%%%%%%%%%%%%%%%%%% the following is new defintion for D manual %%%%%%%

\newcommand{\arrayb}{{\bf array}}
\newcommand{\class}{{\bf class}}
\newcommand{\stringt}{{\bf string\_t}}
\newcommand{\Include}[1]{{\bf \#include $<$#1$>$}}
%%% bold page numbers
\newcommand{\bp}[1]{{\bf #1}}


\newcommand{\D}{{\bf D}}
\newcommand{\CC}{\mbox{C+\hspace{0.02cm}+}}
\newcommand{\CH}{${\rm C}^{\rm H}$}
\newcommand{\bfCH}{\mbox {${\mbox{$ {\rm\bf C}^{\rm\bf H} $}} $} }
\newcommand{\Ch}{Ch}
\newcommand{\bfCh}{\bf Ch}

\newcommand{\Inf}{\rm Inf}
\newcommand{\NaN}{\rm NaN}

\newcommand{\coend}{\verb+>>+}
\newcommand{\block}{{\bf \{}}
\newcommand{\blockend}{{\bf \}}}
\newcommand{\assign}{{\bf =}}
\newcommand{\for}{{\bf for}}
\newcommand{\while}{{\bf while}}
\newcommand{\switch}{{\bf switch}}
\newcommand{\return}{{\bf return}}
\newcommand{\pause}{{\bf pause}}

\newcommand{\approach}{{\bf appro}}
\newcommand{\grasp}{{\bf grasp}}
\newcommand{\sensor}{{\bf sensor}}
\newcommand{\dac}{{\bf dac}}

\newcommand{\abort}{{\bf abort}}
\newcommand{\signal}{{\bf signal}}
\newcommand{\wait}{{\bf wait}}
\newcommand{\enable}{{\bf enable}}
\newcommand{\disable}{{\bf disable}}
\newcommand{\move}{{\bf move}}
\newcommand{\moves}{{\bf moves}}
\newcommand{\moveby}{{\bf moveb}}
\newcommand{\movesby}{{\bf movesb}}
\newcommand{\departure}{{\bf depart}}
\newcommand{\base}{{\bf base}}
\newcommand{\tool}{{\bf tool}}
\newcommand{\release}{{\bf release}}
\newcommand{\brake}{{\bf brake}}
\newcommand{\payload}{{\bf payload}}
\newcommand{\popen}{{\bf popen}}
\newcommand{\open}{{\bf open}}
\newcommand{\close}{{\bf close}}
\newcommand{\speed}{{\bf speed}}
\newcommand{\accel}{{\bf accel}}
\newcommand{\decel}{{\bf decel}} 
\newcommand{\free}{{\bf free}}
\newcommand{\affix}{{\bf affix}}
\newcommand{\unfix}{{\bf unfix}}
\newcommand{\chkey}{{\bf chkey}}
\newcommand{\addkey}{{\bf addkey}}
\newcommand{\remkey}{{\bf remkey}}
\newcommand{\iskey}{{\bf iskey}}
\newcommand{\isvar}{{\bf isvar}}
\newcommand{\casesen}{{\bf casesen}}
\newcommand{\floatconst}{{\bf floatconst}}
\newcommand{\case}{{\bf case}}
\newcommand{\default}{{\bf default}}
\newcommand{\step}{{\bf step}}
\newcommand{\cp}{{\bf cp}}
\newcommand{\simulation}{{\bf sim}}
\newcommand{\servo}{{\bf servo}}
\newcommand{\tune}{{\bf tune}}
\newcommand{\smoothaccel}{{\bf smoothaccel}}
\newcommand{\smoothdecel}{{\bf smoothdecel}}
\newcommand{\servotp}{{\bf servotp}}
\newcommand{\simtp}{{\bf simtp}}
\newcommand{\cj}{{\bf cj}}
\newcommand{\collect}{{\bf collect}}
\newcommand{\fstop}{{\bf fstop}}
\newcommand{\fxstop}{{\bf fxstop}}
\newcommand{\fystop}{{\b fystop}}
\newcommand{\fzstop}{{\bf fzstop}}

\newcommand{\force}{{\bf force}}
\newcommand{\torque}{{\bf torque}}

\newcommand{\var}{{\bf var}}		
\newcommand{\void}{{\bf void}}
\newcommand{\strng}{{\bf string}}
\newcommand{\short}{{\bf short}}
\newcommand{\float}{{\bf float}}
\newcommand{\double}{{\bf double}}
\newcommand{\complex}{{\bf complex}}
\newcommand{\dual}{{\bf dual}}
\newcommand{\vect}{{\bf vect}}
\newcommand{\quat}{{\bf quat}}
\newcommand{\trans}{{\bf trans}}
\newcommand{\event}{{\bf event}}
\newcommand{\file}{{\bf file}}
\newcommand{\joint}{{\bf joint}}
\newcommand{\actuat}{{\bf actuat}}
\newcommand{\spline}{{\bf spline}}
\newcommand{\image}{{\bf image}}
  
\newcommand{\sizeof}{{\bf sizeof}}
\newcommand{\unitv}{{\bf unit}}
\newcommand{\vmagn}{{\bf nortm}}
\newcommand{\tpos}{{\bf pos}}
\newcommand{\torient}{{\bf rot}}
\newcommand{\tinvrt}{{\bf inv}}
\newcommand{\raan}{{\bf raan}}
\newcommand{\xyz}{{\bf rxyz}}
\newcommand{\constr}{{\bf txyp}}
\newcommand{\query}{{\bf query}}
\newcommand{\getnum}{{\bf getnum}}
\newcommand{\putenv}{{\bf putenv}}
\newcommand{\getenv}{{\bf getenv}}
\newcommand{\remenv}{{\bf remenv}}
\newcommand{\isenv}{{\bf isenv}}
\newcommand{\malloc}{{\bf malloc}}
\newcommand{\calloc}{{\bf calloc}}
\newcommand{\realloc}{{\bf realloc}}
\newcommand{\memcpy}{{\bf memcpy}}
\newcommand{\memmove}{{\bf memmove}}
\newcommand{\fclose}{{\bf fclose}}
\newcommand{\system}{{\bf system}}
\newcommand{\unlink}{{\bf unlink}}
\newcommand{\rename}{{\bf rename}}
\newcommand{\getchar}{{\bf getchar}}
\newcommand{\getc}{{\bf getc}}
\newcommand{\fgetc}{{\bf fgetc}}
\newcommand{\putc}{{\bf putc}}
\newcommand{\fputc}{{\bf fputc}}
\newcommand{\ungetc}{{\bf ungetc}}
\newcommand{\ggets}{{\bf ggets}}
\newcommand{\fgets}{{\bf fgets}}
\newcommand{\puts}{{\bf puts}}
\newcommand{\fputs}{{\bf fputs}}
\newcommand{\printf}{{\bf printf}}
\newcommand{\scanf}{{\bf scanf}}
\newcommand{\fscanf}{{\bf fscanf}}
\newcommand{\sscanf}{{\bf sscanf}}
\newcommand{\fopen}{{\bf fopen}}
\newcommand{\fprintf}{{\bf fprintf}}
\newcommand{\sprintf}{{\bf sprintf}}
\newcommand{\fopendatalog}{{\bf fopendatalog}}
\newcommand{\fclosedatalog}{{\bf fclosedatalog}}
\newcommand{\isalnum}{{\bf isalnum}}
\newcommand{\isalpha}{{\bf isalpha}}
\newcommand{\iscntrl}{{\bf iscntrl}}
\newcommand{\isdigit}{{\bf isdigit}}
\newcommand{\isgraph}{{\bf isgraph}}
\newcommand{\islower}{{\bf islower}}
\newcommand{\isprint}{{\bf isprint}}
\newcommand{\ispunct}{{\bf ispunct}}
\newcommand{\isspace}{{\bf isspace}}
\newcommand{\isupper}{{\bf isupper}}
\newcommand{\isxdigit}{{\bf isxdigit}}
\newcommand{\isascii}{{\bf isascii}}
\newcommand{\tolower}{{\bf tolower}}
\newcommand{\toupper}{{\bf toupper}}
\newcommand{\toascii}{{\bf toascii}}
\newcommand{\stradd}{{\bf stradd}}
\newcommand{\isinteger}{{\bf isinteger}}
\newcommand{\ishex}{{\bf ishex}}
\newcommand{\isnumber}{{\bf isnumber}}
\newcommand{\strlen}{{\bf strlen}}
\newcommand{\gradientim}{{\bf gradientim}}
\newcommand{\gradientxim}{{\bf gradientxim}}
\newcommand{\gradientyim}{{\bf gradientyim}}
\newcommand{\createconstim}{{\bf createconstim}}
\newcommand{\createcircim}{{\bf createcircim}}
\newcommand{\createrectim}{{\bf createrectim}}
\newcommand{\real}{{\bf real}}
\newcommand{\primary}{{\bf primary}}
\newcommand{\imag}{{\bf imag}}
\newcommand{\imaginary}{{\bf imaginary}}
\newcommand{\conjg}{{\bf conjg}}
\newcommand{\conjugate}{{\bf conjugate}}
\newcommand{\polar}{{\bf polar}}
\newcommand{\transpose}{{\bf transpose}}
\newcommand{\inverse}{{\bf inverse}}
\newcommand{\linearsolver}{{\bf linearsolver}}
\newcommand{\access}{{\bf access}}
\newcommand{\umask}{{\bf umask}}
\newcommand{\remvar}{{\bf remvar}}
\newcommand{\alias}{{\bf alias}}
\newcommand{\unalias}{{\bf unalias}}
\newcommand{\getalias}{{\bf getalias}}

\newcommand{\edit}{{\bf edit}}
\newcommand{\unix}{{\bf unix}}		
\newcommand{\save}{{\bf save}}
\newcommand{\run}{{\bf \run}}
\newcommand{\record}{{\bf record}}
\newcommand{\calibrate}{{\bf calibrate}}
\newcommand{\exit}{{\bf exit}}
\newcommand{\help}{{\bf help}}
\newcommand{\data}{{\bf data?}}
\newcommand{\func}{{\bf func?}}
\newcommand{\stmnt}{{\bf stmnt?}}
\newcommand{\struct}{{\bf struct?}}
\newcommand{\const}{{\bf const?}}

%%%%%%%%%%%%%%%%%% the consistency purpose defined as ...b %%%%%%%

\newcommand{\powb}{{\bf pow}} 
\newcommand{\absb}{{\bf abs}} 
\newcommand{\fabsb}{{\bf fabs}} 
\newcommand{\asinb}{{\bf asin}} 
\newcommand{\acosb}{{\bf acos}} 
\newcommand{\atanb}{{\bf atan}}
\newcommand{\atant}{{\bf atan2}} %% cannot define \atan2
\newcommand{\logg}{{\bf log10}} %% cannot define \log10
\newcommand{\sinhb}{{\bf sinh}}
\newcommand{\coshb}{{\bf cosh}}
\newcommand{\tanhb}{{\bf tanh}}
\newcommand{\asinhb}{{\bf asinh}}
\newcommand{\acoshb}{{\bf acosh}}
\newcommand{\atanhb}{{\bf atanh}}
\newcommand{\ceilb}{{\bf ceil}}
\newcommand{\floorb}{{\bf floor}}
\newcommand{\fmodb}{{\bf fmod}}
\newcommand{\ldexpb}{{\bf ldexp}}
\newcommand{\frexpb}{{\bf frexp}}
\newcommand{\modfb}{{\bf modf}}

%%%%%%%%%%%%%%%%%% the following def is already used by LaTeX %%%%%%%

\newcommand{\maxb}{{\bf max}} 
\newcommand{\minb}{{\bf min}} 
\newcommand{\sqrtb}{{\bf sqrt}} 
\newcommand{\logb}{{\bf log}} 
\newcommand{\expb}{{\bf exp}} 
\newcommand{\sinb}{{\bf sin}} 
\newcommand{\cosb}{{\bf cos}} 
\newcommand{\tanb}{{\bf tan}} 

\newcommand{\includeb}{{\bf include}}
\newcommand{\dob}{{\bf do}}
\newcommand{\ifb}{{\bf if}}
\newcommand{\readb}{{\bf read}}
\newcommand{\stopb}{{\bf stop}}
\newcommand{\breakb}{{\bf breack}}
\newcommand{\elseb}{{\bf else}}
\newcommand{\tob}{{\bf to}}
\newcommand{\loadb}{{\bf load}}
\newcommand{\longb}{{\bf long}}
\newcommand{\charb}{{\bf char}}
\newcommand{\intb}{{\bf int}}
\newcommand{\frameb}{{\bf frame}}
\newcommand{\circb}{{\bf circ}}
\newcommand{\removeb}{{\bf remove}}
\newcommand{\setbaseb}{{\bf setbase}}
\newcommand{\inputb}{{\bf input}}
\newcommand{\outputb}{{\bf output}}
\newcommand{\fcloseb}{{\bf fclose}}

%%%%%%%%%%%% arrays %%%%%%%%%%%%
\newcommand{\reshape}{{\bf reshape}}

%%%%%%%%%%%%% folloing is used in paper only %%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%% Begin reference style %%%%%%%%%%%%%%%%
%   from article.sty *, modified for SIAM head:
\def\thebibliography#1{\vspace*{.5ex}  \list
 {\arabic{enumi}.}{\settowidth\labelwidth{#1.}\leftmargin\labelwidth
%\def\thebibliography#1{\vspace*{.5ex} \begin{center} REFERENCES \end{center} \par \list
%{[\arabic{enumi}]}{\settowidth\labelwidth{[#1]}\leftmargin\labelwidth
 \advance\leftmargin\labelsep
 \usecounter{enumi}}
 \def\newblock{\hskip .11em plus .33em minus -.07em}
 \sloppy
 \sfcode`\.=1000\relax}

% changed from report.sty, article.sty
\def\contentsname{\centerline{Table of Contents} \\ \vspace{4.5cm}
  {Section} \hfill {Page} \vspace*{- 4.5cm}}
\def\listtablename{\centerline{List of Tables} \\ \vspace{4.5cm}
  {Table} \hfill Title \hfill {Page} \vspace*{- 4.5cm}}
\def\listfigurename{\centerline{List of Figures} \\ \vspace*{4.5cm}
  {Figure} \hfill Title \hfill {Page}  \vspace*{- 4.5cm}}
%%%%%%%%%%%%%%%%%% end reference style %%%%%%%%%%%%%%%%

