@inovitas/infra3dapi 1.7.0 → 1.7.2

package/235.infra3dapi.js

@@ -0,0 +1,2 @@
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package/287.infra3dapi.js

@@ -0,0 +1,2 @@
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Math.acos(y*I+q*O+P*j),[R,A,B]}runBuendel(t){this.data=JSON.parse(t),null==this.approxval&&(this.approxval=this.calcApproxValue()),this.approxval=[this.approxval[0]-this.data[0][0],this.approxval[1]-this.data[0][1],this.approxval[2]-this.data[0][2]];let a=[0,0,0],s=[],o=[],e=[],h=this.approxval;for(var r=0;r<this.iterLimit;r++){s=[],o=[],e=[],h=i().add(h,[a[0],a[1],a[2]]);for(let t=0;t<this.data.length;t++){const a=[this.data[t][0]-this.data[0][0],this.data[t][1]-this.data[0][1],this.data[t][2]-this.data[0][2]],i=this.getRotMat(this.data[t][3]*Math.PI/180,this.data[t][4]*Math.PI/180,this.data[t][5]*Math.PI/180);let r,n;r=0==this.data[t][10]||2==this.data[t][10]||3==this.data[t][10]?this.coLinEquation(i,a,h,this.data[t][8]):this.coLinEquationPano(i,a,h,this.data[t][8]),e.push(this.data[t][6]-r[0]),e.push(this.data[t][7]-r[1]),n=0==this.data[t][10]||2==this.data[t][10]||3==this.data[t][10]?this.getDeriatives(i,a,h,this.data[t][8]):this.getDeriativesPano(i,a,h,this.data[t][8]),s.push([n[0],n[1],n[2]]),s.push([n[3],n[4],n[5]]),o.push(this.data[t][9]),o.push(this.data[t][9])}const t=i().diag(o),r=i().dot(i().transpose(s),t),p=i().dot(r,s);var n=i().inv(p);a=i().dot(i().dot(n,r),e);const c=i().norm2(a),d={topic:"correction_update",value:c};if(null!==this.onprogress&&this.onprogress(d),c<this.thresh)break}if(r>=this.iterLimit)return this.convergence=!1,null;const p=i().sub(i().dot(s,a),e),c=Math.sqrt(i().dot(p,p)/(2*this.data.length-a.length)),d=[c*Math.sqrt(n[0][0]),c*Math.sqrt(n[1][1]),c*Math.sqrt(n[2][2])];return 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false;\n\t\t\t\tif(priority < notFulfilled) notFulfilled = priority;\n\t\t\t}\n\t\t}\n\t\tif(fulfilled) {\n\t\t\tdeferred.splice(i--, 1)\n\t\t\tvar r = fn();\n\t\t\tif (r !== undefined) result = r;\n\t\t}\n\t}\n\treturn result;\n};","var next = __webpack_require__.x;\n__webpack_require__.x = () => {\n\treturn __webpack_require__.e(732).then(next);\n};","// REVIEW: If this still works.\nimport numeric from \"numeric\";\nconst ctx = self;\n/**\n *\n * @class BundelWorker\n * @author Benjamin Loesch\n */\nclass BundelWorker {\n    constructor() {\n        this.data = [];\n        this.approxval = null;\n        //settings\n        this.thresh = 1e-9;\n        this.iterLimit = 100;\n        //stats\n        this.finalIterations = -1;\n        this.convergence = false;\n        this.correction = [0, 0, 0];\n        this.onprogress = null;\n    }\n    /**\n     * calcApproxValue\n     * Wählt das ideale Bildpaar aufgrund des grössten Schnittwinkels\n     * Rechnet dann den Näherungswert aufgrund Luhman S. 65 -> Schnittpunkt zweier Geraden\n     * @returns {number[]}\n     */\n    calcApproxValue() {\n        // prepare input data for worker\n        let X0, datarow, R, x, PP, rr;\n        const P = [];\n        const r = [];\n        for (let i = 0; i < this.data.length; i++) {\n            // [X0, Y0, Z0, o, p, k, xs, ys, ck, w, projection]\n            datarow = this.data[i];\n            //1: determine image pair with best viewing angle\n            //calc raumstrahlen\n            //transformiere punkt auf Bildebene in 3D Punkt im Raum X=X0+R*x -> 3D-Helmert\n            X0 = [datarow[0], datarow[1], datarow[2]];\n            R = this.getRotMat((datarow[3] * Math.PI) / 180, (datarow[4] * Math.PI) / 180, (datarow[5] * Math.PI) / 180);\n            x = [datarow[6] * 0.001, datarow[7] * 0.001, -datarow[8] * 0.001];\n            //P -> Position des Bildpunktes auf der Bildebene umgerechnet in 3D-Modellkoordinaten\n            PP = numeric.add(X0, numeric.dot(R, x));\n            //Panoramic case, overwrite PP\n            if (datarow[10] == 1) {\n                const xs_p = (datarow[6] * 0.001) / (-datarow[8] * 0.001); //normalized\n                const ys_p = (datarow[7] * 0.001) / (-datarow[8] * 0.001);\n                //var zs_p = datarow[8];\n                const dd = Math.sqrt(xs_p * xs_p + ys_p * ys_p);\n                const Xp = (xs_p / dd) * Math.sin(dd);\n                const Yp = (ys_p / dd) * Math.sin(dd);\n                const Zp = Math.cos(dd);\n                const x_pano = numeric.mul(-datarow[8] * 0.001, [Xp, Yp, Zp]);\n                PP = numeric.add(X0, numeric.dot(R, x_pano));\n            }\n            P.push(PP);\n            //r -> Raumrichtung die durch P und Projektionszentrum X0 definiert wird\n            rr = numeric.sub(PP, X0);\n            r.push(rr);\n        }\n        //Pro Bild haben wir nun eine Raumrichtung. Welche zwei Bilder bzw. Raumrichtungen bilden den besten Schnittwinkel?\n        let best_a = 0;\n        let bestidx = [-1, -1];\n        for (let i = 0; i < r.length; i++) {\n            for (let j = 0; j < r.length; j++) {\n                if (i == j) {\n                    continue;\n                }\n                //winkel zwischen zwei vektoren... Papula Formelsammlung S.60\n                const ang = Math.acos(numeric.dot(r[i], r[j]) / (numeric.norm2(r[i]) * numeric.norm2(r[j])));\n                if (ang > best_a) {\n                    bestidx = [i, j];\n                    best_a = ang;\n                }\n            }\n        }\n        //X01 -> Projektionszentrum Bild 1\n        //X02 -> Projektionszentrum Bild 2\n        const X01 = [this.data[bestidx[0]][0], this.data[bestidx[0]][1], this.data[bestidx[0]][2]];\n        const X02 = [this.data[bestidx[1]][0], this.data[bestidx[1]][1], this.data[bestidx[1]][2]];\n        //X1s -> X' ... X2s -> X''\n        const X1s = P[bestidx[0]];\n        const X2s = P[bestidx[1]];\n        //Lösung gemäss Luhmann S.65\n        const x1 = X01[0];\n        const y1 = X01[1];\n        const z1 = X01[2];\n        const x2 = X02[0];\n        const y2 = X02[1];\n        const z2 = X02[2];\n        let d = numeric.norm2(numeric.sub(X1s, X01));\n        const a1 = (X1s[0] - X01[0]) / d;\n        const b1 = (X1s[1] - X01[1]) / d;\n        const c1 = (X1s[2] - X01[2]) / d;\n        d = numeric.norm2(numeric.sub(X2s, X02));\n        const a2 = (X2s[0] - X02[0]) / d;\n        const b2 = (X2s[1] - X02[1]) / d;\n        const c2 = (X2s[2] - X02[2]) / d;\n        const a = numeric.det([\n            [a1, b1],\n            [a2, b2],\n        ]);\n        const b = numeric.det([\n            [b1, c1],\n            [b2, c2],\n        ]);\n        const c = numeric.det([\n            [c1, a1],\n            [c2, a2],\n        ]);\n        const den = numeric.det([\n            [a1, b1, c1],\n            [a2, b2, c2],\n            [a, b, c],\n        ]);\n        const lambda = numeric.det([\n            [x1 - x2, y1 - y2, z1 - z2],\n            [a, b, c],\n            [a2, b2, c2],\n        ]) / den;\n        const mue = numeric.det([\n            [x1 - x2, y1 - y2, z1 - z2],\n            [a, b, c],\n            [a1, b1, c1],\n        ]) / den;\n        const xs1 = x1 + lambda * a1;\n        const ys1 = y1 + lambda * b1;\n        const zs1 = z1 + lambda * c1;\n        const xs2 = x2 + mue * a2;\n        const ys2 = y2 + mue * b2;\n        const zs2 = z2 + mue * c2;\n        const xs = (xs1 + xs2) / 2;\n        const ys = (ys1 + ys2) / 2;\n        const zs = (zs1 + zs2) / 2;\n        const angle = Math.acos(a1 * a2 + b1 * b2 + c1 * c2);\n        return [xs, ys, zs];\n    }\n    /**\n     * Bündelblockausgleichung mit festgehaltenen Projektionszentren\n     * @param data\n     */\n    runBuendel(data) {\n        // this.data:\n        //[X0, Y0, Z0, o, p, k, xs, ys, ck, w, projection]\n        this.data = JSON.parse(data);\n        //console.log(\"Approx Value from Depthmap: \"+this.approxval);\n        if (this.approxval == null) {\n            this.approxval = this.calcApproxValue();\n            //console.log(\"Approx Value calculated: \"+this.approxval);\n        }\n        //set first observation as origin\n        this.approxval = [\n            this.approxval[0] - this.data[0][0],\n            this.approxval[1] - this.data[0][1],\n            this.approxval[2] - this.data[0][2],\n        ];\n        let xd = [0, 0, 0];\n        let A = [];\n        let p = [];\n        let l = [];\n        let X = this.approxval;\n        // eslint-disable-next-line\n        for (var adjiter = 0; adjiter < this.iterLimit; adjiter++) {\n            A = [];\n            p = [];\n            l = [];\n            X = numeric.add(X, [xd[0], xd[1], xd[2]]);\n            for (let i = 0; i < this.data.length; i++) {\n                //Berechne Bildkoordinaten\n                const X0 = [\n                    this.data[i][0] - this.data[0][0],\n                    this.data[i][1] - this.data[0][1],\n                    this.data[i][2] - this.data[0][2],\n                ];\n                const R = this.getRotMat((this.data[i][3] * Math.PI) / 180, (this.data[i][4] * Math.PI) / 180, (this.data[i][5] * Math.PI) / 180);\n                let x_ber;\n                if (this.data[i][10] == 0 || this.data[i][10] == 2 || this.data[i][10] == 3)\n                    //perspective\n                    x_ber = this.coLinEquation(R, X0, X, this.data[i][8]);\n                else\n                    x_ber = this.coLinEquationPano(R, X0, X, this.data[i][8]);\n                //setze L-Vektor zusammen\n                l.push(this.data[i][6] - x_ber[0]);\n                l.push(this.data[i][7] - x_ber[1]);\n                // Ableitungen für A - Matrix\n                let deri;\n                if (this.data[i][10] == 0 || this.data[i][10] == 2 || this.data[i][10] == 3)\n                    //perspective and multiperspective\n                    deri = this.getDeriatives(R, X0, X, this.data[i][8]);\n                else\n                    deri = this.getDeriativesPano(R, X0, X, this.data[i][8]);\n                A.push([deri[0], deri[1], deri[2]]);\n                A.push([deri[3], deri[4], deri[5]]);\n                //set weight\n                p.push(this.data[i][9]);\n                p.push(this.data[i][9]);\n            }\n            //P -> Gewichtungsmatrix\n            const P = numeric.diag(p);\n            const At_P = numeric.dot(numeric.transpose(A), P);\n            const At_P_A = numeric.dot(At_P, A);\n            // eslint-disable-next-line\n            var N = numeric.inv(At_P_A);\n            xd = numeric.dot(numeric.dot(N, At_P), l); //inv(APA)*A'*P*l\n            const corr = numeric.norm2(xd);\n            const msg = {\n                topic: \"correction_update\",\n                value: corr,\n            };\n            if (this.onprogress !== null) {\n                this.onprogress(msg);\n            }\n            if (corr < this.thresh) {\n                break;\n            }\n        }\n        if (adjiter >= this.iterLimit) {\n            //no convergence\n            this.convergence = false;\n            return null;\n        }\n        //v = Ax - l\n        const v = numeric.sub(numeric.dot(A, xd), l);\n        //m0 = sqrt(sum(v.^2)/(n-u))\n        const m0 = Math.sqrt(numeric.dot(v, v) / (this.data.length * 2 - xd.length));\n        const s_xyz = [m0 * Math.sqrt(N[0][0]), m0 * Math.sqrt(N[1][1]), m0 * Math.sqrt(N[2][2])];\n        //fill in statistics\n        this.convergence = true;\n        this.finalIterations = adjiter;\n        this.correction = X;\n        this.m0 = m0;\n        this.s_xyz = s_xyz;\n        this.residuals = v;\n        return [X[0] + this.data[0][0], X[1] + this.data[0][1], X[2] + this.data[0][2]];\n    }\n    /**\n     *\n     * @param o\n     * @param p\n     * @param k\n     * @returns {number[][]}\n     */\n    getRotMat(o, p, k) {\n        return [\n            [Math.cos(p) * Math.cos(k), -Math.cos(p) * Math.sin(k), Math.sin(p)],\n            [\n                Math.cos(o) * Math.sin(k) + Math.sin(o) * Math.sin(p) * Math.cos(k),\n                Math.cos(o) * Math.cos(k) - Math.sin(o) * Math.sin(p) * Math.sin(k),\n                -Math.sin(o) * Math.cos(p),\n            ],\n            [\n                Math.sin(o) * Math.sin(k) - Math.cos(o) * Math.sin(p) * Math.cos(k),\n                Math.sin(o) * Math.cos(k) + Math.cos(o) * Math.sin(p) * Math.sin(k),\n                Math.cos(o) * Math.cos(p),\n            ],\n        ];\n    }\n    /**\n     *\n     * @param R\n     * @param X0\n     * @param X\n     * @param ck\n     * @returns {number[]}\n     */\n    getDeriatives(R, X0, X, ck) {\n        const z = -ck;\n        //Kollinearitätsgleichung Bild\n        const kx = R[0][0] * (X[0] - X0[0]) + R[1][0] * (X[1] - X0[1]) + R[2][0] * (X[2] - X0[2]);\n        const ky = R[0][1] * (X[0] - X0[0]) + R[1][1] * (X[1] - X0[1]) + R[2][1] * (X[2] - X0[2]);\n        const N = R[0][2] * (X[0] - X0[0]) + R[1][2] * (X[1] - X0[1]) + R[2][2] * (X[2] - X0[2]);\n        //Ableitungen\n        const xs_X = (-z / Math.pow(N, 2)) * (R[0][2] * kx - R[0][0] * N);\n        const xs_Y = (-z / Math.pow(N, 2)) * (R[1][2] * kx - R[1][0] * N);\n        const xs_Z = (-z / Math.pow(N, 2)) * (R[2][2] * kx - R[2][0] * N);\n        const ys_X = (-z / Math.pow(N, 2)) * (R[0][2] * ky - R[0][1] * N);\n        const ys_Y = (-z / Math.pow(N, 2)) * (R[1][2] * ky - R[1][1] * N);\n        const ys_Z = (-z / Math.pow(N, 2)) * (R[2][2] * ky - R[2][1] * N);\n        return [xs_X, xs_Y, xs_Z, ys_X, ys_Y, ys_Z];\n    }\n    /**\n     *\n     * @param R\n     * @param X0\n     * @param X\n     * @param ck\n     * @returns {number[]}\n     */\n    getDeriativesPano(R, X0, X, ck) {\n        const z = -ck;\n        //Kollinearitätsgleichung Bild\n        const kx = R[0][0] * (X[0] - X0[0]) + R[1][0] * (X[1] - X0[1]) + R[2][0] * (X[2] - X0[2]);\n        const ky = R[0][1] * (X[0] - X0[0]) + R[1][1] * (X[1] - X0[1]) + R[2][1] * (X[2] - X0[2]);\n        const N = R[0][2] * (X[0] - X0[0]) + R[1][2] * (X[1] - X0[1]) + R[2][2] * (X[2] - X0[2]);\n        //Ableitungen gemäss Lochkamera Modell\n        const xs_X = (-z / Math.pow(N, 2)) * (R[0][2] * kx - R[0][0] * N);\n        const xs_Y = (-z / Math.pow(N, 2)) * (R[1][2] * kx - R[1][0] * N);\n        const xs_Z = (-z / Math.pow(N, 2)) * (R[2][2] * kx - R[2][0] * N);\n        const ys_X = (-z / Math.pow(N, 2)) * (R[0][2] * ky - R[0][1] * N);\n        const ys_Y = (-z / Math.pow(N, 2)) * (R[1][2] * ky - R[1][1] * N);\n        const ys_Z = (-z / Math.pow(N, 2)) * (R[2][2] * ky - R[2][1] * N);\n        //-----------------------------------------------------------------------------------\n        //dx'/dX & dy'/dX\n        let H1x = R[0][0];\n        let H1y = R[0][1];\n        let H2 = R[0][2];\n        let Nx = kx;\n        let Ny = ky;\n        let D = N;\n        let Dsq = N * N; //D-squared\n        let c = ck;\n        let m = Math.pow(Nx, 2) + Math.pow(Ny, 2);\n        let rm = Math.sqrt(m); //root m\n        let n = Math.atan(Math.sqrt(m) / D);\n        let l = Nx * H1x + Ny * H1y;\n        const p_xs_X = (-c * n * H1x) / rm -\n            (c * ((-rm * H2) / Dsq + l / (rm * D)) * Nx) / (rm * (m / Dsq + 1)) +\n            (c * n * l * Nx) / Math.pow(m, 3 / 2);\n        const p_ys_X = (-c * n * H1y) / rm -\n            (c * ((-rm * H2) / Dsq + l / (rm * D)) * Ny) / (rm * (m / Dsq + 1)) +\n            (c * n * l * Ny) / Math.pow(m, 3 / 2);\n        //----------------------------------------------------------------------------------------------\n        //dx'/dY & dy'/dY\n        H1x = R[1][0];\n        H1y = R[1][1];\n        H2 = R[1][2];\n        Nx = kx;\n        Ny = ky;\n        D = N;\n        Dsq = N * N; //D-squared\n        c = ck;\n        m = Math.pow(Nx, 2) + Math.pow(Ny, 2);\n        rm = Math.sqrt(m); //root m\n        n = Math.atan(Math.sqrt(m) / D);\n        l = Nx * H1x + Ny * H1y;\n        const p_xs_Y = (-c * n * H1x) / rm -\n            (c * ((-rm * H2) / Dsq + l / (rm * D)) * Nx) / (rm * (m / Dsq + 1)) +\n            (c * n * l * Nx) / Math.pow(m, 3 / 2);\n        const p_ys_Y = (-c * n * H1y) / rm -\n            (c * ((-rm * H2) / Dsq + l / (rm * D)) * Ny) / (rm * (m / Dsq + 1)) +\n            (c * n * l * Ny) / Math.pow(m, 3 / 2);\n        //----------------------------------------------------------------------------------------------\n        //dx'/dY & dy'/dY\n        H1x = R[2][0];\n        H1y = R[2][1];\n        H2 = R[2][2];\n        Nx = kx;\n        Ny = ky;\n        D = N;\n        Dsq = N * N; //D-squared\n        c = ck;\n        m = Math.pow(Nx, 2) + Math.pow(Ny, 2);\n        rm = Math.sqrt(m); //root m\n        n = Math.atan(Math.sqrt(m) / D);\n        l = Nx * H1x + Ny * H1y;\n        const p_xs_Z = (-c * n * H1x) / rm -\n            (c * ((-rm * H2) / Dsq + l / (rm * D)) * Nx) / (rm * (m / Dsq + 1)) +\n            (c * n * l * Nx) / Math.pow(m, 3 / 2);\n        const p_ys_Z = (-c * n * H1y) / rm -\n            (c * ((-rm * H2) / Dsq + l / (rm * D)) * Ny) / (rm * (m / Dsq + 1)) +\n            (c * n * l * Ny) / Math.pow(m, 3 / 2);\n        return [p_xs_X, p_xs_Y, p_xs_Z, p_ys_X, p_ys_Y, p_ys_Z];\n    }\n    /**\n     *\n     * @param R\n     * @param X0\n     * @param X\n     * @param ck\n     * @returns {number[]}\n     */\n    coLinEquation(R, X0, X, ck) {\n        const kx = R[0][0] * (X[0] - X0[0]) + R[1][0] * (X[1] - X0[1]) + R[2][0] * (X[2] - X0[2]);\n        const ky = R[0][1] * (X[0] - X0[0]) + R[1][1] * (X[1] - X0[1]) + R[2][1] * (X[2] - X0[2]);\n        const N = R[0][2] * (X[0] - X0[0]) + R[1][2] * (X[1] - X0[1]) + R[2][2] * (X[2] - X0[2]);\n        const xsb = (-ck * kx) / N;\n        const ysb = (-ck * ky) / N;\n        return [xsb, ysb];\n    }\n    /**\n     * @param R\n     * @param X0\n     * @param X\n     * @param ck\n     * @returns {number[]}\n     */\n    coLinEquationPano(R, X0, X, ck) {\n        const Nx = R[0][0] * (X[0] - X0[0]) + R[1][0] * (X[1] - X0[1]) + R[2][0] * (X[2] - X0[2]);\n        const Ny = R[0][1] * (X[0] - X0[0]) + R[1][1] * (X[1] - X0[1]) + R[2][1] * (X[2] - X0[2]);\n        const D = R[0][2] * (X[0] - X0[0]) + R[1][2] * (X[1] - X0[1]) + R[2][2] * (X[2] - X0[2]);\n        const d = Math.sqrt(Nx * Nx + Ny * Ny);\n        const xsb = ((-ck * Nx) / d) * Math.atan(d / D);\n        const ysb = ((-ck * Ny) / d) * Math.atan(d / D);\n        return [xsb, ysb];\n    }\n}\nctx.onmessage = (args) => {\n    if (args.data[\"topic\"]) {\n        switch (args.data[\"topic\"]) {\n            case \"run\":\n                // eslint-disable-next-line\n                const worker = new BundelWorker();\n                worker.onprogress = (msg) => {\n                    ctx.postMessage(msg);\n                };\n                if 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e,i,t,u,o,c=n[0],a=n[1];for(e=0,i=0,t=0;t<c;++t)e+=r[t][0].length;for(u=0;u<a;++u)i+=r[0][u][0].length;var f=Array(e);for(t=0;t<e;++t)f[t]=Array(i);var m,s,h,l,p,y=0;for(t=0;t<c;++t){for(m=i,u=a-1;-1!==u;--u)for(m-=(o=r[t][u])[0].length,h=o.length-1;-1!==h;--h)for(p=o[h],s=f[y+h],l=p.length-1;-1!==l;--l)s[m+l]=p[l];y+=r[t][0].length}return f},numeric.tensor=function(r,n){if("number"==typeof r||"number"==typeof n)return numeric.mul(r,n);var e=numeric.dim(r),i=numeric.dim(n);if(1!==e.length||1!==i.length)throw new Error("numeric: tensor product is only defined for vectors");var t,u,o,c,a=e[0],f=i[0],m=Array(a);for(u=a-1;u>=0;u--){for(t=Array(f),c=r[u],o=f-1;o>=3;--o)t[o]=c*n[o],t[--o]=c*n[o],t[--o]=c*n[o],t[--o]=c*n[o];for(;o>=0;)t[o]=c*n[o],--o;m[u]=t}return m},numeric.T=function(r,n){this.x=r,this.y=n},numeric.t=function(r,n){return new numeric.T(r,n)},numeric.Tbinop=function(r,n,e,i,t){var u;if(numeric.indexOf,"string"!=typeof t)for(u in 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n=r.x,e=r.y,i=numeric.diag;return e?new numeric.T(i(n),i(e)):new numeric.T(i(n))},numeric.T.eig=function(){if(this.y)throw new Error("eig: not implemented for complex matrices.");return numeric.eig(this.x)},numeric.T.identity=function(r){return new numeric.T(numeric.identity(r))},numeric.T.prototype.getDiag=function(){var r=numeric,n=this.x,e=this.y;return e?new r.T(r.getDiag(n),r.getDiag(e)):new r.T(r.getDiag(n))},numeric.house=function(r){var n=numeric.clone(r),e=(r[0]>=0?1:-1)*numeric.norm2(r);n[0]+=e;var i=numeric.norm2(n);if(0===i)throw new Error("eig: internal error");return numeric.div(n,i)},numeric.toUpperHessenberg=function(r){var n=numeric.dim(r);if(2!==n.length||n[0]!==n[1])throw new Error("numeric: toUpperHessenberg() only works on square matrices");var e,i,t,u,o,c,a,f,m,s,h=n[0],l=numeric.clone(r),p=numeric.identity(h);for(i=0;i<h-2;i++){for(u=Array(h-i-1),e=i+1;e<h;e++)u[e-i-1]=l[e][i];if(numeric.norm2(u)>0){for(o=numeric.house(u),c=numeric.getBlock(l,[i+1,i],[h-1,h-1]),a=numeric.tensor(o,numeric.dot(o,c)),e=i+1;e<h;e++)for(f=l[e],m=a[e-i-1],t=i;t<h;t++)f[t]-=2*m[t-i];for(c=numeric.getBlock(l,[0,i+1],[h-1,h-1]),a=numeric.tensor(numeric.dot(c,o),o),e=0;e<h;e++)for(f=l[e],m=a[e],t=i+1;t<h;t++)f[t]-=2*m[t-i-1];for(c=Array(h-i-1),e=i+1;e<h;e++)c[e-i-1]=p[e];for(a=numeric.tensor(o,numeric.dot(o,c)),e=i+1;e<h;e++)for(s=p[e],m=a[e-i-1],t=0;t<h;t++)s[t]-=2*m[t]}}return{H:l,Q:p}},numeric.epsilon=2220446049250313e-31,numeric.QRFrancis=function(r,n){void 0===n&&(n=1e4),r=numeric.clone(r),numeric.clone(r);var e,i,t,u,o,c,a,f,m,s,h,l,p,y,g,v,d,x,b=numeric.dim(r)[0],w=numeric.identity(b);if(b<3)return{Q:w,B:[[0,b-1]]};var M=numeric.epsilon;for(x=0;x<n;x++){for(v=0;v<b-1;v++)if(Math.abs(r[v+1][v])<M*(Math.abs(r[v][v])+Math.abs(r[v+1][v+1]))){var k=numeric.QRFrancis(numeric.getBlock(r,[0,0],[v,v]),n),A=numeric.QRFrancis(numeric.getBlock(r,[v+1,v+1],[b-1,b-1]),n);for(l=Array(v+1),g=0;g<=v;g++)l[g]=w[g];for(p=numeric.dot(k.Q,l),g=0;g<=v;g++)w[g]=p[g];for(l=Array(b-v-1),g=v+1;g<b;g++)l[g-v-1]=w[g];for(p=numeric.dot(A.Q,l),g=v+1;g<b;g++)w[g]=p[g-v-1];return{Q:w,B:k.B.concat(numeric.add(A.B,v+1))}}var T,j,_;for(t=r[b-2][b-2],u=r[b-2][b-1],o=r[b-1][b-2],f=t+(c=r[b-1][b-1]),a=t*c-u*o,m=numeric.getBlock(r,[0,0],[2,2]),f*f>=4*a?(T=.5*(f+Math.sqrt(f*f-4*a)),j=.5*(f-Math.sqrt(f*f-4*a)),m=numeric.add(numeric.sub(numeric.dot(m,m),numeric.mul(m,T+j)),numeric.diag(numeric.rep([3],T*j)))):m=numeric.add(numeric.sub(numeric.dot(m,m),numeric.mul(m,f)),numeric.diag(numeric.rep([3],a))),e=[m[0][0],m[1][0],m[2][0]],i=numeric.house(e),l=[r[0],r[1],r[2]],p=numeric.tensor(i,numeric.dot(i,l)),g=0;g<3;g++)for(h=r[g],y=p[g],d=0;d<b;d++)h[d]-=2*y[d];for(l=numeric.getBlock(r,[0,0],[b-1,2]),p=numeric.tensor(numeric.dot(l,i),i),g=0;g<b;g++)for(h=r[g],y=p[g],d=0;d<3;d++)h[d]-=2*y[d];for(l=[w[0],w[1],w[2]],p=numeric.tensor(i,numeric.dot(i,l)),g=0;g<3;g++)for(s=w[g],y=p[g],d=0;d<b;d++)s[d]-=2*y[d];for(v=0;v<b-2;v++){for(d=v;d<=v+1;d++)if(Math.abs(r[d+1][d])<M*(Math.abs(r[d][d])+Math.abs(r[d+1][d+1]))){for(k=numeric.QRFrancis(numeric.getBlock(r,[0,0],[d,d]),n),A=numeric.QRFrancis(numeric.getBlock(r,[d+1,d+1],[b-1,b-1]),n),l=Array(d+1),g=0;g<=d;g++)l[g]=w[g];for(p=numeric.dot(k.Q,l),g=0;g<=d;g++)w[g]=p[g];for(l=Array(b-d-1),g=d+1;g<b;g++)l[g-d-1]=w[g];for(p=numeric.dot(A.Q,l),g=d+1;g<b;g++)w[g]=p[g-d-1];return{Q:w,B:k.B.concat(numeric.add(A.B,d+1))}}for(_=Math.min(b-1,v+3),e=Array(_-v),g=v+1;g<=_;g++)e[g-v-1]=r[g][v];for(i=numeric.house(e),l=numeric.getBlock(r,[v+1,v],[_,b-1]),p=numeric.tensor(i,numeric.dot(i,l)),g=v+1;g<=_;g++)for(h=r[g],y=p[g-v-1],d=v;d<b;d++)h[d]-=2*y[d-v];for(l=numeric.getBlock(r,[0,v+1],[b-1,_]),p=numeric.tensor(numeric.dot(l,i),i),g=0;g<b;g++)for(h=r[g],y=p[g],d=v+1;d<=_;d++)h[d]-=2*y[d-v-1];for(l=Array(_-v),g=v+1;g<=_;g++)l[g-v-1]=w[g];for(p=numeric.tensor(i,numeric.dot(i,l)),g=v+1;g<=_;g++)for(s=w[g],y=p[g-v-1],d=0;d<b;d++)s[d]-=2*y[d]}}throw new Error("numeric: eigenvalue iteration does not converge -- increase maxiter?")},numeric.eig=function(r,n){var e,i,t,u,o,c,a,f,m,s,h,l,p,y,g,v,d=numeric.toUpperHessenberg(r),x=numeric.QRFrancis(d.H,n),b=numeric.T,w=r.length,M=x.B,k=numeric.dot(x.Q,numeric.dot(d.H,numeric.transpose(x.Q))),A=new b(numeric.dot(x.Q,d.Q)),T=M.length,j=Math.sqrt;for(i=0;i<T;i++)if((e=M[i][0])===M[i][1]);else{if(u=e+1,o=k[e][e],c=k[e][u],a=k[u][e],f=k[u][u],0===c&&0===a)continue;(s=(m=-o-f)*m-4*(o*f-c*a))>=0?((g=(o-(h=m<0?-.5*(m-j(s)):-.5*(m+j(s))))*(o-h)+c*c)>(v=a*a+(f-h)*(f-h))?(p=(o-h)/(g=j(g)),y=c/g):(p=a/(v=j(v)),y=(f-h)/v),t=new b([[y,-p],[p,y]]),A.setRows(e,u,t.dot(A.getRows(e,u)))):(h=-.5*m,l=.5*j(-s),(g=(o-h)*(o-h)+c*c)>(v=a*a+(f-h)*(f-h))?(p=(o-h)/(g=j(g+l*l)),y=c/g,h=0,l/=g):(p=a/(v=j(v+l*l)),y=(f-h)/v,h=l/v,l=0),t=new b([[y,-p],[p,y]],[[h,l],[l,-h]]),A.setRows(e,u,t.dot(A.getRows(e,u))))}var _=A.dot(r).dot(A.transjugate()),S=(w=r.length,numeric.T.identity(w));for(u=0;u<w;u++)if(u>0)for(i=u-1;i>=0;i--){var q=_.get([i,i]),V=_.get([u,u]);numeric.neq(q.x,V.x)||numeric.neq(q.y,V.y)?(h=_.getRow(i).getBlock([i],[u-1]),l=S.getRow(u).getBlock([i],[u-1]),S.set([u,i],_.get([i,u]).neg().sub(h.dot(l)).div(q.sub(V)))):S.setRow(u,S.getRow(i))}for(u=0;u<w;u++)h=S.getRow(u),S.setRow(u,h.div(h.norm2()));return S=S.transpose(),S=A.transjugate().dot(S),{lambda:_.getDiag(),E:S}},numeric.ccsSparse=function(r){var n,e,i,t=r.length,u=[];for(e=t-1;-1!==e;--e)for(i in n=r[e]){for(i=parseInt(i);i>=u.length;)u[u.length]=0;0!==n[i]&&u[i]++}var o=u.length,c=Array(o+1);for(c[0]=0,e=0;e<o;++e)c[e+1]=c[e]+u[e];var a=Array(c[o]),f=Array(c[o]);for(e=t-1;-1!==e;--e)for(i in n=r[e])0!==n[i]&&(u[i]--,a[c[i]+u[i]]=e,f[c[i]+u[i]]=n[i]);return[c,a,f]},numeric.ccsFull=function(r){var n,e,i,t,u=r[0],o=r[1],c=r[2],a=numeric.ccsDim(r),f=a[0],m=a[1],s=numeric.rep([f,m],0);for(n=0;n<m;n++)for(i=u[n],t=u[n+1],e=i;e<t;++e)s[o[e]][n]=c[e];return s},numeric.ccsTSolve=function(r,n,e,i,t){var u,o,c,a,f,m,s,h=r[0],l=r[1],p=r[2],y=h.length-1,g=Math.max,v=0;function d(r){var n;if(0===e[r]){for(e[r]=1,n=h[r];n<h[r+1];++n)d(l[n]);t[v]=r,++v}}for(void 0===i&&(e=numeric.rep([y],0)),void 0===i&&(i=numeric.linspace(0,e.length-1)),void 0===t&&(t=[]),u=i.length-1;-1!==u;--u)d(i[u]);for(t.length=v,u=t.length-1;-1!==u;--u)e[t[u]]=0;for(u=i.length-1;-1!==u;--u)o=i[u],e[o]=n[o];for(u=t.length-1;-1!==u;--u){for(o=t[u],c=h[o],a=g(h[o+1],c),f=c;f!==a;++f)if(l[f]===o){e[o]/=p[f];break}for(s=e[o],f=c;f!==a;++f)(m=l[f])!==o&&(e[m]-=s*p[f])}return e},numeric.ccsDFS=function(r){this.k=Array(r),this.k1=Array(r),this.j=Array(r)},numeric.ccsDFS.prototype.dfs=function(r,n,e,i,t,u){var o,c,a,f=0,m=t.length,s=this.k,h=this.k1,l=this.j;if(0===i[r])for(i[r]=1,l[0]=r,s[0]=c=n[r],h[0]=a=n[r+1];;)if(c>=a){if(t[m]=l[f],0===f)return;++m,c=s[--f],a=h[f]}else 0===i[o=u[e[c]]]?(i[o]=1,s[f]=c,l[++f]=o,c=n[o],h[f]=a=n[o+1]):++c},numeric.ccsLPSolve=function(r,n,e,i,t,u,o){var c,a,f,m,s,h,l,p,y,g=r[0],v=r[1],d=r[2],x=(g.length,n[0]),b=n[1],w=n[2];for(a=x[t],f=x[t+1],i.length=0,c=a;c<f;++c)o.dfs(u[b[c]],g,v,e,i,u);for(c=i.length-1;-1!==c;--c)e[i[c]]=0;for(c=a;c!==f;++c)e[m=u[b[c]]]=w[c];for(c=i.length-1;-1!==c;--c){for(s=g[m=i[c]],h=g[m+1],l=s;l<h;++l)if(u[v[l]]===m){e[m]/=d[l];break}for(y=e[m],l=s;l<h;++l)(p=u[v[l]])!==m&&(e[p]-=y*d[l])}return e},numeric.ccsLUP1=function(r,n){var e,i,t,u,o,c,a,f=r[0].length-1,m=[numeric.rep([f+1],0),[],[]],s=[numeric.rep([f+1],0),[],[]],h=m[0],l=m[1],p=m[2],y=s[0],g=s[1],v=s[2],d=numeric.rep([f],0),x=numeric.rep([f],0),b=numeric.ccsLPSolve,w=(Math.max,Math.abs),M=numeric.linspace(0,f-1),k=numeric.linspace(0,f-1),A=new numeric.ccsDFS(f);for(void 0===n&&(n=1),e=0;e<f;++e){for(b(m,r,d,x,e,k,A),u=-1,o=-1,i=x.length-1;-1!==i;--i)(t=x[i])<=e||(c=w(d[t]))>u&&(o=t,u=c);for(w(d[e])<n*u&&(i=M[e],u=M[o],M[e]=u,k[u]=e,M[o]=i,k[i]=o,u=d[e],d[e]=d[o],d[o]=u),u=h[e],o=y[e],a=d[e],l[u]=M[e],p[u]=1,++u,i=x.length-1;-1!==i;--i)c=d[t=x[i]],x[i]=0,d[t]=0,t<=e?(g[o]=t,v[o]=c,++o):(l[u]=M[t],p[u]=c/a,++u);h[e+1]=u,y[e+1]=o}for(i=l.length-1;-1!==i;--i)l[i]=k[l[i]];return{L:m,U:s,P:M,Pinv:k}},numeric.ccsDFS0=function(r){this.k=Array(r),this.k1=Array(r),this.j=Array(r)},numeric.ccsDFS0.prototype.dfs=function(r,n,e,i,t,u,o){var c,a,f,m=0,s=t.length,h=this.k,l=this.k1,p=this.j;if(0===i[r])for(i[r]=1,p[0]=r,h[0]=a=n[u[r]],l[0]=f=n[u[r]+1];;){if(isNaN(a))throw new Error("Ow!");if(a>=f){if(t[s]=u[p[m]],0===m)return;++s,a=h[--m],f=l[m]}else 0===i[c=e[a]]?(i[c]=1,h[m]=a,p[++m]=c,a=n[c=u[c]],l[m]=f=n[c+1]):++a}},numeric.ccsLPSolve0=function(r,n,e,i,t,u,o,c){var a,f,m,s,h,l,p,y,g,v=r[0],d=r[1],x=r[2],b=(v.length,n[0]),w=n[1],M=n[2];for(f=b[t],m=b[t+1],i.length=0,a=f;a<m;++a)c.dfs(w[a],v,d,e,i,u,o);for(a=i.length-1;-1!==a;--a)e[o[s=i[a]]]=0;for(a=f;a!==m;++a)e[s=w[a]]=M[a];for(a=i.length-1;-1!==a;--a){for(y=o[s=i[a]],h=v[s],l=v[s+1],p=h;p<l;++p)if(d[p]===y){e[y]/=x[p];break}for(g=e[y],p=h;p<l;++p)e[d[p]]-=g*x[p];e[y]=g}},numeric.ccsLUP0=function(r,n){var e,i,t,u,o,c,a,f=r[0].length-1,m=[numeric.rep([f+1],0),[],[]],s=[numeric.rep([f+1],0),[],[]],h=m[0],l=m[1],p=m[2],y=s[0],g=s[1],v=s[2],d=numeric.rep([f],0),x=numeric.rep([f],0),b=numeric.ccsLPSolve0,w=(Math.max,Math.abs),M=numeric.linspace(0,f-1),k=numeric.linspace(0,f-1),A=new numeric.ccsDFS0(f);for(void 0===n&&(n=1),e=0;e<f;++e){for(b(m,r,d,x,e,k,M,A),u=-1,o=-1,i=x.length-1;-1!==i;--i)(t=x[i])<=e||(c=w(d[M[t]]))>u&&(o=t,u=c);for(w(d[M[e]])<n*u&&(i=M[e],u=M[o],M[e]=u,k[u]=e,M[o]=i,k[i]=o),u=h[e],o=y[e],a=d[M[e]],l[u]=M[e],p[u]=1,++u,i=x.length-1;-1!==i;--i)c=d[M[t=x[i]]],x[i]=0,d[M[t]]=0,t<=e?(g[o]=t,v[o]=c,++o):(l[u]=M[t],p[u]=c/a,++u);h[e+1]=u,y[e+1]=o}for(i=l.length-1;-1!==i;--i)l[i]=k[l[i]];return{L:m,U:s,P:M,Pinv:k}},numeric.ccsLUP=numeric.ccsLUP0,numeric.ccsDim=function(r){return[numeric.sup(r[1])+1,r[0].length-1]},numeric.ccsGetBlock=function(r,n,e){var i=numeric.ccsDim(r),t=i[0],u=i[1];void 0===n?n=numeric.linspace(0,t-1):"number"==typeof n&&(n=[n]),void 0===e?e=numeric.linspace(0,u-1):"number"==typeof e&&(e=[e]);var o,c,a,f,m=n.length,s=e.length,h=numeric.rep([u],0),l=[],p=[],y=[h,l,p],g=r[0],v=r[1],d=r[2],x=numeric.rep([t],0),b=0,w=numeric.rep([t],0);for(c=0;c<s;++c){var M=g[f=e[c]],k=g[f+1];for(o=M;o<k;++o)w[a=v[o]]=1,x[a]=d[o];for(o=0;o<m;++o)w[n[o]]&&(l[b]=o,p[b]=x[n[o]],++b);for(o=M;o<k;++o)w[a=v[o]]=0;h[c+1]=b}return y},numeric.ccsDot=function(r,n){var e,i,t,u,o,c,a,f,m,s,h,l=r[0],p=r[1],y=r[2],g=n[0],v=n[1],d=n[2],x=numeric.ccsDim(r),b=numeric.ccsDim(n),w=x[0],M=(x[1],b[1]),k=numeric.rep([w],0),A=numeric.rep([w],0),T=Array(w),j=numeric.rep([M],0),_=[],S=[],q=[j,_,S];for(t=0;t!==M;++t){for(u=g[t],o=g[t+1],m=0,i=u;i<o;++i)for(s=v[i],h=d[i],c=l[s],a=l[s+1],e=c;e<a;++e)0===A[f=p[e]]&&(T[m]=f,A[f]=1,m+=1),k[f]=k[f]+y[e]*h;for(o=(u=j[t])+m,j[t+1]=o,i=m-1;-1!==i;--i)h=u+i,e=T[i],_[h]=e,S[h]=k[e],A[e]=0,k[e]=0;j[t+1]=j[t]+m}return q},numeric.ccsLUPSolve=function(r,n){var e=r.L,i=r.U,t=(r.P,n[0]),u=!1;"object"!=typeof t&&(t=(n=[[0,n.length],numeric.linspace(0,n.length-1),n])[0],u=!0);var o,c,a,f,m,s,h=n[1],l=n[2],p=e[0].length-1,y=t.length-1,g=numeric.rep([p],0),v=Array(p),d=numeric.rep([p],0),x=Array(p),b=numeric.rep([y+1],0),w=[],M=[],k=numeric.ccsTSolve,A=0;for(o=0;o<y;++o){for(m=0,a=t[o],f=t[o+1],c=a;c<f;++c)s=r.Pinv[h[c]],x[m]=s,d[s]=l[c],++m;for(x.length=m,k(e,d,g,x,v),c=x.length-1;-1!==c;--c)d[x[c]]=0;if(k(i,g,d,v,x),u)return d;for(c=v.length-1;-1!==c;--c)g[v[c]]=0;for(c=x.length-1;-1!==c;--c)s=x[c],w[A]=s,M[A]=d[s],d[s]=0,++A;b[o+1]=A}return[b,w,M]},numeric.ccsbinop=function(r,n){return void 0===n&&(n=""),Function("X","Y","var Xi = X[0], Xj = X[1], Xv = X[2];\nvar Yi = Y[0], Yj = Y[1], Yv = Y[2];\nvar n = Xi.length-1,m = Math.max(numeric.sup(Xj),numeric.sup(Yj))+1;\nvar Zi = numeric.rep([n+1],0), Zj = [], Zv = [];\nvar x = numeric.rep([m],0),y = numeric.rep([m],0);\nvar xk,yk,zk;\nvar i,j,j0,j1,k,p=0;\n"+n+"for(i=0;i<n;++i) {\n  j0 = Xi[i]; j1 = Xi[i+1];\n  for(j=j0;j!==j1;++j) {\n    k = Xj[j];\n    x[k] = 1;\n    Zj[p] = k;\n    ++p;\n  }\n  j0 = Yi[i]; j1 = Yi[i+1];\n  for(j=j0;j!==j1;++j) {\n    k = Yj[j];\n    y[k] = Yv[j];\n    if(x[k] === 0) {\n      Zj[p] = k;\n      ++p;\n    }\n  }\n  Zi[i+1] = p;\n  j0 = Xi[i]; j1 = Xi[i+1];\n  for(j=j0;j!==j1;++j) x[Xj[j]] = Xv[j];\n  j0 = Zi[i]; j1 = Zi[i+1];\n  for(j=j0;j!==j1;++j) {\n    k = Zj[j];\n    xk = x[k];\n    yk = y[k];\n"+r+"\n    Zv[j] = zk;\n  }\n  j0 = Xi[i]; j1 = Xi[i+1];\n  for(j=j0;j!==j1;++j) x[Xj[j]] = 0;\n  j0 = Yi[i]; j1 = Yi[i+1];\n  for(j=j0;j!==j1;++j) y[Yj[j]] = 0;\n}\nreturn [Zi,Zj,Zv];")},function(){var k,A,B,C;for(k in numeric.ops2)A=isFinite(eval("1"+numeric.ops2[k]+"0"))?"[Y[0],Y[1],numeric."+k+"(X,Y[2])]":"NaN",B=isFinite(eval("0"+numeric.ops2[k]+"1"))?"[X[0],X[1],numeric."+k+"(X[2],Y)]":"NaN",C=isFinite(eval("1"+numeric.ops2[k]+"0"))&&isFinite(eval("0"+numeric.ops2[k]+"1"))?"numeric.ccs"+k+"MM(X,Y)":"NaN",numeric["ccs"+k+"MM"]=numeric.ccsbinop("zk = xk "+numeric.ops2[k]+"yk;"),numeric["ccs"+k]=Function("X","Y",'if(typeof X === "number") return '+A+';\nif(typeof Y === "number") return '+B+";\nreturn "+C+";\n")}(),numeric.ccsScatter=function(r){var n,e=r[0],i=r[1],t=r[2],u=numeric.sup(i)+1,o=e.length,c=numeric.rep([u],0),a=Array(o),f=Array(o),m=numeric.rep([u],0);for(n=0;n<o;++n)m[i[n]]++;for(n=0;n<u;++n)c[n+1]=c[n]+m[n];var s,h,l=c.slice(0);for(n=0;n<o;++n)a[s=l[h=i[n]]]=e[n],f[s]=t[n],l[h]=l[h]+1;return[c,a,f]},numeric.ccsGather=function(r){var n,e,i,t,u,o=r[0],c=r[1],a=r[2],f=o.length-1,m=c.length,s=Array(m),h=Array(m),l=Array(m);for(u=0,n=0;n<f;++n)for(i=o[n],t=o[n+1],e=i;e!==t;++e)h[u]=n,s[u]=c[e],l[u]=a[e],++u;return[s,h,l]},numeric.sdim=function r(n,e,i){if(void 0===e&&(e=[]),"object"!=typeof n)return e;var t;for(t in void 0===i&&(i=0),i in e||(e[i]=0),n.length>e[i]&&(e[i]=n.length),n)n.hasOwnProperty(t)&&r(n[t],e,i+1);return e},numeric.sclone=function r(n,e,i){void 0===e&&(e=0),void 0===i&&(i=numeric.sdim(n).length);var t,u=Array(n.length);if(e===i-1){for(t in n)n.hasOwnProperty(t)&&(u[t]=n[t]);return u}for(t in n)n.hasOwnProperty(t)&&(u[t]=r(n[t],e+1,i));return u},numeric.sdiag=function(r){var n,e,i=r.length,t=Array(i);for(n=i-1;n>=1;n-=2)e=n-1,t[n]=[],t[n][n]=r[n],t[e]=[],t[e][e]=r[e];return 0===n&&(t[0]=[],t[0][0]=r[n]),t},numeric.sidentity=function(r){return numeric.sdiag(numeric.rep([r],1))},numeric.stranspose=function(r){var n,e,i,t=[];for(n in r.length,r)if(r.hasOwnProperty(n))for(e in i=r[n])i.hasOwnProperty(e)&&("object"!=typeof t[e]&&(t[e]=[]),t[e][n]=i[e]);return t},numeric.sLUP=function(r,n){throw new Error("The function numeric.sLUP had a bug in it and has been removed. Please use the new numeric.ccsLUP function instead.")},numeric.sdotMM=function(r,n){var e,i,t,u,o,c,a,f=r.length,m=(n.length,numeric.stranspose(n)),s=m.length,h=Array(f);for(t=f-1;t>=0;t--){for(a=[],e=r[t],o=s-1;o>=0;o--){for(u in c=0,i=m[o],e)e.hasOwnProperty(u)&&u in i&&(c+=e[u]*i[u]);c&&(a[o]=c)}h[t]=a}return h},numeric.sdotMV=function(r,n){var e,i,t,u,o=r.length,c=Array(o);for(i=o-1;i>=0;i--){for(t in u=0,e=r[i])e.hasOwnProperty(t)&&n[t]&&(u+=e[t]*n[t]);u&&(c[i]=u)}return c},numeric.sdotVM=function(r,n){var e,i,t,u,o=[];for(e in r)if(r.hasOwnProperty(e))for(i in t=n[e],u=r[e],t)t.hasOwnProperty(i)&&(o[i]||(o[i]=0),o[i]+=u*t[i]);return o},numeric.sdotVV=function(r,n){var e,i=0;for(e in r)r[e]&&n[e]&&(i+=r[e]*n[e]);return i},numeric.sdot=function(r,n){var e=numeric.sdim(r).length,i=numeric.sdim(n).length;switch(1e3*e+i){case 0:return r*n;case 1001:return numeric.sdotVV(r,n);case 2001:return numeric.sdotMV(r,n);case 1002:return numeric.sdotVM(r,n);case 2002:return numeric.sdotMM(r,n);default:throw new Error("numeric.sdot not implemented for tensors of order "+e+" and "+i)}},numeric.sscatter=function(r){var n,e,i,t,u=r[0].length,o=r.length,c=[];for(e=u-1;e>=0;--e)if(r[o-1][e]){for(t=c,i=0;i<o-2;i++)t[n=r[i][e]]||(t[n]=[]),t=t[n];t[r[i][e]]=r[i+1][e]}return c},numeric.sgather=function r(n,e,i){var t,u,o;for(u in void 0===e&&(e=[]),void 0===i&&(i=[]),t=i.length,n)if(n.hasOwnProperty(u))if(i[t]=parseInt(u),"number"==typeof(o=n[u])){if(o){if(0===e.length)for(u=t+1;u>=0;--u)e[u]=[];for(u=t;u>=0;--u)e[u].push(i[u]);e[t+1].push(o)}}else r(o,e,i);return i.length>t&&i.pop(),e},numeric.cLU=function(r){var n,e,i,t,u,o,c=r[0],a=r[1],f=r[2],m=c.length,s=0;for(n=0;n<m;n++)c[n]>s&&(s=c[n]);s++;var h,l=Array(s),p=Array(s),y=numeric.rep([s],1/0),g=numeric.rep([s],-1/0);for(i=0;i<m;i++)n=c[i],(e=a[i])<y[n]&&(y[n]=e),e>g[n]&&(g[n]=e);for(n=0;n<s-1;n++)g[n]>g[n+1]&&(g[n+1]=g[n]);for(n=s-1;n>=1;n--)y[n]<y[n-1]&&(y[n-1]=y[n]);for(n=0;n<s;n++)p[n]=numeric.rep([g[n]-y[n]+1],0),l[n]=numeric.rep([n-y[n]],0),y[n],g[n];for(i=0;i<m;i++)p[n=c[i]][a[i]-y[n]]=f[i];for(n=0;n<s-1;n++)for(t=n-y[n],x=p[n],e=n+1;y[e]<=n&&e<s;e++)if(u=n-y[e],o=g[n]-n,h=(b=p[e])[u]/x[t]){for(i=1;i<=o;i++)b[i+u]-=h*x[i+t];l[e][n-y[e]]=h}var v,d,x=[],b=[],w=[],M=[],k=[],A=[];for(m=0,v=0,n=0;n<s;n++){for(t=y[n],u=g[n],d=p[n],e=n;e<=u;e++)d[e-t]&&(x[m]=n,b[m]=e,w[m]=d[e-t],m++);for(d=l[n],e=t;e<n;e++)d[e-t]&&(M[v]=n,k[v]=e,A[v]=d[e-t],v++);M[v]=n,k[v]=n,A[v]=1,v++}return{U:[x,b,w],L:[M,k,A]}},numeric.cLUsolve=function(r,n){var e,i,t=r.L,u=r.U,o=numeric.clone(n),c=t[0],a=t[1],f=t[2],m=u[0],s=u[1],h=u[2],l=m.length,p=(c.length,o.length);for(i=0,e=0;e<p;e++){for(;a[i]<e;)o[e]-=f[i]*o[a[i]],i++;i++}for(i=l-1,e=p-1;e>=0;e--){for(;s[i]>e;)o[e]-=h[i]*o[s[i]],i--;o[e]/=h[i],i--}return o},numeric.cgrid=function(r,n){"number"==typeof r&&(r=[r,r]);var e,i,t,u=numeric.rep(r,-1);for("function"!=typeof n&&(n="L"===n?function(n,e){return n>=r[0]/2||e<r[1]/2}:function(r,n){return!0}),t=0,e=1;e<r[0]-1;e++)for(i=1;i<r[1]-1;i++)n(e,i)&&(u[e][i]=t,t++);return u},numeric.cdelsq=function(r){var n,e,i,t,u,o=[[-1,0],[0,-1],[0,1],[1,0]],c=numeric.dim(r),a=c[0],f=c[1],m=[],s=[],h=[];for(n=1;n<a-1;n++)for(e=1;e<f-1;e++)if(!(r[n][e]<0)){for(i=0;i<4;i++)t=n+o[i][0],u=e+o[i][1],r[t][u]<0||(m.push(r[n][e]),s.push(r[t][u]),h.push(-1));m.push(r[n][e]),s.push(r[n][e]),h.push(4)}return[m,s,h]},numeric.cdotMV=function(r,n){var e,i,t,u=r[0],o=r[1],c=r[2],a=u.length;for(t=0,i=0;i<a;i++)u[i]>t&&(t=u[i]);for(t++,e=numeric.rep([t],0),i=0;i<a;i++)e[u[i]]+=c[i]*n[o[i]];return e},numeric.Spline=function(r,n,e,i,t){this.x=r,this.yl=n,this.yr=e,this.kl=i,this.kr=t},numeric.Spline.prototype._at=function(r,n){var e,i,t,u=this.x,o=this.yl,c=this.yr,a=this.kl,f=this.kr,m=numeric.add,s=numeric.sub,h=numeric.mul;e=s(h(a[n],u[n+1]-u[n]),s(c[n+1],o[n])),i=m(h(f[n+1],u[n]-u[n+1]),s(c[n+1],o[n]));var l=(t=(r-u[n])/(u[n+1]-u[n]))*(1-t);return m(m(m(h(1-t,o[n]),h(t,c[n+1])),h(e,l*(1-t))),h(i,l*t))},numeric.Spline.prototype.at=function(r){if("number"==typeof r){var n,e,i,t=this.x,u=t.length,o=Math.floor;for(n=0,e=u-1;e-n>1;)t[i=o((n+e)/2)]<=r?n=i:e=i;return this._at(r,n)}u=r.length;var c,a=Array(u);for(c=u-1;-1!==c;--c)a[c]=this.at(r[c]);return a},numeric.Spline.prototype.diff=function(){var r,n,e,i=this.x,t=this.yl,u=this.yr,o=this.kl,c=this.kr,a=t.length,f=o,m=c,s=Array(a),h=Array(a),l=numeric.add,p=numeric.mul,y=numeric.div,g=numeric.sub;for(r=a-1;-1!==r;--r)n=i[r+1]-i[r],e=g(u[r+1],t[r]),s[r]=y(l(p(e,6),p(o[r],-4*n),p(c[r+1],-2*n)),n*n),h[r+1]=y(l(p(e,-6),p(o[r],2*n),p(c[r+1],4*n)),n*n);return new numeric.Spline(i,f,m,s,h)},numeric.Spline.prototype.roots=function(){function r(r){return r*r}var n=[],e=this.x,i=this.yl,t=this.yr,u=this.kl,o=this.kr;"number"==typeof i[0]&&(i=[i],t=[t],u=[u],o=[o]);var c,a,f,m,s,h,l,p,y,g,v,d,x,b,w,M,k,A,T,j,_,S,q,V=i.length,P=e.length-1,F=(n=Array(V),Math.sqrt);for(c=0;c!==V;++c){for(m=i[c],s=t[c],h=u[c],l=o[c],p=[],a=0;a!==P;a++){for(a>0&&s[a]*m[a]<0&&p.push(e[a]),M=e[a+1]-e[a],e[a],v=m[a],d=s[a+1],y=h[a]/M,x=(g=l[a+1]/M)+3*v+2*y-3*d,b=3*(g+y+2*(v-d)),(w=r(y-g+3*(v-d))+12*g*v)<=0?k=(A=x/b)>e[a]&&A<e[a+1]?[e[a],A,e[a+1]]:[e[a],e[a+1]]:(A=(x-F(w))/b,T=(x+F(w))/b,k=[e[a]],A>e[a]&&A<e[a+1]&&k.push(A),T>e[a]&&T<e[a+1]&&k.push(T),k.push(e[a+1])),_=k[0],A=this._at(_,a),f=0;f<k.length-1;f++)if(S=k[f+1],T=this._at(S,a),0!==A)if(0===T||A*T>0)_=S,A=T;else{for(var L=0;!((q=(A*S-T*_)/(A-T))<=_||q>=S);)if((j=this._at(q,a))*T>0)S=q,T=j,-1===L&&(A*=.5),L=-1;else{if(!(j*A>0))break;_=q,A=j,1===L&&(T*=.5),L=1}p.push(q),_=k[f+1],A=this._at(_,a)}else p.push(_),_=S,A=T;0===T&&p.push(S)}n[c]=p}return"number"==typeof this.yl[0]?n[0]:n},numeric.spline=function(r,n,e,i){var t,u=r.length,o=[],c=[],a=[],f=numeric.sub,m=numeric.mul,s=numeric.add;for(t=u-2;t>=0;t--)c[t]=r[t+1]-r[t],a[t]=f(n[t+1],n[t]);"string"!=typeof e&&"string"!=typeof i||(e=i="periodic");var h=[[],[],[]];switch(typeof e){case"undefined":o[0]=m(3/(c[0]*c[0]),a[0]),h[0].push(0,0),h[1].push(0,1),h[2].push(2/c[0],1/c[0]);break;case"string":o[0]=s(m(3/(c[u-2]*c[u-2]),a[u-2]),m(3/(c[0]*c[0]),a[0])),h[0].push(0,0,0),h[1].push(u-2,0,1),h[2].push(1/c[u-2],2/c[u-2]+2/c[0],1/c[0]);break;default:o[0]=e,h[0].push(0),h[1].push(0),h[2].push(1)}for(t=1;t<u-1;t++)o[t]=s(m(3/(c[t-1]*c[t-1]),a[t-1]),m(3/(c[t]*c[t]),a[t])),h[0].push(t,t,t),h[1].push(t-1,t,t+1),h[2].push(1/c[t-1],2/c[t-1]+2/c[t],1/c[t]);switch(typeof i){case"undefined":o[u-1]=m(3/(c[u-2]*c[u-2]),a[u-2]),h[0].push(u-1,u-1),h[1].push(u-2,u-1),h[2].push(1/c[u-2],2/c[u-2]);break;case"string":h[1][h[1].length-1]=0;break;default:o[u-1]=i,h[0].push(u-1),h[1].push(u-1),h[2].push(1)}o="number"!=typeof o[0]?numeric.transpose(o):[o];var l=Array(o.length);if("string"==typeof e)for(t=l.length-1;-1!==t;--t)l[t]=numeric.ccsLUPSolve(numeric.ccsLUP(numeric.ccsScatter(h)),o[t]),l[t][u-1]=l[t][0];else for(t=l.length-1;-1!==t;--t)l[t]=numeric.cLUsolve(numeric.cLU(h),o[t]);return l="number"==typeof n[0]?l[0]:numeric.transpose(l),new numeric.Spline(r,n,n,l,l)},numeric.fftpow2=function r(n,e){var i=n.length;if(1!==i){var t,u,o=Math.cos,c=Math.sin,a=Array(i/2),f=Array(i/2),m=Array(i/2),s=Array(i/2);for(u=i/2,t=i-1;-1!==t;--t)m[--u]=n[t],s[u]=e[t],--t,a[u]=n[t],f[u]=e[t];r(a,f),r(m,s),u=i/2;var h,l,p,y=-6.283185307179586/i;for(t=i-1;-1!==t;--t)-1===--u&&(u=i/2-1),l=o(h=y*t),p=c(h),n[t]=a[u]+l*m[u]-p*s[u],e[t]=f[u]+l*s[u]+p*m[u]}},numeric._ifftpow2=function r(n,e){var i=n.length;if(1!==i){var t,u,o=Math.cos,c=Math.sin,a=Array(i/2),f=Array(i/2),m=Array(i/2),s=Array(i/2);for(u=i/2,t=i-1;-1!==t;--t)m[--u]=n[t],s[u]=e[t],--t,a[u]=n[t],f[u]=e[t];r(a,f),r(m,s),u=i/2;var 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new Error("Numerical gradient fails");if(p[t]=n[t]+x,u=r(p),p[t]=n[t]-x,o=r(p),p[t]=n[t],isNaN(u)||isNaN(o))x/=16;else{if(y[t]=(u-o)/(2*x),c=n[t]-x,a=n[t],f=n[t]+x,m=(u-i)/x,s=(i-o)/x,h=l(g(y[t]),g(i),g(u),g(o),g(c),g(a),g(f),1e-8),!(v(l(g(m-y[t]),g(s-y[t]),g(m-s))/h,x/h)>.001))break;x/=16}}return y},numeric.uncmin=function(r,n,e,i,t,u,o){var c=numeric.gradient;void 0===o&&(o={}),void 0===e&&(e=1e-8),void 0===i&&(i=function(n){return c(r,n)}),void 0===t&&(t=1e3);var a,f,m=(n=numeric.clone(n)).length,s=r(n);if(isNaN(s))throw new Error("uncmin: f(x0) is a NaN!");var h=Math.max,l=numeric.norm2;e=h(e,numeric.epsilon);var p,y,g,v,d,x,b,w,M,k,A=o.Hinv||numeric.identity(m),T=numeric.dot,j=(numeric.inv,numeric.sub),_=numeric.add,S=numeric.tensor,q=numeric.div,V=numeric.mul,P=numeric.all,F=numeric.isFinite,L=numeric.neg,N=0,O="";for(y=i(n);N<t;){if("function"==typeof u&&u(N,n,s,y,A)){O="Callback returned true";break}if(!P(F(y))){O="Gradient has Infinity or 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c,a,f,m,s,h,l,p,y,g,v,d,x,b=[r],w=[e],M=[i(r,e)],k=[],A=[3/40,9/40],T=[44/45,-56/15,32/9],j=[19372/6561,-25360/2187,64448/6561,-212/729],_=[9017/3168,-355/33,46732/5247,49/176,-5103/18656],S=[35/384,0,500/1113,125/192,-2187/6784,11/84],q=[.10013431883002395,0,.3918321794184259,-.02982460176594817,.05893268337240795,-.04497888809104361,5618549.5/235043384],V=[.2,.3,.8,8/9,1,1],P=[-71/57600,0,71/16695,-71/1920,17253/339200,-22/525,1/40],F=0,L=(n-r)/10,N=0,O=numeric.add,U=numeric.mul,D=(Math.max,Math.min),B=Math.abs,R=numeric.norminf,X=Math.pow,E=numeric.any,Y=numeric.lt,I=numeric.and,Q=(numeric.sub,new numeric.Dopri(b,w,M,k,-1,""));for("function"==typeof o&&(v=o(r,e));r<n&&N<u;)if(++N,r+L>n&&(L=n-r),c=i(r+V[0]*L,O(e,U(.2*L,M[F]))),a=i(r+V[1]*L,O(O(e,U(A[0]*L,M[F])),U(A[1]*L,c))),f=i(r+V[2]*L,O(O(O(e,U(T[0]*L,M[F])),U(T[1]*L,c)),U(T[2]*L,a))),m=i(r+V[3]*L,O(O(O(O(e,U(j[0]*L,M[F])),U(j[1]*L,c)),U(j[2]*L,a)),U(j[3]*L,f))),s=i(r+V[4]*L,O(O(O(O(O(e,U(_[0]*L,M[F])),U(_[1]*L,c)),U(_[2]*L,a)),U(_[3]*L,f)),U(_[4]*L,m))),h=i(r+L,y=O(O(O(O(O(e,U(M[F],L*S[0])),U(a,L*S[2])),U(f,L*S[3])),U(m,L*S[4])),U(s,L*S[5]))),(g="number"==typeof(l=O(O(O(O(O(U(M[F],L*P[0]),U(a,L*P[2])),U(f,L*P[3])),U(m,L*P[4])),U(s,L*P[5])),U(h,L*P[6])))?B(l):R(l))>t){if(r+(L=.2*L*X(t/g,.25))===r){Q.msg="Step size became too small";break}}else{if(k[F]=O(O(O(O(O(O(e,U(M[F],L*q[0])),U(a,L*q[2])),U(f,L*q[3])),U(m,L*q[4])),U(s,L*q[5])),U(h,L*q[6])),b[++F]=r+L,w[F]=y,M[F]=h,"function"==typeof o){var C,Z,H=r,z=r+.5*L;if(d=o(z,k[F-1]),E(x=I(Y(v,0),Y(0,d)))||(H=z,v=d,d=o(z=r+L,y),x=I(Y(v,0),Y(0,d))),E(x)){for(var G,$,W=0,J=1,K=1;;){if("number"==typeof v)Z=(K*d*H-J*v*z)/(K*d-J*v);else for(Z=z,p=v.length-1;-1!==p;--p)v[p]<0&&d[p]>0&&(Z=D(Z,(K*d[p]*H-J*v[p]*z)/(K*d[p]-J*v[p])));if(Z<=H||Z>=z)break;$=o(Z,C=Q._at(Z,F-1)),E(G=I(Y(v,0),Y(0,$)))?(z=Z,d=$,x=G,K=1,-1===W?J*=.5:J=1,W=-1):(H=Z,v=$,J=1,1===W?K*=.5:K=1,W=1)}return y=Q._at(.5*(r+Z),F-1),Q.f[F]=i(Z,C),Q.x[F]=Z,Q.y[F]=C,Q.ymid[F-1]=y,Q.events=x,Q.iterations=N,Q}}r+=L,e=y,v=d,L=D(.8*L*X(t/g,.25),4*L)}return Q.iterations=N,Q},numeric.LU=function(r,n){n=n||!1;var e,i,t,u,o,c,a,f,m,s=Math.abs,h=r.length,l=h-1,p=new Array(h);for(n||(r=numeric.clone(r)),t=0;t<h;++t){for(a=t,m=s((c=r[t])[t]),i=t+1;i<h;++i)m<(u=s(r[i][t]))&&(m=u,a=i);for(p[t]=a,a!=t&&(r[t]=r[a],r[a]=c,c=r[t]),o=c[t],e=t+1;e<h;++e)r[e][t]/=o;for(e=t+1;e<h;++e){for(f=r[e],i=t+1;i<l;++i)f[i]-=f[t]*c[i],f[++i]-=f[t]*c[i];i===l&&(f[i]-=f[t]*c[i])}}return{LU:r,P:p}},numeric.LUsolve=function(r,n){var e,i,t,u,o,c=r.LU,a=c.length,f=numeric.clone(n),m=r.P;for(e=a-1;-1!==e;--e)f[e]=n[e];for(e=0;e<a;++e)for(t=m[e],m[e]!==e&&(o=f[e],f[e]=f[t],f[t]=o),u=c[e],i=0;i<e;++i)f[e]-=f[i]*u[i];for(e=a-1;e>=0;--e){for(u=c[e],i=e+1;i<a;++i)f[e]-=f[i]*u[i];f[e]/=u[e]}return f},numeric.solve=function(r,n,e){return numeric.LUsolve(numeric.LU(r,e),n)},numeric.echelonize=function(r){var n,e,i,t,u,o,c,a,f=numeric.dim(r),m=f[0],s=f[1],h=numeric.identity(m),l=Array(m),p=Math.abs,y=numeric.diveq;for(r=numeric.clone(r),n=0;n<m;++n){for(i=0,u=r[n],o=h[n],e=1;e<s;++e)p(u[i])<p(u[e])&&(i=e);for(l[n]=i,y(o,u[i]),y(u,u[i]),e=0;e<m;++e)if(e!==n){for(a=(c=r[e])[i],t=s-1;-1!==t;--t)c[t]-=u[t]*a;for(c=h[e],t=m-1;-1!==t;--t)c[t]-=o[t]*a}}return{I:h,A:r,P:l}},numeric.__solveLP=function(r,n,e,i,t,u,o){var c,a,f,m,s=numeric.sum,h=(numeric.log,numeric.mul),l=numeric.sub,p=numeric.dot,y=numeric.div,g=numeric.add,v=r.length,d=e.length,x=!1,b=1,w=(numeric.transpose(n),numeric.svd,numeric.transpose),M=(numeric.leq,Math.sqrt),k=Math.abs,A=(numeric.muleq,numeric.norminf,numeric.any,Math.min),T=numeric.all,j=numeric.gt,_=Array(v),S=Array(d),q=(numeric.rep([d],1),numeric.solve),V=l(e,p(n,u)),P=p(r,r);for(f=0;f<t;++f){var F,L;for(F=d-1;-1!==F;--F)S[F]=y(n[F],V[F]);var N=w(S);for(F=v-1;-1!==F;--F)_[F]=s(N[F]);b=.25*k(P/p(r,_));var O=100*M(P/p(_,_));for((!isFinite(b)||b>O)&&(b=O),m=g(r,h(b,_)),a=p(N,S),F=v-1;-1!==F;--F)a[F][F]+=1;L=q(a,y(m,b),!0);var U=y(V,p(n,L)),D=1;for(F=d-1;-1!==F;--F)U[F]<0&&(D=A(D,-.999*U[F]));if(c=l(u,h(L,D)),!T(j(V=l(e,p(n,c)),0)))return{solution:u,message:"",iterations:f};if(u=c,b<i)return{solution:c,message:"",iterations:f};if(o){var B=p(r,m),R=p(n,m);for(x=!0,F=d-1;-1!==F;--F)if(B*R[F]<0){x=!1;break}}else x=!(u[v-1]>=0);if(x)return{solution:c,message:"Unbounded",iterations:f}}return{solution:u,message:"maximum iteration count exceeded",iterations:f}},numeric._solveLP=function(r,n,e,i,t){var u=r.length,o=e.length,c=(numeric.sum,numeric.log,numeric.mul,numeric.sub),a=numeric.dot,f=(numeric.div,numeric.add,numeric.rep([u],0).concat([1])),m=numeric.rep([o,1],-1),s=numeric.blockMatrix([[n,m]]),h=e,l=numeric.rep([u],0).concat(Math.max(0,numeric.sup(numeric.neg(e)))+1),p=numeric.__solveLP(f,s,h,i,t,l,!1),y=numeric.clone(p.solution);if(y.length=u,numeric.inf(c(e,a(n,y)))<0)return{solution:NaN,message:"Infeasible",iterations:p.iterations};var g=numeric.__solveLP(r,n,e,i,t-p.iterations,y,!0);return g.iterations+=p.iterations,g},numeric.solveLP=function(r,n,e,i,t,u,o){if(void 0===o&&(o=1e3),void 0===u&&(u=numeric.epsilon),void 0===i)return numeric._solveLP(r,n,e,u,o);var c,a=i.length,f=i[0].length,m=n.length,s=numeric.echelonize(i),h=numeric.rep([f],0),l=s.P,p=[];for(c=l.length-1;-1!==c;--c)h[l[c]]=1;for(c=f-1;-1!==c;--c)0===h[c]&&p.push(c);var y=numeric.getRange,g=numeric.linspace(0,a-1),v=numeric.linspace(0,m-1),d=y(i,g,p),x=y(n,v,l),b=y(n,v,p),w=numeric.dot,M=numeric.sub,k=w(x,s.I),A=M(b,w(k,d)),T=M(e,w(k,t)),j=Array(l.length),_=Array(p.length);for(c=l.length-1;-1!==c;--c)j[c]=r[l[c]];for(c=p.length-1;-1!==c;--c)_[c]=r[p[c]];var S=M(_,w(j,w(s.I,d))),q=numeric._solveLP(S,A,T,u,o),V=q.solution;if(V!=V)return q;var P=w(s.I,M(t,w(d,V))),F=Array(r.length);for(c=l.length-1;-1!==c;--c)F[l[c]]=P[c];for(c=p.length-1;-1!==c;--c)F[p[c]]=V[c];return{solution:F,message:q.message,iterations:q.iterations}},numeric.MPStoLP=function(r){r instanceof String&&r.split("\n");var n,e,i,t,u=0,o=["Initial state","NAME","ROWS","COLUMNS","RHS","BOUNDS","ENDATA"],c=r.length,a=0,f={},m=[],s=0,h={},l=0,p=[],y=[],g=[];function v(e){throw new Error("MPStoLP: "+e+"\nLine "+n+": 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g,v,d,x,b,w,M,k,A,T,j,_,S,q,V,P,F,L,N,O,U,D,B,R,X,E,Y;S=Math.min(i,f),d=2*i+S*(S+5)/2+2*f+1,R=1e-60;do{X=1+.1*(R+=R),E=1+.2*R}while(X<=1||E<=1);for(g=1;g<=i;g+=1)p[g]=n[g];for(g=i+1;g<=d;g+=1)p[g]=0;for(g=1;g<=f;g+=1)s[g]=0;if(b=[],0===y[1]){if(function(r,n,e,i){var t,u,o,c,a,f;for(u=1;u<=e;u+=1){if(i[1]=u,f=0,(o=u-1)<1){if((f=r[u][u]-f)<=0)break;r[u][u]=Math.sqrt(f)}else{for(c=1;c<=o;c+=1){for(a=r[c][u],t=1;t<c;t+=1)a-=r[t][u]*r[t][c];a/=r[c][c],r[c][u]=a,f+=a*a}if((f=r[u][u]-f)<=0)break;r[u][u]=Math.sqrt(f)}i[1]=0}}(r,0,i,b),0!==b[1])return void(y[1]=2);!function(r,n,e,i){var t,u,o,c;for(u=1;u<=e;u+=1){for(c=0,t=1;t<u;t+=1)c+=r[t][u]*i[t];i[u]=(i[u]-c)/r[u][u]}for(o=1;o<=e;o+=1)for(i[u=e+1-o]=i[u]/r[u][u],c=-i[u],t=1;t<u;t+=1)i[t]=i[t]+c*r[t][u]}(r,0,i,n),function(r,n,e){var i,t,u,o,c;for(u=1;u<=e;u+=1){for(r[u][u]=1/r[u][u],c=-r[u][u],i=1;i<u;i+=1)r[i][u]=c*r[i][u];if(e<(o=u+1))break;for(t=o;t<=e;t+=1)for(c=r[u][t],r[u][t]=0,i=1;i<=u;i+=1)r[i][t]=r[i][t]+c*r[i][u]}}(r,0,i)}else{for(v=1;v<=i;v+=1)for(t[v]=0,g=1;g<=v;g+=1)t[v]=t[v]+r[g][v]*n[g];for(v=1;v<=i;v+=1)for(n[v]=0,g=v;g<=i;g+=1)n[v]=n[v]+r[v][g]*t[g]}for(u[1]=0,v=1;v<=i;v+=1)for(t[v]=n[v],u[1]=u[1]+p[v]*t[v],p[v]=0,g=v+1;g<=i;g+=1)r[g][v]=0;for(u[1]=-u[1]/2,y[1]=0,q=(T=(A=(j=(k=(M=i)+i)+S)+S+1)+S*(S+1)/2)+f,g=1;g<=f;g+=1){for(P=0,v=1;v<=i;v+=1)P+=o[v][g]*o[v][g];p[q+g]=Math.sqrt(P)}function I(){for(l[1]=l[1]+1,d=T,g=1;g<=f;g+=1){for(d+=1,P=-c[g],v=1;v<=i;v+=1)P+=o[v][g]*t[v];if(Math.abs(P)<R&&(P=0),g>m)p[d]=P;else if(p[d]=-Math.abs(P),P>0){for(v=1;v<=i;v+=1)o[v][g]=-o[v][g];c[g]=-c[g]}}for(g=1;g<=h;g+=1)p[T+s[g]]=0;for(_=0,V=0,g=1;g<=f;g+=1)p[T+g]<V*p[q+g]&&(_=g,V=p[T+g]/p[q+g]);return 0===_?999:0}function Q(){for(g=1;g<=i;g+=1){for(P=0,v=1;v<=i;v+=1)P+=r[v][g]*o[v][_];p[g]=P}for(x=M,g=1;g<=i;g+=1)p[x+g]=0;for(v=h+1;v<=i;v+=1)for(g=1;g<=i;g+=1)p[x+g]=p[x+g]+r[g][v]*p[v];for(D=!0,g=h;g>=1;g-=1){for(P=p[g],x=(d=A+g*(g+3)/2)-g,v=g+1;v<=h;v+=1)P-=p[d]*p[k+v],d+=v;if(P/=p[x],p[k+g]=P,s[g]<m)break;if(P<0)break;D=!1,w=g}if(!D)for(F=p[j+w]/p[k+w],g=1;g<=h&&!(s[g]<m)&&!(p[k+g]<0);g+=1)(V=p[j+g]/p[k+g])<F&&(F=V,w=g);for(P=0,g=M+1;g<=M+i;g+=1)P+=p[g]*p[g];if(Math.abs(P)<=R){if(D)return y[1]=1,999;for(g=1;g<=h;g+=1)p[j+g]=p[j+g]-F*p[k+g];return p[j+h+1]=p[j+h+1]+F,700}for(P=0,g=1;g<=i;g+=1)P+=p[M+g]*o[g][_];for(L=-p[T+_]/P,B=!0,D||F<L&&(L=F,B=!1),g=1;g<=i;g+=1)t[g]=t[g]+L*p[M+g],Math.abs(t[g])<R&&(t[g]=0);for(u[1]=u[1]+L*P*(L/2+p[j+h+1]),g=1;g<=h;g+=1)p[j+g]=p[j+g]-L*p[k+g];if(p[j+h+1]=p[j+h+1]+L,!B){for(P=-c[_],v=1;v<=i;v+=1)P+=t[v]*o[v][_];if(_>m)p[T+_]=P;else if(p[T+_]=-Math.abs(P),P>0){for(v=1;v<=i;v+=1)o[v][_]=-o[v][_];c[_]=-c[_]}return 700}for(s[h+=1]=_,d=A+(h-1)*h/2+1,g=1;g<=h-1;g+=1)p[d]=p[g],d+=1;if(h===i)p[d]=p[i];else{for(g=i;g>=h+1&&0!==p[g]&&(N=Math.max(Math.abs(p[g-1]),Math.abs(p[g])),O=Math.min(Math.abs(p[g-1]),Math.abs(p[g])),V=p[g-1]>=0?Math.abs(N*Math.sqrt(1+O*O/(N*N))):-Math.abs(N*Math.sqrt(1+O*O/(N*N))),N=p[g-1]/V,O=p[g]/V,1!==N);g-=1)if(0===N)for(p[g-1]=O*V,v=1;v<=i;v+=1)V=r[v][g-1],r[v][g-1]=r[v][g],r[v][g]=V;else for(p[g-1]=V,U=O/(1+N),v=1;v<=i;v+=1)V=N*r[v][g-1]+O*r[v][g],r[v][g]=U*(r[v][g-1]+V)-r[v][g],r[v][g-1]=V;p[d]=p[h]}return 0}function C(){if(0===p[x=(d=A+w*(w+1)/2+1)+w])return 798;if(N=Math.max(Math.abs(p[x-1]),Math.abs(p[x])),O=Math.min(Math.abs(p[x-1]),Math.abs(p[x])),V=p[x-1]>=0?Math.abs(N*Math.sqrt(1+O*O/(N*N))):-Math.abs(N*Math.sqrt(1+O*O/(N*N))),N=p[x-1]/V,O=p[x]/V,1===N)return 798;if(0===N){for(g=w+1;g<=h;g+=1)V=p[x-1],p[x-1]=p[x],p[x]=V,x+=g;for(g=1;g<=i;g+=1)V=r[g][w],r[g][w]=r[g][w+1],r[g][w+1]=V}else{for(U=O/(1+N),g=w+1;g<=h;g+=1)V=N*p[x-1]+O*p[x],p[x]=U*(p[x-1]+V)-p[x],p[x-1]=V,x+=g;for(g=1;g<=i;g+=1)V=N*r[g][w]+O*r[g][w+1],r[g][w+1]=U*(r[g][w]+V)-r[g][w+1],r[g][w]=V}return 0}function Z(){for(x=d-w,g=1;g<=w;g+=1)p[x]=p[d],d+=1,x+=1;return p[j+w]=p[j+w+1],s[w]=s[w+1],(w+=1)<h?797:0}function H(){return p[j+h]=p[j+h+1],p[j+h+1]=0,s[h]=0,h-=1,l[2]=l[2]+1,0}for(h=0,l[1]=0,l[2]=0,Y=0;;){if(999===(Y=I()))return;for(;0!==(Y=Q());){if(999===Y)return;if(700===Y)if(w===h)H();else{for(;C(),797===(Y=Z()););H()}}}}(r,i,0,f,y,l,t,u,0,m,o,p,0,v,g,c),h="",1===c[1]&&(h="constraints are inconsistent, no solution!"),2===c[1]&&(h="matrix D in quadratic function is not positive definite!"),{solution:e(y),value:e(l),unconstrained_solution:e(i),iterations:e(v),iact:e(p),message:h}}}(numeric),numeric.svd=function(r){var n,e=numeric.epsilon,i=1e-64/e,t=0,u=0,o=0,c=0,a=0,f=numeric.clone(r),m=f.length,s=f[0].length;if(m<s)throw"Need more rows than columns";var h=new Array(s),l=new Array(s);for(u=0;u<s;u++)h[u]=l[u]=0;var p=numeric.rep([s,s],0);function y(r,n){return(r=Math.abs(r))>(n=Math.abs(n))?r*Math.sqrt(1+n*n/r/r):0==n?r:n*Math.sqrt(1+r*r/n/n)}var g=0,v=0,d=0,x=0,b=0,w=0,M=0;for(u=0;u<s;u++){for(h[u]=v,M=0,a=u+1,o=u;o<m;o++)M+=f[o][u]*f[o][u];if(M<=i)v=0;else for(g=f[u][u],v=Math.sqrt(M),g>=0&&(v=-v),d=g*v-M,f[u][u]=g-v,o=a;o<s;o++){for(M=0,c=u;c<m;c++)M+=f[c][u]*f[c][o];for(g=M/d,c=u;c<m;c++)f[c][o]+=g*f[c][u]}for(l[u]=v,M=0,o=a;o<s;o++)M+=f[u][o]*f[u][o];if(M<=i)v=0;else{for(g=f[u][u+1],v=Math.sqrt(M),g>=0&&(v=-v),d=g*v-M,f[u][u+1]=g-v,o=a;o<s;o++)h[o]=f[u][o]/d;for(o=a;o<m;o++){for(M=0,c=a;c<s;c++)M+=f[o][c]*f[u][c];for(c=a;c<s;c++)f[o][c]+=M*h[c]}}(b=Math.abs(l[u])+Math.abs(h[u]))>x&&(x=b)}for(u=s-1;-1!=u;u+=-1){if(0!=v){for(d=v*f[u][u+1],o=a;o<s;o++)p[o][u]=f[u][o]/d;for(o=a;o<s;o++){for(M=0,c=a;c<s;c++)M+=f[u][c]*p[c][o];for(c=a;c<s;c++)p[c][o]+=M*p[c][u]}}for(o=a;o<s;o++)p[u][o]=0,p[o][u]=0;p[u][u]=1,v=h[u],a=u}for(u=s-1;-1!=u;u+=-1){for(a=u+1,v=l[u],o=a;o<s;o++)f[u][o]=0;if(0!=v){for(d=f[u][u]*v,o=a;o<s;o++){for(M=0,c=a;c<m;c++)M+=f[c][u]*f[c][o];for(g=M/d,c=u;c<m;c++)f[c][o]+=g*f[c][u]}for(o=u;o<m;o++)f[o][u]=f[o][u]/v}else for(o=u;o<m;o++)f[o][u]=0;f[u][u]+=1}for(e*=x,c=s-1;-1!=c;c+=-1)for(var k=0;k<50;k++){var A=!1;for(a=c;-1!=a;a+=-1){if(Math.abs(h[a])<=e){A=!0;break}if(Math.abs(l[a-1])<=e)break}if(!A){t=0,M=1;var T=a-1;for(u=a;u<c+1&&(g=M*h[u],h[u]=t*h[u],!(Math.abs(g)<=e));u++)for(d=y(g,v=l[u]),l[u]=d,t=v/d,M=-g/d,o=0;o<m;o++)b=f[o][T],w=f[o][u],f[o][T]=b*t+w*M,f[o][u]=-b*M+w*t}if(w=l[c],a==c){if(w<0)for(l[c]=-w,o=0;o<s;o++)p[o][c]=-p[o][c];break}if(k>=49)throw"Error: no 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