ELF>|404 (44TTTT 8WLWL/usr/lib/ld.so.1375-e''x]#MmcQA2 {I"",*rUJs.)w:.[t4&V j&/y!q6 CB 7i1a1N3*+%(<; Y ?0 8$d=#$()%9>40-5FKPnS\GRzu~6H^TZ_L@Xphg`fWk,O!l2+o|}Db/3vE ;P;;< >| /D /` /x T TWLX aaaa  #U* KePpt Y>|t `t$ sUx| X(@4 , X P %`$ |T XH` W<V x  D   18L :x P`T~ e, peyk ~ nd |8  ` ip@!|h    8h T 5  Be JH SX d`4 ug|Xd4t Vu hUh4TTW<  X,D * ;aOVLVX@_U f˔  o zUVh8(  h@Xx l { UhH!4, | $ -)  8/D >$ N ] hW [  h& D   < ixpH o `  i '̠p ;a[8 eVl , X< 0 { P i(X8L `U,W0at    V&Vp-XpBi,J8 \T px<4 |X\V8 aXh(l iH WL,  h \ 9V?VGihWUt^ip@d'TX rj}T ,  oL U](, XPll UVU8  XX j(   ;hP G{\8 WT]h o`(    e!UH ja 4 0  8 ))H 7+ EUh J- Q \ j u+  V(  j  8 P a a ` @0 ` ) 5X0 A( UX \ tX wX zX }VX .d| Xx p4 V j u( UD j D V4 !a (T BVd Hyh W` c t zj j j W X  H j $ U u  ' T /x V 4 - , @Ԅ$ Qj [D$ gW$ l ze ! V| X` \ l` j vl @ j a ^Tt a V@ vd +V 2U 9 Bn Ra m*, }h4 , Xl /` j UP  8 < U x U (Hl  بx U\j.V60 updateLaserray_intersects_targetsocketextract_min_max_segments_no_datadorigetLaser_starttranslate_absolutereadmedian_filterFLAT_VERSIONrotate_wherevector_at_endhcmremove_long_readingsjumps_oldangle_add_piK_DISTinitialize_analysis_moduletanstrtodsqrprintTransitioncreateSpotSim_lg2stepSim2remove_small_segmentsldsread_config_filerotate_acc_environ_endprocessWorldStatementcontroller_loopflat_loopvector_clearcreateSim_iobangle_sub_pi_degvector_previouscreate_plane__register_frame_infoangle_add_pi_deg_GLOBAL_OFFSET_TABLE_vector_begin__ctypepod_exitdistance_Point2Dadd_to_targetmapmaximaFwall_Keep_Distremove_erroneous_readingsgethostbynameinit_clminimaacceptSonar_vectoratexitexitranddump_cornervisible_bearingFLAT_VERSION_DATEprocessMapStatementcreateSpotSim_lgtrace_extract_blobsusleepSET_DISTmallocgetSonardump_planesprintfceilRealTimeModetranslate_constvelvector_sizemagFrw_msgpinit_simulatorcheckForDisplayInputexit_flatbindrobotStateextract_min_max_segmentsspotsim_loopdump_arcopen_space_initrotate_absolutefindTransitionfind_closest_surface_at_angle_DATcount.umulinit_lisp_control_lawup_jumpsjumpscreate_targetmapvector_erasecreate_edgeglobal_lisp_cldmininit_kalman_filterlisp_control_law_loopUSECS_PER_CYCLEempiricalLaserErrortrace_combine_colinear_segmentsless_thansscanfexamine_min_max_intervalrotate_relativedump_edgeprint_Point2Dinit_flatinfoPanelTokenK_ORIrotate_haltdelayPsqrtqsorttrace_find_all_segmentscollisionsbearing_to_targetfclosegetenvFwall_Dist_Tol_Ratioall_ptslaser_granularityfind_mins_and_maxesadd_loop_fnFwall_Max_Tvelstrncpyfind_closest_surface_at_angletrace_find_mins_and_maxesFwall_Max_Deldistopen_space_no_datadata_DYNAMICtranslate_accangle_add_2pi_degestimate_line_leastsquaresfloorstrncmpCYCLE_PER_USECSprintf__iobjumps_no_datawaitEventPangle_sub_pirotate_velvector_endreset_kalman_filterstrcatswitchMapNoMoveK_DORIcreateSim2writefmodatan2createSpotSimFwall_Max_RveltopMsgangle_sub_2pifind_range_discontinuitiesvector_copyadd_sim_control_exitangle_sub_2pi_degrotate_constvelvector_nextvector_currentmedianenvironperrorfind_all_segmentserrnotrace_examine_min_max_intervaltranslate_whererange_to_targetsdist_to_linesegdump_target_infoprint_Segmentextract_blobsfreeblob_pvector_getvector_lengthlaser_scanextract_blobs_no_datacloserandomGaussianErrorDELAY_USECSreadWorldFileint_roundtrace_extract_min_max_segmentstrace_open_spacegaussianget_rangefinder_readingsaddLaserErrorcompute_raytrackingSetparseEnvIntoTargetsConfig__deregister_frame_infok1k2k3strcmpscanReading_distFwall_Closeness_Ratioget_rangefinder_readings_flatfgetsfinishfree_lisp_control_lawacostailMsgprocessTransitionStatementgettimeofday_edata_PROCEDURE_LINKAGE_TABLE_fopensimulator_loopTransitionsvector_push_backangleg_argcprevScansimInfofcntlFrwall_cl_onpcombine_colinear_segmentsg_argvrwi_delaystrcpyfree_cltranslate_haltis_there_a_doorway_etext_lib_versionfflushcreate_sonarsettranslate_relativegreater_distancewaitEventmake_vectoratanangle_add_2pi_ctypestrspnFwall_Max_Oriset_nonblocktargetTypeStringcurScanmainprint_welcome_messageclient_quittv_globalswitchMaptrace_find_range_discontinuities.divalarm_handlermemcpystrlenping_allinit_controllertrace_remove_long_readingsblob_dimensionsvector_initializetranslate_velFwall_Ori_Tol_finisimsinprintTransitionscreate_cornerlistenrwi_killfprintfis_there_a_doorway_no_datanormalizeAnglecosdiscontinuitiesconnectparseDisplayInputlibm.so.1SUNW_1.1libnsl.so.1SISCD_2.3libsocket.so.1SISCD_2.3libc.so.1SUNW_0.9libX11.so.6.1libm.so.1libnsl.so.1libsocket.so.1libc.so.1/lusr/lib:/lusr/X11/lib:/lusr/gnu/libH ='R[ ztgq zt =(TTEe:ipeITUTVTTUEU0U `U,U8UDUP+U\3UhUtUUUmU.USUcUU!UUU%VV VV(V4V@VL^VXVdVpV|V1VVVPV V5VVVdVWW xWWW$W0W<0 @D# @#`@@<%, @ ٖ"@ @@㿐/ᄐ @# @   $?@`  ``@\   "㿐㿐/ʮ `` @E 㿐㿐@>c@:c`( ,@2``@@.`@*`@&@"a㿈@   !& %4,` 4 `@ ' "`!@'셠D:@!H:`"` "`&  &`` 4''h'X?БXp??? H??`??؅Bx ? BD L?x? @̒ ?x@? ؉Hx ??N H!P DƑNN FHā!X ?F  @??@D@x???@?@?@ .@ ' &@w @B?@k @@?@@)  @Β@8 @ǒ  @Y H@R A??@l .@e ' &@) @B?@@@?@@ے  @@@yx!P!X ? @ ?@?@ M@ F &@ے @@?@ @@?@@В@?@ @Ȓ@#\@N#`@w  @@@`$ `$  @ Y?@ M@ F &@}@@?@q @@?@k @В@?@_@Ȓ@#\@#`@ @@(0 @`$ `$ 㿈@ `@;  @  @<  "%@   2@2@ @@- @ "@  @B @  ( H (ƕ??@ 2 @ H`";``";`` #`ȉ"#hB 9hB"p#  h…"  #;``";`x #`ʉ"#B 9B"# ‘"# ƅ";  ƅʅ"  #@"H`"H"@  "@"`@2`" H" H@"`"@㿐@a P ?: : " " "㿈\`?@P P? ?" ??" ": : (: 0: 8: @㿐` &```2  "  2  a@!@I  $`@,@?&@㿐` H&``H`H2 H " H 2  Ha@!@%  H$`H@@?&@㿐 @  `@ `@@;``;`"`#& B'Bȅ"ąF$     BB #`\` D?؀ 2[  ?@? ?ȍƅ(?Ї) B$% HFB @3`? @ `? ?@?  "   #\@ @??ȉ DBBD @3`? @O `?? ?𑡈???@<? P ؐj "԰  0 8 Fe (荠"  #aЅ" Ɓ Ѕ"  Ѕ"  Ɓ  !Ѕ"  > > ( ̅aЅ" Ɓ Ѕ"  Ѕ"+z   !Ѕ"+n > 0i> 8" #aЅ" ȁЅ" Ѕ" ȁ 腢!Ѕ" > 5> ( ʅaЅ" ȁЅ" Ѕ"+  腡!Ѕ"+  > 0> 8    B;@8;``L 0 ;` F`ʅFHD;@ FJ8#`" @?`\`dhlp$ @ t `/b   #\#`P $    ` ?$`` 4`H`HtآӀ`Ԕ  $ b   t;`;h;p;x#\  Ԕ `b    2  ڐy  bԁh@   ?ؠ$$  `iא!r ?G -@ 2; 6@ 22  ??#\!?? D…BB?@t@ Ё9ئ?H@pڒ`$ 7@ "&@ &` `@E "&`H` "```"&`@ "`  0 ` H@'`H` @#`H`@ `@`&```  `" ` 2`H `H` "`@ `  "  H" 㿐@~ِ P @: @ " "  "  "  :  :  (:  0: ( 8: 0: 8hdh!??艠\?`l?p?@~@@~? @Ѕ@~<@@~? @ȁ@<@?B<@؅<@㽘!Ĕ  &"x&$ @~  &"|@~!@ "z 6"6"&" "-""3"5/נ7 9`&"x"z"6"@~q"|@~v  4"x 6"|@~h"8@v "|@~i "x@~Zp &""|@~c &"@~T"@b @~Jb   >"p>"`>"h@~PcԀ`" cc@~H@~Hc܀  cc@~=@~= @~7@~7"$@~5@@~4@&㿈@~*@} @~+ $"` $#`XDB'@. $" $ c(@~  $@~ @@~ ֠`#Ԁ "#@p $#܀  @ $   $    @  cH@}@}@}x֦ #P Ddh\?( `?@}?@} @}В $"` $#XDB'@ $" $ c(@} $@}@@}? Fch FB'D'@} $@}@@}Bc'@} $@}@@} $:`h>  $: p>  $: > ; H  H;  㸉 #Ԁ F; @ $܀  @I $   $    @ m cH@}H@}K@}J`'X 'HX'L`??' `'$ d@  ` ֒ @ d"`` ֐ @| "` 2$ 2@r ("$ x`M/ߘ"' @ bOߪ#p xc@|"@|@|֞Ԧ"`7/9 #L- @cД  @|ߐ"@|@|  $L@|ѐ"@|Ԑ@|Ӓ #`H#\#d@|"@|Ð@|’ @|"@|@|֞܀`J!" $`T`B5 @|"@|@|` @@|"@|@|`8 ؤ/`P- @ @|{"@|~@|}`8 &`P@|m"@|p@|o`X`Ē @|_"@|b@|a @|T"@|W@|V #p "@|S   M@ 2  #pM@ #p (-@@|BO߀ c e$8#\`0"h"`@|4"paO bڔ @{`Hږ@|)   >"p&$>"h>"`@ KOS s#\#`ИȚ`@|"Ж`$! ;h#p;`@1<#\H`@{"@{@{@`"@` ` #\#` #d@{ɐ"@{̐@{˒@M@4ऀ  | lXxph#|`\#\#`#d#h#l#p#t#xด@{!"`$#h\#l#ph#x##t;`#x#`#pX#|####@-#\H`@{o"@{r@{q!@ ""@! a#\#`  #d@{M#h"@{P@{O@`@ i a jHa@{4"@{7@{6֘ #܀`L"b`$ T`E/-@ @{"@{@{`8 &8+`T,@"@'`8a( #\#`#d@z#h"@z@z`8&`T8@z"@z@z`X`2@ G mPa@@zP`$  @// HaH@zĐ"@zǐ@zƐ@A`"@v aX #\#` #d#h #l@z#p"@z@z!@* @   o8 #\apH@@z8b#h@#dH#\H#`` # t,#\0a@z)0`$,#`@/#\H!@zZ "? d a@zb`??$ @Y 2$Ha@z;"@z>@z=sO߀ 2  H"hO#\#`(#dH#hAZOPOPa@z!!"`$P#`@.#\Ha@y"@y@y@w`"@ b@y"@y@y@i@P ` @yҐ"@yՐ@yԒ O߀x@ybO߀ cځ """"""\㿐"&"h``"\'X>"p>"x !bp@yw&"\㿐'XX>"x>">"  H  #a!>"h>"`?>"pb$"a &"㿈\&"`@yQ "`#\Ғ!"# $%`P@y?* "$a$`P@y9* $܁@"p?""p⠅F""`"hȅ?>"p@y0"x @"`""pD@y%>"`"x@"h"p ąF>"h"B>"p"`? B!"h?B ""pȁ B35!"`$"! @ +5@y""#`$!!  0&""`$b"p"h#d#h#l#p#\#`#t 0b@xb"`"h""Ԑ `"$  P !ؘ a܆   8,#@  $ P   @`  `0>"x""#\#`#d#h#l#p 4. -`""x" (#\#`#d#h#l#p08"x#l"#p"#\#`#d#h ز FЅH FF??`j"`"h荡ȉF DDFB??@xH?ȁ  Q"h! ?"`?@x6"p F?F ąā  ?@xY@Ⰱ 9 @?  @xJ?B@ЅąB'  $`P  !ؑ+ a+ :"  @MH㿐@w㿐@w"@x"@w㿐@wԐ$@wѐ"@wΐ""!CX]"`Ȕ@+[]b@~ ""p@B"xpڠf!@"Ф װ @wΐ "@U$<###x# F'Ѐ '؅HB'''@w"0@w####@? @w @w!@w ' @w"*"@ *`" *  *  "    # #@w#@ ߒ# Ԁ א"@@wԒ㿐@w8 `"`"" " " " ;``$;``%&'" #$%#㿐֔@T Ē@& $ h>  p>  >   `@w& &?& ,& (@ k#X@ t @  @  @ m @ V @  @  㿀 0c 4?腠cȇ'DȅBB'* 2 @ z?#  @ [#cЅ BB'* @ ,2 #   @ ֠`#Ԁ "#@ #܀ " $@  $ `2 $@v# $aa @"  $ h>  p>  >  & 㿐"""b@v @!ڒ`$""`$"!"㿐"쀢 2" 8@v#0" 0" 4㿐b쀢  @vq#0 'ڀ` %`@@`@va 2`" , @  @vVЀ@vP܁p" @vG#l"耢`@v>#İ0a@\ b $` "a ` 2Va "a $ "a మ  $ "  b 2 b$ D;` #h#\   2 bb `? ? $@  "$ 2  b#\#`(b#d#h㸈////@u@u͐ ( ?'쀤@_; 97/-+)'@u @ 2 J@/2 . `/@u@` `@u9`@uےH 2  `@u-`@uϒP 2  `@u!`@uÒ`X 2  `@u`@u ` 2  `@u `@uh ` '쀤@ O /-`p""`p@u (@u x /@uh`@ud@ua@u  /@uV`@uR@uO@us  @u006 @u,@u= a@ua@u4:N@ #a@u1a@uB @uH :#a0@u5  @u; @"#ؒaP@u(  @u. @"#̒ah@u @u! :#a@u @u :#a@u  @u  @"!Ēa@t  @t @"#Ȓa@t ֐!@tǒa@tݐ  #a@tԐ א @tpb@tȐ  @tΒ @b" b @t  @t @U" b0@t  @t @H" bH@t  @t @;" bX@t  @t @." bp@t  @t @!" b@tz  @t @" b@tm  ڐ@ts @" !b@t !@ti @t4 ֐!@t4@t, @tT @"#@t" @tJ @"!쀢 "#@tE㿐@s" & & 㿐#@s& 㿐@s#( & & 㿐#X@sג@  p֠ # H B#(cx Ɣ@s?c@s c@s r#\#`c@s˖#`  $#\؉ FF??@w c#P؉ FFD'B'@s $@s@@s0ډ $ HP BX: h腠>  $D: p䉠 $> :  > ; H ;` #Ԁ J;`@ $#܀  @O $   $  @u 0cc@sy c@sY@sK? $, 80M`@sc c@sC@s5? $, ,07`@sM c@s-@s? $, 0!`@s7 ڠc@s@s ?,0 !`@rϔ0!`@rɔ㻐`$@$@r  "` @rԐ `0  㻀'XhX!`'d'l@r` !@r`@  ` &  @rܒ`Ȁ 2&  & & ָ #& > `> X  @r & @r @rd !@rӐ & @r!@rY  & 4 6 46 6& 8& <& @ 8@r  @rk!0  4@r  6 @rg!H@r; &@r[!x `a@rg@rj@ri a@r[@r^@r]#0a@rv  ab0@rl  !b8#P@r=!bx@r b@ra#P@r,@r/@r.׸`<cb@r@r@rcԀ`" c@r cH@r@r @r& #& ą FB'@ & c@q@q@q@q$c@q'2`@ :`'2  : '>!  > & P> > #ȉ F/`FF F> p> > h@q> x& D & H@9& L& ܒ@3  #& ؀`&! & &  & Ԕ & & & T #c# @qb ` T`$`X$@ 2$@$@ # # $`( <`<`  #2  : ' 2  :  '<` В <`  <` 2 '<` 6 "/H H <`0 !a$`8<`@<`H@q"`8 $`P@   `P.`" `8`@ &`P`8 @q* `8@ !$`T  @p `T.`"@@p `T`"@`T@:`T@:`T:``T:``8@v& T@ x֐ #  #(a  #`#d#h#l#\h֪ # Љ B#(? :?ЄH!8 h p''#`?'#\@  & `? `؁D ?D? ! F& > > ?  ?@p> ؁ ?  @p?B>  !?!腠D%פ腠?@pO ؅D D?@p<8!  ? B؄# h pL> x> cЁ@> h> p?@p9@p<@p;ڒ`H`( B`  cB? B'#\@p@p@p`2?Є! hā) ??Є! p   ?' =# ?Є# h p H::`(HF'B'@o@oĐ@oÒ ` ؁ a' - H`=`H?#:'`P@o@o@o`Ԁ 5!?#`pP/@o P )"@# D,   `@ol@ol P & D!?"@ @o_#@o]@o]@o\`#܀`> T`:?#"@)+/`8`@@o9``8  @5`P, @o*@o*`8 &`P @o @o @o @o`X`2/h T| h #\ p  @ 0#`8'@H?e?  P-T @@/:@ :`<`J<` !'@!?؅FB?@n @D<! P@!?Љ BD?@nЍ@F< @  DBDB @3@? @n @<` @n! ! B<`腠D?8&PX2 h㿐@b؁㿐@b؁x (/-#+ )'@nx  @n a@n=a @nk 2 ?!p@n  2?a@n.x?   :@:'%#, @  @nȀ 2 @naР , ֔  (  #d! #h#`#l#\Q %@ H"""b؁ⴀ2 " " ́ⴀ   b̀2 "b ⴁ㿈@%'" ڐ H? @ !`@ؚ @㿐@m "㿐  㿐  㿐@m   " " 㿐@m . 6  " " 㿐@m . 6  " " 㿐@m   " ""  㿐Ð  㿐@mo   " y" 㿐@me . 6  " n" 㿐@mZ . 6  " c" 㿐@mO   " "X"  㿐@mC  $M $@ 㿐@m6  $@ $@ 㿐@m*  " 5" 㿐@m!  " ," 㿐@m  " #" 㿐^  㿐Y  Ѐ `Ȁ6"Є "`㿈0"``Ѐ  `*`h# €@ b0b0ڐ H " " pڐ "`ڐ H " p x" t ډs:  ډn: ڔH  "p"| "t c"xڐ _"`ڐ H "  X"  ډS:  ډN: ڔH  "" " C" ?$  ;$ ڒ`H "`p `h"` @ 0"`tڒ`H "` `l"` @ %"`  2*" * "@*`@ *`'ډ" `# HB!hDB "bא!b(@lT@lgr [ځHXt@㿐   :mP4 "ۚcmMt > > > > (> 0> 8> @> H> P> & > X> `& l& & h& p& t& x& |& & & & &  @l!$ 4㿀 p''""`۟#k *` € |  x"& |D> 0 "1ā  > > > >  "B @Fā + 8 N> B" Y#*V+   N(> B ݗ)"ڗ#9> %N> (D ͗)"ʗ#  h@}"@' "B " B @$Hʁ + 8"+ N> B" #&' &N> B'"#W> 0 +N> &D'"# 8  & @N> Du'"r#  @&N> De'"b# #>  " =>  @N> D$  %&'>   >  > ??@k9"P `k Г*` €  "& D> 0 "1ā > > 0> > ( (" B P"ȅHʉD + H+ N> 0B" Q#,N-7AN9> 0+N> 0&De' l @"   > 0> > (' "B (" B P$Hʁ + H"+ N> 0B" #&'N&> 0B'"#P> (, +N> 0&D' H ( & PN> 0D'"  P&N> 0'D9'> ("##> (  > 0 (" => 0 PN> 0D$  %&' > (  > 0> (?@j_"x N" t D (N" : @`D"Љ  XP"" `مLH J?:> `@> X& h `"ȉ B?@& l8pp㿈?"#"聩  ?@ji  "BB?? @jZ  "BD' 㿐"쀢   $  @j @i㿐 Ԁ "( @j  2 0@   + 0  "  0 `"  0@i 2 0 2 Pؤ!c@iŘ !ڠ!c@@ic`@iz@i@iy @i&    ڐ!c@ii?Pcx@i@i@i] @i/ ??#\c#`#d#h#l@iu E@i7 8@ia@i2 @ib$@iY@i* @iZ$ < < @iK<  O )$ @i@@i @i;?L`) @i4?@ix$ @i2$ @h ;c#\#`@i& @@h 8@i@h @i$@i @hې @i $ < < @h<  O )$ @h@h @h?L`) @h?@i)$ @h$ e$ $c#\@hݚ @h 8@hɐ@h @hʒ$@h@h @h’$ < < $ < =$ $;`#hcؔ#\@h   ڐ!`@hm' @hl 8@h@hg @h$@h@h_ @h$  < < $ @hQ< ;; $ $< (P!`H$"@h "!`P@h3{?`@h*!0Y$@hآ` `d" `+ب;97/5@h@ BO #?`@hB 29 @hQ  h 6- ?@hD   @h @h5  ڒ  `"`0 %`ؒД@gѐa@h2?  ؐ$@h% ؀` % @h 㿈 @gȐ!   !(@g#\ `2@g!H $@g!X $"!p (@g#\@g!㿐 Ԁ Ȑ 0 㿐@gv @㿐?& & .`& & & @gf& &       "   "  "  " @ %`"` " @+`+    " @ ```  `  ` `  (*` 㿐  ?@`    & @g  *`"   &    *&  @gX 㿐@`  @,   Ӑ`&@?" " " 㿐 @gJ  6 !@gA   !@fݰ?㿈?!H# !a?D?@f???D?@f?D?@f㿈֖ BH?@f!؁㿈?!?艠腢 艡 FF??!聠 ! B㿈?!?艠腢  FF??! ! B㿈?!H# !a?D?@f???D?@fv?@D?@fl㿈֖ BH?@fZ"㿈?"?艠腢  FF??" " B㿈?"?艠腢  FF??" " B㿐  "( @e㿈 `@čFBFB @? @eŒ @@E'H!b8$"@f  ??  "!b@@e@e  @e̐J?` `@eŐ*?@b`@e ` bp@e  P@`ܒ@Ɩܨ`9 H?F F?菠B?D''@@  B菠F'D'B''@ @ڒ??@܀`β܀ 2!"bxb@e  m@eܒ@qܨ`''> H?F F?菠B?D''@@   DB''BF'D'B''@@~??@1܀`ɲ܀ !ƒb聩B BƐDF''bА@e+  2N@@ܒ@ ܀ ڐ@Ȁ ܀ 2H Hȉ HB?'𕢉HD?'H?@ ?@艡BDF''@@荡HBFD''@@B艠DF''@@艠B'FDB' '@@艡BȉDB'BF''@@ВBЉDB' FB''@@B腠F'DB''@@!b@d   !c@d"@db c@c 㿐` @@`Jل @ `  J 2 Jل @ `  J 2 Jل @ `  J 2 㿐c@c&㿐@` @ ` &㿐Nِ! `2+-2&@ &㿐&@N - ? - +2N Nْa  * @: @ *@ *`@&@N `@@cѐ&@?Н㿐@cN . $$ @cH$ $ $ h@c@ H > & & (& ,& 0& 4' ">  ~> H@&@' "> /HH !ak> '(?$' ' #\#`'?Ѝ‰ D ??ؐ??@Ô8D?荡FЅƁ   !?@b,(  (艠?@b0(9聩  艠?@b@B?@b> >  ''''  ȅƉ > 8 > 8㿈@b H' " '셠: : 㿈@b H' " '셠: : 㿐@bv "" @"" @`" @@"`"@"@h #H PH   D!a;`  P  hJ#pB p;hD'  #t'#x?#\@  #X** "@'셠?Đ     < 㿈@b'#`#h  #p#x  ##㿈@b'##ƅD?@bf@'@bq'##Ɓ ؐ ,  "# # ,  $#%@㿈??@b:# B㿈 , #' ?   , 8? \  P? ? `?ȅD?@a@@a?ؐ @@a? @@a?ؐ 聢 @ȅF @ 8?ЉH H#t#D 0?;h';`#x#p#\D@@@'?@< (  8 ?"??#|&t?臠'dx(h)lp?\`? L?ȥ?ؕJ?Љ D?JF?؅B JB ̝F??#Ё BȁB؉cЍ B ?&##c????@at   #BcЁ  B !Ё B (#%c?? ??@aC  #BcЁ  #B !cBȁB?? ?@r !F?聬 #BcB聪 ЍBL  >#؁  cB 9 Ё *$%Ѕ F()#Љ JD؝ ‰RJą‰ DBB )?B @@`.@ąB#dd#8x'XX* `?t?h?@`p`@u'   @؅ 6?D?&,'?(#\#`0?#d#h4'#t#x#|?##l#p >``@@@ u?B,` " < @`>  @D?'#`#d#\В BB?@E@/``@%@_㿐 @@@ $ `@  @x@a?@]?؅ ?@V??@O聩  !  ; 㿀'X` -X  2?` @? Ē @ 聨 )? `@d#`@Z#\?;``"#(  0D )D0  7#x?ܒ?؅ ???聩  ! 8" @; 㿈'XX#`#\@@'XX'D`?@_J'?DH ?ؒ ??!  "# F?Ȁ 2  Ȑ|Ҁ ` ` ` `퀤`"`, @$耢 ˀ``(' ?`8H B`,`0@ `?7ƀ5 2#dؐЉȅȍB?H?#\@#` D??@^N?A `?j8 7?#d DؐF?#\@#` kH  ؁Ȑ|Ҁ S؁ O`8BG` C#d FȒH?#\@#` 2؅???@]?ؖ `? DƅBBB @3?@]Ē `? ` , @ `@` `"'`, @$%-`/ ?㿈  `  =4@'쑠'셠ȍ BƉ DDB @'? @]q 0 '쑠'셠ȍ BƉ DDB @? @]Y 0!@]M`H@]? x h*?耢+ %?@%? pB''ȅ ?!@]`H@]   * ?? @] !?  x'D'H@z  D#d?#`H#\??@ 2 "(  #  D#d荠셠?#`H#\??@u 2  `@ 䀦㿈?"# x  ?@]   BB?? @]   BD' 㿈 "!  "!@e@\?腠@?@\u腠@?&@'B&B '!@\Q`H@\C xd\` "#\#`#d@0#\#`#l#p#d#h@0!@\#`H@\ ;`` 8";`` ԡ$(;`أ%`#0$,4%N R  Ѕ `2р H J Lȅ…ԅDƁ; ʁ I:ʅ"2ʅ΅"+ ҅̅" ́;  ҅" `" ʁ7  ";  ΅`" ʁ" `"  ̅" ; ́ ́`"w҅ Lą B  ; ʁ  ʁ ʅ" ʅ΅"+ ; ʁ `"<A?L}  ; ԁ  ԁ ԅ" ԅօ"+a ; ԁ VS`"Kօ"EC ; J 63 J LPā;(  $0  ; L    L JTā;    #;`` ";`؋#`";`藠#`D"#DO  ; ́  E B":Ѕ"3ā; ā +(23ʅ"ą̅ąRL…"  ̅"Ѕ"+ #㿈?$?\`%B DF?D @Hą"?? @Z 聠x'?@Z腡 @'‰?@Z ?؅ @x'?@Z艡@'č?@Y?@؅ā"#㿐  @Y    @Y    @Y  @Yݐ  @Yِ  @YՐ! $@Yѐ! (!  @Y˔ 㿐  @Y!0 !@ @Y 㿐  @Y!0 !@ @Y 㿐@Y!P @Y!` @Y  @Y  @Y! @Y!   @Y!p ! @Y   !  ! !!!`@Yh!@Yd! !ޠ!@Y] @YY!    8 ? ? ? (? 0?U?%   ?v?   ?{?2 0 ? ? ? (?z?@Y "0?B'X`' `??'܇B'X'& ?#8 B'#@??' @X?@ BВ@B@X'@ Bȅ@B'  '#`"3 '#d ܅?'#`#\??` @#\˒#H#\#`#d>@ޚ  2 ( 0@$ 8' ,''F#HDHNʅ BH @Ɖ$?? @Xm $ '"# 9Ք'#d 荠??' #\#`? `cP>@#\#h#l;`hy ("' ," D@X?'BDF3  0? @X ! 0"' 4"? D@X?'BD @? @W =  ( 0"' 4"' ," D@X[?'BD @? @WԒ  9`cP>@#\;` (b#h ,#l 0#p 4#t@Wɰ 0  @ ;``"#D#x?"##X B ? !#h#`???@X ؁  聩#pB#X #xB㿐ڐ!,!h ڐ"!h ڐ !h (ڐ !h ِ#!h ڐ!H!h P'D'H'L?? '  'Ģ !  ?@WR##H@WLLLH"@  e'? ȉ B?! # @W1LHL"@  #@W!D `@"?-+ `@WD ?9 Dڒ  ?&'B ȉ B`Љ ?  ??a @V (@@ Dﵒ 'ȅƉ B؍D?؅BЉB?и  DD؅?a  X@V           `@"vu 2?'?k ?''耥G' Ā `Ā  4?'`K)  :` '`A Ā`?`  4?'\-   :` '\# ? ''H  ` `   `2  \ @a @V h`L" @ ! @V xL"'  `ϒ ؀؀ \Œ! @U 㿀''!  @Ug  ! (@Uǐ!0$]' @  '`B@! @U!  ??????mi   9&&&& Y? ? ? ЅF?ȑD?ȅFB? DB?DB? ސ&' Љ ?ȍ? ?? ?Б&'H‰&'ȕ() J…" 3Ѕ J…?D?@U !8B>? ? ?  FʅBB? :&ȅ J?J ? JЅ? @T!8B>퇐’? ? ?  DʅBB? n&'F @?@T& 1>@U0?@U-?@U*? JЁ@?x@T F@@x !0 >!>a@B?H @T>   >> 㿈\핐퓐! @T{!H ! S@Tp!h0O  7/-"'>᐀ " #\@T_@TX#\#`᐀  @TI`ݐ@ݐݐ!  @T9#̐!@T1#\#`Ě! @T!!hp쵐첐쯐!  @T !점읐욐!@S#؀ +!ؒ@S숐 @-  "@S| , " @Sp , "8@SdK_ 읒왒@;O 썒쉒@+쁒" zАa  m"P@S@fА_  K OK@; ?;@+3" ,Аa  "@SA@[А 2Ȑ+" Аa  "@S@-А @S"또a듐a뎐a닐`" 널?АH! " w?"@Rے@벒! @Rϐ#㾸'''X! X@R#0T  ! K@R#X0 r3؀  >#\#`#d#h#@Rq@#l@gc  `? @R WSO K ’`Ё ? ;#\2. #\' (`@RF`/ .@z@?@@s؁+@/ @.@`@`/ ?.@X@?`@QЁ +`@F0/ / @.@@8`  #/ .@,@?@@%ȁ+"@/ @.@@`%/ .@ @?`@ + `@ / @.@@` @? @Q ?ꀒ|  `Ё qm   Q a]  ą9B QM  Ё A= ?  a /+ ? 9 a @QB Pa 6/ .@s@?@@l+@/ @.@`@Y/ ?.@Q@?`@J +`@?./ / @.@@1`  !/ .@%@?@@+@'/ @.@ / .@@?`@ +`/ @.@`@/ ??.@@?p@@p+@/ @.@`@ɣ/ ?x.@@?h`@h +`@x3/ / @.@@`x  &/ .@@?`@@`+@0/ @.@@|` * £/ .@q@?X`@jX + `@_  ‘/ @.@`@S  9  x@P ?P/ .@=@?@@@6@+@/ @.@`@#/ ?H.@@?8`@8 +`@ H6/ / @.@@`H  )/ .@@?0@@0+@@P  9a` / @.@`/ .@@?(`@( +`@P  a8 / @.@@`P 9, a @O` a @OZ .@/ @@  )"@.@ / @`  -"`ѐ? a! Ɛ@O+#X㿈''  @W聨 9`罔秐@ p''!  @O 畐@N 0ϒ? ? ?Ё瓔0`{@ !  @Nڐ!o@NԐ x 祒? ? ?!09 gQ @   B  ?㿈'쀢`!8B!@ B!H 7‰D'셠B'  @N⨑, "#㿈.`2 #`* 2 #`'쀦`!PB!X Ba` D' !`…B'  2 !h,    <'       Ӑ&ΐ?  ,` < `,=源 ؠ$  ,   : 櫐 (?? ޒ? ? ?!p+  + ɒ 恐  滒? ? ?!p  + 槒 _Ѐ Ё㿀??ϐ T D@Max 6  8@67 X T.`@`! 聨+`x` 8@& T X.`@`!+`聨+`]` 8@& T X @'XX`?lp?tx|??в !m!H!H$ D! " #\ߐ)ڐ!H%`  #\#` #d#h@M2А帐!H #\#`#d#h#l#p#t#x#|##ڐ!Hh@x\`dh?lptx?!  @L!!@Lڐ!," #! @L!!@Lޒ2@Lؐ"! @LА"@!@L̒! Z!,@L"P| ! @L"p!ڐ!,5!,2!  >!,@L"!@Lڐ!,!"! @L!""@L`!@L@L!Hٰ##\ڐ!,ڒb! ! @Ls!h "@Ln`"@Lj @Lg!ڐ!,ڒbڔٖ@!  @LV#@LP#@LM# #\z!  @L>#Hѐ@L8#@L5 ؐ !  @L*#p佐@L$#@L!#0#\N!  @L#H䥐@L #@L #`''Đْ  9 Ғ ?# ƒ ? 俒 ?ą?䲒 ??ؐ䬒 ?䧒 ?䦒Ȑ䟒 `Z@ Ɛ`''Đ䐒 Ɛ$ 䉒@ ? ??ؐx ?s ?rȐk`&@ ې㿐!䕐!H!H$ 0  㿀䀐!}     1ڐ  ,  ? ?0  㿐'XX`!S!H!H$ x–㿐'XX`!8!H!H$ ]@㿈'' !   㠐#@K .`  聨-   9    `ㄐ@"㿐@J @Jܐ  @J֐ (p@J @@B$%pD? `B$%pD?@ p B>> > & ! #\#`#d#h#l!`0@Jh'''XX`hp!㠐!H!H$ 0  Ś#\#`#d#h#l#p#t@h??\`?dhlpt z    J9 x ?``" @聨 3/@   %#\#`#d#h@9؀  $\@d聨  ? ?Ⱀ  #\#`#d#h@؀  $1ܐ㿈\`dh& &  ) `&'셠?? B BBD @3?? @I ? ; 㿈 `2  @ đ HƅBBH @? @I 㿐/Iᔐ  ??㿐㿠㿠v4.421 August 2000 ************************************************************ Welcome to the Flat 2D Robot Simulator %s of %s Copyright (c) 1993-2000, The University of Texas at Austin For information, contact robotics@cs.utexas.edu http://www.cs.utexas.edu/users/qr/robotics/ ************************************************************* @ !TD-@?@!TD-?WJD@!TD-?R8-se?hr ĜBad scanType Bad modelType ???@bM?Unkown type ?!TD-Error creating control socketPort busy, trying port %d Error binding control socket, port probably busyFlat is accepting control connections on port %d Error accepting control connectionAccepted connection. "DISPLAY Sensors %s odometry, sonar, laser(%d)" "DISPLAY UseEnvironment %s" (%ld :MAP-CHANGED %s)@@"DISPLAY MoveRobotTo %s %d %d" "DISPLAY TurnRobotTo %s %d" @@@f@ !TD-( ( %7.3f ) ( %7.3f %7.3f %7.3f ) %ld ( %s %7.3f %d ) %c %c %lf %lf %lf %sShutdown command received from external controller %c %lf %lf %lf %lf %lf (%ld :BLOB (%f %f %f %d) %c %lf %lf %lf %lf %d %lf %lf %lf %lf %lf %d %d (%ld :SEGMENTS ((%f %f) (%f %f)) (%ld( :%s (%f %f %f %f) ) %c %lf (%ld :JUMPS (%f (%f %f) (%f %f)) %c %s %lf %lf %lf %c %lf %lf %lf %d(%ld :OPEN-SPACE %d) %c %s(%ld :MAP-CHANGED :NO-TRANSITION-MATCH) %c %lf %lf %lf (%ld :DOORWAYS (%f %f)ERROR: unknown input to Flat: '%c' No active controller.Lisp ControllerController: %s kalman Num models = %d @ !TD-@f@!TD-?@@>Terminating LISP_CONTROL_LAW Flat: enabling real time mode.Flat: wall clock interval is %ld usec. Flat: simulation will run at %5.3f times real time. @@?/u/robot/flat-root/flat4Stepping simulator. @tUUUUU@,simulator not initialized flat_cl: Client quit, shutting down flat. Reading config file...-config-world-dhost-dport-cport-rtrHOME/ No "%s" file found in the current, home, or Flat directories. Using default parameter values. reading configuration from %s %s %sFlat.SIMULATION_SPEEDFlat.SIMULATION_INTERVALFlat.REAL_TIME_MODEFlat.ENVIRONMENT_SCALEFlat.ENVIRONMENT_DISPLAY_SCALEFlat.CONTROL_PORTFlat.DISPLAY_PORTFlat.DISPLAY_HOSTFlat.ROBOT_TYPEFlat.ROBOT_NAMEFlat.PERFECT_ODOMETRYFlat.USE_SONARFlat.PERFECT_SONARFlat.USE_LASERFlat.PERFECT_LASERFlat.NUMBER_OF_LASERSFlat.LASER_SEPARATIONFlat.LASER_ANGLE Ignoring unrecognized parameter in configuration file: %s flat: Starting %s. flat: %s is stopped. flat: %s is stopped for single-step mode. flat: %s's owner says to quit. (:%s :%sFLAT-DISPLAYROBOT-MOVED(:%s :%s %s %d %d %d)"DISPLAY CantMoveRobotTo %s %d %d" START(:%s :%s %s)STOPSTEPQUITReceived unknown input from display: '%s' @@@f@ !TD-flat @ xsim.c: Error reading Display streamusage: %s [-config ] [-o ] -oflat @ xsim.c: Error creating display socketflat @ xsim.c: Error looking up display hostContacting %s:%d flat @ xsim.c: Error contacting display serverConnection made. Initializing the display. "DISPLAY SetEnvironmentScale %f" "DISPLAY UseEnvironment %s" RWI"DISPLAY AddRobot flat.display.spot.SpotDisplay %s" TINMAN"DISPLAY AddRobot flat.display.tinman.TinmanDisplay %s" ERROR: Unknown ROBOT_TYPE from .flat file: %s ERROR(cont): Assuming RWI (Spot) robot type. "DISPLAY SetRobotParameter %s NumberOfLasers=%d" "DISPLAY SetRobotParameter %s UseSonar=true" "DISPLAY SetRobotParameter %s UseSonar=false" "DISPLAY GetEnvironmentSize" (:%s :%s %d %d)TOPRIGHTLEFT@@"DISPLAY SimulationTime %s %10.3f" "DISPLAY RobotSpeed %s %10.3f %10.3f" "DISPLAY MoveRobotTo %s %d %d" "DISPLAY TurnRobotTo %s %d" "DISPLAY SensorData %s 12 SONAR %7.3f" "DISPLAY SensorData %s %d LASER-%s %d@@@ !TD-@f?I$I$? ޤ ?@f@ !TD--cWarning: -c option no longer supported. Use .flat config file instead. -dWarning: -d option no longer supported. Use .flat config file instead. -sWarning: -s option no longer supported. Use .flat config file instead. @@%s received unknown message! ANo update command for trCmd = %d No update command for rotCmd = %d ?I$I$?A? ޤ @_PA@ !TD-@f@,??%s %s %sSyntax error in MAP statement at line %d: %s Processing %s world file default map: %s %s %s%s (%lf %lf %lf %s %s (%lf %lf %lf)%s (%lf %lf %lf %s %s%s (%lf %lf %lf) %s%s (%lf %lf %lf) %s (%lf %lf %lf) Syntax error: Unable to read transition '%s' at line %d rCan't open the world file '%s' : code %d %sWORLDMAPERROR: Syntax error in %s at line %d. TRANSITIONERROR: Syntax error in %s at line %d, unknown command %s. Transition: %s -> %s within %fmm of (%f, %f) always when command = %s new Location: (%f, %f) @ %f Socket fcntl(GET) failedSocket fcntl(SET) failed@ !TD-@f@ !TD-@f@ !TD-@ !TD-@f@ !TD-@f@ !TD-(%f, %f)rTrouble opening %s : code %d %_gdraw_ lineLine %d: Odd number of args to line(s) polyLine %d: Odd number of args to poly rectLine %d: Not enough args to rectangle Sonar will ignore: %s %lf %lf@ !TD-? !TD-@f@ !TD-@?ə@D?陙D@@4?@D@D@f@ !TD-?!TD-@|3!@!TD-@ !TD-???R8-se@!TD-?@bMUnknown target type %d@ !TD-???@bM?@bM? r = %7.3f theta = %7.3f v = %7.3f x1 = %6d y1 = %6d x2 = %6d y2 = %6d slope = %7.3f x = %7.3f y = %7.3f cx = %6d cy = %6d radius = %7.3f angle = %7.3f PlaneCornerEdgeArcunknownColliding Target: id: %d type: %s visible: %d COLLISION: Robot at (%8.2f, %8.2f) => (%6d, %6d) will collide with surface at (%6d, %6d) COLLISION: Robot at (%8.2f, %8.2f) => (%6d, %6d) is closer than %5.3f to Plane at (%6d, %6d) COLLISION: Robot at (%8.2f, %8.2f) => (%6d, %6d) is closer than %5.3f to Plane from (%6d, %6d) to (%6d, %6d) @ !TD-@f??!TD-@|3!@!TD-@ !TD- enter examine_min_max_interval w = %d s = %d e = %d before loop boundary_start %d boundary_end %d loop istart %d index %d loop iend %d enter calculate slope for points in window this_slope %f end loop for after the for leave examine_min_max_interval??@ !TD-@v entered find_range_discontinuities, range=%f leave find_range_discontinuities?!TD-@ !TD- enter find_mins_and_maxes leave find_mins_and_maxes l = %d s = %d e = %d enter find_all_segments before loop %d %d %d c_discont %d c_min %d c_max %d discontinuities [%d] = %d, minima[%d] = %d, maxima[%d] = %d new segment from discontinuities [%d .. %d] new segment from minima [%d .. %d] new segment from maxima [%d .. %d]Hey! this shouldn't be happening! new segment [%d %d] leave find_all_segments enter combine_colinear_segments enter combine_colinear_segments. Number of segments %d number of segments %d, range_tolerance = %f, angle_tolerance = %f, contig_tolerance = %f considering %d %d range distance %f angle %f %f %f contig %f range and angle tolerance satisfied contig check (%f < %f) = %d contig tolerance satisfied merging segments enter remove_small_segments vector size = %d leaving remove_small_segmentsA?AA?ARIGHTreading %3d: (%f %f) (%f %f) enter extract_min_max_segments k_squid_window_size = %d before mod extract_min_max_segments: squid window size must be odd after mod ready to filter %d points Filtering raw data. enter find_range_discontinuities of %d points number of discontinuities: %d number of minimas %d number of maximas %d number of segments %d enter combine_colinear_segments leave combine_collinear_segments leave remolve_small_segments leave extract_min_max_segments OPEN_SPACE called on %d points, min_distance = %f, min_width = %d Segment: p1=, p2= blob_dimensions(%ld, %ld) ==> (%10.5f, %10.5f, %10.5f, %d) ?@ÈWLaaX$X a00<0H0T0`0l0x00000000000000 0,080D0P0\0h0t0000000000000~0{0x(0u40r@0oL0lX0id0fp0c|0`0]0Z /D /` G oo;PoTp< ; oa//?@| ?-<4 ??333333??7.flat*localhost4?d?@$RWISpot-@@@?dZ1?ěS?Q?$/?Q?-V?hr!?lC?/v?l?ش9XbN?vȴ9X?(\)?n?vȴ9X?ȴ9XbN?lD?E ;P;;< >| /D /` /x T TWLX aaaa -k '2> H? T> cX(qaaaa@ X$? X MdH S| XTh K H @ *X0LD <V PJ0 `Kh0 qI L YdT a@ XM Ah Hx Y` XK0 1pP@ DK| VNH hYl sZ$ aXx< ( `  ` ` $ ( D ( 2  E< W f\ t\@ }D <   a`D  "( 19 IlL WƄP gDh y\ Ԩ  4 ( T P4    ` L  84 ` 7׬ FŸL Q8 `k.d rz. a. a. a/8 a  U" CeHpt Q>|t Xt$ kUp| ~X(@4 , X P %`$ |T XH` W<V x  D   18L :x P`T~ e, peyk ~ nd |8  ` ip@!|h    8h T 5  Be JH SX d`4 ug|Xd4t Vu hUh4TTW<  X, D * ;a OVL VX@ _U  f˔  o zU V h8 (  h@ X x l { U hH !4, | $ -)  8/D >$ N ] h W  [  h & D   < i xpH o `  i  '̠p ;a [8 eV l , X< 0 { P i( X8 L ` U, W0 a t   V &Vp 3Xp Hi, P8 bT vx<4 X\ V 8 a Xh (l iH  WL , h $\ ?V EV Mih ]Ut dip@ j'TX xj T ,  oL U ](, XP ll U V U8   XXj( & AhP M{\8 ]Tch u`(    e!UH ja 4 0   8 /)H =+ KUhP- W b p {+  V( j 8 P aa`@0 !` / ;X0G( [Xb zX}XXVX.d| Xxp4 Vju( UDjD V4'a.THVdNyh ]`i z jjjWX H j$ Uu  ' T /x V#4 3 , FԄ$ WjaD$ mW$r e !V|X`\ l` jvl @ ja^Tt aV@#vd 1V8U? Hn Xas*, h4 , Xl/` jUP 8 < Ux U(Hl بx  U\$j4V<0 flat_solaris_sparccrti.svalues-Xa.ccrtstuff.c__do_global_dtors_auxframe_dummygcc2_compiled.force_to_data__CTOR_LIST__object.11__DTOR_LIST____EH_FRAME_BEGIN__init_dummycompleted.4fini_dummyp.3cl.cunallocate_scancompute_intersectionsegmentstrack_targetsadd_modelgcc2_compiled.blobsremove_scanget_targets_from_tsvisible_bearingadd_model_sameidbearing_is_closeremove_modelmodel_in_tskalman_filstore_interesting_measmodel_idgen.21in_general_rangecreate_targetModelssimilar_model_in_tssameas_existingdoorwayscreate_point_modelkalman_filter_loopcreate_line_modeltrack_targetModelcopy_modelget_global_lockalman_typeall_jumpsflat.cgcc2_compiled.xsim.cflatStepprevSentOri.29flatStopprevSentY.28gcc2_compiled.prevSentX.27flatQuitflatStartspotsim.cspot_threadint_roundupdate_robot_statehandle_wait_stuffgcc2_compiled.send_spot_msgmsg_sendmsg_recvinit_robot_stateno_lwp.cgcc2_compiled.world.cgcc2_compiled.defaultMaplineCountervector.cgcc2_compiled.net-utilities.cgcc2_compiled.mathematics.cgcc2_compiled.sonar.cline_intersectsskipNonBlanksfindNextIntPairdistance_to_planedistance_to_linepredict_scangetIntgcc2_compiled.determine_visible_targetsfindNextNumberPairtointclose_anglefindNextIntfindblankson_line_segmentskipTokenssigned_distance_to_planepredict_returnskipblankstarget_visibleanalysis.cLetextlaser.cLetextcrtstuff.c__DTOR_END____do_global_ctors_aux__CTOR_END__gcc2_compiled.force_to_datainit_dummy__FRAME_END__crtn.supdateLaserray_intersects_targetsocketextract_min_max_segments_no_datadorigetLaser_starttranslate_absolutereadmedian_filterFLAT_VERSIONrotate_where_START_vector_at_endhcmremove_long_readingsjumps_oldangle_add_piK_DISTinitialize_analysis_moduletanstrtodsqrprintTransitioncreateSpotSim_lg2stepSim2remove_small_segmentsldsread_config_filerotate_acc_environ_endprocessWorldStatementcontroller_loopflat_loopvector_clearcreateSim_iobangle_sub_pi_degvector_previouscreate_plane__register_frame_infoangle_add_pi_deg_GLOBAL_OFFSET_TABLE_vector_begin__ctypepod_exitdistance_Point2Dadd_to_targetmapmaximaFwall_Keep_Distremove_erroneous_readingsgethostbynameinit_clminimaacceptSonar_vectoratexitexitranddump_cornervisible_bearingFLAT_VERSION_DATEprocessMapStatementcreateSpotSim_lgtrace_extract_blobsusleepSET_DISTmallocgetSonardump_planesprintfceilRealTimeModetranslate_constvelvector_sizemagFrw_msgpinit_simulatorcheckForDisplayInputexit_flatbindrobotStateextract_min_max_segmentsspotsim_loopdump_arcopen_space_initrotate_absolutefindTransitionfind_closest_surface_at_angle_DATcount.umulinit_lisp_control_lawup_jumpsjumpscreate_targetmapvector_erasecreate_edgeglobal_lisp_cldmininit_kalman_filterlisp_control_law_loopUSECS_PER_CYCLEempiricalLaserErrortrace_combine_colinear_segmentsless_thansscanfexamine_min_max_intervalrotate_relativedump_edgeprint_Point2Dinit_flatinfoPanelTokenK_ORIrotate_haltdelayPsqrtqsorttrace_find_all_segmentscollisionsbearing_to_targetfclosegetenv_END_Fwall_Dist_Tol_Ratioall_ptslaser_granularityfind_mins_and_maxesadd_loop_fnFwall_Max_Tvelstrncpyfind_closest_surface_at_angletrace_find_mins_and_maxesFwall_Max_Deldistopen_space_no_datadata_DYNAMICtranslate_accangle_add_2pi_degestimate_line_leastsquaresfloorstrncmpCYCLE_PER_USECSprintf__iobjumps_no_datawaitEventPangle_sub_pirotate_velvector_endreset_kalman_filterstrcatswitchMapNoMoveK_DORIcreateSim2writefmodatan2createSpotSimFwall_Max_RveltopMsgangle_sub_2pifind_range_discontinuitiesvector_copyadd_sim_control_exitangle_sub_2pi_degrotate_constvelvector_nextvector_currentmedianenvironperrorfind_all_segmentserrnotrace_examine_min_max_intervaltranslate_whererange_to_targetsdist_to_linesegdump_target_infoprint_Segmentextract_blobsfreeblob_pvector_getvector_lengthlaser_scanextract_blobs_no_datacloserandomGaussianErrorDELAY_USECSreadWorldFileint_roundtrace_extract_min_max_segmentstrace_open_spacegaussianget_rangefinder_readingsaddLaserErrorcompute_raytrackingSetparseEnvIntoTargetsConfig__deregister_frame_infok1k2k3strcmpscanReading_distFwall_Closeness_Ratioget_rangefinder_readings_flatfgetsfinishfree_lisp_control_lawacostailMsgprocessTransitionStatementgettimeofday_edata_PROCEDURE_LINKAGE_TABLE_fopensimulator_loopTransitionsvector_push_backangleg_argcprevScansimInfofcntlFrwall_cl_onpcombine_colinear_segmentsg_argvrwi_delaystrcpyfree_cltranslate_haltis_there_a_doorway_etext_lib_versionfflushcreate_sonarsettranslate_relativegreater_distancewaitEventmake_vectoratanangle_add_2pi_ctypestrspnFwall_Max_Oriset_nonblocktargetTypeStringcurScanmainprint_welcome_messageclient_quittv_globalswitchMaptrace_find_range_discontinuities.divalarm_handlermemcpystrlenping_allinit_controllertrace_remove_long_readingsblob_dimensionsvector_initializetranslate_velFwall_Ori_Tol_finisimsinprintTransitionscreate_cornerlistenrwi_killfprintfis_there_a_doorway_no_datanormalizeAnglecosdiscontinuitiesconnectparseDisplayInputas: WorkShop Compilers 5.0 Alpha 03/27/98 Build as: WorkShop Compilers 5.0 Alpha 03/27/98 Build @(#)SunOS 5.7 Generic October 1998as: WorkShop Compilers 5.0 Alpha 03/27/98 Build GCC: (GNU) 2.95.2 19991024 (release)as: WorkShop Compilers 5.0 Alpha 03/27/98 Build GCC: (GNU) 2.95.2 19991024 (release)as: WorkShop Compilers 5.0 Alpha 03/27/98 Build GCC: (GNU) 2.95.2 19991024 (release)as: WorkShop Compilers 5.0 Alpha 03/27/98 Build GCC: (GNU) 2.95.2 19991024 (release)as: WorkShop Compilers 5.0 Alpha 03/27/98 Build GCC: (GNU) 2.95.2 19991024 (release)as: WorkShop Compilers 5.0 Alpha 03/27/98 Build GCC: (GNU) 2.95.2 19991024 (release)as: WorkShop Compilers 5.0 Alpha 03/27/98 Build GCC: (GNU) 2.95.2 19991024 (release)as: WorkShop Compilers 5.0 Alpha 03/27/98 Build GCC: (GNU) 2.95.2 19991024 (release)as: WorkShop Compilers 5.0 Alpha 03/27/98 Build GCC: (GNU) 2.95.2 19991024 (release)as: WorkShop Compilers 5.0 Alpha 03/27/98 Build GCC: (GNU) 2.95.2 19991024 (release)as: WorkShop Compilers 5.0 Alpha 03/27/98 Build GCC: (GNU) 2.95.2 19991024 (release)as: WorkShop Compilers 5.0 Alpha 03/27/98 Build GCC: (GNU) 2.95.2 19991024 (release)as: WorkShop Compilers 5.0 Alpha 03/27/98 Build GCC: (GNU) 2.95.2 19991024 (release)as: WorkShop Compilers 5.0 Alpha 03/27/98 Build GCC: (GNU) 2.95.2 19991024 (release)as: WorkShop Compilers 5.0 Alpha 03/27/98 Build ld: Software Generation Utilities - Solaris/ELF (3.0)q <I4r` d`@d`K<Z׀L 4ZՀ1Uɂ8Vp')91M<gJzRYà"d܂d- / G: \> A C M ] m  > T % ǀ+ < Q - 8 C Y o ʀ) ߀. 5{! @#W'm>DEˀJNOP&U=^U_onow}ـ~1Om56L؀MS T U5VKXaYxZ]elԀmnpq1rHsdtɀ4Qj׀ !<-H#`$x*789Հ:;<=6CKGbSxZ[i6܀q}Aw׀:^ǀ /E]rЀ&=SjԂ-/3rǸ ܀!'!2<!M!R!!"ǀ"##;#$$)$C$Z$.$$@%%ǀJ%܀&]&&:'<#'/'8'ɀ>'((r)!)x)))ł)߂)$**/*I*b*,*ɀ+4++3+Y+s+++#,,,H,d, ,,,&--'+-A-Y.E<.[.wC..ʀn./#0011D11K23f3Ԁ5T5m555ـ56. 6D 6a 6{67$7@:<>>/>G>> >>ׂ>6?AQA^AB]BuBBCDȀE?EE܀EG HHՀHIрIJ΀KLM"M?2MX7Mq<MNXN܀O&>O|OPP|PπQ4Q<QIQQS6SSFS`SSVXWJXoXĀY3$YJY,YY1Z Z9Z PZ QZ R[ S[* T[I U[o V[ W[ X[$j`DjDkDlDm,Dn@DoTDqhDs|[$[$\ |D\ }H\6}L\J@~\_~\q\\~`DDDDDD D$D(D,D0DDDPDhDDDDDDDDD$DDDTD\DDDDDDDDDDD (D LD\D`D lDDDDDDDD% D',D(0D*<D,DD.LD0TD1XD3\D5`DGhDJpDLtDXxDdDzD~DDDDDDD D4D<DHDTD\DpD|DDDDDDDDDDDDDDDDDD D D(D,DDDXD`DpD|DDDDDDDDDDD DDD\\\\ʀ\@\@]]@]-@]A]Q@$]d@]u]@]]@]@]@]@]@]@]$]$!^ @^/^F@ D!D" D& D(D)(D+8D,LD-\D.dD1hD5tD7|D<D>D@D5DCDDDE^^@"^h" ^q$^r$R^@P^@Q^@Q^@RDRDTD\ D^$D_4Db@DcXDe\DhdDkhDmxDnDoDqDrDsDtDuDvDlDxDy$Dz0D{<D|HD~TDDDDDDDDD@D@D\DdDDDDDDDD$D$D@DXDtDDDDD8D@DLDPDT^T^T^T_ T_T_(@U&_:@V$_L@X_V@Z_a@Z_l[_u[_~\_mx_@_$T_$\_$T_@_@_@`@`@`!\DDDDD D4D<DPD`DhDlDpDDDDDDDDDD(D<DDDdDDD`/@`=@`S@`g@`u$`v$`@`@`@`@`@DDDDD(D<DHD#D'D)D+D,D.D/D0D1D48D<D?DBDD DG@DIHDKTDMhDNpDVDX$DZHD\XD^xD`DbDeDfDhDjDlDnDp0Dr8DtDDvXDy`D%hDDDDDDD$D8D@`@`@a@a@a&@a9$Ha:$ Ha\@ama@aXDDDD,D8DLD\DtDxD|DDDDDD,DDDD$D,D<D D D D D D DD 4DDD\DpDa@a@a@a$a$!b @ b D!D" D& D*D/LD(\D4pb8@" pbA$xbB$?Pb_@>bt>D?D@ DF DH DI,DMDDPHDQhDRDTDODWDYDZD]b@@b@AbB b$b$e4b@dDeDfDkDo Dp,DqHDmXDulb@fb@gbhlc$tc$~c@}c%@} D~DDD$D,D0c/$8c0$c?@cV@ DDDpDDci@cr$cs$|c@c@DDD,DDDDDDDDDD0DHDTDhDDDDc@c@d@d@d@d#@d,$d-$@dNd`dr@DD D DDD<D|DDDDD DD(d@d@ddd (d$0d$pdee@e)@DD D D"D#D%$D&<D(LD)XD*\D-D&D3D4D5D8D1D<D= D>,e6@eD@ eN@eZ@" ,eh$4ei$^e@Pe@Qe@ReĠSXe۠T`eUhfVlf4WtfTX|ftYfZf[fƠ\f]D^D`XDc\DdhDgpDhDiDlDmDqDsDuDoDnDw,Df@Sg Tg(VgF@Wgf@XgYgZg@[g@\g@]h@`Xh @qh$h$!4h9@hF@he@h@h\hdhߠliti|i1iMDD8DLDXDhDxDDDDDDDDDDDDDD,DDDTDdDlD|DDDDDDDDD D,D`DtD|DDDDDDD D D4DHDPDhDtDDDD D&D*D,D-D.D0$i^@i~i@ii@i@j @j$,j$H%`j.@Gj;GjH@GDHDJ DR DSDX$D[,D]D_D`DaDbDcDdDfDXDijX@Jji@Kj|@L"j@MjO j$$j$m&j@ljàlj@lDmDo Dw DxD}$D,D<DPDTDdDlDDDD}Dj@oj@pk@q k@rkt k/$k0$'TkF@kT@kj@DD DD D<DPkz$Xk{$'k@k@k@DD D DD D4DTDhDtDDk@k΀ k$k$(Hl@l@l!@l3XlE`DD D,D4DPDdlU@lg@lw$llx$(l@l@l@lŠXlڠ`DD D,D4DPDdl@m@m$lm$) m%@m2mG@DD D DD D (DHDPDDDD D!mX@mi@m@m@m@ m$m$%)m@$D%D&D'D)D*(D+4D,@m$Hm$5*,m@1n@2n@3D5D6D8D9DD:hD<D=D>D?DADCDFDGn.@6n>@8nO@9n`@: no$np$R+ n@KnLn@MnܠNXnO`o Pho"QpDRDT(DU4DV<DXXD^o0@NoJ@Oo`@Pov@Qo$o$j+o@bo@codo֠eof\pgdp&hlp<itDjDk,Ds,Dt0Dw8Dx<Dz@D{DD}HDPD\DxDDDDDDDDD0DPDXD\D`DdDhDhD}lDDDpJfpc@gpy@hp@ip@kp@lp@lp@mp@np@oq@pq@p,hq)$q*$-q8@qM@q`@qr@q@q\qdDDDD0Dq@q@q@q@q$q \r ]r# ^r4 _rC `rR ar_d.d$` d.d=d.dE<Tр Fހ.Tyπ+OyłЀ   au/La؂+A)1<(J;RPYdaz:  - / ̀: > A "C GM y]  Gm Ƃ ހ) . I ŀ !T#k'>DɀE߀JN O#P:UQ^i_nowЀ}~ 'Ec56ӀLMST4UIV_XuYZ]eҀlmnp.qEr\sxt€݀+He~Ҁ5P-A\#t$*78р9:;<2=JC_GvOSZ[؀?i`q&I}k&dр3Yò$9Ph~̀1-G/^N$  C' ]< x R ڀ!!"#"8"E""#6$ $.d$"@$,@DDD DD$D(D,D4D8Dt$6@($@@"$J@ $$T@ &t$^$|$_d..interp.hash.dynsym.dynstr.SUNW_version.rela.got.rela.bss.rela.plt.text.init.fini.rodata.got.plt.dynamic.data.ctors.dtors.eh_frame.bss.symtab.strtab.comment.stab.index.stab.shstrtab.stab.indexstr.stabstrvalues-Xa.cXt ; O ; V=3.1 ; R=WorkShop Compilers 4.2 30 Oct 1996 C 4.2/builds3/s998_21a/usr/src/lib/libc/sparc; /opt/SUNWspro.40/SC4.2/bin/../SC4.2/bin/cc -xO3 -xcg89 -Wa,-cg92 -xspace -W0,-Lt -Xt -D_REENTRANT -Dsparc -Iinc -I../inc -DTEXT_DOMAIN='"SUNW_OST_OSLIB"' -I/builds3/s998_21a/proto/root_sparc/usr/include -c -o values-Xa.o ../port/gen/values-Xa.c -W0,-xpanalysis.c/v/hank/v86/robot/flat-root/flat4/src/sensor/laser/analysis.cgcc2_compiled.int:t(0,1)=r(0,1);0020000000000;0017777777777;char:t(0,2)=r(0,2);0;127;long int:t(0,3)=r(0,1);0020000000000;0017777777777;unsigned int:t(0,4)=r(0,1);0000000000000;0037777777777;long unsigned int:t(0,5)=r(0,1);0000000000000;0037777777777;long long int:t(0,6)=r(0,1);01000000000000000000000;0777777777777777777777;long long unsigned int:t(0,7)=r(0,1);0000000000000;01777777777777777777777;short int:t(0,8)=r(0,8);-32768;32767;short unsigned int:t(0,9)=r(0,9);0;65535;signed char:t(0,10)=r(0,10);-128;127;unsigned char:t(0,11)=r(0,11);0;255;float:t(0,12)=r(0,1);4;0;double:t(0,13)=r(0,1);8;0;long double:t(0,14)=r(0,1);16;0;complex int:t(0,15)=s8real:(0,1),0,32;imag:(0,1),32,32;;complex float:t(0,16)=r(0,16);4;0;complex double:t(0,17)=r(0,17);8;0;complex long double:t(0,18)=r(0,18);16;0;void:t(0,19)=(0,19)/usr/include/stdio.h/usr/include/sys/feature_tests.h/usr/include/sys/isa_defs.h/usr/include/sys/va_list.h__va_list:t(4,1)=(4,2)=*(0,19)/usr/include/stdio_tag.h__FILE:t(5,1)=(5,2)=xs__FILE:/usr/include/stdio_impl.hssize_t:t(6,1)=(0,1)__FILE:T(5,2)=s16_cnt:(6,1),0,32;_ptr:(6,2)=*(0,11),32,32;_base:(6,2),64,32;_flag:(0,11),96,8;_file:(0,11),104,8;__orientation:(0,4),112,2;__filler:(0,4),114,6;;FILE:t(1,1)=(5,1)size_t:t(1,2)=(0,4)__longlong_t:t(1,3)=(0,6)off_t:t(1,4)=(0,3)off64_t:t(1,5)=(1,3)fpos_t:t(1,6)=(0,3)fpos64_t:t(1,7)=(1,3)/usr/include/math.h_h_val:T(7,1)=u8_i:(7,2)=ar(0,1);0;1;(0,5),0,64;_d:(0,13),0,64;;_h_val:t(7,3)=(7,1)version:T(7,4)=elibm_ieee:-1,c_issue_4:0,ansi_1:1,strict_ansi:2,;exception:T(7,5)=s32type:(0,1),0,32;name:(7,6)=*(0,2),32,32;arg1:(0,13),64,64;arg2:(0,13),128,64;retval:(0,13),192,64;;/usr/include/floatingpoint.h/usr/include/sys/ieeefp.hfp_direction_type:T(9,1)=efp_nearest:0,fp_tozero:1,fp_positive:2,fp_negative:3,;fp_precision_type:T(9,2)=efp_extended:0,fp_single:1,fp_double:2,fp_precision_3:3,;fp_exception_type:T(9,3)=efp_inexact:0,fp_division:1,fp_underflow:2,fp_overflow:3,fp_invalid:4,;fp_trap_enable_type:T(9,4)=efp_trap_inexact:0,fp_trap_division:1,fp_trap_underflow:2,fp_trap_overflow:3,fp_trap_invalid:4,;fp_class_type:T(9,5)=efp_zero:0,fp_subnormal:1,fp_normal:2,fp_infinity:3,fp_quiet:4,fp_signaling:5,;sigfpe_code_type:t(8,1)=(0,1)sigfpe_handler_type:t(8,2)=(8,3)=*(8,4)=f(0,19)single:t(8,5)=(0,12)extended:t(8,6)=(8,7)=ar(0,1);0;2;(0,4)quadruple:t(8,8)=(0,14)fp_exception_field_type:t(8,9)=(0,4)decimal_string:t(8,10)=(8,11)=ar(0,1);0;511;(0,2)decimal_record:t(8,12)=(8,13)=s532fpclass:(9,5),0,32;sign:(0,1),32,32;exponent:(0,1),64,32;ds:(8,10),96,4096;more:(0,1),4192,32;ndigits:(0,1),4224,32;;decimal_form:T(8,14)=efixed_form:0,floating_form:1,;decimal_mode:t(8,15)=(8,16)=s12rd:(9,1),0,32;df:(8,14),32,32;ndigits:(0,1),64,32;;decimal_string_form:T(8,17)=einvalid_form:0,whitespace_form:1,fixed_int_form:2,fixed_intdot_form:3,fixed_dotfrac_form:4,fixed_intdotfrac_form:5,floating_int_form:6,floating_intdot_form:7,floating_dotfrac_form:8,floating_intdotfrac_form:9,inf_form:10,infinity_form:11,nan_form:12,nanstring_form:13,;/usr/include/stdlib.hdiv_t:t(10,1)=(10,2)=s8quot:(0,1),0,32;rem:(0,1),32,32;;ldiv_t:t(10,3)=(10,4)=s8quot:(0,3),0,32;rem:(0,3),32,32;;lldiv_t:t(10,5)=(10,6)=s16quot:(0,6),0,64;rem:(0,6),64,64;;uid_t:t(10,7)=(0,3)wchar_t:t(10,8)=(0,3)analysis.hplatform.hreal_8:t(12,1)=(0,13)timeval:t(12,2)=(0,1)bool:t(12,3)=(0,1)/u/robot/flat-root/flat4/src/util/mathematics.h/usr/include/sys/time.htime_t:t(14,1)=(0,3)suseconds_t:t(14,2)=(0,3)timeval:T(14,3)=s8tv_sec:(14,1),0,32;tv_usec:(14,2),32,32;;timezone:T(14,4)=s8tz_minuteswest:(0,1),0,32;tz_dsttime:(0,1),32,32;;/usr/include/sys/types.h/usr/include/sys/machtypes.h_physadr_t:T(16,1)=s4r:(16,2)=ar(0,1);0;0;(0,1),0,32;;physadr_t:t(16,3)=(16,4)=*(16,1)_label_t:T(16,5)=s8val:(16,6)=ar(0,1);0;1;(0,3),0,64;;label_t:t(16,7)=(16,5)lock_t:t(16,8)=(0,11)/usr/include/sys/int_types.hint8_t:t(17,1)=(0,2)int16_t:t(17,2)=(0,8)int32_t:t(17,3)=(0,1)int64_t:t(17,4)=(0,6)uint8_t:t(17,5)=(0,11)uint16_t:t(17,6)=(0,9)uint32_t:t(17,7)=(0,4)uint64_t:t(17,8)=(0,7)intmax_t:t(17,9)=(17,4)uintmax_t:t(17,10)=(17,8)intptr_t:t(17,11)=(0,1)uintptr_t:t(17,12)=(0,4)int_least8_t:t(17,13)=(0,2)int_least16_t:t(17,14)=(0,8)int_least32_t:t(17,15)=(0,1)int_least64_t:t(17,16)=(0,6)uint_least8_t:t(17,17)=(0,11)uint_least16_t:t(17,18)=(0,9)uint_least32_t:t(17,19)=(0,4)uint_least64_t:t(17,20)=(0,7)longlong_t:t(15,1)=(0,6)u_longlong_t:t(15,2)=(0,7)t_scalar_t:t(15,3)=(0,3)t_uscalar_t:t(15,4)=(0,5)uchar_t:t(15,5)=(0,11)ushort_t:t(15,6)=(0,9)uint_t:t(15,7)=(0,4)ulong_t:t(15,8)=(0,5)caddr_t:t(15,9)=(7,6)daddr_t:t(15,10)=(0,3)cnt_t:t(15,11)=(0,8)paddr_t:t(15,12)=(15,8)ptrdiff_t:t(15,13)=(0,1)pfn_t:t(15,14)=(15,8)pgcnt_t:t(15,15)=(15,8)spgcnt_t:t(15,16)=(0,3)use_t:t(15,17)=(15,5)sysid_t:t(15,18)=(0,8)index_t:t(15,19)=(0,8)timeout_id_t:t(15,20)=(4,2)bufcall_id_t:t(15,21)=(4,2)ino_t:t(15,22)=(15,8)blkcnt_t:t(15,23)=(0,3)fsblkcnt_t:t(15,24)=(15,8)fsfilcnt_t:t(15,25)=(15,8)ino64_t:t(15,26)=(15,2)blkcnt64_t:t(15,27)=(15,1)fsblkcnt64_t:t(15,28)=(15,2)fsfilcnt64_t:t(15,29)=(15,2)blksize_t:t(15,30)=(0,3) :T(15,31)=eB_FALSE:0,B_TRUE:1,;boolean_t:t(15,32)=(15,31)pad64_t:t(15,33)=(17,4)upad64_t:t(15,34)=(17,8)offset_t:t(15,35)=(15,1)u_offset_t:t(15,36)=(15,2)len_t:t(15,37)=(15,2)diskaddr_t:t(15,38)=(15,1)lloff_t:t(15,39)=(15,40)=u8_f:(15,35),0,64;_p:(15,41)=s8_u:(17,3),0,32;_l:(17,3),32,32;;,0,64;;lldaddr_t:t(15,42)=(15,43)=u8_f:(15,38),0,64;_p:(15,44)=s8_u:(17,3),0,32;_l:(17,3),32,32;;,0,64;;k_fltset_t:t(15,45)=(15,7)id_t:t(15,46)=(0,3)useconds_t:t(15,47)=(15,7)major_t:t(15,48)=(15,8)minor_t:t(15,49)=(15,8)pri_t:t(15,50)=(0,8)o_mode_t:t(15,51)=(15,6)o_dev_t:t(15,52)=(0,8)o_uid_t:t(15,53)=(15,6)o_gid_t:t(15,54)=(15,53)o_nlink_t:t(15,55)=(0,8)o_pid_t:t(15,56)=(0,8)o_ino_t:t(15,57)=(15,6)key_t:t(15,58)=(0,1)mode_t:t(15,59)=(15,8)gid_t:t(15,60)=(10,7)pthread_t:t(15,61)=(0,4)pthread_key_t:t(15,62)=(0,4)_pthread_mutex:T(15,63)=s24__pthread_mutex_flags:(15,64)=s8__pthread_mutex_flag:(15,65)=ar(0,1);0;3;(17,5),0,32;__pthread_mutex_type:(17,7),32,32;;,0,64;__pthread_mutex_lock:(15,66)=u8__pthread_mutex_lock64:(15,67)=s8__pthread_mutex_pad:(15,68)=ar(0,1);0;7;(17,5),0,64;;,0,64;__pthread_mutex_owner64:(15,34),0,64;;,64,64;__pthread_mutex_data:(15,34),128,64;;pthread_mutex_t:t(15,69)=(15,63)_pthread_cond:T(15,70)=s16__pthread_cond_flags:(15,71)=s8__pthread_cond_flag:(15,65),0,32;__pthread_cond_type:(17,7),32,32;;,0,64;__pthread_cond_data:(15,34),64,64;;pthread_cond_t:t(15,72)=(15,70)_pthread_rwlock:T(15,73)=s64__pthread_rwlock_readers:(17,3),0,32;__pthread_rwlock_type:(17,6),32,16;__pthread_rwlock_magic:(17,6),48,16;__pthread_rwlock_pad1:(15,74)=ar(0,1);0;2;(15,34),64,192;__pthread_rwlock_pad2:(15,75)=ar(0,1);0;1;(15,34),256,128;__pthread_rwlock_pad3:(15,75),384,128;;pthread_rwlock_t:t(15,76)=(15,73)_pthread_attr:T(15,77)=s4__pthread_attrp:(4,2),0,32;;pthread_attr_t:t(15,78)=(15,77)_pthread_mutexattr:T(15,79)=s4__pthread_mutexattrp:(4,2),0,32;;pthread_mutexattr_t:t(15,80)=(15,79)_pthread_condattr:T(15,81)=s4__pthread_condattrp:(4,2),0,32;;pthread_condattr_t:t(15,82)=(15,81)_once:T(15,83)=s32__pthread_once_pad:(15,84)=ar(0,1);0;3;(15,34),0,256;;pthread_once_t:t(15,85)=(15,83)_pthread_rwlockattr:T(15,86)=s4__pthread_rwlockattrp:(4,2),0,32;;pthread_rwlockattr_t:t(15,87)=(15,86)dev_t:t(15,88)=(15,8)nlink_t:t(15,89)=(15,8)pid_t:t(15,90)=(0,3)clock_t:t(15,91)=(0,3)clockid_t:t(15,92)=(0,1)timer_t:t(15,93)=(0,1)unchar:t(15,94)=(0,11)ushort:t(15,95)=(0,9)uint:t(15,96)=(0,4)ulong:t(15,97)=(0,5)u_char:t(15,98)=(0,11)u_short:t(15,99)=(0,9)u_int:t(15,100)=(0,4)u_long:t(15,101)=(0,5)_quad:T(15,102)=s8val:(15,103)=ar(0,1);0;1;(0,1),0,64;;quad_t:t(15,104)=(15,102)quad:t(15,105)=(15,104)/usr/include/sys/select.h/usr/include/sys/time.hfd_mask:t(18,1)=(0,3)fds_mask:t(18,2)=(0,3)fd_set:T(18,3)=s128fds_bits:(18,4)=ar(0,1);0;31;(0,3),0,1024;;fd_set:t(18,5)=(18,3)itimerval:T(14,5)=s16it_interval:(14,3),0,64;it_value:(14,3),64,64;;hrtime_t:t(14,6)=(15,1)/usr/include/time.htm:T(20,1)=s36tm_sec:(0,1),0,32;tm_min:(0,1),32,32;tm_hour:(0,1),64,32;tm_mday:(0,1),96,32;tm_mon:(0,1),128,32;tm_year:(0,1),160,32;tm_wday:(0,1),192,32;tm_yday:(0,1),224,32;tm_isdst:(0,1),256,32;;/usr/include/sys/time_impl.htimespec:T(21,1)=s8tv_sec:(14,1),0,32;tv_nsec:(0,3),32,32;;timespec_t:t(21,2)=(21,1)timestruc_t:t(21,3)=(21,1)itimerspec:T(21,4)=s16it_interval:(21,1),0,64;it_value:(21,1),64,64;;itimerspec_t:t(21,5)=(21,4)sigval:T(20,2)=u4sival_int:(0,1),0,32;sival_ptr:(4,2),0,32;;sigevent:T(20,3)=s24sigev_notify:(0,1),0,32;sigev_signo:(0,1),32,32;sigev_value:(20,2),64,32;sigev_notify_function:(20,4)=*(20,5)=f(0,19),96,32;sigev_notify_attributes:(20,6)=*(15,78),128,32;__sigev_pad2:(0,1),160,32;;point2d:T(13,1)=s16x:(0,13),0,64;y:(0,13),64,64;;Point2D:t(13,2)=(13,1)/u/robot/flat-root/flat4/src/util/vector.hvector:T(22,1)=s28values:(22,2)=*(4,2),0,32;end:(0,1),32,32;length:(0,1),64,32;current:(0,1),96,32;element_size:(0,1),128,32;max_elements:(0,1),160,32;index_memory:(0,1),192,32;;Vector:t(22,3)=(22,1)/u/robot/flat-root/flat4/src/robot.h/usr/include/sys/socket.h/usr/include/sys/uio.hiovec:T(25,1)=s8iov_base:(15,9),0,32;iov_len:(0,3),32,32;;iovec_t:t(25,2)=(25,1)uio_seg:T(25,3)=eUIO_USERSPACE:0,UIO_SYSSPACE:1,UIO_USERISPACE:2,;uio_seg_t:t(25,4)=(25,3)uio:T(25,5)=s40uio_iov:(25,6)=*(25,2),0,32;uio_iovcnt:(0,1),32,32;_uio_offset:(15,39),64,64;uio_segflg:(25,4),128,32;uio_fmode:(0,8),160,16;_uio_limit:(15,42),192,64;uio_resid:(6,1),256,32;;uio_t:t(25,7)=(25,5)uio_rw:T(25,8)=eUIO_READ:0,UIO_WRITE:1,;uio_rw_t:t(25,9)=(25,8)/usr/include/sys/netconfig.hnetconfig:T(26,1)=s64nc_netid:(7,6),0,32;nc_semantics:(0,4),32,32;nc_flag:(0,4),64,32;nc_protofmly:(7,6),96,32;nc_proto:(7,6),128,32;nc_device:(7,6),160,32;nc_nlookups:(0,4),192,32;nc_lookups:(26,2)=*(7,6),224,32;nc_unused:(26,3)=ar(0,1);0;7;(0,4),256,256;;NCONF_HANDLE:t(26,4)=(26,5)=s8nc_head:(26,6)=*(26,7)=*(26,1),0,32;nc_curr:(26,6),32,32;;sa_family_t:t(24,1)=(17,6)socklen_t:t(24,2)=(17,7)Psocklen_t:t(24,3)=(4,2)linger:T(24,4)=s8l_onoff:(0,1),0,32;l_linger:(0,1),32,32;;sockaddr:T(24,5)=s16sa_family:(24,1),0,16;sa_data:(24,6)=ar(0,1);0;13;(0,2),16,112;;msghdr:T(24,7)=s24msg_name:(4,2),0,32;msg_namelen:(24,2),32,32;msg_iov:(24,8)=*(25,1),64,32;msg_iovlen:(0,1),96,32;msg_accrights:(15,9),128,32;msg_accrightslen:(0,1),160,32;;cmsghdr:T(24,9)=s12cmsg_len:(24,2),0,32;cmsg_level:(0,1),32,32;cmsg_type:(0,1),64,32;;/usr/include/netinet/in.h/usr/include/sys/stream.h/usr/include/sys/vnode.h/usr/include/sys/t_lock.h/usr/include/sys/machlock.hdisp_lock_t:t(31,1)=(16,8)/usr/include/sys/param.h/usr/include/sys/unistd.h/usr/include/sys/mutex.h :T(34,1)=eMUTEX_ADAPTIVE:0,MUTEX_SPIN:1,MUTEX_DRIVER:4,MUTEX_DEFAULT:6,;kmutex_type_t:t(34,2)=(34,1)mutex:T(34,3)=s8_opaque:(34,4)=ar(0,1);0;1;(4,2),0,64;;kmutex_t:t(34,5)=(34,3)/usr/include/sys/rwlock.h :T(35,1)=eRW_DRIVER:2,RW_DEFAULT:4,;krw_type_t:t(35,2)=(35,1) :T(35,3)=eRW_WRITER:0,RW_READER:1,;krw_t:t(35,4)=(35,3)_krwlock:T(35,5)=s4_opaque:(35,6)=ar(0,1);0;0;(4,2),0,32;;krwlock_t:t(35,7)=(35,5)/usr/include/sys/semaphore.h :T(36,1)=eSEMA_DEFAULT:0,SEMA_DRIVER:1,;ksema_type_t:t(36,2)=(36,1)_ksema:T(36,3)=s8_opaque:(34,4),0,64;;ksema_t:t(36,4)=(36,3)/usr/include/sys/condvar.h_kcondvar:T(37,1)=s2_opaque:(15,6),0,16;;kcondvar_t:t(37,2)=(37,1) :T(37,3)=eCV_DEFAULT:0,CV_DRIVER:1,;kcv_type_t:t(37,4)=(37,3)/usr/include/sys/cred.hcred:T(38,1)=s36cr_ref:(15,7),0,32;cr_uid:(10,7),32,32;cr_gid:(15,60),64,32;cr_ruid:(10,7),96,32;cr_rgid:(15,60),128,32;cr_suid:(10,7),160,32;cr_sgid:(15,60),192,32;cr_ngroups:(15,7),224,32;cr_groups:(38,2)=ar(0,1);0;0;(15,60),256,32;;cred_t:t(38,3)=(38,1)/usr/include/sys/resource.hrlim_t:t(39,1)=(0,5)rlimit:T(39,2)=s8rlim_cur:(39,1),0,32;rlim_max:(39,1),32,32;;rlim64_t:t(39,3)=(15,2)rlimit64:T(39,4)=s16rlim_cur:(39,3),0,64;rlim_max:(39,3),64,64;;rusage:T(39,5)=s72ru_utime:(14,3),0,64;ru_stime:(14,3),64,64;ru_maxrss:(0,3),128,32;ru_ixrss:(0,3),160,32;ru_idrss:(0,3),192,32;ru_isrss:(0,3),224,32;ru_minflt:(0,3),256,32;ru_majflt:(0,3),288,32;ru_nswap:(0,3),320,32;ru_inblock:(0,3),352,32;ru_oublock:(0,3),384,32;ru_msgsnd:(0,3),416,32;ru_msgrcv:(0,3),448,32;ru_nsignals:(0,3),480,32;ru_nvcsw:(0,3),512,32;ru_nivcsw:(0,3),544,32;;/usr/include/vm/seg_enum.hfault_type:T(40,1)=eF_INVAL:0,F_PROT:1,F_SOFTLOCK:2,F_SOFTUNLOCK:3,;lock_type:T(40,2)=eL_PAGELOCK:0,L_PAGEUNLOCK:1,L_PAGERECLAIM:2,;seg_rw:T(40,3)=eS_OTHER:0,S_READ:1,S_WRITE:2,S_EXEC:3,S_CREATE:4,;vtype:T(29,1)=eVNON:0,VREG:1,VDIR:2,VBLK:3,VCHR:4,VLNK:5,VFIFO:6,VDOOR:7,VPROC:8,VSOCK:9,VBAD:10,;vtype_t:t(29,2)=(29,1)vnode:T(29,3)=s60v_lock:(34,5),0,64;v_flag:(15,6),64,16;v_count:(15,7),96,32;v_vfsmountedhere:(29,4)=*(29,5)=xsvfs:,128,32;v_op:(29,6)=*(29,7)=xsvnodeops:,160,32;v_vfsp:(29,4),192,32;v_stream:(29,8)=*(29,9)=xsstdata:,224,32;v_pages:(29,10)=*(29,11)=xspage:,256,32;v_type:(29,1),288,32;v_rdev:(15,88),320,32;v_data:(15,9),352,32;v_filocks:(29,12)=*(29,13)=xsfilock:,384,32;v_shrlocks:(29,14)=*(29,15)=xsshrlocklist:,416,32;v_cv:(37,2),448,16;;vnode_t:t(29,16)=(29,3)vattr:T(29,17)=s96va_mask:(15,7),0,32;va_type:(29,2),32,32;va_mode:(15,59),64,32;va_uid:(10,7),96,32;va_gid:(15,60),128,32;va_fsid:(15,88),160,32;va_nodeid:(15,2),192,64;va_nlink:(15,89),256,32;va_size:(15,36),320,64;va_atime:(21,3),384,64;va_mtime:(21,3),448,64;va_ctime:(21,3),512,64;va_rdev:(15,88),576,32;va_blksize:(15,7),608,32;va_nblocks:(15,2),640,64;va_vcode:(15,7),704,32;;vattr_t:t(29,18)=(29,17)vattr32_t:t(29,19)=(29,18)rm:T(29,20)=eRMFILE:0,RMDIRECTORY:1,;symfollow:T(29,21)=eNO_FOLLOW:0,FOLLOW:1,;vcexcl:T(29,22)=eNONEXCL:0,EXCL:1,;create:T(29,23)=eCRCREAT:0,CRMKNOD:1,CRMKDIR:2,;rm_t:t(29,24)=(29,20)symfollow_t:t(29,25)=(29,21)vcexcl_t:t(29,26)=(29,22)create_t:t(29,27)=(29,23)vsecattr:T(29,28)=s20vsa_mask:(15,7),0,32;vsa_aclcnt:(0,1),32,32;vsa_aclentp:(4,2),64,32;vsa_dfaclcnt:(0,1),96,32;vsa_dfaclentp:(4,2),128,32;;vsecattr_t:t(29,29)=(29,28)vnodeops:T(29,7)=s172vop_open:(29,30)=*(29,31)=f(0,1),0,32;vop_close:(29,32)=*(29,33)=f(0,1),32,32;vop_read:(29,34)=*(29,35)=f(0,1),64,32;vop_write:(29,34),96,32;vop_ioctl:(29,36)=*(29,37)=f(0,1),128,32;vop_setfl:(29,38)=*(29,39)=f(0,1),160,32;vop_getattr:(29,40)=*(29,41)=f(0,1),192,32;vop_setattr:(29,40),224,32;vop_access:(29,38),256,32;vop_lookup:(29,42)=*(29,43)=f(0,1),288,32;vop_create:(29,44)=*(29,45)=f(0,1),320,32;vop_remove:(29,46)=*(29,47)=f(0,1),352,32;vop_link:(29,48)=*(29,49)=f(0,1),384,32;vop_rename:(29,50)=*(29,51)=f(0,1),416,32;vop_mkdir:(29,52)=*(29,53)=f(0,1),448,32;vop_rmdir:(29,54)=*(29,55)=f(0,1),480,32;vop_readdir:(29,56)=*(29,57)=f(0,1),512,32;vop_symlink:(29,58)=*(29,59)=f(0,1),544,32;\vop_readlink:(29,60)=*(29,61)=f(0,1),576,32;vop_fsync:(29,62)=*(29,63)=f(0,1),608,32;vop_inactive:(29,64)=*(29,65)=f(0,19),640,32;vop_fid:(29,66)=*(29,67)=f(0,1),672,32;vop_rwlock:(29,68)=*(29,69)=f(0,19),704,32;vop_rwunlock:(29,68),736,32;vop_seek:(29,70)=*(29,71)=f(0,1),768,32;vop_cmp:(29,72)=*(29,73)=f(0,1),800,32;vop_frlock:(29,74)=*(29,75)=f(0,1),832,32;vop_space:(29,74),864,32;vop_realvp:(29,76)=*(29,77)=f(0,1),896,32;vop_getpage:(29,78)=*(29,79)=f(0,1),928,32;vop_putpage:(29,80)=*(29,81)=f(0,1),960,32;vop_map:(29,82)=*(29,83)=f(0,1),992,32;vop_addmap:(29,84)=*(29,85)=f(0,1),1024,32;vop_delmap:(29,86)=*(29,87)=f(0,1),1056,32;vop_poll:(29,88)=*(29,89)=f(0,1),1088,32;vop_dump:(29,90)=*(29,91)=f(0,1),1120,32;\vop_pathconf:(29,92)=*(29,93)=f(0,1),1152,32;vop_pageio:(29,94)=*(29,95)=f(0,1),1184,32;vop_dumpctl:(29,96)=*(29,97)=f(0,1),1216,32;vop_dispose:(29,98)=*(29,99)=f(0,19),1248,32;vop_setsecattr:(29,100)=*(29,101)=f(0,1),1280,32;vop_getsecattr:(29,100),1312,32;vop_shrlock:(29,102)=*(29,103)=f(0,1),1344,32;;vnodeops_t:t(29,104)=(29,7)/usr/include/sys/poll.hpollfd:T(41,1)=s8fd:(0,1),0,32;events:(0,8),32,16;revents:(0,8),48,16;;pollfd_t:t(41,2)=(41,1)nfds_t:t(41,3)=(0,5)/usr/include/sys/strmdep.h/usr/include/sys/model.hmodel_t:t(43,1)=(0,4)queue:T(28,1)=s96q_qinfo:(28,2)=*(28,3)=xsqinit:,0,32;q_first:(28,4)=*(28,5)=xsmsgb:,32,32;q_last:(28,4),64,32;q_next:(28,6)=*(28,1),96,32;q_link:(28,6),128,32;q_ptr:(4,2),160,32;q_count:(1,2),192,32;q_flag:(15,7),224,32;q_minpsz:(6,1),256,32;q_maxpsz:(6,1),288,32;q_hiwat:(1,2),320,32;q_lowat:(1,2),352,32;q_bandp:(28,7)=*(28,8)=xsqband:,384,32;q_lock:(34,5),416,64;q_stream:(29,8),480,32;q_syncq:(28,9)=*(28,10)=xssyncq:,512,32;q_nband:(0,11),544,8;q_wait:(37,2),560,16;q_sync:(37,2),576,16;q_nfsrv:(28,6),608,32;q_nbsrv:(28,6),640,32;q_draining:(15,6),672,16;q_struiot:(0,8),688,16;\q_syncqmsgs:(15,7),704,32;q_mblkcnt:(1,2),736,32;;queue_t:t(28,11)=(28,1)qband:T(28,8)=s32qb_next:(28,7),0,32;qb_count:(1,2),32,32;qb_first:(28,4),64,32;qb_last:(28,4),96,32;qb_hiwat:(1,2),128,32;qb_lowat:(1,2),160,32;qb_flag:(15,7),192,32;qb_mblkcnt:(1,2),224,32;;qband_t:t(28,12)=(28,8)qfields:T(28,13)=eQHIWAT:0,QLOWAT:1,QMAXPSZ:2,QMINPSZ:3,QCOUNT:4,QFIRST:5,QLAST:6,QFLAG:7,QSTRUIOT:8,QBAD:9,;qfields_t:t(28,14)=(28,13)module_info:T(28,15)=s24mi_idnum:(15,6),0,16;mi_idname:(7,6),32,32;mi_minpsz:(6,1),64,32;mi_maxpsz:(6,1),96,32;mi_hiwat:(1,2),128,32;mi_lowat:(1,2),160,32;;qinit:T(28,3)=s40qi_putp:(28,16)=*(28,17)=f(0,1),0,32;qi_srvp:(28,16),32,32;qi_qopen:(28,16),64,32;qi_qclose:(28,16),96,32;qi_qadmin:(28,16),128,32;qi_minfo:(28,18)=*(28,15),160,32;qi_mstat:(28,19)=*(28,20)=xsmodule_stat:,192,32;qi_rwp:(28,16),224,32;qi_infop:(28,16),256,32;qi_struiot:(0,1),288,32;;streamtab:T(28,21)=s16st_rdinit:(28,2),0,32;st_wrinit:(28,2),32,32;st_muxrinit:(28,2),64,32;st_muxwinit:(28,2),96,32;;linkblk:T(28,22)=s12l_qtop:(28,23)=*(28,11),0,32;l_qbot:(28,23),32,32;l_index:(0,1),64,32;;free_rtn:T(28,24)=s8free_func:(8,3),0,32;free_arg:(15,9),32,32;;frtn_t:t(28,25)=(28,24)datab:T(28,26)=s56db_frtnp:(28,27)=*(28,25),0,32;db_base:(6,2),32,32;db_lim:(6,2),64,32;db_ref:(0,11),96,8;db_type:(0,11),104,8;db_flags:(0,11),112,8;db_struioflag:(0,11),120,8;db_cache:(4,2),128,32;db_mblk:(28,4),160,32;db_free:(28,28)=*(28,29)=f(0,19),192,32;db_lastfree:(28,28),224,32;db_pad:(4,2),256,32;db_struiobase:(6,2),288,32;db_struiolim:(6,2),320,32;db_struioptr:(6,2),352,32;db_struioun:(28,30)=u8enforce_alignment:(0,13),0,64;data:(28,31)=ar(0,1);0;7;(0,11),0,64;u16:(0,4),0,16;;,384,64;;dblk_t:t(28,32)=(28,26)msgb:T(28,5)=s32b_next:(28,4),0,32;b_prev:(28,4),32,32;b_cont:(28,4),64,32;b_rptr:(6,2),96,32;b_wptr:(6,2),128,32;b_datap:(28,33)=*(28,26),160,32;b_band:(0,11),192,8;b_flag:(0,9),208,16;b_queue:(28,23),224,32;;mblk_t:t(28,34)=(28,5)iocblk:T(28,35)=s40ioc_cmd:(0,1),0,32;ioc_cr:(28,36)=*(38,3),32,32;ioc_id:(15,7),64,32;ioc_count:(1,2),96,32;ioc_error:(0,1),128,32;ioc_rval:(0,1),160,32;ioc_fill1:(0,1),192,32;ioc_flag:(15,7),224,32;ioc_filler:(15,103),256,64;;IOCP:t(28,37)=(28,38)=*(28,35)copyreq:T(28,39)=s44cq_cmd:(0,1),0,32;cq_cr:(28,36),32,32;cq_id:(15,7),64,32;cq_addr:(15,9),96,32;cq_size:(1,2),128,32;cq_flag:(15,7),160,32;cq_private:(28,40)=*(28,34),192,32;cq_filler:(28,41)=ar(0,1);0;3;(0,1),224,128;;copyresp:T(28,42)=s44cp_cmd:(0,1),0,32;cp_cr:(28,36),32,32;cp_id:(15,7),64,32;cp_rval:(15,9),96,32;cp_pad1:(1,2),128,32;cp_pad2:(15,7),160,32;cp_private:(28,40),192,32;cp_flag:(15,7),224,32;cp_filler:(28,43)=ar(0,1);0;2;(0,1),256,96;;ioctypes:T(28,44)=u44iocblk:(28,35),0,320;copyreq:(28,39),0,352;copyresp:(28,42),0,352;;stroptions:T(28,45)=s36so_flags:(15,7),0,32;so_readopt:(0,8),32,16;so_wroff:(15,6),48,16;so_minpsz:(6,1),64,32;so_maxpsz:(6,1),96,32;so_hiwat:(1,2),128,32;so_lowat:(1,2),160,32;so_band:(0,11),192,8;so_erropt:(15,6),208,16;so_maxblk:(6,1),224,32;so_copyopt:(15,6),256,16;;/usr/include/sys/byteorder.hin_port_t:t(27,1)=(17,6)in_addr_t:t(27,2)=(17,7)ipaddr_t:t(27,3)=(17,7)in_addr:T(27,4)=s4S_un:(27,5)=u4S_un_b:(27,6)=s4s_b1:(17,5),0,8;s_b2:(17,5),8,8;s_b3:(17,5),16,8;s_b4:(17,5),24,8;;,0,32;S_un_w:(27,7)=s4s_w1:(17,6),0,16;s_w2:(17,6),16,16;;,0,32;S_addr:(17,7),0,32;;,0,32;;sockaddr_in:T(27,8)=s16sin_family:(24,1),0,16;sin_port:(27,1),16,16;sin_addr:(27,4),32,32;sin_zero:(27,9)=ar(0,1);0;7;(0,2),64,64;;ip_mreq:T(27,10)=s8imr_multiaddr:(27,4),0,32;imr_interface:(27,4),32,32;;in_prefix_t:t(27,11)=(27,12)=s8in_prefix_addr:(27,4),0,32;in_prefix_len:(0,4),32,32;;/usr/include/netdb.hhostent:T(45,1)=s20h_name:(7,6),0,32;h_aliases:(26,2),32,32;h_addrtype:(0,1),64,32;h_length:(0,1),96,32;h_addr_list:(26,2),128,32;;netent:T(45,2)=s16n_name:(7,6),0,32;n_aliases:(26,2),32,32;n_addrtype:(0,1),64,32;n_net:(27,2),96,32;;protoent:T(45,3)=s12p_name:(7,6),0,32;p_aliases:(26,2),32,32;p_proto:(0,1),64,32;;servent:T(45,4)=s16s_name:(7,6),0,32;s_aliases:(26,2),32,32;s_port:(0,1),64,32;s_proto:(7,6),96,32;;laser.hsick-laser.hscan_reading:T(46,1)=s24xy:(46,2)=*(13,2),0,32;r:(0,13),64,64;theta:(0,13),128,64;;ScanReading:t(46,3)=(46,1)LaserInfo:T(46,4)=s96name:(7,6),0,32;x:(0,13),64,64;y:(0,13),128,64;z:(0,13),192,64;angle:(0,13),256,64;perfect:(0,1),320,32;maxRange:(0,13),384,64;numScans:(0,1),448,32;scanStart:(0,13),512,64;scanWidth:(0,13),576,64;readings:(46,5)=*(0,1),640,32;correctedReadings:(46,6)=*(46,7)=*(46,3),672,32;nextLaser:(46,8)=*(46,4),704,32;;LaserInfo:t(46,9)=(46,4) :T(23,1)=ePlane:0,Edge:1,Corner:2,Arc:3,;targettype:t(23,2)=(23,1) :T(23,3)=eleft:0,top:1,right:2,bottom:3,;directions:t(23,4)=(23,3)simType:T(23,5)=s280flatDisplayFD:(0,1),0,32;flatDisplay:(27,8),32,128;flatDisplayHost:(23,6)=*(45,1),160,32;flatDisplayPort:(0,1),192,32;flatDisplaySocket:(0,1),224,32;flatDisplayLength:(1,2),256,32;flatDisplayServer:(27,8),288,128;flatDisplayClient:(27,8),416,128;sonar:(23,7)=*(0,13),544,32;kalman_sonar:(23,7),576,32;kalman_sonar_type:(46,5),608,32;numSonar:(0,1),640,32;lasers:(23,8)=*(46,9),672,32;envScale:(0,13),704,64;envDisplayScale:(0,13),768,64;robotX:(0,13),832,64;robotY:(0,13),896,64;prevX:(0,13),960,64;prevY:(0,13),1024,64;prevOri:(0,13),1088,64;ori:(0,13),1152,64;bump:(0,1),1216,32;running:(0,1),1248,32;\step:(0,1),1280,32;drawSonar:(0,1),1312,32;drawKSonar:(0,1),1344,32;count:(0,1),1376,32;drawTrails:(0,1),1408,32;drawMarks:(0,1),1440,32;outFile:(7,6),1472,32;inFile:(7,6),1504,32;saveFile:(7,6),1536,32;stateFile:(7,6),1568,32;simHeight:(0,1),1600,32;simWidth:(0,1),1632,32;tm:(23,9)=*(23,10)=xstargetmap:,1664,32;ss:(23,11)=*(23,12)=xssonarset:,1696,32;sm:(23,11),1728,32;lm:(23,11),1760,32;smart:(0,1),1792,32;rate:(0,13),1856,64;updateTime:(14,3),1920,64;radius:(0,13),1984,64;maxEcho:(0,13),2048,64;robotMouseMoved:(0,1),2112,32;time:(0,3),2144,32;lastTime:(0,3),2176,32;;simType:t(23,13)=(23,5)sick_scan_data:t(11,1)=(11,2)=s32range_values:(22,3),0,224;timestamp:(12,2),224,32;;segment:T(11,3)=s32p1:(46,7),0,32;p2:(46,7),32,32;range:(0,13),64,64;theta:(0,13),128,64;sigma:(0,13),192,64;;Segment:t(11,4)=(11,3)blob:T(11,5)=s32x:(0,13),0,64;y:(0,13),64,64;r:(0,13),128,64;numPoints:(0,1),192,32;;Blob:t(11,6)=(11,5)doorway:T(11,7)=s16theta:(0,13),0,64;jump_size:(0,13),64,64;;Doorway:t(11,8)=(11,7)jump:T(11,9)=s40size:(0,13),0,64;theta1:(0,13),64,64;value1:(0,13),128,64;theta2:(0,13),192,64;value2:(0,13),256,64;;Jump:t(11,10)=(11,9)trace_examine_min_max_interval:G(0,1)trace_find_range_discontinuities:G(0,1)trace_find_mins_and_maxes:G(0,1)trace_combine_colinear_segments:G(0,1)trace_find_all_segments:G(0,1)trace_extract_min_max_segments:G(0,1)trace_extract_blobs:G(0,1)trace_open_space:G(0,1)trace_remove_long_readings:G(0,1)initialize_analysis_module:F(0,19)examine_min_max_interval:F(0,19)points:p(0,20)=*(22,3)boundary_start:p(0,1)boundary_end:p(0,1)k_window_size:P(0,1)k_std_dev:p(12,1)mins:p(0,20)maxes:p(0,20)int_aux:(0,1)slope_numerator:(12,1)slope_denominator:(12,1)middle:(12,1)unassigned_bin:r(0,1)unassigned_count:r(0,1)current_bin:(0,1)current_count:r(0,1)current_sign:r(0,1)last_sign:(0,1)this_value:r(12,1)this_sign:r(0,1)this_slope:(12,1)minR:r(12,1)deltaX:(12,1)last_inflection_point:r(0,1)n:r(0,1)index:r(0,1)extra:r(0,1)istart:r(0,1)iend:r(0,1)find_range_discontinuities:F(0,19)points:P(0,20)k_range_thresh:p(12,1)discontinuities:P(0,20)pi:r(0,1)oi:(0,1)estimate_line_leastsquares:F(12,3)points:P(0,20)start_index:P(0,1)end_index:P(0,1)return_segment:P(0,21)=*(11,4)xbar:(12,1)ybar:(12,1)xsqbar:(12,1)ysqbar:(12,1)xybar:(12,1)p_x_robot:r(12,1)p_y_robot:r(12,1)pi:r(0,1)p1:r(46,7)p2:r(46,7)m:(12,1)c:(12,1)sigmasqr:(12,1)p:(46,3)p:(46,3)p:(46,3)find_mins_and_maxes:F(0,19)points:P(0,20)discontinuities:P(0,20)k_window_size:P(0,4)k_std_dev:P(12,1)mins:P(0,20)maxes:p(0,20)maxes:r(0,20)boundary_start:r(0,1)boundary_end:r(0,1)dcount:r(0,1)find_all_segments:F(0,19)pts:P(0,20)discontinuities:P(0,20)minima:P(0,20)maxima:P(0,20)segments:P(0,20)c_discont:r(0,1)c_min:r(0,1)c_max:r(0,1)current_position:r(0,1)new_segment:(11,4)combine_colinear_segments:F(0,19)segments:P(0,20)k_range_tolerance:p(12,1)k_theta_tolerance:P(12,1)k_contig_tolerance:p(12,1)k_contig_tolerance:r(12,1)i1:r(0,4)i2:r(0,4)remove_small_segments:F(0,19)segments:P(0,20)k_min_segment_length:p(12,1)i:r(0,4)remove_long_readings:F(0,19)data:P(0,22)=*(11,1)k_max_distance:p(12,1)readings:r(0,20)i:r(0,4)p:(46,3)remove_erroneous_readings:F(0,19)data:P(0,22)readings:r(0,20)i:r(0,4)p:(46,3)less_than:F(0,1)a:P(0,23)=*(0,19)b:P(0,23)median:F(12,1)points:P(0,24)=*(12,1)window_size:P(0,4)i:r(0,4)median_filter:F(0,19)points:P(0,20)window_size:P(0,4)window:r(0,25)=*(0,26)=ar(0,1);0;-1;(12,1)newpoints:r(0,27)=*(0,28)=ar(0,1);0;-1;(12,1)width:r(0,4)i:r(0,4)k:r(0,4)j:r(0,1)get_rangefinder_readings:F(0,19)min_theta:p(12,1)max_theta:p(12,1)data:P(0,22)readings:r(0,20)i:r(0,4)left_scans:(11,1)right_scans:(11,1)p:(46,3)get_rangefinder_readings_flat:F(0,19)min_theta:p(12,1)max_theta:p(12,1)robot:P(0,29)=*(23,13)data:P(0,22)laser:r(23,8)p:r(46,7)scan:r(0,1)theta:r(0,13)extract_min_max_segments_no_data:F(0,19)robot:P(0,29)min_theta:P(12,1)max_theta:P(12,1)k_max_distance:p(12,1)k_discontinuity_thresh:p(12,1)k_squid_window_size:p(0,1)k_squid_window_std_dev:p(12,1)k_colinear_range_thresh:p(12,1)k_colinear_theta_thresh:p(12,1)k_colinear_contig_thresh:p(12,1)k_min_segment_length:p(12,1)k_use_filter:p(0,1)k_filter_window_size:p(0,1)segments:p(0,20)k_max_distance:r(12,1)k_discontinuity_thresh:(12,1)k_squid_window_std_dev:(12,1)k_colinear_range_thresh:r(12,1)k_colinear_theta_thresh:r(12,1)k_colinear_contig_thresh:(12,1)k_min_segment_length:(12,1)k_use_filter:r(0,1)k_filter_window_size:r(0,1)segments:r(0,20)i:r(0,1)sr:r(46,7)extract_min_max_segments:F(0,19)data:P(0,22)k_discontinuity_thresh:P(12,1)k_squid_window_size:P(0,1)k_squid_window_std_dev:P(12,1)k_colinear_range_thresh:p(12,1)k_colinear_theta_thresh:p(12,1)k_colinear_contig_thresh:p(12,1)k_min_segment_length:p(12,1)k_use_filter:p(0,1)k_filter_window_size:p(0,1)segments:p(0,20)k_colinear_range_thresh:r(12,1)k_colinear_theta_thresh:(12,1)k_colinear_contig_thresh:r(12,1)k_min_segment_length:(12,1)k_use_filter:r(0,1)k_filter_window_size:r(0,1)segments:r(0,20)jumps_old:F(0,19)data:P(0,22)size:p(12,1)results:P(0,20)readings:r(0,20)last_value:r(12,1)diff:r(12,1)index:r(0,4)new_jump:(11,10)jumps:F(0,19)data:P(0,22)size:p(12,1)results:P(0,20)readings:r(0,20)last_value:r(46,7)diff:r(12,1)index:r(0,4)new_jump:(11,10)jumps_no_data:F(0,19)robot:P(0,29)min_jump_size:P(12,1)results:P(0,20)is_there_a_doorway:F(0,19)data:P(0,22)jump_size:P(12,1)results:P(0,20)i:r(0,1)doorway:(11,8)is_there_a_doorway_no_data:F(0,19)robot:P(0,29)min_theta:P(12,1)max_theta:P(12,1)jump_size:p(12,1)results:p(0,20)jump_size:r(12,1)results:r(0,20)open_space_no_data:F(12,3)robot:P(0,29)min_theta:P(12,1)max_theta:P(12,1)min_distance:p(12,1)min_width:p(0,1)min_distance:r(12,1)min_width:r(0,1)open_space:F(12,3)data:P(0,22)min_distance:p(12,1)min_width:P(0,1)readings:r(0,20)found_open_space:r(12,3)window:r(0,1)index:r(0,4)num_consecutive:r(0,1)print_Segment:F(0,19)s:P(0,21)blob_dimensions:F(0,30)=*(11,6)reading1:P(46,7)reading2:P(46,7)numberOfPoints:P(0,1)newBlob:r(0,30)center_x:r(0,13)center_y:r(0,13)radius:r(0,13)extract_blobs_no_data:F(0,19)robot:P(0,29)min_inter_blob_distance:p(12,1)max_intra_blob_distance:P(12,1)max_blob_distance:p(12,1)min_blob_size:p(12,1)max_blob_size:p(12,1)blobs:p(0,20)max_blob_distance:r(12,1)min_blob_size:r(12,1)max_blob_size:r(12,1)blobs:r(0,20)extract_blobs:F(0,19)data:P(0,22)robot:P(0,29)min_inter_blob_distance:p(12,1)max_intra_blob_distance:p(12,1)max_blob_distance:p(12,1)min_blob_size:p(12,1)max_blob_size:p(12,1)blobs:p(0,20)max_blob_distance:(12,1)min_blob_size:r(12,1)max_blob_size:r(12,1)blobs:r(0,20)readings:r(0,20)lastReading:r(46,7)reading:r(46,7)startReading:r(46,7)endReading:r(46,7)index:r(0,4)startIndex:r(0,1)endIndex:r(0,1)blob_p:F(0,1)startReading:P(46,7)endReading:P(46,7)startIndex:P(0,1)endIndex:P(0,1)max_distance:P(0,13)min_size:p(0,13)max_size:p(0,13)min_size:r(0,13)max_size:r(0,13)size:r(0,1)dimensions:r(0,30)all_pts:G(22,3)discontinuities:G(22,3)up_jumps:G(22,3)minima:G(22,3)maxima:G(22,3)data:G(11,1)laser.c/v/hank/v86/robot/flat-root/flat4/src/sensor/laser/laser.cgcc2_compiled.int:t(0,1)=r(0,1);0020000000000;0017777777777;char:t(0,2)=r(0,2);0;127;long int:t(0,3)=r(0,1);0020000000000;0017777777777;unsigned int:t(0,4)=r(0,1);0000000000000;0037777777777;long unsigned int:t(0,5)=r(0,1);0000000000000;0037777777777;long long int:t(0,6)=r(0,1);01000000000000000000000;0777777777777777777777;long long unsigned int:t(0,7)=r(0,1);0000000000000;01777777777777777777777;short int:t(0,8)=r(0,8);-32768;32767;short unsigned int:t(0,9)=r(0,9);0;65535;signed char:t(0,10)=r(0,10);-128;127;unsigned char:t(0,11)=r(0,11);0;255;float:t(0,12)=r(0,1);4;0;double:t(0,13)=r(0,1);8;0;long double:t(0,14)=r(0,1);16;0;complex int:t(0,15)=s8real:(0,1),0,32;imag:(0,1),32,32;;complex float:t(0,16)=r(0,16);4;0;complex double:t(0,17)=r(0,17);8;0;complex long double:t(0,18)=r(0,18);16;0;void:t(0,19)=(0,19)laser.h/u/robot/flat-root/flat4/src/util/mathematics.hplatform.hreal_8:t(3,1)=(0,13)timeval:t(3,2)=(0,1)bool:t(3,3)=(0,1)/usr/include/math.h_h_val:T(4,1)=u8_i:(4,2)=ar(0,1);0;1;(0,5),0,64;_d:(0,13),0,64;;_h_val:t(4,3)=(4,1)version:T(4,4)=elibm_ieee:-1,c_issue_4:0,ansi_1:1,strict_ansi:2,;exception:T(4,5)=s32type:(0,1),0,32;name:(4,6)=*(0,2),32,32;arg1:(0,13),64,64;arg2:(0,13),128,64;retval:(0,13),192,64;;/usr/include/floatingpoint.h/usr/include/stdio.h/usr/include/sys/feature_tests.h/usr/include/sys/isa_defs.h/usr/include/sys/va_list.h__va_list:t(9,1)=(9,2)=*(0,19)/usr/include/stdio_tag.h__FILE:t(10,1)=(10,2)=xs__FILE:/usr/include/stdio_impl.hssize_t:t(11,1)=(0,1)__FILE:T(10,2)=s16_cnt:(11,1),0,32;_ptr:(11,2)=*(0,11),32,32;_base:(11,2),64,32;_flag:(0,11),96,8;_file:(0,11),104,8;__orientation:(0,4),112,2;__filler:(0,4),114,6;;FILE:t(6,1)=(10,1)size_t:t(6,2)=(0,4)__longlong_t:t(6,3)=(0,6)off_t:t(6,4)=(0,3)off64_t:t(6,5)=(6,3)fpos_t:t(6,6)=(0,3)fpos64_t:t(6,7)=(6,3)/usr/include/sys/ieeefp.hfp_direction_type:T(12,1)=efp_nearest:0,fp_tozero:1,fp_positive:2,fp_negative:3,;fp_precision_type:T(12,2)=efp_extended:0,fp_single:1,fp_double:2,fp_precision_3:3,;fp_exception_type:T(12,3)=efp_inexact:0,fp_division:1,fp_underflow:2,fp_overflow:3,fp_invalid:4,;fp_trap_enable_type:T(12,4)=efp_trap_inexact:0,fp_trap_division:1,fp_trap_underflow:2,fp_trap_overflow:3,fp_trap_invalid:4,;fp_class_type:T(12,5)=efp_zero:0,fp_subnormal:1,fp_normal:2,fp_infinity:3,fp_quiet:4,fp_signaling:5,;sigfpe_code_type:t(5,1)=(0,1)sigfpe_handler_type:t(5,2)=(5,3)=*(5,4)=f(0,19)single:t(5,5)=(0,12)extended:t(5,6)=(5,7)=ar(0,1);0;2;(0,4)quadruple:t(5,8)=(0,14)fp_exception_field_type:t(5,9)=(0,4)decimal_string:t(5,10)=(5,11)=ar(0,1);0;511;(0,2)decimal_record:t(5,12)=(5,13)=s532fpclass:(12,5),0,32;sign:(0,1),32,32;exponent:(0,1),64,32;ds:(5,10),96,4096;more:(0,1),4192,32;ndigits:(0,1),4224,32;;decimal_form:T(5,14)=efixed_form:0,floating_form:1,;decimal_mode:t(5,15)=(5,16)=s12rd:(12,1),0,32;df:(5,14),32,32;ndigits:(0,1),64,32;;decimal_string_form:T(5,17)=einvalid_form:0,whitespace_form:1,fixed_int_form:2,fixed_intdot_form:3,fixed_dotfrac_form:4,fixed_intdotfrac_form:5,floating_int_form:6,floating_intdot_form:7,floating_dotfrac_form:8,floating_intdotfrac_form:9,inf_form:10,infinity_form:11,nan_form:12,nanstring_form:13,;/usr/include/sys/time.htime_t:t(13,1)=(0,3)suseconds_t:t(13,2)=(0,3)timeval:T(13,3)=s8tv_sec:(13,1),0,32;tv_usec:(13,2),32,32;;timezone:T(13,4)=s8tz_minuteswest:(0,1),0,32;tz_dsttime:(0,1),32,32;;/usr/include/sys/types.h/usr/include/sys/machtypes.h_physadr_t:T(15,1)=s4r:(15,2)=ar(0,1);0;0;(0,1),0,32;;physadr_t:t(15,3)=(15,4)=*(15,1)_label_t:T(15,5)=s8val:(15,6)=ar(0,1);0;1;(0,3),0,64;;label_t:t(15,7)=(15,5)lock_t:t(15,8)=(0,11)/usr/include/sys/int_types.hint8_t:t(16,1)=(0,2)int16_t:t(16,2)=(0,8)int32_t:t(16,3)=(0,1)int64_t:t(16,4)=(0,6)uint8_t:t(16,5)=(0,11)uint16_t:t(16,6)=(0,9)uint32_t:t(16,7)=(0,4)uint64_t:t(16,8)=(0,7)intmax_t:t(16,9)=(16,4)uintmax_t:t(16,10)=(16,8)intptr_t:t(16,11)=(0,1)uintptr_t:t(16,12)=(0,4)int_least8_t:t(16,13)=(0,2)int_least16_t:t(16,14)=(0,8)int_least32_t:t(16,15)=(0,1)int_least64_t:t(16,16)=(0,6)uint_least8_t:t(16,17)=(0,11)uint_least16_t:t(16,18)=(0,9)uint_least32_t:t(16,19)=(0,4)uint_least64_t:t(16,20)=(0,7)longlong_t:t(14,1)=(0,6)u_longlong_t:t(14,2)=(0,7)t_scalar_t:t(14,3)=(0,3)t_uscalar_t:t(14,4)=(0,5)uchar_t:t(14,5)=(0,11)ushort_t:t(14,6)=(0,9)uint_t:t(14,7)=(0,4)ulong_t:t(14,8)=(0,5)caddr_t:t(14,9)=(4,6)daddr_t:t(14,10)=(0,3)cnt_t:t(14,11)=(0,8)paddr_t:t(14,12)=(14,8)ptrdiff_t:t(14,13)=(0,1)pfn_t:t(14,14)=(14,8)pgcnt_t:t(14,15)=(14,8)spgcnt_t:t(14,16)=(0,3)use_t:t(14,17)=(14,5)sysid_t:t(14,18)=(0,8)index_t:t(14,19)=(0,8)timeout_id_t:t(14,20)=(9,2)bufcall_id_t:t(14,21)=(9,2)ino_t:t(14,22)=(14,8)blkcnt_t:t(14,23)=(0,3)fsblkcnt_t:t(14,24)=(14,8)fsfilcnt_t:t(14,25)=(14,8)ino64_t:t(14,26)=(14,2)blkcnt64_t:t(14,27)=(14,1)fsblkcnt64_t:t(14,28)=(14,2)fsfilcnt64_t:t(14,29)=(14,2)blksize_t:t(14,30)=(0,3) :T(14,31)=eB_FALSE:0,B_TRUE:1,;boolean_t:t(14,32)=(14,31)pad64_t:t(14,33)=(16,4)upad64_t:t(14,34)=(16,8)offset_t:t(14,35)=(14,1)u_offset_t:t(14,36)=(14,2)len_t:t(14,37)=(14,2)diskaddr_t:t(14,38)=(14,1)lloff_t:t(14,39)=(14,40)=u8_f:(14,35),0,64;_p:(14,41)=s8_u:(16,3),0,32;_l:(16,3),32,32;;,0,64;;lldaddr_t:t(14,42)=(14,43)=u8_f:(14,38),0,64;_p:(14,44)=s8_u:(16,3),0,32;_l:(16,3),32,32;;,0,64;;k_fltset_t:t(14,45)=(14,7)id_t:t(14,46)=(0,3)useconds_t:t(14,47)=(14,7)major_t:t(14,48)=(14,8)minor_t:t(14,49)=(14,8)pri_t:t(14,50)=(0,8)o_mode_t:t(14,51)=(14,6)o_dev_t:t(14,52)=(0,8)o_uid_t:t(14,53)=(14,6)o_gid_t:t(14,54)=(14,53)o_nlink_t:t(14,55)=(0,8)o_pid_t:t(14,56)=(0,8)o_ino_t:t(14,57)=(14,6)key_t:t(14,58)=(0,1)mode_t:t(14,59)=(14,8)uid_t:t(14,60)=(0,3)gid_t:t(14,61)=(14,60)pthread_t:t(14,62)=(0,4)pthread_key_t:t(14,63)=(0,4)_pthread_mutex:T(14,64)=s24__pthread_mutex_flags:(14,65)=s8__pthread_mutex_flag:(14,66)=ar(0,1);0;3;(16,5),0,32;__pthread_mutex_type:(16,7),32,32;;,0,64;__pthread_mutex_lock:(14,67)=u8__pthread_mutex_lock64:(14,68)=s8__pthread_mutex_pad:(14,69)=ar(0,1);0;7;(16,5),0,64;;,0,64;__pthread_mutex_owner64:(14,34),0,64;;,64,64;__pthread_mutex_data:(14,34),128,64;;pthread_mutex_t:t(14,70)=(14,64)_pthread_cond:T(14,71)=s16__pthread_cond_flags:(14,72)=s8__pthread_cond_flag:(14,66),0,32;__pthread_cond_type:(16,7),32,32;;,0,64;__pthread_cond_data:(14,34),64,64;;pthread_cond_t:t(14,73)=(14,71)_pthread_rwlock:T(14,74)=s64__pthread_rwlock_readers:(16,3),0,32;__pthread_rwlock_type:(16,6),32,16;__pthread_rwlock_magic:(16,6),48,16;__pthread_rwlock_pad1:(14,75)=ar(0,1);0;2;(14,34),64,192;__pthread_rwlock_pad2:(14,76)=ar(0,1);0;1;(14,34),256,128;__pthread_rwlock_pad3:(14,76),384,128;;pthread_rwlock_t:t(14,77)=(14,74)_pthread_attr:T(14,78)=s4__pthread_attrp:(9,2),0,32;;pthread_attr_t:t(14,79)=(14,78)_pthread_mutexattr:T(14,80)=s4__pthread_mutexattrp:(9,2),0,32;;pthread_mutexattr_t:t(14,81)=(14,80)_pthread_condattr:T(14,82)=s4__pthread_condattrp:(9,2),0,32;;pthread_condattr_t:t(14,83)=(14,82)_once:T(14,84)=s32__pthread_once_pad:(14,85)=ar(0,1);0;3;(14,34),0,256;;pthread_once_t:t(14,86)=(14,84)_pthread_rwlockattr:T(14,87)=s4__pthread_rwlockattrp:(9,2),0,32;;pthread_rwlockattr_t:t(14,88)=(14,87)dev_t:t(14,89)=(14,8)nlink_t:t(14,90)=(14,8)pid_t:t(14,91)=(0,3)clock_t:t(14,92)=(0,3)clockid_t:t(14,93)=(0,1)timer_t:t(14,94)=(0,1)unchar:t(14,95)=(0,11)ushort:t(14,96)=(0,9)uint:t(14,97)=(0,4)ulong:t(14,98)=(0,5)u_char:t(14,99)=(0,11)u_short:t(14,100)=(0,9)u_int:t(14,101)=(0,4)u_long:t(14,102)=(0,5)_quad:T(14,103)=s8val:(14,104)=ar(0,1);0;1;(0,1),0,64;;quad_t:t(14,105)=(14,103)quad:t(14,106)=(14,105)/usr/include/sys/select.h/usr/include/sys/time.hfd_mask:t(17,1)=(0,3)fds_mask:t(17,2)=(0,3)fd_set:T(17,3)=s128fds_bits:(17,4)=ar(0,1);0;31;(0,3),0,1024;;fd_set:t(17,5)=(17,3)itimerval:T(13,5)=s16it_interval:(13,3),0,64;it_value:(13,3),64,64;;hrtime_t:t(13,6)=(14,1)/usr/include/time.htm:T(19,1)=s36tm_sec:(0,1),0,32;tm_min:(0,1),32,32;tm_hour:(0,1),64,32;tm_mday:(0,1),96,32;tm_mon:(0,1),128,32;tm_year:(0,1),160,32;tm_wday:(0,1),192,32;tm_yday:(0,1),224,32;tm_isdst:(0,1),256,32;;/usr/include/sys/time_impl.htimespec:T(20,1)=s8tv_sec:(13,1),0,32;tv_nsec:(0,3),32,32;;timespec_t:t(20,2)=(20,1)timestruc_t:t(20,3)=(20,1)itimerspec:T(20,4)=s16it_interval:(20,1),0,64;it_value:(20,1),64,64;;itimerspec_t:t(20,5)=(20,4)sigval:T(19,2)=u4sival_int:(0,1),0,32;sival_ptr:(9,2),0,32;;sigevent:T(19,3)=s24sigev_notify:(0,1),0,32;sigev_signo:(0,1),32,32;sigev_value:(19,2),64,32;sigev_notify_function:(19,4)=*(19,5)=f(0,19),96,32;sigev_notify_attributes:(19,6)=*(14,79),128,32;__sigev_pad2:(0,1),160,32;;point2d:T(2,1)=s16x:(0,13),0,64;y:(0,13),64,64;;Point2D:t(2,2)=(2,1)sick-laser.hscan_reading:T(1,1)=s24xy:(1,2)=*(2,2),0,32;r:(0,13),64,64;theta:(0,13),128,64;;ScanReading:t(1,3)=(1,1)LaserInfo:T(1,4)=s96name:(4,6),0,32;x:(0,13),64,64;y:(0,13),128,64;z:(0,13),192,64;angle:(0,13),256,64;perfect:(0,1),320,32;maxRange:(0,13),384,64;numScans:(0,1),448,32;scanStart:(0,13),512,64;scanWidth:(0,13),576,64;readings:(1,5)=*(0,1),640,32;correctedReadings:(1,6)=*(1,7)=*(1,3),672,32;nextLaser:(1,8)=*(1,4),704,32;;LaserInfo:t(1,9)=(1,4)scanReading_dist:F(0,13)p1:P(1,7)p2:P(1,7)x1:r(3,1)y1:r(3,1)x2:r(3,1)y2:r(3,1)    pGo;P;P-;;  7;;$ A< < p K>|>|Q/D/DW/`/`]/x/x%eTT jTT oWLWLxX X ~aaaaaaaa La|pNp$ O qm