RcppArmadillo/ 0000755 0001751 0000144 00000000000 12652175752 013035 5 ustar hornik users RcppArmadillo/inst/ 0000755 0001751 0000144 00000000000 12652014347 014002 5 ustar hornik users RcppArmadillo/inst/examples/ 0000755 0001751 0000144 00000000000 12560372470 015622 5 ustar hornik users RcppArmadillo/inst/examples/fastLm.r 0000644 0001751 0000144 00000013741 12526711555 017244 0 ustar hornik users #!/usr/bin/r
##
## fastLm.r: Benchmarking lm() via RcppArmadillo and directly
##
## Copyright (C) 2010 - 2015 Dirk Eddelbuettel, Romain Francois and Douglas Bates
##
## This file is part of RcppArmadillo.
##
## RcppArmadillo is free software: you can redistribute it and/or modify it
## under the terms of the GNU General Public License as published by
## the Free Software Foundation, either version 2 of the License, or
## (at your option) any later version.
##
## RcppArmadillo is distributed in the hope that it will be useful, but
## WITHOUT ANY WARRANTY; without even the implied warranty of
## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
## GNU General Public License for more details.
##
## You should have received a copy of the GNU General Public License
## along with RcppArmadillo. If not, see .
library(Rcpp)
library(RcppArmadillo)
library(rbenchmark)
## start from SEXP, most conversions, longest code
src <- '
Rcpp::List fLmSEXP(SEXP Xs, SEXP ys) {
Rcpp::NumericMatrix Xr(Xs);
Rcpp::NumericVector yr(ys);
int n = Xr.nrow(), k = Xr.ncol();
arma::mat X(Xr.begin(), n, k, false);
arma::colvec y(yr.begin(), yr.size(), false);
int df = n - k;
// fit model y ~ X, extract residuals
arma::colvec coef = arma::solve(X, y);
arma::colvec res = y - X*coef;
double s2 = std::inner_product(res.begin(), res.end(),
res.begin(), 0.0)/df;
// std.errors of coefficients
arma::colvec sderr = arma::sqrt(s2 *
arma::diagvec(arma::pinv(arma::trans(X)*X)));
return Rcpp::List::create(Rcpp::Named("coefficients")=coef,
Rcpp::Named("stderr") =sderr,
Rcpp::Named("df") =df);
}
'
cppFunction(code=src, depends="RcppArmadillo")
## start from Rcpp types are early RcppArmadillo examples did
src <- '
Rcpp::List fLmTwoCasts(Rcpp::NumericMatrix Xr, Rcpp::NumericVector yr) {
int n = Xr.nrow(), k = Xr.ncol();
arma::mat X(Xr.begin(), n, k, false);
arma::colvec y(yr.begin(), yr.size(), false);
int df = n - k;
// fit model y ~ X, extract residuals
arma::colvec coef = arma::solve(X, y);
arma::colvec res = y - X*coef;
double s2 = std::inner_product(res.begin(), res.end(),
res.begin(), 0.0)/df;
// std.errors of coefficients
arma::colvec sderr = arma::sqrt(s2 *
arma::diagvec(arma::pinv(arma::trans(X)*X)));
return Rcpp::List::create(Rcpp::Named("coefficients")=coef,
Rcpp::Named("stderr") =sderr,
Rcpp::Named("df") =df);
}
'
cppFunction(code=src, depends="RcppArmadillo")
## start from Armadillo types
src <- '
Rcpp::List fLmOneCast(arma::mat X, arma::colvec y) {
int df = X.n_rows - X.n_cols;
// fit model y ~ X, extract residuals
arma::colvec coef = arma::solve(X, y);
arma::colvec res = y - X*coef;
double s2 = std::inner_product(res.begin(), res.end(),
res.begin(), 0.0)/df;
// std.errors of coefficients
arma::colvec sderr = arma::sqrt(s2 *
arma::diagvec(arma::pinv(arma::trans(X)*X)));
return Rcpp::List::create(Rcpp::Named("coefficients")=coef,
Rcpp::Named("stderr") =sderr,
Rcpp::Named("df") =df);
}
'
cppFunction(code=src, depends="RcppArmadillo")
## start from Armadillo types passed as constant references
src <- '
Rcpp::List fLmConstRef(const arma::mat & X, const arma::colvec & y) {
int df = X.n_rows - X.n_cols;
// fit model y ~ X, extract residuals
arma::colvec coef = arma::solve(X, y);
arma::colvec res = y - X*coef;
double s2 = std::inner_product(res.begin(), res.end(),
res.begin(), 0.0)/df;
// std.errors of coefficients
arma::colvec sderr = arma::sqrt(s2 *
arma::diagvec(arma::pinv(arma::trans(X)*X)));
return Rcpp::List::create(Rcpp::Named("coefficients")=coef,
Rcpp::Named("stderr") =sderr,
Rcpp::Named("df") =df);
}
'
cppFunction(code=src, depends="RcppArmadillo")
fastLmPureDotCall <- function(X, y) {
.Call("RcppArmadillo_fastLm", X, y, PACKAGE = "RcppArmadillo")
}
y <- log(trees$Volume)
X <- cbind(1, log(trees$Girth))
frm <- formula(log(Volume) ~ log(Girth))
res <- benchmark(fLmOneCast(X, y), # inline'd above
fLmTwoCasts(X, y), # inline'd above
fLmConstRef(X, y), # inline'd above
fLmSEXP(X, y), # inline'd above
fastLmPure(X, y), # similar, but with 2 error checks
fastLmPureDotCall(X, y), # now without the 2 error checks
fastLm(frm, data=trees), # using model matrix
lm.fit(X, y), # R's fast function, no stderr
lm(frm, data=trees), # R's standard function
columns = c("test", "replications", "relative",
"elapsed", "user.self", "sys.self"),
order="relative",
replications=5000)
print(res[,1:4])
## second run without formulae approach but larger N
res <- benchmark(fLmOneCast(X, y), # inline'd above
fLmTwoCasts(X, y), # inline'd above
fLmSEXP(X, y), # inline'd above
fLmConstRef(X, y), # inline'd above
fastLmPure(X, y), # similar, but with 2 error checks
fastLmPureDotCall(X, y), # now without the 2 error checks
lm.fit(X, y), # R's fast function, no stderr
columns = c("test", "replications", "relative",
"elapsed", "user.self", "sys.self"),
order="relative",
replications=50000)
print(res[,1:4])
RcppArmadillo/inst/examples/kalman/ 0000755 0001751 0000144 00000000000 12253723621 017062 5 ustar hornik users RcppArmadillo/inst/examples/kalman/kalmanM.m 0000644 0001751 0000144 00000001770 12253723621 020625 0 ustar hornik users function Y = kalmanM(pos)
dt=1;
%% Initialize state transition matrix
A=[ 1 0 dt 0 0 0;... % [x ]
0 1 0 dt 0 0;... % [y ]
0 0 1 0 dt 0;... % [Vx]
0 0 0 1 0 dt;... % [Vy]
0 0 0 0 1 0 ;... % [Ax]
0 0 0 0 0 1 ]; % [Ay]
H = [ 1 0 0 0 0 0; 0 1 0 0 0 0 ]; % Initialize measurement matrix
Q = eye(6);
R = 1000 * eye(2);
x_est = zeros(6, 1); % x_est=[x,y,Vx,Vy,Ax,Ay]'
p_est = zeros(6, 6);
numPts = size(pos,1);
Y = zeros(numPts, 2);
for idx = 1:numPts
z = pos(idx, :)';
%% Predicted state and covariance
x_prd = A * x_est;
p_prd = A * p_est * A' + Q;
%% Estimation
S = H * p_prd' * H' + R;
B = H * p_prd';
klm_gain = (S \ B)';
%% Estimated state and covariance
x_est = x_prd + klm_gain * (z - H * x_prd);
p_est = p_prd - klm_gain * H * p_prd;
%% Compute the estimated measurements
Y(idx, :) = H * x_est;
end % of the function
end % of the function
RcppArmadillo/inst/examples/kalman/kalmanExample.m 0000644 0001751 0000144 00000000123 12253723621 022013 0 ustar hornik users function x = kalmanExample
load pos.txt; # renamed here
x = kalmanM(pos);
end RcppArmadillo/inst/examples/kalman/pos.txt 0000644 0001751 0000144 00000023272 12253723621 020432 0 ustar hornik users -4.76074274e-01 8.27344982e-01
-4.66073333e-01 8.25346801e-01
-4.56071632e-01 8.21349631e-01
-4.46068539e-01 8.15353570e-01
-4.36063422e-01 8.07358714e-01
-4.26055649e-01 7.97365162e-01
-4.16044587e-01 7.85373011e-01
-4.06029604e-01 7.71382359e-01
-3.96010067e-01 7.55393303e-01
-3.85985344e-01 7.37405941e-01
-3.75954804e-01 7.17420370e-01
-3.65917812e-01 6.95436687e-01
-3.55873738e-01 6.71454991e-01
-3.45821948e-01 6.45475379e-01
-3.35761811e-01 6.17497948e-01
-3.25692694e-01 5.87522796e-01
-3.15613964e-01 5.55550021e-01
-3.05524990e-01 5.21579720e-01
-2.95425138e-01 4.85611990e-01
-2.85313778e-01 4.47646929e-01
-2.75190275e-01 4.07684635e-01
-2.65053998e-01 3.65725205e-01
-2.54904315e-01 3.21768737e-01
-2.44740592e-01 2.75815328e-01
-2.34562199e-01 2.27865076e-01
-2.24368501e-01 1.77918079e-01
-2.14158868e-01 1.25974433e-01
-2.03932667e-01 7.20342366e-02
-1.93689265e-01 1.60975872e-02
-1.83428030e-01 -4.18354177e-02
-1.73148329e-01 -1.01764681e-01
-1.62849531e-01 -1.63690104e-01
-1.52531002e-01 -2.27611590e-01
-1.42192111e-01 -2.93529041e-01
-1.31832225e-01 -3.61442361e-01
-1.21450712e-01 -4.31351450e-01
-1.11046940e-01 -5.03256212e-01
-1.00620275e-01 -5.77156550e-01
-9.01700865e-02 -6.53052365e-01
-7.96957410e-02 -7.30943560e-01
-6.91966066e-02 -8.10830038e-01
-5.86720509e-02 -8.92711700e-01
-4.81214414e-02 -9.68723398e-01
-3.75441458e-02 -8.82849846e-01
-2.69395318e-02 -7.98971187e-01
-1.63069671e-02 -7.17087322e-01
-5.64581912e-03 -6.37198155e-01
5.04454433e-03 -5.59303588e-01
1.57647557e-02 -4.83403523e-01
2.65154472e-02 -4.09497862e-01
3.72972513e-02 -3.37586509e-01
4.81108004e-02 -2.67669365e-01
5.89567268e-02 -1.99746334e-01
6.98356629e-02 -1.33817317e-01
8.07482410e-02 -6.98822165e-02
9.16950935e-02 -7.94093586e-03
1.02676853e-01 5.20066229e-02
1.13694151e-01 1.09960557e-01
1.24747621e-01 1.65920965e-01
1.35837894e-01 2.19887943e-01
1.46965604e-01 2.71861590e-01
1.58131383e-01 3.21842002e-01
1.69335862e-01 3.69829278e-01
1.80579674e-01 4.15823514e-01
1.91863452e-01 4.59824809e-01
2.03187829e-01 5.01833260e-01
2.14553435e-01 5.41848965e-01
2.25960904e-01 5.79872020e-01
2.37410868e-01 6.15902524e-01
2.48903960e-01 6.49940575e-01
2.60440811e-01 6.81986269e-01
2.72022055e-01 7.12039704e-01
2.83648323e-01 7.40100978e-01
2.95320248e-01 7.66170188e-01
3.07038462e-01 7.90247432e-01
3.18803597e-01 8.12332807e-01
3.30616287e-01 8.32426411e-01
3.42477163e-01 8.50528342e-01
3.54386857e-01 8.66638696e-01
3.66346003e-01 8.80757573e-01
3.78355232e-01 8.92885068e-01
3.90415176e-01 9.03021280e-01
4.02526469e-01 9.11166306e-01
4.14689742e-01 9.17320243e-01
4.26905628e-01 9.21483190e-01
4.39174759e-01 9.23655244e-01
4.51497768e-01 9.23836502e-01
4.63875286e-01 9.22027062e-01
4.76307947e-01 9.18227021e-01
4.88796383e-01 9.12436477e-01
5.01341225e-01 9.04655528e-01
5.13943106e-01 8.94884271e-01
5.26602660e-01 8.83122803e-01
5.39320517e-01 8.69371222e-01
5.52097311e-01 8.53629626e-01
5.64933673e-01 8.35898112e-01
5.77830237e-01 8.16176778e-01
5.90787634e-01 7.94465721e-01
6.03806497e-01 7.70765039e-01
6.16887458e-01 7.45074829e-01
6.16887458e-01 7.45074829e-01
2.43647025e-01 3.48142367e-01
-1.29593408e-01 -4.87900946e-02
-5.02833841e-01 -4.45722556e-01
-8.76074274e-01 -8.42655018e-01
-8.76074274e-01 -8.42655018e-01
-8.66073333e-01 -8.14653199e-01
-8.56071632e-01 -7.88650369e-01
-8.46068539e-01 -7.64646430e-01
-8.36063422e-01 -7.42641286e-01
-8.26055649e-01 -7.22634838e-01
-8.16044587e-01 -7.04626989e-01
-8.06029604e-01 -6.88617641e-01
-7.96010067e-01 -6.74606697e-01
-7.85985344e-01 -6.62594059e-01
-7.75954804e-01 -6.52579630e-01
-7.65917812e-01 -6.44563313e-01
-7.55873738e-01 -6.38545009e-01
-7.45821948e-01 -6.34524621e-01
-7.35761811e-01 -6.32502052e-01
-7.25692694e-01 -6.32477204e-01
-7.15613964e-01 -6.34449979e-01
-7.05524990e-01 -6.38420280e-01
-6.95425138e-01 -6.44388010e-01
-6.85313778e-01 -6.52353071e-01
-6.75190275e-01 -6.62315365e-01
-6.65053998e-01 -6.74274795e-01
-6.54904315e-01 -6.88231263e-01
-6.44740592e-01 -7.04184672e-01
-6.34562199e-01 -7.22134924e-01
-6.24368501e-01 -7.42081921e-01
-6.14158868e-01 -7.64025567e-01
-6.03932667e-01 -7.87965763e-01
-5.93689265e-01 -8.13902413e-01
-5.83428030e-01 -8.41835418e-01
-5.73148329e-01 -8.71764681e-01
-5.62849531e-01 -9.03690104e-01
-5.52531002e-01 -9.37611590e-01
-5.42192111e-01 -9.71782807e-01
-5.31832225e-01 -9.33867676e-01
-5.21450712e-01 -8.97948315e-01
-5.11046940e-01 -8.64024627e-01
-5.00620275e-01 -8.32096515e-01
-4.90170086e-01 -8.02163879e-01
-4.79695741e-01 -7.74226624e-01
-4.69196607e-01 -7.48284652e-01
-4.58672051e-01 -7.24337865e-01
-4.48121441e-01 -7.02386165e-01
-4.37544146e-01 -6.82429455e-01
-4.26939532e-01 -6.64467637e-01
-4.16306967e-01 -6.48500614e-01
-4.05645819e-01 -6.34528289e-01
-3.94955456e-01 -6.22550563e-01
-3.84235244e-01 -6.12567339e-01
-3.73484553e-01 -6.04578520e-01
-3.62702749e-01 -5.98584009e-01
-3.51889200e-01 -5.94583707e-01
-3.41043273e-01 -5.92577517e-01
-3.30164337e-01 -5.92565341e-01
-3.19251759e-01 -5.94547083e-01
-3.08304907e-01 -5.98522644e-01
-2.97323147e-01 -6.04491926e-01
-2.86305849e-01 -6.12454834e-01
-2.75252379e-01 -6.22411268e-01
-2.64162106e-01 -6.34361131e-01
-2.53034396e-01 -6.48304326e-01
-2.41868617e-01 -6.64240755e-01
-2.30664138e-01 -6.82170321e-01
-2.19420326e-01 -7.02092926e-01
-2.08136548e-01 -7.24008473e-01
-1.96812171e-01 -7.47916863e-01
-1.85446565e-01 -7.73818000e-01
-1.74039096e-01 -8.01711787e-01
-1.62589132e-01 -8.31598124e-01
-1.51096040e-01 -8.63476915e-01
-1.39559189e-01 -8.97348063e-01
-1.27977945e-01 -9.33211470e-01
-1.16351677e-01 -9.71067037e-01
-1.04679752e-01 -9.34397179e-01
-9.29615383e-02 -8.92555770e-01
-8.11964026e-02 -8.52706229e-01
-6.93837130e-02 -8.14848460e-01
-5.75228372e-02 -7.78982364e-01
-4.56131427e-02 -7.45107844e-01
-3.36539972e-02 -7.13224802e-01
-2.16447683e-02 -6.83333142e-01
-9.58482365e-03 -6.55432765e-01
2.52646905e-03 -6.29523574e-01
1.46897422e-02 -6.05605471e-01
2.69056281e-02 -5.83678358e-01
3.91747593e-02 -5.63742139e-01
5.14977679e-02 -5.45796716e-01
6.38752864e-02 -5.29841991e-01
7.63079472e-02 -5.15877866e-01
8.87963825e-02 -5.03904245e-01
1.01341225e-01 -4.93921029e-01
1.13943106e-01 -4.85928121e-01
1.26602660e-01 -4.79925423e-01
1.39320517e-01 -4.75912839e-01
1.52097311e-01 -4.73890270e-01
1.64933673e-01 -4.73857618e-01
1.77830237e-01 -4.75814787e-01
1.90787634e-01 -4.79761679e-01
2.03806497e-01 -4.85698196e-01
2.16887458e-01 -4.93624240e-01
2.16887458e-01 -4.93624240e-01
4.01147025e-01 -1.33381935e-01
5.85406592e-01 2.26860371e-01
7.69666159e-01 5.87102676e-01
9.53925726e-01 9.47344982e-01
9.53925726e-01 9.47344982e-01
9.43926667e-01 9.15346801e-01
9.33928368e-01 8.81349631e-01
9.23931461e-01 8.45353570e-01
9.13936578e-01 8.07358714e-01
9.03944351e-01 7.67365162e-01
8.93955413e-01 7.25373011e-01
8.83970396e-01 6.81382359e-01
8.73989933e-01 6.35393303e-01
8.64014656e-01 5.87405941e-01
8.54045196e-01 5.37420370e-01
8.44082188e-01 4.85436687e-01
8.34126262e-01 4.31454991e-01
8.24178052e-01 3.75475379e-01
8.14238189e-01 3.17497948e-01
8.04307306e-01 2.57522796e-01
7.94386036e-01 1.95550021e-01
7.84475010e-01 1.31579720e-01
7.74574862e-01 6.56119899e-02
7.64686222e-01 -2.35307073e-03
7.54809725e-01 -7.23153647e-02
7.44946002e-01 -1.44274795e-01
7.35095685e-01 -2.18231263e-01
7.25259408e-01 -2.94184672e-01
7.15437801e-01 -3.72134924e-01
7.05631499e-01 -4.52081921e-01
6.95841132e-01 -5.34025567e-01
6.86067333e-01 -6.17965763e-01
6.76310735e-01 -7.03902413e-01
6.66571970e-01 -7.91835418e-01
6.56851671e-01 -8.81764681e-01
6.47150469e-01 -9.71621744e-01
6.37468998e-01 -8.77698446e-01
6.27807889e-01 -7.85771114e-01
6.18167775e-01 -6.95839649e-01
6.08549288e-01 -6.07903955e-01
5.98953060e-01 -5.21963934e-01
5.89379725e-01 -4.38019487e-01
5.79829914e-01 -3.56070518e-01
5.70304259e-01 -2.76116929e-01
5.60803393e-01 -1.98158623e-01
5.51327949e-01 -1.22195502e-01
5.41878559e-01 -4.82274683e-02
5.32455854e-01 2.37455755e-02
5.23060468e-01 9.37237269e-02
5.13693033e-01 1.61707083e-01
5.04354181e-01 2.27695743e-01
4.95044544e-01 2.91689802e-01
4.85764756e-01 3.53689360e-01
4.76515447e-01 4.13694512e-01
4.67297251e-01 4.71705358e-01
4.58110800e-01 5.27721993e-01
4.48956727e-01 5.81744517e-01
4.39835663e-01 6.33773026e-01
4.30748241e-01 6.83807619e-01
4.21695093e-01 7.31848392e-01
4.12676853e-01 7.77895442e-01
4.03694151e-01 8.21948869e-01
3.94747621e-01 8.64008769e-01
3.85837894e-01 9.04075239e-01
3.76965604e-01 9.42148378e-01
3.68131383e-01 9.78228282e-01
3.59335862e-01 1.01231505e+00
3.50579674e-01 1.01027937e+00
3.41863452e-01 9.80180397e-01
3.33187829e-01 9.48088578e-01
3.24553435e-01 9.14004012e-01
3.15960904e-01 8.77926796e-01
3.07410868e-01 8.39857030e-01
2.98903960e-01 7.99794810e-01
2.90440811e-01 7.57740233e-01
2.82022055e-01 7.13693397e-01
2.73648323e-01 6.67654401e-01
2.65320248e-01 6.19623340e-01
2.57038462e-01 5.69600313e-01
2.48803597e-01 5.17585418e-01
2.40616287e-01 4.63578752e-01
2.32477163e-01 4.07580412e-01
2.24386857e-01 3.49590496e-01
2.16346003e-01 2.89609102e-01
2.08355232e-01 2.27636326e-01
2.00415176e-01 1.63672267e-01
1.92526469e-01 9.77170229e-02
1.84689742e-01 2.97706900e-02
1.76905628e-01 -4.01666337e-02
1.69174759e-01 -1.12094851e-01
1.61497768e-01 -1.86013863e-01
1.53875286e-01 -2.61923574e-01
1.46307947e-01 -3.39823885e-01
1.38796383e-01 -4.19714700e-01
1.31341225e-01 -5.01595920e-01
1.23943106e-01 -5.85467448e-01
1.16602660e-01 -6.71329186e-01
1.09320517e-01 -7.59181037e-01
1.02097311e-01 -8.49022904e-01
9.49336734e-02 -9.40854688e-01
8.78302370e-02 -9.10635555e-01
8.07876341e-02 -8.14822416e-01
7.38064970e-02 -7.20998902e-01
6.68874582e-02 -6.29164916e-01
RcppArmadillo/inst/examples/kalman/KalmanRimp.R 0000644 0001751 0000144 00000002444 12253723621 021244 0 ustar hornik users ## Improved version supplied by one referee, not shown in paper
KalmanRimp <- function(pos) {
kalmanfilter <- function(z) {
## predicted state and covriance
xprd <- xest %*% A
pprd <- crossprod(pest %*% A, A) + Q
## estimation
B <- crossprod(H, pprd)
S <- B %*% H + R
## kalmangain <- (S \ B)'
kalmangain <- solve(S, B)
## estimated state and covariance, assign to vars in parent env
xest <<- xprd + (z - xprd %*% H) %*% kalmangain
pest <<- pprd - pprd %*% H %*% kalmangain
## compute the estimated measurements
y <- xest %*% H
}
dt <- 1
A <- matrix( c( 1, 0, dt, 0, 0, 0, # x
0, 1, 0, dt, 0, 0, # y
0, 0, 1, 0, dt, 0, # Vx
0, 0, 0, 1, 0, dt, # Vy
0, 0, 0, 0, 1, 0, # Ax
0, 0, 0, 0, 0, 1), # Ay
6, 6, byrow=FALSE)
H <- matrix( c(1, 0, 0, 0, 0, 0,
0, 1, 0, 0, 0, 0),
6, 2, byrow=FALSE)
Q <- diag(6)
R <- 1000 * diag(2)
N <- nrow(pos)
y <- matrix(NA, N, 2)
xest <- matrix(0, 1, 6)
pest <- matrix(0, 6, 6)
for (i in 1:N) {
y[i,] <- kalmanfilter(pos[i,,drop=FALSE])
}
invisible(y)
}
RcppArmadillo/inst/examples/kalman/kalmanfilter.m 0000644 0001751 0000144 00000001730 12253723621 021712 0 ustar hornik users % Copyright 2010 The MathWorks, Inc.
function y = kalmanfilter(z)
dt=1;
% Initialize state transition matrix
A=[ 1 0 dt 0 0 0; 0 1 0 dt 0 0;... % [x ], [y ]
0 0 1 0 dt 0; 0 0 0 1 0 dt;... % [Vx], [Vy]
0 0 0 0 1 0 ; 0 0 0 0 0 1 ]; % [Ax], [Ay]
H = [ 1 0 0 0 0 0; 0 1 0 0 0 0 ]; % Init. measuremnt mat
Q = eye(6);
R = 1000 * eye(2);
persistent x_est p_est % Init. state cond.
if isempty(x_est)
x_est = zeros(6, 1); % x_est=[x,y,Vx,Vy,Ax,Ay]'
p_est = zeros(6, 6);
end
x_prd = A * x_est; % Predicted state and covariance
p_prd = A * p_est * A' + Q;
S = H * p_prd' * H' + R; % Estimation
B = H * p_prd';
klm_gain = (S \ B)';
% Estimated state and covariance
x_est = x_prd + klm_gain * (z - H * x_prd);
p_est = p_prd - klm_gain * H * p_prd;
y = H * x_est; % Compute the estimated measurements
end % of the function
RcppArmadillo/inst/examples/kalman/benchmark.R 0000644 0001751 0000144 00000002257 12541062071 021140 0 ustar hornik users
suppressMessages(library(utils))
suppressMessages(library(RcppArmadillo))
suppressMessages(library(rbenchmark))
suppressMessages(library(compiler))
source("FirstKalmanR.R")
source("KalmanR.R")
source("KalmanRimp.R")
Rcpp::sourceCpp("Kalman.cpp")
FirstKalmanRC <- cmpfun(FirstKalmanR)
KalmanRC <- cmpfun(KalmanR)
KalmanRimpC <- cmpfun(KalmanRimp)
## Read data, ensure identical results
pos <- as.matrix(read.table("pos.txt", header=FALSE,
col.names=c("x","y")))
stopifnot(all.equal(KalmanR(pos), KalmanRC(pos)),
all.equal(KalmanRC(pos), KalmanCpp(pos)),
all.equal(KalmanCpp(pos), FirstKalmanRC(pos)),
all.equal(KalmanCpp(pos), FirstKalmanR(pos)),
all.equal(KalmanCpp(pos), KalmanRimp(pos)),
all.equal(KalmanCpp(pos), KalmanRimpC(pos)))
res <- benchmark(KalmanR(pos), KalmanRC(pos),
KalmanRimp(pos), KalmanRimpC(pos),
FirstKalmanR(pos), FirstKalmanRC(pos),
KalmanCpp(pos),
columns = c("test", "replications",
"elapsed", "relative"),
order="relative",
replications=500)
print(res[,1:4])
RcppArmadillo/inst/examples/kalman/firstExample.R 0000644 0001751 0000144 00000000457 12253723621 021656 0 ustar hornik users
library(RcppArmadillo)
cppFunction(code='
Rcpp::List g(arma::colvec v) {
arma::mat op = v * v.t();
double ip = arma::as_scalar(v.t() * v);
return Rcpp::List::create(Rcpp::Named("outer")=op,
Rcpp::Named("inner")=ip);
}
', depends="RcppArmadillo")
g(7:11)
RcppArmadillo/inst/examples/kalman/FirstKalmanR.R 0000644 0001751 0000144 00000002214 12253723621 021541 0 ustar hornik users FirstKalmanR <- function(pos) {
kalmanfilter <- function(z) {
dt <- 1
A <- matrix(c( 1, 0, dt, 0, 0, 0, 0, 1, 0, dt, 0, 0, # x, y
0, 0, 1, 0, dt, 0, 0, 0, 0, 1, 0, dt, # Vx, Vy
0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1), # Ax, Ay
6, 6, byrow=TRUE)
H <- matrix( c(1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0),
2, 6, byrow=TRUE)
Q <- diag(6)
R <- 1000 * diag(2)
xprd <- A %*% xest # predicted state and covriance
pprd <- A %*% pest %*% t(A) + Q
S <- H %*% t(pprd) %*% t(H) + R # estimation
B <- H %*% t(pprd)
kalmangain <- t(solve(S, B))
## estimated state and covariance, assign to vars in parent env
xest <<- xprd + kalmangain %*% (z - H %*% xprd)
pest <<- pprd - kalmangain %*% H %*% pprd
## compute the estimated measurements
y <- H %*% xest
}
xest <- matrix(0, 6, 1)
pest <- matrix(0, 6, 6)
N <- nrow(pos)
y <- matrix(NA, N, 2)
for (i in 1:N) {
y[i,] <- kalmanfilter(t(pos[i,,drop=FALSE]))
}
invisible(y)
}
RcppArmadillo/inst/examples/kalman/KalmanR.R 0000644 0001751 0000144 00000002322 12253723621 020531 0 ustar hornik users KalmanR <- function(pos) {
kalmanfilter <- function(z) {
## predicted state and covariance
xprd <- A %*% xest
pprd <- A %*% pest %*% t(A) + Q
## estimation
S <- H %*% t(pprd) %*% t(H) + R
B <- H %*% t(pprd)
kalmangain <- t(solve(S, B))
## estimated state and covariance
## assigned to vars in parent env
xest <<- xprd + kalmangain %*% (z - H %*% xprd)
pest <<- pprd - kalmangain %*% H %*% pprd
## compute the estimated measurements
y <- H %*% xest
}
dt <- 1
A <- matrix( c( 1, 0, dt, 0, 0, 0, # x
0, 1, 0, dt, 0, 0, # y
0, 0, 1, 0, dt, 0, # Vx
0, 0, 0, 1, 0, dt, # Vy
0, 0, 0, 0, 1, 0, # Ax
0, 0, 0, 0, 0, 1), # Ay
6, 6, byrow=TRUE)
H <- matrix( c(1, 0, 0, 0, 0, 0,
0, 1, 0, 0, 0, 0),
2, 6, byrow=TRUE)
Q <- diag(6)
R <- 1000 * diag(2)
N <- nrow(pos)
Y <- matrix(NA, N, 2)
xest <- matrix(0, 6, 1)
pest <- matrix(0, 6, 6)
for (i in 1:N) {
Y[i,] <- kalmanfilter(t(pos[i,,drop=FALSE]))
}
invisible(Y)
}
RcppArmadillo/inst/examples/kalman/Kalman.cpp 0000644 0001751 0000144 00000002552 12253723621 020775 0 ustar hornik users
// [[Rcpp::depends(RcppArmadillo)]]
#include
using namespace arma;
class Kalman {
private:
mat A, H, Q, R, xest, pest;
double dt;
public:
// constructor, sets up data structures
Kalman() : dt(1.0) {
A.eye(6,6);
A(0,2) = A(1,3) = A(2,4) = A(3,5) = dt;
H.zeros(2,6);
H(0,0) = H(1,1) = 1.0;
Q.eye(6,6);
R = 1000 * eye(2,2);
xest.zeros(6,1);
pest.zeros(6,6);
}
// sole member function: estimate model
mat estimate(const mat & Z) {
unsigned int n = Z.n_rows, k = Z.n_cols;
mat Y = zeros(n, k);
mat xprd, pprd, S, B, kalmangain;
colvec z, y;
for (unsigned int i = 0; i.
## load Rcpp to be able to use cppFunction() below
suppressMessages(library(Rcpp))
## parameter and error terms used throughout
a <- matrix(c(0.5,0.1,0.1,0.5),nrow=2)
e <- matrix(rnorm(10000),ncol=2)
## Let's start with the R version
rSim <- function(coeff, errors) {
simdata <- matrix(0, nrow(errors), ncol(errors))
for (row in 2:nrow(errors)) {
simdata[row,] = coeff %*% simdata[(row-1),] + errors[row,]
}
return(simdata)
}
rData <- rSim(a, e) # generated by R
## Now let's load the R compiler (requires R 2.13 or later)
suppressMessages(require(compiler))
compRsim <- cmpfun(rSim)
compRData <- compRsim(a,e) # generated by R 'compiled'
stopifnot(all.equal(rData, compRData)) # checking results
## C++ variant: code passed as a text variable ...
code <- '
arma::mat rcppSim(const arma::mat& coeff, const arma::mat& errors) {
int m = errors.n_rows;
int n = errors.n_cols;
arma::mat simdata(m,n);
simdata.row(0) = arma::zeros(1,n);
for (int row=1; row
extern "C" SEXP fastLm(SEXP ys, SEXP Xs) {
Rcpp::NumericVector yr(ys); // creates Rcpp vector from SEXP
Rcpp::NumericMatrix Xr(Xs); // creates Rcpp matrix from SEXP
int n = Xr.nrow(), k = Xr.ncol();
arma::mat X(Xr.begin(), n, k, false); // reuses memory and avoids extra copy
arma::colvec y(yr.begin(), yr.size(), false);
arma::colvec coef = arma::solve(X, y); // fit model y ~ X
arma::colvec res = y - X*coef; // residuals
double s2 = std::inner_product(res.begin(), res.end(), res.begin(), double())/(n - k);
// std.errors of coefficients
arma::colvec stderr = arma::sqrt(s2 * arma::diagvec( arma::inv(arma::trans(X)*X) ));
return Rcpp::List::create(Rcpp::Named("coefficients") = coef,
Rcpp::Named("stderr") = stderr,
Rcpp::Named("df") = n - k
);
}
Note however that you may not want to compute a linear regression fit this
way in order to protect from numerical inaccuracies on rank-deficient
problems. The help page for fastLm() provides an example.
===== Using RcppArmadillo in other packages =====
RcppArmadillo is designed so that its classes can be used from other packages.
Using RcppArmadillo requires:
- Using the header files provided by Rcpp and RcppArmadillo. This is
typically achieved by adding this line in the DESCRIPTION file of the
client package:
LinkingTo : Rcpp, RcppArmadillo
and the following line in the package code:
#include
- Linking against Rcpp dynamic or shared library and librairies needed
by Armadillo, which is achieved by adding this line in the src/Makevars
file of the client package:
PKG_LIBS = $(shell $(R_HOME)/bin/Rscript -e "Rcpp:::LdFlags()" ) $(LAPACK_LIBS) $(BLAS_LIBS) $(FLIBS)
and this line in the file src/Makevars.win:
PKG_LIBS = $(shell Rscript.exe -e "Rcpp:::LdFlags()") $(LAPACK_LIBS) $(BLAS_LIBS) $(FLIBS)
RcppArmadillo contains a function RcppArmadillo.package.skeleton, modelled
after package.skeleton from the utils package in base r, that creates a
skeleton of a package using RcppArmadillo, including example code.
===== Quality Assurance =====
RcppArmadillo uses the RUnit package by Matthias Burger et al to provide
unit testing. RcppArmadillo currently has 19 unit tests (called from 8 unit
test functions).
Source code for unit test functions are stored in the unitTests directory
of the installed package and the results are collected in the
"RcppArmadillo-unitTests" vignette.
We run unit tests before sending the package to CRAN on as many systems as
possible, including Mac OSX (Snow Leopard), Debian, Ubuntu, Fedora 12
(64bit), Win 32 and Win64.
Unit tests can also be run from the installed package by executing
RcppArmadillo:::test()
where an output directory can be provided as an optional first argument.
===== Links =====
Armadillo : http://arma.sourceforge.net/
RcppArmadillo main page: http://dirk.eddelbuettel.com/code/rcpp.armadillo.html
R-forge Rcpp project page: http://r-forge.r-project.org/projects/rcpp/
Dirk's blog : http://dirk.eddelbuettel.com/blog/code/rcpp/
Romain's blog : http://romainfrancois.blog.free.fr/index.php?category/R-package/RcppArmadillo
===== Support =====
Questions about RcppArmadillo should be directed to the Rcpp-devel mailing
list at
https://lists.r-forge.r-project.org/cgi-bin/mailman/listinfo/rcpp-devel
Questions about Armadillo itself should be directed to its forum
http://sourceforge.net/apps/phpbb/arma/
-- Romain Francois, Montpellier, France
Dirk Eddelbuettel, Chicago, IL, USA
Doug Bates, Madison, WI, USA
May 2010
RcppArmadillo/inst/NEWS.Rd 0000644 0001751 0000144 00000155340 12652014164 015052 0 ustar hornik users \name{NEWS}
\title{News for Package 'RcppArmadillo'}
\newcommand{\ghpr}{\href{https://github.com/RcppCore/RcppArmadillo/pull/#1}{##1}}
\newcommand{\ghit}{\href{https://github.com/RcppCore/RcppArmadillo/issues/#1}{##1}}
\section{Changes in RcppArmadillo version 0.6.500.4.0 (2016-01-26)}{
\itemize{
\item Upgraded to Armadillo 6.500.4 (Gourmet Electron Jumper)
\itemize{
\item added \code{conv2()} for 2D convolution
\item added stand-alone \code{kmeans()} function for clustering data
\item added \code{trunc()}
\item extended \code{conv()} to optionally provide central convolution
\item faster handling of multiply-and-accumulate by \code{accu()}
when using Intel MKL, ATLAS or OpenBLAS
}
\item The \code{configure} script now uses \code{#!/usr/bin/env
bash} to cope with systems that do not have \code{#!/bin/bash} (PR
\ghpr{75} fixing issue \ghpr{74})
\item RcppArmadillo now defines ARMA_32BIT_WORD to ensure we always
use integer vectors that be passed to R
}
}
\section{Changes in RcppArmadillo version 0.6.400.2.0 (2015-12-15)}{
\itemize{
\item Upgraded to Armadillo 6.400.2 ("Flying Spaghetti Monster Deluxe")
\itemize{
\item expanded \code{each_col()}, \code{each_row()} and
\code{each_slice()} to handle C++11 lambda functions
\item added \code{ind2sub()} and \code{sub2ind()}
\item fixes for corner cases in gmm_diag class
}
}
}
\section{Changes in RcppArmadillo version 0.6.300.2.2 (2015-12-12)}{
\itemize{
\item Upgraded to Armadillo 6.300.3-test ("Flying Spaghetti Monster")
\itemize{
\item Additional test in \code{auxlib_meat.hpp} for limited LAPACK
}
\item Updated test and \code{#define} for limited LAPACK version R
might be built with on Unix-alike systems
}
}
\section{Changes in RcppArmadillo version 0.6.300.2.0 (2015-12-03)}{
\itemize{
\item Upgraded to Armadillo 6.300.2 ("Flying Spaghetti Monster")
\itemize{
\item expanded \code{solve()} to find approximate solutions for rank-deficient systems
\item faster handling of non-contiguous submatrix views in compound expressions
\item added \code{.for_each()} to Mat, Row, Col, Cube and field classes
\item added \code{rcond()} for estimating the reciprocal condition number
\item fixes for \code{spsolve()}, \code{eigs_sym()}, \code{eigs_gen()}, \code{svds()}
}
\item Added support for \code{Cube} types via \code{as<>} converters
(PR \ghpr{64} by Nathan Russell, fixing \ghit{63} and \ghit{42})
}
}
\section{Changes in RcppArmadillo version 0.6.200.2.0 (2015-10-31)}{
\itemize{
\item Upgraded to Armadillo 6.200.0 ("Midnight Blue Deluxe")
\itemize{
\item expanded \code{diagmat()} to handle non-square matrices and arbitrary diagonals
\item expanded \code{trace()} to handle non-square matrices
}
}
}
\section{Changes in RcppArmadillo version 0.6.100.0.0 (2015-10-03)}{
\itemize{
\item Upgraded to Armadillo 6.100.0 ("Midnight Blue")
\itemize{
\item faster \code{norm()} and \code{normalise()} when using ATLAS or OpenBLAS
\item added Schur decomposition: \code{schur()}
\item stricter handling of matrix objects by \code{hist()} and \code{histc()}
\item advanced constructors for using auxiliary memory by Mat,
Col, Row and Cube now have the default of \emph{strict = false}
\item Cube class now delays allocation of .slice() related structures until needed
\item expanded \code{join_slices()} to handle joining cubes with matrices
}
}
}
\section{Changes in RcppArmadillo version 0.6.000.1.0 (2015-09-25)}{
\itemize{
\item Upgraded to Armadillo test / bug-fix release 0.6.000.1-test
\item Non-CRAN release
}
}
\section{Changes in RcppArmadillo version 0.5.600.2.0 (2015-09-19)}{
\itemize{
\item Upgraded to Armadillo 5.600.2 ("Molotov Cocktail Deluxe")
\itemize{
\item expanded \code{.each_col()} and \code{.each_row()} to handle out-of-place operations
\item added \code{.each_slice()} for repeated matrix operations on each slice of a cube
\item faster handling of compound expressions by \code{join_rows()} and \code{join_cols()}
}
}
}
\section{Changes in RcppArmadillo version 0.5.500.2.0 (2015-09-03)}{
\itemize{
\item Upgraded to Armadillo 5.500.2 ("Molotov Cocktail")
\itemize{
\item expanded object constructors and generators to handle \code{size()} based specification of dimensions
\item faster handling of submatrix rows
\item faster \code{clamp()}
\item fixes for handling sparse matrices
}
}
}
\section{Changes in RcppArmadillo version 0.5.400.2.0 (2015-08-17)}{
\itemize{
\item Upgraded to Armadillo 5.400.2 ("Plutocracy Incorporated Deluxe")
\itemize{
\item added \code{find_unique()} for finding indices of unique values
\item added \code{diff()} for calculating differences between consecutive elements
\item added \code{cumprod()} for calculating cumulative product
\item added \code{null()} for finding the orthonormal basis of null space
\item expanded \code{interp1()} to handle repeated locations
\item expanded \code{unique()} to handle complex numbers
\item faster \code{flupud()}
\item faster row-wise \code{cumsum()}
\item fix for k-means clustering in gmm_diag class
}
\item corrected use of \code{kitten()} thanks to Grant Brown
}
}
\section{Changes in RcppArmadillo version 0.5.300.4 (2015-08-03)}{
\itemize{
\item Upgraded to Armadillo 5.300.4 ("Plutocrazy Incorporated")
\itemize{
\item added generalised Schur decomposition: \code{qz()}
\item added \code{.has_inf()} and \code{.has_nan()}
\item expanded \code{interp1()} to handle out-of-domain locations
\item expanded sparse matrix class with \code{.set_imag()} and \code{.set_real()}
\item expanded \code{imag()}, \code{real()} and \code{conj()} to handle sparse matrices
\item expanded \code{diagmat()}, \code{reshape()} and \code{resize()} to handle sparse matrices
\item faster sparse \code{sum()}
\item faster row-wise \code{sum()}, \code{mean()}, \code{min()}, \code{max()}
\item updated physical constants to NIST 2014 CODATA values
\item fixes for handling sparse submatrix views
\item Armadillo can make use of GPUs by linking with NVIDIA NVBLAS
(a GPU-accelerated implementation of BLAS), or by linking with AMD
ACML (which can use GPUs via OpenCL)
}
\item Added \code{importFrom} statements for R functions not from base
\item Added explicit \code{Rcpp::sourceCpp()} reference as well
\item Updated one formatting detail in vignette to please TeXlive2015
}
}
\section{Changes in RcppArmadillo version 0.5.200.1.0 (2015-06-04)}{
\itemize{
\item Upgraded to Armadillo release 5.200.1 ("Boston Tea Smuggler")
\itemize{
\item added \code{orth()} for finding the orthonormal basis of the range space of a matrix
\item expanded element initialisation to handle nested initialiser lists (C++11)
\item workarounds for bugs in GCC, Intel and MSVC C++ compilers
}
\item Added another example to \code{inst/examples/fastLm.r}
}
}
\section{Changes in RcppArmadillo version 0.5.100.2.0 (2015-05-12)}{
\itemize{
\item Upgraded to Armadillo test / bug-fix release 5.100.2
\item Non-CRAN release
}
}
\section{Changes in RcppArmadillo version 0.5.100.1.0 (2015-05-01)}{
\itemize{
\item Upgraded to Armadillo release 5.100.1 ("Ankle Biter Deluxe")
\itemize{
\item added \code{interp1()} for 1D interpolation
\item added \code{.is_sorted()} for checking whether a vector or matrix has sorted elements
\item updated physical constants to NIST 2010 CODATA values
}
}
}
\section{Changes in RcppArmadillo version 0.5.000.0 (2015-04-12)}{
\itemize{
\item Upgraded to Armadillo release Version 5.000 ("Ankle Biter")
\itemize{
\item added \code{spsolve()} for solving sparse systems of linear equations
\item added \code{svds()} for singular value decomposition of sparse matrices
\item added \code{nonzeros()} for extracting non-zero values from matrices
\item added handling of diagonal views by sparse matrices
\item expanded \code{repmat()} to handle sparse matrices
\item expanded \code{join_rows()} and \code{join_cols()} to handle sparse matrices
\item \code{sort_index()} and \code{stable_sort_index()} have been
placed in the delayed operations framework for increased efficiency
\item use of 64 bit integers is automatically enabled when using a C++11 compiler
\item workaround for a bug in recent releases of Apple Xcode
\item workaround for a bug in LAPACK 3.5
}
}
}
\section{Changes in RcppArmadillo version 0.4.999.1.0 (2015-04-04)}{
\itemize{
\item Upgraded to Armadillo release preview 4.999.1
\item Non-CRAN test release
}
}
\section{Changes in RcppArmadillo version 0.4.650.1.1 (2015-02-25)}{
\itemize{
\item Upgraded to Armadillo release Version 4.650.1 ("Intravenous Caffeine Injector")
\itemize{
\item added \code{randg()} for generating random values from gamma distributions (C++11 only)
\item added \code{.head_rows()} and \code{.tail_rows()} to submatrix views
\item added \code{.head_cols()} and \code{.tail_cols()} to submatrix views
\item expanded \code{eigs_sym()} to optionally calculate
eigenvalues with smallest/largest algebraic values
fixes for handling of sparse matrices
}
\item Applied small correction to main header file to set up C++11
RNG whether or not the alternate RNG (based on R, our default) is used
}
}
\section{Changes in RcppArmadillo version 0.4.600.4.0 (2015-01-23)}{
\itemize{
\item Upgraded to Armadillo release Version 4.600.4 (still "Off The Reservation")
\itemize{
\item Speedups in the transpose operation
\item Small bug fixes
}
}
}
\section{Changes in RcppArmadillo version 0.4.600.0 (2014-12-27)}{
\itemize{
\item Upgraded to Armadillo release Version 4.600 ("Singapore Sling Deluxe")
\itemize{
\item added \code{.head()} and \code{.tail()} to submatrix views
\item faster matrix transposes within compound expressions
\item faster \code{accu()} and \code{norm()} when compiling with
-O3 -ffast-math -march=native (gcc and clang)
\item workaround for a bug in GCC 4.4
}
}
}
\section{Changes in RcppArmadillo version 0.4.550.2.0 (2014-12-02)}{
\itemize{
\item Upgraded to Armadillo release Version 4.550.2 ("Singapore Sling Deluxe")
\itemize{
\item Bug fixes for implicit template initiation for \code{std::pow()} seen with the old g++ 4.4* series
}
}
}
\section{Changes in RcppArmadillo version 0.4.550.1.0 (2014-11-26)}{
\itemize{
\item Upgraded to Armadillo release Version 4.550.1 ("Singapore Sling Deluxe")
\itemize{
\item added matrix exponential function: \code{expmat()}
\item faster \code{.log_p()} and \code{.avg_log_p()} functions in the \code{gmm_diag} class
when compiling with OpenMP enabled
\item faster handling of in-place addition/subtraction of expressions
with an outer product
\item applied correction to \code{gmm_diag} relative to the 4.550 release
}
\item The Armadillo Field type is now converted in \code{as<>} conversions
}
}
\section{Changes in RcppArmadillo version 0.4.500.0 (2014-10-30)}{
\itemize{
\item Upgraded to Armadillo release Version 4.500 ("Singapore Sling")
\itemize{
\item faster handling of complex vectors by \code{norm()}
\item expanded \code{chol()} to optionally specify output matrix
as upper or lower triangular
\item better handling of non-finite values when saving matrices as text files
}
\item The \code{sample} functionality has been extended to provide
the Walker Alias method (including new unit tests) via a pull request
by Christian Gunning
}
}
\section{Changes in RcppArmadillo version 0.4.450.1.0 (2014-09-21)}{
\itemize{
\item Upgraded to Armadillo release Version 4.450.1 (Spring Hill Fort)
\itemize{
\item faster handling of matrix transposes within compound
expressions
\item expanded \code{symmatu()}/\code{symmatl()} to optionally
disable taking the complex conjugate of elements
\item expanded \code{sort_index()} to handle complex vectors
\item expanded the \code{gmm_diag} class with functions to generate random samples
}
\item A new random-number implementation for Armadillo uses the RNG
from R as a fallback (when C++11 is not selected so the C++11-based
RNG is unavailable) which avoids using the older C++98-based \code{std::rand}
\item The \code{RcppArmadillo.package.skeleton()} function was
updated to only set an "Imports:" for Rcpp, but not RcppArmadillo
which (as a template library) needs only LinkingTo:
\item The \code{RcppArmadillo.package.skeleton()} function will now
prefer \code{pkgKitten::kitten()} over \code{package.skeleton()} in
order to create a working package which passes \code{R CMD check}.
\item The \CRANpkg{pkgKitten} package is now a \code{Suggests:}
\item A manual page was added to provide documentation for the
functions provided by the skeleton package.
\item A small update was made to the package manual page.
}
}
\section{Changes in RcppArmadillo version 0.4.400.0 (2014-08-19)}{
\itemize{
\item Upgraded to Armadillo release Version 4.400 (Winter Shark Alley)
\itemize{
\item added \code{gmm_diag} class for statistical modelling using Gaussian Mixture Models;
includes multi-threaded implementation of k-means and Expectation-Maximisation for parameter estimation
\item added \code{clamp()} for clamping values to be between lower and upper limits
\item expanded batch insertion constructors for sparse matrices to add values at repeated locations
\item faster handling of subvectors by \code{dot()}
\item faster handling of aliasing by submatrix views
}
\item Corrected a bug (found by the g++ Address Sanitizer) in sparse
matrix initialization where space for a sentinel was allocated, but
the sentinel was not set; with extra thanks to Ryan Curtin for help
\item Added a few unit tests for sparse matrices
}
}
\section{Changes in RcppArmadillo version 0.4.320.0 (2014-07-03)}{
\itemize{
\item Upgraded to Armadillo release Version 4.320 (Daintree Tea Raider)
\itemize{
\item expanded \code{eigs_sym()} and \code{eigs_gen()} to use an
optional tolerance parameter
\item expanded \code{eig_sym()} to automatically fall back to standard
decomposition method if divide-and-conquer fails
\item automatic installer enables use of C++11 random number generator
when using gcc 4.8.3+ in C++11 mode
}
}
}
\section{Changes in RcppArmadillo version 0.4.300.8.0 (2014-05-31)}{
\itemize{
\item Upgraded to Armadillo release Version 4.300.8 (Medieval Cornea Scraper)
\itemize{
\item More robust \code{norm}-related functions
\item Fixes between interactions between \code{cube} and
\code{vector} types.
}
\item Adds a \code{#define ARMA_DONT_USE_CXX11} to provide an option
to turn C++11 off for Armadillo (but client packages may still use it)
\item More robust Windows detection by using \code{_WIN32} as
well as \code{WIN32} as the latter gets diabled by MinGW with C++11
\item On Windows, C++11 is turned off as the Armadillo code base uses
more features of C++11 than g++ 4.6.2 version in Rtools implements
}
}
\section{Changes in RcppArmadillo version 0.4.300.5.0 (2014-05-19)}{
\itemize{
\item Upgraded to Armadillo release Version 4.300.5 (Medieval Cornea Scraper)
\itemize{
\item Handle possible underflows and overflows in \code{norm()},
\code{normalise()}, \code{norm_dot()}
\item Fix for handling of null vectors by \code{norm_dot()}
}
}
}
\section{Changes in RcppArmadillo version 0.4.300.2.0 (2014-05-13)}{
\itemize{
\item Upgraded to Armadillo release Version 4.300.2 (Medieval Cornea Scraper)
\itemize{
\item faster \code{find()}
}
}
}
\section{Changes in RcppArmadillo version 0.4.300.0 (2014-05-04)}{
\itemize{
\item Upgraded to Armadillo release Version 4.300 (Medieval Cornea Scraper)
\itemize{
\item faster \code{find()}
\item added \code{find_finite()} and \code{find_nonfinite()} for
finding indices of finite and non-finite elements
\item expressions \code{X=inv(A)*B*C} and \code{X=A.i()*B*C} are
automatically converted to X=solve(A,B*C)
}
\item Corrected conversion to \code{unsigned int} vectors and
matrices
\item Configure script now checks for R version 3.0.3 or newer to
enable complex divide-and-conquer SVD in case of R-supplied LAPACK
}
}
\section{Changes in RcppArmadillo version 0.4.200.0 (2014-04-07)}{
\itemize{
\item Upgraded to Armadillo release Version 4.200 (Flintlock Swoop)
\itemize{
\item faster transpose of sparse matrices
\item more efficient handling of aliasing during matrix multiplication
\item faster inverse of matrices marked as diagonal
}
}
}
\section{Changes in RcppArmadillo version 0.4.100.2 (2014-03-07)}{
\itemize{
\item Upgraded to Armadillo release Version 4.100.2
\itemize{
\item fix for handling null vectors by \code{normalise()}
\item fix for memory handling by sparse matrices
}
\item Correct use of \code{[[ depends()]]} in skeleton example file
\item Prepare \code{src/Makevars} for C++11 support from R 3.1.0 by
defining \code{USE_CXX11} which is currently commented out
\item In the Armadillo configuration, turn on C++11 support if
\code{USE_CXX11} is defined
}
}
\section{Changes in RcppArmadillo version 0.4.100.0 (2014-02-28)}{
\itemize{
\item Upgraded to Armadillo release Version 4.100.0 (Dirt Cruiser)
\itemize{
\item added \code{normalise()} for normalising vectors to unit p-norm
\item extended the \code{field} class to handle 3D layout
\item extended \code{eigs_sym()} and \code{eigs_gen()} to obtain
eigenvalues of various forms (eg. largest or smallest magnitude)
\item automatic SIMD vectorisation of elementary expressions
(eg. matrix addition) when using Clang 3.4+ with -O3 optimisation
\item faster handling of sparse submatrix views
\item workaround for a bug in LAPACK 3.4
}
}
}
\section{Changes in RcppArmadillo version 0.4.000.4 (2014-02-19)}{
\itemize{
\item Upgraded to Armadillo release Version 4.000.4
\itemize{
\item fix for \code{randi()} generating out-of-interval values
\item fix for saving field objects
\item workaround for a bug in the Intel compiler
}
\item Updated for \CRANpkg{Rcpp} (>= 0.11.0) by removing linking step
from build process, added appropriate dependency on \CRANpkg{Rcpp}
\item Updated \code{RcppArmadillo.package.skeleton} function
accordingly to use proper \code{NAMESPACE} import
\item Rewritten \code{rcpparma_hello_world} (which is used by the
\code{RcppArmadillo.package.skeleton} function) to use Rcpp
Attributes, and added more examples
\item Added two functions to set Armadillo's RNGs (ie the system
RNG) from a given value and to randomize it, as suggested by Gábor
Csárdi. Note that these do not work within RStudio (which itself
also uses the same system RNG).
}
}
\section{Changes in RcppArmadillo version 0.4.000.2 (2014-01-21)}{
\itemize{
\item Upgraded to Armadillo release Version 4.000.2
\itemize{
\item fix for \code{randi()} generating out-of-interval values
\item workaround for a bug in the Intel compiler
}
}
}
\section{Changes in RcppArmadillo version 0.4.000 (2014-01-05)}{
\itemize{
\item Upgraded to Armadillo release Version 4.000 (Feral Steamroller)
\itemize{
\item added eigen decompositions of sparse matrices:
\code{eigs_sym()} and \code{eigs_gen()} [ but this requires
linking against ARPACK which \CRANpkg{RcppArmadillo} as a
pure-template package does not do, and R is not linked against
ARPACK either. ]
\item added eigen decomposition for pair of matrices: \code{eig_pair()}
\item added simpler forms of \code{eig_gen()}
\item added condition number of matrices: \code{cond()}
\item expanded \code{find()} to handle cubes
\item expanded subcube views to access elements specified in a vector
\item template argument for \code{running_stat_vec} expanded to
accept vector types
\item more robust fast inverse of 4x4 matrices
\item faster divide-and-conquer decompositions are now used by
default for \code{eig_sym()}, \code{pinv()}, \code{princomp()},
\code{rank()}, \code{svd()}, \code{svd_econ()}
\item the form \code{inv(sympd(X))} no longer assumes that X is
positive definite; use \code{inv_sympd()} instead
\item added MEX connector for interfacing Octave/Matlab with
Armadillo matrices (contributed by George Yammine)
}
}
}
\section{Changes in RcppArmadillo version 0.3.930.1 (2013-12-09)}{
\itemize{
\item Upgraded to Armadillo release Version 3.930.1
\itemize{
\item Armadillo falls back to standard complex svd if the more
performant divide-and-conquer variant is unavailable
}
\item Added detection for Lapack library and distinguish between R's
own version (withhout zgesdd) and system Lapack; a preprocessor define is
set accordingly
}
}
\section{Changes in RcppArmadillo version 0.3.930.0 (2013-12-06)}{
\itemize{
\item Upgraded to Armadillo release Version 3.930 ("Dragon's Back")
\itemize{
\item added divide-and-conquer variant of \code{svd_econ()}, for
faster SVD
\item added divide-and-conquer variant of \code{pinv()}, for
faster pseudo-inverse
\item added element-wise variants of \code{min()} and \code{max()}
\item added \code{size()} based specifications of submatrix view
sizes
\item added \code{randi()} for generating matrices with random
integer values
\item added more intuitive specification of sort direction in
\code{sort()} and \code{sort_index()}
\item added more intuitive specification of method in
\code{det()}, \code{.i()}, \code{inv()} and \code{solve()}
\item added more precise timer for the \code{wall_clock} class
when using C++11
}
\item New unit tests for complex matrices and vectors
}
}
\section{Changes in RcppArmadillo version 0.3.920.3 (2013-11-20)}{
\itemize{
\item Upgraded to Armadillo release Version 3.920.3
\itemize{
\item fix for handling of tiny matrices by \code{.swap()}
}
}
}
\section{Changes in RcppArmadillo version 0.3.920.1 (2013-09-27)}{
\itemize{
\item Upgraded to Armadillo release Version 3.920.1 (Agencia
Nacional Stasi)
\itemize{
\item faster \code{.zeros()}
\item faster \code{round()}, \code{exp2()} and \code{log2()} when using C++11
\item added signum function: \code{sign()}
\item added move constructors when using C++11
\item added 2D fast Fourier transform: \code{fft2()}
\item added \code{.tube()} for easier extraction of vectors and subcubes from
cubes
\item added specification of a fill type during construction of Mat, Col,
Row and Cube classes, eg. \code{mat X(4, 5, fill::zeros)}
}
\item Initial implementation of \code{wrap}
\item Improved implementation of \code{as<>()} and \code{wrap()}
for sparse matrices
\item Converted main vignette from \code{LaTeX} style \code{minted}
to \code{lstlisting} which permits builds on CRAN; removed
set \code{BuildVignettes: FALSE}.
}
}
\section{Changes in RcppArmadillo version 0.3.910.0 (2013-08-12)}{
\itemize{
\item Upgraded to Armadillo release Version 3.910.0 (Pyrenees)
\itemize{
\item faster multiplication of a matrix with a transpose of
itself, ie. \code{X*X.t()} and \code{X.t()*X}
\item added \code{vectorise()} for reshaping matrices into vectors
\item added \code{all()} and \code{any()} for indicating presence
of elements satisfying a relational condition
}
\item Added conversion support for sparse matrices (of type double)
created by the \CRANpkg{Matrix} package as class \code{dgCMatrix}
\item Moved vignette sources from \code{inst/doc} to \code{vignettes};
set \code{BuildVignettes: FALSE} as the \code{minted} mode for
\code{LaTeX} upsets the CRAN builders.
}
}
\section{Changes in RcppArmadillo version 0.3.900.7 (2013-08-02)}{
\itemize{
\item Upgraded to Armadillo release Version 3.900.7 (Bavarian
Sunflower)
\itemize{
\item minor fix for inplace \code{reshape()}
\item minor corrections for compilation issues under GCC 4.8+ and MSVC
}
\item Corrected setting of \code{vec_stats} in intialization of row,
vector and matrix objects
\item The \pkg{inline} package is no longer used in the examples and
unit tests which have all been converted to using Rcpp attributes
}
}
\section{Changes in RcppArmadillo version 0.3.900 (2013-06-04)}{
\itemize{
\item Upgraded to Armadillo release Version 3.900.0 (Bavarian
Sunflower)
\itemize{
\item added automatic SSE2 vectorisation of elementary expressions
(eg. matrix addition) when using GCC 4.7+ with -O3 optimisation
\item added support for saving & loading of cubes in HDF5 format,
contributed by Szabolcs Horvat
\item faster \code{median()}, contributed by Ruslan Shestopalyuk
\item faster handling of compound expressions with transposes of
submatrix rows
\item faster handling of compound expressions with transposes of
complex vectors
}
\item Kalman filter example switched from inline to \code{sourceCpp},
which simplifies / streamlines the C++ side a little
}
}
\section{Changes in RcppArmadillo version 0.3.820 (2013-05-12)}{
\itemize{
\item Upgraded to Armadillo release Version 3.820 (Mt Cootha)
\itemize{
\item faster \code{as_scalar()} for compound expressions
\item faster transpose of small vectors
\item faster matrix-vector product for small vectors
\item faster multiplication of small fixed size matrices
}
}
}
\section{Changes in RcppArmadillo version 0.3.810.2 (2013-04-30)}{
\itemize{
\item Upgraded to Armadillo release Version 3.810.2
\itemize{
\item minor fix for initialisation of sparse matrices
}
}
}
\section{Changes in RcppArmadillo version 0.3.810.0 (2013-04-19)}{
\itemize{
\item Upgraded to Armadillo release Version 3.810.0 (Newell Highway)
\itemize{
\item added fast Fourier transform: \code{fft()}
\item added handling of \code{.imbue()} and \code{.transform()} by
submatrices and subcubes
\item added batch insertion constructors for sparse matrices
\item minor fix for multiplication of complex sparse matrices
}
\item Updated sample() function and test again contributed by
Christian Gunning
}
}
\section{Changes in RcppArmadillo version 0.3.800.1 (2013-03-12)}{
\itemize{
\item Upgraded to Armadillo release Version 3.800.1 (Miami Beach)
\itemize{
\item workaround for a bug in ATLAS 3.8 on 64 bit systems
\item faster matrix-vector multiply for small matrices
}
\item Added new sample() function and tests contributed by Christian Gunning
\item Refactored unit testing code for faster unit test performance
}
}
\section{Changes in RcppArmadillo version 0.3.800.0 (2013-03-01)}{
\itemize{
\item Upgraded to Armadillo release Version 3.800.0 (Miami Beach)
\itemize{
\item Armadillo is now licensed using the Mozilla Public License 2.0
\item added \code{.imbue()} for filling a matrix/cube with values provided by a functor or lambda expression
\item added \code{.swap()} for swapping contents with another matrix
\item added \code{.transform()} for transforming a matrix/cube using a functor or lambda expression
\item added \code{round()} for rounding matrix elements towards nearest integer
\item faster \code{find()}
\item fixes for handling non-square matrices by \code{qr()} and \code{qr_econ()}
\item minor fixes for handling empty matrices
\item reduction of pedantic compiler warnings
}
\item Updated vignette to paper now in press at CSDA
\item Added CITATION file with reference to CSDA paper
}
}
\section{Changes in RcppArmadillo version 0.3.6.3 (2013-02-20)}{
\itemize{
\item Upgraded to Armadillo release Version 3.6.3
\itemize{
\item faster \code{find()}
\item minor fix for non-contiguous submatrix views to handle empty vectors of indices
\item reduction of pedantic compiler warnings
}
}
}
\section{Changes in RcppArmadillo version 0.3.6.2 (2013-01-29)}{
\itemize{
\item Upgraded to Armadillo release Version 3.6.2
\itemize{
\item faster determinant for matrices marked as diagonal or triangular
\item more fine-grained handling of 64 bit integers
}
\item Added a new example of a Kalman filter implementation in R, and C++
using Armadillo via RcppArmadillo, complete with timing comparison
}
}
\section{Changes in RcppArmadillo version 0.3.6.1 (2012-12-17)}{
\itemize{
\item Upgraded to Armadillo release Version 3.6.1 (Piazza del Duomo)
\itemize{
\item faster \code{trace()}
\item fix for handling sparse matrices by \code{dot()}
\item fixes for interactions between sparse and dense matrices
}
\item Now throws compiler error if \code{Rcpp.h} is included before
\code{RcppArmadillo.h} (as the former is included automatically by the
latter anyway, but template logic prefers this ordering).
}
}
\section{Changes in RcppArmadillo version 0.3.4.3 (2012-10-04)}{
\itemize{
\item Upgraded to Armadillo release 3.4.3
\itemize{
\item fix for aliasing issue in \code{diagmat()}
\item fix for \code{speye()} signature
}
}
}
\section{Changes in RcppArmadillo version 0.3.4.2 (2012-09-25)}{
\itemize{
\item Upgraded to Armadillo release 3.4.2
\itemize{
\item minor fixes for handling sparse submatrix views
\item minor speedups for sparse matrices
}
}
}
\section{Changes in RcppArmadillo version 0.3.4.1 (2012-09-18)}{
\itemize{
\item Upgraded to Armadillo release 3.4.1
\itemize{
\item workaround for a bug in the Mac OS X accelerate framework
\item fixes for handling empty sparse matrices
\item added documentation for saving & loading matrices in HDF5 format
\item faster dot() and cdot() for complex numbers
}
}
}
\section{Changes in RcppArmadillo version 0.3.4.0 (2012-09-06)}{
\itemize{
\item Upgraded to Armadillo release 3.4.0 (Ku De Ta)
\itemize{
\item added economical QR decomposition: qr_econ()
\item added .each_col() & .each_row() for vector operations repeated on each column or row
\item added preliminary support for sparse matrices, contributed by Ryan Curtin et al. (Georgia Institute of Technology)
\item faster singular value decomposition via divide-and-conquer algorithm
\item faster .randn()
}
\item NEWS file converted to Rd format
}
}
\section{Changes in RcppArmadillo version 0.3.3.91 (2012-08-30)}{
\itemize{
\item Upgraded to Armadillo release 3.3.91
\itemize{
\item faster singular value decomposition via "divide and conquer" algorithm
\item added economical QR decomposition: qr_econ()
\item added .each_col() & .each_row() for vector operations repeated on each column or row
\item added preliminary support for sparse matrices, contributed by Ryan Curtin, James Cline and Matthew Amidon (Georgia Institute of Technology)
}
\item Corrected summary method to deal with the no intercept case when using a formula; also display residual summary() statistics
\item Expanded unit tests for fastLm
}
}
\section{Changes in RcppArmadillo version 0.3.2.4 (2012-07-11)}{
\itemize{
\item Upgraded to Armadillo release 3.2.4
\itemize{
\item workaround for a regression (bug) in GCC 4.7.0 and 4.7.1
}
}
}
\section{Changes in RcppArmadillo version 0.3.2.3 (2012-07-01)}{
\itemize{
\item Upgraded to Armadillo release 3.2.3
\itemize{
\item minor correction for declaration of fixed size vectors and matrices
\item Reverted three header files \{Mat,Row,Col\}_bones.hpp back to previous release due to compilation failures under g++-4.7
\item Added new vignette 'RcppArmadillo-intro' based on a just-submitted introductory paper (by Eddelbuettel and Sanderson) about RcppArmadillo
\item Change from release 3.2.2 which we skipped as it did not really affect builds under R:
\itemize{
\item minor fix for compiling without debugging enabled (aka release mode)
\item better detection of ATLAS during installation on Fedora and Red Hat systems
}
\item Small enhancement to fastLm
}
}
}
\section{Changes in RcppArmadillo version 0.3.2.0 (2012-05-21)}{
\itemize{
\item Upgraded to Armadillo release 3.2.0 "Creamfields"
\itemize{
\item faster eigen decomposition via "divide and conquer" algorithm
\item faster transpose of vectors and compound expressions
\item faster handling of diagonal views
\item faster handling of tiny fixed size vectors (≤ 4 elements)
\item added unique(), for finding unique elements of a matrix
}
}
}
\section{Changes in RcppArmadillo version 0.3.1.94 (2012-05-15)}{
\itemize{
\item Upgraded to Armadillo release 3.1.94 "v3.2 beta 2"
\itemize{
\item added unique(), for finding unique elements of a matrix
\item faster eigen decomposition via "divide and conquer" algorithm
\item faster transpose of vectors and compound expressions
\item faster handling of tiny fixed size vectors (≤ 4 elements)
}
}
}
\section{Changes in RcppArmadillo version 0.3.1.92 (2012-05-10)}{
\itemize{
\item Upgraded to Armadillo release 3.1.92 "v3.2 beta 2"
\itemize{
\item added unique(), for finding unique elements of a matrix
\item faster eigen decomposition via optional use of "divide and conquer" by eig_sym()
\item faster transpose of vectors and compound expressions
}
}
}
\section{Changes in RcppArmadillo version 0.3.0.3 (2012-05-03)}{
\itemize{
\item Upgraded to Armadillo release 3.0.3
\itemize{
\item fixes for inplace transpose of complex number matrices
\item fixes for complex number version of svd_econ()
\item fixes for potential aliasing issues with submatrix views
}
\item New example script fastLm
}
}
\section{Changes in RcppArmadillo version 0.3.0.2 (2012-04-19)}{
\itemize{
\item Upgraded to Armadillo release 3.0.2
\itemize{
\item fixes for handling diagonal matrices
}
\item Undefine NDEBUG if it has been set (as R does) as this prevents a number of useful debugging checks. Users can still define it or define ARMA_NO_DEBUG if they want a 'non-development' build
}
}
\section{Changes in RcppArmadillo version 0.3.0.1 (2012-04-12)}{
\itemize{
\item Upgraded to Armadillo release 3.0.1
\itemize{
\item fixes for compilation errors
\item fixes for potential aliasing issues
}
}
}
\section{Changes in RcppArmadillo version 0.3.0 (2012-04-10)}{
\itemize{
\item Upgraded to Armadillo release 3.0.0 "Antarctic Chilli Ranch"
\itemize{
\item added non-contiguous submatrix views
\item added shorthand for inverse: .i()
\item added hist() and histc()
\item faster repmat()
\item faster handling of submatrix views with one row or column
\item faster generation of random numbers
\item faster element access in fixed size matrices
\item better detection of vector expressions by sum(), cumsum(), prod(), min(), max(), mean(), median(), stddev(), var()
\item expressions X=A.i()*B and X=inv(A)*B are automatically converted to X=solve(A,B)
}
}
}
\section{Changes in RcppArmadillo version 0.2.40 (2012-04-04)}{
\itemize{
\item Upgraded to Armadillo release 2.99.4 "Antarctic Chilli Ranch (Beta 4)"
\itemize{
\item fixes for handling expressions with fixed size matrices
}
}
}
\section{Changes in RcppArmadillo version 0.2.39 (2012-04-02)}{
\itemize{
\item Upgraded to Armadillo release 2.99.3 "Antarctic Chilli Ranch (Beta 3)"
\itemize{
\item faster repmat()
\item workarounds for braindead compilers (eg. Visual Studio)
}
}
}
\section{Changes in RcppArmadillo version 0.2.38 (2012-03-28)}{
\itemize{
\item Upgraded to Armadillo release 2.99.2 "Antarctic Chilli Ranch (Beta 2)"
\itemize{
\item added .i()
\item much faster handling of .col() and .row()
\item expressions X=A.i()*B and X=inv(A)*B are automatically converted to X=solve(A,B)
}
}
}
\section{Changes in RcppArmadillo version 0.2.37 (2012-03-19)}{
\itemize{
\item Upgraded to Armadillo release 2.99.1 "Antarctic Chilli Ranch (Beta 1)"
\itemize{
\item added non-contiguous submatrix views
\item added hist() and histc()
\item faster handling of submatrix views
\item faster generation of random numbers
\item faster element access in fixed size matrices
\item better detection of vector expressions by sum(), cumsum(), prod(), min(), max(), mean(), median(), stddev(), var()
}
}
}
\section{Changes in RcppArmadillo version 0.2.36 (2012-03-05)}{
\itemize{
\item Upgraded to Armadillo release 2.4.4
\itemize{
\item fixes for qr() and syl()
\item more portable wall_clock class
\item faster relational operators on submatrices
}
}
}
\section{Changes in RcppArmadillo version 0.2.35 (2012-02-17)}{
\itemize{
\item Upgraded to Armadillo release 2.4.3
\itemize{
\item Support for ARMA_DEFAULT_OSTREAM using Rcpp::Rcout added
\item Minor bug fix release improving corner cases affecting builds:
\itemize{
\item Missing semicolon added in Mat_meat (when in C++0x mode), with thanks to Teo Guo Ci
\item Armadillo version vars now instantiated in RcppArmadillo.cpp which helps older g++ versions, with thanks to Gershon Bialer
\item Thanks also to Martin Renner for testing these changes
\item Unit tests output fallback directory changed per Brian Ripley's request to not ever use /tmp
\item Minor update to version numbers in RcppArmadillo-package.Rd
}
}
}
}
\section{Changes in RcppArmadillo version 0.2.34 (2011-12-12)}{
\itemize{
\item Upgraded to Armadillo release 2.4.2
\itemize{
\item clarified documentation for .reshape()
\item fix for handling of empty matrices by .resize()
}
}
}
\section{Changes in RcppArmadillo version 0.2.33 (2011-12-07)}{
\itemize{
\item Upgraded to Armadillo release 2.4.1
\itemize{
\item added .resize()
\item fix for vector initialisation
}
}
}
\section{Changes in RcppArmadillo version 0.2.32 (2011-12-04)}{
\itemize{
\item Upgraded to Armadillo test release 2.4.0 "Loco Lounge Lizard"
\item Minimal changes relative to 0.2.31 based on 2.3.92, next section is relative to the previous stable release series 2.2.* of Armadillo
\itemize{
\item added shorter forms of transposes: .t() and .st()
\item added optional use of 64 bit indices, allowing matrices to have more than 4 billion elements
\item added experimental support for C++11 initialiser lists
\item faster pinv()
\item faster inplace transpose
\item faster handling of expressions with diagonal views
\item fixes for handling expressions with aliasing and submatrices
\item fixes for linking on Ubuntu and Debian systems
\item fixes for inconsistencies in interactions between matrices and cubes
\item refactored code to eliminate warnings when using the Clang C++ compiler
\item .print_trans() and .raw_print_trans() are deprecated
}
}
}
\section{Changes in RcppArmadillo version 0.2.31 (2011-11-28)}{
\itemize{
\item Upgraded to Armadillo test release 2.3.92 "Loco Lounge Lizard (Beta 2)"
\itemize{
\item fixes for linking on Ubuntu and Debian systems
\item fixes for inconsistencies in interactions between matrices and cubes
}
}
}
\section{Changes in RcppArmadillo version 0.2.30 (2011-11-19)}{
\itemize{
\item Upgraded to Armadillo test release 2.3.91 "Loco Lounge Lizard (Beta 1)"
\itemize{
\item added shorter forms of transposes: .t() and .st()
\item added optional use of 64 bit indices, allowing matrices to have more than 4 billion elements
\item added experimental support for C++11 initialiser lists
\item faster pinv()
\item faster inplace transpose
\item bugfixes for handling expressions with aliasing and submatrices
\item refactored code to eliminate warnings when using the Clang C++ compiler
\item .print_trans() and .raw_print_trans() are deprecated
}
}
}
\section{Changes in RcppArmadillo version 0.2.29 (2011-09-01)}{
\itemize{
\item Upgraded to Armadillo release 2.2.3
\itemize{
\item Release fixes a speed issue in the as_scalar() function.
}
}
}
\section{Changes in RcppArmadillo version 0.2.28 (2011-08-02)}{
\itemize{
\item Upgraded to Armadillo release 2.2.1 "Blue Skies Debauchery"
\itemize{
\item faster multiplication of small matrices
\item faster trans()
\item faster handling of submatrices by norm()
\item added economical singular value decomposition: svd_thin()
\item added circ_toeplitz()
\item added .is_colvec() & .is_rowvec()
\item fixes for handling of complex numbers by cov(), cor(), running_stat_vec
}
}
}
\section{Changes in RcppArmadillo version 0.2.27 (2011-07-22)}{
\itemize{
\item Upgraded to Armadillo release 2.1.91 "v2.2 beta 1"
\itemize{
\item faster multiplication of small matrices
\item faster trans()
\item faster handling of submatrices by norm()
\item added economical singular value decomposition: svd_thin()
\item added circ_toeplitz()
\item added .is_colvec() & .is_rowvec()
}
}
}
\section{Changes in RcppArmadillo version 0.2.26 (2011-07-17)}{
\itemize{
\item Upgraded to Armadillo release 2.0.2
\itemize{
\item fix for handling of conjugate transpose by as_scalar()
\item fix for handling of aliasing by diagmat()
\item fix for handling of empty matrices by symmatu()/symmatl()
}
}
}
\section{Changes in RcppArmadillo version 0.2.25 (2011-06-30)}{
\itemize{
\item Upgraded to Armadillo 2.0.1 which fixes two minor compilation issues
}
}
\section{Changes in RcppArmadillo version 0.2.24 (2011-06-29)}{
\itemize{
\item Upgraded to Armadillo release 2.0.0 "Carnivorous Sugar Glider"
\itemize{
\item faster multiplication of tiny matrices (≤ 4x4)
\item faster compound expressions containing submatrices
\item faster inverse of symmetric positive definite matrices
\item faster element access for fixed size matrices
\item added handling of arbitrarily sized empty matrices (eg. 5x0)
\item added loading & saving of matrices as CSV text files
\item added .count() member function to running_stat and running_stat_vec
\item added syl(), strans(), symmatu()/symmatl()
\item added submatrices of submatrices
\item det(), inv() and solve() can be forced to use more precise
\item algorithms for tiny matrices (≤ 4x4)
\item htrans() has been deprecated; use trans() instead
\item API change: trans() now takes the complex conjugate when transposing a complex matrix
\item API change: .is_vec() now outputs true for empty vectors (eg. 0x1)
\item API change: forms of chol(), eig_sym(), eig_gen(), inv(), lu(), pinv(), princomp(), qr(), solve(), svd(), syl() that do not return a bool indicating success now throw std::runtime_error exceptions when failures are detected
\item API change: princomp_cov() has been removed; princomp() in conjunction with cov() can be used instead
\item API change: set_log_stream() & get_log_stream() have been replaced by set_stream_err1() & get_stream_err1()
}
}
}
\section{Changes in RcppArmadillo version 0.2.23 (2011-06-23)}{
\itemize{
\item Upgraded to Armadillo release 1.99.5 "v2.0 beta 5"
\itemize{
\item Forms of chol(), eig_sym(), eig_gen(), inv(), lu(), pinv(), princomp(), qr(), solve(), svd(), syl() that do not return a bool indicating success now throw std::runtime_error exceptions when failures are detected
\item princomp_cov() has been removed; princomp() in conjunction with cov() can be used instead
\item set_log_stream() & get_log_stream() have been replaced by set_stream_err1() & get_stream_err1()
\item det(), inv() and solve() can be forced to use more precise algorithms for tiny matrices (≤ 4x4)
\item Added loading & saving of matrices as CSV text files
}
\item fastLmPure() now uses same argument order as R's lm.fit()
\item Export and document S3 methods in NAMESPACE and manual page as such
}
}
\section{Changes in RcppArmadillo version 0.2.22 (2011-06-06)}{
\itemize{
\item Upgraded to Armadillo release 1.99.4 "v2.0 beta 4"
\itemize{
\item fixes for handling of tiny matrices
}
}
}
\section{Changes in RcppArmadillo version 0.2.21 (2011-05-27)}{
\itemize{
\item Upgraded to Armadillo release 1.99.3 "v2.0 beta 3"
\itemize{
\item stricter size checking for row and column vectors
\item added .count() member function to running_stat and running_stat_vec
}
}
}
\section{Changes in RcppArmadillo version 0.2.20 (2011-05-25)}{
\itemize{
\item Upgraded to Armadillo release 1.99.2 "v2.0 beta 2" (and 1.99.1 before)
\itemize{
\item faster inverse of symmetric matrices
\item faster element access for fixed size matrices
\item faster multiplication of tiny matrices (eg. 4x4)
\item faster compund expressions containing submatrices
\item added handling of arbitrarily sized empty matrices (eg. 5x0)
\item added syl()
\item added strans()
\item added symmatu()/symmatl()
\item added submatrices of submatrices
\item htrans() has been deprecated; use trans() instead
\item trans() now takes the complex conjugate when transposing a complex matrix
\item .is_vec() now outputs true for empty matrices
\item most functions with matrix inputs no longer throw exceptions when given empty matrices (eg. 5x0)
}
\item Added a new subdirectory examples/ seeded with a nice Vector Autoregression simulation simulation example by Lance Bachmeier
\item Rewrote armadillo_version as to no longer require an instance of arma::arma_version, with tanks to Conrad for the suggestion
}
}
\section{Changes in RcppArmadillo version 0.2.19 (2011-04-18)}{
\itemize{
\item Upgraded to Armadillo version 1.2.0 "Unscrupulous Carbon Emitter"
\itemize{
\item Added ability to use Blas & Lapack libraries with capitalised function names
\item Reduction of pedantic compiler warnings
}
}
}
\section{Changes in RcppArmadillo version 0.2.18 (2011-04-03)}{
\itemize{
\item Upgraded to Armadillo version 1.1.92 "Jurassic Barbecue"
\itemize{
\item Bugfix in cor()
\item Automatic installation now requires CMake >= 2.6
}
}
}
\section{Changes in RcppArmadillo version 0.2.17 (2011-03-22)}{
\itemize{
\item Upgraded to Armadillo version 1.1.90 "Inside Job"
\itemize{
\item Added .min() & .max(), which can provide the extremum's location
\item More robust mean(), var(), stddev()
}
}
}
\section{Changes in RcppArmadillo version 0.2.16 (2011-03-10)}{
\itemize{
\item Upgraded to Armadillo version 1.1.8 "Kangaroo Steak"
\itemize{
\item Added floor() and ceil()
\item Added “not a number”: math::nan()
\item Added infinity: math::inf()
\item Added standalone is_finite()
\item Faster min(), max(), mean()
\item Bugfix for a corner case with NaNs in min() and max()
}
}
}
\section{Changes in RcppArmadillo version 0.2.15 (2011-03-04)}{
\itemize{
\item Upgraded to Armadillo version 1.1.6 “Baby Carpet Shark”
\itemize{
\item fixed size matrices and vectors can use auxiliary (external) memory
\item .in_range() can use span() arguments
\item subfields can use span() arguments
}
}
}
\section{Changes in RcppArmadillo version 0.2.14 (2011-03-02)}{
\itemize{
\item Support Run-Time Type Information (RTTI) on matrices by setting the state variable vec_state in Row and Col instantiation, with thanks to Conrad Sanderson for the hint
\item fastLm code simplified further by instantiating the Armadillo matrix and vector directly from the SEXP coming from R
\item inst/doc/Makefile now respects $R_HOME environment variable
}
}
\section{Changes in RcppArmadillo version 0.2.13 (2011-02-18)}{
\itemize{
\item Upgraded to Armadillo version 1.1.4 “Manta Lodge”
\itemize{
\item Faster sort()
\item Updated installation to detect recent versions of Intel's MKL
\item Added interpretation of arbitrary "flat" subcubes as matrices
}
}
}
\section{Changes in RcppArmadillo version 0.2.12 (2011-02-15)}{
\itemize{
\item Upgraded to Armadillo version 1.1.2 “Flood Kayak”
\itemize{
\item Faster prod()
\item Faster solve() for compound expressions
\item Fix for compilation using GCC's C++0x mode
\item Fix for matrix handling by subcubes
}
}
}
\section{Changes in RcppArmadillo version 0.2.11 (2011-01-06)}{
\itemize{
\item Upgraded to Armadillo version 1.1.0 “Climate Vandal”
\itemize{
\item Extended submatrix views, including access to elements whose indices are specified in a separate vector
\item Added handling of raw binary files by save/load functions
\item Added cumsum()
\item Added interpretation of matrices as triangular via trimatu()/trimatl()
\item Faster solve(), inv() via explicit handling of triangular matrices
\item The stream for logging of errors and warnings can now be changed
}
\item New unexported R function SHLIB, a small wrapper around R CMD SHLIB, which can be used as Rscript -e "RcppArmadillo:::SHLIB('foo.cpp')"
}
}
\section{Changes in RcppArmadillo version 0.2.10 (2010-11-25)}{
\itemize{
\item Upgraded to Armadillo 1.0.0 "Antipodean Antileech"
\itemize{
\item After 2 1/2 years of collaborative development, we are proud to release the 1.0 milestone version.
\item Many thanks are extended to all contributors and bug reporters.
}
\item R/RcppArmadillo.package.skeleton.R: Updated to no longer rely on GNU make for builds of packages using RcppArmadillo
\item summary() for fastLm() objects now returns r.squared and adj.r.squared
}
}
\section{Changes in RcppArmadillo version 0.2.9 (2010-11-11)}{
\itemize{
\item Upgraded to Armadillo 0.9.92 "Wall Street Gangster":
\itemize{
\item Fixes for compilation issues under the Intel C++ compiler
\item Added matrix norms
}
}
}
\section{Changes in RcppArmadillo version 0.2.8 (2010-10-16)}{
\itemize{
\item Upgraded to Armadillo 0.9.90 "Water Dragon":
\itemize{
\item Added unsafe_col()
\item Speedups and bugfixes in lu()
\item Minimisation of pedantic compiler warnings
}
\item Switched NEWS and ChangeLog between inst/ and the top-level directory so that NEWS (this file) gets installed with the package
}
}
\section{Changes in RcppArmadillo version 0.2.7 (2010-09-25)}{
\itemize{
\item Upgraded to Armadillo 0.9.80 "Chihuahua Muncher":
\itemize{
\item Added join_slices(), insert_slices(), shed_slices()
\item Added in-place operations on diagonals
\item Various speedups due to internal architecture improvements
}
}
}
\section{Changes in RcppArmadillo version 0.2.6 (2010-09-12)}{
\itemize{
\item Upgraded to Armadillo 0.9.70 "Subtropical Winter Safari"
\item arma::Mat, arma::Row and arma::Col get constructor that take vector or matrix sugar expressions. See the unit test "test.armadillo.sugar.ctor" and "test.armadillo.sugar.matrix.ctor" for examples.
}
}
\section{Changes in RcppArmadillo version 0.2.5 (2010-08-05)}{
\itemize{
\item Upgraded to Armadillo 0.9.60 "Killer Bush Turkey"
}
}
\section{Changes in RcppArmadillo version 0.2.4 (2010-07-27)}{
\itemize{
\item Upgraded to Armadillo 0.9.52 'Monkey Wrench'
\item src/fastLm.cpp: Switch from inv() to pinv() as inv() now tests for singular matrices and warns and returns an empty matrix which stops the example fastLm() implementation on the manual page -- and while this is generally reasonably it makes sense here to continue which the Moore-Penrose pseudo-inverse allows us to do this
}
}
\section{Changes in RcppArmadillo version 0.2.3 (2010-06-14)}{
\itemize{
\item Better configuration to detect suncc (which does not have std::isfinite)
}
}
\section{Changes in RcppArmadillo version 0.2.2 (2010-06-09)}{
\itemize{
\item Added RcppArmadillo:::CxxFlags for cases where RcppArmadillo is not used via a package
\item Upgraded to Armadillo 0.9.10 'Chilli Espresso'
\item Wrap support for mtOp, i.e. operations involving mixed types such as a complex and an arma::mat, which have been introduced in armadillo 0.9.10
\item Wrap support for mtGlue, i.e. operations involving matrices of mixed types such as an arma::mat and an arma::imat, which have been introduced in armadillo 0.9.10
\item Included an inline plugin to support the plugin system introduced in inline 0.3.5. The unit tests have moved from the src directory to the unit test directory (similar to Rcpp) using cxxfunction with the RcppArmadillo plugin.
}
}
\section{Changes in RcppArmadillo version 0.2.1 (2010-05-19)}{
\itemize{
\item Bug-fix release permitting compilation on Windows
}
}
\section{Changes in RcppArmadillo version 0.2.0 (2010-05-18)}{
\itemize{
\item fastLm() is now generic and has a formula interface as well as methods for print, summary, predict to behave like a standard model fitting function
\item Armadillo sources (using release 0.9.8) are now included in the package using a standardized build suitable for our purposes (not assuming Boost or Atlas) -- see ?RcppArmadillo for details
\item New R function RcppArmadillo.package.skeleton, similar to Rcpp::Rcpp.package.skeleton, but targetting use of RcppArmadillo
}
}
\section{Changes in RcppArmadillo version 0.1.0 (2010-03-11)}{
\itemize{
\item the fastLm() implementation of a bare-bones lm() fit (using Armadillo's solve() function) provides an example of how efficient code can be written compactly using the combination of Rcpp, RcppAramadillo and Armadillo
\item support for Rcpp implicit wrap of these types : Mat, Col, Row, Cube where T is one of : int, unsigned int, double, float
\item support for Rcpp implicit as of these types : Mat, Col, Row where R is one of : int, unsigned int, double, float
}
}
RcppArmadillo/inst/doc/ 0000755 0001751 0000144 00000000000 12652014347 014547 5 ustar hornik users RcppArmadillo/inst/doc/RcppArmadillo-intro.pdf 0000644 0001751 0000144 00001221415 12652014347 021132 0 ustar hornik users %PDF-1.5
%
34 0 obj
<<
/Length 3046
/Filter /FlateDecode
>>
stream
xڭZIHׯ =[LmT.{R=sp(ij@S߱e T$|YB率ͫ S&LGOY`T%q(WJ#m[S_ &ͦO% 2 j V'ZA i&Tɔ=GE]+%$ ?¤Ŀ{0!_4E&ws
,H<@8#ŁSN1Z ua.z#t?`HoE94Ʃ
^i!4#GA^t+d6 Ȗ_\S8t:%|A{;,ԀFJ G` D;ζ%`< p\QΚhHi8p'Gck/=, wB 2yɹ{Z3a&mN" e:i(g~ٔS: n% &XH؉Zf>7eĈio gì) !y3$Z3O jp
AdE _ I<_3XXK:V(6ֱJkU~
č,%&3fJ~=L|:H"g=)Ms\zfw:w ~^HJpkƟ BY!"yh>&,bx7z}Y8Cu5вv<XXt] ~,<)
= 6X 6B yvdD H{'
w>ˎWB FG[υ(_nSCLziSO%`h8
@śBfɾ pR)t>
"G `[U$D #dg!o+l{;h{4mpP~l ll&\`XOETȟKJۀkFU3`Ƭҙ1J$5
$< RfI͖ CڨL `E \ (DBRB{aOQr[yHWi
{/ ؖQBj,ߔRa6]8r=7]@f[
,u93pf^CtJ?H菶5EfTn >
stream
xڽZK-TKor؎]Jj=S8lITDɳ_~ Eiv W. 4@яMVhͫHݿzu9*7a'IX$ϊ$~94i OM:빙Ҥ
_H@W c?ig$}y w5}A:N'yl{xY3z6wY U&{|* "};HP1S-NO a>mp= cط<Ц,ϭ KC<>wB_^hR˱]ҧV,# o Ӡ(Nܵ9}(oMǽr>%1Fb?'5.@ײd]xZ> SsCRK8K@kwܚ,nQtx8KK̖a$w3Ȍz/IOLo (Ѻ-O q6HKu8Sck1 2`
[,`*| )rGuͿ5wJJcMxKAֳ(9 xc w7Fښ$^|eT
9={2r xk]~n'PLUy3WJ_lԆ6/1 nHz| Ǚ1yy
i8qܚp-u.%9.!?K)U99 Ո7}%pYvZ S
{7!2#jqFo]{{l W
EĐlxs=Fz,hѬ) 86zD8Vdaʱח,$'xTE 0Gr9GFxLXnEx(Eٍdx\qBҡ;6bb>( /(,bs㎷i&i|#nR}jC}VQ;/
γMAD1X\3r` vWHh8Rl̄'ye2c%}\4Y,`h3Dpȕ4 9 2, TǚC ,e!g Yg莸Pq֑ݛ&eaYQ), AX_&& Q 9 qi
38c\h:tP <G"דL# #q}ym,E߿E{$D@`uF ə8.zzzZQv+e :cTk4KQyXl"tbffn: jn}c p1:&qAu < 0cg',+ bB1)0M-HV-6,RL؎2\ ,[\h`k0>mrqvOT JF{ETy:uP PqԨA ȅ:n<YRciR:o%2 vTxMn<_JT (& m6ޜ~T I"ۺ:R$XB
()rO2ArRm3uM3Yk +yr3 ݝj 5Tw8skXX@5H$Y**_ Bx$?+~b zE#q`oչ&-{T S MֳdiE=z WpJ7N4iɗ;V+0pa,GK8ۇMX%~1aNi$սM|ՓԲq#ғgQk?S[#ڌ\$Nv%Z$)i#
9ndr!H)DJq
idY܆=O
+OWVګ}ERjiBR ÖּD. (Ut+_+X
7δ8XVr0{\s6^
o
8`R_I*?.R %qUW,
̸rت:E窮:o80M = *ܓq+X&>4
H='O+tu\
onwS@YLr &|t,FlV$^S+QHZbdK6VԃS)V{?w;P҄݅jI.Q3M *]9}k(w1~M|(i3#wuW. QF/Bt\L;VVysX//.q=+7\VP;wF8:aRF [-sqyZQn vrU {.
v=쒀dк%! L{I#goa|bW<_r=F ]ҔˌGn,DS^mJϹ4J{sY]`>*!N6z>\w 8_#TGKj8x1}%.|v.Asc-'U5JOQMT Eca6K<% |Ol#.a Ӱdw0=, ޫboɔri/'`[ɰTUV9Wqm}U='(?ػ%l%Ϣ"Z]jۻYzp
kl yc2VriRxcpuvBGZZ'{{*Ll23UX 4_ݿ/-
endstream
endobj
117 0 obj
<<
/Length 3405
/Filter /FlateDecode
>>
stream
xڭZ[o~ϯ#rxGч$ P8F4EKjDQ% eRn>̹~f.> ݛw?rUf&[=,8^Y|etq^ niq*zL,W#M_ZahI}c`{߹qN]ilQ_kkpHͲL#kAu-2:ۤ ny0`E2[,
yy {1 &p7$psg* 0Lv{G| iBܳ`깧
U;2zU\ bsC?cG-9-Ed
iYp+zvV"b@
qǶ"[]ZZ#|WTD0w='ir. >YAq~<@]սj .#Rgi
Raqʂ ;" 7J? I&PpW^Bj6v[~`ZpR[/nr'.]dU&"[|&hEёaӛKS08dd/,GQ5ӓ/RSG~I-veҚ<2 u$ QH ؘ#>yJO cE?s<1FsME
_ `I/axNrz~ZN LNuȾVi>rٟu #3ÜҠDTkf=:NTGpN8P ܘd qBgSMrɅ{ !E v pd"
teJZ
VѰ}EL| ϑ2atYLnv+%J7b/^M˻ ( ɔ(M5?%\#44xfvn`Bho'<0ꦛGzGhpIpb
R{'BPnl%LCX; ^'/@q
ސ iQUkdmz!; F' S΄z A&/c{1Xc`>nl_1,tkYT).ڛB2x8 K1!˜=Dd:| 5A%i0
/2
c VkuQqĢalbʩq2mN,cf
^Y9n N"OyiTqa]?2;?P=
/ slh<0Sz
>Z PSkpX1jXթlըcYxw{&
YlNd N u#xPj') jiN {OG`-[Q&N4`;]pS
LѵFIKw!vyz!nU2YzEPByؠ& sPdW $#$}ϻ"Ȯx. ]B\A:A=vALiՁ%'=c _mb*^ڋ[KwC)crLDdfm\PwrӒm#dPyv^'X^OBICFg& v6VAga "\'U< ZyfwEbLzqfΛх8c5<~y7わ?+O[.cUFu8.*|> o>+CLF$ \7[#F/驪)9fU)N>oh,wZФ)USN*Lhi}*h;\JFBJ(qgD(> ˸L% @C^f 鎣o`x 0 X=yV'b]U#63L\WPLCKrp"nsVZQW{+j;:^Ny b
R3ά{}2q24S7캗z+3KZŲkV3F^JW\k㢫 .rOhRȞgŚg4,Mѽˏ)tFOg/M̆3uAuM MF'n,?00ɪlK#{?x۸W~?N_z0Rה26SV ^T\2I s1UFFT@7f/Sų- #ZC7'}뎦Q+I1l=z-HynQv.
.,HU;*kb-Y(ʶS
Pj`6-f-plMhD(HU-eA5" 1J Y<[y D ;\u)
8I3dFZOi81{0|Zpm ;m 4Re . vX>+~cەw@Hn y .8d, 8oU' z48B0JCpZu:oUjM 9zߤ&2N\E1Cp6/kiR78
l2[EQ>vRarm>,2NZZ݂Oi);3l9H>R\D{*U}[? (Jx4R<7+0C?'^_xĻP==>:VXX6\ـFR &ISz#+ә7\2V^%hg&+G:KS*abe6oҎr0K)>YDL[Lmg4).n"w{Nl 47+F+Tݻ6Q %QKsMA^$ dnJ8z>~iB_(!{
B?y:h^Ѱ,*_0%ʯ!/ Q'OW LL-Pj 9Qܒ',B<^&b~0Qr2R/dECEpEw6e2WNyTO |i)6_@"m /DNz^CԅN۔Rzz5/
*7(OA)\HHWhb$K~)ɵ. w ZXOQ"YbrL+5ܰ '%ѕ \Lbxn}m.d$\jZ$b
" }/33Ub/q
Ho$rml_Qa (:dA}ӊou:?^Po_BG\JdLw2BIy {Tc${QSmZC]`:?s-)~j7E Bg x(MhΟ-]d
endstream
endobj
125 0 obj
<<
/Length 3563
/Filter /FlateDecode
>>
stream
xYݿBK5 8&AMaRĕTK,JHQr }%97}|~xGO/F(3.GRkg(Kst:ޏBSxCK/.T.]`_{Ut@D N 5/Q(-n.& _8X1XXD73)>^?zf4-+QEG"KxL-*9}i1~
1k@AHU9(42]g0$8Q2/{kK:%Щ4*#r)%y}>:+^B !I!((-z9I!T xFtЫceͅ MSpklibϭS"g(D,)AY2ª.D+Rh ;<[f }nxp Ȕw !lVsu ]u &H&eV,.^=NCdMʠ{v %_&: I K^604vR89l1p &'Zo>ByamaE7ph0n-L{7]
mej
1{z 03ʔȹ]Ŷ{n8D0˅6DDd (mt#
6 J^ F h˩Id?ZcY92yN1Ywjy/096ڟ:DU4^J
֙>RJ~@ ]./bq0Ր%f8/IxWt?0::'hlEX[BY?Y̺7)meLߜ+StԞΫ=2 a@H$It8nljc|)=[Q*ʃU8. b*dA[ElizuO$
7TkEC뱳ξHO/ ,2ܢµkre4Sc5#I#҈Ҙ]: [*7S E
VYÈ
JeiT T.]|K)s H5,/l,d1RABWEJ S=
(gqNgA>W+یyW* yS;p]Sɏ?CB0,ڝJX35i/B
Úwj98i"2Gi ڕڻN
SXÎO:uJ0rj+gY&Eg!Z9_稄/aaXKwc?[ȿs~#_ /eg& z ,>B6w>=BY&#[h~d4ɟ|tKKװjkn<.&A!\
$ _ #q(r=35Sm4:B qWfwCmlD>QZ]cHŀR)2B
}r2 :Paf
ԴYCRcyΔD@z HR4PtX%$yzԕ93*Q" MJaH =YL:?uUP0i DlEmp oO43 kÌ: j j tjc<-r:trl0ďAHz
rMk}容eǍ
rcJ`r'L91?pQgrFROkr)43+?r )V
J 0eB`ې]-#/?c >X1I۶gRKpw%՜ C>z=O,ސM6R.]m 5?-JH;K7 S< ?]:9;or>`ѹ:B$ƻΥ
)XlAF}D~[-X\IN8RCXKf g?6[
R_Xf5%ǻrSy )<\EIqT+
Z;+tj(?D{q H˯xMvĢw/nEBE
SȎSm>:6H$q?d> *dRۘ
`ukeM)yr4aφa%/rwtuY BDF[8P̊7Z}u\tIb]MQ Z=a7@w.*\b'2KT.Tױ< $ ޘ?ce۸RBU`bvI-dN NkС+61WAV2<-> tB^}[~@V fn{
*U)fT{5v:]Pn%),ɹ( U(
ˍIM@lIa~0ß$ DyH>`Ilm]ާ2m}xȮ|sZ6ծ>+,C tLEǸ)|am[#f¼O%Aڕ=9c$gYfï!FKϰ巐WSjn )n._`Вoc? \6f2p9xLZr7nB46:<É,"5awO[,3'\U : ȏ노Ths_2vmFg-(oke % H|E(&feka\ƠCR?Tկ2fϊ5:,< TSq6!@k$ Ү nLAȾ!ܥATcmt-
Wx"$ #!0r>۟a҂Tp:0j\ ڵމvumkyӂ.@Vu=IGk?}Zqg#h{-駳VٯWV`!*;)b m⛕/5vlJrIz$A5[%g @ veXn~X_z CýkP;rw?dCG6m6
L ~(J7ٻR=ӿ7]d=
endstream
endobj
147 0 obj
<<
/Length 3325
/Filter /FlateDecode
>>
stream
x[[~ jp&cA @]/J]ՒP8=^z7m>ps|s:wOD|~Wo,)ʤօwe/yv|`2JzcTY'2Tڶ 0n2R{,82]cz9*kɼXdn*u3&TV_Kڟ
TB!SkA棂E&{}w_H;9`[."5)j^d~8.B}+l JK;]H'0
} j-@M,[haQ/I^LF E"'0 YW[W
)|!*ʺY(IDl~b4}+wh|`2[-ef(
(]
KO d7i+lCa
jg=^m]3g+`1nP^oؠP]m!a%b;(Z]V
DdSX hō< 3]cܜ8oTXk̯>csa
+6]o& 42sv ps-ԭG`taqߊ-sWsn k֓3(<? ]| a#>#0>psdL: Po#A.q7]B%4U()KY`Esα?!M6zFF9rO#z@ nR;WK=ZBzU8)PA<})yCޞ n!!3n5$:ؒA( 4|]dQֽ24-jbŎK; Rօpk!,H~D6-]!!hŭ,V:OҽTFY+xA+IScTdC c(ͶuteLXyG,
$j\8 ̯5u [t. vqtw,ݲGKK@4::d$P"o'&4),SZ)ܡ<Ĵzf:twG|Gb
:״51{L_::o9#6 E"%zlKu LI"mw%AR]:[F-ZR^%dc/x3wqtT@sgO+4 +q<ɬ f}$.D32#46⾐H{W%(:=&̕`ň#I8#* bT8I_ztg'Jt]0ۈ=. >\l aqWq{|Q(ugx x`wYeT)촭8 VqnC`Yh11pվxaiiG1v!%Q#> GojW^VM
tlvHFu$F춺LGz OB<>H(n
l!y/ԗy.{Gqq]%::/#:懗S{SC"&ޮmŹ]`.`:w k>üzCPb|viiBbu7͢ K.Fq P< td ~ziUl`QfjbuNB~bf^ӸAB 94!FQqLmhȠ;fo
3$ڸ'BttTE*Y?E@ߩpy'2=߆EQz@.tf]=[_*[r D66XC}V^#FsprI} C_+~gp0z [y[L{] 0bd@(`J?,;wf!8q"Òoy1 95 !z?%!gX
endstream
endobj
2 0 obj
<<
/Type /ObjStm
/N 100
/First 826
/Length 2629
/Filter /FlateDecode
>>
stream
x[n9}W1A6, c Lvvv1H=fdɐܾ~O[%#;r:[aXu!eWΨTV"ɇ٬(*h0VY/)r8 $l7*$5 rC8ڔb bT" m2Y%tѳ6Li>Ȩ0 S.5
"O
x.!0
b mļQbUzD@ `
"+1(<y MΌU&1P>`0 q Cd R $w0 Lb`qeMOKf@EC-DOX`1I%`U#̎ȫl YVdYa ٶ/XsY>3.fCZC9b/I,Ő2G a`oC,D2I^ R#LHX|ed 0?~,_2UYJKNLXUzhlk;ڶ '枮y4<;ۢ7'T 'f>Q?ԧgf}x> u|4#tvzVNjt}l:/_
#U 'yPx֨M3척.،qP 5|,dǗ;/Ѹ~2^HX xRyv;NgJ .M.7q]C9\AT$ 'I).` 'nĤR-lC{AђGKȬ~ OAQ[u\g=ZT@]wGfY.ɣck'{ Ԯ4eFuh%O Akdr+] |f>cNU[M hKyx֑NW b;KW}\[خ/[]".;/@Vr Η
\oI <;Tǿ]A1-̈́ۦoI~hShV)}cإC#*B{CwGv b
? 0e!7Fooa"f2 p#K]f ad=BZ9jeD,3 y>]ޥMHrp
ne3eˁk#b@:rx RG9
me69]
QAhs 1Wx,ed ?<~Z:R@A(
&LFoǟ LO;ąIj+\ pqYf óbׁt)z-Cl,$; tQ$u#!@ cXvd/t1V% [W,r5+ʁ ?\l5J=Ci0$9XoCLJf*ӥJEjFY%뒋
*]h+M$)b/,
V-7@:KlHj{"-[/Kw) m{yowr/2RR?Vo\uuoFއ /B-tJRv \WAegWNST]y~u{ww{χ\]]]itHn%ǴSΙYřǦ.=mm ֫ g:d}GHLpkHlc_t_ M
\m_xRT kx&1gPJɝw5l/9s$y_!pI=X8#Qc PRw",QR2 g(\.:h. P.kB('r^ 7%rС)!_ExkIR ,)kyVں*C|RA1 u [0c3VZ@LZƺs
endstream
endobj
187 0 obj
<<
/Length 3752
/Filter /FlateDecode
>>
stream
xڭZ[s~[D-yr3v&i;;-DBkPҲ}uwr< ˽s9-_Mڔ\-rWUneQ~';\-3 q+-|c$=!N\7e|q
bi\y밯j*|?\:d*%V;7Lܚrif O羇"O#FjҬ ;9Vz(Y,mVYQ.y6P$';y۷WKS%=mk(tI#MؤPRp]t WKÛ[n&uuavu*ʤz"ۥ̓S>"S6fik~Kgx,7!ty\иϱʵI JpruGtԩ+= };R(b{<-R{o'\e\b֖VIqmLWxσiAM3+Ḿ̓ﾂWܴ
%O<1Wnq10t̴eh@ Ĺ(iZ"PpGfqVxtl e\\ҿUA=B'⠸ZVT $tP߆3zZj'Ŋ*;PpЇ#wLʒT{˦ec}\%}5ak
̲o X(`Q؞֗^{)ݰ
"|Zx'p]ވ*چVVx6%zk{PՅKGLsićNķH+ˉve@,3f<'"yrGz猲 [/3˴ ҊyV݁&~ǫ^Zy|ԑvUe?ɮ"CzEAG.[n c)j`69&f*-kl?Ffڟo<*,)\YvC?ɘA% + x.`;t&;崍#FeGxNq> 1βx d *r#c ,vx !nȊ qxP x| yL1:4R,ӄ# v#\\ t& c L {
(S3 _DZ{rK
S xyЙxK,*t0Ttee;|Lo
YVi
[Eunn
)*u D;cP] ,Ӭc*6
T;i;M1"nUTծAf,܄=進B4-4$P?{Ǔl
峠.(
&-+2!^+7P)Uv2t'nSIgXyǺVXiQNX ChIwʘoˀ)ɂg*: sDxNۜgͯAhFT"n+RaBv;(q 51ߗ#9xZ2̬TBef&w=L>@R\p|\1v] PNjIk9.? >vLj~1ldA[u^œBs=,#r}%|Bhd|I[kANNerCCɒaLp&$;pӃ7 :.{忼 ~C
kY>ˍU+9
-Pc#q+7ޑx%Ŝ>L[v9E=(</Z ~}#Q Ӭ0I/`79f1V[syPf۳:E#ƈ˕+p;6 ͕ S&66I#cib[s-C9Cf'#7'1&
$' \HTP'b;!
Z TUhgH9حֺyZSMCtx zy$hJA!X)=w@ ':j| ][:1@ 6]bh̤Yd>Dt,oV,
fwcK|Z:7mVLyԄ՟z^_Up'}@݊Jf$oj+JͮF ٤?ȹ
1Vk NWE{0{A*."Fpi%?'Z Sm@k15CyM6Lp/@ Ĕ`m@ T=KNa@Њ> }t۽u(kC Lʗ#ʨ\ZHB㽒S}䝐MIƎ
29/a) X*R`8F%sMjBkbZDSg mL-g]0 xd OfQXlyRuP4})Suk|Bkg)a]lEg.4e
W:ʳu Gm|NascX{5*q=L|2x*;?77i'P^?>kN M`N҇_4A\&2dio{6JUi\P}7;sϷev",I/$ʿ]v#clEnBVEQ$!X\T+.K1+z1ϬN[?a][b|
I\ȥjRg0qwD,4eP @P`/'A 3럕3R#I+h5m.`CL!3}$6KKu$> uEk2&N yV^~KOSuk;ǖ
kK^ y A9of:y^ * ;>Zr 鎴0>&.<53 itZ@4s;5zfxZ . q_/|~4|_5
/O%mEVA <zT ;EaϬ|%K`Ĭ<`ɅO0T̯=;mzOn4>
stream
x nG]_EMH, q։lMRaX|VU 3C6E˱H>hz]}]⽫ ==ŷX_RY߳1L?VLi C
e) qzt֞3)L'7n1'D upq%Zay qgj%IoYq\ hD[E.q8t)+331(`i= gSrw`wfA6@/ìP
L⣟ν$Tk"55U1 s Գ1K^vֱ%5N
kb-.Bq"Z8%4bQx&.& L<0%x[CL8HMH L em(2S ^RT6g@EzCv1[۞mLx2IJ*/p?ױqڃMmlfT8"6Yw 4Bv),MEEYHcR0⡼O2Ӗ-QqfX("|J([Z^g]D=>YEQG}Wmc^YL@h&@yG3Lfo |f[`jolh?ԮaFK~p PW|gio!WSLoC{U| yM%iHFu4P ӑ8Xd'u|F{.!Ѝr0á ,
};Zs: &EtoN[ ΓBg7judM6 ]
0
ֱ ga-jWLAuI{ 7Fmˮ(ul Ƒo6Al~6F&@e[cǡ5FywKi3+Mw}gWPasܑG]^Ba,xw2#à뼍Y1 VLujYGP`qS#ldTث XsA'YߤIB Cdm# s4*3b^&XD(|J{
,rXul4FO҆Ͱ×7 OR :uė? f6ɘt=8nHHdsGu kFDTl3nWr&Q!
AwO 010jyc7×&Tպ2(n8 )z+̑O.um_M .$SU 5-v3_6R!Sie}ԡ9rpeZOS |?g"!no4jpyD7.Ϟ9}ܣ6c}ů7F StV{7 pO=* =BHEqPR֢w!GSaR$" 䊂 n|l/I| 8 ,Xpki,bq AlLyF҃
_A'z_]j_i9=G ̼Gy9|G, HIw9P{}
m@YRtj<%m^-!vv'{"G ڰR3%O 'R>x #[bǂ
W$A#1FyIP = "L['8BHBKMY~1jk4),үa,n:5@ȨunN:c ۞9)OʒPsE)=ߜ1]r MAVi xU$N$~DuY;UAkX.FYK\ۂ `_/IF&zŶނģ
rV3kП3-DNHjet)IEH}sҚ(j &W~ c!gR x7R1hʷsN2pK&!Ĩ`݊
T)0(yW>! Ֆ $UKrk UXt |Lݽ ?v\cww̐ bPʔh%ȶPYg)sJRS"#©ra`A?Ω2C\0%=8P΄F{TCu^3A{jo'Lz \.X[H ӹ1ϟb x} ?[|
x2vXl &<;&)@#}L yEp=ن+Ni^<2Gbf[X3?|݂3 JX14]c釷5*0oáUɝON?ųB.RGW1d ÉczRPSNJ=nlM% m %g5)XO { jb}K
At/wNieֱ0 [ޤgZ\ +'N'Ӡ2qU\J"[uCj'ق+J)cN=CJt|Y 48j*0t74C]2roF4dufqSp3ҭzZa^֕.%Ǥg֯A!8G"gUn %_
endstream
endobj
238 0 obj
<<
/Length 2597
/Filter /FlateDecode
>>
stream
x\[oܸ~Pd3\/ěnΠ;3k'-{.ıeNҢ>#);XV~ڑͯHU\V7'd*e>Vmw0XHV2PfΛhy=+
:̟9buEEwYl>>?~Oi]hN: }!zW2Q|/N'SLLmCXϏ0֯ S!= a 7H:`bv
8Sv:71tޚ~:6
QK߮F1E$)cA%
Z$HڛL b$7$_Q!]U=wlƱKգТRb tes
3kg %} N06 MKAfTڡ)Häp0}<5"QIZkpIյ=$(t=I[۰--9p?bO'L=6&^^Yz3Y$ Ly92?fxReR^!_
r탕aXuˊ!\ mꍊ>˕-`K|"ZKCInZ_hM
8.aIC͐}98%<6fc
!JĴؽ)ޥG0]F{qL)cm~=O
tJT+ E%lw Ҷ
{D?$}'0(gv5mNٖsVEq= #ˡ!c_A9ϻl %Cn@ 4 t>
stream
xX]oSG}н;(
P
*PBQ 7
=!4jԇޝ;=;3;{f) hB#*l˰*2 gO2f㓌 .(Bj3eM,2.&Icʄq&'coJ#RC2<&
l=0C ! +e22 ZaTpNY Å1E)k/Uj֍29!0V#E
a^&Y$'qDn L'.` !MH,XNY$I$H`8x9
aX& %ěH,[bD(;x * Nw&pV(( $J)9`ՉFhZEMrAt^!D^$6"Aɚ8: $O"aDxe8 XH,kK12e Eʼn rcgg=6?B{{O؊Ktʑ,#7tYꔹZgꔩ)l¨R &r6"u9بEM J)*ceW欌 -*-QTw[2&V G+1y2
fgtOge'(i3%l=*%qc&^,~0{^˿z|8~ӏGφ%Ц u{r~v4ѯ9p$\ /[4vg9, sR1ٞay,{q'k;ecg++iWC?ލIha{=:65 dk= nJ"Pm7s@7]rX'!< 2Qr+بa+dOfɬ=4H@Kd64tMB%4co;CS
9! {hggE08
C` w;XR)I?}uC?
oXv6
`z'F
PF{aaϿ<_xzz9zxHwp@[P
"ta7#| ,y =*[_g
^:"$~On.j]Ԥbo_uMj\?W@[ߒ*/'
56z |>`уOHp
FVK<r]%d ĠybB M/ 0Ϻga8uxx{1_[;[Oòxz to鏯'jK|;9;⺕z/_s
wůyQF= l۵okQ|*2)UV>)oJe^NE+FʥZ+9j Ra+c"+RH QE ~vJYX]ʠb}NʘHNmT^hŲ2쳭NFELh6&h
"22~Tk YbeLOkі ]|θ¼)ةn\_w$W \-x oq )w*N I˕9h@rm]a og[c{)t.+ZR]ˤTFCQ鍈㙪fT.hruSQ*t]j緟ە@FVz9HUMJBSzٗlSPzdSQ&O8DYe2Ax _ M
endstream
endobj
284 0 obj
<<
/Length 3039
/Filter /FlateDecode
>>
stream
x[[۶~LSml! i Ni ld\D\QksHJ8;Â s P[LN7O|y˯$蔛\^O»0q r1y3]^i}13Lvx{埀a1-roLN< 03kV\@\W KS [\(?â! oeCa xBy6UGSyjlvZnv.ĢZWL⩭ fRh<+xxM[bk~")7x
>l^+qz:\]A8$-&1 I8jZAytJi8h55-ݶ8 @D U՞[4$P 7}4(}5?r"+vܰ]'"2\p vvnͳܶyؗ 4{BήSg^Q)M5_"Q#?7_d8 Y'5ͬ
4K9BHV'ߵs>~L108ߛ :AUB0v
d5 ?yS ,f
P HltЍ R8UV5S ĂZNgp\2"{ İ|#@ lkf4STϩ>iMO1G81FoX*ޡFrA9,7He٫ -6A DeIEg<m;]nHJxi҉°쐣Y#Wޓཥ{ [ O `?ErCEeC|v#ɻGy]cOdi
+ J݀D)~=a_0SD;nBՋPn X͙@G#R?=-;BA q|Jk
Q&q$`o`E{%Tq0j 9~!`PP=@XskY Fi
BwLɈsEt}AZfc \LxCʻ ;
=!Š+b,Td/0rǯ=#Z j`tvK-0Vvk{Z }{1'wko+ELg߮i
(Z EVhGQN& b ܍E"ƨ*3PhGB2PwX Vy` f㳥67ZJZCx?T`|wnUu~xe GZ ',!f }{xeBxNxirrKлJ>xF~
N nRC Kdz
{Fֽ/HFkNi N9:;Ƒ& {v71pѳT> }2l:ɿGba-Sc49Xx`\rPc }U۟AG$֞"T*R IEƥtkz Rޑ6p ߾
=N]CSF-7gANu0 Qaվ:FO_~O'4`YX4a$
S8e0VB~_?s '{]'#A}[ 'HjMusxjOqΞxFoMt'y1(>YSZ-
:'|$uDg)NX OFJsD:Oe{({$ bzv7RȢΒ~-3vbrE =Bt4
qTQQB
/!
<ޏ`8Cv>
stream
x\YoG~ׯ(Z} I q@ F$%)KI}똣)
LOSUW-JV?_q}Y=<;}YJ#wF$^0\[\ֳO|o_ʊ.*p]ڸlZ͡ξ?~lH[Z-pG:}x<<
Trx}+^xE-2~|}s>;t
!
X
IO{Ru^D^Y'(FWC:)IhN.\FiIXQ08k0*uC5VD[Xhe7Z qgJs +
ХA@3H?wE[xEn;[x$kR%E BSJfe ^I"z{x$I>xS}µ@
s~'. W ;\d[/P|˸ۼQdGǖKJب{tAt9!kuG;#pmR oo0iǛk$lX:\:f8 K-0Ӆ!B"_,v_Z&pqW sa<9
/mkĘv9CeN[x((0-d ߃i0-Gsܘ%$ j `
>zA ͯ9-3iu_ajߎA8M;^g /q,I? QB
vl @);
m̛vm{E`QNh\5^wWM}^262N,&L |]Z_F
93d˼ơm 9N۟4Nfx^+ctf0T`aAFƎWÒ\O]DHLX-iI(P̊,meĨe(Z͙7ԒB ]RMSi j㸡*p_rrv0S d W"yJECǿи*.FܠROZ5 4raRVË{|\:Lp}fιQȻXgbV;87Lt)
]oh;eFgK4(AAaz1R}M%nRQV[ze2%U#*"?Ss櫪{_p}&̞M@g@AM4r샆fuʻ}̙̙AgP>XcV E=P.q_0zu:_ D)س[f6ﴈN?HxXw,eX{]RjeW ʒ$M4 w1\шupYIoӲiƪTieDLj⽒@*4N2XmMM*] ? tZ3mXPyV*@ԛ.3[b5MYgs*'_ )Bb[&}I?'Y$G=an*T,U&+$/ԁ-RH
J
*@)~XM{ڹ N5W
Jv]ylʤ? WIQϑu 7\f3v ^T"28ͨtdγr) >,bY4U~es(%dlс<:ǝ6wjj2Lw[={W0@755]l5#gQ Sҏ]
q F詓F%x26>7o^N'%\2*ۮ^/
S
Yur+Rӷu>i֍GyUl삁=ƌ$oYM9" }r=.Kۢ>
q
K])x&OU^S]SN E< gѨ4эh{Cd(\ tomv[t0<'ER
lZ cC֙fqW;_
kxAm#tiRr +
endstream
endobj
278 0 obj
<<
/Type /ObjStm
/N 100
/First 879
/Length 1417
/Filter /FlateDecode
>>
stream
xڽXKk Gϯcrz 0I8>_ڎ-qm>Nw=_Uu=fZIjIVpi%V#`.I 5Mmfm1ך`5*kpĹ8$'mIz6Ήk ^1t8, d`%XKdhƙk?p?rn
4.`S.fЌ N`{nLuIu\>.q0$]7Hx,NN'eu}>vW AwIť.i~fp
`PI `y/UյpյP,hlwU\W Rݧ
2)n9aP 1Ns$csFL|Wc JcSRiu2I3d\W\Օ
&kn PV][Gz,F8ɎÍPz*ٍ c kIEU1.1DB4H8B4~Щ-a8ɓsc8348M1pa681pQ#Aj$X܁10 yOpDڃ>69tݧ42tlj^2"q3$T'r}r*ˁ4ݽ>e_8M>}$q_c9vo6 |584?e_C[7Z*T Lj-T b4%z{ݣA:$T! RB{<&\8UqtQPJ_+ߐlйFӒAUkD#靼v'DDP ul z u_cR?eYYH,r> 2Uԧ°
nZ[A{X,
+~nʷakoܕx@9O"Y|rX% }m̍,j \`d#J* ʨO
UD
}"`P /;%7 נO9sO}у>AGY>7rs'L/4O[4æ?iUۿ`Z; (
-_1U/ J\K3 -EAΥtAkZK!O(1-qѝQs̆Z[ۆZ Z)## |D z @Gp j=" jGP( ~D
jynR9)B}":X4\O &l
endstream
endobj
382 0 obj
<<
/Length 3482
/Filter /FlateDecode
>>
stream
xZIsFWr02۽70QIEX39$DaEI˚yK7 8dj6~ArѷOdEpn[/F_??Q0CH#GQ|4[=°0 ]? 8WO#+\Hi-$t B7~Xev^(F(H 0JDv9c/;1}v;&56'L~# O| 3x9"!Wd/ȾOZ_¨vB NSiocCNv<)\6v V5HE40 BHb++-Hgh;jKW bbErA k%dP
=c.=Cqx2fKڪ%8Δ`ER$/v@X!'4ClF]G9fӾ1}y"QPǷFemm1?`|oJp[:3 ?cs|hˮ#=[ ( ٲGvt9I +
9azG'U,ۏr0x@vⓈ/C";\ ,]5ɂaʏŮy?ERQBg{EKIBϳjiHI}5o %mУ\S ?R\
M30>iB8o[ 7W-N3
4}C BzނFEU0 #*p-s,1D 76H[] L
r|x*t &<&9/rd ᴚ ]A&
fJ JJ2|mU vzx? ǟh/yGwDj Gew"i=
TĞ ܀EqjրD3xbΞ/Wخq erLfvL(>U Ξ 7[6Ա^S{I-)fC{tY4B1 d EnUgTUv\Vf{h^9 W)]7` W.4AZ?-?6X
Pe#
Iw
Tذ
8+k&Ʋz6-Q%?Vz +LNK )W{hv7k}a8;1}E6/zqUuwнI8צ Q9VfpZ} Bv lw!v]9ѭkZTZ
j$z|Ώ~;nƊ (MG:@iw-;8'v 8TA}
ib(z \nBD=GQ0C?p
WXXPp-EFUn 2+b ,j*b=FUr[M ݆wnC|T?w0Zn~ ً|TW ':hl> 6VsX+ PX]e8ڀy##Jg=
V\ut%jC.Q!>I"ջāo% UFx,$pH2+rBw7`?)QIW'JAںL|j/i ăNjW-dybqJ9YxY(:9U LWEbbh٪4%
/sKd< 0]o#,U 33F#
ࡗf\df:iRB 5 .z1Eaa )rЦx gy2oQ7I I*u`'4& WdI˾ R(ـ=) % ׳k'<' tc}6Q<(5:G!}kA "kub F 85.$ E1[wYI~c7[ 'ή'.AW GbMgJbO@+> rc>9V5~qF¥cS!:H< 0 ݣ@Ȭz j%dzVݘoدxU빦"/Q`bJ3$
k|&D
7dq:1 >&C[KF)@SyǻD]<ʞe7UjEmjEײ IlDHw CtqE u3=~Ly:mտH4B:"u.g[QUP:*LUj:UpaR"N lb0#C>"ze(C9mj T RTe香^mWj%~BCD
Z$5Xa7Ƽ\Ei #dtBM>'m#j*>2]2 w%%i ,Dy^xwXif #ɜ>`o å]jOD9k%o2M=oQ^d&)/!qNa7C OcgΓJ\ƹn>^`8{k<
gh%àh? ZEeZ*5T4(OtAŊ7Z)efw׃sf`
endstream
endobj
408 0 obj
<<
/Length 1761
/Filter /FlateDecode
>>
stream
xZYsF ~/Դ}tΤiiҗ:~KزVCIH
\Iv<. m!'r@B*x.LX\MN>MW+2Qϳos~3v
ɓsuD
R72QD
HTś|tSR
|:*SA7܁ f7T5{X1-W*x|uRw5rU
wN rwxH1/FEW^ܲpmxq@#qQ8
cA`;
S5=v5T~&/l:i q:Oic6(A6<%[!SH5B?!tFVRK#mDNR@+ߡ %@&ߣ 9a+nD/N_ 9Z~턅Y!~@/4S $y
VN|r1(+СI`|%4\n@YG.% (X O B9_ 0G a>W 1e܂AӌX݂R<[gKϖq) ԡHx:݅ ݶÍӸMIbeaC) ZdE:NZd:yT>nE% YG'2}, Vo7R Aē1"Σ-}xOYJ egAb"(TCThH%PvuQyif se'
;g}7D+
0>235 `;W˪s#(NMЖeׂAEP68! >Sg$!U*Os7# t(TsJ+ϸ,}vLSr`˧(X~I#v1ɳ?rDVR젭1xfECFYȦW6 [+uIߵ%}`HuB/a8qE`#6wr"Y$+Mx5-c ,Mf&\2P 'G3֣XfG5'mwӌzhgDPA4Jh a3 bK{{"l` $,>u? @qHatX 'hr/{_YsCf8-sqɻLe&a$bw-ITAVFa$B2 ϮsG10w[0[(:vU)*_7)8]^ؤwk;ַ}D$g쓎kzW|ќ >|7 ݍΘJ-/ޅ-`K6r30ش66ɻDV`l ̾<" vɎhѽ{H:1KFfqj|S_6C2{9V. *z! K.!-ا6N!݁cY-&7k1;$ОsvMMwXdzhhLqo~ C{h$GwAOc9tA0ELA^;jAf1d(" "A6VadzXiƂ;svR(%KbyCK|r WEK]0&4I?LnC
endstream
endobj
376 0 obj
<<
/Type /XObject
/Subtype /Form
/FormType 1
/PTEX.FileName (./kalmanExample.pdf)
/PTEX.PageNumber 1
/PTEX.InfoDict 432 0 R
/BBox [0 0 504 504]
/Resources <<
/ProcSet [ /PDF /Text ]
/Font << /F2 433 0 R>>
/ExtGState <<
/GS1 434 0 R
/GS2 435 0 R
/GS257 436 0 R
/GS258 437 0 R
>>/ColorSpace <<
/sRGB 438 0 R
>>>>
/Length 21298
/Filter /FlateDecode
>>
stream
x}I-Inl-t;ca[,@
]Ƶl#CjNvYHF10 >c V? >族Ïs c<3m 7?>ˏ?([h?8?>5ϫ~?(TS!߄s+xϱ v~zM'߅8<7Q>}
g߅
c
ޅg,g8?ۄyos "Y8[?l;5m<>KhYǻl!,;oG;. gywqQ?,;!}ސu6puk}>Joy m>&Pxuގ>-!|+urisvի,<ճIXE?=]xGfY^-% |0>O~m[{ Xmu lθy#V~:xiOgOWElA1- c8/̱͗ ^.g^ue^WgxnmoBtBn?4_xTq _| n1;3yO |8|h| G[4/?<6Z]/^|s0_vw~^|>m(!͋]f/[ }HkoۣW mmW1ie99 J]IŇ1~3f1?egg!`il>}〶=r>C!9~~nSGӓ0ߠ쳧zy♜m5 ~I
vG6Xx[>w1t8qumv5B{;;3xZB-^7ac2;k{y`ٛl ><
:/#> M
͗p=臎|獬ɡ2w9Б$ G v ~KbooB|4z; ^|줮:,_~+]]xx R`dӵUbfo7S՜Oٰt~Fa
cS0=;FMA1C ޅї!RyuƓno
l\t~c=n{>jv~~ mӟa^) B :w̎zz1{V6b> fy9?I}1䙸1\ߥ9oCcr}\ɗid>mx16?;aU1,sp~_x: ~ķ_vq}xb bw6gq폓=OoO
sƄ9ώnK?
`XG9a?>G|Ѓ`;,rӣ tq*at >ZՔ ?D\َԂ 9 ۓPgR<̡
>
` PLxrzgۚ=| D a6Ɨ =,`OqAך_f FS
SX|:zW;;iP 4VbNnsk]SSo:P`} ^OEEqb9zԇWy^jtNOI, bVkߢ7yP[ o]TLH][XH}_ |m1YLHXٮOX+I&x{Ç͡CSb xNv40UO߰Y lVm?t|G3Z KF }x{\F $}^1Ǧ|i><}Ƭӗ#ٻ{nq~Uúk; 6bP5_#VO- )Y+ Ck< ec /^xj%p8T*v3O},m{S|Ʊ| taa-j cm>#X=cO
o=zOR7͞ajr縵 O{-6ZV| OCm,p_uiHZlihZqie;& Jh#Uq!{8VB;o*>4q?8fjez
ɻs:|\ySks:T,>tÓ0'F[|Y×53ToOkzl ?Ty_bݑ] 691}\Go]b1FO¥io 1z
`tA
GT.AǶ&'~~ Ida+ !z/Ɩ4ַd
W;x` >&D<roؙS6M̈!:>1ǃ$?MbT{`ɔn,7oo)Ws _zh韾ͼ\ # KhO4(; eewDd1Gmh{?w 6?7NwpLyEJTE}ט;|>>{uiry*_{ܱ^qf)%ܶ|Gn |bwMKWun92vmG9Ikf+E~l|VG,$VtYoû
KW%_®~-c1"99++#VG5r+4aMAgLb~m۔/bs|w j8q\ ?U\Q[`9ogi,9R7/yے/aWՖHZʶ T,ET쵎)H(kb-Mݠ lK.]V[6[,뾘X +0)mMubcEA
Ύ
m嗰lK]F,AkTwNnW1# Xo|`f"9ֳ4fݤkڶ\~ Rw?9-搱A9sK8A
vX~`XQ_
cnPlK.]V[vbDXr(-P(łg,#r C+*9I,ԝXږ\~ t,rX|M kxp=lXQ_aJv&%O¶KoT;REK\+ Kl5|jv[7( %_®~}a,XǺk. G~J p!tY1JbEA7-M -ے/aWՖ/V7Qq%(; ]@bE|
[!lݤkڶ\~ ڦwߜ Tw ?+/-g ;{Ka,Sw~Ŷ)_~ߗ=N}_F.cn;&ў7Dž%%9'ř-a;Top#6?ŜH lYs9)zGӺbs>%_®~-\sc9|-snX>bTRB(30NyCI[7)IOc܈k<&
6b4gg E=L{g,\&Vt`'&XJݠkٖ\~ *Mdsecx*ƪH rk
kq0-,BR7(DarE7ՖN-֊b,0E:ޖ#%λ ?;&hֽ-m嗰nK !
b:X$E{ϭ;pcIQ7-ɖ[OIu*\u~ oKmaϷ 4Z' _)ÁΔc!Dל-
%_®~-|J8J~V wXQ/4^[atv}۲#%"{vqQa=FRq&W b59شL,u{r%rD۱Y-'
]\i+"l%%8<6N[y=n<%nˉշ8~Lʓx& t]=nyEg]$62nRD^)_E9
k\zN ~wha9_zcE\ 3aACr}̶)_~[ma`y4[iNj}'mz &e*yb+ |$E>[Ysr%ۢ>VNŒ(wl/=tYĊFlXMvaɶKocKc` Z9j %^qRK3xsŧ؎uu
ۖ/cWDEɹb:naeyc$ p؆M)l[.]v[p@}sQ ;FGi)zW
_rs:քuumz2J
V^+q+*uwN9&a^}mnx"lK.]v[/Pu[HYovD푢 凧M:s`gؘ^-- p嗰n ηb Lv sa=); j9%Vt ;t|m[r%rb#"}_ȉݨ3ň>9Lw-XVu (M-ےSbtDǹSJs:v ;]C| 1ƊnZʖ [umWUݿȗcUs8Ѻ X\%E{{)GRĊn /0~M-/-_®~-MdszY㒑43L|/D+
kqʙ
ura[r%ۂ/1rlh cB+a =X6hU[7( )_~{ ^'bNq 5~D;G"8ʟzNFVn/e#nchuC] 8pf5\8⢥8m E18P4i-QMIpv |@EC
{)0ٛ!tb` 1pd8dVniؔjqbCsd 7O90e k$R'ERR 'Z w2
-
V_>m5s8ّ"5d)GE-V]Ó^\f6ӰIo.!:9ך]sihvA>͓γj>v Zb7AOmK.]v[8ǁ]osvݴ
'~c`ߑӀqrq+؛ӱclcЍt {n vmf Vvs13Fḯ1=2,I ˌ(Mi/\~ 0s) g}pR k
krZnRNa[r%7ՖCrb*aa$晤 )ك+j8n8cݤzrep+_+d a-c
AގrS ~Q؝ҝi[t~maX;v !FdYkTl# [bE 3bf,+a-vm9Ԅa +8ŧs/X hcM lΎcȶM"jˉ
Ģ߀= N2|O;J<(,)91vLǭSض\
p355/ 'D Re 8Kp&6nݤRo92vm84 A. CX+mvQ@#ebEe`9Ŷ;nRnyض~0Aueh.9{AEp08ӫ`G/<ƒnZӱq" "uuo~-cCJɹ^
)Rd [Ɗ: >=L@jݤ6nvm_aGq!֢qW-|9S7&=^Ċ:r %v`ݺA:KoE[{noTRar{9&e/\2g`؎qu ڶKo`@EXCvcbnZĶܝ |`[rwٖL 3ۅ8<\wȐĊj>\ :cTpEږ\~ T<̉Z9̈ Tz|DȣXQW:9i؍{ҽy%_®~-xp
v-v<g+5S%3J(O'PnRno92vm9VU"4B;607{[ik
kqp؝IL[ -_~[m<. "]_+'QQW0X6ҸDvjCބux99H(=%_®~-/֙a-AhJXkw"l%Hi%H*XQ֒ $a+;ZҶKoq]40×h9RpbEUǒS{#h< Kۛcʂ]v[j FI ?<+>g-)r5KJpֈ1$ViD[[pVjK
{ }둸 Θ [Ċ}(-9_˥^ږ\~
GE7RË'
H&Ja/RLb8)H YMĊp8mHw.pm嗰n ,r:t*9xn Rw"ǚ'rS+79Ab Hݤr%ۂ^Prr0mQZRwئ)]O_ۘiJnyJے/aW&~ 8Z9'>s,&XW58镀 ̲cݑsisF~{ VsKg+֨"[ QcE 91gd,
ۖ\~ }]G5G] lұw4sCq_F|K4ű18.#͕d8# ]Hx('-#mзe :q&vS2ePCOk Na`.eC j (_8\Ή;7S˓r$u R؎ZwMm婰n } D _E O-gZTcE ݪ,d÷:mSn=٘. iC8 ONb"aEh'vCF2mK.]v[0(#CbEݙi
}gNmW.Ѥb?>9
0e{/Q7+}cKl$Gur y\OqM%g it ͽr/{ԔWU&T,9O,[w$-mK.]bZrX ̳QY͛c-ǟ59ޒSV`-ug-vmP-A6ƚ:sfk [wJT[.' 21 8\,.5SŔ{YtI76BXQ1ƴ.CcѝirE71|^+۴?;co[u- \ʍa*~闱nKgGm':wy]䇻n`ðGbq0$u-yw ۂ 1$\`*ER nMy ,H$t\m嗰n 'Qۙ5A8Ԭ) cV1ct$W.1[]u
q/ݤ-:{Yt"1ِ r)5H"#QNYDIQ$Zf7YFe^>ȑ%_®~-%Nx3' EkNO$OęP1t ^#$iR:$[WˁX+LxqMIp!y&$XND! W0RkUڔ*MDka{6}^53hk^jKQu8y 5npZwdlsƍ[|Ub 0^䜻wm>t/C$2)4#9e'ĩ$pKMKqv B4fL #LXz H4 6zq"{uk-Y E6%7-} :OS392+XŤiSIlD4[5bL,niOݿ-DZga.LHЧ!K[ 0f qgbc/mRyCgs8ǎ8Į3N̑!XJƑ#0Æ|dSRz#GOw ]$n)^L
Ȍi$h}蛍3?
WcC5;)ٔj_3:Hr9/ TNS4vqX蹱ZoZ8hhږ\~ TD<335tmwAL99kÙY=˳mV[vĨܳa)Lr.a+̔ 1ur˷/aWģ*t{Hꍝ
#0u\YXQ-SB碌dYۖ\~ tDZz9X Ⱦ2_0E{'w/?;y9kb
&t۶Kox=9,V9p;Nŵ۲v=~aMeWbS Sضo~-,4-ԒgXs#;f12ۆ֚;)]1jQĢka\,+L5d{T #q:RYS+ 4t%7-#d.y1K3ljc)"h ,ŗ8%ȋ#pyS+ tڴj18`ck"`#BCҎshY.CNX·ZKʐMI
qr eA
=QO}YRKQ"8.G
\upv =qdMW1U8UVy
aARDGzKb sqi YlI6%7-}\bz}D]̙GZk)bc <7myZ3mJJo[|qZX "A XD CZ% *݉8`\V㻪_))!nU|&,J Ε9si{F՛ڳ9 K,Rwʖ-vmi<uĖk y0qbyRMH>w
+;,,`Qa Mے/aWݖ᱿b idT9)\46Ϳǖ;tWFk*ϯ%Om,&-gTM"jKTcWC!os6RE,\sVTU`0<"n%Eۖ\~ S3&`H
nJ`IQ7-
Cv}Q-oU~mٹBݳ 3ds6'
'#kg?fW
ul[r%r$F*df6τ: 2hrwXSO%V %ݤ|3o~-b8˞1aU w(9CF
}ts| '"7Z L)u-vmab<.&@OE,Fn Z7E{Lb);F a3mc'229%_ԝqi[r%rfsP'^בP"^C
0HXQ5b[ʗֽe[l[r%YP0n+3".);Jf_gQxxe^.Y ζ-®~Pޚ_+KoE@ ~ u-
QV UuOݶ=}ۖ\~ ShKYQk\o$1)b @cE^N 8P7)-_kQE7۲JEMmkgcbTQFr{1VTu䨞7Yti[r%vFam-_ Zk`]vFyG0|9XyuӶKoGc49rrpQ #J92J[ĊkdSˤkdے/aWݖʪw~5&X Hћ)C
aY=XQ˝6W)m[r]b_t-ba-~1G9IVɢ4s+*Sg'u܌e6i[r%ݖr`dl 8:XF, [Ċ 擜! 银%_®~-66,[ V ZY۲[$leruXV,[%_®~mHLr^IĚ
)E-u eyE|N-v[mŖ
Sm9lCng j>XHĊ 9"@ irE7ﶔ *] UE=|g:H@XQK%gt]ڦ~oaX}goE Btm)C
aƚ>- h5jz:mK.ۂROɩl?
NED`T cT/1Rc0v~ǭuӶKoe (£"'JPEul/}-?d9u {x 9mK.]v[pfޥ꓃ ,EZ.Ue9K+*K'Zb,U%_®~-gMMCQiꦾr|+ śVotgMMے/aWՖz'*V+/*{nlkXo ˍ58l { ֺIײ-nˎݝi/9x cڙA POE+k{/9͵š]Ǘ%_®~-C )@lo+{%=9(L؎uwm嗰nKavıVE
U
;YHug >cEeWa5_e>!ۖ~{Yls\A^t^
i
H^ \'t9n[7)%_~m*..FcYCa۱
)ǐoTcAp"j~pHCn[~dSRz#*\ҌΊmX?)D*ө $Z<& f
,۔j+/ Ih̍i
t;DPS,Ƒ9 GUQk ))ncsL3p2jM'N^vy03 R#2ͨ"|ԚG2m_q{XKl*Ca`ȳ QiÈZԗZIʊSPX!Qpi ~-LgTwgFMz3 b1Ewr-vmaQ9/h XU"A"rTdKe 㭛Mۖ/aW99v")vehت)XHc l;b씺Vi[r%r^Nˡsɩ|j6&\l*" {Ɗ*%gb<ңnQ5l[nےǢK >N](HB j*핔sXS- cSYUX<Ð%?|9v[&VONCsAƎ,:,0 ĊgE]2
ζ% >E ³nr :?FF7-_cEXÜ kcuireR07J9;3O.5 rqM1؎ ܺ{FZڶ)jK媢˛3 f(G#Tvxr4y2˛sD9ZU-=%nˁV[iEQ}q5$>Z+YS98=uM[~+m[rE7ݖOOrvB/fl] [YN8=3Iږ\~ `-3x50X \
cE^ %h+{.9妣u-mK.]v[X ,=msY}qACHJ{+gOaNChcq/u)l[r%c.lvo'Aesи:?[l^ Ċ6m敱M"nˁOAl;P ;x: l/3%?drr8.0#˶%_~mɲh { 0-GDbEbrmܶ%_®~-%ě}s/xKɻn9";+jx29|QG2u7;m嗰n Y; ",
aTګ|0zDXQI'961TB3Nږ\~ Tc _c3D^ 7V9؆u 6o~-Gb8>VTk)i*很k+,uŶ%_~mX)Z9X. q -Fj Ֆ ѢX*Jݙ
0mK.]v[gh6ntwr +ScNcpHk-vm)gЙt_)hT+ 9+*#`Sc&KM%_®~-q` 4za.!H75/sp
fa7{Y-mSnۂ 3fNSGUH\M^jI> XS%lv ۱k=hmrE7n|- Tv -XQi6u鞃su0HMm婰n ^Ft}1x ŷCC 8``9'{%99XLy3mK.]v[Wyrpu3u&
qc+דш]r=ٶ%_®~0^N;r b\/a/B,A&9ؤO,r)_~m9}hliΎƤNj,l/6s$Nn#QsXL-G-"n1z ?mH^ڋ /^[aI홊+9 cU3m[.O]v[:D;1V!#ؼr hiSBaUr $1vuir%Rѳ$}+ͩ m + -ÔEXO_?s\2Ly焄s0 }wk3%Or e C'%\N1(ҹp9rxaȺXQO'gGcq-yw]&FҘ0l̹GR əXQ{ j\-v9EP7x fPx juQ[i#lI)ni۔/b}G>| vbG;4\l/AßkOrP(&{)-vmAu-W!bo H*͆
!עt~O&xuN"6{ @nR5m[.O]v[9N6ggV ,E,N
}7e{}r,$Vq9 c]c;HwqmK.]v[/Y@|_ĩr6d72ٸXQY:9v$ʺm嗰n Av}
LJaARԗTʬA Lbk6ugV۴-v^+'uWD"e{ydy)&b958X K[C<$8;/'99ڂDQ4$.uJV {cCN3Խf
%v0Fs-mK.]v[P3sSac&h8Xne
$ O9A+dQsXۀ؈S/]Ո\~ }SQzg},w )S ō=\Wk lc˥b?o]v[;yGa IC2=)䈸I).b#'խԗ<9-_®~ l(^ON;\бƖԗ"JάƊ31%bfKwQٶ\~ }D yerSmYYkqqr5=LBU8t維9ӥn(ؑ#.dl:R~1v&={ݳ6mK.ʢ۹]~q!8(
b`=l-G$5x^y]f-C-| -f(, ĉ'؊
O49JKL=_D'><L+>$mޑ)*{>KfG`|p&L6%7-} xu3xyyD:zJ(l j%
K
\N$Sش z( b H}b^qʉ."t"͠Gh ,"@]i YC6)7ĭٿ4g jNŤ3v]BQLرd~HaEIɜdGSlryJ7-? q|-_ v`/Â,BF +ȏ= K2fԎ:A= }h~:SHONDV!hZ36)7ĭeh_m ̋WS=Z_ >~ w O 폿U A տ?~ ҳ%d
endstream
endobj
440 0 obj
<<
/Alternate /DeviceRGB
/N 3
/Length 2596
/Filter /FlateDecode
>>
stream
xwTSϽ7PkhRH
H.*1 J "6DTpDQ2(C"QDqpIdy͛ ~kg}ֺ LX Xňg` l pBF|،l *? Y"1 P\8=W%Oɘ4M0J"Y2Vs,[|e92<se'9`2&ctI@o|N6 (.sSdl-c(2-y H_/XZ.$&\SM07#1ؙY r fYym";8980m-m(]v^D W~
emi ]P`/ u}q |^R,g+\Kk)/C_|Rax8t1C^7nfzDp 柇 u $/ED˦L L[B@ٹЖX!@~ (* {d+} G͋љς}WL$cGD2QZ4 E@@ A(q`1D `'u46ptc48.`R0)
@Rt C XCP %CBH@R f[(t
CQhz#0 Zl`O828 .p|O×X
?:0FBx$ !i@ڐ H[EE1PL ⢖V6QP>U(j
MFk t,:.FW 8c1L &ӎ9ƌaX:
rbl1
{{{;}#tp8_\8"Ey.,X%%Gщ1-9ҀKl.oo/O$&'=JvMޞ