8%"%s$GI=$5$l$k(B {\tt float} $@CM!#(B
-$\cos(theta)$$@$rJV$9!#(B}
-\funcdesc{tan}{theta}{{\em theta} $@$O%i%8%"%s$GI=$5$l$k(B {\tt float} $@CM!#(B
-$\tan(theta)$$@$rJV$9!#(B}
-\funcdesc{sinh}{x}{ hyperbolic sine$@!"(B
-$\frac{e^{x}-e^{-x}}{2}$$@$GI=$5$l$k!#(B}
-\funcdesc{cosh}{x}{ hyperbolic cosine$@!"(B
-$\frac{e^{x}+e^{-x}}{2}$$@$GI=$5$l$k!#(B}
-\funcdesc{tanh}{x}{ hyperbolic tangent$@!"(B
-$\frac{e^{x}+e^{-x}}{e^{x}-e^{-x}}$$@$GI=$5$l$k!#(B}
-\funcdesc{asin}{number}{{\em number}$@$N(Barc sine$@$rJV$9!#(B}
-\funcdesc{acos}{number}{{\em number}$@$N(Barc cosine$@$rJV$9!#(B}
+\funcdesc{sin}{theta}{{\em theta} $B$O%i%8%"%s$GI=$5$l$k(B {\tt float} $BCM!#(B
+$\sin(theta)$$B$rJV$9!#(B}
+\funcdesc{cos}{theta}{{\em theta} $B$O%i%8%"%s$GI=$5$l$k(B {\tt float} $BCM!#(B
+$\cos(theta)$$B$rJV$9!#(B}
+\funcdesc{tan}{theta}{{\em theta} $B$O%i%8%"%s$GI=$5$l$k(B {\tt float} $BCM!#(B
+$\tan(theta)$$B$rJV$9!#(B}
+\funcdesc{sinh}{x}{ hyperbolic sine$B!"(B
+$\frac{e^{x}-e^{-x}}{2}$$B$GI=$5$l$k!#(B}
+\funcdesc{cosh}{x}{ hyperbolic cosine$B!"(B
+$\frac{e^{x}+e^{-x}}{2}$$B$GI=$5$l$k!#(B}
+\funcdesc{tanh}{x}{ hyperbolic tangent$B!"(B
+$\frac{e^{x}+e^{-x}}{e^{x}-e^{-x}}$$B$GI=$5$l$k!#(B}
+\funcdesc{asin}{number}{{\em number}$B$N(Barc sine$B$rJV$9!#(B}
+\funcdesc{acos}{number}{{\em number}$B$N(Barc cosine$B$rJV$9!#(B}
 \funcdesc{atan}{y \&optional x}{
-{\bf atan} $@$,(B1$@$D$N0z?t$@$1$N$H$-!"(Barctangent $@$r7W;;$9$k!#(B
-2$@$D$N0z?t$N$H$-!"(B{\tt atan}$(y/x)$ $@$r7W;;$9$k!#(B}
+{\bf atan} $B$,(B1$B$D$N0z?t$@$1$N$H$-!"(Barctangent $B$r7W;;$9$k!#(B
+2$B$D$N0z?t$N$H$-!"(B{\tt atan}$(y/x)$ $B$r7W;;$9$k!#(B}
 \funcdesc{asinh}{x}{hyperbolic arc sine.}
 \funcdesc{acosh}{x}{hyperbolic arc cosine.}
 \funcdesc{atanh}{x}{hyperbolic arc tangent.}
 
-\funcdesc{sqrt}{number}{{\em number} $@$NJ?J}:,$rJV$9!#(B}
+\funcdesc{sqrt}{number}{{\em number} $B$NJ?J}:,$rJV$9!#(B}
 
-\funcdesc{log}{number}{{\em number} $@$N<+A3BP?t$rJV$9!#(B}
+\funcdesc{log}{number}{{\em number} $B$N<+A3BP?t$rJV$9!#(B}
 
-\funcdesc{exp}{x}{$e^{x}$$@$rJV$9!#(B}
+\funcdesc{exp}{x}{$e^{x}$$B$rJV$9!#(B}
 
 \funcdesc{expt}{a x}{
-{\em a}$@$N(B{\em x}$@>h$rJV$9!#(B}
+{\em a}$B$N(B{\em x}$B>h$rJV$9!#(B}
 \end{refdesc}
 
 \newpage

Modified: trunk/EusLisp/doc/jlatex/jcontact.tex
===================================================================
--- trunk/EusLisp/doc/jlatex/jcontact.tex	2014-01-23 09:39:13 UTC (rev 666)
+++ trunk/EusLisp/doc/jlatex/jcontact.tex	2014-01-23 09:40:32 UTC (rev 667)
@@ -1,21 +1,21 @@
-\subsection{\label{Contact}$@N)BN$N@\?(>uBV2r@O(B}
+\subsection{\label{Contact}$BN)BN$N@\?(>uBV2r@O(B}
 
-$@$3$N@a$N%a%=%C%I$*$h$S4X?t$O!"<!$N%U%!%$%k$K5-=R$5$l$F$$$k!#(B
+$B$3$N@a$N%a%=%C%I$*$h$S4X?t$O!"<!$N%U%!%$%k$K5-=R$5$l$F$$$k!#(B
 {\bf contact/model2const.l, con\-tact/in\-e\-qual\-i\-ties.l, contact/drawconst.l}
 
 \begin{refdesc}
 
-\funcdesc{constrained-motion}{c}{$@94B+(B{\em c}$@$rK~$?$7$F$$$k(B
-$@F0:n$N%j%9%H$rJV$9!#(B}
+\funcdesc{constrained-motion}{c}{$B94B+(B{\em c}$B$rK~$?$7$F$$$k(B
+$BF0:n$N%j%9%H$rJV$9!#(B}
 
-\funcdesc{constrained-force}{m}{$@94B+$5$l$F$$$k(B{\bf body}$@$+$i(B
-$@94B+$7$F$$$k(B{\bf body}$@$K2C$o$kNO$rJV$9!#(B{\em m}$@$O!"(B{\bf constrained-motion}
-$@$+$iJV$5$l$kF0:n$N%j%9%H$G$"$k!#(B}
+\funcdesc{constrained-force}{m}{$B94B+$5$l$F$$$k(B{\bf body}$B$+$i(B
+$B94B+$7$F$$$k(B{\bf body}$B$K2C$o$kNO$rJV$9!#(B{\em m}$B$O!"(B{\bf constrained-motion}
+$B$+$iJV$5$l$kF0:n$N%j%9%H$G$"$k!#(B}
 
-\funcdesc{draw-constraint}{c}{$@94B+(B{\em c}$@$rIA$/!#(B}
+\funcdesc{draw-constraint}{c}{$B94B+(B{\em c}$B$rIA$/!#(B}
 
-\funcdesc{draw-motion}{m a b}{{\em a}$@$,(B{\em b}$@$K@\?($7$F$$$k$H$-$K(B
-$@<h$jF@$kF0:n$rIA$/!#%j%?!<%s%-!<$r2!$9$3$H$K$h$jIA2h$r;O$a$k!#(B}
+\funcdesc{draw-motion}{m a b}{{\em a}$B$,(B{\em b}$B$K@\?($7$F$$$k$H$-$K(B
+$B<h$jF@$kF0:n$rIA$/!#%j%?!<%s%-!<$r2!$9$3$H$K$h$jIA2h$r;O$a$k!#(B}
 \end{refdesc}
 Example\\
 \begin{verbatim}
@@ -50,7 +50,7 @@
 (draw-motion m)
 \end{verbatim}
 \clearpage
-$@94B+$NNc$r<!$N?^$G<($9!#?^$N>.$5$JLp0u$O!$%Z%0$KBP$9$k94B+$r<($9!#(B
+$B94B+$NNc$r<!$N?^$G<($9!#?^$N>.$5$JLp0u$O!$%Z%0$KBP$9$k94B+$r<($9!#(B
 \\
 \begin{figure}[h]
 \epsfile{file=fig/fig-peg-in-hole1.ps,width=7.9cm}
@@ -61,8 +61,8 @@
 \label{fig:peg-in-hole}
 \end{figure}
 \clearpage
-$@%Z%0$r7j$KF~$l$k:n6H$K$*$$$F<h$jF@$kF0:n$NNc$r<!$N?^$G<($9!#(B
-$@$3$NNc$O!$>e5-$N%W%m%0%i%`$H0lCW$7$F$$$k!#(B
+$B%Z%0$r7j$KF~$l$k:n6H$K$*$$$F<h$jF@$kF0:n$NNc$r<!$N?^$G<($9!#(B
+$B$3$NNc$O!$>e5-$N%W%m%0%i%`$H0lCW$7$F$$$k!#(B
 \begin{figure}[h]
 \begin{center}
 \epsfile{file=fig/fig-peg-naname-m1.ps,width=7.9cm}

Modified: trunk/EusLisp/doc/jlatex/jcontrols.tex
===================================================================
--- trunk/EusLisp/doc/jlatex/jcontrols.tex	2014-01-23 09:39:13 UTC (rev 666)
+++ trunk/EusLisp/doc/jlatex/jcontrols.tex	2014-01-23 09:40:32 UTC (rev 667)
@@ -1,164 +1,164 @@
-\section{$@@)8f9=B$(B}
-\markright{\arabic{section}. $@@)8f9=B$(B}
-\subsection{$@>r7oJ8(B}
+\section{$B@)8f9=B$(B}
+\markright{\arabic{section}. $B@)8f9=B$(B}
+\subsection{$B>r7oJ8(B}
 
-{\bf and,or}$@$*$h$S(B{\bf cond}$@$O!"(BCommon Lisp$@$K$*$$$F%^%/%m$H$7$FCN$i$l$F$$$k$,!"(B
-EusLisp$@$G$O%$%s%?%W%j%?;~$N8zN($r2~A1$9$k$?$a$KFC<l=q<0$H$7$F<B9T$5$l$k!#(B
+{\bf and,or}$B$*$h$S(B{\bf cond}$B$O!"(BCommon Lisp$B$K$*$$$F%^%/%m$H$7$FCN$i$l$F$$$k$,!"(B
+EusLisp$B$G$O%$%s%?%W%j%?;~$N8zN($r2~A1$9$k$?$a$KFC<l=q<0$H$7$F<B9T$5$l$k!#(B
 
 \begin{refdesc}
 \specialdesc{and}{\{form\}*}{
-{\em form}$@$O!"(BNIL$@$,8=$l$k$^$G:8$+$i1&$KI>2A$5$l$k!#(B
-$@$b$7!"A4$F$N=q<0$,(Bnon-NIL$@$H$7$FI>2A$5$l$k$J$i$P!"(B
-$@:G8e$NCM$,JV$5$l$k!#(B}
+{\em form}$B$O!"(BNIL$B$,8=$l$k$^$G:8$+$i1&$KI>2A$5$l$k!#(B
+$B$b$7!"A4$F$N=q<0$,(Bnon-NIL$B$H$7$FI>2A$5$l$k$J$i$P!"(B
+$B:G8e$NCM$,JV$5$l$k!#(B}
 
 \specialdesc{or}{\{form\}*}{
-{\em form}$@$O!"(Bnon-NIL$@CM$,8=$l$k$^$G:8$+$i1&$KI>2A$5$l$k!#(B
-$@$=$7$F!"$=$NCM$,JV$5$l$k!#(B
-$@$b$7!"A4$F$N=q<0$,(BNIL$@$H$7$FI>2A$5$l$k$J$i$P!"(BNIL$@$rJV$9!#(B}
+{\em form}$B$O!"(Bnon-NIL$BCM$,8=$l$k$^$G:8$+$i1&$KI>2A$5$l$k!#(B
+$B$=$7$F!"$=$NCM$,JV$5$l$k!#(B
+$B$b$7!"A4$F$N=q<0$,(BNIL$B$H$7$FI>2A$5$l$k$J$i$P!"(BNIL$B$rJV$9!#(B}
 
 \specialdesc{if}{test then [else]}{
-{\bf if}$@$O!"#1$D$N(B{\it then}$@$H(B{\it else}$@=q<0$N$_$r;}$D$3$H$,$G$-$k!#(B
-$@$=$3$KB?=E=q<0$r=q$-$?$$$H$-$O!"(B{\bf progn}$@$r;H$C$F(B
-$@%0%k!<%W2=$7$J$1$l$P$J$i$J$$!#(B}
+{\bf if}$B$O!"#1$D$N(B{\it then}$B$H(B{\it else}$B=q<0$N$_$r;}$D$3$H$,$G$-$k!#(B
+$B$=$3$KB?=E=q<0$r=q$-$?$$$H$-$O!"(B{\bf progn}$B$r;H$C$F(B
+$B%0%k!<%W2=$7$J$1$l$P$J$i$J$$!#(B}
 
 \macrodesc{when}{test forms}{
-{\bf if}$@$H0c$C$F!"(B
-{\bf when}$@$H(B{\bf unless}$@$O!"B?=E(B{\em $@=q<0(B}$@$G=q$/$3$H$r5v2D$7$F$$$k!#(B
-{\em test}$@$NI>2A$,(Bnon-NIL$@$N$H$-!"(B{\bf when}$@$O<B9T$5$l!"(B
-$@I>2A$,(BNIL$@$N$H$-!"(B{\em unless}$@$O<B9T$5$l$k!#(B
-$@$b$&0lJ}$G!"$3$l$i$N%^%/%m$O(B{\em else}$@=q<0$rDI2C$9$k$3$H$r(B
-$@5v2D$7$F$$$J$$!#(B}
+{\bf if}$B$H0c$C$F!"(B
+{\bf when}$B$H(B{\bf unless}$B$O!"B?=E(B{\em $B=q<0(B}$B$G=q$/$3$H$r5v2D$7$F$$$k!#(B
+{\em test}$B$NI>2A$,(Bnon-NIL$B$N$H$-!"(B{\bf when}$B$O<B9T$5$l!"(B
+$BI>2A$,(BNIL$B$N$H$-!"(B{\em unless}$B$O<B9T$5$l$k!#(B
+$B$b$&0lJ}$G!"$3$l$i$N%^%/%m$O(B{\em else}$B=q<0$rDI2C$9$k$3$H$r(B
+$B5v2D$7$F$$$J$$!#(B}
 
 \macrodesc{unless}{test forms}{
-{\tt(when (not {\em test}) . {\em forms})}$@$HF1Ey$G$"$k!#(B}
+{\tt(when (not {\em test}) . {\em forms})}$B$HF1Ey$G$"$k!#(B}
 
 \specialdesc{cond}{{(test \{form\}*)}*}{
-$@G$0U$N?t$N>r7o9`$O!"(B{\bf cond}$@$N8e$KB3$1$k$3$H$,$G$-$k!#(B
-$@$=$l$>$l$N>r7o9`$K$*$$$F!":G=i$N=q<0(B{\em test}$@$,I>2A$5$l$k!#(B
-$@$b$7!"(Bnon-NIL$@$G$"$C$?$H$-!"$=$N>r7o9`$N;D$j$N=q<0$O!"B3$$$FI>2A$5$l$k!#(B
-$@$=$7$F!":G8e$NCM$,JV$5$l$k!#(B
-$@$b$7!"(B{\em test}$@$N$"$H$K=q<0$,$J$+$C$?$J$i$P!"(B
-{\em test}$@$NCM$,JV$5$l$k!#(B
-{\em test}$@$,<:GT$7$?$H$-!"<!$N>r7o9`$O(B{\em test}$@$,(Bnon-NIL$@I>2A$5$l$k$+$^$?$O(B
-$@A4$F$N>r7o9`$,?T$-$F$7$^$&$^$G7+$jJV$5$l$k!#(B
-$@>r7o9`$,?T$-$F$7$^$C$?>l9g!"(B{\bf cond}$@$O(BNIL$@$rJV$9!#(B}
+$BG$0U$N?t$N>r7o9`$O!"(B{\bf cond}$B$N8e$KB3$1$k$3$H$,$G$-$k!#(B
+$B$=$l$>$l$N>r7o9`$K$*$$$F!":G=i$N=q<0(B{\em test}$B$,I>2A$5$l$k!#(B
+$B$b$7!"(Bnon-NIL$B$G$"$C$?$H$-!"$=$N>r7o9`$N;D$j$N=q<0$O!"B3$$$FI>2A$5$l$k!#(B
+$B$=$7$F!":G8e$NCM$,JV$5$l$k!#(B
+$B$b$7!"(B{\em test}$B$N$"$H$K=q<0$,$J$+$C$?$J$i$P!"(B
+{\em test}$B$NCM$,JV$5$l$k!#(B
+{\em test}$B$,<:GT$7$?$H$-!"<!$N>r7o9`$O(B{\em test}$B$,(Bnon-NIL$BI>2A$5$l$k$+$^$?$O(B
+$BA4$F$N>r7o9`$,?T$-$F$7$^$&$^$G7+$jJV$5$l$k!#(B
+$B>r7o9`$,?T$-$F$7$^$C$?>l9g!"(B{\bf cond}$B$O(BNIL$B$rJV$9!#(B}
 
 \macrodesc{case}{key \{(\{label $|$ (\{lab\}*) \{form\}*)\}*}{
-{\em key}$@$H(B{\em label}$@$,0lCW$7$?>r7o9`$K$D$$$F!"(B
-{\em form}$@$,I>2A$5$l!":G8e$NCM$,JV$5$l$k!#(B
-{\em key}$@$H(B{\em label}$@$N4V$NEy2A$O!"(B{\bf eq}$@$^$?$O(B
-{\bf memq}$@$G9T$o$l!"(B{\bf equal}$@$G$O$J$$!#(B}
+{\em key}$B$H(B{\em label}$B$,0lCW$7$?>r7o9`$K$D$$$F!"(B
+{\em form}$B$,I>2A$5$l!":G8e$NCM$,JV$5$l$k!#(B
+{\em key}$B$H(B{\em label}$B$N4V$NEy2A$O!"(B{\bf eq}$B$^$?$O(B
+{\bf memq}$B$G9T$o$l!"(B{\bf equal}$B$G$O$J$$!#(B}
 
 \end{refdesc}
 
-\subsection{$@C`<!<B9T$H(BLet}
+\subsection{$BC`<!<B9T$H(BLet}
 
 \begin{refdesc}
 \funcdesc{prog1}{form1 \&rest forms}{
-{\em form1}$@$H(B{\em forms}$@$O!"<!!9$HI>2A$5$l!"(B
-{\em form1}$@$+$iJV$5$l$kCM$,(B{\bf prog1}$@$NCM$H$7$FJV$5$l$k!#(B}
+{\em form1}$B$H(B{\em forms}$B$O!"<!!9$HI>2A$5$l!"(B
+{\em form1}$B$+$iJV$5$l$kCM$,(B{\bf prog1}$B$NCM$H$7$FJV$5$l$k!#(B}
 
 \specialdesc{progn}{\{form\}*}{
-{\em form}$@$O<!!9$KI>2A$5$l!":G8e$N(B{\em form}$@$NCM$,JV$5$l$k!#(B
-{\bf progn}$@$OFC<l=q<0$G$"$k!#$J$<$J$i!"%U%!%$%k$N:G=i$K8=$l$?$H$-(B
-$@FCJL$J0UL#$r;}$D$+$i$G$"$k!#(B
-$@$=$N$h$&$J=q<0$,%3%s%Q%$%k$5$l$?$H$-!"FbIt=q<0$O$9$Y$F:G=i$K8=$l$?(B
-$@$H$7$F8+$J$9!#(B
-$@%^%/%m$,(B{\bf defun}$@$d(B{\bf defmethod}$@$NO"B3$G3HD%$5$l$k>l9g!"$=$l$,:G=i$K(B
-$@8=$o$l$J$1$l$P$J$i$J$$$H$-$KLrN)$D!#(B}
+{\em form}$B$O<!!9$KI>2A$5$l!":G8e$N(B{\em form}$B$NCM$,JV$5$l$k!#(B
+{\bf progn}$B$OFC<l=q<0$G$"$k!#$J$<$J$i!"%U%!%$%k$N:G=i$K8=$l$?$H$-(B
+$BFCJL$J0UL#$r;}$D$+$i$G$"$k!#(B
+$B$=$N$h$&$J=q<0$,%3%s%Q%$%k$5$l$?$H$-!"FbIt=q<0$O$9$Y$F:G=i$K8=$l$?(B
+$B$H$7$F8+$J$9!#(B
+$B%^%/%m$,(B{\bf defun}$B$d(B{\bf defmethod}$B$NO"B3$G3HD%$5$l$k>l9g!"$=$l$,:G=i$K(B
+$B8=$o$l$J$1$l$P$J$i$J$$$H$-$KLrN)$D!#(B}
 
 \macrodesc{setf}{\{access-form value\}*}{
-{\em value}$@$r0lHL2=JQ?t(B{\em access-form}$@$K3d$jEv$F$k!#(B}
+{\em value}$B$r0lHL2=JQ?t(B{\em access-form}$B$K3d$jEv$F$k!#(B}
 
 \specialdesc{let}{(\{var $|$ (var [value])\}*) \{declare\}* \{form\}*}{
-$@%m!<%+%kJQ?t$r@8@.$9$k!#(B
-$@$9$Y$F$N(B{\em value}$@$OI>2A$5$l!"JB9T$7$F(B{\em var}$@$K3d$jEv$F$i$l$k!#$9$J$o$A!"(B
-{\tt (let ((a 1)) (let ((a (1+ a)) (b a)) (list a b)))} $@$N7k2L$O(B
-(2 1)$@$G$"$k!#(B}
+$B%m!<%+%kJQ?t$r@8@.$9$k!#(B
+$B$9$Y$F$N(B{\em value}$B$OI>2A$5$l!"JB9T$7$F(B{\em var}$B$K3d$jEv$F$i$l$k!#$9$J$o$A!"(B
+{\tt (let ((a 1)) (let ((a (1+ a)) (b a)) (list a b)))} $B$N7k2L$O(B
+(2 1)$B$G$"$k!#(B}
 
 \specialdesc{let*}{(\{var $|$ (var [value])\}*) \{declare\}* \{form\}*}{
-$@%m!<%+%kJQ?t$r@8@.$9$k!#(B
-$@A4$F$N(B{\em value}$@$O<!!9$KI>2A$5$l!"(B{\em var}$@$K3d$jEv$F$i$l$k!#$9$J$o$A!"(B
-{\tt (let ((a 1)) (let* ((a (1+ a)) (b a)) (list a b)))}$@$N7k2L$O(B
-(2 2)$@$G$"$k!#(B}
+$B%m!<%+%kJQ?t$r@8@.$9$k!#(B
+$BA4$F$N(B{\em value}$B$O<!!9$KI>2A$5$l!"(B{\em var}$B$K3d$jEv$F$i$l$k!#$9$J$o$A!"(B
+{\tt (let ((a 1)) (let* ((a (1+ a)) (b a)) (list a b)))}$B$N7k2L$O(B
+(2 2)$B$G$"$k!#(B}
 \end{refdesc}
 
-\subsection{$@%m!<%+%k4X?t(B}
+\subsection{$B%m!<%+%k4X?t(B}
 \begin{refdesc}
 \specialdesc{flet}{ (\{(fname lambda-list . body)\}*) \{form\}*}{
-$@%m!<%+%k4X?t$rDj5A$9$k!#(B}
+$B%m!<%+%k4X?t$rDj5A$9$k!#(B}
 
 \specialdesc{labels}{ (\{(fname lambda-list . body)\}*) \{form\}*}{
-$@%m!<%+%k$J%9%3!<%W$H$J$k4X?t$rDj5A$9$k!#(B
-{\bf flet}$@$H(B{\bf labels}$@$H$N0c$$$O!"(B
-{\bf flet}$@$GDj5A$5$l$?%m!<%+%k4X?t$O!"$=$NB>$N4X?t$r;2>H$^$?$O:F5"$G$-$J$$$,!"(B
-{\bf labels}$@$OAj8_$N;2>H$r5v2D$9$k!#(B}
+$B%m!<%+%k$J%9%3!<%W$H$J$k4X?t$rDj5A$9$k!#(B
+{\bf flet}$B$H(B{\bf labels}$B$H$N0c$$$O!"(B
+{\bf flet}$B$GDj5A$5$l$?%m!<%+%k4X?t$O!"$=$NB>$N4X?t$r;2>H$^$?$O:F5"$G$-$J$$$,!"(B
+{\bf labels}$B$OAj8_$N;2>H$r5v2D$9$k!#(B}
 \end{refdesc}
 
-\subsection{$@%V%m%C%/$H(BExit}
+\subsection{$B%V%m%C%/$H(BExit}
 \begin{refdesc}
 \specialdesc{block}{tag \{form\}*}{
-{\bf return-from}$@$K$h$C$FC&=P2DG=$J%m!<%+%k%V%m%C%/$r:n$k!#(B
-{\em tag}$@$O!"%m!<%+%k$K%9%3!<%W$5$l!"I>2A$5$l$J$$!#(B}
+{\bf return-from}$B$K$h$C$FC&=P2DG=$J%m!<%+%k%V%m%C%/$r:n$k!#(B
+{\em tag}$B$O!"%m!<%+%k$K%9%3!<%W$5$l!"I>2A$5$l$J$$!#(B}
 
 \specialdesc{return-from}{tag value}{
-{\em tag}$@$K$h$C$F<($5$l$?%V%m%C%/$rC&=P$9$k!#(B
-{\bf return-from}$@$O!"4X?t$d%a%=%C%I$+$iC&=P$9$k$H$-$K;HMQ$5$l$k!#(B
-$@4X?t$d%a%=%C%I$O!"$=$NK\BN$r$9$Y$F<h$j0O$s$@ItJ,$r%V%m%C%/$H$7$F(B
-$@<+F0E*$K3NDj$5$l!"$=$N4X?t$^$?$O%a%=%C%I$NL>A0$rIU$1$k!#(B}
+{\em tag}$B$K$h$C$F<($5$l$?%V%m%C%/$rC&=P$9$k!#(B
+{\bf return-from}$B$O!"4X?t$d%a%=%C%I$+$iC&=P$9$k$H$-$K;HMQ$5$l$k!#(B
+$B4X?t$d%a%=%C%I$O!"$=$NK\BN$r$9$Y$F<h$j0O$s$@ItJ,$r%V%m%C%/$H$7$F(B
+$B<+F0E*$K3NDj$5$l!"$=$N4X?t$^$?$O%a%=%C%I$NL>A0$rIU$1$k!#(B}
 
 \macrodesc{return}{value}{
-{\tt  (return x)}$@$O!"(B{\tt (return-from nil x)}$@$HF1Ey$G$"$k!#(B
-{\bf loop, while, do, dolist, dotimes}$@$O!"0EL[E*$K(BNIL$@$HL>A0$,IU$1$i$l$?(B
-$@%V%m%C%/$H$7$F3NDj$5$l$k$?$a!"$3$l$i$NFC<l=q<0$HAH$_9g$o$;$F;HMQ$9$k!#(B}
+{\tt  (return x)}$B$O!"(B{\tt (return-from nil x)}$B$HF1Ey$G$"$k!#(B
+{\bf loop, while, do, dolist, dotimes}$B$O!"0EL[E*$K(BNIL$B$HL>A0$,IU$1$i$l$?(B
+$B%V%m%C%/$H$7$F3NDj$5$l$k$?$a!"$3$l$i$NFC<l=q<0$HAH$_9g$o$;$F;HMQ$9$k!#(B}
 
 \specialdesc{catch}{ tag \{form\}*}{
-{\bf throw}$@$K$h$C$FC&=P$^$?$OCM$rJV$9$?$a$NF0E*$J%V%m%C%/$r3NDj$9$k!#(B
-{\em tag}$@$OI>2A$5$l$k!#(B
+{\bf throw}$B$K$h$C$FC&=P$^$?$OCM$rJV$9$?$a$NF0E*$J%V%m%C%/$r3NDj$9$k!#(B
+{\em tag}$B$OI>2A$5$l$k!#(B
 
-$@A4$F8+$($k(B{\bf catch}$@$N(B{\em tag}$@$O!"(B{\tt sys:list-all-catchers}$@$+$iF@$k$3$H$,$G$-$k!#(B}
+$BA4$F8+$($k(B{\bf catch}$B$N(B{\em tag}$B$O!"(B{\tt sys:list-all-catchers}$B$+$iF@$k$3$H$,$G$-$k!#(B}
 
 \specialdesc{throw}{tag value}{
-{\bf catch}$@%V%m%C%/$+$iC&=P$^$?$O(B{\em value}$@$rJV$9!#(B
-{\em tag}$@$H(B{\em value}$@$OI>2A$5$l$k!#(B}
+{\bf catch}$B%V%m%C%/$+$iC&=P$^$?$O(B{\em value}$B$rJV$9!#(B
+{\em tag}$B$H(B{\em value}$B$OI>2A$5$l$k!#(B}
 
 \specialdesc{unwind-protect}{protected-form \{cleanup-form\}*}{
-{\em protected-form}$@$NI>2A$,=*$C$?8e!"(B
-{\em cleanup-form}$@$,I>2A$5$l$k!#(B
-{\bf unwind-protect}$@$N30B&$K%V%m%C%/$^$?$O(B{\bf catch}
-$@%V%m%C%/$r:n$C$F$b9=$o$J$$!#(B
+{\em protected-form}$B$NI>2A$,=*$C$?8e!"(B
+{\em cleanup-form}$B$,I>2A$5$l$k!#(B
+{\bf unwind-protect}$B$N30B&$K%V%m%C%/$^$?$O(B{\bf catch}
+$B%V%m%C%/$r:n$C$F$b9=$o$J$$!#(B
 
-{\bf return-from}$@$d(B{\bf throw}$@$G$5$(!"$=$N$h$&$J%V%m%C%/$+$i(B
-$@H4$1=P$9$?$a$K$O(B{\em protected-form}$@$NCf$G<B9T$5$l$k!#(B
-{\em cleanup-form}$@$O!"I>2A$5$l$k$3$H$,J]>Z$5$l$F$$$k!#(B
-$@$^$?!"$b$7(B{\em protected-form}$@$,<B9T$5$l$F$$$k4V$K%(%i!<$,5/$3$C$?$J$i$P!"(B
-{\em cleanup-form}$@$O$$$D$b(B{\bf reset}$@$K$h$C$F<B9T$5$l$k!#(B}
+{\bf return-from}$B$d(B{\bf throw}$B$G$5$(!"$=$N$h$&$J%V%m%C%/$+$i(B
+$BH4$1=P$9$?$a$K$O(B{\em protected-form}$B$NCf$G<B9T$5$l$k!#(B
+{\em cleanup-form}$B$O!"I>2A$5$l$k$3$H$,J]>Z$5$l$F$$$k!#(B
+$B$^$?!"$b$7(B{\em protected-form}$B$,<B9T$5$l$F$$$k4V$K%(%i!<$,5/$3$C$?$J$i$P!"(B
+{\em cleanup-form}$B$O$$$D$b(B{\bf reset}$B$K$h$C$F<B9T$5$l$k!#(B}
 
 \end{refdesc}
 
-\subsection{$@7+JV$7(B}
+\subsection{$B7+JV$7(B}
 
 \begin{refdesc}
 
 \specialdesc{while}{test \{form\}*}{
-{\em test}$@$,(Bnon-NIL$@$HI>2A$5$l$F$$$k4V!"(B
-{\em form}$@$O!"7+JV$7I>2A$5$l$k!#(B
-{\bf while}$@$O!"(B{\em form}$@$N$^$o$j$K(BNIL$@$HL>IU$1$i$l$k%V%m%C%/$r<+F0E*$K3NDj$9$k(B
-$@FC<l=q<0$G$"$k!#(B
-{\bf return}$@$O!"$=$N%k!<%W$+$iH4$1=P$9$?$a$K;HMQ$9$k$3$H$,$G$-$k!#(B}
+{\em test}$B$,(Bnon-NIL$B$HI>2A$5$l$F$$$k4V!"(B
+{\em form}$B$O!"7+JV$7I>2A$5$l$k!#(B
+{\bf while}$B$O!"(B{\em form}$B$N$^$o$j$K(BNIL$B$HL>IU$1$i$l$k%V%m%C%/$r<+F0E*$K3NDj$9$k(B
+$BFC<l=q<0$G$"$k!#(B
+{\bf return}$B$O!"$=$N%k!<%W$+$iH4$1=P$9$?$a$K;HMQ$9$k$3$H$,$G$-$k!#(B}
 
 \specialdesc{tagbody}{\{tag $|$ statement\}*}{
-{\em tag}$@$O!"(B{\bf go}$@$N$?$a$KL>IU$1$i$l$k!#(B
-{\bf tagbody}$@$NCf$N$_(B{\bf go}$@$r;HMQ$9$k$3$H$,$G$-$k!#(B}
+{\em tag}$B$O!"(B{\bf go}$B$N$?$a$KL>IU$1$i$l$k!#(B
+{\bf tagbody}$B$NCf$N$_(B{\bf go}$B$r;HMQ$9$k$3$H$,$G$-$k!#(B}
 
 \specialdesc{go}{tag}{
-$@%m!<%+%k$K%9%3!<%W$5$l$?(B{\bf tagbody}$@$N$J$+$K8=$l$k(B{\em tag}$@$ND>8e$N(B
-$@=q<0$K@)8f$r0\$9!#(B
-$@%m!<%+%k%9%3!<%W$r2#@Z$C$F0c$&(B{\bf tagbody}$@$N(Btag$@$K@)8f$r0\$9$3$H$O(B
-$@6X;_$5$l$F$$$k!#(B}
+$B%m!<%+%k$K%9%3!<%W$5$l$?(B{\bf tagbody}$B$N$J$+$K8=$l$k(B{\em tag}$B$ND>8e$N(B
+$B=q<0$K@)8f$r0\$9!#(B
+$B%m!<%+%k%9%3!<%W$r2#@Z$C$F0c$&(B{\bf tagbody}$B$N(Btag$B$K@)8f$r0\$9$3$H$O(B
+$B6X;_$5$l$F$$$k!#(B}
 
 \macrodesc{prog}{(\{var $|$ (var [init])\}*) \{tag $|$ statement\}*}{
-{\bf prog}$@$O%^%/%m$G!"0J2<$N$h$&$KE83+$5$l$k!#(B
+{\bf prog}$B$O%^%/%m$G!"0J2<$N$h$&$KE83+$5$l$k!#(B
 \ptext{
 (block nil 
     (let {\em var}
@@ -168,92 +168,92 @@
 
 \macrodesc{do}{(\{(var init [next])\}*) (endtest [result])\{declare\} \{form\}
 *}
-{{\em var}$@$O%m!<%+%kJQ?t$G$"$k!#(B
-$@$=$l$>$l$N(B{\em var}$@$K!"(B{\em init}$@$OJB9T$KI>2A$5$l!"3d$jEv$F$i$l$k!#(B
-$@$D$.$K!"(B{\em endtest}$@$,I>2A$5$l!"$b$7??$N$H$-(B{\bf do}$@$O(B{\em result}$@$rJV$9!#(B
- ($@$=$&$G$J$$$H$-$O!"(BNIL$@$rJV$9(B)
-$@$b$7(B{\em endtest}$@$,(BNIL$@$rJV$7$?$J$i$P!"$=$l$>$l$N(B{\em form}$@$O!"(B
-$@=gHV$KI>2A$5$l$k!#(B
-$@=q<0$NI>2A8e!"(B{\em next}$@$,I>2A$5$l!"$=$NCM$O(B
-$@$=$l$>$l$N(B{\em var}$@$K:F3dEv$5$l!"<!$N7+JV$7$,;O$^$k!#(B}
+{{\em var}$B$O%m!<%+%kJQ?t$G$"$k!#(B
+$B$=$l$>$l$N(B{\em var}$B$K!"(B{\em init}$B$OJB9T$KI>2A$5$l!"3d$jEv$F$i$l$k!#(B
+$B$D$.$K!"(B{\em endtest}$B$,I>2A$5$l!"$b$7??$N$H$-(B{\bf do}$B$O(B{\em result}$B$rJV$9!#(B
+ ($B$=$&$G$J$$$H$-$O!"(BNIL$B$rJV$9(B)
+$B$b$7(B{\em endtest}$B$,(BNIL$B$rJV$7$?$J$i$P!"$=$l$>$l$N(B{\em form}$B$O!"(B
+$B=gHV$KI>2A$5$l$k!#(B
+$B=q<0$NI>2A8e!"(B{\em next}$B$,I>2A$5$l!"$=$NCM$O(B
+$B$=$l$>$l$N(B{\em var}$B$K:F3dEv$5$l!"<!$N7+JV$7$,;O$^$k!#(B}
 
 \macrodesc{do*}{(\{var init [next]\}*) (endtest [result])\{declare\} \{form\}*}
-{{\bf do*}$@$O!"(B{\em init}$@$H(B{\em next}$@$NI>2A$H(B
-{\em var}$@$X$N3d$jEv$F$,O"B3E*$K5/$3$k$3$H$r=|$$$F!"(B{\bf do}$@$HF1MM$G$"$k!#(B}
+{{\bf do*}$B$O!"(B{\em init}$B$H(B{\em next}$B$NI>2A$H(B
+{\em var}$B$X$N3d$jEv$F$,O"B3E*$K5/$3$k$3$H$r=|$$$F!"(B{\bf do}$B$HF1MM$G$"$k!#(B}
 
 \macrodesc{dotimes}{(var count [result]) \{forms\}*}{
-{\em forms}$@$NI>2A$r(B{\em count}$@2s9T$&!#(B
-{\em count}$@$O!"0l2s$N$_I>2A$5$l$k!#(B
-$@$=$l$>$l$NI>2A$NCf$G!"(B{\em var}$@$O@0?t$N%<%m$+$i(B
-{\em count}-1$@$^$GA}2C$9$k!#(B}
+{\em forms}$B$NI>2A$r(B{\em count}$B2s9T$&!#(B
+{\em count}$B$O!"0l2s$N$_I>2A$5$l$k!#(B
+$B$=$l$>$l$NI>2A$NCf$G!"(B{\em var}$B$O@0?t$N%<%m$+$i(B
+{\em count}-1$B$^$GA}2C$9$k!#(B}
 
 \macrodesc{dolist}{(var list [result]) \{forms\}*}{
-{\em list}$@$N$=$l$>$l$NMWAG$O!"(B{\em var}$@$KO"B3E*$KM?$($i$l$k!#(B
-$@$=$7$F(B{\em forms}$@$O!"$=$l$>$l$NCM$GI>2A$5$l$k!#(B
-{\bf dolist}$@$O!"B>$N7+JV$7$h$jAa$/<B9T$5$l$k!#$?$H$($P!"(B
-{\bf mapcar}$@$d:F5"E*4X?t$N$h$&$J$b$N$h$j!#(B
-$@$=$l$O!"(B{\bf dolist}$@$,4X?t$N(Bclosure$@$r:n$C$?$jE,MQ$7$?$j$9$kI,MW$,(B
-$@$J$/!"?7$7$$%Q%i%a!<%?$N%P%$%s%I$,I,MW$G$J$$$?$a!#(B}
+{\em list}$B$N$=$l$>$l$NMWAG$O!"(B{\em var}$B$KO"B3E*$KM?$($i$l$k!#(B
+$B$=$7$F(B{\em forms}$B$O!"$=$l$>$l$NCM$GI>2A$5$l$k!#(B
+{\bf dolist}$B$O!"B>$N7+JV$7$h$jAa$/<B9T$5$l$k!#$?$H$($P!"(B
+{\bf mapcar}$B$d:F5"E*4X?t$N$h$&$J$b$N$h$j!#(B
+$B$=$l$O!"(B{\bf dolist}$B$,4X?t$N(Bclosure$B$r:n$C$?$jE,MQ$7$?$j$9$kI,MW$,(B
+$B$J$/!"?7$7$$%Q%i%a!<%?$N%P%$%s%I$,I,MW$G$J$$$?$a!#(B}
 
 \macrodesc{until}{condition \{forms\}*}{
-{\em condition}$@$,K~$?$5$l$F$$$k4V!"(B{\em forms}$@$rI>2A$9$k!#(B}
+{\em condition}$B$,K~$?$5$l$F$$$k4V!"(B{\em forms}$B$rI>2A$9$k!#(B}
 
 \macrodesc{loop}{\{forms\}*}{
-{\em forms}$@$r1J1s$KI>2A$9$k!#(B
-$@<B9T$r;_$a$k$?$a$K$O!"(B{\bf return-from, throw}$@$^$?$O(B{\bf go}$@$,(B
-{\em forms}$@$N$J$+$GI>2A$5$l$J$1$l$P$J$i$J$$!#(B}
+{\em forms}$B$r1J1s$KI>2A$9$k!#(B
+$B<B9T$r;_$a$k$?$a$K$O!"(B{\bf return-from, throw}$B$^$?$O(B{\bf go}$B$,(B
+{\em forms}$B$N$J$+$GI>2A$5$l$J$1$l$P$J$i$J$$!#(B}
 
-\subsection{$@=R8l(B}
+\subsection{$B=R8l(B}
 
-Common Lisp$@$N(B{\bf typep}$@$H(B{\bf subtypep}$@$O$J$$$N$G!"(B
-{\bf subclassp}$@$d(B{\bf derivedp}$@$G5?;w<B8=$9$k$3$H!#(B
+Common Lisp$B$N(B{\bf typep}$B$H(B{\bf subtypep}$B$O$J$$$N$G!"(B
+{\bf subclassp}$B$d(B{\bf derivedp}$B$G5?;w<B8=$9$k$3$H!#(B
 
 \begin{refdesc}
 
-\funcdesc{eq}{obj1 obj2}{{\em obj1}$@$H(B{\em obj2}$@$,F1$8%*%V%8%'%/%H$r;X$9%]%$%s%?$"$k$$$OF1$8(B
-$@?tCM$N$H$-(BT$@$rJV$9!#(B
-$@Nc$($P(B:{\tt (eq 'a 'a)}$@$O(BT$@!"(B{\tt (eq 1 1)}$@$O(BT$@!"(B{\tt (eq 1. 1.0)}$@$O(BNIL$@!"(B
-{\tt (eq "a" "a")}$@$O(BNIL$@$G$"$k!#(B}
+\funcdesc{eq}{obj1 obj2}{{\em obj1}$B$H(B{\em obj2}$B$,F1$8%*%V%8%'%/%H$r;X$9%]%$%s%?$"$k$$$OF1$8(B
+$B?tCM$N$H$-(BT$B$rJV$9!#(B
+$BNc$($P(B:{\tt (eq 'a 'a)}$B$O(BT$B!"(B{\tt (eq 1 1)}$B$O(BT$B!"(B{\tt (eq 1. 1.0)}$B$O(BNIL$B!"(B
+{\tt (eq "a" "a")}$B$O(BNIL$B$G$"$k!#(B}
 \funcdesc{eql}{obj1 obj2}{
-EusLisp$@$NCf$G?tCM$OA4$FD>@\CM$GI=8=$5$l$k$?$a!"(B{\bf eq}$@$H(B{\bf eql}$@$O(B
-$@F10l$G$"$k!#(B}
+EusLisp$B$NCf$G?tCM$OA4$FD>@\CM$GI=8=$5$l$k$?$a!"(B{\bf eq}$B$H(B{\bf eql}$B$O(B
+$BF10l$G$"$k!#(B}
 \funcdesc{equal}{obj1 obj2}{
-$@$$$m$s$J9=B$$N%*%V%8%'%/%H$NEy2A@-$r%A%'%C%/$9$k!#%*%V%8%'%/%H$O!"J8;zNs!&%Y%/%H%k!&(B
-$@9TNs$J$I$G:F5"E*$K;2>H$7$F$J$$$3$H$,J]>Z$5$l$J$1$l$P$J$i$J$$!#(B
-{\em obj1}$@$d(B{\em obj2}$@$,:F5"E*$K;2>H$5$l$F$$$?$H$9$k$H!"(B
-{\bf equal}$@$OL58B%k!<%W$H$J$k!#(B}
+$B$$$m$s$J9=B$$N%*%V%8%'%/%H$NEy2A@-$r%A%'%C%/$9$k!#%*%V%8%'%/%H$O!"J8;zNs!&%Y%/%H%k!&(B
+$B9TNs$J$I$G:F5"E*$K;2>H$7$F$J$$$3$H$,J]>Z$5$l$J$1$l$P$J$i$J$$!#(B
+{\em obj1}$B$d(B{\em obj2}$B$,:F5"E*$K;2>H$5$l$F$$$?$H$9$k$H!"(B
+{\bf equal}$B$OL58B%k!<%W$H$J$k!#(B}
 \funcdesc{superequal}{obj1 obj2}{
-{\bf superequal}$@$O!"4D>u;2>H$r%A%'%C%/$9$k$N$GCY$$!#$7$+$7%m%P%9%H$JEy2A$,F@$i$l$k!#(B}
+{\bf superequal}$B$O!"4D>u;2>H$r%A%'%C%/$9$k$N$GCY$$!#$7$+$7%m%P%9%H$JEy2A$,F@$i$l$k!#(B}
 
-\funcdesc{null}{object}{{\em object}$@$,(BNIL$@$N$H$-!"(BT$@$rJV$9!#(B
-{\tt (eq {\em object} nil)}$@$rI>2A$9$k!#(B}
+\funcdesc{null}{object}{{\em object}$B$,(BNIL$B$N$H$-!"(BT$B$rJV$9!#(B
+{\tt (eq {\em object} nil)}$B$rI>2A$9$k!#(B}
 \funcdesc{not}{object}{
-{\bf not}$@$O!"(B{\bf null}$@$HF10l$G$"$k!#(B}
+{\bf not}$B$O!"(B{\bf null}$B$HF10l$G$"$k!#(B}
 \funcdesc{atom}{object}{
-$@%*%V%8%'%/%H$,(Bcons$@$N%$%s%9%?%s%9$G$"$k;~$N$_!"(BNIL$@$rJV$9!#(B
+$B%*%V%8%'%/%H$,(Bcons$B$N%$%s%9%?%s%9$G$"$k;~$N$_!"(BNIL$B$rJV$9!#(B
 {\tt (atom nil) = (atom '()) = T)}\\
-$@Cm0U(B:vectors, strings, read-table, hash-table$@$J$I$KBP$7$F$O!"$=$l$i$,$I$s$J$K(B
-$@J#;($J%*%V%8%'%/%H$H$J$C$F$$$F$b(B{\bf atom}$@$O(BT$@$rJV$9!#(B}
+$BCm0U(B:vectors, strings, read-table, hash-table$B$J$I$KBP$7$F$O!"$=$l$i$,$I$s$J$K(B
+$BJ#;($J%*%V%8%'%/%H$H$J$C$F$$$F$b(B{\bf atom}$B$O(BT$B$rJV$9!#(B}
 \funcdesc{every}{pred \&rest args}{
-$@A4$F$N(B{\em args}$@$,(B{\em pred}$@$K$D$$$F(BT$@$rJV$7$?;~$N$_(B
-T$@$rJV$9!#(B{\bf every}$@$O!"(B{\em pred}$@$,A4$F$N(B{\em args}$@$KBP$7$F8zNO$,$"$k$+$I$&$+$r(B
-$@8!::$9$k;~$K;HMQ$5$l$k!#(B}
+$BA4$F$N(B{\em args}$B$,(B{\em pred}$B$K$D$$$F(BT$B$rJV$7$?;~$N$_(B
+T$B$rJV$9!#(B{\bf every}$B$O!"(B{\em pred}$B$,A4$F$N(B{\em args}$B$KBP$7$F8zNO$,$"$k$+$I$&$+$r(B
+$B8!::$9$k;~$K;HMQ$5$l$k!#(B}
 \funcdesc{some}{pred \&rest args}{
-{\em args}$@$N$&$A$I$l$+(B1$@$D$,(B{\em pred}$@$K$D$$$F(BT$@$rJV$7$?$H$-(B
-T$@$rJV$9!#(B{\bf some}$@$O!"(B{\em pred}$@$,(B{\em args}$@$N$I$l$+$KBP$7$F8zNO$,$"$k$+$I$&$+$r(B
-$@8!::$9$k;~$K;HMQ$5$l$k!#(B}
+{\em args}$B$N$&$A$I$l$+(B1$B$D$,(B{\em pred}$B$K$D$$$F(BT$B$rJV$7$?$H$-(B
+T$B$rJV$9!#(B{\bf some}$B$O!"(B{\em pred}$B$,(B{\em args}$B$N$I$l$+$KBP$7$F8zNO$,$"$k$+$I$&$+$r(B
+$B8!::$9$k;~$K;HMQ$5$l$k!#(B}
 \end{refdesc}
 \funcdesc{functionp}{object}{
-{\em object}$@$,(B{\bf apply}$@$d(B{\bf funcall}$@$GM?$($i$l$k4X?t%*%V%8%'%/%H$G$"$k$J$i(BT$@$rJV$9!#(B\\
-$@Cm0U(B:$@%^%/%m$O(B{\bf apply}$@$d(B{\bf funcall}$@$rE,MQ$9$k$3$H$,$G$-$J$$!#(B
-{\bf functionp}$@$O!"(B{\em object}$@$,!"(Btype=0$@$N%3%s%Q%$%k%3!<%I$+!"4X?tDj5A$r;}$D(Bsymbol$@$+!"(B
-lambda-form$@$+$"$k$$$O(Blambda-closure$@$G$"$C$?$H$-!"(BT$@$rJV$9!#(B
+{\em object}$B$,(B{\bf apply}$B$d(B{\bf funcall}$B$GM?$($i$l$k4X?t%*%V%8%'%/%H$G$"$k$J$i(BT$B$rJV$9!#(B\\
+$BCm0U(B:$B%^%/%m$O(B{\bf apply}$B$d(B{\bf funcall}$B$rE,MQ$9$k$3$H$,$G$-$J$$!#(B
+{\bf functionp}$B$O!"(B{\em object}$B$,!"(Btype=0$B$N%3%s%Q%$%k%3!<%I$+!"4X?tDj5A$r;}$D(Bsymbol$B$+!"(B
+lambda-form$B$+$"$k$$$O(Blambda-closure$B$G$"$C$?$H$-!"(BT$B$rJV$9!#(B
 {\tt Examples: (functionp 'car) = T, (functionp 'do) = NIL}}
 \funcdesc{compiled-function-p}{object}{
-{\em object}$@$,!"%3%s%Q%$%k%3!<%I$N%$%s%9%?%s%9$G$"$C$?$H$-!"(BT$@$rJV$9!#(B
-$@$=$N%3%s%Q%$%k%3!<%I$,4X?t$+$^$?$O%^%/%m$+$rCN$k$?$a$K$O!"(B
-$@$=$N%*%V%8%'%/%H$K(B{\tt :type}$@%a%C%;!<%8$rAw$j!"$=$NJV$jCM$,(B
-{\tt function}$@$H(B{\tt macro}$@$N$I$A$i$K$J$C$F$$$k$+$rD4$Y$k!#(B}
+{\em object}$B$,!"%3%s%Q%$%k%3!<%I$N%$%s%9%?%s%9$G$"$C$?$H$-!"(BT$B$rJV$9!#(B
+$B$=$N%3%s%Q%$%k%3!<%I$,4X?t$+$^$?$O%^%/%m$+$rCN$k$?$a$K$O!"(B
+$B$=$N%*%V%8%'%/%H$K(B{\tt :type}$B%a%C%;!<%8$rAw$j!"$=$NJV$jCM$,(B
+{\tt function}$B$H(B{\tt macro}$B$N$I$A$i$K$J$C$F$$$k$+$rD4$Y$k!#(B}
 
 \end{refdesc}
 

Modified: trunk/EusLisp/doc/jlatex/jevaluation.tex
===================================================================
--- trunk/EusLisp/doc/jlatex/jevaluation.tex	2014-01-23 09:39:13 UTC (rev 666)
+++ trunk/EusLisp/doc/jlatex/jevaluation.tex	2014-01-23 09:40:32 UTC (rev 667)
@@ -1,684 +1,684 @@
-\section{$@I>2A(B}
-\markright{\arabic{section}. $@I>2A(B}
+\section{$BI>2A(B}
+\markright{\arabic{section}. $BI>2A(B}
 
-\subsection{$@I>2A4X?t(B}
+\subsection{$BI>2A4X?t(B}
 
-$@%(%i!<$d%7%0%J%k(B(signal)$@$K4X$9$k?6$kIq$$$r<($9$?$a$K!"(B
-$@$"$i$+$8$a$=$l$>$lFCJL$NJQ?t(B{\bf *error-handler*}$@$H(B{\bf *signal-handler*}
-$@$KE,Ev$J4X?t$r@_Dj$9$k!#(B
-$@=$@5$"$k$$$OB39T$G$-$k%(%i!<$O$J$$!#(B
-$@%(%i!<$r2r@O8e!"8=:_$N<B9T$r(B{\bf reset}$@$^$?$O>e0L%l%Y%k$X$NE,Ev$J(B{\bf throw}
-$@$K$h$C$FDd;_$7$J$1$l$P$J$i$J$$!#(B
-Euslisp$@$N:G>e0L%l%Y%k$G(B{\tt 0}$@$HL>IU$1$i$l$?(Bcatch frame$@$r:n@.$7$F$$$k$N$G!"(B
-{\bf reset}$@$O!"(B{\tt (throw 0 NIL)}$@$HF1Ey$G$"$k!#(B
+$B%(%i!<$d%7%0%J%k(B(signal)$B$K4X$9$k?6$kIq$$$r<($9$?$a$K!"(B
+$B$"$i$+$8$a$=$l$>$lFCJL$NJQ?t(B{\bf *error-handler*}$B$H(B{\bf *signal-handler*}
+$B$KE,Ev$J4X?t$r@_Dj$9$k!#(B
+$B=$@5$"$k$$$OB39T$G$-$k%(%i!<$O$J$$!#(B
+$B%(%i!<$r2r@O8e!"8=:_$N<B9T$r(B{\bf reset}$B$^$?$O>e0L%l%Y%k$X$NE,Ev$J(B{\bf throw}
+$B$K$h$C$FDd;_$7$J$1$l$P$J$i$J$$!#(B
+Euslisp$B$N:G>e0L%l%Y%k$G(B{\tt 0}$B$HL>IU$1$i$l$?(Bcatch frame$B$r:n@.$7$F$$$k$N$G!"(B
+{\bf reset}$B$O!"(B{\tt (throw 0 NIL)}$B$HF1Ey$G$"$k!#(B
 
-$@%(%i!<%O%s%I%i!<$O!"(B{\em code msg1 form \&optional (msg2)}
-$@$H$$$&(B3$@$D$"$k$$$O(B4$@$D$N0z$-?t$r;}$D4X?t$H$7$FDj5A$7$J$1$l$P$J$i$J$$!#(B
-{\em code}$@$O%(%i!<%3!<%I$G!"%7%9%F%`$GDj5A$5$l$?%(%i!<$r<($9!#(B
-$@Nc$($P!"(B14$@$,(B'$@0z$-?t$,9g$o$J$$(B'$@!"(B13$@$,(B'$@4X?t$,Dj5A$5$l$F$$$J$$(B'$@$H$J$k!#(B
-$@$3$l$i$NDj5A$O!"(B"c/eus.h"$@$NCf$KDj5A$5$l$F$$$k!#(B
-{\em msg1}$@$H(B{\em msg2}$@$O!"%f!<%6!<$K<($5$l$k%a%C%;!<%8$G$"$k!#(B
-{\em form}$@$O!"%(%i!<$K$h$C$F@8$8$?(Bs$@I=8=$G$"$k!#(B
+$B%(%i!<%O%s%I%i!<$O!"(B{\em code msg1 form \&optional (msg2)}
+$B$H$$$&(B3$B$D$"$k$$$O(B4$B$D$N0z$-?t$r;}$D4X?t$H$7$FDj5A$7$J$1$l$P$J$i$J$$!#(B
+{\em code}$B$O%(%i!<%3!<%I$G!"%7%9%F%`$GDj5A$5$l$?%(%i!<$r<($9!#(B
+$BNc$($P!"(B14$B$,(B'$B0z$-?t$,9g$o$J$$(B'$B!"(B13$B$,(B'$B4X?t$,Dj5A$5$l$F$$$J$$(B'$B$H$J$k!#(B
+$B$3$l$i$NDj5A$O!"(B"c/eus.h"$B$NCf$KDj5A$5$l$F$$$k!#(B
+{\em msg1}$B$H(B{\em msg2}$B$O!"%f!<%6!<$K<($5$l$k%a%C%;!<%8$G$"$k!#(B
+{\em form}$B$O!"%(%i!<$K$h$C$F@8$8$?(Bs$BI=8=$G$"$k!#(B
 
-$@%7%0%J%k%O%s%I%i!<$O!"(B{\em sig}$@$H(B{\em code}$@$N(B2$@$D$N0z$-?t$r<u$1$k4X?t$H$7$F(B
-$@Dj5A$5$l$J$1$l$P$J$i$J$$!#(B
-{\em sig}$@$O!"(B1$@$+$i(B30$@$^$G$N%7%0%J%kHV9f$G$"$k!#(B
-{\em code}$@$O!"%7%0%J%kHV9f$NCf$KDj5A$5$l$?Jd=uHV9f$G$"$k!#(B
+$B%7%0%J%k%O%s%I%i!<$O!"(B{\em sig}$B$H(B{\em code}$B$N(B2$B$D$N0z$-?t$r<u$1$k4X?t$H$7$F(B
+$BDj5A$5$l$J$1$l$P$J$i$J$$!#(B
+{\em sig}$B$O!"(B1$B$+$i(B30$B$^$G$N%7%0%J%kHV9f$G$"$k!#(B
+{\em code}$B$O!"%7%0%J%kHV9f$NCf$KDj5A$5$l$?Jd=uHV9f$G$"$k!#(B
 
-$@:G>e0L%l%Y%k$G$N(B\verb+^+D({\em end-of-file})$@$O!"(BEuslisp$@$N3hF0$rDd;_$5$;$k!#(B
-$@$3$l$O!"(BEuslisp$@$r%U%#%k%?!<$H$7$F%W%m%0%i%`$5$l$F$$$k$H$-(B
-$@Lr$KN)$D!#(B
+$B:G>e0L%l%Y%k$G$N(B\verb+^+D({\em end-of-file})$B$O!"(BEuslisp$B$N3hF0$rDd;_$5$;$k!#(B
+$B$3$l$O!"(BEuslisp$B$r%U%#%k%?!<$H$7$F%W%m%0%i%`$5$l$F$$$k$H$-(B
+$BLr$KN)$D!#(B
 
-{\bf eval-dynamic}$@$O!"(Blet$@$d(Blambda$@JQ?t$H$7$F;HMQ$5$l$k(Bsymbol$@$K7k$SIU$/(B
-$@F0E*$JJQ?t$rA\$94X?t$G$"$k!#(B
-$@%G%P%C%0$9$k$H$-$KLr$KN)$D!#(B
+{\bf eval-dynamic}$B$O!"(Blet$B$d(Blambda$BJQ?t$H$7$F;HMQ$5$l$k(Bsymbol$B$K7k$SIU$/(B
+$BF0E*$JJQ?t$rA\$94X?t$G$"$k!#(B
+$B%G%P%C%0$9$k$H$-$KLr$KN)$D!#(B
 
 \begin{refdesc}
 
 \funcdesc{identity}{obj}{
-{\em obj}$@<+?H$rJV$9!#(B
-{\bf idnetity}$@$H(B{\bf quote}$@$H$N0c$$$KCm0U$9$k$3$H!#(B
-{\bf identity}$@$,4X?t$G$"$k$N$KBP$7$F(B{\bf quote}$@$O!"FC<l=q<0(B(special form)
-$@$G$"$k!#(B
-$@$7$?$,$C$F!"(B{\tt (identity 'abc)}$@$O(B{\tt abc}$@$HI>2A$5$l$k$,!"(B
-{\tt (quote 'abc) == (quote (quote abc))}$@$O(B{\tt 'abc}$@$HI>2A$5$l$k!#(B
-{\bf identity}$@$O!"B?$/$N0lHLNs4X?t$N(B{\em :key}$@%Q%i%a!<%?$N%G%U%)%k%HCM(B
-$@$H$7$F$7$P$7$PMQ$$$i$l$k!#(B}
+{\em obj}$B<+?H$rJV$9!#(B
+{\bf idnetity}$B$H(B{\bf quote}$B$H$N0c$$$KCm0U$9$k$3$H!#(B
+{\bf identity}$B$,4X?t$G$"$k$N$KBP$7$F(B{\bf quote}$B$O!"FC<l=q<0(B(special form)
+$B$G$"$k!#(B
+$B$7$?$,$C$F!"(B{\tt (identity 'abc)}$B$O(B{\tt abc}$B$HI>2A$5$l$k$,!"(B
+{\tt (quote 'abc) == (quote (quote abc))}$B$O(B{\tt 'abc}$B$HI>2A$5$l$k!#(B
+{\bf identity}$B$O!"B?$/$N0lHLNs4X?t$N(B{\em :key}$B%Q%i%a!<%?$N%G%U%)%k%HCM(B
+$B$H$7$F$7$P$7$PMQ$$$i$l$k!#(B}
 
 \funcdesc{eval}{form [environment]}{
-{\em form}$@$rI>2A$7$F!"$=$NCM$rJV$9!#(B
-$@$b$7!"(B{\bf *evalhook*}$@$K(B{\em form}$@$d(B{\em environment}$@$r<u$1$k4X?t$r(B
-$@@_Dj$9$k$J$i$P!"(Bhook$@4X?t$rI>2A$KF~$kA0$K8F$S=P$9$3$H$,$G$-$k!#(B}
+{\em form}$B$rI>2A$7$F!"$=$NCM$rJV$9!#(B
+$B$b$7!"(B{\bf *evalhook*}$B$K(B{\em form}$B$d(B{\em environment}$B$r<u$1$k4X?t$r(B
+$B@_Dj$9$k$J$i$P!"(Bhook$B4X?t$rI>2A$KF~$kA0$K8F$S=P$9$3$H$,$G$-$k!#(B}
 
 \funcdesc{apply}{func \&rest args}{
-{\em args}$@$K(B{\em func}$@$rE,MQ$9$k!#(B
-{\em func}$@$O!"4X?t(Bsymbol$@$+(Blambda$@=q<0$+(Bclosure$@$G$J$1$l$P$J$i$J$$!#(B
-$@%^%/%m$HFC<l=q<0(B(special form)$@$OE,MQ=PMh$J$$!#(B
-{\em args}$@$N:G8e$NMWAG$O!"B>$N(B{\em args}$@$,6u$N0z$-?t$G$"$k$J$i(B
-$@0z$-?t$N%j%9%H$G$J$1$l$P$J$i$J$$!#(B
-$@$3$N$h$&$K!"$b$7!"(B{\em args}$@$N:G8e$,(BNIL$@$G$"$C$?$J$i$P!"(B
-{\bf apply}$@$O$[$H$s$I(B{\bf funcall}$@$HF1$8$G$"$k!#(B
-$@$?$@$7!"(B{\bf apply}$@$O(B{\bf funcall}$@$h$j(B1$@$DB?$/$N0z$-?t$r;}$D$3$H$,$G$-$k!#(B
+{\em args}$B$K(B{\em func}$B$rE,MQ$9$k!#(B
+{\em func}$B$O!"4X?t(Bsymbol$B$+(Blambda$B=q<0$+(Bclosure$B$G$J$1$l$P$J$i$J$$!#(B
+$B%^%/%m$HFC<l=q<0(B(special form)$B$OE,MQ=PMh$J$$!#(B
+{\em args}$B$N:G8e$NMWAG$O!"B>$N(B{\em args}$B$,6u$N0z$-?t$G$"$k$J$i(B
+$B0z$-?t$N%j%9%H$G$J$1$l$P$J$i$J$$!#(B
+$B$3$N$h$&$K!"$b$7!"(B{\em args}$B$N:G8e$,(BNIL$B$G$"$C$?$J$i$P!"(B
+{\bf apply}$B$O$[$H$s$I(B{\bf funcall}$B$HF1$8$G$"$k!#(B
+$B$?$@$7!"(B{\bf apply}$B$O(B{\bf funcall}$B$h$j(B1$B$DB?$/$N0z$-?t$r;}$D$3$H$,$G$-$k!#(B
 {\tt (apply \#'max 2 5 3 '(8 2)) --> 8}.}
 
 \funcdesc{funcall}{func \&rest args}{
-{\em args}$@$K(B{\em func}$@$rE,MQ$9$k!#(B
-{\em args}$@$N?t$O!"(B{\em func}$@$GMW5a$5$l$F$$$k0z$-?t$N?t$H0lCW$7$J$1$l$P(B
-$@$J$i$J$$!#(B}
+{\em args}$B$K(B{\em func}$B$rE,MQ$9$k!#(B
+{\em args}$B$N?t$O!"(B{\em func}$B$GMW5a$5$l$F$$$k0z$-?t$N?t$H0lCW$7$J$1$l$P(B
+$B$J$i$J$$!#(B}
 
-\specialdesc{quote}{obj}{{\em obj}$@<+?H$rI>2A$9$k!#(B}
+\specialdesc{quote}{obj}{{\em obj}$B<+?H$rI>2A$9$k!#(B}
 
-\specialdesc{function}{func}{closure$@4X?t$r:n$k!#(B
-$@$b$7!"(B{\em func}$@$,(Bsymbol$@$J$i$P!"$=$N4X?tDj5A$,8!:w$5$l$k!#(B}
+\specialdesc{function}{func}{closure$B4X?t$r:n$k!#(B
+$B$b$7!"(B{\em func}$B$,(Bsymbol$B$J$i$P!"$=$N4X?tDj5A$,8!:w$5$l$k!#(B}
 
 \funcdesc{evalhook}{hookfunc form [env]}{
-{\em hookfun}$@$r(B{\bf *evalhook*}$@$K7k$SIU$1$?8e!"(B{\em form}$@$r0lEYI>2A$9$k!#(B}
+{\em hookfun}$B$r(B{\bf *evalhook*}$B$K7k$SIU$1$?8e!"(B{\em form}$B$r0lEYI>2A$9$k!#(B}
 
 \funcdesc{eval-dynamic}{variable}{
-$@%9%?%C%/$K$"$k(B{\em variable}(symbol)$@$NCM$rA\$9!#(B}
+$B%9%?%C%/$K$"$k(B{\em variable}(symbol)$B$NCM$rA\$9!#(B}
 
 \funcdesc{macroexpand}{form}{
-$@$b$7!"(B{\em form}$@$,%^%/%m(Bcall$@$G$"$k$J$i!"$=$l$rE83+$9$k!#(B
-$@$b$7!"E83+$7$?$b$N$,$^$@%^%/%m(Bcall$@$r4^$s$G$$$k$J$i$P!"(B
-$@%^%/%m(Bcall$@$N$J$$7k2L$H$J$k$^$G$/$jJV$7E83+$9$k!#(B}
+$B$b$7!"(B{\em form}$B$,%^%/%m(Bcall$B$G$"$k$J$i!"$=$l$rE83+$9$k!#(B
+$B$b$7!"E83+$7$?$b$N$,$^$@%^%/%m(Bcall$B$r4^$s$G$$$k$J$i$P!"(B
+$B%^%/%m(Bcall$B$N$J$$7k2L$H$J$k$^$G$/$jJV$7E83+$9$k!#(B}
 
 \specialdesc{eval-when}{situation \{form\}*}{
-{\em situation}$@$O(B{\tt compile, load, eval}$@$N%j%9%H$G$"$k!#(B
-{\em form}$@$O!"8=:_$N<B9T%b!<%I$,(B{\em situation}$@$H0lCW$9$k$H$-$KI>2A$5$l$k!#(B
-{\bf eval-when}$@$O!"%3%s%Q%$%i$G$NF0:n$d4D6-$r@)8f$9$k$?$a$K=EMW$J$b$N$G$"$k!#(B
-$@$b$7!"(B{\tt compile}$@$,;XDj$5$l$?$J$i$P!"(B{\em form}$@$O%3%s%Q%$%i$K$h$C$F(B
-$@I>2A$5$l$k$N$G!"$=$N7k2L$O%3%s%Q%$%k7k2L$K1F6A$r5Z$\$9$3$H$K$J$k!#(B
-$@Nc$($P!"(B{\bf defmacro}$@$O%3%s%Q%$%k;~$K%^%/%m(Bcall$@$rE83+$9$k$?$a$K%3%s%Q%$%i$G(B
-$@I>2A$5$l$J$1$l$P$J$i$J$$!#(B
-$@$b$7!"(B{\tt load}$@$,(B{\em situation}$@$N%j%9%H$KM?$($i$l$?$J$i$P!"(B
-{\em form}$@$O(Bload$@;~$K(Bload$@$^$?$OI>2A$5$l$k$?$a$K%3%s%Q%$%k$5$l$k!#(B
-$@$9$J$o$A!"(Bload$@;~$K%3%s%Q%$%k$5$l$?4X?t$,Dj5A$5$l$k!#(B
-$@$3$l$O!"%3%s%Q%$%i$K4|BT$5$l$k0lHLE*$J5!G=$G$"$k!#(B
-{\tt load}$@$O!"%3%s%Q%$%i$N4D6-$r@)8f$9$k$?$a$K;HMQ$5$l$k!#(B
-$@$b$7!"(B{\tt eval}$@$,(B{\em situation}$@$N%j%9%H$K4^$^$l$F$$$k$J$i$P!"(B
-{\em form}$@$O%=!<%9%3!<%I$,(Bload$@$5$l$k$H$-$KI>2A$5$l$k!#(B}
+{\em situation}$B$O(B{\tt compile, load, eval}$B$N%j%9%H$G$"$k!#(B
+{\em form}$B$O!"8=:_$N<B9T%b!<%I$,(B{\em situation}$B$H0lCW$9$k$H$-$KI>2A$5$l$k!#(B
+{\bf eval-when}$B$O!"%3%s%Q%$%i$G$NF0:n$d4D6-$r@)8f$9$k$?$a$K=EMW$J$b$N$G$"$k!#(B
+$B$b$7!"(B{\tt compile}$B$,;XDj$5$l$?$J$i$P!"(B{\em form}$B$O%3%s%Q%$%i$K$h$C$F(B
+$BI>2A$5$l$k$N$G!"$=$N7k2L$O%3%s%Q%$%k7k2L$K1F6A$r5Z$\$9$3$H$K$J$k!#(B
+$BNc$($P!"(B{\bf defmacro}$B$O%3%s%Q%$%k;~$K%^%/%m(Bcall$B$rE83+$9$k$?$a$K%3%s%Q%$%i$G(B
+$BI>2A$5$l$J$1$l$P$J$i$J$$!#(B
+$B$b$7!"(B{\tt load}$B$,(B{\em situation}$B$N%j%9%H$KM?$($i$l$?$J$i$P!"(B
+{\em form}$B$O(Bload$B;~$K(Bload$B$^$?$OI>2A$5$l$k$?$a$K%3%s%Q%$%k$5$l$k!#(B
+$B$9$J$o$A!"(Bload$B;~$K%3%s%Q%$%k$5$l$?4X?t$,Dj5A$5$l$k!#(B
+$B$3$l$O!"%3%s%Q%$%i$K4|BT$5$l$k0lHLE*$J5!G=$G$"$k!#(B
+{\tt load}$B$O!"%3%s%Q%$%i$N4D6-$r@)8f$9$k$?$a$K;HMQ$5$l$k!#(B
+$B$b$7!"(B{\tt eval}$B$,(B{\em situation}$B$N%j%9%H$K4^$^$l$F$$$k$J$i$P!"(B
+{\em form}$B$O%=!<%9%3!<%I$,(Bload$B$5$l$k$H$-$KI>2A$5$l$k!#(B}
 
 \specialdesc{the}{type form}{
-{\em form}$@$r(B{\em type}$@$H$7$F@k8@$9$k!#(B
-{\em type}$@$O!"(B{\tt :integer, :fixnum, :float}$@$G<($5$l$k%/%i%9%*%V%8%'%/%H(B
-$@$N$I$l$+$G$"$k!#(B}
+{\em form}$B$r(B{\em type}$B$H$7$F@k8@$9$k!#(B
+{\em type}$B$O!"(B{\tt :integer, :fixnum, :float}$B$G<($5$l$k%/%i%9%*%V%8%'%/%H(B
+$B$N$I$l$+$G$"$k!#(B}
 
 \specialdesc{declare}{declaration*}{
-$@$=$l$>$l(B{\em declaration}$@$O!"@k8@;XDj$d@0?t$"$k$$$OL\E*$N(Bsymbol$@$N%j%9%H$G$"$k!#(B
-$@@k8@$O!"%3%s%Q%$%i$,9bB.$J%3!<%I$r@8@.$9$k$?$a$K=EMW$G$"$k!#(B
+$B$=$l$>$l(B{\em declaration}$B$O!"@k8@;XDj$d@0?t$"$k$$$OL\E*$N(Bsymbol$B$N%j%9%H$G$"$k!#(B
+$B@k8@$O!"%3%s%Q%$%i$,9bB.$J%3!<%I$r@8@.$9$k$?$a$K=EMW$G$"$k!#(B
 \begin{description}
-\item {special} $@FC<lJQ?t$r@k8@$9$k!#(B
-\item {type} $@JQ?t$N7?$r@k8@$9$k!#(B; {\tt (type integer count)};
-$@M-8z$J7?;XDj;R$O(B{\em integer}, {\em :integer}, {\em fixnum},
-{\em :float}$@$H(B{\em float}$@$G$"$k!#7?;XDj;R$,$3$3$K<($7$?$b$N$N#1$D$G$"$k(B
-$@$J$i$P!"(B{\bf type}$@%-!<%o!<%I$r:o=|$7$F$bNI$$!#$=$N$?$a!"(B
-{\tt (integer count)}$@$O@5$7$$@k8@$G$"$k!#(B
-{\em float-vector},{\em integer-vector}$@$J$I$N$h$&$J!"$=$NB>$N7?!J%/%i%9!K$G$O!"(B
-{\tt (type float-vector vec1)}$@$N$h$&$K(B{\bf type}$@$rA0$KIU$1$kI,MW$,$"$k!#(B
-\item {ftype} $@4X?t$N7k2L$N7?$r@k8@$9$k!#(B
-\item {optimize} $@%3%s%Q%$%i$N(B*optimize*$@%Q%i%a!<%?$KCM(B(0--3)$@$r@_Dj$9$k!#(B
-\item {safety} $@%3%s%Q%$%i$N(B*safety*$@%Q%i%a!<%?$KCM(B(0--3)$@$r@_Dj$9$k!#(B
-\item {space}  $@%3%s%Q%$%i$N(B*space*$@%Q%i%a!<%?$KCM(B(0--3)$@$r@_Dj$9$k!#(B
-\item {inline} $@G'<1$7$J$$!#(B
-\item {not-inline} $@G'<1$7$J$$!#(B
+\item {special} $BFC<lJQ?t$r@k8@$9$k!#(B
+\item {type} $BJQ?t$N7?$r@k8@$9$k!#(B; {\tt (type integer count)};
+$BM-8z$J7?;XDj;R$O(B{\em integer}, {\em :integer}, {\em fixnum},
+{\em :float}$B$H(B{\em float}$B$G$"$k!#7?;XDj;R$,$3$3$K<($7$?$b$N$N#1$D$G$"$k(B
+$B$J$i$P!"(B{\bf type}$B%-!<%o!<%I$r:o=|$7$F$bNI$$!#$=$N$?$a!"(B
+{\tt (integer count)}$B$O@5$7$$@k8@$G$"$k!#(B
+{\em float-vector},{\em integer-vector}$B$J$I$N$h$&$J!"$=$NB>$N7?!J%/%i%9!K$G$O!"(B
+{\tt (type float-vector vec1)}$B$N$h$&$K(B{\bf type}$B$rA0$KIU$1$kI,MW$,$"$k!#(B
+\item {ftype} $B4X?t$N7k2L$N7?$r@k8@$9$k!#(B
+\item {optimize} $B%3%s%Q%$%i$N(B*optimize*$B%Q%i%a!<%?$KCM(B(0--3)$B$r@_Dj$9$k!#(B
+\item {safety} $B%3%s%Q%$%i$N(B*safety*$B%Q%i%a!<%?$KCM(B(0--3)$B$r@_Dj$9$k!#(B
+\item {space}  $B%3%s%Q%$%i$N(B*space*$B%Q%i%a!<%?$KCM(B(0--3)$B$r@_Dj$9$k!#(B
+\item {inline} $BG'<1$7$J$$!#(B
+\item {not-inline} $BG'<1$7$J$$!#(B
 \end{description}
 
 }
 \funcdesc{proclaim}{proclamation}{
-$@JQ?t$d%3%s%Q%$%i%*%W%7%g%s$r%0%m!<%P%k$K@k8@$9$k!#(B
-$@F1MM$J@k8@$O!"(B{\bf declare}$@FC<l=q<0$K$h$C$F5-=R$9$k$3$H$,$G$-$k!#(B
-$@$7$+$7$J$,$i!"(B{\bf proclaim}$@$O!"(B1$@$D$N0z?t$r;}$D4X?t$G$"$j!"(B
-$@@k8@$rI>2A$9$k!#(B}
+$BJQ?t$d%3%s%Q%$%i%*%W%7%g%s$r%0%m!<%P%k$K@k8@$9$k!#(B
+$BF1MM$J@k8@$O!"(B{\bf declare}$BFC<l=q<0$K$h$C$F5-=R$9$k$3$H$,$G$-$k!#(B
+$B$7$+$7$J$,$i!"(B{\bf proclaim}$B$O!"(B1$B$D$N0z?t$r;}$D4X?t$G$"$j!"(B
+$B@k8@$rI>2A$9$k!#(B}
 
 \funcdesc{warn}{format-string \&rest args}{
-{\em format-string}$@$H(B{\em args}$@$GM?$($i$l$k7Y9p%a%C%;!<%8$r(B
-{\bf *error-output*}$@$K=PNO$9$k!#(B}
+{\em format-string}$B$H(B{\em args}$B$GM?$($i$l$k7Y9p%a%C%;!<%8$r(B
+{\bf *error-output*}$B$K=PNO$9$k!#(B}
 \funcdesc{error}{format-string \&rest args}{
-{\bf *error-handler*}$@$K7k$SIU$/8=:_$N%(%i!<%O%s%I%i!<4X?t$r8F$S=P$9!#(B
-$@%G%U%)%k%H$N%(%i!<%O%s%I%i!<(B'euserror'$@$r(B{\bf *error-output*}$@$K:G=i$K=PNO$7(B
-{\em format-string}$@$H(B{\em args}$@$r(B{\bf format}$@$rMQ$$$F=PNO$9$k!#(B
-$@$=$N8e!"?7$7$$:G>e0L%l%Y%k$N%;%C%7%g%s(B(session)$@$KF~$k!#(B
-$@%W%m%s%W%H$K$O!"%(%i!<%;%C%7%g%s$N?<$5$r<($9!#(B
-{\bf throw}$@$K$=$NHV9f$rM?$($k$3$H$K$h$j!"Dc$$%(%i!<%l%Y%k$N%;%C%7%g%s$XLa$k$3$H$,$G$-$k!#(B}
+{\bf *error-handler*}$B$K7k$SIU$/8=:_$N%(%i!<%O%s%I%i!<4X?t$r8F$S=P$9!#(B
+$B%G%U%)%k%H$N%(%i!<%O%s%I%i!<(B'euserror'$B$r(B{\bf *error-output*}$B$K:G=i$K=PNO$7(B
+{\em format-string}$B$H(B{\em args}$B$r(B{\bf format}$B$rMQ$$$F=PNO$9$k!#(B
+$B$=$N8e!"?7$7$$:G>e0L%l%Y%k$N%;%C%7%g%s(B(session)$B$KF~$k!#(B
+$B%W%m%s%W%H$K$O!"%(%i!<%;%C%7%g%s$N?<$5$r<($9!#(B
+{\bf throw}$B$K$=$NHV9f$rM?$($k$3$H$K$h$j!"Dc$$%(%i!<%l%Y%k$N%;%C%7%g%s$XLa$k$3$H$,$G$-$k!#(B}
 \end{refdesc}
 
-$@%^%k%A%9%l%C%I(BEuslisp$@$K$*$$$F!"FC<lJQ?t$O%9%l%C%I4V$G6&M-$5$l!"(B
-$@F1$8(B{\bf *error-handler*}$@$,0[$J$C$?%9%l%C%I$+$i;2>H$5$l$k!#(B
-$@$3$NIT<+M3$rHr$1$k$?$a$K!"%^%k%A%9%l%C%I(BEuslisp$@$O(B{\bf install-error-handler}
-$@4X?t$rHw$($F$$$k!#$=$N4X?t$O!"$=$l$>$l$N%9%l%C%I$KBP$7$F(B
-$@0[$J$C$?%(%i!<%O%s%I%i!<$r%$%s%9%H!<%k$9$k!#(B
+$B%^%k%A%9%l%C%I(BEuslisp$B$K$*$$$F!"FC<lJQ?t$O%9%l%C%I4V$G6&M-$5$l!"(B
+$BF1$8(B{\bf *error-handler*}$B$,0[$J$C$?%9%l%C%I$+$i;2>H$5$l$k!#(B
+$B$3$NIT<+M3$rHr$1$k$?$a$K!"%^%k%A%9%l%C%I(BEuslisp$B$O(B{\bf install-error-handler}
+$B4X?t$rHw$($F$$$k!#$=$N4X?t$O!"$=$l$>$l$N%9%l%C%I$KBP$7$F(B
+$B0[$J$C$?%(%i!<%O%s%I%i!<$r%$%s%9%H!<%k$9$k!#(B
 
 \begin{refdesc}
 \funcdesc{install-error-handler}{handler}{
-{\em handler}$@$r8=:_$N%9%l%C%I$N%(%i!<%O%s%I%i!<$H$7$F%$%s%9%H!<%k$9$k!#(B}
+{\em handler}$B$r8=:_$N%9%l%C%I$N%(%i!<%O%s%I%i!<$H$7$F%$%s%9%H!<%k$9$k!#(B}
 \end{refdesc}
 
 \newpage
 
-\subsection{$@:G>e0L%l%Y%k$NBPOC(B}
+\subsection{$B:G>e0L%l%Y%k$NBPOC(B}
 
-EusLisp$@$NI8=`$N:G>e0L%l%Y%k$NF~NO!]I>2A!]=PNO$N%k!<%W(B(loop)$@$O!"(B{\bf eustop}
-$@$K$h$j@)8f$5$l$F$$$k!#(B
+EusLisp$B$NI8=`$N:G>e0L%l%Y%k$NF~NO!]I>2A!]=PNO$N%k!<%W(B(loop)$B$O!"(B{\bf eustop}
+$B$K$h$j@)8f$5$l$F$$$k!#(B
 % which is also responsible for the initial loading of files.
-euslisp$@$,8F$S=P$5$l$?$H$-!"(B
-{\bf eustop}$@$O!"%[!<%`%G%#%l%/%H%j$+$i(B{\tt ".eusrc"}$@$H$$$&%U%!%$%k$r(B
-$@$"$k$$$O(B{\tt EUSRC}$@4D6-JQ?t$G;XDj$5$l$?%U%!%$%k$r%m!<%I$9$k!#(B
-$@$=$l$+$i!"(Beuslisp$@$O!"0z$-?t%j%9%H$G;XDj$5$l$?%U%!%$%k$r%m!<%I$9$k!#(B
-$@$3$l$i$N%m!<%I$,=*N;8e!"(B{\bf eustop}$@$O!"IaDL$NBPOC%;%C%7%g%s(B(session)$@$KF~$k!#(B
+euslisp$B$,8F$S=P$5$l$?$H$-!"(B
+{\bf eustop}$B$O!"%[!<%`%G%#%l%/%H%j$+$i(B{\tt ".eusrc"}$B$H$$$&%U%!%$%k$r(B
+$B$"$k$$$O(B{\tt EUSRC}$B4D6-JQ?t$G;XDj$5$l$?%U%!%$%k$r%m!<%I$9$k!#(B
+$B$=$l$+$i!"(Beuslisp$B$O!"0z$-?t%j%9%H$G;XDj$5$l$?%U%!%$%k$r%m!<%I$9$k!#(B
+$B$3$l$i$N%m!<%I$,=*N;8e!"(B{\bf eustop}$B$O!"IaDL$NBPOC%;%C%7%g%s(B(session)$B$KF~$k!#(B
 
-{\bf *standard-input*}$@$K%f!<%6!<$N(BTTY$@$,@\B3$5$l$?$H$-!"(B
-{\bf eustop}$@$O!"(B{\bf *prompt-string*}$@!J%G%U%)%k%H$H$7$F(B{\tt "eus\$"}$@$,(B
-$@@_Dj$5$l$F$$$k!K$K@_Dj$5$l$?%W%m%s%W%H$r=PNO$9$k!#(B
-$@$=$7$F!"(B{\bf *terminal-io*}$@%9%H%j!<%`$+$iL?Na$rF~NO$9$k!#(B
-$@$b$7!"$=$NF~NO$,%+%C%3$G3g$i$l$?9T$J$i$P!"(B
-{\bf eval}$@$K$h$C$F(Blisp$@=q<0$H$7$F07$o$l$k!#(B
-$@$b$7!"F~NO9T$N:G=i$N(Bsymbol$@$K4X?tDj5A$,$"$C$?>l9g!"$=$N9T$K<+F0E*$K(B
-$@%+%C%3$,F~$l$i$l!"I>2A$5$l$k!#(B
-$@$b$7!"4X?tDj5A$,8+$D$+$i$J$+$C$?>l9g!"$=$NFC<lCM(B(special value)$@$,(B
-$@D4::$5$l!"$=$NCM$,=PNO$5$l$k!#(B
-$@$b$7!"$=$N(Bsymbol$@$K$J$K$bDj5A$5$l$F$J$$$J$i$P!"(B
-$@$=$N9T$O(BUNIX$@L?Na$H$_$J$5$l!"(Bsh(Bourn's shell)$@$XEO$5$l$k!#(B
-$@$b$7!"(Bsh$@$,0lCW$9$k(BUNIX$@L?Na$rA\$;$J$+$C$?$H$-!"(B
-"command unrecognized"$@$H$$$&%a%C%;!<%8$r=PNO$9$k!#(B
-$@$3$N$h$&$K!"(B{\bf eustop}$@$O(Blisp$@$N%$%s%?!<%W%j%?$*$h$S(BUNIX$@$N%7%'%k$H$7$FF0:n$9$k!#(B
-$@$b$7!"F~NO$r(BUNIX$@L?Na$H$7$F<B9T$7$?$/$J$$$H$-!"(B
-$@9T$N:G=i$K%3%s%^(B','$@$rIU$1$l$P$h$$!#(B
-$@$3$l$O!"BPOC<B9T(B(interpretive execution)$@$G%(%i!<$,H/@8$...
 
[truncated message content]

[Euslisp-commit] SF.net SVN: euslisp:[667] trunk/EusLisp/doc/jlatex

From: <k-...@us...> - 2014-01-23 09:40:45

Revision: 667
          http://sourceforge.net/p/euslisp/code/667
Author:   k-okada
Date:     2014-01-23 09:40:32 +0000 (Thu, 23 Jan 2014)
Log Message:
-----------
filter with nkf -j

Modified Paths:
--------------
    trunk/EusLisp/doc/jlatex/jarith.tex
    trunk/EusLisp/doc/jlatex/jcontact.tex
    trunk/EusLisp/doc/jlatex/jcontrols.tex
    trunk/EusLisp/doc/jlatex/jevaluation.tex
    trunk/EusLisp/doc/jlatex/jgenerals.tex
    trunk/EusLisp/doc/jlatex/jgraphics.tex
    trunk/EusLisp/doc/jlatex/jimage.tex
    trunk/EusLisp/doc/jlatex/jintro.tex
    trunk/EusLisp/doc/jlatex/jmatrix.tex
    trunk/EusLisp/doc/jlatex/jmthread.tex
    trunk/EusLisp/doc/jlatex/jsequences.tex
    trunk/EusLisp/doc/jlatex/jsymbols.tex
    trunk/EusLisp/doc/jlatex/jsysfunc.tex
    trunk/EusLisp/doc/jlatex/jvoronoi.tex
    trunk/EusLisp/doc/jlatex/jvxw.tex
    trunk/EusLisp/doc/jlatex/jxtoolkit.tex
    trunk/EusLisp/doc/jlatex/jxwindow.tex
    trunk/EusLisp/doc/jlatex/test.tex

Modified: trunk/EusLisp/doc/jlatex/jarith.tex
===================================================================
--- trunk/EusLisp/doc/jlatex/jarith.tex	2014-01-23 09:39:13 UTC (rev 666)
+++ trunk/EusLisp/doc/jlatex/jarith.tex	2014-01-23 09:40:32 UTC (rev 667)
@@ -1,213 +1,213 @@
-\section{$@?tCM1i;;(B}
-\markright{\arabic{section}. $@?tCM1i;;(B}
-\subsection{$@?tCM1i;;Dj?t(B}
+\section{$B?tCM1i;;(B}
+\markright{\arabic{section}. $B?tCM1i;;(B}
+\subsection{$B?tCM1i;;Dj?t(B}
 \begin{refdesc}
-\constdesc{most-positive-fixnum}{\#x1fffffff=536,870,911$@!#(B{\tt integer}$@$N@5$N:GBgCM!#(B}
-\constdesc{most-negative-fixnum}{-\#x20000000= -536,870,912$@!#(B{\tt integer}$@$NIi$N:GBgCM(B}
-\constdesc{short-float-epsilon}{IEEE$@$NIbF0>.?tE@I=8=7A<0$G$"$k(B{\tt float}$@$O!"(B
-21$@%S%C%H$N8GDj>.?t(B($@$&$AId9f(B
-$@$,(B1$@%S%C%H(B)$@$H(B7$@%S%C%H$N;X?t(B($@$&$AId9f$,(B1$@%S%C%H(B)$@$G9=@.$5$l$F$$$k!#(B
-$@$7$?$,$C$F!"IbF0>.?tE@8m:9(B$\epsilon$$@$O(B $2^{-21}= 4.768368 \times 10^{-7}$$@$H$J$k!#(B}
-\constdesc{single-float-epsilon}{{\bf short-float-epsilon}$@$HF1MM$K(B $2^{-21}$$@$G$"$k!#(B}
-\constdesc{long-float-epsilon}{Euslisp$@$K$O!"(Bdouble$@$b(Blong float$@$b$J$$$?$a!"(B
-{\bf short-float-epsilon}$@$HF1MM$K(B$2^{-21}$$@$G$"$k!#(B}
-\constdesc{pi}{$\pi$$@!#(B $@<B:]$K$O(B 3.14159203$@$G!"(B 3.14159265$@$G$O$J$$!#(B}
-\constdesc{2pi}{$2\times \pi$$@!#(B}
-\constdesc{pi/2}{$\pi/2$$@!#(B}
-\constdesc{-pi}{-3.14159203$@!#(B}
-\constdesc{-2pi}{$-2\times \pi$$@!#(B}
-\constdesc{-pi/2}{$-\pi/2$$@!#(B}
+\constdesc{most-positive-fixnum}{\#x1fffffff=536,870,911$B!#(B{\tt integer}$B$N@5$N:GBgCM!#(B}
+\constdesc{most-negative-fixnum}{-\#x20000000= -536,870,912$B!#(B{\tt integer}$B$NIi$N:GBgCM(B}
+\constdesc{short-float-epsilon}{IEEE$B$NIbF0>.?tE@I=8=7A<0$G$"$k(B{\tt float}$B$O!"(B
+21$B%S%C%H$N8GDj>.?t(B($B$&$AId9f(B
+$B$,(B1$B%S%C%H(B)$B$H(B7$B%S%C%H$N;X?t(B($B$&$AId9f$,(B1$B%S%C%H(B)$B$G9=@.$5$l$F$$$k!#(B
+$B$7$?$,$C$F!"IbF0>.?tE@8m:9(B$\epsilon$$B$O(B $2^{-21}= 4.768368 \times 10^{-7}$$B$H$J$k!#(B}
+\constdesc{single-float-epsilon}{{\bf short-float-epsilon}$B$HF1MM$K(B $2^{-21}$$B$G$"$k!#(B}
+\constdesc{long-float-epsilon}{Euslisp$B$K$O!"(Bdouble$B$b(Blong float$B$b$J$$$?$a!"(B
+{\bf short-float-epsilon}$B$HF1MM$K(B$2^{-21}$$B$G$"$k!#(B}
+\constdesc{pi}{$\pi$$B!#(B $B<B:]$K$O(B 3.14159203$B$G!"(B 3.14159265$B$G$O$J$$!#(B}
+\constdesc{2pi}{$2\times \pi$$B!#(B}
+\constdesc{pi/2}{$\pi/2$$B!#(B}
+\constdesc{-pi}{-3.14159203$B!#(B}
+\constdesc{-2pi}{$-2\times \pi$$B!#(B}
+\constdesc{-pi/2}{$-\pi/2$$B!#(B}
 \end{refdesc}
 
-\subsection{$@Hf3S1i;;4X?t(B}
+\subsection{$BHf3S1i;;4X?t(B}
 \begin{refdesc}
 \funcdesc{numberp}{object}{
-{\em object}$@$,(B{\tt integer}$@$+(B{\tt float}$@$N;~!"(BT$@$rJV$9!#(B
-$@$=$NJ8;z$,?t;z$G9=@.$5$l$F$$$k$H$-$bF1MM$G$"$k!#(B}
+{\em object}$B$,(B{\tt integer}$B$+(B{\tt float}$B$N;~!"(BT$B$rJV$9!#(B
+$B$=$NJ8;z$,?t;z$G9=@.$5$l$F$$$k$H$-$bF1MM$G$"$k!#(B}
 \funcdesc{integerp}{object}{
-{\em object}$@$,(B{\tt integer}$@$N;~!"(BT$@$rJV$9!#(B
-{\tt float}$@$O(B{\bf round, trunc}$@$*$h$S(B{\bf ceiling}$@4X?t$G(B{\tt integer}$@$KJQ49$G$-$k!#(B}
-\funcdesc{floatp}{object}{ {\em object} $@$,(B {\tt float} $@$N;~(B T $@$rJV$9!#(B
-{\tt integer}$@$O(B{\bf float}$@4X?t$G(B{\tt float}$@$KJQ49$G$-$k!#(B}
+{\em object}$B$,(B{\tt integer}$B$N;~!"(BT$B$rJV$9!#(B
+{\tt float}$B$O(B{\bf round, trunc}$B$*$h$S(B{\bf ceiling}$B4X?t$G(B{\tt integer}$B$KJQ49$G$-$k!#(B}
+\funcdesc{floatp}{object}{ {\em object} $B$,(B {\tt float} $B$N;~(B T $B$rJV$9!#(B
+{\tt integer}$B$O(B{\bf float}$B4X?t$G(B{\tt float}$B$KJQ49$G$-$k!#(B}
 
-\funcdesc{zerop}{number}{ {\em number}$@$,(B{\tt integer}$@$N%<%m$^$?$O(B
-{\tt float}$@$N(B0.0$@$N;~!"(B T$@$rJV$9!#(B}
-\funcdesc{plusp}{number}{{\em number}$@$,@5(B($@%<%m$O4^$^$J$$(B)$@$N$H$-!"(BT$@$rJV$9!#(B}
-\funcdesc{minusp}{number}{{\em number}$@$,Ii$N$H$-!"(BT$@$rJV$9!#(B}
+\funcdesc{zerop}{number}{ {\em number}$B$,(B{\tt integer}$B$N%<%m$^$?$O(B
+{\tt float}$B$N(B0.0$B$N;~!"(B T$B$rJV$9!#(B}
+\funcdesc{plusp}{number}{{\em number}$B$,@5(B($B%<%m$O4^$^$J$$(B)$B$N$H$-!"(BT$B$rJV$9!#(B}
+\funcdesc{minusp}{number}{{\em number}$B$,Ii$N$H$-!"(BT$B$rJV$9!#(B}
 
 \funcdesc{oddp}{integer}{
-{\em integer}$@$,4q?t$N$H$-!"(BT$@$rJV$9!#0z?t$O(B{\tt integer}$@$N$_M-8z!#(B}
+{\em integer}$B$,4q?t$N$H$-!"(BT$B$rJV$9!#0z?t$O(B{\tt integer}$B$N$_M-8z!#(B}
 
 \funcdesc{evenp}{integer}{
-{\em integer}$@$,6v?t$N$H$-!"(BT$@$rJV$9!#0z?t$O(B{\tt integer}$@$N$_M-8z!#(B}
+{\em integer}$B$,6v?t$N$H$-!"(BT$B$rJV$9!#0z?t$O(B{\tt integer}$B$N$_M-8z!#(B}
 
 \funcdesc{/=}{num1 num2}{
-{\em num1}$@$,(B{\em num2}$@$HEy$7$/$J$$$H$-!"(BT$@$rJV$9!#(B
-{\em num1}$@$H(B{\em num2}$@$O?tCM$G$"$k$3$H!#(B}
+{\em num1}$B$,(B{\em num2}$B$HEy$7$/$J$$$H$-!"(BT$B$rJV$9!#(B
+{\em num1}$B$H(B{\em num2}$B$O?tCM$G$"$k$3$H!#(B}
 
 \funcdesc{=}{num1 num2 \&rest more-numbers}{
-{\em num1}$@$H(B{\em num2}$@Ey$7$$$H$-$r!"(BT$@JV$9!#(B
-{\em num1}$@$H(B{\em num2}$@$O?tCM$G$"$k$3$H!#(B}
+{\em num1}$B$H(B{\em num2}$BEy$7$$$H$-$r!"(BT$BJV$9!#(B
+{\em num1}$B$H(B{\em num2}$B$O?tCM$G$"$k$3$H!#(B}
 
 \fundesc{$>$}{num1 num2 \&rest more-numbers}
 \fundesc{$<$}{num1 num2 \&rest more-numbers}
 \fundesc{$>=$}{num1 num2 \&rest more-numbers}
 \funcdesc{$<=$}{num1 num2 \&rest more-numbers}{
-$@$3$l$i$NHf3S1i;;$O!"?tCM$N$_E,MQ$G$-$k!#8m:9$r4^$a$??tCMHf3S$KBP$7$F$O!"(B
-\ref{Geometry}$@>O$K=q$+$l$F$$$k4X?t!J$3$l$i$NHf3S1i;;;R$NA0$K(B{\bf eps}$@$,(B
-$@$D$$$F$$$k!K$r;HMQ$9$k!#(B}
+$B$3$l$i$NHf3S1i;;$O!"?tCM$N$_E,MQ$G$-$k!#8m:9$r4^$a$??tCMHf3S$KBP$7$F$O!"(B
+\ref{Geometry}$B>O$K=q$+$l$F$$$k4X?t!J$3$l$i$NHf3S1i;;;R$NA0$K(B{\bf eps}$B$,(B
+$B$D$$$F$$$k!K$r;HMQ$9$k!#(B}
 \end{refdesc}
 
-\subsection{$@@0?t$H%S%C%HKh$NA`:n4X?t(B}
-$@0J2<$N4X?t$N0z?t$O!"$9$Y$F(B{\tt integer}$@$H$9$k!#(B
+\subsection{$B@0?t$H%S%C%HKh$NA`:n4X?t(B}
+$B0J2<$N4X?t$N0z?t$O!"$9$Y$F(B{\tt integer}$B$H$9$k!#(B
 
 \begin{refdesc}
 \funcdesc{mod}{dividend divisor}{
-{\em dividend} $@$r(B {\em divisor}$@$G3d$C$?M>$j$rJV$9!#(B
+{\em dividend} $B$r(B {\em divisor}$B$G3d$C$?M>$j$rJV$9!#(B
 {\tt (mod 6 5)=1, (mod -6 5)=-1, (mod 6 -5)=1, (mod -6 -5)=-1}.}
 
 \funcdesc{1-}{integer}{
-$integer-1$ $@$rJV$9!#%3%s%Q%$%i$G$O!"0z?t$r(B {\tt integer} $@$H2>Dj$9$k!#(B}
+$integer-1$ $B$rJV$9!#%3%s%Q%$%i$G$O!"0z?t$r(B {\tt integer} $B$H2>Dj$9$k!#(B}
 
 \funcdesc{1+}{integer}{
-$integer+1$ $@$rJV$9!#(B
-{\bf 1+} $@$H(B {\bf 1$-$} $@$N0z?t$O!"(B{\tt integer} $@$G$J$1$l$P$J$i$J$$!#(B}
-\funcdesc{logand}{\&rest integers}{{\em integers}$@$N%S%C%HC10L#A#N#D!#(B}
-\funcdesc{logior}{\&rest integers}{{\em integers}$@$N%S%C%HC10L#O#R!#(B}
-\funcdesc{logxor}{\&rest integers}{{\em integers}$@$N%S%C%HC10L#X#O#R!#(B}
+$integer+1$ $B$rJV$9!#(B
+{\bf 1+} $B$H(B {\bf 1$-$} $B$N0z?t$O!"(B{\tt integer} $B$G$J$1$l$P$J$i$J$$!#(B}
+\funcdesc{logand}{\&rest integers}{{\em integers}$B$N%S%C%HC10L#A#N#D!#(B}
+\funcdesc{logior}{\&rest integers}{{\em integers}$B$N%S%C%HC10L#O#R!#(B}
+\funcdesc{logxor}{\&rest integers}{{\em integers}$B$N%S%C%HC10L#X#O#R!#(B}
 \funcdesc{logeqv}{\&rest integers}{
-{\bf logeqv}$@$O(B{\tt (lognot (logxor ...))}$@$HF1Ey$G$"$k!#(B}
-\funcdesc{lognand}{\&rest integers}{{\em integers}$@$N%S%C%HC10L#N#A#N#D!#(B}
-\funcdesc{lognor}{\&rest integers}{{\em integers}$@$N%S%C%HC10L#N#O#R!#(B}
-\funcdesc{lognot}{integer}{{\em integer}$@$N%S%C%HH?E>!#(B}
+{\bf logeqv}$B$O(B{\tt (lognot (logxor ...))}$B$HF1Ey$G$"$k!#(B}
+\funcdesc{lognand}{\&rest integers}{{\em integers}$B$N%S%C%HC10L#N#A#N#D!#(B}
+\funcdesc{lognor}{\&rest integers}{{\em integers}$B$N%S%C%HC10L#N#O#R!#(B}
+\funcdesc{lognot}{integer}{{\em integer}$B$N%S%C%HH?E>!#(B}
 \funcdesc{logtest}{integer1 integer2}{
-{\tt (logand {\em integer1 integer2})}$@$,%<%m$G$J$$$H$-(B T $@$rJV$9!#(B}
+{\tt (logand {\em integer1 integer2})}$B$,%<%m$G$J$$$H$-(B T $B$rJV$9!#(B}
 
 \funcdesc{logbitp}{index integer}{
-{\em integer}$@$,(BNIL$@$G$J$1$l$P!"(BLSB$@$+$i?t$($F(B {\em index}$@HVL\$N(B 
-$@%S%C%H$,(B 1 $@$N$H$-(B T $@$rJV$9!#(B}
+{\em integer}$B$,(BNIL$B$G$J$1$l$P!"(BLSB$B$+$i?t$($F(B {\em index}$BHVL\$N(B 
+$B%S%C%H$,(B 1 $B$N$H$-(B T $B$rJV$9!#(B}
 
 \funcdesc{ash}{integer count}{
-$@?tCM1i;;:8%7%U%H!#(B
-$@$b$7(B {\em count} $@$,@5$N$H$-!"(B{\em integer}$@$r:8$K%7%U%H$9$k!#(B
-$@$b$7(B {\em count} $@$,Ii$N$H$-!"(B
-{\em integer} $@$r(B $\vert${\em count}$\vert$ $@%S%C%H1&$K%7%U%H$9$k!#(B}
+$B?tCM1i;;:8%7%U%H!#(B
+$B$b$7(B {\em count} $B$,@5$N$H$-!"(B{\em integer}$B$r:8$K%7%U%H$9$k!#(B
+$B$b$7(B {\em count} $B$,Ii$N$H$-!"(B
+{\em integer} $B$r(B $\vert${\em count}$\vert$ $B%S%C%H1&$K%7%U%H$9$k!#(B}
 
 \funcdesc{ldb}{target position width}{
 LoaD Byte.
-{\bf ldb} $@$d(B {\bf dpb} $@$N(BByte$@7?$O!"(B EusLisp$@$K$J$$$?$a!"Be$j$K(B
-2$@8D$N(B {\tt integer} $@$r;HMQ$9$k!#(B
-{\em target} $@$N(BLSB$@$h$j(B{\em position}$@HVL\$N0LCV$+$i(BMSB$@$X(B {\em width} $@%S%C%H$N(B
-$@HO0O$rH4$-=P$9!#Nc$($P!"(B {\tt (ldb \#x1234 4 4)} $@$O(B 3$@$H$J$k!#(B}
+{\bf ldb} $B$d(B {\bf dpb} $B$N(BByte$B7?$O!"(B EusLisp$B$K$J$$$?$a!"Be$j$K(B
+2$B8D$N(B {\tt integer} $B$r;HMQ$9$k!#(B
+{\em target} $B$N(BLSB$B$h$j(B{\em position}$BHVL\$N0LCV$+$i(BMSB$B$X(B {\em width} $B%S%C%H$N(B
+$BHO0O$rH4$-=P$9!#Nc$($P!"(B {\tt (ldb \#x1234 4 4)} $B$O(B 3$B$H$J$k!#(B}
 
 \funcdesc{dpb}{value target position width}{
 DePosit Byte.
-{\em target}$@$N(BLSB$@$h$j(B{\em position}$@HVL\$N0LCV$X(B{\em value}$@$r(B
-{\em width}$@%S%C%HCV$-49$($k!#(B}
+{\em target}$B$N(BLSB$B$h$j(B{\em position}$BHVL\$N0LCV$X(B{\em value}$B$r(B
+{\em width}$B%S%C%HCV$-49$($k!#(B}
 
 \end{refdesc}
 
 
-\subsection{$@0lHL?tCM4X?t(B}
+\subsection{$B0lHL?tCM4X?t(B}
 \begin{refdesc}
-\funcdesc{+}{\&rest numbers}{{\em numbers}$@$NOB$rJV$9!#(B}
+\funcdesc{+}{\&rest numbers}{{\em numbers}$B$NOB$rJV$9!#(B}
 \funcdesc{-}{num \&rest more-numbers}{
-$@$b$7(B {\em more-numbers} $@$,M?$($i$l$?$H$-!"(B{\em num}$@$h$j0z$/!#(B
-$@$=$&$G$J$$$H$-!"(B{\em num} $@$OId9fH?E>$5$l$k!#(B}
-\funcdesc{*}{\&rest numbers}{{\em numbers}$@$N@Q$rJV$9!#(B}
+$B$b$7(B {\em more-numbers} $B$,M?$($i$l$?$H$-!"(B{\em num}$B$h$j0z$/!#(B
+$B$=$&$G$J$$$H$-!"(B{\em num} $B$OId9fH?E>$5$l$k!#(B}
+\funcdesc{*}{\&rest numbers}{{\em numbers}$B$N@Q$rJV$9!#(B}
 \funcdesc{/}{num1 num2 \&rest more-numbers}{
-{\em num1} $@$r!"(B{\em num2} $@$d(B {\em more-numbers}$@$G3d$j;;$9$k!#(B
-$@A4$F$N0z?t$,(B{\tt integer}$@$N$H$-!"(B{\tt integer}$@$rJV$7!"(B
-$@0z?t$K(B1$@$D$G$b(B{\tt float}$@$,$"$C$?$H$-$O!"(B{\tt float}$@$rJV$9!#(B}
-\funcdesc{abs}{number}{{\em number}$@$N@dBPCM$rJV$9!#(B}
+{\em num1} $B$r!"(B{\em num2} $B$d(B {\em more-numbers}$B$G3d$j;;$9$k!#(B
+$BA4$F$N0z?t$,(B{\tt integer}$B$N$H$-!"(B{\tt integer}$B$rJV$7!"(B
+$B0z?t$K(B1$B$D$G$b(B{\tt float}$B$,$"$C$?$H$-$O!"(B{\tt float}$B$rJV$9!#(B}
+\funcdesc{abs}{number}{{\em number}$B$N@dBPCM$rJV$9!#(B}
 \funcdesc{round}{number}{
-{\em number}$@$N>.?tBh(B1$@0L$r;M<N8^F~$7(B {\tt integer}$@$rJV$9!#(B
+{\em number}$B$N>.?tBh(B1$B0L$r;M<N8^F~$7(B {\tt integer}$B$rJV$9!#(B
 {\tt (round 1.5)=2, (round -1.5)=2}.}
 
 \funcdesc{floor}{number}{
-{\em number}$@$N>.?t$r@Z<N$F$k!#(B
+{\em number}$B$N>.?t$r@Z<N$F$k!#(B
 {\tt (floor 1.5)=1, (floor -1.5)=-2}.}
 
 \funcdesc{ceiling}{number}{
-{\em number}$@$N>.?t$r@Z$j>e$2$k!#(B
+{\em number}$B$N>.?t$r@Z$j>e$2$k!#(B
 {\tt (ceiling 1.5)=2, (ceiling -1.5)=-1}.}
 
 \funcdesc{truncate}{number}{
-{\em number}$@$,@5$N$H$-$O@Z<N$F!"Ii$N$H$-$O@Z$j>e$2$k!#(B
+{\em number}$B$,@5$N$H$-$O@Z<N$F!"Ii$N$H$-$O@Z$j>e$2$k!#(B
 {\tt (truncate 1.5)=1, (truncate -1.5)=-1}.}
 
 \funcdesc{float}{number}{
- {\em number}$@$r(B{\tt float}$@$K$7$FJV$9!#(B}
+ {\em number}$B$r(B{\tt float}$B$K$7$FJV$9!#(B}
 
 \funcdesc{max}{\&rest numbers}{
- {\em numbers}$@$NCf$+$i!":GBgCM$r$5$,$9!#(B}
+ {\em numbers}$B$NCf$+$i!":GBgCM$r$5$,$9!#(B}
 
 \funcdesc{min}{\&rest numbers}{
-{\em numbers}$@$NCf$+$i!":G>.CM$r$5$,$9!#(B}
+{\em numbers}$B$NCf$+$i!":G>.CM$r$5$,$9!#(B}
 
 \funcdesc{random}{range \&optional (randstate *random-state*)}{
- 0$@$"$k$$$O(B0.0 $@$+$i(B {\em range}$@$^$G$NMp?t$rJV$9!#(B
-$@$b$7(B {\em range} $@$,(B {\tt integer}$@$N$H$-!"(B
-{\tt integer} $@$KJQ49$7$FJV$9!#(B
-$@$=$&$G$J$$$H$-!"(B{\tt float} $@$rJV$9!#(B
-$@%*%W%7%g%s$N(B{\em randstate} $@$O!"7h$^$C$?Mp?tNs$GI=$5$l$k!#(B
-{\em randstate}$@$KFCJL$J%G!<%?$N7?$O$J$/!"(B
-2$@$D$NMWAG$+$i$J$k(B $@@0?t%Y%/%H%k$GI=$5$l$k!#(B
+ 0$B$"$k$$$O(B0.0 $B$+$i(B {\em range}$B$^$G$NMp?t$rJV$9!#(B
+$B$b$7(B {\em range} $B$,(B {\tt integer}$B$N$H$-!"(B
+{\tt integer} $B$KJQ49$7$FJV$9!#(B
+$B$=$&$G$J$$$H$-!"(B{\tt float} $B$rJV$9!#(B
+$B%*%W%7%g%s$N(B{\em randstate} $B$O!"7h$^$C$?Mp?tNs$GI=$5$l$k!#(B
+{\em randstate}$B$KFCJL$J%G!<%?$N7?$O$J$/!"(B
+2$B$D$NMWAG$+$i$J$k(B $B@0?t%Y%/%H%k$GI=$5$l$k!#(B
 }
 
 \macrodesc{incf}{variable \&optional (increment 1)}{
-{\em variable} $@$O0lHL$NJQ?t$G$"$k!#(B
-{\em variable} $@$O!"(B{\em increment}$@$@$1A}2C$5$l!"(B
-{\em variable}$@$KLa$5$l$k!#(B}
+{\em variable} $B$O0lHL$NJQ?t$G$"$k!#(B
+{\em variable} $B$O!"(B{\em increment}$B$@$1A}2C$5$l!"(B
+{\em variable}$B$KLa$5$l$k!#(B}
 \macrodesc{decf}{variable \&optional decrement}{
-{\em variable} $@$O0lHL$NJQ?t$G$"$k!#(B
-{\em variable} $@$O!"(B{\em decrement}$@$@$18:>/$5$l!"(B
-{\em variable}$@$KLa$5$l$k!#(B}
+{\em variable} $B$O0lHL$NJQ?t$G$"$k!#(B
+{\em variable} $B$O!"(B{\em decrement}$B$@$18:>/$5$l!"(B
+{\em variable}$B$KLa$5$l$k!#(B}
 
 \funcdesc{reduce}{func seq}{
-2$@JQ?tA`:n$N(B{\em func}$@4X?t$rMQ$$$F!"(B{\em seq}$@$NCf$NA4$F$NMWAG$r7k9g$5$;$k!#(B
-$@Nc$($P!"(B{\tt (reduce \#'expt '(2 3 4)) = (expt (expt 2 3) 4)=4096}.}
+2$BJQ?tA`:n$N(B{\em func}$B4X?t$rMQ$$$F!"(B{\em seq}$B$NCf$NA4$F$NMWAG$r7k9g$5$;$k!#(B
+$BNc$($P!"(B{\tt (reduce \#'expt '(2 3 4)) = (expt (expt 2 3) 4)=4096}.}
 
-\funcdesc{rad2deg}{radian}{$@%i%8%"%sCM$r(B $@EY?tI=8=$KJQ49$9$k!#(B
-\#R $@$OF1$8$b$N$G$"$k!#(B
-EusLisp $@$NCf$G$N3QEY$NI=5-$O%i%8%"%s$G$"$j!"(B
-EusLisp $@Fb$NA4$F$N4X?t$,MW5a$9$k3QEY0z?t$O!"%i%8%"%sI=8=$G$"$k!#(B}
+\funcdesc{rad2deg}{radian}{$B%i%8%"%sCM$r(B $BEY?tI=8=$KJQ49$9$k!#(B
+\#R $B$OF1$8$b$N$G$"$k!#(B
+EusLisp $B$NCf$G$N3QEY$NI=5-$O%i%8%"%s$G$"$j!"(B
+EusLisp $BFb$NA4$F$N4X?t$,MW5a$9$k3QEY0z?t$O!"%i%8%"%sI=8=$G$"$k!#(B}
 
-\funcdesc{deg2rad}{degree}{$@3QEYCM$r%i%8%"%sI=8=$KJQ49$9$k!#(B
-$@$^$?(B \#D $@$G$b<B9T$G$-$k!#(B}
+\funcdesc{deg2rad}{degree}{$B3QEYCM$r%i%8%"%sI=8=$KJQ49$9$k!#(B
+$B$^$?(B \#D $B$G$b<B9T$G$-$k!#(B}
 \end{refdesc}
 
-\subsection{$@4pK\4X?t(B}
+\subsection{$B4pK\4X?t(B}
 \begin{refdesc}
-\funcdesc{sin}{theta}{{\em theta} $@$O%i%8%"%s$GI=$5$l$k(B {\tt float} $@CM!#(B
-$\sin(theta)$$@$rJV$9!#(B}
-\funcdesc{cos}{theta}{{\em theta} $@$O%i%8%"%s$GI=$5$l$k(B {\tt float} $@CM!#(B
-$\cos(theta)$$@$rJV$9!#(B}
-\funcdesc{tan}{theta}{{\em theta} $@$O%i%8%"%s$GI=$5$l$k(B {\tt float} $@CM!#(B
-$\tan(theta)$$@$rJV$9!#(B}
-\funcdesc{sinh}{x}{ hyperbolic sine$@!"(B
-$\frac{e^{x}-e^{-x}}{2}$$@$GI=$5$l$k!#(B}
-\funcdesc{cosh}{x}{ hyperbolic cosine$@!"(B
-$\frac{e^{x}+e^{-x}}{2}$$@$GI=$5$l$k!#(B}
-\funcdesc{tanh}{x}{ hyperbolic tangent$@!"(B
-$\frac{e^{x}+e^{-x}}{e^{x}-e^{-x}}$$@$GI=$5$l$k!#(B}
-\funcdesc{asin}{number}{{\em number}$@$N(Barc sine$@$rJV$9!#(B}
-\funcdesc{acos}{number}{{\em number}$@$N(Barc cosine$@$rJV$9!#(B}
+\funcdesc{sin}{theta}{{\em theta} $B$O%i%8%"%s$GI=$5$l$k(B {\tt float} $BCM!#(B
+$\sin(theta)$$B$rJV$9!#(B}
+\funcdesc{cos}{theta}{{\em theta} $B$O%i%8%"%s$GI=$5$l$k(B {\tt float} $BCM!#(B
+$\cos(theta)$$B$rJV$9!#(B}
+\funcdesc{tan}{theta}{{\em theta} $B$O%i%8%"%s$GI=$5$l$k(B {\tt float} $BCM!#(B
+$\tan(theta)$$B$rJV$9!#(B}
+\funcdesc{sinh}{x}{ hyperbolic sine$B!"(B
+$\frac{e^{x}-e^{-x}}{2}$$B$GI=$5$l$k!#(B}
+\funcdesc{cosh}{x}{ hyperbolic cosine$B!"(B
+$\frac{e^{x}+e^{-x}}{2}$$B$GI=$5$l$k!#(B}
+\funcdesc{tanh}{x}{ hyperbolic tangent$B!"(B
+$\frac{e^{x}+e^{-x}}{e^{x}-e^{-x}}$$B$GI=$5$l$k!#(B}
+\funcdesc{asin}{number}{{\em number}$B$N(Barc sine$B$rJV$9!#(B}
+\funcdesc{acos}{number}{{\em number}$B$N(Barc cosine$B$rJV$9!#(B}
 \funcdesc{atan}{y \&optional x}{
-{\bf atan} $@$,(B1$@$D$N0z?t$@$1$N$H$-!"(Barctangent $@$r7W;;$9$k!#(B
-2$@$D$N0z?t$N$H$-!"(B{\tt atan}$(y/x)$ $@$r7W;;$9$k!#(B}
+{\bf atan} $B$,(B1$B$D$N0z?t$@$1$N$H$-!"(Barctangent $B$r7W;;$9$k!#(B
+2$B$D$N0z?t$N$H$-!"(B{\tt atan}$(y/x)$ $B$r7W;;$9$k!#(B}
 \funcdesc{asinh}{x}{hyperbolic arc sine.}
 \funcdesc{acosh}{x}{hyperbolic arc cosine.}
 \funcdesc{atanh}{x}{hyperbolic arc tangent.}
 
-\funcdesc{sqrt}{number}{{\em number} $@$NJ?J}:,$rJV$9!#(B}
+\funcdesc{sqrt}{number}{{\em number} $B$NJ?J}:,$rJV$9!#(B}
 
-\funcdesc{log}{number}{{\em number} $@$N<+A3BP?t$rJV$9!#(B}
+\funcdesc{log}{number}{{\em number} $B$N<+A3BP?t$rJV$9!#(B}
 
-\funcdesc{exp}{x}{$e^{x}$$@$rJV$9!#(B}
+\funcdesc{exp}{x}{$e^{x}$$B$rJV$9!#(B}
 
 \funcdesc{expt}{a x}{
-{\em a}$@$N(B{\em x}$@>h$rJV$9!#(B}
+{\em a}$B$N(B{\em x}$B>h$rJV$9!#(B}
 \end{refdesc}
 
 \newpage

Modified: trunk/EusLisp/doc/jlatex/jcontact.tex
===================================================================
--- trunk/EusLisp/doc/jlatex/jcontact.tex	2014-01-23 09:39:13 UTC (rev 666)
+++ trunk/EusLisp/doc/jlatex/jcontact.tex	2014-01-23 09:40:32 UTC (rev 667)
@@ -1,21 +1,21 @@
-\subsection{\label{Contact}$@N)BN$N@\?(>uBV2r@O(B}
+\subsection{\label{Contact}$BN)BN$N@\?(>uBV2r@O(B}
 
-$@$3$N@a$N%a%=%C%I$*$h$S4X?t$O!"<!$N%U%!%$%k$K5-=R$5$l$F$$$k!#(B
+$B$3$N@a$N%a%=%C%I$*$h$S4X?t$O!"<!$N%U%!%$%k$K5-=R$5$l$F$$$k!#(B
 {\bf contact/model2const.l, con\-tact/in\-e\-qual\-i\-ties.l, contact/drawconst.l}
 
 \begin{refdesc}
 
-\funcdesc{constrained-motion}{c}{$@94B+(B{\em c}$@$rK~$?$7$F$$$k(B
-$@F0:n$N%j%9%H$rJV$9!#(B}
+\funcdesc{constrained-motion}{c}{$B94B+(B{\em c}$B$rK~$?$7$F$$$k(B
+$BF0:n$N%j%9%H$rJV$9!#(B}
 
-\funcdesc{constrained-force}{m}{$@94B+$5$l$F$$$k(B{\bf body}$@$+$i(B
-$@94B+$7$F$$$k(B{\bf body}$@$K2C$o$kNO$rJV$9!#(B{\em m}$@$O!"(B{\bf constrained-motion}
-$@$+$iJV$5$l$kF0:n$N%j%9%H$G$"$k!#(B}
+\funcdesc{constrained-force}{m}{$B94B+$5$l$F$$$k(B{\bf body}$B$+$i(B
+$B94B+$7$F$$$k(B{\bf body}$B$K2C$o$kNO$rJV$9!#(B{\em m}$B$O!"(B{\bf constrained-motion}
+$B$+$iJV$5$l$kF0:n$N%j%9%H$G$"$k!#(B}
 
-\funcdesc{draw-constraint}{c}{$@94B+(B{\em c}$@$rIA$/!#(B}
+\funcdesc{draw-constraint}{c}{$B94B+(B{\em c}$B$rIA$/!#(B}
 
-\funcdesc{draw-motion}{m a b}{{\em a}$@$,(B{\em b}$@$K@\?($7$F$$$k$H$-$K(B
-$@<h$jF@$kF0:n$rIA$/!#%j%?!<%s%-!<$r2!$9$3$H$K$h$jIA2h$r;O$a$k!#(B}
+\funcdesc{draw-motion}{m a b}{{\em a}$B$,(B{\em b}$B$K@\?($7$F$$$k$H$-$K(B
+$B<h$jF@$kF0:n$rIA$/!#%j%?!<%s%-!<$r2!$9$3$H$K$h$jIA2h$r;O$a$k!#(B}
 \end{refdesc}
 Example\\
 \begin{verbatim}
@@ -50,7 +50,7 @@
 (draw-motion m)
 \end{verbatim}
 \clearpage
-$@94B+$NNc$r<!$N?^$G<($9!#?^$N>.$5$JLp0u$O!$%Z%0$KBP$9$k94B+$r<($9!#(B
+$B94B+$NNc$r<!$N?^$G<($9!#?^$N>.$5$JLp0u$O!$%Z%0$KBP$9$k94B+$r<($9!#(B
 \\
 \begin{figure}[h]
 \epsfile{file=fig/fig-peg-in-hole1.ps,width=7.9cm}
@@ -61,8 +61,8 @@
 \label{fig:peg-in-hole}
 \end{figure}
 \clearpage
-$@%Z%0$r7j$KF~$l$k:n6H$K$*$$$F<h$jF@$kF0:n$NNc$r<!$N?^$G<($9!#(B
-$@$3$NNc$O!$>e5-$N%W%m%0%i%`$H0lCW$7$F$$$k!#(B
+$B%Z%0$r7j$KF~$l$k:n6H$K$*$$$F<h$jF@$kF0:n$NNc$r<!$N?^$G<($9!#(B
+$B$3$NNc$O!$>e5-$N%W%m%0%i%`$H0lCW$7$F$$$k!#(B
 \begin{figure}[h]
 \begin{center}
 \epsfile{file=fig/fig-peg-naname-m1.ps,width=7.9cm}

Modified: trunk/EusLisp/doc/jlatex/jcontrols.tex
===================================================================
--- trunk/EusLisp/doc/jlatex/jcontrols.tex	2014-01-23 09:39:13 UTC (rev 666)
+++ trunk/EusLisp/doc/jlatex/jcontrols.tex	2014-01-23 09:40:32 UTC (rev 667)
@@ -1,164 +1,164 @@
-\section{$@@)8f9=B$(B}
-\markright{\arabic{section}. $@@)8f9=B$(B}
-\subsection{$@>r7oJ8(B}
+\section{$B@)8f9=B$(B}
+\markright{\arabic{section}. $B@)8f9=B$(B}
+\subsection{$B>r7oJ8(B}
 
-{\bf and,or}$@$*$h$S(B{\bf cond}$@$O!"(BCommon Lisp$@$K$*$$$F%^%/%m$H$7$FCN$i$l$F$$$k$,!"(B
-EusLisp$@$G$O%$%s%?%W%j%?;~$N8zN($r2~A1$9$k$?$a$KFC<l=q<0$H$7$F<B9T$5$l$k!#(B
+{\bf and,or}$B$*$h$S(B{\bf cond}$B$O!"(BCommon Lisp$B$K$*$$$F%^%/%m$H$7$FCN$i$l$F$$$k$,!"(B
+EusLisp$B$G$O%$%s%?%W%j%?;~$N8zN($r2~A1$9$k$?$a$KFC<l=q<0$H$7$F<B9T$5$l$k!#(B
 
 \begin{refdesc}
 \specialdesc{and}{\{form\}*}{
-{\em form}$@$O!"(BNIL$@$,8=$l$k$^$G:8$+$i1&$KI>2A$5$l$k!#(B
-$@$b$7!"A4$F$N=q<0$,(Bnon-NIL$@$H$7$FI>2A$5$l$k$J$i$P!"(B
-$@:G8e$NCM$,JV$5$l$k!#(B}
+{\em form}$B$O!"(BNIL$B$,8=$l$k$^$G:8$+$i1&$KI>2A$5$l$k!#(B
+$B$b$7!"A4$F$N=q<0$,(Bnon-NIL$B$H$7$FI>2A$5$l$k$J$i$P!"(B
+$B:G8e$NCM$,JV$5$l$k!#(B}
 
 \specialdesc{or}{\{form\}*}{
-{\em form}$@$O!"(Bnon-NIL$@CM$,8=$l$k$^$G:8$+$i1&$KI>2A$5$l$k!#(B
-$@$=$7$F!"$=$NCM$,JV$5$l$k!#(B
-$@$b$7!"A4$F$N=q<0$,(BNIL$@$H$7$FI>2A$5$l$k$J$i$P!"(BNIL$@$rJV$9!#(B}
+{\em form}$B$O!"(Bnon-NIL$BCM$,8=$l$k$^$G:8$+$i1&$KI>2A$5$l$k!#(B
+$B$=$7$F!"$=$NCM$,JV$5$l$k!#(B
+$B$b$7!"A4$F$N=q<0$,(BNIL$B$H$7$FI>2A$5$l$k$J$i$P!"(BNIL$B$rJV$9!#(B}
 
 \specialdesc{if}{test then [else]}{
-{\bf if}$@$O!"#1$D$N(B{\it then}$@$H(B{\it else}$@=q<0$N$_$r;}$D$3$H$,$G$-$k!#(B
-$@$=$3$KB?=E=q<0$r=q$-$?$$$H$-$O!"(B{\bf progn}$@$r;H$C$F(B
-$@%0%k!<%W2=$7$J$1$l$P$J$i$J$$!#(B}
+{\bf if}$B$O!"#1$D$N(B{\it then}$B$H(B{\it else}$B=q<0$N$_$r;}$D$3$H$,$G$-$k!#(B
+$B$=$3$KB?=E=q<0$r=q$-$?$$$H$-$O!"(B{\bf progn}$B$r;H$C$F(B
+$B%0%k!<%W2=$7$J$1$l$P$J$i$J$$!#(B}
 
 \macrodesc{when}{test forms}{
-{\bf if}$@$H0c$C$F!"(B
-{\bf when}$@$H(B{\bf unless}$@$O!"B?=E(B{\em $@=q<0(B}$@$G=q$/$3$H$r5v2D$7$F$$$k!#(B
-{\em test}$@$NI>2A$,(Bnon-NIL$@$N$H$-!"(B{\bf when}$@$O<B9T$5$l!"(B
-$@I>2A$,(BNIL$@$N$H$-!"(B{\em unless}$@$O<B9T$5$l$k!#(B
-$@$b$&0lJ}$G!"$3$l$i$N%^%/%m$O(B{\em else}$@=q<0$rDI2C$9$k$3$H$r(B
-$@5v2D$7$F$$$J$$!#(B}
+{\bf if}$B$H0c$C$F!"(B
+{\bf when}$B$H(B{\bf unless}$B$O!"B?=E(B{\em $B=q<0(B}$B$G=q$/$3$H$r5v2D$7$F$$$k!#(B
+{\em test}$B$NI>2A$,(Bnon-NIL$B$N$H$-!"(B{\bf when}$B$O<B9T$5$l!"(B
+$BI>2A$,(BNIL$B$N$H$-!"(B{\em unless}$B$O<B9T$5$l$k!#(B
+$B$b$&0lJ}$G!"$3$l$i$N%^%/%m$O(B{\em else}$B=q<0$rDI2C$9$k$3$H$r(B
+$B5v2D$7$F$$$J$$!#(B}
 
 \macrodesc{unless}{test forms}{
-{\tt(when (not {\em test}) . {\em forms})}$@$HF1Ey$G$"$k!#(B}
+{\tt(when (not {\em test}) . {\em forms})}$B$HF1Ey$G$"$k!#(B}
 
 \specialdesc{cond}{{(test \{form\}*)}*}{
-$@G$0U$N?t$N>r7o9`$O!"(B{\bf cond}$@$N8e$KB3$1$k$3$H$,$G$-$k!#(B
-$@$=$l$>$l$N>r7o9`$K$*$$$F!":G=i$N=q<0(B{\em test}$@$,I>2A$5$l$k!#(B
-$@$b$7!"(Bnon-NIL$@$G$"$C$?$H$-!"$=$N>r7o9`$N;D$j$N=q<0$O!"B3$$$FI>2A$5$l$k!#(B
-$@$=$7$F!":G8e$NCM$,JV$5$l$k!#(B
-$@$b$7!"(B{\em test}$@$N$"$H$K=q<0$,$J$+$C$?$J$i$P!"(B
-{\em test}$@$NCM$,JV$5$l$k!#(B
-{\em test}$@$,<:GT$7$?$H$-!"<!$N>r7o9`$O(B{\em test}$@$,(Bnon-NIL$@I>2A$5$l$k$+$^$?$O(B
-$@A4$F$N>r7o9`$,?T$-$F$7$^$&$^$G7+$jJV$5$l$k!#(B
-$@>r7o9`$,?T$-$F$7$^$C$?>l9g!"(B{\bf cond}$@$O(BNIL$@$rJV$9!#(B}
+$BG$0U$N?t$N>r7o9`$O!"(B{\bf cond}$B$N8e$KB3$1$k$3$H$,$G$-$k!#(B
+$B$=$l$>$l$N>r7o9`$K$*$$$F!":G=i$N=q<0(B{\em test}$B$,I>2A$5$l$k!#(B
+$B$b$7!"(Bnon-NIL$B$G$"$C$?$H$-!"$=$N>r7o9`$N;D$j$N=q<0$O!"B3$$$FI>2A$5$l$k!#(B
+$B$=$7$F!":G8e$NCM$,JV$5$l$k!#(B
+$B$b$7!"(B{\em test}$B$N$"$H$K=q<0$,$J$+$C$?$J$i$P!"(B
+{\em test}$B$NCM$,JV$5$l$k!#(B
+{\em test}$B$,<:GT$7$?$H$-!"<!$N>r7o9`$O(B{\em test}$B$,(Bnon-NIL$BI>2A$5$l$k$+$^$?$O(B
+$BA4$F$N>r7o9`$,?T$-$F$7$^$&$^$G7+$jJV$5$l$k!#(B
+$B>r7o9`$,?T$-$F$7$^$C$?>l9g!"(B{\bf cond}$B$O(BNIL$B$rJV$9!#(B}
 
 \macrodesc{case}{key \{(\{label $|$ (\{lab\}*) \{form\}*)\}*}{
-{\em key}$@$H(B{\em label}$@$,0lCW$7$?>r7o9`$K$D$$$F!"(B
-{\em form}$@$,I>2A$5$l!":G8e$NCM$,JV$5$l$k!#(B
-{\em key}$@$H(B{\em label}$@$N4V$NEy2A$O!"(B{\bf eq}$@$^$?$O(B
-{\bf memq}$@$G9T$o$l!"(B{\bf equal}$@$G$O$J$$!#(B}
+{\em key}$B$H(B{\em label}$B$,0lCW$7$?>r7o9`$K$D$$$F!"(B
+{\em form}$B$,I>2A$5$l!":G8e$NCM$,JV$5$l$k!#(B
+{\em key}$B$H(B{\em label}$B$N4V$NEy2A$O!"(B{\bf eq}$B$^$?$O(B
+{\bf memq}$B$G9T$o$l!"(B{\bf equal}$B$G$O$J$$!#(B}
 
 \end{refdesc}
 
-\subsection{$@C`<!<B9T$H(BLet}
+\subsection{$BC`<!<B9T$H(BLet}
 
 \begin{refdesc}
 \funcdesc{prog1}{form1 \&rest forms}{
-{\em form1}$@$H(B{\em forms}$@$O!"<!!9$HI>2A$5$l!"(B
-{\em form1}$@$+$iJV$5$l$kCM$,(B{\bf prog1}$@$NCM$H$7$FJV$5$l$k!#(B}
+{\em form1}$B$H(B{\em forms}$B$O!"<!!9$HI>2A$5$l!"(B
+{\em form1}$B$+$iJV$5$l$kCM$,(B{\bf prog1}$B$NCM$H$7$FJV$5$l$k!#(B}
 
 \specialdesc{progn}{\{form\}*}{
-{\em form}$@$O<!!9$KI>2A$5$l!":G8e$N(B{\em form}$@$NCM$,JV$5$l$k!#(B
-{\bf progn}$@$OFC<l=q<0$G$"$k!#$J$<$J$i!"%U%!%$%k$N:G=i$K8=$l$?$H$-(B
-$@FCJL$J0UL#$r;}$D$+$i$G$"$k!#(B
-$@$=$N$h$&$J=q<0$,%3%s%Q%$%k$5$l$?$H$-!"FbIt=q<0$O$9$Y$F:G=i$K8=$l$?(B
-$@$H$7$F8+$J$9!#(B
-$@%^%/%m$,(B{\bf defun}$@$d(B{\bf defmethod}$@$NO"B3$G3HD%$5$l$k>l9g!"$=$l$,:G=i$K(B
-$@8=$o$l$J$1$l$P$J$i$J$$$H$-$KLrN)$D!#(B}
+{\em form}$B$O<!!9$KI>2A$5$l!":G8e$N(B{\em form}$B$NCM$,JV$5$l$k!#(B
+{\bf progn}$B$OFC<l=q<0$G$"$k!#$J$<$J$i!"%U%!%$%k$N:G=i$K8=$l$?$H$-(B
+$BFCJL$J0UL#$r;}$D$+$i$G$"$k!#(B
+$B$=$N$h$&$J=q<0$,%3%s%Q%$%k$5$l$?$H$-!"FbIt=q<0$O$9$Y$F:G=i$K8=$l$?(B
+$B$H$7$F8+$J$9!#(B
+$B%^%/%m$,(B{\bf defun}$B$d(B{\bf defmethod}$B$NO"B3$G3HD%$5$l$k>l9g!"$=$l$,:G=i$K(B
+$B8=$o$l$J$1$l$P$J$i$J$$$H$-$KLrN)$D!#(B}
 
 \macrodesc{setf}{\{access-form value\}*}{
-{\em value}$@$r0lHL2=JQ?t(B{\em access-form}$@$K3d$jEv$F$k!#(B}
+{\em value}$B$r0lHL2=JQ?t(B{\em access-form}$B$K3d$jEv$F$k!#(B}
 
 \specialdesc{let}{(\{var $|$ (var [value])\}*) \{declare\}* \{form\}*}{
-$@%m!<%+%kJQ?t$r@8@.$9$k!#(B
-$@$9$Y$F$N(B{\em value}$@$OI>2A$5$l!"JB9T$7$F(B{\em var}$@$K3d$jEv$F$i$l$k!#$9$J$o$A!"(B
-{\tt (let ((a 1)) (let ((a (1+ a)) (b a)) (list a b)))} $@$N7k2L$O(B
-(2 1)$@$G$"$k!#(B}
+$B%m!<%+%kJQ?t$r@8@.$9$k!#(B
+$B$9$Y$F$N(B{\em value}$B$OI>2A$5$l!"JB9T$7$F(B{\em var}$B$K3d$jEv$F$i$l$k!#$9$J$o$A!"(B
+{\tt (let ((a 1)) (let ((a (1+ a)) (b a)) (list a b)))} $B$N7k2L$O(B
+(2 1)$B$G$"$k!#(B}
 
 \specialdesc{let*}{(\{var $|$ (var [value])\}*) \{declare\}* \{form\}*}{
-$@%m!<%+%kJQ?t$r@8@.$9$k!#(B
-$@A4$F$N(B{\em value}$@$O<!!9$KI>2A$5$l!"(B{\em var}$@$K3d$jEv$F$i$l$k!#$9$J$o$A!"(B
-{\tt (let ((a 1)) (let* ((a (1+ a)) (b a)) (list a b)))}$@$N7k2L$O(B
-(2 2)$@$G$"$k!#(B}
+$B%m!<%+%kJQ?t$r@8@.$9$k!#(B
+$BA4$F$N(B{\em value}$B$O<!!9$KI>2A$5$l!"(B{\em var}$B$K3d$jEv$F$i$l$k!#$9$J$o$A!"(B
+{\tt (let ((a 1)) (let* ((a (1+ a)) (b a)) (list a b)))}$B$N7k2L$O(B
+(2 2)$B$G$"$k!#(B}
 \end{refdesc}
 
-\subsection{$@%m!<%+%k4X?t(B}
+\subsection{$B%m!<%+%k4X?t(B}
 \begin{refdesc}
 \specialdesc{flet}{ (\{(fname lambda-list . body)\}*) \{form\}*}{
-$@%m!<%+%k4X?t$rDj5A$9$k!#(B}
+$B%m!<%+%k4X?t$rDj5A$9$k!#(B}
 
 \specialdesc{labels}{ (\{(fname lambda-list . body)\}*) \{form\}*}{
-$@%m!<%+%k$J%9%3!<%W$H$J$k4X?t$rDj5A$9$k!#(B
-{\bf flet}$@$H(B{\bf labels}$@$H$N0c$$$O!"(B
-{\bf flet}$@$GDj5A$5$l$?%m!<%+%k4X?t$O!"$=$NB>$N4X?t$r;2>H$^$?$O:F5"$G$-$J$$$,!"(B
-{\bf labels}$@$OAj8_$N;2>H$r5v2D$9$k!#(B}
+$B%m!<%+%k$J%9%3!<%W$H$J$k4X?t$rDj5A$9$k!#(B
+{\bf flet}$B$H(B{\bf labels}$B$H$N0c$$$O!"(B
+{\bf flet}$B$GDj5A$5$l$?%m!<%+%k4X?t$O!"$=$NB>$N4X?t$r;2>H$^$?$O:F5"$G$-$J$$$,!"(B
+{\bf labels}$B$OAj8_$N;2>H$r5v2D$9$k!#(B}
 \end{refdesc}
 
-\subsection{$@%V%m%C%/$H(BExit}
+\subsection{$B%V%m%C%/$H(BExit}
 \begin{refdesc}
 \specialdesc{block}{tag \{form\}*}{
-{\bf return-from}$@$K$h$C$FC&=P2DG=$J%m!<%+%k%V%m%C%/$r:n$k!#(B
-{\em tag}$@$O!"%m!<%+%k$K%9%3!<%W$5$l!"I>2A$5$l$J$$!#(B}
+{\bf return-from}$B$K$h$C$FC&=P2DG=$J%m!<%+%k%V%m%C%/$r:n$k!#(B
+{\em tag}$B$O!"%m!<%+%k$K%9%3!<%W$5$l!"I>2A$5$l$J$$!#(B}
 
 \specialdesc{return-from}{tag value}{
-{\em tag}$@$K$h$C$F<($5$l$?%V%m%C%/$rC&=P$9$k!#(B
-{\bf return-from}$@$O!"4X?t$d%a%=%C%I$+$iC&=P$9$k$H$-$K;HMQ$5$l$k!#(B
-$@4X?t$d%a%=%C%I$O!"$=$NK\BN$r$9$Y$F<h$j0O$s$@ItJ,$r%V%m%C%/$H$7$F(B
-$@<+F0E*$K3NDj$5$l!"$=$N4X?t$^$?$O%a%=%C%I$NL>A0$rIU$1$k!#(B}
+{\em tag}$B$K$h$C$F<($5$l$?%V%m%C%/$rC&=P$9$k!#(B
+{\bf return-from}$B$O!"4X?t$d%a%=%C%I$+$iC&=P$9$k$H$-$K;HMQ$5$l$k!#(B
+$B4X?t$d%a%=%C%I$O!"$=$NK\BN$r$9$Y$F<h$j0O$s$@ItJ,$r%V%m%C%/$H$7$F(B
+$B<+F0E*$K3NDj$5$l!"$=$N4X?t$^$?$O%a%=%C%I$NL>A0$rIU$1$k!#(B}
 
 \macrodesc{return}{value}{
-{\tt  (return x)}$@$O!"(B{\tt (return-from nil x)}$@$HF1Ey$G$"$k!#(B
-{\bf loop, while, do, dolist, dotimes}$@$O!"0EL[E*$K(BNIL$@$HL>A0$,IU$1$i$l$?(B
-$@%V%m%C%/$H$7$F3NDj$5$l$k$?$a!"$3$l$i$NFC<l=q<0$HAH$_9g$o$;$F;HMQ$9$k!#(B}
+{\tt  (return x)}$B$O!"(B{\tt (return-from nil x)}$B$HF1Ey$G$"$k!#(B
+{\bf loop, while, do, dolist, dotimes}$B$O!"0EL[E*$K(BNIL$B$HL>A0$,IU$1$i$l$?(B
+$B%V%m%C%/$H$7$F3NDj$5$l$k$?$a!"$3$l$i$NFC<l=q<0$HAH$_9g$o$;$F;HMQ$9$k!#(B}
 
 \specialdesc{catch}{ tag \{form\}*}{
-{\bf throw}$@$K$h$C$FC&=P$^$?$OCM$rJV$9$?$a$NF0E*$J%V%m%C%/$r3NDj$9$k!#(B
-{\em tag}$@$OI>2A$5$l$k!#(B
+{\bf throw}$B$K$h$C$FC&=P$^$?$OCM$rJV$9$?$a$NF0E*$J%V%m%C%/$r3NDj$9$k!#(B
+{\em tag}$B$OI>2A$5$l$k!#(B
 
-$@A4$F8+$($k(B{\bf catch}$@$N(B{\em tag}$@$O!"(B{\tt sys:list-all-catchers}$@$+$iF@$k$3$H$,$G$-$k!#(B}
+$BA4$F8+$($k(B{\bf catch}$B$N(B{\em tag}$B$O!"(B{\tt sys:list-all-catchers}$B$+$iF@$k$3$H$,$G$-$k!#(B}
 
 \specialdesc{throw}{tag value}{
-{\bf catch}$@%V%m%C%/$+$iC&=P$^$?$O(B{\em value}$@$rJV$9!#(B
-{\em tag}$@$H(B{\em value}$@$OI>2A$5$l$k!#(B}
+{\bf catch}$B%V%m%C%/$+$iC&=P$^$?$O(B{\em value}$B$rJV$9!#(B
+{\em tag}$B$H(B{\em value}$B$OI>2A$5$l$k!#(B}
 
 \specialdesc{unwind-protect}{protected-form \{cleanup-form\}*}{
-{\em protected-form}$@$NI>2A$,=*$C$?8e!"(B
-{\em cleanup-form}$@$,I>2A$5$l$k!#(B
-{\bf unwind-protect}$@$N30B&$K%V%m%C%/$^$?$O(B{\bf catch}
-$@%V%m%C%/$r:n$C$F$b9=$o$J$$!#(B
+{\em protected-form}$B$NI>2A$,=*$C$?8e!"(B
+{\em cleanup-form}$B$,I>2A$5$l$k!#(B
+{\bf unwind-protect}$B$N30B&$K%V%m%C%/$^$?$O(B{\bf catch}
+$B%V%m%C%/$r:n$C$F$b9=$o$J$$!#(B
 
-{\bf return-from}$@$d(B{\bf throw}$@$G$5$(!"$=$N$h$&$J%V%m%C%/$+$i(B
-$@H4$1=P$9$?$a$K$O(B{\em protected-form}$@$NCf$G<B9T$5$l$k!#(B
-{\em cleanup-form}$@$O!"I>2A$5$l$k$3$H$,J]>Z$5$l$F$$$k!#(B
-$@$^$?!"$b$7(B{\em protected-form}$@$,<B9T$5$l$F$$$k4V$K%(%i!<$,5/$3$C$?$J$i$P!"(B
-{\em cleanup-form}$@$O$$$D$b(B{\bf reset}$@$K$h$C$F<B9T$5$l$k!#(B}
+{\bf return-from}$B$d(B{\bf throw}$B$G$5$(!"$=$N$h$&$J%V%m%C%/$+$i(B
+$BH4$1=P$9$?$a$K$O(B{\em protected-form}$B$NCf$G<B9T$5$l$k!#(B
+{\em cleanup-form}$B$O!"I>2A$5$l$k$3$H$,J]>Z$5$l$F$$$k!#(B
+$B$^$?!"$b$7(B{\em protected-form}$B$,<B9T$5$l$F$$$k4V$K%(%i!<$,5/$3$C$?$J$i$P!"(B
+{\em cleanup-form}$B$O$$$D$b(B{\bf reset}$B$K$h$C$F<B9T$5$l$k!#(B}
 
 \end{refdesc}
 
-\subsection{$@7+JV$7(B}
+\subsection{$B7+JV$7(B}
 
 \begin{refdesc}
 
 \specialdesc{while}{test \{form\}*}{
-{\em test}$@$,(Bnon-NIL$@$HI>2A$5$l$F$$$k4V!"(B
-{\em form}$@$O!"7+JV$7I>2A$5$l$k!#(B
-{\bf while}$@$O!"(B{\em form}$@$N$^$o$j$K(BNIL$@$HL>IU$1$i$l$k%V%m%C%/$r<+F0E*$K3NDj$9$k(B
-$@FC<l=q<0$G$"$k!#(B
-{\bf return}$@$O!"$=$N%k!<%W$+$iH4$1=P$9$?$a$K;HMQ$9$k$3$H$,$G$-$k!#(B}
+{\em test}$B$,(Bnon-NIL$B$HI>2A$5$l$F$$$k4V!"(B
+{\em form}$B$O!"7+JV$7I>2A$5$l$k!#(B
+{\bf while}$B$O!"(B{\em form}$B$N$^$o$j$K(BNIL$B$HL>IU$1$i$l$k%V%m%C%/$r<+F0E*$K3NDj$9$k(B
+$BFC<l=q<0$G$"$k!#(B
+{\bf return}$B$O!"$=$N%k!<%W$+$iH4$1=P$9$?$a$K;HMQ$9$k$3$H$,$G$-$k!#(B}
 
 \specialdesc{tagbody}{\{tag $|$ statement\}*}{
-{\em tag}$@$O!"(B{\bf go}$@$N$?$a$KL>IU$1$i$l$k!#(B
-{\bf tagbody}$@$NCf$N$_(B{\bf go}$@$r;HMQ$9$k$3$H$,$G$-$k!#(B}
+{\em tag}$B$O!"(B{\bf go}$B$N$?$a$KL>IU$1$i$l$k!#(B
+{\bf tagbody}$B$NCf$N$_(B{\bf go}$B$r;HMQ$9$k$3$H$,$G$-$k!#(B}
 
 \specialdesc{go}{tag}{
-$@%m!<%+%k$K%9%3!<%W$5$l$?(B{\bf tagbody}$@$N$J$+$K8=$l$k(B{\em tag}$@$ND>8e$N(B
-$@=q<0$K@)8f$r0\$9!#(B
-$@%m!<%+%k%9%3!<%W$r2#@Z$C$F0c$&(B{\bf tagbody}$@$N(Btag$@$K@)8f$r0\$9$3$H$O(B
-$@6X;_$5$l$F$$$k!#(B}
+$B%m!<%+%k$K%9%3!<%W$5$l$?(B{\bf tagbody}$B$N$J$+$K8=$l$k(B{\em tag}$B$ND>8e$N(B
+$B=q<0$K@)8f$r0\$9!#(B
+$B%m!<%+%k%9%3!<%W$r2#@Z$C$F0c$&(B{\bf tagbody}$B$N(Btag$B$K@)8f$r0\$9$3$H$O(B
+$B6X;_$5$l$F$$$k!#(B}
 
 \macrodesc{prog}{(\{var $|$ (var [init])\}*) \{tag $|$ statement\}*}{
-{\bf prog}$@$O%^%/%m$G!"0J2<$N$h$&$KE83+$5$l$k!#(B
+{\bf prog}$B$O%^%/%m$G!"0J2<$N$h$&$KE83+$5$l$k!#(B
 \ptext{
 (block nil 
     (let {\em var}
@@ -168,92 +168,92 @@
 
 \macrodesc{do}{(\{(var init [next])\}*) (endtest [result])\{declare\} \{form\}
 *}
-{{\em var}$@$O%m!<%+%kJQ?t$G$"$k!#(B
-$@$=$l$>$l$N(B{\em var}$@$K!"(B{\em init}$@$OJB9T$KI>2A$5$l!"3d$jEv$F$i$l$k!#(B
-$@$D$.$K!"(B{\em endtest}$@$,I>2A$5$l!"$b$7??$N$H$-(B{\bf do}$@$O(B{\em result}$@$rJV$9!#(B
- ($@$=$&$G$J$$$H$-$O!"(BNIL$@$rJV$9(B)
-$@$b$7(B{\em endtest}$@$,(BNIL$@$rJV$7$?$J$i$P!"$=$l$>$l$N(B{\em form}$@$O!"(B
-$@=gHV$KI>2A$5$l$k!#(B
-$@=q<0$NI>2A8e!"(B{\em next}$@$,I>2A$5$l!"$=$NCM$O(B
-$@$=$l$>$l$N(B{\em var}$@$K:F3dEv$5$l!"<!$N7+JV$7$,;O$^$k!#(B}
+{{\em var}$B$O%m!<%+%kJQ?t$G$"$k!#(B
+$B$=$l$>$l$N(B{\em var}$B$K!"(B{\em init}$B$OJB9T$KI>2A$5$l!"3d$jEv$F$i$l$k!#(B
+$B$D$.$K!"(B{\em endtest}$B$,I>2A$5$l!"$b$7??$N$H$-(B{\bf do}$B$O(B{\em result}$B$rJV$9!#(B
+ ($B$=$&$G$J$$$H$-$O!"(BNIL$B$rJV$9(B)
+$B$b$7(B{\em endtest}$B$,(BNIL$B$rJV$7$?$J$i$P!"$=$l$>$l$N(B{\em form}$B$O!"(B
+$B=gHV$KI>2A$5$l$k!#(B
+$B=q<0$NI>2A8e!"(B{\em next}$B$,I>2A$5$l!"$=$NCM$O(B
+$B$=$l$>$l$N(B{\em var}$B$K:F3dEv$5$l!"<!$N7+JV$7$,;O$^$k!#(B}
 
 \macrodesc{do*}{(\{var init [next]\}*) (endtest [result])\{declare\} \{form\}*}
-{{\bf do*}$@$O!"(B{\em init}$@$H(B{\em next}$@$NI>2A$H(B
-{\em var}$@$X$N3d$jEv$F$,O"B3E*$K5/$3$k$3$H$r=|$$$F!"(B{\bf do}$@$HF1MM$G$"$k!#(B}
+{{\bf do*}$B$O!"(B{\em init}$B$H(B{\em next}$B$NI>2A$H(B
+{\em var}$B$X$N3d$jEv$F$,O"B3E*$K5/$3$k$3$H$r=|$$$F!"(B{\bf do}$B$HF1MM$G$"$k!#(B}
 
 \macrodesc{dotimes}{(var count [result]) \{forms\}*}{
-{\em forms}$@$NI>2A$r(B{\em count}$@2s9T$&!#(B
-{\em count}$@$O!"0l2s$N$_I>2A$5$l$k!#(B
-$@$=$l$>$l$NI>2A$NCf$G!"(B{\em var}$@$O@0?t$N%<%m$+$i(B
-{\em count}-1$@$^$GA}2C$9$k!#(B}
+{\em forms}$B$NI>2A$r(B{\em count}$B2s9T$&!#(B
+{\em count}$B$O!"0l2s$N$_I>2A$5$l$k!#(B
+$B$=$l$>$l$NI>2A$NCf$G!"(B{\em var}$B$O@0?t$N%<%m$+$i(B
+{\em count}-1$B$^$GA}2C$9$k!#(B}
 
 \macrodesc{dolist}{(var list [result]) \{forms\}*}{
-{\em list}$@$N$=$l$>$l$NMWAG$O!"(B{\em var}$@$KO"B3E*$KM?$($i$l$k!#(B
-$@$=$7$F(B{\em forms}$@$O!"$=$l$>$l$NCM$GI>2A$5$l$k!#(B
-{\bf dolist}$@$O!"B>$N7+JV$7$h$jAa$/<B9T$5$l$k!#$?$H$($P!"(B
-{\bf mapcar}$@$d:F5"E*4X?t$N$h$&$J$b$N$h$j!#(B
-$@$=$l$O!"(B{\bf dolist}$@$,4X?t$N(Bclosure$@$r:n$C$?$jE,MQ$7$?$j$9$kI,MW$,(B
-$@$J$/!"?7$7$$%Q%i%a!<%?$N%P%$%s%I$,I,MW$G$J$$$?$a!#(B}
+{\em list}$B$N$=$l$>$l$NMWAG$O!"(B{\em var}$B$KO"B3E*$KM?$($i$l$k!#(B
+$B$=$7$F(B{\em forms}$B$O!"$=$l$>$l$NCM$GI>2A$5$l$k!#(B
+{\bf dolist}$B$O!"B>$N7+JV$7$h$jAa$/<B9T$5$l$k!#$?$H$($P!"(B
+{\bf mapcar}$B$d:F5"E*4X?t$N$h$&$J$b$N$h$j!#(B
+$B$=$l$O!"(B{\bf dolist}$B$,4X?t$N(Bclosure$B$r:n$C$?$jE,MQ$7$?$j$9$kI,MW$,(B
+$B$J$/!"?7$7$$%Q%i%a!<%?$N%P%$%s%I$,I,MW$G$J$$$?$a!#(B}
 
 \macrodesc{until}{condition \{forms\}*}{
-{\em condition}$@$,K~$?$5$l$F$$$k4V!"(B{\em forms}$@$rI>2A$9$k!#(B}
+{\em condition}$B$,K~$?$5$l$F$$$k4V!"(B{\em forms}$B$rI>2A$9$k!#(B}
 
 \macrodesc{loop}{\{forms\}*}{
-{\em forms}$@$r1J1s$KI>2A$9$k!#(B
-$@<B9T$r;_$a$k$?$a$K$O!"(B{\bf return-from, throw}$@$^$?$O(B{\bf go}$@$,(B
-{\em forms}$@$N$J$+$GI>2A$5$l$J$1$l$P$J$i$J$$!#(B}
+{\em forms}$B$r1J1s$KI>2A$9$k!#(B
+$B<B9T$r;_$a$k$?$a$K$O!"(B{\bf return-from, throw}$B$^$?$O(B{\bf go}$B$,(B
+{\em forms}$B$N$J$+$GI>2A$5$l$J$1$l$P$J$i$J$$!#(B}
 
-\subsection{$@=R8l(B}
+\subsection{$B=R8l(B}
 
-Common Lisp$@$N(B{\bf typep}$@$H(B{\bf subtypep}$@$O$J$$$N$G!"(B
-{\bf subclassp}$@$d(B{\bf derivedp}$@$G5?;w<B8=$9$k$3$H!#(B
+Common Lisp$B$N(B{\bf typep}$B$H(B{\bf subtypep}$B$O$J$$$N$G!"(B
+{\bf subclassp}$B$d(B{\bf derivedp}$B$G5?;w<B8=$9$k$3$H!#(B
 
 \begin{refdesc}
 
-\funcdesc{eq}{obj1 obj2}{{\em obj1}$@$H(B{\em obj2}$@$,F1$8%*%V%8%'%/%H$r;X$9%]%$%s%?$"$k$$$OF1$8(B
-$@?tCM$N$H$-(BT$@$rJV$9!#(B
-$@Nc$($P(B:{\tt (eq 'a 'a)}$@$O(BT$@!"(B{\tt (eq 1 1)}$@$O(BT$@!"(B{\tt (eq 1. 1.0)}$@$O(BNIL$@!"(B
-{\tt (eq "a" "a")}$@$O(BNIL$@$G$"$k!#(B}
+\funcdesc{eq}{obj1 obj2}{{\em obj1}$B$H(B{\em obj2}$B$,F1$8%*%V%8%'%/%H$r;X$9%]%$%s%?$"$k$$$OF1$8(B
+$B?tCM$N$H$-(BT$B$rJV$9!#(B
+$BNc$($P(B:{\tt (eq 'a 'a)}$B$O(BT$B!"(B{\tt (eq 1 1)}$B$O(BT$B!"(B{\tt (eq 1. 1.0)}$B$O(BNIL$B!"(B
+{\tt (eq "a" "a")}$B$O(BNIL$B$G$"$k!#(B}
 \funcdesc{eql}{obj1 obj2}{
-EusLisp$@$NCf$G?tCM$OA4$FD>@\CM$GI=8=$5$l$k$?$a!"(B{\bf eq}$@$H(B{\bf eql}$@$O(B
-$@F10l$G$"$k!#(B}
+EusLisp$B$NCf$G?tCM$OA4$FD>@\CM$GI=8=$5$l$k$?$a!"(B{\bf eq}$B$H(B{\bf eql}$B$O(B
+$BF10l$G$"$k!#(B}
 \funcdesc{equal}{obj1 obj2}{
-$@$$$m$s$J9=B$$N%*%V%8%'%/%H$NEy2A@-$r%A%'%C%/$9$k!#%*%V%8%'%/%H$O!"J8;zNs!&%Y%/%H%k!&(B
-$@9TNs$J$I$G:F5"E*$K;2>H$7$F$J$$$3$H$,J]>Z$5$l$J$1$l$P$J$i$J$$!#(B
-{\em obj1}$@$d(B{\em obj2}$@$,:F5"E*$K;2>H$5$l$F$$$?$H$9$k$H!"(B
-{\bf equal}$@$OL58B%k!<%W$H$J$k!#(B}
+$B$$$m$s$J9=B$$N%*%V%8%'%/%H$NEy2A@-$r%A%'%C%/$9$k!#%*%V%8%'%/%H$O!"J8;zNs!&%Y%/%H%k!&(B
+$B9TNs$J$I$G:F5"E*$K;2>H$7$F$J$$$3$H$,J]>Z$5$l$J$1$l$P$J$i$J$$!#(B
+{\em obj1}$B$d(B{\em obj2}$B$,:F5"E*$K;2>H$5$l$F$$$?$H$9$k$H!"(B
+{\bf equal}$B$OL58B%k!<%W$H$J$k!#(B}
 \funcdesc{superequal}{obj1 obj2}{
-{\bf superequal}$@$O!"4D>u;2>H$r%A%'%C%/$9$k$N$GCY$$!#$7$+$7%m%P%9%H$JEy2A$,F@$i$l$k!#(B}
+{\bf superequal}$B$O!"4D>u;2>H$r%A%'%C%/$9$k$N$GCY$$!#$7$+$7%m%P%9%H$JEy2A$,F@$i$l$k!#(B}
 
-\funcdesc{null}{object}{{\em object}$@$,(BNIL$@$N$H$-!"(BT$@$rJV$9!#(B
-{\tt (eq {\em object} nil)}$@$rI>2A$9$k!#(B}
+\funcdesc{null}{object}{{\em object}$B$,(BNIL$B$N$H$-!"(BT$B$rJV$9!#(B
+{\tt (eq {\em object} nil)}$B$rI>2A$9$k!#(B}
 \funcdesc{not}{object}{
-{\bf not}$@$O!"(B{\bf null}$@$HF10l$G$"$k!#(B}
+{\bf not}$B$O!"(B{\bf null}$B$HF10l$G$"$k!#(B}
 \funcdesc{atom}{object}{
-$@%*%V%8%'%/%H$,(Bcons$@$N%$%s%9%?%s%9$G$"$k;~$N$_!"(BNIL$@$rJV$9!#(B
+$B%*%V%8%'%/%H$,(Bcons$B$N%$%s%9%?%s%9$G$"$k;~$N$_!"(BNIL$B$rJV$9!#(B
 {\tt (atom nil) = (atom '()) = T)}\\
-$@Cm0U(B:vectors, strings, read-table, hash-table$@$J$I$KBP$7$F$O!"$=$l$i$,$I$s$J$K(B
-$@J#;($J%*%V%8%'%/%H$H$J$C$F$$$F$b(B{\bf atom}$@$O(BT$@$rJV$9!#(B}
+$BCm0U(B:vectors, strings, read-table, hash-table$B$J$I$KBP$7$F$O!"$=$l$i$,$I$s$J$K(B
+$BJ#;($J%*%V%8%'%/%H$H$J$C$F$$$F$b(B{\bf atom}$B$O(BT$B$rJV$9!#(B}
 \funcdesc{every}{pred \&rest args}{
-$@A4$F$N(B{\em args}$@$,(B{\em pred}$@$K$D$$$F(BT$@$rJV$7$?;~$N$_(B
-T$@$rJV$9!#(B{\bf every}$@$O!"(B{\em pred}$@$,A4$F$N(B{\em args}$@$KBP$7$F8zNO$,$"$k$+$I$&$+$r(B
-$@8!::$9$k;~$K;HMQ$5$l$k!#(B}
+$BA4$F$N(B{\em args}$B$,(B{\em pred}$B$K$D$$$F(BT$B$rJV$7$?;~$N$_(B
+T$B$rJV$9!#(B{\bf every}$B$O!"(B{\em pred}$B$,A4$F$N(B{\em args}$B$KBP$7$F8zNO$,$"$k$+$I$&$+$r(B
+$B8!::$9$k;~$K;HMQ$5$l$k!#(B}
 \funcdesc{some}{pred \&rest args}{
-{\em args}$@$N$&$A$I$l$+(B1$@$D$,(B{\em pred}$@$K$D$$$F(BT$@$rJV$7$?$H$-(B
-T$@$rJV$9!#(B{\bf some}$@$O!"(B{\em pred}$@$,(B{\em args}$@$N$I$l$+$KBP$7$F8zNO$,$"$k$+$I$&$+$r(B
-$@8!::$9$k;~$K;HMQ$5$l$k!#(B}
+{\em args}$B$N$&$A$I$l$+(B1$B$D$,(B{\em pred}$B$K$D$$$F(BT$B$rJV$7$?$H$-(B
+T$B$rJV$9!#(B{\bf some}$B$O!"(B{\em pred}$B$,(B{\em args}$B$N$I$l$+$KBP$7$F8zNO$,$"$k$+$I$&$+$r(B
+$B8!::$9$k;~$K;HMQ$5$l$k!#(B}
 \end{refdesc}
 \funcdesc{functionp}{object}{
-{\em object}$@$,(B{\bf apply}$@$d(B{\bf funcall}$@$GM?$($i$l$k4X?t%*%V%8%'%/%H$G$"$k$J$i(BT$@$rJV$9!#(B\\
-$@Cm0U(B:$@%^%/%m$O(B{\bf apply}$@$d(B{\bf funcall}$@$rE,MQ$9$k$3$H$,$G$-$J$$!#(B
-{\bf functionp}$@$O!"(B{\em object}$@$,!"(Btype=0$@$N%3%s%Q%$%k%3!<%I$+!"4X?tDj5A$r;}$D(Bsymbol$@$+!"(B
-lambda-form$@$+$"$k$$$O(Blambda-closure$@$G$"$C$?$H$-!"(BT$@$rJV$9!#(B
+{\em object}$B$,(B{\bf apply}$B$d(B{\bf funcall}$B$GM?$($i$l$k4X?t%*%V%8%'%/%H$G$"$k$J$i(BT$B$rJV$9!#(B\\
+$BCm0U(B:$B%^%/%m$O(B{\bf apply}$B$d(B{\bf funcall}$B$rE,MQ$9$k$3$H$,$G$-$J$$!#(B
+{\bf functionp}$B$O!"(B{\em object}$B$,!"(Btype=0$B$N%3%s%Q%$%k%3!<%I$+!"4X?tDj5A$r;}$D(Bsymbol$B$+!"(B
+lambda-form$B$+$"$k$$$O(Blambda-closure$B$G$"$C$?$H$-!"(BT$B$rJV$9!#(B
 {\tt Examples: (functionp 'car) = T, (functionp 'do) = NIL}}
 \funcdesc{compiled-function-p}{object}{
-{\em object}$@$,!"%3%s%Q%$%k%3!<%I$N%$%s%9%?%s%9$G$"$C$?$H$-!"(BT$@$rJV$9!#(B
-$@$=$N%3%s%Q%$%k%3!<%I$,4X?t$+$^$?$O%^%/%m$+$rCN$k$?$a$K$O!"(B
-$@$=$N%*%V%8%'%/%H$K(B{\tt :type}$@%a%C%;!<%8$rAw$j!"$=$NJV$jCM$,(B
-{\tt function}$@$H(B{\tt macro}$@$N$I$A$i$K$J$C$F$$$k$+$rD4$Y$k!#(B}
+{\em object}$B$,!"%3%s%Q%$%k%3!<%I$N%$%s%9%?%s%9$G$"$C$?$H$-!"(BT$B$rJV$9!#(B
+$B$=$N%3%s%Q%$%k%3!<%I$,4X?t$+$^$?$O%^%/%m$+$rCN$k$?$a$K$O!"(B
+$B$=$N%*%V%8%'%/%H$K(B{\tt :type}$B%a%C%;!<%8$rAw$j!"$=$NJV$jCM$,(B
+{\tt function}$B$H(B{\tt macro}$B$N$I$A$i$K$J$C$F$$$k$+$rD4$Y$k!#(B}
 
 \end{refdesc}
 

Modified: trunk/EusLisp/doc/jlatex/jevaluation.tex
===================================================================
--- trunk/EusLisp/doc/jlatex/jevaluation.tex	2014-01-23 09:39:13 UTC (rev 666)
+++ trunk/EusLisp/doc/jlatex/jevaluation.tex	2014-01-23 09:40:32 UTC (rev 667)
@@ -1,684 +1,684 @@
-\section{$@I>2A(B}
-\markright{\arabic{section}. $@I>2A(B}
+\section{$BI>2A(B}
+\markright{\arabic{section}. $BI>2A(B}
 
-\subsection{$@I>2A4X?t(B}
+\subsection{$BI>2A4X?t(B}
 
-$@%(%i!<$d%7%0%J%k(B(signal)$@$K4X$9$k?6$kIq$$$r<($9$?$a$K!"(B
-$@$"$i$+$8$a$=$l$>$lFCJL$NJQ?t(B{\bf *error-handler*}$@$H(B{\bf *signal-handler*}
-$@$KE,Ev$J4X?t$r@_Dj$9$k!#(B
-$@=$@5$"$k$$$OB39T$G$-$k%(%i!<$O$J$$!#(B
-$@%(%i!<$r2r@O8e!"8=:_$N<B9T$r(B{\bf reset}$@$^$?$O>e0L%l%Y%k$X$NE,Ev$J(B{\bf throw}
-$@$K$h$C$FDd;_$7$J$1$l$P$J$i$J$$!#(B
-Euslisp$@$N:G>e0L%l%Y%k$G(B{\tt 0}$@$HL>IU$1$i$l$?(Bcatch frame$@$r:n@.$7$F$$$k$N$G!"(B
-{\bf reset}$@$O!"(B{\tt (throw 0 NIL)}$@$HF1Ey$G$"$k!#(B
+$B%(%i!<$d%7%0%J%k(B(signal)$B$K4X$9$k?6$kIq$$$r<($9$?$a$K!"(B
+$B$"$i$+$8$a$=$l$>$lFCJL$NJQ?t(B{\bf *error-handler*}$B$H(B{\bf *signal-handler*}
+$B$KE,Ev$J4X?t$r@_Dj$9$k!#(B
+$B=$@5$"$k$$$OB39T$G$-$k%(%i!<$O$J$$!#(B
+$B%(%i!<$r2r@O8e!"8=:_$N<B9T$r(B{\bf reset}$B$^$?$O>e0L%l%Y%k$X$NE,Ev$J(B{\bf throw}
+$B$K$h$C$FDd;_$7$J$1$l$P$J$i$J$$!#(B
+Euslisp$B$N:G>e0L%l%Y%k$G(B{\tt 0}$B$HL>IU$1$i$l$?(Bcatch frame$B$r:n@.$7$F$$$k$N$G!"(B
+{\bf reset}$B$O!"(B{\tt (throw 0 NIL)}$B$HF1Ey$G$"$k!#(B
 
-$@%(%i!<%O%s%I%i!<$O!"(B{\em code msg1 form \&optional (msg2)}
-$@$H$$$&(B3$@$D$"$k$$$O(B4$@$D$N0z$-?t$r;}$D4X?t$H$7$FDj5A$7$J$1$l$P$J$i$J$$!#(B
-{\em code}$@$O%(%i!<%3!<%I$G!"%7%9%F%`$GDj5A$5$l$?%(%i!<$r<($9!#(B
-$@Nc$($P!"(B14$@$,(B'$@0z$-?t$,9g$o$J$$(B'$@!"(B13$@$,(B'$@4X?t$,Dj5A$5$l$F$$$J$$(B'$@$H$J$k!#(B
-$@$3$l$i$NDj5A$O!"(B"c/eus.h"$@$NCf$KDj5A$5$l$F$$$k!#(B
-{\em msg1}$@$H(B{\em msg2}$@$O!"%f!<%6!<$K<($5$l$k%a%C%;!<%8$G$"$k!#(B
-{\em form}$@$O!"%(%i!<$K$h$C$F@8$8$?(Bs$@I=8=$G$"$k!#(B
+$B%(%i!<%O%s%I%i!<$O!"(B{\em code msg1 form \&optional (msg2)}
+$B$H$$$&(B3$B$D$"$k$$$O(B4$B$D$N0z$-?t$r;}$D4X?t$H$7$FDj5A$7$J$1$l$P$J$i$J$$!#(B
+{\em code}$B$O%(%i!<%3!<%I$G!"%7%9%F%`$GDj5A$5$l$?%(%i!<$r<($9!#(B
+$BNc$($P!"(B14$B$,(B'$B0z$-?t$,9g$o$J$$(B'$B!"(B13$B$,(B'$B4X?t$,Dj5A$5$l$F$$$J$$(B'$B$H$J$k!#(B
+$B$3$l$i$NDj5A$O!"(B"c/eus.h"$B$NCf$KDj5A$5$l$F$$$k!#(B
+{\em msg1}$B$H(B{\em msg2}$B$O!"%f!<%6!<$K<($5$l$k%a%C%;!<%8$G$"$k!#(B
+{\em form}$B$O!"%(%i!<$K$h$C$F@8$8$?(Bs$BI=8=$G$"$k!#(B
 
-$@%7%0%J%k%O%s%I%i!<$O!"(B{\em sig}$@$H(B{\em code}$@$N(B2$@$D$N0z$-?t$r<u$1$k4X?t$H$7$F(B
-$@Dj5A$5$l$J$1$l$P$J$i$J$$!#(B
-{\em sig}$@$O!"(B1$@$+$i(B30$@$^$G$N%7%0%J%kHV9f$G$"$k!#(B
-{\em code}$@$O!"%7%0%J%kHV9f$NCf$KDj5A$5$l$?Jd=uHV9f$G$"$k!#(B
+$B%7%0%J%k%O%s%I%i!<$O!"(B{\em sig}$B$H(B{\em code}$B$N(B2$B$D$N0z$-?t$r<u$1$k4X?t$H$7$F(B
+$BDj5A$5$l$J$1$l$P$J$i$J$$!#(B
+{\em sig}$B$O!"(B1$B$+$i(B30$B$^$G$N%7%0%J%kHV9f$G$"$k!#(B
+{\em code}$B$O!"%7%0%J%kHV9f$NCf$KDj5A$5$l$?Jd=uHV9f$G$"$k!#(B
 
-$@:G>e0L%l%Y%k$G$N(B\verb+^+D({\em end-of-file})$@$O!"(BEuslisp$@$N3hF0$rDd;_$5$;$k!#(B
-$@$3$l$O!"(BEuslisp$@$r%U%#%k%?!<$H$7$F%W%m%0%i%`$5$l$F$$$k$H$-(B
-$@Lr$KN)$D!#(B
+$B:G>e0L%l%Y%k$G$N(B\verb+^+D({\em end-of-file})$B$O!"(BEuslisp$B$N3hF0$rDd;_$5$;$k!#(B
+$B$3$l$O!"(BEuslisp$B$r%U%#%k%?!<$H$7$F%W%m%0%i%`$5$l$F$$$k$H$-(B
+$BLr$KN)$D!#(B
 
-{\bf eval-dynamic}$@$O!"(Blet$@$d(Blambda$@JQ?t$H$7$F;HMQ$5$l$k(Bsymbol$@$K7k$SIU$/(B
-$@F0E*$JJQ?t$rA\$94X?t$G$"$k!#(B
-$@%G%P%C%0$9$k$H$-$KLr$KN)$D!#(B
+{\bf eval-dynamic}$B$O!"(Blet$B$d(Blambda$BJQ?t$H$7$F;HMQ$5$l$k(Bsymbol$B$K7k$SIU$/(B
+$BF0E*$JJQ?t$rA\$94X?t$G$"$k!#(B
+$B%G%P%C%0$9$k$H$-$KLr$KN)$D!#(B
 
 \begin{refdesc}
 
 \funcdesc{identity}{obj}{
-{\em obj}$@<+?H$rJV$9!#(B
-{\bf idnetity}$@$H(B{\bf quote}$@$H$N0c$$$KCm0U$9$k$3$H!#(B
-{\bf identity}$@$,4X?t$G$"$k$N$KBP$7$F(B{\bf quote}$@$O!"FC<l=q<0(B(special form)
-$@$G$"$k!#(B
-$@$7$?$,$C$F!"(B{\tt (identity 'abc)}$@$O(B{\tt abc}$@$HI>2A$5$l$k$,!"(B
-{\tt (quote 'abc) == (quote (quote abc))}$@$O(B{\tt 'abc}$@$HI>2A$5$l$k!#(B
-{\bf identity}$@$O!"B?$/$N0lHLNs4X?t$N(B{\em :key}$@%Q%i%a!<%?$N%G%U%)%k%HCM(B
-$@$H$7$F$7$P$7$PMQ$$$i$l$k!#(B}
+{\em obj}$B<+?H$rJV$9!#(B
+{\bf idnetity}$B$H(B{\bf quote}$B$H$N0c$$$KCm0U$9$k$3$H!#(B
+{\bf identity}$B$,4X?t$G$"$k$N$KBP$7$F(B{\bf quote}$B$O!"FC<l=q<0(B(special form)
+$B$G$"$k!#(B
+$B$7$?$,$C$F!"(B{\tt (identity 'abc)}$B$O(B{\tt abc}$B$HI>2A$5$l$k$,!"(B
+{\tt (quote 'abc) == (quote (quote abc))}$B$O(B{\tt 'abc}$B$HI>2A$5$l$k!#(B
+{\bf identity}$B$O!"B?$/$N0lHLNs4X?t$N(B{\em :key}$B%Q%i%a!<%?$N%G%U%)%k%HCM(B
+$B$H$7$F$7$P$7$PMQ$$$i$l$k!#(B}
 
 \funcdesc{eval}{form [environment]}{
-{\em form}$@$rI>2A$7$F!"$=$NCM$rJV$9!#(B
-$@$b$7!"(B{\bf *evalhook*}$@$K(B{\em form}$@$d(B{\em environment}$@$r<u$1$k4X?t$r(B
-$@@_Dj$9$k$J$i$P!"(Bhook$@4X?t$rI>2A$KF~$kA0$K8F$S=P$9$3$H$,$G$-$k!#(B}
+{\em form}$B$rI>2A$7$F!"$=$NCM$rJV$9!#(B
+$B$b$7!"(B{\bf *evalhook*}$B$K(B{\em form}$B$d(B{\em environment}$B$r<u$1$k4X?t$r(B
+$B@_Dj$9$k$J$i$P!"(Bhook$B4X?t$rI>2A$KF~$kA0$K8F$S=P$9$3$H$,$G$-$k!#(B}
 
 \funcdesc{apply}{func \&rest args}{
-{\em args}$@$K(B{\em func}$@$rE,MQ$9$k!#(B
-{\em func}$@$O!"4X?t(Bsymbol$@$+(Blambda$@=q<0$+(Bclosure$@$G$J$1$l$P$J$i$J$$!#(B
-$@%^%/%m$HFC<l=q<0(B(special form)$@$OE,MQ=PMh$J$$!#(B
-{\em args}$@$N:G8e$NMWAG$O!"B>$N(B{\em args}$@$,6u$N0z$-?t$G$"$k$J$i(B
-$@0z$-?t$N%j%9%H$G$J$1$l$P$J$i$J$$!#(B
-$@$3$N$h$&$K!"$b$7!"(B{\em args}$@$N:G8e$,(BNIL$@$G$"$C$?$J$i$P!"(B
-{\bf apply}$@$O$[$H$s$I(B{\bf funcall}$@$HF1$8$G$"$k!#(B
-$@$?$@$7!"(B{\bf apply}$@$O(B{\bf funcall}$@$h$j(B1$@$DB?$/$N0z$-?t$r;}$D$3$H$,$G$-$k!#(B
+{\em args}$B$K(B{\em func}$B$rE,MQ$9$k!#(B
+{\em func}$B$O!"4X?t(Bsymbol$B$+(Blambda$B=q<0$+(Bclosure$B$G$J$1$l$P$J$i$J$$!#(B
+$B%^%/%m$HFC<l=q<0(B(special form)$B$OE,MQ=PMh$J$$!#(B
+{\em args}$B$N:G8e$NMWAG$O!"B>$N(B{\em args}$B$,6u$N0z$-?t$G$"$k$J$i(B
+$B0z$-?t$N%j%9%H$G$J$1$l$P$J$i$J$$!#(B
+$B$3$N$h$&$K!"$b$7!"(B{\em args}$B$N:G8e$,(BNIL$B$G$"$C$?$J$i$P!"(B
+{\bf apply}$B$O$[$H$s$I(B{\bf funcall}$B$HF1$8$G$"$k!#(B
+$B$?$@$7!"(B{\bf apply}$B$O(B{\bf funcall}$B$h$j(B1$B$DB?$/$N0z$-?t$r;}$D$3$H$,$G$-$k!#(B
 {\tt (apply \#'max 2 5 3 '(8 2)) --> 8}.}
 
 \funcdesc{funcall}{func \&rest args}{
-{\em args}$@$K(B{\em func}$@$rE,MQ$9$k!#(B
-{\em args}$@$N?t$O!"(B{\em func}$@$GMW5a$5$l$F$$$k0z$-?t$N?t$H0lCW$7$J$1$l$P(B
-$@$J$i$J$$!#(B}
+{\em args}$B$K(B{\em func}$B$rE,MQ$9$k!#(B
+{\em args}$B$N?t$O!"(B{\em func}$B$GMW5a$5$l$F$$$k0z$-?t$N?t$H0lCW$7$J$1$l$P(B
+$B$J$i$J$$!#(B}
 
-\specialdesc{quote}{obj}{{\em obj}$@<+?H$rI>2A$9$k!#(B}
+\specialdesc{quote}{obj}{{\em obj}$B<+?H$rI>2A$9$k!#(B}
 
-\specialdesc{function}{func}{closure$@4X?t$r:n$k!#(B
-$@$b$7!"(B{\em func}$@$,(Bsymbol$@$J$i$P!"$=$N4X?tDj5A$,8!:w$5$l$k!#(B}
+\specialdesc{function}{func}{closure$B4X?t$r:n$k!#(B
+$B$b$7!"(B{\em func}$B$,(Bsymbol$B$J$i$P!"$=$N4X?tDj5A$,8!:w$5$l$k!#(B}
 
 \funcdesc{evalhook}{hookfunc form [env]}{
-{\em hookfun}$@$r(B{\bf *evalhook*}$@$K7k$SIU$1$?8e!"(B{\em form}$@$r0lEYI>2A$9$k!#(B}
+{\em hookfun}$B$r(B{\bf *evalhook*}$B$K7k$SIU$1$?8e!"(B{\em form}$B$r0lEYI>2A$9$k!#(B}
 
 \funcdesc{eval-dynamic}{variable}{
-$@%9%?%C%/$K$"$k(B{\em variable}(symbol)$@$NCM$rA\$9!#(B}
+$B%9%?%C%/$K$"$k(B{\em variable}(symbol)$B$NCM$rA\$9!#(B}
 
 \funcdesc{macroexpand}{form}{
-$@$b$7!"(B{\em form}$@$,%^%/%m(Bcall$@$G$"$k$J$i!"$=$l$rE83+$9$k!#(B
-$@$b$7!"E83+$7$?$b$N$,$^$@%^%/%m(Bcall$@$r4^$s$G$$$k$J$i$P!"(B
-$@%^%/%m(Bcall$@$N$J$$7k2L$H$J$k$^$G$/$jJV$7E83+$9$k!#(B}
+$B$b$7!"(B{\em form}$B$,%^%/%m(Bcall$B$G$"$k$J$i!"$=$l$rE83+$9$k!#(B
+$B$b$7!"E83+$7$?$b$N$,$^$@%^%/%m(Bcall$B$r4^$s$G$$$k$J$i$P!"(B
+$B%^%/%m(Bcall$B$N$J$$7k2L$H$J$k$^$G$/$jJV$7E83+$9$k!#(B}
 
 \specialdesc{eval-when}{situation \{form\}*}{
-{\em situation}$@$O(B{\tt compile, load, eval}$@$N%j%9%H$G$"$k!#(B
-{\em form}$@$O!"8=:_$N<B9T%b!<%I$,(B{\em situation}$@$H0lCW$9$k$H$-$KI>2A$5$l$k!#(B
-{\bf eval-when}$@$O!"%3%s%Q%$%i$G$NF0:n$d4D6-$r@)8f$9$k$?$a$K=EMW$J$b$N$G$"$k!#(B
-$@$b$7!"(B{\tt compile}$@$,;XDj$5$l$?$J$i$P!"(B{\em form}$@$O%3%s%Q%$%i$K$h$C$F(B
-$@I>2A$5$l$k$N$G!"$=$N7k2L$O%3%s%Q%$%k7k2L$K1F6A$r5Z$\$9$3$H$K$J$k!#(B
-$@Nc$($P!"(B{\bf defmacro}$@$O%3%s%Q%$%k;~$K%^%/%m(Bcall$@$rE83+$9$k$?$a$K%3%s%Q%$%i$G(B
-$@I>2A$5$l$J$1$l$P$J$i$J$$!#(B
-$@$b$7!"(B{\tt load}$@$,(B{\em situation}$@$N%j%9%H$KM?$($i$l$?$J$i$P!"(B
-{\em form}$@$O(Bload$@;~$K(Bload$@$^$?$OI>2A$5$l$k$?$a$K%3%s%Q%$%k$5$l$k!#(B
-$@$9$J$o$A!"(Bload$@;~$K%3%s%Q%$%k$5$l$?4X?t$,Dj5A$5$l$k!#(B
-$@$3$l$O!"%3%s%Q%$%i$K4|BT$5$l$k0lHLE*$J5!G=$G$"$k!#(B
-{\tt load}$@$O!"%3%s%Q%$%i$N4D6-$r@)8f$9$k$?$a$K;HMQ$5$l$k!#(B
-$@$b$7!"(B{\tt eval}$@$,(B{\em situation}$@$N%j%9%H$K4^$^$l$F$$$k$J$i$P!"(B
-{\em form}$@$O%=!<%9%3!<%I$,(Bload$@$5$l$k$H$-$KI>2A$5$l$k!#(B}
+{\em situation}$B$O(B{\tt compile, load, eval}$B$N%j%9%H$G$"$k!#(B
+{\em form}$B$O!"8=:_$N<B9T%b!<%I$,(B{\em situation}$B$H0lCW$9$k$H$-$KI>2A$5$l$k!#(B
+{\bf eval-when}$B$O!"%3%s%Q%$%i$G$NF0:n$d4D6-$r@)8f$9$k$?$a$K=EMW$J$b$N$G$"$k!#(B
+$B$b$7!"(B{\tt compile}$B$,;XDj$5$l$?$J$i$P!"(B{\em form}$B$O%3%s%Q%$%i$K$h$C$F(B
+$BI>2A$5$l$k$N$G!"$=$N7k2L$O%3%s%Q%$%k7k2L$K1F6A$r5Z$\$9$3$H$K$J$k!#(B
+$BNc$($P!"(B{\bf defmacro}$B$O%3%s%Q%$%k;~$K%^%/%m(Bcall$B$rE83+$9$k$?$a$K%3%s%Q%$%i$G(B
+$BI>2A$5$l$J$1$l$P$J$i$J$$!#(B
+$B$b$7!"(B{\tt load}$B$,(B{\em situation}$B$N%j%9%H$KM?$($i$l$?$J$i$P!"(B
+{\em form}$B$O(Bload$B;~$K(Bload$B$^$?$OI>2A$5$l$k$?$a$K%3%s%Q%$%k$5$l$k!#(B
+$B$9$J$o$A!"(Bload$B;~$K%3%s%Q%$%k$5$l$?4X?t$,Dj5A$5$l$k!#(B
+$B$3$l$O!"%3%s%Q%$%i$K4|BT$5$l$k0lHLE*$J5!G=$G$"$k!#(B
+{\tt load}$B$O!"%3%s%Q%$%i$N4D6-$r@)8f$9$k$?$a$K;HMQ$5$l$k!#(B
+$B$b$7!"(B{\tt eval}$B$,(B{\em situation}$B$N%j%9%H$K4^$^$l$F$$$k$J$i$P!"(B
+{\em form}$B$O%=!<%9%3!<%I$,(Bload$B$5$l$k$H$-$KI>2A$5$l$k!#(B}
 
 \specialdesc{the}{type form}{
-{\em form}$@$r(B{\em type}$@$H$7$F@k8@$9$k!#(B
-{\em type}$@$O!"(B{\tt :integer, :fixnum, :float}$@$G<($5$l$k%/%i%9%*%V%8%'%/%H(B
-$@$N$I$l$+$G$"$k!#(B}
+{\em form}$B$r(B{\em type}$B$H$7$F@k8@$9$k!#(B
+{\em type}$B$O!"(B{\tt :integer, :fixnum, :float}$B$G<($5$l$k%/%i%9%*%V%8%'%/%H(B
+$B$N$I$l$+$G$"$k!#(B}
 
 \specialdesc{declare}{declaration*}{
-$@$=$l$>$l(B{\em declaration}$@$O!"@k8@;XDj$d@0?t$"$k$$$OL\E*$N(Bsymbol$@$N%j%9%H$G$"$k!#(B
-$@@k8@$O!"%3%s%Q%$%i$,9bB.$J%3!<%I$r@8@.$9$k$?$a$K=EMW$G$"$k!#(B
+$B$=$l$>$l(B{\em declaration}$B$O!"@k8@;XDj$d@0?t$"$k$$$OL\E*$N(Bsymbol$B$N%j%9%H$G$"$k!#(B
+$B@k8@$O!"%3%s%Q%$%i$,9bB.$J%3!<%I$r@8@.$9$k$?$a$K=EMW$G$"$k!#(B
 \begin{description}
-\item {special} $@FC<lJQ?t$r@k8@$9$k!#(B
-\item {type} $@JQ?t$N7?$r@k8@$9$k!#(B; {\tt (type integer count)};
-$@M-8z$J7?;XDj;R$O(B{\em integer}, {\em :integer}, {\em fixnum},
-{\em :float}$@$H(B{\em float}$@$G$"$k!#7?;XDj;R$,$3$3$K<($7$?$b$N$N#1$D$G$"$k(B
-$@$J$i$P!"(B{\bf type}$@%-!<%o!<%I$r:o=|$7$F$bNI$$!#$=$N$?$a!"(B
-{\tt (integer count)}$@$O@5$7$$@k8@$G$"$k!#(B
-{\em float-vector},{\em integer-vector}$@$J$I$N$h$&$J!"$=$NB>$N7?!J%/%i%9!K$G$O!"(B
-{\tt (type float-vector vec1)}$@$N$h$&$K(B{\bf type}$@$rA0$KIU$1$kI,MW$,$"$k!#(B
-\item {ftype} $@4X?t$N7k2L$N7?$r@k8@$9$k!#(B
-\item {optimize} $@%3%s%Q%$%i$N(B*optimize*$@%Q%i%a!<%?$KCM(B(0--3)$@$r@_Dj$9$k!#(B
-\item {safety} $@%3%s%Q%$%i$N(B*safety*$@%Q%i%a!<%?$KCM(B(0--3)$@$r@_Dj$9$k!#(B
-\item {space}  $@%3%s%Q%$%i$N(B*space*$@%Q%i%a!<%?$KCM(B(0--3)$@$r@_Dj$9$k!#(B
-\item {inline} $@G'<1$7$J$$!#(B
-\item {not-inline} $@G'<1$7$J$$!#(B
+\item {special} $BFC<lJQ?t$r@k8@$9$k!#(B
+\item {type} $BJQ?t$N7?$r@k8@$9$k!#(B; {\tt (type integer count)};
+$BM-8z$J7?;XDj;R$O(B{\em integer}, {\em :integer}, {\em fixnum},
+{\em :float}$B$H(B{\em float}$B$G$"$k!#7?;XDj;R$,$3$3$K<($7$?$b$N$N#1$D$G$"$k(B
+$B$J$i$P!"(B{\bf type}$B%-!<%o!<%I$r:o=|$7$F$bNI$$!#$=$N$?$a!"(B
+{\tt (integer count)}$B$O@5$7$$@k8@$G$"$k!#(B
+{\em float-vector},{\em integer-vector}$B$J$I$N$h$&$J!"$=$NB>$N7?!J%/%i%9!K$G$O!"(B
+{\tt (type float-vector vec1)}$B$N$h$&$K(B{\bf type}$B$rA0$KIU$1$kI,MW$,$"$k!#(B
+\item {ftype} $B4X?t$N7k2L$N7?$r@k8@$9$k!#(B
+\item {optimize} $B%3%s%Q%$%i$N(B*optimize*$B%Q%i%a!<%?$KCM(B(0--3)$B$r@_Dj$9$k!#(B
+\item {safety} $B%3%s%Q%$%i$N(B*safety*$B%Q%i%a!<%?$KCM(B(0--3)$B$r@_Dj$9$k!#(B
+\item {space}  $B%3%s%Q%$%i$N(B*space*$B%Q%i%a!<%?$KCM(B(0--3)$B$r@_Dj$9$k!#(B
+\item {inline} $BG'<1$7$J$$!#(B
+\item {not-inline} $BG'<1$7$J$$!#(B
 \end{description}
 
 }
 \funcdesc{proclaim}{proclamation}{
-$@JQ?t$d%3%s%Q%$%i%*%W%7%g%s$r%0%m!<%P%k$K@k8@$9$k!#(B
-$@F1MM$J@k8@$O!"(B{\bf declare}$@FC<l=q<0$K$h$C$F5-=R$9$k$3$H$,$G$-$k!#(B
-$@$7$+$7$J$,$i!"(B{\bf proclaim}$@$O!"(B1$@$D$N0z?t$r;}$D4X?t$G$"$j!"(B
-$@@k8@$rI>2A$9$k!#(B}
+$BJQ?t$d%3%s%Q%$%i%*%W%7%g%s$r%0%m!<%P%k$K@k8@$9$k!#(B
+$BF1MM$J@k8@$O!"(B{\bf declare}$BFC<l=q<0$K$h$C$F5-=R$9$k$3$H$,$G$-$k!#(B
+$B$7$+$7$J$,$i!"(B{\bf proclaim}$B$O!"(B1$B$D$N0z?t$r;}$D4X?t$G$"$j!"(B
+$B@k8@$rI>2A$9$k!#(B}
 
 \funcdesc{warn}{format-string \&rest args}{
-{\em format-string}$@$H(B{\em args}$@$GM?$($i$l$k7Y9p%a%C%;!<%8$r(B
-{\bf *error-output*}$@$K=PNO$9$k!#(B}
+{\em format-string}$B$H(B{\em args}$B$GM?$($i$l$k7Y9p%a%C%;!<%8$r(B
+{\bf *error-output*}$B$K=PNO$9$k!#(B}
 \funcdesc{error}{format-string \&rest args}{
-{\bf *error-handler*}$@$K7k$SIU$/8=:_$N%(%i!<%O%s%I%i!<4X?t$r8F$S=P$9!#(B
-$@%G%U%)%k%H$N%(%i!<%O%s%I%i!<(B'euserror'$@$r(B{\bf *error-output*}$@$K:G=i$K=PNO$7(B
-{\em format-string}$@$H(B{\em args}$@$r(B{\bf format}$@$rMQ$$$F=PNO$9$k!#(B
-$@$=$N8e!"?7$7$$:G>e0L%l%Y%k$N%;%C%7%g%s(B(session)$@$KF~$k!#(B
-$@%W%m%s%W%H$K$O!"%(%i!<%;%C%7%g%s$N?<$5$r<($9!#(B
-{\bf throw}$@$K$=$NHV9f$rM?$($k$3$H$K$h$j!"Dc$$%(%i!<%l%Y%k$N%;%C%7%g%s$XLa$k$3$H$,$G$-$k!#(B}
+{\bf *error-handler*}$B$K7k$SIU$/8=:_$N%(%i!<%O%s%I%i!<4X?t$r8F$S=P$9!#(B
+$B%G%U%)%k%H$N%(%i!<%O%s%I%i!<(B'euserror'$B$r(B{\bf *error-output*}$B$K:G=i$K=PNO$7(B
+{\em format-string}$B$H(B{\em args}$B$r(B{\bf format}$B$rMQ$$$F=PNO$9$k!#(B
+$B$=$N8e!"?7$7$$:G>e0L%l%Y%k$N%;%C%7%g%s(B(session)$B$KF~$k!#(B
+$B%W%m%s%W%H$K$O!"%(%i!<%;%C%7%g%s$N?<$5$r<($9!#(B
+{\bf throw}$B$K$=$NHV9f$rM?$($k$3$H$K$h$j!"Dc$$%(%i!<%l%Y%k$N%;%C%7%g%s$XLa$k$3$H$,$G$-$k!#(B}
 \end{refdesc}
 
-$@%^%k%A%9%l%C%I(BEuslisp$@$K$*$$$F!"FC<lJQ?t$O%9%l%C%I4V$G6&M-$5$l!"(B
-$@F1$8(B{\bf *error-handler*}$@$,0[$J$C$?%9%l%C%I$+$i;2>H$5$l$k!#(B
-$@$3$NIT<+M3$rHr$1$k$?$a$K!"%^%k%A%9%l%C%I(BEuslisp$@$O(B{\bf install-error-handler}
-$@4X?t$rHw$($F$$$k!#$=$N4X?t$O!"$=$l$>$l$N%9%l%C%I$KBP$7$F(B
-$@0[$J$C$?%(%i!<%O%s%I%i!<$r%$%s%9%H!<%k$9$k!#(B
+$B%^%k%A%9%l%C%I(BEuslisp$B$K$*$$$F!"FC<lJQ?t$O%9%l%C%I4V$G6&M-$5$l!"(B
+$BF1$8(B{\bf *error-handler*}$B$,0[$J$C$?%9%l%C%I$+$i;2>H$5$l$k!#(B
+$B$3$NIT<+M3$rHr$1$k$?$a$K!"%^%k%A%9%l%C%I(BEuslisp$B$O(B{\bf install-error-handler}
+$B4X?t$rHw$($F$$$k!#$=$N4X?t$O!"$=$l$>$l$N%9%l%C%I$KBP$7$F(B
+$B0[$J$C$?%(%i!<%O%s%I%i!<$r%$%s%9%H!<%k$9$k!#(B
 
 \begin{refdesc}
 \funcdesc{install-error-handler}{handler}{
-{\em handler}$@$r8=:_$N%9%l%C%I$N%(%i!<%O%s%I%i!<$H$7$F%$%s%9%H!<%k$9$k!#(B}
+{\em handler}$B$r8=:_$N%9%l%C%I$N%(%i!<%O%s%I%i!<$H$7$F%$%s%9%H!<%k$9$k!#(B}
 \end{refdesc}
 
 \newpage
 
-\subsection{$@:G>e0L%l%Y%k$NBPOC(B}
+\subsection{$B:G>e0L%l%Y%k$NBPOC(B}
 
-EusLisp$@$NI8=`$N:G>e0L%l%Y%k$NF~NO!]I>2A!]=PNO$N%k!<%W(B(loop)$@$O!"(B{\bf eustop}
-$@$K$h$j@)8f$5$l$F$$$k!#(B
+EusLisp$B$NI8=`$N:G>e0L%l%Y%k$NF~NO!]I>2A!]=PNO$N%k!<%W(B(loop)$B$O!"(B{\bf eustop}
+$B$K$h$j@)8f$5$l$F$$$k!#(B
 % which is also responsible for the initial loading of files.
-euslisp$@$,8F$S=P$5$l$?$H$-!"(B
-{\bf eustop}$@$O!"%[!<%`%G%#%l%/%H%j$+$i(B{\tt ".eusrc"}$@$H$$$&%U%!%$%k$r(B
-$@$"$k$$$O(B{\tt EUSRC}$@4D6-JQ?t$G;XDj$5$l$?%U%!%$%k$r%m!<%I$9$k!#(B
-$@$=$l$+$i!"(Beuslisp$@$O!"0z$-?t%j%9%H$G;XDj$5$l$?%U%!%$%k$r%m!<%I$9$k!#(B
-$@$3$l$i$N%m!<%I$,=*N;8e!"(B{\bf eustop}$@$O!"IaDL$NBPOC%;%C%7%g%s(B(session)$@$KF~$k!#(B
+euslisp$B$,8F$S=P$5$l$?$H$-!"(B
+{\bf eustop}$B$O!"%[!<%`%G%#%l%/%H%j$+$i(B{\tt ".eusrc"}$B$H$$$&%U%!%$%k$r(B
+$B$"$k$$$O(B{\tt EUSRC}$B4D6-JQ?t$G;XDj$5$l$?%U%!%$%k$r%m!<%I$9$k!#(B
+$B$=$l$+$i!"(Beuslisp$B$O!"0z$-?t%j%9%H$G;XDj$5$l$?%U%!%$%k$r%m!<%I$9$k!#(B
+$B$3$l$i$N%m!<%I$,=*N;8e!"(B{\bf eustop}$B$O!"IaDL$NBPOC%;%C%7%g%s(B(session)$B$KF~$k!#(B
 
-{\bf *standard-input*}$@$K%f!<%6!<$N(BTTY$@$,@\B3$5$l$?$H$-!"(B
-{\bf eustop}$@$O!"(B{\bf *prompt-string*}$@!J%G%U%)%k%H$H$7$F(B{\tt "eus\$"}$@$,(B
-$@@_Dj$5$l$F$$$k!K$K@_Dj$5$l$?%W%m%s%W%H$r=PNO$9$k!#(B
-$@$=$7$F!"(B{\bf *terminal-io*}$@%9%H%j!<%`$+$iL?Na$rF~NO$9$k!#(B
-$@$b$7!"$=$NF~NO$,%+%C%3$G3g$i$l$?9T$J$i$P!"(B
-{\bf eval}$@$K$h$C$F(Blisp$@=q<0$H$7$F07$o$l$k!#(B
-$@$b$7!"F~NO9T$N:G=i$N(Bsymbol$@$K4X?tDj5A$,$"$C$?>l9g!"$=$N9T$K<+F0E*$K(B
-$@%+%C%3$,F~$l$i$l!"I>2A$5$l$k!#(B
-$@$b$7!"4X?tDj5A$,8+$D$+$i$J$+$C$?>l9g!"$=$NFC<lCM(B(special value)$@$,(B
-$@D4::$5$l!"$=$NCM$,=PNO$5$l$k!#(B
-$@$b$7!"$=$N(Bsymbol$@$K$J$K$bDj5A$5$l$F$J$$$J$i$P!"(B
-$@$=$N9T$O(BUNIX$@L?Na$H$_$J$5$l!"(Bsh(Bourn's shell)$@$XEO$5$l$k!#(B
-$@$b$7!"(Bsh$@$,0lCW$9$k(BUNIX$@L?Na$rA\$;$J$+$C$?$H$-!"(B
-"command unrecognized"$@$H$$$&%a%C%;!<%8$r=PNO$9$k!#(B
-$@$3$N$h$&$K!"(B{\bf eustop}$@$O(Blisp$@$N%$%s%?!<%W%j%?$*$h$S(BUNIX$@$N%7%'%k$H$7$FF0:n$9$k!#(B
-$@$b$7!"F~NO$r(BUNIX$@L?Na$H$7$F<B9T$7$?$/$J$$$H$-!"(B
-$@9T$N:G=i$K%3%s%^(B','$@$rIU$1$l$P$h$$!#(B
-$@$3$l$O!"BPOC<B9T(B(interpretive execution)$@$G%(%i!<$,H/@8$...
 
[truncated message content]

[Euslisp-commit] SF.net SVN: euslisp:[666] trunk/EusLisp/doc/html/Makefile

From: <k-...@us...> - 2014-01-23 09:39:22

Revision: 666
          http://sourceforge.net/p/euslisp/code/666
Author:   k-okada
Date:     2014-01-23 09:39:13 +0000 (Thu, 23 Jan 2014)
Log Message:
-----------
add Makefile to generate html

Added Paths:
-----------
    trunk/EusLisp/doc/html/Makefile

Added: trunk/EusLisp/doc/html/Makefile
===================================================================
--- trunk/EusLisp/doc/html/Makefile	                        (rev 0)
+++ trunk/EusLisp/doc/html/Makefile	2014-01-23 09:39:13 UTC (rev 666)
@@ -0,0 +1,8 @@
+all:
+	-svn del --force *.html *.png
+	-rm -fr *aux *.log *.pl *.tex *.old *.css *.idx WARNINGS
+	-(cd ../latex; make html)
+	-(cd ../jlatex; make html)
+	-rm index.html
+	-svn add *.html *.png
+

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

[Euslisp-commit] SF.net SVN: euslisp:[666] trunk/EusLisp/doc/html/Makefile

From: <k-...@us...> - 2014-01-23 09:39:20

Revision: 666
          http://sourceforge.net/p/euslisp/code/666
Author:   k-okada
Date:     2014-01-23 09:39:13 +0000 (Thu, 23 Jan 2014)
Log Message:
-----------
add Makefile to generate html

Added Paths:
-----------
    trunk/EusLisp/doc/html/Makefile

Added: trunk/EusLisp/doc/html/Makefile
===================================================================
--- trunk/EusLisp/doc/html/Makefile	                        (rev 0)
+++ trunk/EusLisp/doc/html/Makefile	2014-01-23 09:39:13 UTC (rev 666)
@@ -0,0 +1,8 @@
+all:
+	-svn del --force *.html *.png
+	-rm -fr *aux *.log *.pl *.tex *.old *.css *.idx WARNINGS
+	-(cd ../latex; make html)
+	-(cd ../jlatex; make html)
+	-rm index.html
+	-svn add *.html *.png
+

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

[Euslisp-commit] SF.net SVN: euslisp:[665] trunk/EusLisp/doc/html

From: <k-...@us...> - 2014-01-23 09:21:51

Revision: 665
          http://sourceforge.net/p/euslisp/code/665
Author:   k-okada
Date:     2014-01-23 09:21:26 +0000 (Thu, 23 Jan 2014)
Log Message:
-----------
update html manual

Modified Paths:
--------------
    trunk/EusLisp/doc/html/jmanual-images.aux
    trunk/EusLisp/doc/html/jmanual-images.log
    trunk/EusLisp/doc/html/jmanual-images.pl
    trunk/EusLisp/doc/html/jmanual-images.tex
    trunk/EusLisp/doc/html/jmanual-labels.pl
    trunk/EusLisp/doc/html/manual-images.log
    trunk/EusLisp/doc/html/manual-images.pl
    trunk/EusLisp/doc/html/manual-images.tex

Added Paths:
-----------
    trunk/EusLisp/doc/html/contents.png
    trunk/EusLisp/doc/html/footnote.png
    trunk/EusLisp/doc/html/index.html
    trunk/EusLisp/doc/html/index.png
    trunk/EusLisp/doc/html/jmanual-footnode.html
    trunk/EusLisp/doc/html/jmanual-node1.html
    trunk/EusLisp/doc/html/jmanual-node10.html
    trunk/EusLisp/doc/html/jmanual-node100.html
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    trunk/EusLisp/doc/html/jmanual-node115.html
    trunk/EusLisp/doc/html/jmanual-node116.html
    trunk/EusLisp/doc/html/jmanual-node117.html
    trunk/EusLisp/doc/html/jmanual-node118.html
    trunk/EusLisp/doc/html/jmanual-node119.html
    trunk/EusLisp/doc/html/jmanual-node12.html
    trunk/EusLisp/doc/html/jmanual-node120.html
    trunk/EusLisp/doc/html/jmanual-node121.html
    trunk/EusLisp/doc/html/jmanual-node122.html
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    trunk/EusLisp/doc/html/manual-footnode.html
    trunk/EusLisp/doc/html/manual-img1.png
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+<IMG WIDTH="43" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="index" SRC="index.png"></A> 
+<BR>
+<B> Next:</B> <A NAME="tex2html34"
+  HREF="jmanual-node1.html">Contents</A>
+ &nbsp; <B>  <A NAME="tex2html30"
+  HREF="jmanual-node1.html">Contents</A></B> 
+ &nbsp; <B>  <A NAME="tex2html32"
+  HREF="jmanual-node156.html">Index</A></B> 
+<BR>
+<BR></DIV>
+<!--End of Navigation Panel-->
+
+<P>
+
+<P>
+
+<P>
+
+<P>
+
+<P>
+
+<P>
+
+<P>
+
+<P>
+
+<P>
+
+<P>
+
+<P>
+
+<P>
+
+<P>
+
+<H1 ALIGN="CENTER"><BIG CLASS="XHUGE"><B>EusLisp</B></BIG> 
+<BR><BIG CLASS="LARGE"><B>version 9.00</B></BIG> 
+<BR><BIG CLASS="XXLARGE"><B>\xA5\xEA\xA5ե\xA1\xA5\xEC\xA5󥹥ޥ˥奢\xA5\xEB</B></BIG> 
+<BR><BIG CLASS="LARGE">-\xA5ޥ\xEB\xA5\xC1\xA5\xB9\xA5\xEC\xA5åɤ\xC8XToolKit\xA4μ¸\xBD-</BIG> 
+<BR>
+<BR>
+<BR>
+<BR>
+<BIG CLASS="LARGE">ETL-TR-95-19</BIG> 
+<BR><BIG CLASS="LARGE">1995ǯ6\xB7\xEE</BIG> 
+<BR></H1>
+<DIV CLASS="author_info">
+
+<P ALIGN="CENTER"><STRONG>\xC4̾\xA6\xBB\xBA\xB6Ⱦʡ\xA1\xB9\xA9\xB6ȵ\xBB\xBDѱ\xA1</STRONG></P>
+<P ALIGN="CENTER"><I>\xC5Żҵ\xBB\xBD\xD1\xC1\xED\xB9縦\xB5\xE6\xBD\xEA \xC3\xCEǽ\xA5\xB7\xA5\xB9\xA5ƥ\xE0\xC9\xF4</I></P>
+<P ALIGN="LEFT"><SMALL><BIG CLASS="LARGE">\xBE\xBE\xB0\xE6 \xBDӹ\xC0, \xB8\xB6 \xB8\xF9, \xC3\xE6\xB3\xC0 \xC7\xEEʸ(\xB6彣\xC5\xC5\xCE\xCF)</BIG></SMALL></P>
+</DIV>
+
+<BR><HR>
+<!--Table of Child-Links-->
+<A NAME="CHILD_LINKS"></A>
+
+<UL CLASS="ChildLinks">
+<LI><A NAME="tex2html35"
+  HREF="jmanual-node1.html">Contents</A>
+<LI><A NAME="tex2html36"
+  HREF="jmanual-node2.html">EusLisp \xB4\xF0\xCB\xDC</A>
+<UL>
+<LI><A NAME="tex2html37"
+  HREF="jmanual-node3.html">\xA4Ϥ\xB8\xA4\xE1\xA4\xCB</A>
+<UL>
+<LI><A NAME="tex2html38"
+  HREF="jmanual-node4.html">EusLisp\xA4ˤ\xAA\xA4\xB1\xA4륪\xA5֥\xB8\xA5\xA7\xA5\xAF\xA5Ȼظ\xFE\xA5ץ\x{D970}\xA5\xE9\xA5ߥ\xF3\xA5\xB0</A>
+<LI><A NAME="tex2html39"
+  HREF="jmanual-node5.html">Euslisp\xA4\xCE\xC6\xC3ħ</A>
+<LI><A NAME="tex2html40"
+  HREF="jmanual-node6.html">Common Lisp\xA4Ȥθߴ\xB9\xC0\xAD</A>
+<LI><A NAME="tex2html41"
+  HREF="jmanual-node7.html">\xB3\xABȯ\xCD\xFA\xCE\xF2</A>
+<LI><A NAME="tex2html42"
+  HREF="jmanual-node8.html">\xA5\xA4\xA5󥹥ȡ\xBC\xA5\xEB</A>
+<LI><A NAME="tex2html43"
+  HREF="jmanual-node9.html">\xA5饤\xA5\xBB\xA5\xF3\xA5\xB9</A>
+<LI><A NAME="tex2html44"
+  HREF="jmanual-node10.html">\xA5ǥ\xE2\xA5ץ\x{D970}\xA5\xE9\xA5\xE0</A>
+</UL>
+</UL>
+<BR>
+<LI><A NAME="tex2html45"
+  HREF="jmanual-node11.html">Bibliography</A>
+<UL>
+<LI><A NAME="tex2html46"
+  HREF="jmanual-node12.html">\xA5ǡ\xBC\xA5\xBF\xB7\xBF</A>
+<UL>
+<LI><A NAME="tex2html47"
+  HREF="jmanual-node13.html">\xBF\xF4\xC3\xCD</A>
+<LI><A NAME="tex2html48"
+  HREF="jmanual-node14.html">\xA5\xAA\xA5֥\xB8\xA5\xA7\xA5\xAF\xA5\xC8</A>
+<LI><A NAME="tex2html49"
+  HREF="jmanual-node15.html">\xA5\xAF\xA5饹\xB7Ѿ\xB5</A>
+<LI><A NAME="tex2html50"
+  HREF="jmanual-node16.html">\xB7\xBF\xBB\xD8\xC4\xEA</A>
+</UL>
+<LI><A NAME="tex2html51"
+  HREF="jmanual-node17.html">\xBD񼰤\xC8ɾ\xB2\xC1</A>
+<UL>
+<LI><A NAME="tex2html52"
+  HREF="jmanual-node18.html">\xA5\xA2\xA5ȥ\xE0(atom)</A>
+<LI><A NAME="tex2html53"
+  HREF="jmanual-node19.html">\xA5\xB9\xA5\xB3\xA1\xBC\xA5\xD7</A>
+<LI><A NAME="tex2html54"
+  HREF="jmanual-node20.html">\xB0\xEC\xC8̲\xBD\xCAѿ\xF4</A>
+<LI><A NAME="tex2html55"
+  HREF="jmanual-node21.html">\xC6ü\xEC\xBD\xF1\xBC\xB0</A>
+<LI><A NAME="tex2html56"
+  HREF="jmanual-node22.html">\xA5ޥ\xAF\xA5\xED</A>
+<LI><A NAME="tex2html57"
+  HREF="jmanual-node23.html">\xB4ؿ\xF4</A>
+</UL>
+<LI><A NAME="tex2html58"
+  HREF="jmanual-node24.html">\xC0\xA9\xB8湽¤</A>
+<UL>
+<LI><A NAME="tex2html59"
+  HREF="jmanual-node25.html">\xBE\xF2\xB7\xEFʸ</A>
+<LI><A NAME="tex2html60"
+  HREF="jmanual-node26.html">\xC3༡\xBC¹Ԥ\xC8Let</A>
+<LI><A NAME="tex2html61"
+  HREF="jmanual-node27.html">\xA5\x{D87C}\xA5\xAB\xA5\xEB\xB4ؿ\xF4</A>
+<LI><A NAME="tex2html62"
+  HREF="jmanual-node28.html">\xA5֥\xED\xA5å\xAF\xA4\xC8Exit</A>
+<LI><A NAME="tex2html63"
+  HREF="jmanual-node29.html">\xB7\xAB\xCA֤\xB7</A>
+<LI><A NAME="tex2html64"
+  HREF="jmanual-node30.html">\xBDҸ\xEC</A>
+</UL>
+<LI><A NAME="tex2html65"
+  HREF="jmanual-node31.html">\xA5\xAA\xA5֥\xB8\xA5\xA7\xA5\xAF\xA5Ȼظ\xFE\xA5ץ\x{D970}\xA5\xE9\xA5ߥ\xF3\xA5\xB0</A>
+<UL>
+<LI><A NAME="tex2html66"
+  HREF="jmanual-node32.html">\xA5\xAF\xA5饹\xA4ȥ᥽\xA5å\xC9</A>
+<LI><A NAME="tex2html67"
+  HREF="jmanual-node33.html">\xA5\xE1\xA5å\xBB\xA1\xBC\xA5\xB8\xC1\xF7\xBF\xAE</A>
+<LI><A NAME="tex2html68"
+  HREF="jmanual-node34.html">\xA5\xA4\xA5󥹥\xBF\xA5󥹴\xC9\xCD\xFD</A>
+<LI><A NAME="tex2html69"
+  HREF="jmanual-node35.html">\xB4\xF0\xCBܥ\xAF\xA5饹</A>
+</UL>
+<LI><A NAME="tex2html70"
+  HREF="jmanual-node36.html">\xBF\xF4\xC3ͱ黻</A>
+<UL>
+<LI><A NAME="tex2html71"
+  HREF="jmanual-node37.html">\xBF\xF4\xC3ͱ黻\xC4\xEA\xBF\xF4</A>
+<LI><A NAME="tex2html72"
+  HREF="jmanual-node38.html">\xC8\xE6\xB3ӱ黻\xB4ؿ\xF4</A>
+<LI><A NAME="tex2html73"
+  HREF="jmanual-node39.html">\xC0\xB0\xBF\xF4\xA4ȥӥå\xC8\xCB\xE8\xA4\xCE\xC1\xE0\xBA\xEE\xB4ؿ\xF4</A>
+<LI><A NAME="tex2html74"
+  HREF="jmanual-node40.html">\xB0\xEC\xC8̿\xF4\xC3ʹؿ\xF4</A>
+<LI><A NAME="tex2html75"
+  HREF="jmanual-node41.html">\xB4\xF0\xCBܴؿ\xF4</A>
+</UL>
+<LI><A NAME="tex2html76"
+  HREF="jmanual-node42.html">symbol\xA4ȥѥå\xB1\xA1\xBC\xA5\xB8</A>
+<UL>
+<LI><A NAME="tex2html77"
+  HREF="jmanual-node43.html">symbol</A>
+<LI><A NAME="tex2html78"
+  HREF="jmanual-node44.html">\xA5ѥå\xB1\xA1\xBC\xA5\xB8</A>
+</UL>
+<LI><A NAME="tex2html79"
+  HREF="jmanual-node45.html">\xCE󡢹\xD4\xCE\xF3\xA4ȥơ\xBC\xA5֥\xEB</A>
+<UL>
+<LI><A NAME="tex2html80"
+  HREF="jmanual-node46.html">\xB0\xEC\xC8\xCC\xCE\xF3</A>
+<LI><A NAME="tex2html81"
+  HREF="jmanual-node47.html">\xA5ꥹ\xA5\xC8</A>
+<LI><A NAME="tex2html82"
+  HREF="jmanual-node48.html">\xA5٥\xAF\xA5ȥ\xEB\xA4ȹ\xD4\xCE\xF3</A>
+<LI><A NAME="tex2html83"
+  HREF="jmanual-node49.html">ʸ\xBB\xFA\xA4\xC8ʸ\xBB\xFA\xCE\xF3</A>
+<LI><A NAME="tex2html84"
+  HREF="jmanual-node50.html">Foreign String</A>
+<LI><A NAME="tex2html85"
+  HREF="jmanual-node51.html">\xA5ϥå\xB7\xA5\xE5\xA5ơ\xBC\xA5֥\xEB</A>
+</UL>
+<LI><A NAME="tex2html86"
+  HREF="jmanual-node52.html">\xA5\xB9\xA5ȥ꡼\xA5\xE0\xA4\xC8\xC6\xFE\xBD\xD0\xCE\xCF</A>
+<UL>
+<LI><A NAME="tex2html87"
+  HREF="jmanual-node53.html">\xA5\xB9\xA5ȥ꡼\xA5\xE0</A>
+<LI><A NAME="tex2html88"
+  HREF="jmanual-node54.html">\xA5꡼\xA5\xC0(reader)</A>
+<LI><A NAME="tex2html89"
+  HREF="jmanual-node55.html">\xA5ץ\xEA\xA5\xF3\xA5\xBF(printer)</A>
+<LI><A NAME="tex2html90"
+  HREF="jmanual-node56.html">\xA5ץ\x{D97B}\xA5\xB9\xB4\xD6\xC4̿\xAE\xA4ȥͥåȥ\xA5\xAF</A>
+<LI><A NAME="tex2html91"
+  HREF="jmanual-node60.html">\xC8\xF3Ʊ\xB4\xFC\xC6\xFE\xBD\xD0\xCE\xCF</A>
+<LI><A NAME="tex2html92"
+  HREF="jmanual-node61.html">\xA5ѥ\xB9̾</A>
+<LI><A NAME="tex2html93"
+  HREF="jmanual-node62.html">\xA5ե\xA1\xA5\xA4\xA5륷\xA5\xB9\xA5ƥ।\xA5󥿡\xBC\xA5ե\xA7\xA1\xBC\xA5\xB9</A>
+</UL>
+<LI><A NAME="tex2html94"
+  HREF="jmanual-node63.html">ɾ\xB2\xC1</A>
+<UL>
+<LI><A NAME="tex2html95"
+  HREF="jmanual-node64.html">ɾ\xB2\xC1\xB4ؿ\xF4</A>
+<LI><A NAME="tex2html96"
+  HREF="jmanual-node65.html">\xBAǾ\xE5\xB0̥\xEC\xA5٥\xEB\xA4\xCE\xC2\xD0\xCF\xC3</A>
+<LI><A NAME="tex2html97"
+  HREF="jmanual-node66.html">\xA5\xB3\xA5\xF3\xA5ѥ\xA4\xA5\xEB</A>
+<LI><A NAME="tex2html98"
+  HREF="jmanual-node67.html">\xA5ץ\x{D970}\xA5\xE9\xA5\xE0\xA5\x{D87C}\xA5\xC9</A>
+<LI><A NAME="tex2html99"
+  HREF="jmanual-node68.html">\xA5ǥХå\xB0\xCA\xE4\xBD\xF5</A>
+<LI><A NAME="tex2html100"
+  HREF="jmanual-node69.html">\xA5\xC0\xA5\xF3\xA5ץ\xAA\xA5֥\xB8\xA5\xA7\xA5\xAF\xA5\xC8</A>
+<LI><A NAME="tex2html101"
+  HREF="jmanual-node70.html">\xA5ץ\x{D97B}\xA5\xB9\xA5\xA4\xA5᡼\xA5\xB8\xCA\xDD¸</A>
+<LI><A NAME="tex2html102"
+  HREF="jmanual-node71.html">\xBAǾ\xE5\xB0̥\xEC\xA5٥\xEB\xA4Υ\xAB\xA5\xB9\xA5\xBF\xA5ޥ\xA4\xA5\xBA</A>
+<LI><A NAME="tex2html103"
+  HREF="jmanual-node72.html">\xA4\xBD\xA4\xCE¾\xA4δؿ\xF4</A>
+</UL>
+</UL>
+<BR>
+<LI><A NAME="tex2html104"
+  HREF="jmanual-node73.html">EusLisp \xB3\xC8ĥ</A>
+<UL>
+<LI><A NAME="tex2html105"
+  HREF="jmanual-node74.html">\xA5\xB7\xA5\xB9\xA5ƥ\xE0\xB4ؿ\xF4</A>
+<UL>
+<LI><A NAME="tex2html106"
+  HREF="jmanual-node75.html">\xA5\xE1\xA5\xE2\xA5\xEA\xB4\xC9\xCD\xFD</A>
+<LI><A NAME="tex2html107"
+  HREF="jmanual-node76.html">UNIX\xA5\xB7\xA5\xB9\xA5ƥॳ\xA1\xBC\xA5\xEB</A>
+<LI><A NAME="tex2html108"
+  HREF="jmanual-node85.html">UNIX\xA5ץ\x{D97B}\xA5\xB9</A>
+<LI><A NAME="tex2html109"
+  HREF="jmanual-node86.html">\xA3äǽ񤫤줿Lisp\xB4ؿ\xF4\xA4\xCE\xC4ɲ\xC3</A>
+<LI><A NAME="tex2html110"
+  HREF="jmanual-node87.html">¾\xB8\xC0\xB8쥤\xA5󥿡\xBC\xA5ե\xA7\xA1\xBC\xA5\xB9</A>
+<LI><A NAME="tex2html111"
+  HREF="jmanual-node88.html">VxWorks</A>
+</UL>
+<LI><A NAME="tex2html112"
+  HREF="jmanual-node91.html">\xA5ޥ\xEB\xA5\xC1\xA5\xB9\xA5\xEC\xA5å\xC9</A>
+<UL>
+<LI><A NAME="tex2html113"
+  HREF="jmanual-node92.html">\xA5ޥ\xEB\xA5\xC1\xA5\xB9\xA5\xEC\xA5å\xC9Euslisp\xA4\xCE\xC0߷\xD7</A>
+<LI><A NAME="tex2html114"
+  HREF="jmanual-node96.html">\xC8\xF3Ʊ\xB4\xFC\xA5ץ\x{D970}\xA5\xE9\xA5ߥ󥰤\xC8\xCA\xC2\xCE\xF3\xA5ץ\x{D970}\xA5\xE9\xA5ߥ󥰤ι\xBD\xC3\xDB</A>
+<LI><A NAME="tex2html115"
+  HREF="jmanual-node103.html">\xCA\xC2\xCE\xF3\xC5٤η\xD7¬</A>
+<LI><A NAME="tex2html116"
+  HREF="jmanual-node104.html">\xA5\xB9\xA5\xEC\xA5å\xC9\xC0\xB8\xC0\xAE</A>
+<LI><A NAME="tex2html117"
+  HREF="jmanual-node105.html">Ʊ\xB4\xFC</A>
+</UL>
+<LI><A NAME="tex2html118"
+  HREF="jmanual-node106.html">\xB4\x{1B2FF3}شؿ\xF4</A>
+<UL>
+<LI><A NAME="tex2html119"
+  HREF="jmanual-node107.htm...
 
[truncated message content]

[Euslisp-commit] SF.net SVN: euslisp:[665] trunk/EusLisp/doc/html

From: <k-...@us...> - 2014-01-23 09:21:46

Revision: 665
          http://sourceforge.net/p/euslisp/code/665
Author:   k-okada
Date:     2014-01-23 09:21:26 +0000 (Thu, 23 Jan 2014)
Log Message:
-----------
update html manual

Modified Paths:
--------------
    trunk/EusLisp/doc/html/jmanual-images.aux
    trunk/EusLisp/doc/html/jmanual-images.log
    trunk/EusLisp/doc/html/jmanual-images.pl
    trunk/EusLisp/doc/html/jmanual-images.tex
    trunk/EusLisp/doc/html/jmanual-labels.pl
    trunk/EusLisp/doc/html/manual-images.log
    trunk/EusLisp/doc/html/manual-images.pl
    trunk/EusLisp/doc/html/manual-images.tex

Added Paths:
-----------
    trunk/EusLisp/doc/html/contents.png
    trunk/EusLisp/doc/html/footnote.png
    trunk/EusLisp/doc/html/index.html
    trunk/EusLisp/doc/html/index.png
    trunk/EusLisp/doc/html/jmanual-footnode.html
    trunk/EusLisp/doc/html/jmanual-node1.html
    trunk/EusLisp/doc/html/jmanual-node10.html
    trunk/EusLisp/doc/html/jmanual-node100.html
    trunk/EusLisp/doc/html/jmanual-node101.html
    trunk/EusLisp/doc/html/jmanual-node102.html
    trunk/EusLisp/doc/html/jmanual-node103.html
    trunk/EusLisp/doc/html/jmanual-node104.html
    trunk/EusLisp/doc/html/jmanual-node105.html
    trunk/EusLisp/doc/html/jmanual-node106.html
    trunk/EusLisp/doc/html/jmanual-node107.html
    trunk/EusLisp/doc/html/jmanual-node108.html
    trunk/EusLisp/doc/html/jmanual-node109.html
    trunk/EusLisp/doc/html/jmanual-node11.html
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    trunk/EusLisp/doc/html/jmanual-node113.html
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    trunk/EusLisp/doc/html/jmanual-node115.html
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    trunk/EusLisp/doc/html/jmanual-node117.html
    trunk/EusLisp/doc/html/jmanual-node118.html
    trunk/EusLisp/doc/html/jmanual-node119.html
    trunk/EusLisp/doc/html/jmanual-node12.html
    trunk/EusLisp/doc/html/jmanual-node120.html
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    trunk/EusLisp/doc/html/jmanual-node124.html
    trunk/EusLisp/doc/html/jmanual-node125.html
    trunk/EusLisp/doc/html/jmanual-node126.html
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    trunk/EusLisp/doc/html/jmanual-node128.html
    trunk/EusLisp/doc/html/jmanual-node129.html
    trunk/EusLisp/doc/html/jmanual-node13.html
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    trunk/EusLisp/doc/html/jmanual-node133.html
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    trunk/EusLisp/doc/html/jmanual-node135.html
    trunk/EusLisp/doc/html/jmanual-node136.html
    trunk/EusLisp/doc/html/jmanual-node137.html
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    trunk/EusLisp/doc/html/jmanual-node139.html
    trunk/EusLisp/doc/html/jmanual-node14.html
    trunk/EusLisp/doc/html/jmanual-node140.html
    trunk/EusLisp/doc/html/jmanual-node141.html
    trunk/EusLisp/doc/html/jmanual-node142.html
    trunk/EusLisp/doc/html/jmanual-node143.html
    trunk/EusLisp/doc/html/jmanual-node144.html
    trunk/EusLisp/doc/html/jmanual-node145.html
    trunk/EusLisp/doc/html/jmanual-node146.html
    trunk/EusLisp/doc/html/jmanual-node147.html
    trunk/EusLisp/doc/html/jmanual-node148.html
    trunk/EusLisp/doc/html/jmanual-node149.html
    trunk/EusLisp/doc/html/jmanual-node15.html
    trunk/EusLisp/doc/html/jmanual-node150.html
    trunk/EusLisp/doc/html/jmanual-node151.html
    trunk/EusLisp/doc/html/jmanual-node152.html
    trunk/EusLisp/doc/html/jmanual-node153.html
    trunk/EusLisp/doc/html/jmanual-node154.html
    trunk/EusLisp/doc/html/jmanual-node155.html
    trunk/EusLisp/doc/html/jmanual-node156.html
    trunk/EusLisp/doc/html/jmanual-node157.html
    trunk/EusLisp/doc/html/jmanual-node16.html
    trunk/EusLisp/doc/html/jmanual-node17.html
    trunk/EusLisp/doc/html/jmanual-node18.html
    trunk/EusLisp/doc/html/jmanual-node19.html
    trunk/EusLisp/doc/html/jmanual-node2.html
    trunk/EusLisp/doc/html/jmanual-node20.html
    trunk/EusLisp/doc/html/jmanual-node21.html
    trunk/EusLisp/doc/html/jmanual-node22.html
    trunk/EusLisp/doc/html/jmanual-node23.html
    trunk/EusLisp/doc/html/jmanual-node24.html
    trunk/EusLisp/doc/html/jmanual-node25.html
    trunk/EusLisp/doc/html/jmanual-node26.html
    trunk/EusLisp/doc/html/jmanual-node27.html
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@@ -0,0 +1,419 @@
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//JP">
+
+<!--Converted with LaTeX2HTML 2008 (1.71)
+original version by:  Nikos Drakos, CBLU, University of Leeds
+* revised and updated by:  Marcus Hennecke, Ross Moore, Herb Swan
+* with significant contributions from:
+  Jens Lippmann, Marek Rouchal, Martin Wilck and others -->
+<HTML>
+<HEAD>
+<TITLE>EusLisp version 9.00 \xA5\xEA\xA5ե\xA1\xA5\xEC\xA5󥹥ޥ˥奢\xA5\xEB -\xA5ޥ\xEB\xA5\xC1\xA5\xB9\xA5\xEC\xA5åɤ\xC8XToolKit\xA4μ¸\xBD- ETL-TR-95-19 1995ǯ6\xB7\xEE </TITLE>
+<META NAME="description" CONTENT="EusLisp version 9.00 \xA5\xEA\xA5ե\xA1\xA5\xEC\xA5󥹥ޥ˥奢\xA5\xEB -\xA5ޥ\xEB\xA5\xC1\xA5\xB9\xA5\xEC\xA5åɤ\xC8XToolKit\xA4μ¸\xBD- ETL-TR-95-19 1995ǯ6\xB7\xEE ">
+<META NAME="keywords" CONTENT="jmanual">
+<META NAME="resource-type" CONTENT="document">
+<META NAME="distribution" CONTENT="global">
+
+<META NAME="Generator" CONTENT="LaTeX2HTML v2008">
+<META HTTP-EQUIV="Content-Style-Type" CONTENT="text/css">
+
+<LINK REL="STYLESHEET" HREF="jmanual.css">
+
+<LINK REL="next" HREF="jmanual-node1.html">
+</HEAD>
+
+<BODY >
+
+<DIV CLASS="navigation"><!--Navigation Panel-->
+<A NAME="tex2html33"
+  HREF="jmanual-node1.html">
+<IMG WIDTH="37" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="next" SRC="next.png"></A> 
+<IMG WIDTH="26" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="up" SRC="up_g.png"> 
+<IMG WIDTH="63" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="previous" SRC="prev_g.png"> 
+<A NAME="tex2html29"
+  HREF="jmanual-node1.html">
+<IMG WIDTH="65" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="contents" SRC="contents.png"></A> 
+<A NAME="tex2html31"
+  HREF="jmanual-node156.html">
+<IMG WIDTH="43" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="index" SRC="index.png"></A> 
+<BR>
+<B> Next:</B> <A NAME="tex2html34"
+  HREF="jmanual-node1.html">Contents</A>
+ &nbsp; <B>  <A NAME="tex2html30"
+  HREF="jmanual-node1.html">Contents</A></B> 
+ &nbsp; <B>  <A NAME="tex2html32"
+  HREF="jmanual-node156.html">Index</A></B> 
+<BR>
+<BR></DIV>
+<!--End of Navigation Panel-->
+
+<P>
+
+<P>
+
+<P>
+
+<P>
+
+<P>
+
+<P>
+
+<P>
+
+<P>
+
+<P>
+
+<P>
+
+<P>
+
+<P>
+
+<P>
+
+<H1 ALIGN="CENTER"><BIG CLASS="XHUGE"><B>EusLisp</B></BIG> 
+<BR><BIG CLASS="LARGE"><B>version 9.00</B></BIG> 
+<BR><BIG CLASS="XXLARGE"><B>\xA5\xEA\xA5ե\xA1\xA5\xEC\xA5󥹥ޥ˥奢\xA5\xEB</B></BIG> 
+<BR><BIG CLASS="LARGE">-\xA5ޥ\xEB\xA5\xC1\xA5\xB9\xA5\xEC\xA5åɤ\xC8XToolKit\xA4μ¸\xBD-</BIG> 
+<BR>
+<BR>
+<BR>
+<BR>
+<BIG CLASS="LARGE">ETL-TR-95-19</BIG> 
+<BR><BIG CLASS="LARGE">1995ǯ6\xB7\xEE</BIG> 
+<BR></H1>
+<DIV CLASS="author_info">
+
+<P ALIGN="CENTER"><STRONG>\xC4̾\xA6\xBB\xBA\xB6Ⱦʡ\xA1\xB9\xA9\xB6ȵ\xBB\xBDѱ\xA1</STRONG></P>
+<P ALIGN="CENTER"><I>\xC5Żҵ\xBB\xBD\xD1\xC1\xED\xB9縦\xB5\xE6\xBD\xEA \xC3\xCEǽ\xA5\xB7\xA5\xB9\xA5ƥ\xE0\xC9\xF4</I></P>
+<P ALIGN="LEFT"><SMALL><BIG CLASS="LARGE">\xBE\xBE\xB0\xE6 \xBDӹ\xC0, \xB8\xB6 \xB8\xF9, \xC3\xE6\xB3\xC0 \xC7\xEEʸ(\xB6彣\xC5\xC5\xCE\xCF)</BIG></SMALL></P>
+</DIV>
+
+<BR><HR>
+<!--Table of Child-Links-->
+<A NAME="CHILD_LINKS"></A>
+
+<UL CLASS="ChildLinks">
+<LI><A NAME="tex2html35"
+  HREF="jmanual-node1.html">Contents</A>
+<LI><A NAME="tex2html36"
+  HREF="jmanual-node2.html">EusLisp \xB4\xF0\xCB\xDC</A>
+<UL>
+<LI><A NAME="tex2html37"
+  HREF="jmanual-node3.html">\xA4Ϥ\xB8\xA4\xE1\xA4\xCB</A>
+<UL>
+<LI><A NAME="tex2html38"
+  HREF="jmanual-node4.html">EusLisp\xA4ˤ\xAA\xA4\xB1\xA4륪\xA5֥\xB8\xA5\xA7\xA5\xAF\xA5Ȼظ\xFE\xA5ץ\x{D970}\xA5\xE9\xA5ߥ\xF3\xA5\xB0</A>
+<LI><A NAME="tex2html39"
+  HREF="jmanual-node5.html">Euslisp\xA4\xCE\xC6\xC3ħ</A>
+<LI><A NAME="tex2html40"
+  HREF="jmanual-node6.html">Common Lisp\xA4Ȥθߴ\xB9\xC0\xAD</A>
+<LI><A NAME="tex2html41"
+  HREF="jmanual-node7.html">\xB3\xABȯ\xCD\xFA\xCE\xF2</A>
+<LI><A NAME="tex2html42"
+  HREF="jmanual-node8.html">\xA5\xA4\xA5󥹥ȡ\xBC\xA5\xEB</A>
+<LI><A NAME="tex2html43"
+  HREF="jmanual-node9.html">\xA5饤\xA5\xBB\xA5\xF3\xA5\xB9</A>
+<LI><A NAME="tex2html44"
+  HREF="jmanual-node10.html">\xA5ǥ\xE2\xA5ץ\x{D970}\xA5\xE9\xA5\xE0</A>
+</UL>
+</UL>
+<BR>
+<LI><A NAME="tex2html45"
+  HREF="jmanual-node11.html">Bibliography</A>
+<UL>
+<LI><A NAME="tex2html46"
+  HREF="jmanual-node12.html">\xA5ǡ\xBC\xA5\xBF\xB7\xBF</A>
+<UL>
+<LI><A NAME="tex2html47"
+  HREF="jmanual-node13.html">\xBF\xF4\xC3\xCD</A>
+<LI><A NAME="tex2html48"
+  HREF="jmanual-node14.html">\xA5\xAA\xA5֥\xB8\xA5\xA7\xA5\xAF\xA5\xC8</A>
+<LI><A NAME="tex2html49"
+  HREF="jmanual-node15.html">\xA5\xAF\xA5饹\xB7Ѿ\xB5</A>
+<LI><A NAME="tex2html50"
+  HREF="jmanual-node16.html">\xB7\xBF\xBB\xD8\xC4\xEA</A>
+</UL>
+<LI><A NAME="tex2html51"
+  HREF="jmanual-node17.html">\xBD񼰤\xC8ɾ\xB2\xC1</A>
+<UL>
+<LI><A NAME="tex2html52"
+  HREF="jmanual-node18.html">\xA5\xA2\xA5ȥ\xE0(atom)</A>
+<LI><A NAME="tex2html53"
+  HREF="jmanual-node19.html">\xA5\xB9\xA5\xB3\xA1\xBC\xA5\xD7</A>
+<LI><A NAME="tex2html54"
+  HREF="jmanual-node20.html">\xB0\xEC\xC8̲\xBD\xCAѿ\xF4</A>
+<LI><A NAME="tex2html55"
+  HREF="jmanual-node21.html">\xC6ü\xEC\xBD\xF1\xBC\xB0</A>
+<LI><A NAME="tex2html56"
+  HREF="jmanual-node22.html">\xA5ޥ\xAF\xA5\xED</A>
+<LI><A NAME="tex2html57"
+  HREF="jmanual-node23.html">\xB4ؿ\xF4</A>
+</UL>
+<LI><A NAME="tex2html58"
+  HREF="jmanual-node24.html">\xC0\xA9\xB8湽¤</A>
+<UL>
+<LI><A NAME="tex2html59"
+  HREF="jmanual-node25.html">\xBE\xF2\xB7\xEFʸ</A>
+<LI><A NAME="tex2html60"
+  HREF="jmanual-node26.html">\xC3༡\xBC¹Ԥ\xC8Let</A>
+<LI><A NAME="tex2html61"
+  HREF="jmanual-node27.html">\xA5\x{D87C}\xA5\xAB\xA5\xEB\xB4ؿ\xF4</A>
+<LI><A NAME="tex2html62"
+  HREF="jmanual-node28.html">\xA5֥\xED\xA5å\xAF\xA4\xC8Exit</A>
+<LI><A NAME="tex2html63"
+  HREF="jmanual-node29.html">\xB7\xAB\xCA֤\xB7</A>
+<LI><A NAME="tex2html64"
+  HREF="jmanual-node30.html">\xBDҸ\xEC</A>
+</UL>
+<LI><A NAME="tex2html65"
+  HREF="jmanual-node31.html">\xA5\xAA\xA5֥\xB8\xA5\xA7\xA5\xAF\xA5Ȼظ\xFE\xA5ץ\x{D970}\xA5\xE9\xA5ߥ\xF3\xA5\xB0</A>
+<UL>
+<LI><A NAME="tex2html66"
+  HREF="jmanual-node32.html">\xA5\xAF\xA5饹\xA4ȥ᥽\xA5å\xC9</A>
+<LI><A NAME="tex2html67"
+  HREF="jmanual-node33.html">\xA5\xE1\xA5å\xBB\xA1\xBC\xA5\xB8\xC1\xF7\xBF\xAE</A>
+<LI><A NAME="tex2html68"
+  HREF="jmanual-node34.html">\xA5\xA4\xA5󥹥\xBF\xA5󥹴\xC9\xCD\xFD</A>
+<LI><A NAME="tex2html69"
+  HREF="jmanual-node35.html">\xB4\xF0\xCBܥ\xAF\xA5饹</A>
+</UL>
+<LI><A NAME="tex2html70"
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[truncated message content]

[Euslisp-commit] SF.net SVN: euslisp:[664] trunk/EusLisp/doc/latex

From: <k-...@us...> - 2014-01-23 07:20:00

Revision: 664
          http://sourceforge.net/p/euslisp/code/664
Author:   k-okada
Date:     2014-01-23 07:19:46 +0000 (Thu, 23 Jan 2014)
Log Message:
-----------
update {jmanual/manual}.pdf as of r662

Revision Links:
--------------
    http://sourceforge.net/p/euslisp/code/662

Modified Paths:
--------------
    trunk/EusLisp/doc/latex/manual.dvi
    trunk/EusLisp/doc/latex/manual.idx
    trunk/EusLisp/doc/latex/manual.pdf

Modified: trunk/EusLisp/doc/latex/manual.dvi
===================================================================
(Binary files differ)

Modified: trunk/EusLisp/doc/latex/manual.idx
===================================================================
--- trunk/EusLisp/doc/latex/manual.idx	2014-01-23 07:18:45 UTC (rev 663)
+++ trunk/EusLisp/doc/latex/manual.idx	2014-01-23 07:19:46 UTC (rev 664)
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[truncated message content]

[Euslisp-commit] SF.net SVN: euslisp:[664] trunk/EusLisp/doc/latex

From: <k-...@us...> - 2014-01-23 07:19:57

Revision: 664
          http://sourceforge.net/p/euslisp/code/664
Author:   k-okada
Date:     2014-01-23 07:19:46 +0000 (Thu, 23 Jan 2014)
Log Message:
-----------
update {jmanual/manual}.pdf as of r662

Revision Links:
--------------
    http://sourceforge.net/p/euslisp/code/662

Modified Paths:
--------------
    trunk/EusLisp/doc/latex/manual.dvi
    trunk/EusLisp/doc/latex/manual.idx
    trunk/EusLisp/doc/latex/manual.pdf

Modified: trunk/EusLisp/doc/latex/manual.dvi
===================================================================
(Binary files differ)

Modified: trunk/EusLisp/doc/latex/manual.idx
===================================================================
--- trunk/EusLisp/doc/latex/manual.idx	2014-01-23 07:18:45 UTC (rev 663)
+++ trunk/EusLisp/doc/latex/manual.idx	2014-01-23 07:19:46 UTC (rev 664)
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+\indexentry{short-float-epsilon|hyperpage}{25}
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+\indexentry{decf|hyperpage}{28}
+\indexentry{reduce|hyperpage}{28}
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+\indexentry{sin|hyperpage}{28}
+\indexentry{cos|hyperpage}{28}
+\indexentry{tan|hyperpage}{28}
+\indexentry{sinh|hyperpage}{28}
+\indexentry{cosh|hyperpage}{28}
+\indexentry{tanh|hyperpage}{28}
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+\indexentry{acos|hyperpage}{28}
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+\indexentry{asinh|hyperpage}{28}
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+\indexentry{log|hyperpage}{28}
+\indexentry{exp|hyperpage}{29}
+\indexentry{expt|hyperpage}{29}
+\indexentry{symbolp|hyperpage}{30}
+\indexentry{symbol-value|hyperpage}{30}
+\indexentry{symbol-function|hyperpage}{30}
+\indexentry{symbol-package|hyperpage}{30}
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+\indexentry{symbol-plist|hyperpage}{30}
+\indexentry{boundp|hyperpage}{30}
+\indexentry{fboundp|hyperpage}{30}
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+\indexentry{get|hyperpage}{30}
+\indexentry{putprop|hyperpage}{31}
+\indexentry{remprop|hyperpage}{31}
+\indexentry{setq|hyperpage}{31}
+\indexentry{set|hyperpage}{31}
+\indexentry{defun|hyperpage}{31}
+\indexentry{defmacro|hyperpage}{31}
+\indexentry{defvar|hyperpage}{31}
+\indexentry{defparameter|hyperpage}{31}
+\indexentry{defconstant|hyperpage}{31}
+\indexentry{keywordp|hyperpage}{31}
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+\indexentry{documentation|hyperpage}{31}
+\indexentry{gensym|hyperpage}{31}
+\indexentry{gentemp|hyperpage}{31}
+\indexentry{i|hyperpage}{32}
+\indexentry{u|hyperpage}{32}
+\indexentry{S|hyperpage}{32}
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+\indexentry{*user-package*|hyperpage}{32}
+\indexentry{*unix-package*|hyperpage}{32}
+\indexentry{*system-package*|hyperpage}{32}
+\indexentry{*keyword-package*|hyperpage}{32}
+\indexentry{find-symbol|hyperpage}{32}
+\indexentry{make-symbol|hyperpage}{32}
+\indexentry{intern|hyperpage}{32}
+\indexentry{list-all-packages|hyperpage}{32}
+\indexentry{find-package|hyperpage}{32}
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+\indexentry{in-package|hyperpage}{33}
+\indexentry{package-name|hyperpage}{33}
+\indexentry{package-nicknames|hyperpage}{33}
+\indexentry{rename-package|hyperpage}{33}
+\indexentry{package-use-list|hyperpage}{33}
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+\indexentry{shadow|hyperpage}{33}
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+\indexentry{import|hyperpage}{33}
+\indexentry{do-symbols|hyperpage}{33}
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+\indexentry{do-all-symbols|hyperpage}{33}
+\indexentry{elt|hyperpage}{34}
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+\indexentry{reverse|hyperpage}{34}
+\indexentry{nreverse|hyperpage}{34}
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+\indexentry{coerce|hyperpage}{34}
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+\indexentry{position|hyperpage}{35}
+\indexentry{position-if|hyperpage}{35}
+\indexentry{position-if-not|hyperpage}{35}
+\indexentry{find|hyperpage}{35}
+\indexentry{find-if|hyperpage}{35}
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+\indexentry{count|hyperpage}{35}
+\indexentry{count-if|hyperpage}{35}
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+\indexentry{remove|hyperpage}{35}
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+\indexentry{remove-if-not|hyperpage}{35}
+\indexentry{remove-duplicates|hyperpage}{36}
+\indexentry{delete|hyperpage}{36}
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+\indexentry{substitute|hyperpage}{36}
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+\indexentry{substitute-if-not|hyperpage}{36}
+\indexentry{nsubstitute|hyperpage}{36}
+\indexentry{nsubstitute-if|hyperpage}{36}
+\indexentry{nsubstitute-if-not|hyperpage}{36}
+\indexentry{listp|hyperpage}{37}
+\indexentry{consp|hyperpage}{37}
+\indexentry{car|hyperpage}{37}
+\indexentry{cdr|hyperpage}{37}
+\indexentry{cadr|hyperpage}{37}
+\indexentry{cddr|hyperpage}{37}
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+\indexentry{nth|hyperpage}{37}
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+\indexentry{cons|hyperpage}{38}
+\indexentry{list|hyperpage}{38}
+\indexentry{list*|hyperpage}{38}
+\indexentry{list-length|hyperpage}{38}
+\indexentry{make-list|hyperpage}{38}
+\indexentry{rplaca|hyperpage}{38}
+\indexentry{rplacd|hyperpage}{38}
+\indexentry{memq|hyperpage}{38}
+\indexentry{member|hyperpage}{38}
+\indexentry{assq|hyperpage}{38}
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+\indexentry{rassoc|hyperpage}{38}
+\indexentry{pairlis|hyperpage}{38}
+\indexentry{acons|hyperpage}{38}
+\indexentry{append|hyperpage}{38}
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+\indexentry{push|hyperpage}{39}
+\indexentry{pop|hyperpage}{39}
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+\indexentry{adjoin|hyperpage}{39}
+\indexentry{union|hyperpage}{39}
+\indexentry{subsetp|hyperpage}{39}
+\indexentry{intersection|hyperpage}{39}
+\indexentry{set-difference|hyperpage}{39}
+\indexentry{set-exclusive-or|hyperpage}{39}
+\indexentry{list-insert|hyperpage}{39}
+\indexentry{copy-tree|hyperpage}{39}
+\indexentry{mapc|hyperpage}{39}
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+\indexentry{array-rank-limit|hyperpage}{40}
+\indexentry{array-dimension-limit|hyperpage}{40}
+\indexentry{vectorp|hyperpage}{40}
+\indexentry{vector|hyperpage}{40}
+\indexentry{make-array|hyperpage}{40}
+\indexentry{svref|hyperpage}{40}
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+\indexentry{bit-nand|hyperpage}{41}
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+\indexentry{digit-char-p|hyperpage}{42}
+\indexentry{alpha-char-p|hyperpage}{42}
+\indexentry{upper-case-p|hyperpage}{42}
+\indexentry{lower-case-p|hyperpage}{42}
+\indexentry{alphanumeric-p|hyperpage}{42}
+\indexentry{char-upcase|hyperpage}{42}
+\indexentry{char-downcase|hyperpage}{42}
+\indexentry{char|hyperpage}{42}
+\indexentry{schar|hyperpage}{42}
+\indexentry{stringp|hyperpage}{42}
+\indexentry{string-upcase|hyperpage}{42}
+\indexentry{string-downcase|hyperpage}{42}
+\indexentry{nstring-upcase|hyperpage}{42}
+\indexentry{nstring-downcase|hyperpage}{42}
+\indexentry{string=|hyperpage}{42}
+\indexentry{string-equal|hyperpage}{42}
+\indexentry{string|hyperpage}{42}
+\indexentry{string$<$|hyperpage}{42}
+\indexentry{string$<=$|hyperpage}{43}
+\indexentry{string$>$|hyperpage}{43}
+\indexentry{string$>=$|hyperpage}{43}
+\indexentry{string-left-trim|hyperpage}{43}
+\indexentry{string-right-trim|hyperpage}{43}
+\indexentry{string-trim|hyperpage}{43}
+\in...
 
[truncated message content]

[Euslisp-commit] SF.net SVN: euslisp:[663] trunk/EusLisp/doc/jlatex

From: <k-...@us...> - 2014-01-23 07:18:54

Revision: 663
          http://sourceforge.net/p/euslisp/code/663
Author:   k-okada
Date:     2014-01-23 07:18:45 +0000 (Thu, 23 Jan 2014)
Log Message:
-----------
update {jmanual/manual}.pdf as of r662

Revision Links:
--------------
    http://sourceforge.net/p/euslisp/code/662

Modified Paths:
--------------
    trunk/EusLisp/doc/jlatex/jmanual.dvi
    trunk/EusLisp/doc/jlatex/jmanual.pdf

Modified: trunk/EusLisp/doc/jlatex/jmanual.dvi
===================================================================
(Binary files differ)

Modified: trunk/EusLisp/doc/jlatex/jmanual.pdf
===================================================================
(Binary files differ)

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

[Euslisp-commit] SF.net SVN: euslisp:[663] trunk/EusLisp/doc/jlatex

From: <k-...@us...> - 2014-01-23 07:18:51

Revision: 663
          http://sourceforge.net/p/euslisp/code/663
Author:   k-okada
Date:     2014-01-23 07:18:45 +0000 (Thu, 23 Jan 2014)
Log Message:
-----------
update {jmanual/manual}.pdf as of r662

Revision Links:
--------------
    http://sourceforge.net/p/euslisp/code/662

Modified Paths:
--------------
    trunk/EusLisp/doc/jlatex/jmanual.dvi
    trunk/EusLisp/doc/jlatex/jmanual.pdf

Modified: trunk/EusLisp/doc/jlatex/jmanual.dvi
===================================================================
(Binary files differ)

Modified: trunk/EusLisp/doc/jlatex/jmanual.pdf
===================================================================
(Binary files differ)

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

[Euslisp-commit] SF.net SVN: euslisp:[662] trunk/EusLisp/doc/latex

From: <k-...@us...> - 2014-01-23 07:16:29

Revision: 662
          http://sourceforge.net/p/euslisp/code/662
Author:   k-okada
Date:     2014-01-23 07:16:20 +0000 (Thu, 23 Jan 2014)
Log Message:
-----------
fix to compile on ubuntu 12.04

Modified Paths:
--------------
    trunk/EusLisp/doc/latex/datetime.tex
    trunk/EusLisp/doc/latex/generals.tex
    trunk/EusLisp/doc/latex/geometry.tex
    trunk/EusLisp/doc/latex/image.tex
    trunk/EusLisp/doc/latex/intro.tex
    trunk/EusLisp/doc/latex/manual.tex
    trunk/EusLisp/doc/latex/mthread.tex
    trunk/EusLisp/doc/latex/objects.tex
    trunk/EusLisp/doc/latex/sysfunc.tex
    trunk/EusLisp/doc/latex/text.tex

Modified: trunk/EusLisp/doc/latex/datetime.tex
===================================================================
--- trunk/EusLisp/doc/latex/datetime.tex	2014-01-23 07:13:28 UTC (rev 661)
+++ trunk/EusLisp/doc/latex/datetime.tex	2014-01-23 07:16:20 UTC (rev 662)
@@ -11,7 +11,7 @@
 }
 
 \methoddesc{:now}{}{
-\verb+(instance time :now)+
+\verb~(instance time :now)~
 creates a time object for the current time.}
 
 \methoddesc{:init}{\&optional sec micro dst tzone}{

Modified: trunk/EusLisp/doc/latex/generals.tex
===================================================================
--- trunk/EusLisp/doc/latex/generals.tex	2014-01-23 07:13:28 UTC (rev 661)
+++ trunk/EusLisp/doc/latex/generals.tex	2014-01-23 07:16:20 UTC (rev 662)
@@ -77,11 +77,7 @@
 
 \begin{figure}[hbt]
 \begin{center}
-% \epsfile{file=fig/object.ps}
-\mbox{
-\epsfxsize=10cm
-\epsfbox{fig/object.ps}
-}
+\epsfile{file=fig/object.ps}
 \end{center}
 \caption{\label{ObjectFig}Structures of object, vector, and object header}
 \end{figure}

Modified: trunk/EusLisp/doc/latex/geometry.tex
===================================================================
--- trunk/EusLisp/doc/latex/geometry.tex	2014-01-23 07:13:28 UTC (rev 661)
+++ trunk/EusLisp/doc/latex/geometry.tex	2014-01-23 07:16:20 UTC (rev 662)
@@ -672,8 +672,8 @@
 {\em Top} is a 3D float-vector.
 {\em Bottom} is either a list of vertices of the bottom face or a radius
 (scalar). If it is the vertices list, it is order sensitive.
-\verb+ (make-cone \#f(0 0 10) (list \#f(10 0 0) \#f(0 10 0) \#f(-10 0 0) 
-\#f(0 -10 0)))+ makes a cone of a square bottom.}
+\verb~ (make-cone \#f(0 0 10) (list \#f(10 0 0) \#f(0 10 0) \#f(-10 0 0) 
+\#f(0 -10 0)))~ makes a cone of a square bottom.}
 
 
 \funcdesc{make-solid-of-revolution}{points \&key (segments 16) name color}{

Modified: trunk/EusLisp/doc/latex/image.tex
===================================================================
--- trunk/EusLisp/doc/latex/image.tex	2014-01-23 07:13:28 UTC (rev 661)
+++ trunk/EusLisp/doc/latex/image.tex	2014-01-23 07:16:20 UTC (rev 662)
@@ -383,11 +383,7 @@
 %\epsfbox{fig/corri30.ps}
 %}
 %\vspace{100mm}
-%\epsfile{file=fig/block1.edg.ps,height=9cm}
-\mbox{
-\epsfsize=10cm
-\epsfbox{fig/block1.edg.ps}
-}
+\epsfile{file=fig/block1.edg.ps,height=9cm}
 \caption{Edge Finder and Overlaid Edges}
 \end{center}
 \end{figure}

Modified: trunk/EusLisp/doc/latex/intro.tex
===================================================================
(Binary files differ)

Modified: trunk/EusLisp/doc/latex/manual.tex
===================================================================
--- trunk/EusLisp/doc/latex/manual.tex	2014-01-23 07:13:28 UTC (rev 661)
+++ trunk/EusLisp/doc/latex/manual.tex	2014-01-23 07:16:20 UTC (rev 662)
@@ -1,12 +1,21 @@
-\documentstyle[titlepage,makeidx,twoside,epsf,mytabbing]{article}
+%\documentstyle[titlepage,makeidx,twoside,epsf,mytabbing]{article}
+
+%%% added from jmanual.tex 2004.12.14
+\documentclass[a4paper]{article}
+\usepackage{makeidx,mytabbing,fancyheadings}
+\usepackage[dvipdfm]{graphicx,color,epsfig}
+\let\epsfile=\epsfig
+\usepackage[dvipdfm,bookmarks=true,bookmarksnumbered=true,bookmarkstype=toc]{hyperref}
+
+%%%
+\newcommand{\eusversion}{9.00}
+
+\flushbottom
 \makeindex
 \pagestyle{myheadings}
 \oddsidemargin=0cm
 \evensidemargin=0cm
 
-%%%
-\newcommand{\eusversion}{9.00}
-
 % A4 size
 \textwidth=16.5cm
 \textheight=24.6cm

Modified: trunk/EusLisp/doc/latex/mthread.tex
===================================================================
--- trunk/EusLisp/doc/latex/mthread.tex	2014-01-23 07:13:28 UTC (rev 661)
+++ trunk/EusLisp/doc/latex/mthread.tex	2014-01-23 07:16:20 UTC (rev 662)
@@ -39,9 +39,8 @@
 
 \begin{figure}[b]
 \begin{center}
-%\epsfile{file=fig/threadfig.ps,width=130mm}
 \mbox{
-\epsfxsize=10cm
+\epsfxsize=13cm
 \epsfbox{fig/threadfig.ps}
 }
 
@@ -95,11 +94,7 @@
 
 \begin{figure}
 \begin{center}
-%\epsfile{file=fig/parathreads.ps,width=120mm}
-\mbox{
-\epsfsize=10cm
-\epsfbox{fig/parathreads.ps}
-}
+\epsfile{file=fig/parathreads.ps,width=120mm}
 \caption{Parallel threads requesting memory and GC running in parallel}\label{parathreads}
 \end{center}
 \end{figure}
@@ -126,16 +121,8 @@
 \begin{figure}
 \begin{center}
 \begin{tabular}{c c}
-%\epsfile{file=fig/threadobj.ps,width=7.5cm} &
-\mbox{
-\epsfsize=10cm
-\epsfbox{fig/threadobj.ps}
-}
-%\epsfile{file=fig/threadpool.ps,width=7.5cm} \\
-\mbox{
-\epsfsize=10cm
-\epsfbox{fig/threadpool.ps}
-}
+\epsfile{file=fig/threadobj.ps,width=7.5cm} &
+\epsfile{file=fig/threadpool.ps,width=7.5cm} \\
 \end{tabular}
 \end{center}
 \caption{\label{threadobj}Thread-object for transferring control and data between threads (left) and the collection of threads put in the thread-pool.}
@@ -173,11 +160,7 @@
 
 \begin{figure}
 \begin{center}
-%\epsfile{file=fig/synchports.ps,width=130mm}
-\mbox{
-\epsfsize=10cm
-\epsfbox{fig/synchports.ps}
-}
+\epsfile{file=fig/synchports.ps,width=130mm}
 \caption{Barrier synchronization and synchronozed memory port}
 \label{synchports}
 \end{center}

Modified: trunk/EusLisp/doc/latex/objects.tex
===================================================================
--- trunk/EusLisp/doc/latex/objects.tex	2014-01-23 07:13:28 UTC (rev 661)
+++ trunk/EusLisp/doc/latex/objects.tex	2014-01-23 07:16:20 UTC (rev 662)
@@ -229,7 +229,7 @@
 {\bf send-super} macro specifying {\em mesg} string.
 An object is re-readable if it begins with \#$<$,
 followed by its class name, correct address, any lisp-readable information,
-and \verb+>+.
+and \verb~>~.
 Since every data object except numbers inherits {\bf object},
 you can get print forms in this notation, even for symbols or strings.
 Specifying this notation, you can catch data objects that you forgot
@@ -253,8 +253,8 @@
 if {\em plist} is specified, it is set to the plist slot of this object.
 Previous plist, if there had been one, is lost.
 Legal plist should be of the form of
-\verb+((indicator1 . value1) (indicator2 . value2) ...)+.
-Each \verb+indicator+ can be any lisp form that are tested its equality
+\verb~((indicator1 . value1) (indicator2 . value2) ...)~.
+Each \verb~indicator~ can be any lisp form that are tested its equality
 with the {\bf eq} function.
 When a symbol is used for an indicator, use of keyword is recommended
 to ensure the equality check will be performed interpacakge-widely.
@@ -262,7 +262,7 @@
 
 \methoddesc{:get}{indicator}{
 returns the value associated with {\em indicator} in the property list.
-\verb+(send x :get :y) == (cdr (assoc :y (send x :plist)))+.}
+\verb~(send x :get :y) == (cdr (assoc :y (send x :plist)))~.}
 
 \methoddesc{:put}{indicator value}{
 associates {\em value} to {\em indicator} in the plist.}

Modified: trunk/EusLisp/doc/latex/sysfunc.tex
===================================================================
--- trunk/EusLisp/doc/latex/sysfunc.tex	2014-01-23 07:13:28 UTC (rev 661)
+++ trunk/EusLisp/doc/latex/sysfunc.tex	2014-01-23 07:16:20 UTC (rev 662)
@@ -747,7 +747,7 @@
 forks a process, replaces its stdin, stdout, and stderr streams to specified ones,
 and exec's "exec" with the args arguments.
 piped-fork is roughly equivalent to
-\verb+ (xfork exec :stdin (unix:pipe) :stdout (unix:pipe))+
+\verb~ (xfork exec :stdin (unix:pipe) :stdout (unix:pipe))~
 Though xfork returns an io-stream to stdin and stdout with their
 directions reversed,
 it is not always useful unless they are pipes. 

Modified: trunk/EusLisp/doc/latex/text.tex
===================================================================
--- trunk/EusLisp/doc/latex/text.tex	2014-01-23 07:13:28 UTC (rev 661)
+++ trunk/EusLisp/doc/latex/text.tex	2014-01-23 07:16:20 UTC (rev 662)
@@ -44,7 +44,7 @@
 
 \funcdesc{jis2euc}{kana-str}{kana-str coded in EUC
 is converted into JIS coding, which enters kana mode by
-\verb+ESC\$B+ and exits by \verb+ESC(J+.
+\verb~ESC\$B~ and exits by \verb~ESC(J~.
 Note that there is no euc2jis function is provided yet.}
 
 \funcdesc{kana-date}{time}{time is converted a Japanese

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[Euslisp-commit] SF.net SVN: euslisp:[662] trunk/EusLisp/doc/latex

From: <k-...@us...> - 2014-01-23 07:16:26

Revision: 662
          http://sourceforge.net/p/euslisp/code/662
Author:   k-okada
Date:     2014-01-23 07:16:20 +0000 (Thu, 23 Jan 2014)
Log Message:
-----------
fix to compile on ubuntu 12.04

Modified Paths:
--------------
    trunk/EusLisp/doc/latex/datetime.tex
    trunk/EusLisp/doc/latex/generals.tex
    trunk/EusLisp/doc/latex/geometry.tex
    trunk/EusLisp/doc/latex/image.tex
    trunk/EusLisp/doc/latex/intro.tex
    trunk/EusLisp/doc/latex/manual.tex
    trunk/EusLisp/doc/latex/mthread.tex
    trunk/EusLisp/doc/latex/objects.tex
    trunk/EusLisp/doc/latex/sysfunc.tex
    trunk/EusLisp/doc/latex/text.tex

Modified: trunk/EusLisp/doc/latex/datetime.tex
===================================================================
--- trunk/EusLisp/doc/latex/datetime.tex	2014-01-23 07:13:28 UTC (rev 661)
+++ trunk/EusLisp/doc/latex/datetime.tex	2014-01-23 07:16:20 UTC (rev 662)
@@ -11,7 +11,7 @@
 }
 
 \methoddesc{:now}{}{
-\verb+(instance time :now)+
+\verb~(instance time :now)~
 creates a time object for the current time.}
 
 \methoddesc{:init}{\&optional sec micro dst tzone}{

Modified: trunk/EusLisp/doc/latex/generals.tex
===================================================================
--- trunk/EusLisp/doc/latex/generals.tex	2014-01-23 07:13:28 UTC (rev 661)
+++ trunk/EusLisp/doc/latex/generals.tex	2014-01-23 07:16:20 UTC (rev 662)
@@ -77,11 +77,7 @@
 
 \begin{figure}[hbt]
 \begin{center}
-% \epsfile{file=fig/object.ps}
-\mbox{
-\epsfxsize=10cm
-\epsfbox{fig/object.ps}
-}
+\epsfile{file=fig/object.ps}
 \end{center}
 \caption{\label{ObjectFig}Structures of object, vector, and object header}
 \end{figure}

Modified: trunk/EusLisp/doc/latex/geometry.tex
===================================================================
--- trunk/EusLisp/doc/latex/geometry.tex	2014-01-23 07:13:28 UTC (rev 661)
+++ trunk/EusLisp/doc/latex/geometry.tex	2014-01-23 07:16:20 UTC (rev 662)
@@ -672,8 +672,8 @@
 {\em Top} is a 3D float-vector.
 {\em Bottom} is either a list of vertices of the bottom face or a radius
 (scalar). If it is the vertices list, it is order sensitive.
-\verb+ (make-cone \#f(0 0 10) (list \#f(10 0 0) \#f(0 10 0) \#f(-10 0 0) 
-\#f(0 -10 0)))+ makes a cone of a square bottom.}
+\verb~ (make-cone \#f(0 0 10) (list \#f(10 0 0) \#f(0 10 0) \#f(-10 0 0) 
+\#f(0 -10 0)))~ makes a cone of a square bottom.}
 
 
 \funcdesc{make-solid-of-revolution}{points \&key (segments 16) name color}{

Modified: trunk/EusLisp/doc/latex/image.tex
===================================================================
--- trunk/EusLisp/doc/latex/image.tex	2014-01-23 07:13:28 UTC (rev 661)
+++ trunk/EusLisp/doc/latex/image.tex	2014-01-23 07:16:20 UTC (rev 662)
@@ -383,11 +383,7 @@
 %\epsfbox{fig/corri30.ps}
 %}
 %\vspace{100mm}
-%\epsfile{file=fig/block1.edg.ps,height=9cm}
-\mbox{
-\epsfsize=10cm
-\epsfbox{fig/block1.edg.ps}
-}
+\epsfile{file=fig/block1.edg.ps,height=9cm}
 \caption{Edge Finder and Overlaid Edges}
 \end{center}
 \end{figure}

Modified: trunk/EusLisp/doc/latex/intro.tex
===================================================================
(Binary files differ)

Modified: trunk/EusLisp/doc/latex/manual.tex
===================================================================
--- trunk/EusLisp/doc/latex/manual.tex	2014-01-23 07:13:28 UTC (rev 661)
+++ trunk/EusLisp/doc/latex/manual.tex	2014-01-23 07:16:20 UTC (rev 662)
@@ -1,12 +1,21 @@
-\documentstyle[titlepage,makeidx,twoside,epsf,mytabbing]{article}
+%\documentstyle[titlepage,makeidx,twoside,epsf,mytabbing]{article}
+
+%%% added from jmanual.tex 2004.12.14
+\documentclass[a4paper]{article}
+\usepackage{makeidx,mytabbing,fancyheadings}
+\usepackage[dvipdfm]{graphicx,color,epsfig}
+\let\epsfile=\epsfig
+\usepackage[dvipdfm,bookmarks=true,bookmarksnumbered=true,bookmarkstype=toc]{hyperref}
+
+%%%
+\newcommand{\eusversion}{9.00}
+
+\flushbottom
 \makeindex
 \pagestyle{myheadings}
 \oddsidemargin=0cm
 \evensidemargin=0cm
 
-%%%
-\newcommand{\eusversion}{9.00}
-
 % A4 size
 \textwidth=16.5cm
 \textheight=24.6cm

Modified: trunk/EusLisp/doc/latex/mthread.tex
===================================================================
--- trunk/EusLisp/doc/latex/mthread.tex	2014-01-23 07:13:28 UTC (rev 661)
+++ trunk/EusLisp/doc/latex/mthread.tex	2014-01-23 07:16:20 UTC (rev 662)
@@ -39,9 +39,8 @@
 
 \begin{figure}[b]
 \begin{center}
-%\epsfile{file=fig/threadfig.ps,width=130mm}
 \mbox{
-\epsfxsize=10cm
+\epsfxsize=13cm
 \epsfbox{fig/threadfig.ps}
 }
 
@@ -95,11 +94,7 @@
 
 \begin{figure}
 \begin{center}
-%\epsfile{file=fig/parathreads.ps,width=120mm}
-\mbox{
-\epsfsize=10cm
-\epsfbox{fig/parathreads.ps}
-}
+\epsfile{file=fig/parathreads.ps,width=120mm}
 \caption{Parallel threads requesting memory and GC running in parallel}\label{parathreads}
 \end{center}
 \end{figure}
@@ -126,16 +121,8 @@
 \begin{figure}
 \begin{center}
 \begin{tabular}{c c}
-%\epsfile{file=fig/threadobj.ps,width=7.5cm} &
-\mbox{
-\epsfsize=10cm
-\epsfbox{fig/threadobj.ps}
-}
-%\epsfile{file=fig/threadpool.ps,width=7.5cm} \\
-\mbox{
-\epsfsize=10cm
-\epsfbox{fig/threadpool.ps}
-}
+\epsfile{file=fig/threadobj.ps,width=7.5cm} &
+\epsfile{file=fig/threadpool.ps,width=7.5cm} \\
 \end{tabular}
 \end{center}
 \caption{\label{threadobj}Thread-object for transferring control and data between threads (left) and the collection of threads put in the thread-pool.}
@@ -173,11 +160,7 @@
 
 \begin{figure}
 \begin{center}
-%\epsfile{file=fig/synchports.ps,width=130mm}
-\mbox{
-\epsfsize=10cm
-\epsfbox{fig/synchports.ps}
-}
+\epsfile{file=fig/synchports.ps,width=130mm}
 \caption{Barrier synchronization and synchronozed memory port}
 \label{synchports}
 \end{center}

Modified: trunk/EusLisp/doc/latex/objects.tex
===================================================================
--- trunk/EusLisp/doc/latex/objects.tex	2014-01-23 07:13:28 UTC (rev 661)
+++ trunk/EusLisp/doc/latex/objects.tex	2014-01-23 07:16:20 UTC (rev 662)
@@ -229,7 +229,7 @@
 {\bf send-super} macro specifying {\em mesg} string.
 An object is re-readable if it begins with \#$<$,
 followed by its class name, correct address, any lisp-readable information,
-and \verb+>+.
+and \verb~>~.
 Since every data object except numbers inherits {\bf object},
 you can get print forms in this notation, even for symbols or strings.
 Specifying this notation, you can catch data objects that you forgot
@@ -253,8 +253,8 @@
 if {\em plist} is specified, it is set to the plist slot of this object.
 Previous plist, if there had been one, is lost.
 Legal plist should be of the form of
-\verb+((indicator1 . value1) (indicator2 . value2) ...)+.
-Each \verb+indicator+ can be any lisp form that are tested its equality
+\verb~((indicator1 . value1) (indicator2 . value2) ...)~.
+Each \verb~indicator~ can be any lisp form that are tested its equality
 with the {\bf eq} function.
 When a symbol is used for an indicator, use of keyword is recommended
 to ensure the equality check will be performed interpacakge-widely.
@@ -262,7 +262,7 @@
 
 \methoddesc{:get}{indicator}{
 returns the value associated with {\em indicator} in the property list.
-\verb+(send x :get :y) == (cdr (assoc :y (send x :plist)))+.}
+\verb~(send x :get :y) == (cdr (assoc :y (send x :plist)))~.}
 
 \methoddesc{:put}{indicator value}{
 associates {\em value} to {\em indicator} in the plist.}

Modified: trunk/EusLisp/doc/latex/sysfunc.tex
===================================================================
--- trunk/EusLisp/doc/latex/sysfunc.tex	2014-01-23 07:13:28 UTC (rev 661)
+++ trunk/EusLisp/doc/latex/sysfunc.tex	2014-01-23 07:16:20 UTC (rev 662)
@@ -747,7 +747,7 @@
 forks a process, replaces its stdin, stdout, and stderr streams to specified ones,
 and exec's "exec" with the args arguments.
 piped-fork is roughly equivalent to
-\verb+ (xfork exec :stdin (unix:pipe) :stdout (unix:pipe))+
+\verb~ (xfork exec :stdin (unix:pipe) :stdout (unix:pipe))~
 Though xfork returns an io-stream to stdin and stdout with their
 directions reversed,
 it is not always useful unless they are pipes. 

Modified: trunk/EusLisp/doc/latex/text.tex
===================================================================
--- trunk/EusLisp/doc/latex/text.tex	2014-01-23 07:13:28 UTC (rev 661)
+++ trunk/EusLisp/doc/latex/text.tex	2014-01-23 07:16:20 UTC (rev 662)
@@ -44,7 +44,7 @@
 
 \funcdesc{jis2euc}{kana-str}{kana-str coded in EUC
 is converted into JIS coding, which enters kana mode by
-\verb+ESC\$B+ and exits by \verb+ESC(J+.
+\verb~ESC\$B~ and exits by \verb~ESC(J~.
 Note that there is no euc2jis function is provided yet.}
 
 \funcdesc{kana-date}{time}{time is converted a Japanese

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[Euslisp-commit] SF.net SVN: euslisp:[661] trunk/EusLisp/doc/jlatex/jintro.tex

From: <k-...@us...> - 2014-01-23 07:13:41

Revision: 661
          http://sourceforge.net/p/euslisp/code/661
Author:   k-okada
Date:     2014-01-23 07:13:28 +0000 (Thu, 23 Jan 2014)
Log Message:
-----------
add history of 2010, change to bsd license

Modified Paths:
--------------
    trunk/EusLisp/doc/jlatex/jintro.tex

Modified: trunk/EusLisp/doc/jlatex/jintro.tex
===================================================================
--- trunk/EusLisp/doc/jlatex/jintro.tex	2014-01-23 07:10:37 UTC (rev 660)
+++ trunk/EusLisp/doc/jlatex/jintro.tex	2014-01-23 07:13:28 UTC (rev 661)
@@ -199,6 +199,7 @@
 Euslisp$@$N%*!<%,%J%$%:%I%;%C%7%g%s$,3+$+$l$?!#(B
 \item[1995]
 $@%j%U%!%l%s%9%^%K%e%"%k$NBhFsHG$,H/9T$5$l$?!#(B
+\item[2010] $@=$@5(BBSD$@%i%$%;%s%9$KJQ99$5$l(B,$@%P!<%8%g%s$,(B9.00$@$H$J$C$?!%(B
 \end{description}
 
 \subsection{$@%$%s%9%H!<%k(B}
@@ -251,6 +252,7 @@
 \subsection{\label{License}$@%i%$%;%s%9(B}
 EusLisp$B$O0J2<$N=$@5(BBSD$B%i%$%;%s%9$N85G[I[$5$l$F$$$k!%(B
 
+\begin{verbatim}
 Copyright (c) 1984-2001, National Institute of Advanced Industrial Science
 All rights reserved.
 $B%=!<%9%3!<%I7A<0$+%P%$%J%j7A<0$+!"JQ99$9$k$+$7$J$$$+$rLd$o$:!"0J2<$N>r(B
@@ -274,6 +276,7 @@
   $B1W$NAS<:!"6HL3$NCfCG$b4^$a!"$^$?$=$l$K8BDj$5$l$J$$!KD>@\B;32!"4V@\B;(B
 $B32!"6vH/E*$JB;32!"FCJLB;32!"D(H3E*B;32!"$^$?$O7k2LB;32$K$D$$$F!"0l@Z@U(B
 $BG$$rIi$o$J$$$b$N$H$7$^$9!#(B
+\end{verbatim}
 
 $B$J$*(B8.25$BHG$^$G$O0J2<$N%i%$%;%s%9$GG[I[$5$l$F$$$?!%(B
 

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[Euslisp-commit] SF.net SVN: euslisp:[661] trunk/EusLisp/doc/jlatex/jintro.tex

From: <k-...@us...> - 2014-01-23 07:13:34

Revision: 661
          http://sourceforge.net/p/euslisp/code/661
Author:   k-okada
Date:     2014-01-23 07:13:28 +0000 (Thu, 23 Jan 2014)
Log Message:
-----------
add history of 2010, change to bsd license

Modified Paths:
--------------
    trunk/EusLisp/doc/jlatex/jintro.tex

Modified: trunk/EusLisp/doc/jlatex/jintro.tex
===================================================================
--- trunk/EusLisp/doc/jlatex/jintro.tex	2014-01-23 07:10:37 UTC (rev 660)
+++ trunk/EusLisp/doc/jlatex/jintro.tex	2014-01-23 07:13:28 UTC (rev 661)
@@ -199,6 +199,7 @@
 Euslisp$@$N%*!<%,%J%$%:%I%;%C%7%g%s$,3+$+$l$?!#(B
 \item[1995]
 $@%j%U%!%l%s%9%^%K%e%"%k$NBhFsHG$,H/9T$5$l$?!#(B
+\item[2010] $@=$@5(BBSD$@%i%$%;%s%9$KJQ99$5$l(B,$@%P!<%8%g%s$,(B9.00$@$H$J$C$?!%(B
 \end{description}
 
 \subsection{$@%$%s%9%H!<%k(B}
@@ -251,6 +252,7 @@
 \subsection{\label{License}$@%i%$%;%s%9(B}
 EusLisp$B$O0J2<$N=$@5(BBSD$B%i%$%;%s%9$N85G[I[$5$l$F$$$k!%(B
 
+\begin{verbatim}
 Copyright (c) 1984-2001, National Institute of Advanced Industrial Science
 All rights reserved.
 $B%=!<%9%3!<%I7A<0$+%P%$%J%j7A<0$+!"JQ99$9$k$+$7$J$$$+$rLd$o$:!"0J2<$N>r(B
@@ -274,6 +276,7 @@
   $B1W$NAS<:!"6HL3$NCfCG$b4^$a!"$^$?$=$l$K8BDj$5$l$J$$!KD>@\B;32!"4V@\B;(B
 $B32!"6vH/E*$JB;32!"FCJLB;32!"D(H3E*B;32!"$^$?$O7k2LB;32$K$D$$$F!"0l@Z@U(B
 $BG$$rIi$o$J$$$b$N$H$7$^$9!#(B
+\end{verbatim}
 
 $B$J$*(B8.25$BHG$^$G$O0J2<$N%i%$%;%s%9$GG[I[$5$l$F$$$?!%(B
 

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[Euslisp-commit] SF.net SVN: euslisp:[660] trunk/EusLisp/doc/jlatex/Makefile

From: <k-...@us...> - 2014-01-23 07:10:46

Revision: 660
          http://sourceforge.net/p/euslisp/code/660
Author:   k-okada
Date:     2014-01-23 07:10:37 +0000 (Thu, 23 Jan 2014)
Log Message:
-----------
make sure to run platex twice, see Issue #54

Modified Paths:
--------------
    trunk/EusLisp/doc/jlatex/Makefile

Modified: trunk/EusLisp/doc/jlatex/Makefile
===================================================================
--- trunk/EusLisp/doc/jlatex/Makefile	2014-01-23 05:29:33 UTC (rev 659)
+++ trunk/EusLisp/doc/jlatex/Makefile	2014-01-23 07:10:37 UTC (rev 660)
@@ -1,5 +1,5 @@
 all:
-	make toc dvi dvi pdf
+	make toc dvi pdf
 
 
 toc:
@@ -7,6 +7,7 @@
 
 dvi:
 	platex jmanual.tex
+	platex jmanual.tex
 
 pdf:
 	dvipdfmx jmanual.dvi

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