From c071682038fd75bcae1c6028fa214e423a7b4503 Mon Sep 17 00:00:00 2001 From: Sylvain CALINON <sylvain.calinon@idiap.ch> Date: Thu, 11 Aug 2022 14:01:45 +0200 Subject: [PATCH] Section 8.5.8 dded --- doc/rcfs.pdf | Bin 3084851 -> 3084862 bytes doc/rcfs.tex | 2 +- 2 files changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/rcfs.pdf b/doc/rcfs.pdf index b3def33d782aad8d0a3ec87e6c1f2916ab4ebe6b..17c0450d5d7226b3feba257673d1c56142c89f5b 100644 GIT binary patch delta 7206 zcmdnIWDn!MC3_efS{PfHT9{i{T3B1yTG(4SS~y#{TDV(yT6kOdTKHQ8S_E5!T7+9f zT0~pKTEtr<S|nSfTBNtg+%0D`oWAiGzgB(h-D2sT6YIanA9R0p?g-yL!`)j~?z(e# zS=s58SG4x+W?#QL&!ulkr)Qs$^V+w6zP>zmoX4R_NHuWUlOG3X=?i3-NZsv?H-C^+ zWT>fDUlsb}wfy~kzuu{b`FI6sEmO-suihkhQtej3qMbAM#QNOxwU4_NTWch|bWWb$ z+uj-f!s-JqewF_Jt!3s*_dl0+iC?XH*rmIAZ>reYRdL^acfY$^TwV9+-&_6rf0snM z@Ge$OJjAeenozuo;*6k0J$$Oqa<5<gd-WubG*?K@t(GdwqwlM3eLKr`OMX^)s`Jd$ z+I=@)`CgBSN#g(WyK3)@s|PsZ&YS06-|zNF&G;C1P?6<K#`?siQ~K64s%hN%(^q=s z^m+9*f6frqBVTm4owA&N&Ofb$tJY%SWvTpX|5sHP*XVEPnDH;@?Cs5LTp`)tlR|TM zJqw;zJ!y*4hG*jEZA6XNE3|U4&d^>^60$&Lk%n_)aCpNsVOKA0x#z;Z8Jg;IG+yo2 zsxdawI`XiuEvinNYud_s55Z$?iBo1aUUQi~Ir7S-)T`FZuD%w2AZW1gopH>JjZVUx zduJHBa-9>-3osU3Vlt&#h(}~G3)}6fRqnQmCR%Eo`s~a8PFUIQXj}8()o<I-7tO10 zcprTjy1|E6Cd*<6(?2_7l{Sr|YJ&UgzFhqfa!e&uSj$7vM}Sey=#mEK<oYzD%L>BH zD@10d2`_vz`)huyjuErJ=)$817MagCigj7!^{g$%t~kv*so_{h(2KGKp(?tPx{oA( zw(p&KbaUp#kOc`EtG?-&O9rf9_x<yKrXI(lhd-BoHhQ_`aq5HxKCTO%vQ7+Z3AnpD zq4ig-(Mrz6f68V)X<xbU`C<3M1wN~q>r;Ykn|$mdmUbV1zVyWBB6qc?(|ne3iQ6bW z;M(D*8r*z{SItz9^V;-92fIT)^II+y4SddLGUv}hA?<tiH@?Xw-s@=Z+xn-9SKZ#{ z=4$u!Z9693e0*fr-GWojJj*LM+ddbve9z=vZZYd&$oaN@{rd&4o}WG)o%-oTo3Ut- zqU6Q;4I*XU{?i_4?kKvuqjdj_vahSMuGRIv58HBVea74GT7MqNmtOyN#EJJpm8J`q z$)6g&qX~C(FE!aOEQ<R2_v@;%_uAz<<IJVYw>PbS_ioSIJHD}J3vFv()?ZwE=j^7) z`hxP$Ww!hxVY90qa_7Yquk-)#C_i`ew}Q^U`{GngdUWfzKmRw~&`spTo5#0YSIBai zhksmu^hVx+WjZpG4NmfBz3AL{d9k8tC2xO^mETUshW^>!ERkjp7nYf?7CR_c{(g7L zGV$2rr;Ku^UEZ?u*u`EG{r2MfvD$;PbP9y8TMAvt-}U<Evt6ryJ50)UdVHQqbDr<5 zjhbqjS>-pQs-BfKOsE%i)zaK%7FMCOK=pV)MY3d<{+;PbEWbY-yxes^`a9c^gD0JK z-}$xh@P%V}2Uc@9A9kOxPOeaI&Zce04b&T6H>yqW)aDO;UjJ`l<YAwiCZF$#?}$4u z+mZhJ(yr~@Rl(&36TXItH(xmvkYbVan>Tn3*M_L~AD4beoUu0j?5a(svGw8J|7Y`M z?27w!GojIDj+4RiyU9ELU5ODWcb~aBJMO1{x?kO&^S7^F-MXG9t(bY!jE$Xh1huAI z)eGrjQNH`>{8pWZGlTl;{-*zaE;D5n=k$b$i<|7Ne4P(U8LT;Go^<u~>i>1WU%g*1 za9vxi<j{dw(G6SyhXjrtP1#rV^<AxDWc>m62PPVo#y>N<*U2OnY@hSz>(%v=JXI^Y zq=T9cXUz_gY+c*=u<8(363^|j3BrE7e47MQlRgV2zs|Y0j(Nrhp%%81oo46rQ}<m> zHtFi&IQrc>QFY<5o(n(4nRKr-M>@+VFSSkX@%?YRU#97O^tnrY52m;a%~Aj0vtR0< zVE_C247sKYXI3OG@Vr=?X7K2jK=0x_(K(-1U$)q;An<DTF-wQXHZcWp^Nv;8H7U=_ z$((KBbZ)U#!NV-Rh#f_|chetm8-3tx-JW%g*Vp!;;k|j>LG0Jd@>^zQ<xWpGPdJ_6 z<Ry0d+Qsrv$@`{S6>}=gekXl=bK`ltsH@quSfdZ6mi1|p2N=3;?`Z4WV{zrNJwxZR z1=IGJom}hgpeefJiXO-1S9!`-)sqtyeJ(C~u;K{M?RhJ6<X6|92w}Mvv2t$1pTDaY z+<dr%m5Yy?d)l0&<JNWIne*q`+2&u#4SkV&?}JOPr@*Za^P3vN%D>+2sr)>t;&b2K z?Oa<Q$1RDHbv)+&u>So^?^)BoKVN_Enf~2p`aAOHa6FE@oZ{Z7J^j0B#>qXoPXnA5 zzSHl}s!WMCcBu8Vn7+L~YSqhhOMWh&Ho=nc>+&t{0vMZPH*|(9czz(shT*Q{s!38$ zj?1*XyKwl>eCA!nEkBn3nzrO)``&X^GTEn2O6_7ue)e$hqQLVBJ3qI)u21oOvf}%p z3dMN|9Z#0Bi}lUT{jxRvz+2&zpQ)@r<GGT~aebP$$b3nI^zN#u-(&W^d!~KSTKeqe zITu9??*FjuRSTc;;gHPX48G7><5~L3j*n+boYm*ovsZNcaj5s1`1u>Z(oEtfDac>U zsLRh4y}^-PyQ|xChwb0XbML8LJNH(mp83$i)Yff$@rQqfHtlSh*?w)^YW3#{_ugG% znH%G9w{H2YMTWODI$gRuey?@nV)rRo)PH5?$=x$A7X6yOxi0wZ^p0}rGqI0yep&y^ zob9@G-tFr)3XcoI^{3A`e<|i`z=6H5^tES48kgRl+;+D7c6fqH;J5hpT0Z{e=Cz*g z4pUv~r4u|CdM36R8t_!4>C`A57I?G1aEV%yjnC?ikFx~VesyW$S6L#y^4Zz-%XiBO zMED<awA;9%X_0w_!<>M;AbyS9tyc^(U2bK)W^ex!edy-xYW5JmIH?O9Uke=%9@n0D zWdDApIj1JwX1cicuL_UI_I@WXr^D^<>*5aT{9Z4X@xR`5*<mxo&$(w7xf$8bV+`m1 zamrEok-;swe^+8+lD($0{9O2_+I;^(<)bn0o1%J^l5z{PHh({*`D~r3MyJHYiC%u@ zqI+K2KWLs+#}glz^Ko^m%APsVFW1g}_{H>mgO2E?V}2EkpZIwze%ABu7eD%i=YD<L zZ>A@;%{K$K#a39oufH{Qaa31FR#ZcpK=ZmUVbc!(a1xXaNcO#WBFU(#M_2u>`GctG zlUGdeH9b7dI)!yYsU>$E1H1R(*!n%;?I~#;!bdcWwGy7$=6+a{{K+fXIA!Ph*ST$0 z8C^*a%%}XUxVb<}aFI`B=FQgpyZ?d{H~;aHP}jJ;OW*NY_4gZVV%OJOxJ6GgeD#Xe zbJ<}%2F^YK3E?QM8D94ke<}CKxihWe*XwFm`SvcVepOg_7;Dt7w?~ivk=p*f=-K9{ z51jw+ynjX8=h@^tD_MWvdb;!A*_nSAu79&@`$xT;?O*Nlr{^{2sMQ;DJd|2JVMX@b zc}I0@mK{By^!?`3*jpu+7OejGHS~J@Jl)q*s|&iM>$4^M*B>yxv%|V1B4^Xn=d07= zbf?e1`#O7$N7*c$JO0dNyC(;5l$He?dG`6Mw9m_w1C#fyyX!rjr=xtz?$u`x9+kfB z>cdht$6cObJ6EvPU;8^|Z?q+Zj6WteR!=;7tA5p;r(5bi+iy<&d~iAQZ8N7+DLxy! zp7qtA4Zri_$m8yHQ6`DzpC+7p{b=&HE}vJ~%T4dJr`}(7vM(v>+#c<aV|j~M=Gy1I zJ9g%RZyqOK@$D6{`5J{qX(6I6i@IF<o$pWJ=DZwsY~=(4Ue&0Q&Y(%fX`+b<GafBD zadDz=hR3JV;*sGsyOkB})Z`0Yk2pMD`XFoh)uiM6Tk0LdA5K;%KEm3Nm><FPg(I)^ ztLm)JKC-GaGVIDO2+hCU@4%~}Jeh^%pk=yCW}>=@xK^*|DwDpbQySaiQaC#gt>~8j z)cAH1-_;wPKQ_L6Et8yZBO#PQZ+l9kwXxgOd2vr<YOZY7QMX@ETQJYYSkS1wYl2M^ z2V=2``ElWeMb`DpWKMH(iKLr|uCNuDrWQ5DoOMP1dnpai;CtcoiX0t2Tr>@ji?3{c zSp3Ja^wyWU^#QN_!%uJfC~p?Go$r<%bHV|Kpo4i<CeDJg-hqX;^Je<r+@V!5iIZ*8 z<$HJZE^T|rp007NTSlhg>#MiU+Ltb-EM8Pq^Qv^-uVeG~HL_?()qmBRy`8y?Z^_mz zoz_NgF4g>+c=C&Gkh;!dzpmZUVHbLK+=+NnGUalQ!!8NO9;MliL2Vay#Y<eBsmHm< zt>&5Lj_tRdx34r&ld1CHf0d}W<)Fh&&wo8>?KjmO3obf8=v*GFaopjcYuJQ@(jDiI z)zv1Y@QEmI^zR9ZUboV3cZG93|C3zX2{+}I6snw!xYfL9hwj(hn4tWVd5V$8F5f@8 zQdQGw-Q;q4p_~hE*Uxud+MqS{<P(z(6@F8$dHnS=TfXaNvw+pd51+#3dmZBGa?K2G z*cMcOsdCbie>I$zqU|fJC(eD9roYSo?Xm0Cf)m7z3s=wBsN6YokMEg3i44a@jce<J zr>)$OS6HW7xTf&`rJU!#r(F7evzS>$x#!WeS4}Gpt==*JqNH)+d&4^+dFH9s4h~;m z^IYY6Y})@wV|l5^)~#vILe1>=tGn(V&0BW$a_?=c+PiVT&tG&4zwN&}pkep1di^^~ z_ul(*c9Go9#OwD|J9=3;l~$x5ImM#==h@|NQZe;KR%`F<E3SEeZeO$XtNG^dUL|-% z?P7j?EO+a-#kSu4Y&yd6EHnP4EaR@fCA&|a!RGsoFP0*@A2_)ir3=y+Ez9F~dhc3W z9&MCpD3X10O@>o-&7IQ^t!%HoXR;`BoOY2hqtKNlBIWh*WCph9Kabax>1nsAzWA>c zwBo_0)iV-O>wCC6tmQdBO8r{IRsX}mt?S_4>p400m)TeJ@QW<E<EpbOXZJJtI{AvN zU(^*>F>Mj`br(L*x5Dh}u21gzVoQa^ckHUnVm<XP{ruV-!RO|;LzZRvdQV%iRc&=w z#V+~m!0(^eSr!}A2)c;pt=pAmo4-yV@!0WKljlk{W<~X=vM1Kp$sXdJk+hjLHu{bE zQMbnR)&0dk_<N+gGViaMmD>88-9S=fQ-KZl@8b{C?%4CSu3EkNDZ_2O7{=|^aX!1R zo&VNb9T)og8Q1r9yPa8XSRBv!`}UOl@|(XCJmseNZ-3>?KY8u1n4TM-R#e`}tDX^| z>2+Rt$}aVO@zrTN>f`En2GpBAzQne=Enur<-ilx6EAB9)8!#UZR5~_yTcUvetJ&+m z3BGh?R({ZYJx;Hu+wy_vQRmK=_h0>dHu3S*In4i6e{_h5txc5C_;F0Ae6y@>+*#3u zUN;^GgnI10A-sN?)E3L_uDwb8UE$5&j3+HytMs^VN&q9%|MxQ6?pek!dyufBr2ZAp zUS9TvF2cR1G&<UkuUztP;$f-G3u@m4X6!rIApWoDiq4OR!UFp_+V@4=?BuVNT$KI8 zOy+D;`fZEL0xZTd%*x6KTgoRUBrVOguvGiP-h4I8ApX7m-KURJjgKGGTP$39*zJg+ z*;di(&a6+9C(dz~maXOBx4(UDY3^P5hqrInU#@;CFzIojhaO|*<6>7O|8va?K88!@ zfBxsg*J^BWK}Yt3^g#<luY2<@PcGfX_(5?Y=S*(j8{T|}{12{SPPYA>Y%Fu_@FAPY ze(B{a+!$UhcGWtNp?x7%OLU^jrU(8r1@9|y$2+GSypf_4p)U}3L7Lr7j!EpKJ6pG$ zNaT%~*Xwsb-@bA8!2?gvewby+cKnH>j4}J0&;1DxK3&Lg`gtLPsh&;XvF%k&BZds= z^2`l)^mzH0oY&ru%&41uzWu-C!EbuKDHTqku9;tVoX$S^poZz0&KmoMLbbaKC*KlV zS`hwz!;z|*75#D?Uv1SU>{mT5cD%zYHCL{gRd&~7i8$S_^@ass)#v_LeBrU5T;dO1 z_w}4Uox19(8&-<&3qA;#%$OL!elq{3zV7~=9FFgHJWz2e$f>OI*)vbR;d;09$Esz5 zHQ$1ZEtXw**3@Qf-5THjsBs!2&#A{>SyzOA6{)bDAo2L?A>H^^3BLV4AF3v<`NYEi z&U{b)pYMlaZ<Pi`*FUX4-zNI+if2VT_o3Hz%TJj294Pwma#xPYj6Ul)w;6Yy-sxM* ze^_8`;a%=04>=C(Zb_C1$O`HD$J_C6$E3Z2Q>TlVbnJYsQ!{tX%*L6oE8888{(7|A zRW|Rh(eq7w?fjMtolH#T_=WJYpABQadnk3)@5jAT^Y7k@FMob@58v6!00oUTFT{Pr z`Lin@#7&>m_vB);iFmb>_nnh3h4%ZL_*8Bev&Z`3{2bxXBhx3&l@x9l?UHF1?UHR5 z?UHL3?UHX7?NVqL?NV$P?NVwN?NV+R?NVtM?NV(Q?NVzO?NV<S?b2u$?b2))?b2!& z?b2=+?b2x%?b6*Y+NHO&nAOC<(AaYN{=a&15a#wrfAt=51vwj-xVc&yTADk#SXvqz z8af*q7@1kRI61kQSh~2FSlB7p5L6P&rSFrPmtK;gU}R)!GTkwrRij>YMs?1#aM|PY z?|Xaee_48gY43f_J+-&K=W6P1nKG?Ncj=Vqg?DZTow$<9BK%k{E2g0H-J!gTEj-M9 zb5c*9DM?EYPM_u@eo*(G@Yy0E9zN5LM)9iMot?Ko{H%G{&;R_p?fIuR&%fI~|MSZ& z@YO`?l^R~IVxo6_{&gQZ6|&_)O1<i=Mv*A%DAtEe0S#s?+oo&~&~cG=i*|}&>AJXW z;Z)&i4MAHxw;XNhc96WKxW#0lL;ei6#pX-dRs6S26f(KHY<l>DtBXHAnZmY@XRV;` z`WU{j1*MA&SA~eKaFcevT#)Ucdy7RXe#$E5uNj*&eqCXkU~{iVs`sXcX=B<J)r?v7 z%fv2pUF$jKv+ULZFO#$Lm+g>U<8-^nO)O}&qnhZ_M^6G*{>ePVC$M<xqO-zfO?q3j zwgk6CPH<lBI9vG*n{9^n#Wc?A4RKq_wn!e@x`02|^p@wLx($4}ytg<HeNAA<)xA}C z$Z-Q>uJkR#Ly8*&bNO!t9!fN5+Q$Eu<Dr^CS6MyNTZ4yb8(80}+%kC>cHnWW;Vs2O zZxh&OJ$tI~P~t}Cu_sTKa~waYw<T{2bBl0-xs?2j`~DW366<caZ0j%35AdG;BF;7> z|FVIJ9dAth6920*8AT@9v;59(7FuvdBlVQ3Ctp<a4W*2yiAxrIZTs33CYi<?6@9}x z!*!!V(>1}>_39a4H>5GGHrx=z^xAxb-65j@?p3;7r@nfLc}5)k&ez1~6zOFb!FrAP z&!qS4kHdc5m46v0=DC7hr}qNKES*<-WFrr98}C{oxk156`$VHu_cXKB+k2nqvPUz@ zol2fyBY7tIw#_m=DL3^S9w(GIB`-8CYd_{NJz?bq)=e!tG!yE>!r4vOZ5vVrJ`}&$ z)-h2<xAv*QgsG*T@(H>vrC}9ji(hZ3kziyFv#1Wg&9I@S?nIZJjaIHm21_)98`tbL zFaE}_5D#XLktt)?BmLzm*T&o%tOnUPc)vC54g1wm*4-e>T*k9Q@6Gm0>c_7%S~Jh% zsW5tQq(PY3kH^CB%%+|7Cku|R`Eu&-F5YCe9?55tZEPj8UMn4n4XgXNUPe-x+o5sl zzR95x9AZsN6;hYxr(6kS>2lPJU^(R=rNj2rLAplug4jNpH5)cvm+xQm=GS+jnlJjc z>$x(%uVcKm`DTr~)|xl3R_Lu{=3Q{|)Vi;R1=pQUwAox@yV2%;i*fe*6It~W7-bV| zB^drLIC^PsZB-G^E(ftE4(2ZyvmNv!xPKks+rXQ{-kiWJ!6bdqK!S1h0gW3x+ZygB z%w6gpf0bh!lcdXGS@zur<Ti-EVg7xP(IEAuf9cD6&C}}g{8PGLuh+0)S#~h7fJKJ& za{`}F)USl4dUkAm&B6~<W^DX2d45J&{Y{%WliEXTx~^$@+kX{)_qE9|EqBYUM)ftH z_C}V9FuZxZvH!Tf-2NXz4VgB}KF)bm*EltP$CBG0CLFhu`&|+9T$97*@P~>M`p;cu zGAh4ug!5)GihZc*Iqo5+T-o!au<!Ya?>COWUT|DcuK9<S_Wob|d-rfAXs$PoJAe6P z-_kwx=Ze=nvSzIN_~YnfaeKxStLC#jIXl_h|DH|d=O<_V8=D(kDuteUPEik(yIvXd zym0REQZQrV+IaR2n~tB7Tm7SF>i%zyc8uy(b6yxOJl-NFT;&5|)XN>NeB1I%Ddvsg zR(WP?M)xh3*PLxg>EH2h&b`Lje+=JU-BYl~y55)N*{9_P_Duc%aPzJoCd+N}x-L6d z&foeezSr}xT_Kl9gVP295k{`29Y>6I=D&P&bitif`~NbxdLIZ1VANXs>6>Bc6=oU1 z>5)&@?$(cIEAZ=Cnd~!pxxmTy+h%<>e_Hm{EaGncy^FHF3ph=p&!&n;zV*Hz=*}IW z7@ltGe}BTYdM=C1B)%;c+kPFFzIt${=;~RIPjrPIE{%RH+`lqhbw<`^zSZ>)c9~2q z*?X-bK1$KOWX-0YV4E;QGnSC1!UadQ_GsiJO^u$-SncV<D*8S8@!#^}iw<=^ws@9M z)^jt^+G-V3c(U*AXQg*77Od)0U-Ps7yO%W!UxQ(`R85?eYgoMv=eMT6*UFx;o=w@j z)%KT9injhf>5uRE_Oc(`vb8>9MKyo3@&l0>tijj5IjpbhXOa<<XE#>q@+|ok;<rH} z-f}N5zopF+jWx1vMG_~c7T%qcnsuvGc3;ttQ&SsUZAvZ~iN6cfe^&H#0pk)~;~%rE zHq1Pn#y8uNEBkuJ%+CF*>&2TbxU|}p=ai{TRS~(CH#PMe?`x~Bn&nDuGEYl6(+ZZ{ zPGoe?id~=j?EMQqEhG1DvNy|9?ia3?-gHLXe!cgGhQmyKbF4qTKCwR7a;?hh4moD6 zxt?o-585z>s7-cU{%D4Yl~%=e`3ZUEtRC|YGv!H5uyOw+(^;f)YNE#SwGQ>a*))q& zuAXI_^yb8D<@}!~isWOubRPd(`{}UG=S}B6*POCi<iC3B0V}uvE5jN~&zvy%>GZnd z#hNJYwT~akZS7j~_-%BSX!P;<_Cc$UJi7M%iq_VOH>;w$b?l;-hRr-Wefbry=s(xi zUyaK7c$_(FYIJ(=+9>Ze#gEOeMrF<Y{x_z6E!XRsUp-M%uT@t2txdfaS{=9c>9wtU z-Pej<`?|CJ%BoH4(*Lav+giHUa%EU=YWKR8q1iXzxNd!=WBspo>nq*rXWOE9r~UQX z9@RT-@223jYNz+<+drSJJH0Mqt=Q?e8KJAM7JdI0vexYM+~0Gfv~|Bf$e$$n|57)n z+`fqqCU&vZ$KRd#V57eJjt`Gn{O@{xcvH}n|Hfm&nRQR~eARc@On&gQT4+ZxXIzcJ zLGS0nd*)mz*crZW-h-?2RV)71bKZO5`9Y1p;x#wty*kx{TkTaVzPEGM{d8%%e@^vB zZGBU~tOv&`nr6p)7j&!te`?J6FKkWY>-VSkPW%1jV#oeP(;J`0B(Sbvy1IbvN|V)s z`Fv6hbp{zszl!&=ZfP=GFyHly^$D#FQYjAX9gTIdFPI`HFyCFkzJ_scg6<3EzX`Gt z{A>plZZLe|KIpdKeyH04HG{03{q9Py_3Xs|%Bw5yo^Ci@Pk6etkUl@BsUerDs;j>n F7Xa_Ptdsx% delta 7190 zcmdnDWDn!!C3_efS{PfHT9{i{T3B1yTG(4SS~y#{TDV(yT6kOdTKHQ8S_E5!T7+9f zT0~pKTEtr<S|nSfTBNtg+%0D`n7;8CzgB&0WU;j6q`L3xA1H6lUc_y_%DPIatZcjb zuEWB@Yd^lT+abGAb(6}~87Y~oR&2A~UuRSp!l<GVC{|keC*dk9Q>TlP@yApqJvH&k zNuQR7x9<P<@$KsObxB8;s4Pv&`t+?vNn&EoB3|`bvrpbW`sD7H$EkO(sv8HMdim_q zy^fdpto5R?`#<LU&zM<v#C~mc;9Bu@H#XghPP@3~Rq6dLukYDzf3E)i{=ZLm{b#ve zF^CdU<GGNf`O#IVNmKRIi-4qiWwCeT=bqWH(BbGZ-xbq?|Eyb{dp~Ev--VUoW>X@s zJ)gbyUdh>`s^1RmUw^$jlDFr<*P6>^f3sEcjFR^#s7{|ODNrBg_40&NM$@9R?<3sz z{;5g&F~uR&$>)C3>N%fZ{z-9LexY61YVF5u-<PZtKl_WRyW^$))jhV^3mmqV>4#li zmTi~1Q{7XODZB3DnP9`uTtO=W8g?>yxwCpHbs33Rl(J@61}@q1sL<|W%e10Hos0IZ zK4h-E*h%JH#)_xg7bVQ>suxMjk#L(Snc-VvInz})Hf(Ql)LuJAIY!}Ec86OfwM`~o z=#~s#^1$XHo2js)m-9~bgARsX2^(TpmR}KeTAVcLLs7yl{+U%0R}QnU+jl>>)ow@E z-Vm8M*3(xGENpAme(>JdIjJKkN9f~g_jq3aRG%Qzg-s%dSOgQ4lzS%`WY()0^BNg; zcumYS6Fjvq@_*O~CF2hvf>As=Ri8C4yQ-{8$vg4XIDMN6TSkvYYaV-)>!nE-mF7*X zzY!g2Gh57;m8)%0*7>5zjIC7{j{KkhvPnT|Uc8n5WIyXTHqKKaEKzX+nXVjH_i}}; zxUW8Wmcgm~>7I2nq^j&{MA%O)vGS-_yUKjx$==Xi6%}z^Hu~i$L3t-rRuvpnW?I+q zI>g9S<4!`*<4Fm%no@f_O#e?1juI?==WzJsd)<wX{_f3vFZir?$NPxW>#rAlIy_}> zRY6*}^h{g7HMe<}+Z-wAnx0@G?^ZDXT0z%hNx!c-KYo1TU0%0u&z?}V{yd9dMe#|3 zy!GCR+rOl6&TG=X-W&bBJ2QO!s<gM)f8@Dl|LM9`xBig+zrgZbf1N7~Yo|LcaX5Vb zc>vF`yGpu0gteB3-j83O^?hH_^w*`E3(K{Cyn1);_PM)PuF71$JpG^e-BWjUW`AWb zH_yNR*&%W3O7VRUj+s9H#iIZ3nprmg^c(MAyE+}dQB+_3u3j?PrSXj2y4aRm3k!-x z|3~$_Wy?8r$dGgLp9O96B&=<vf+k=8aAL*dDbg%IcI<SSkSZ*fRlYe(@J-?OecowR z7fr+E9&GfvQg`6N<<!{3{<{1-;%iPanHSDgcKo|+_q_adyLa)c>{K)Pr!(Qv%_Xw4 zlO`=Ho4$5wdLBDRWPRY0NlDqst?EosMLezM(-!_XRIBN>fnVNc?T@{s`3^F3bheyc zD{sY<`-W{#mw`zQ%ga}S&kt#4SMwAz?U2i0nz`juK<U5d^0Q3OOz|~-U)%Wl>z&4m zZTf4gcdsxnWoM4eFE#Yg<#BCO-ge*M=qiTQU*+Pt<lAmmU0b6SeYv!L>zDm68<xFZ zI-ghU#9>XA;#;<Dul>)m7M4%hx$D`~|0U0!9RI&3Ha7P6sRT1~g>K2&CnOg-MZR@f z>S1t6_kYZ3p?R8LUtF)>R)5ZM<*WiuF-xr<i!YmqtYJKyRihlXci*q~+t>g5$5psD z$w{5(PAKDQ234NK7@udW!{6T%pUhfc!{XOG$$WDEwil-a*~(9!jF102>)?X+RXY?_ zE!J%FoEmszmc%;sH44Wz<g!~nyz)RnI#A6_-*DTxXK$?<IQ1Pf9HwV~{uA~r+SYCH ziH?Ap{lZ~FS!X!r+6!eYe0Nsrmw@(L$>f}0?|(iOsJUM>t&C;4&7=o5jp@Ixa`aVH zxYvIcXi0P9W%liQXWT4!y*)#wboGNN@pF&uWNi$%Z*q=N>iNH>&!0@reHN7YnBsl= zh+vW2)kf~{;sb}KX1}mwj-Sxzudyd|b6&<P&i;?zVkTJa*jBB4B_w;d&2GkMHsPR6 zH@5ZdTYc)sy1;{vk8HlV_~_>3`SM{RHzUeU9=QH=Mtv#+vqs)yDXUM90{Z_msLX1L z`gBWWyBy=vkOx7#6?|6j?tSsbx2@H{wYzDtka14+vQ4#X{wW3vMkFsSWBL>y$9k4e zT{oa0B4Wc65$k&&cYFPQ^W|mb;=I*P`Jda=vwWH^xa~RVHdEqa`SY{0ryrSJ{>FQC zfb~1qRaXU5Y6Sk(&)c`8^5@e(S8xAWdixLS_g>*do9tO{Gzy-6+Q+6lbNgBuFO4gI zSp!x3bF$f1=yN{*^exca^smly$HtQeP48a)YQ7+=m9T-^Y$DeenTVe11=h}?LCt?= zG+&Udiuh6NP~Io-Kji)-lYbkoNA@TCT1GmHC!DeQvnb<=al|{DhgS8G!j`Z08pL&| zODI*oY-~+Vm#%#)S@4@B(r%r?e{aV#k&gF*zO;!HB!{p6#2vnV_fM}c=iEM<q?@pw zG5^=<Hd))NBC#*gq<z&s$+OcZF8Juv^Xzf+Y5xwveFckuzL1Q*-}B5{=!vq_+4pPL zGD#<{^)EN%+`hbi*X7$sZta|#T<>79WzB_a53?iodl`fqe7<n2^y?FuGq+=BEtt%` z;`aNHU=ufK)rlE`h5JK29yWCPeVJ%wUTJO|<@dknTK=k^LLc**cY4q9tv_y`yLrX6 z;@`8_Q)J$~dMflea@J}&t{vfjQ&Wwzm*rJo+VC^)H&>6!sei9GoPYT6%QF3!94jVe z)HCa7nrNOeU~6MM-_xp}BGL5MwC{>bPkW}QVVv=zt@AuSG`4(Ey1M7**OKeZOs_pH zPN<8827F=T?+`xa`-*Yt+G$d1y&loIe;-V!_qM36e&2BFpf|JBLOVT;9~G*TetZva z363m^R@k+5eoNz{Z-E}389zSUJ+D0@_5W3-xBKglmE2HE+t(X;#pBp<;|E!c@s=4b zGH$mI&!5$u?elVyg8h{G_s`5Lmdtn^8?ZXiWsR<1?zcG0qj$ElsR}9^1)Y4ktjYW@ zdriRQ{)gIKx^-K7TBa9k@7-!VXWui)2}_->-Qd)B__vTz|Nr`j-xtl8_we`mg7}6# z`3BObwsHGEkFDQb6yhxy=*xY9C+Wh}d#8#d;x!gAXRXnciu7^o-}rRNZ?>4%MM9#R zR;Jx3YG1>!NiY2%|AU0g9k2VpznXA{r?5#P)s6Mcp5?srN`2xobJ}#im+n0q!0sE! z^QX;7USB#y)oF^Rw(jl^Yj4+U<xGp`e9V#>^<DKu)qA<wTVIRTAJ6bMa*N%oaI)kE ztHMD+rer5?*5H%YF7+)JAA2}_J?Q#z!jXHiul=vSI<?Bdd;8uWGvXhAi#u1dO{V6B z{rA~bttV?HS#M2<-)&>Q!*a9zm#MMe&F;0n-S+SK+e^6<&OXU!Q;bO#6)IhOdGn0c z<69&mp4jc)<2~C?s>F2PzE`*EH>d6`;`b|joUi-%qi98&ba^{px9_$;HCNB9e)?&1 zb#1TkNx#XhzcUZyl?!n#Jjd5{qh?=Sv*ui$ic8nGR==FY__433e5>V-isaoLod^0p zzhHh4mgu$ofBWsWT2|*IH9MUG{Y??S{ip7pb1na0`nDXqA0-L5-8^RYXog+9v$6hX zm-PIKnv0>`YH!@+E>*_XT#B3MS^IWN+wTo;ZkyZ;^f^7Vy!F%#-zf_|A3u9{hUBi3 zx(5^Uq_@82RrNd9v#QA>WaEp%7t%$FiMLK!hzc!R=+dnh=v8!XjS>$}@Ej3Kt4*A| zo^?N!UU%h}vm818M0s6@M8+PGn73P^-u!4ZtAC+YBb3s&gTdepuXlso!L=LqxfIV^ zxtK-x>~X%RN5#JdS1_igOlnZDc;2I-`=;fY)6$JjQ;!9DOCG(}t)mzyQTox@ZbR&) zg;Lgn_GYznlX-Zg*Ki$pI!&h_{n(02m%HaQ_g77O`h<N8|GCNOYEI7r1Sh!*C?@nh zdsd+ol6Sm*O0uP6<D;HsOk3FxU2^IEw2a~F+gN7R%v1VPm&XVQ)Rdf^dOiGJ!Vj7H zfVpOS?`vQAb@}S1+&}HT*Vi_0JI^3tFd<~aY`(JrF2{pH?re*G7HqbTYhFrI<C87s z+q<{q{x~Sv^;L<TJz;Ov?+aZeCO22CkegREclo}L%kvc&yWHyco_hASVJ>r~ZtkN# zp4}$%>r#wryRUGbUNQO6yJ?~(%6jHvma<Pxlqcx92`oO5Herh5mUrTArOUjVRtV0o z<a+n^+l5@MUe0#8OU+d?xN{8x$|l(_zM1&VQy}JxK*gg>@l%EY1rtS8B4pof-WWe$ zVkYxZk2k`LuT0Bcby@G;g?i@7X#SLK?3ps2#?!tn(8%+ym7abjdQ-H=w2xoP3$r}C zCcJ)fx1B}0<oE0JK+OeSsYaH(I`f2=ng;Eke0F8tH-#2In>~B3E}vx3oD_IVWWm}i z^GoKbthDb}T>eO)RDDzM-8Zh^SKj^c%a!HHQJ*_nX>UA|)bfRm>m?2p9`(6jKP6Rb zP4t|2PnqmH^0VL8%n$lySDn|8(h_(lC{`e}LiD?_RkGR}+qT)K-Y&~w=U7oUcVSfG zo@b6SPq*-`+;%O;Bk99~YX6P9Z=BsywW~0C`TE=0|1EF5$oicr&Q);z$NSdZTdvRE z7kNe5{LQW1EE_i}II?{0iI|ztdcWpYT(ft*-}0%q%lqEny;)x1{P***SXm!W@A8DZ zJJw#S+minBVngbqZidVA&y+m$-+lNybHj7F*>>%VSnU!O3z*O8C_I0sUGBO4Yo527 zPFs@hOi|yA{{CvqnB~WR#WEb%J7HwSpu4Vvp*!bq1<!#8HveawKbLxR1Iyod7cSA5 zGEw0*J@ti*h0m20<DBC|9`ehd@G#u*eOB+=^j{29KQ=l|+1=qfJ@@*b!|$2bPy46h z656nB(aVfSHyN)kiwpnv;^?B1M@-@7{%aj>{(ZA^s_vsdX|qp-tj#<rwDnp_sG$G% zWZhSF_e|6I+Vq=V96B3%ea-W;qDp6eMAU9FRu1s(-uOh}O#OQ29gM*_+ZJSZ|6O)N z<3s8DLcafvh0ca=XNPWH^WhJJ8ndfdUwYzyi#t8Pk1q@;E!`@UaJyCeLD}){%<I2y z?khaMI_qxC!+WLW9SqXXXRO^H`}46$wY<*B=1(ufYF{L73Z36A7%gYoe><07Sljhw zWlPZaCl8aZ@_ax4`Z#xJy|G^IhAfWI*^k>+{qH%>Tfk;)AfuXeCsUg3<Dz{pv*ahn znHVtHRlI$AXvYlZxImjJGybiemoH}#ch>Sld{e(i;zg-rjZOJFh32;}KDrtsxT?jL zFSK<_x9!KQm5#HEqpxU`t*<c6uvgB!rDY`N&MB(!;s3eB*K<Foa`Cl!FRwp$;dX(5 zm&wHyJxvuAbG%;3TdtYNmYc-i_)?mu;-S9#*(P~A#*f_vFS@7B{c&Ns;;y#*!xwcb zw)GnGIvN}{G%ynKsSxK>3%k`eIoYY+AR?Fb^VffuW9{P1igVr=Sp}NsxX2_2M;F?L z1lWn4tlV<(V*7^=n{#7tUHdDzZ?A3r-f%ueOS$$ZLKDpF!c{&!vEh)a-}=$){rM*W z7R}6OFEQ>H>=9o4<gKM`<Z@|-_rkL#?7Yyj_ld$Ekuz2X*EZXm9Zs~>Ib-~?q^v!Q zWr1D95~iMQOm~+C33@7V|C=KDQFqe^Qx`E258EgP&kDzU8Hq}ch!PDI4L(W9!Y3yV z)t}pQ&vt+BJzh4w`Mi75_-;IxKX~Bj!iz1R3>R_sE1Q;wEkCx4{jnPFwA)J>GY?<c zHMjLy`Q0TGd-y_J9sefg&F0&!wd+lcj)~EU5AMt#Uo<Mn)jPZ?@pjt2@$wqe<QV7N zV{CrjwG2smeT_5hn=Bs7$tM2LZC}N?;@FhQLN`L{?^P_5`e!d`ell&v$p(WJAtu5s zQ3AYo5)L#Q-L;-pW$X2@?sMYD|6fn$>m8Zmd_(BX|9I}s^r)Xxc6$iv2<acnoO5Ws z$;TC^7(PFl_=Cx0YZaG@oJY^Ziicv$oOq5$sd?=2xR&3<eq8FF`M>IidT*^(uHFA> z`97}tc`ADjFTGb^IzKo?N-e=sW0hX^%@;eSr?MP~HG6yGmjTbkS6BBs$n{;=<*j<{ z(6Z^OJMJ~G_GMp@{#fSe*gRu5*Mrw7raWh2&Re%ATob>q`>NozxWV*Ni?9=%qL1c0 zyt6RN!fBh-3o$+RyYewte(bsWZ<qD@XQdhE^uHgDs=Zk9b%PiCyHdH6JKg2PJvOgV z-*Uuumfq6SEq`jC&prB^?;qz+HQ%=B6X!|_x660Qw99wNw##?Pwaa(Ox65}aw99uX zw##=Zwaa%Yx65~_w99v?w##>^waa&@x65~Fw99vCw##>Ewaa&Dx660ww99wtZkO-U zTUyL&Y+`I+HvQyZJvj(-`<uUdkGKL&EDcQz%#AJFoD7Z39E~lUO<m2LOiYc9UEM4# zOr1>a6l@48iRIGwNzF?y$xtvdGM(-a&#GCkIwLbD)?Kpge0lD1@0#MtH#)!Dmc6t6 zw%0Ewz3|PAbFZxWHd~#`OV4a&(Ot`8qA*QJD|CxWtcpUGi_$8_C1DE}@Ud<caa}uQ zg+dpLP}9V&OVid0U3JwwrJr%S^4^o<lYic`JU!><y_r927HfQcp}tbX%T;XZeXoDr zhgOAz6xDBHJL|x;Ryx-*kyFD}+A-QKf=z5;u3NNM1fSN0ZHrSmv>ion@!S$Rbaa8# zTY;!q0SnB}EW9}T67wYW+Yzd>@-CmAzSwl}$0t+R;<~SOEel`Apnb9GqD1H_zAKA; z7iI3?T_Bh%)vNDi+L*S5)uc9y+e0qjuJ>5Zl3Nbew}MRSeS_IwxMaI0s|Cj<h|YTE zAAE<m>cX}K6I-ujP4IPHX;B%ns$!Y}d(sxIEygW-7x1s;dux&?CvrjRf}h~GX48z- z7sNQOH!*I>+fsSR(V%6U)LWH@RvYAUb#HMV;!RM#rEsh8P~ry8T<cqghXf6}wz0p} zc$j9;wvGQS$3u%54)xZJWitx6Z*-Lj<@OawKlr$g>8-#+z74{@pN+gNINv!Y7j?07 zE<d2RrEUvz%jE=fDfx&y{uay<>!jUpyYCQRvDCX{z1*tpnG#a-+1BY_TAsycVmZsy zclonO&VaNjMo%ZHu&;H@5!~|0Am~EX;VQ?~Je%3p>b{ZPvM55p@pVW2RpBjF5yp*I zB_cE%ze-2QFBCIrs_I_U6L(UHQ~T$=#0?VzrcL6nI>6Qt-}U;yl+e9DR=rD|*phbO z635yFXBXYOJ#p&4gt+Njn8jRPu&`c8xVWk8YuU#=vI)`$oLzZ>RGM9LqK{m0Jp6)n zaf{BR39ObTwkB-5SiD>9Ca53rWvt)4OKpK=1akx%qkVf_w}j`VOW}EJn>Oi5GOcOd zaPO4diC0!S^2ZLiX-Dr^oy!!l&m!sRe@m@grVN&7MmMg<VgKIcU+rGWtjA}~c#rp2 zQR@w}H%v23->_95h+AD1vfK4QAEPx}jQF?ct4BRcADnAYXP(DnVff%kgD|rn4|h&| zp3xn{)w_Oe$U8iPF}cl{$C=scbgAG&z0-5*=PM_#VVM$jb#`TIYJy+{TTs|nuQ1uC z3z$M0k1mi}a!_aj<E;nT4ck75CM*rz|Hmces(Jma2lfB2eSXzY_MUBl?d-GVIXgq` z%@=yla^TL`{7TxH=T51>CdK|z#%&Kb<{fxuy{%p<#gQ+ELHeN8g~XSQinf+)wF>-P z3*^@@W*=mbU~x`Rzrk15khp=fry+2IWKUzE0pqrYwF%}C`7b-Cn>6J*uw5)zen4*n z`y1BZ2kHtKWVU=+{;TBunx*sa3g4XcY&92uqh*1F45Rx&$pWr35mnpV#O0ZfALJ|$ zIurft(eYXJv1a_spCpRTUsQVQlK;MQd*cj_t?3Q3{;=ihpG-&Dr3}9--aP);eO!N^ zP=Zu{rp@vl`Ww%*p5DdFU-{<o#{T1_^O_DA^Ypj>;fg!b7?#ps@O6P;0^|AP6+KT3 zCmr{YdtT93(_g!XuS({jVaNK-XNvz{I(?gA+9#{WUv1{Ti8xjN+UB^{KJf?Q{qZ(+ zA1^no`6cOa&!+P8le3e}{qOy8G~o7_q8>QUrBdi=;oRe;a@Q+ko`V^;e|=@pu3qzI zW7qkpXX)}UgbNlO@01g+@_Avn@OX=yaMhpZhI6j_t<XPoR4(|pX953%j<Q)>D<`}W zG@pOfx?r;XvAwgz`^xK=cOHoOXJU~&bHB}!?(;>r9xt=to${IW^q;&Ssc)UZ3q+<g zx-O6j5I8b*nr@A|xIUxg>iUP`T+^FU6D(J3oOS#7m5V$DE-|^L@9)-D>K?E(T-Imk zJJD&$j@we_?oYaX^>&hP`MoQ$YZvfti9ReU9{KpQeV99Yfa3KOUjMziYwLvzE*+7{ zD9kzQe`Qs3v38j0@rk0V+g@+KmT$W#Zfe4+vqjfx-YqkkTEcv-s=m{y??pta<noF& zNjWSlSROlchgJmMIHI+E8^gCrGq|+k(%16em+j`#?|VF>`KDo-``Z^QxMG^OzO`EP zdKp7#s7>zM_j4wdamX-CzGn6(Hd7?B{v*!~?r+i8_f9vR{Px<{v&WU9OJ7zU+3){i zE^G0%zYpt6-zOHZ%wgkxu%LAA=~dq~4kUgoH1J<E!)3YuQ<m<JQ!n5CFyXLs-=SNH zD(w?vOs~(~l;b>k-QjS)_?=!GX0)G+_;!f%Ym(k{MqP#6n-9gWG@g|)E530iFk*Mu zX}|r8>*IJHX{?axE4Vc=WKuxHZn@L%q_32U{Pc6>vDA7cbmoD__QOnlS9UR;p0{(c z^@<ZRH_KD*Ppmz@H}A-%_<ucm2buV|EsEZqSg*X_@9CCFYm};lR+Ol1^<({P5-`(; zZEjccr57t6+^uuib=T41lZ;qFal;eKNzXl|C<perSmv_U-!k`@sl57~h{DOfJ(i!s zde(e6czI&#UHg!_8L8_tXNm<+>wb1sYvY|G@mICB-tnBdEFx{E{@l>)iBI)%!&l!a z%KsC&mh1H2x6WI&bl=r@uhr^S*I&8y#v}GiS)tK2sa|Wh9KD{uV(XDd{ajh8YqsaE zjPhPv{zY=@w8-~=*RS4Mf2V5xCAHu+8}HpN&bk^E|JZVCSj7E4xvgPQ_n*s!tUmW^ zp5Cg^{Mz-o!K)8`db&Sk^~Fy=yR%Fq>t4-@Iy-Iu_xV{{BmPO>&Dt9E@73L)wP!!Q zKXv|Snf8+X3&Pq(%dV}yn%U~Ve^uCYQMo_8QLEQ{I6C`ePyN$sPPw1XP43!4^)_bH z9(+8nzT?AZ7XN#mAI>B+<@c+3q+RElUar2wX!e8O>Owny3;lVqnRA}~^ar=D3;%iY zkwyQn*1^*!@3XarR|)Mo#=Opc%7b2cwH<;&e|{Zh$)D^0;rC9K`ZvA;i&*me)pvZo z%JTl>ll}TC74c8q1MB18Z9Q~6zWayvF0nNXG1`u@E7*A#2%0edExEw-rP)#X!u;2= z3xrD;|LQEd?^typYXYmK0Q28n7uY{7VEA=VYJ(V0gQEe<wZ^Xr%r`jN4yrAP=WuJR p3zuYmoN$Osp4atSd|~{T`rXrZt4<dY(pTg(G2~KJb@g}S0su^1q`&|G diff --git a/doc/rcfs.tex b/doc/rcfs.tex index aa904d1..7800e6b 100644 --- a/doc/rcfs.tex +++ b/doc/rcfs.tex @@ -1968,7 +1968,7 @@ The obstacle example above can easily be extended to the problem of maintaining that we exploit to define $\bm{f}(\bm{x}_t)$ and $\bm{J}(\bm{x}_t)$ in \eqref{eq:du} as \begin{align*} \bm{f}(\bm{x}_t) &= f^\tp{dist}\Big( e(\bm{x}_t) \Big), \quad\quad - \bm{J}(\bm{x}_t) = -\frac{2}{r} {(\bm{x}_t-\bm{\mu})}^\trsp ,\\ %\; g^\tp{dist}\Big( e(\bm{x}_t) \Big) + \bm{J}(\bm{x}_t) = -\frac{2}{r^2} {(\bm{x}_t-\bm{\mu})}^\trsp ,\\ %\; g^\tp{dist}\Big( e(\bm{x}_t) \Big) \text{with}\quad e(\bm{x}_t) &= \frac{1}{r^2} {(\bm{x}_t-\bm{\mu})}^\trsp (\bm{x}_t-\bm{\mu}). \end{align*} -- GitLab