Move things into attic and update Makefile to do dependnencies.

19 files changed, 0 insertions, 4743 deletions

diff --git a/dave/AffineSolve b/dave/AffineSolve
deleted file mode 100755
index bd93cbd..0000000
--- a/dave/AffineSolve
+++ /dev/null
diff --git a/dave/AffineSolve.c b/dave/AffineSolve.c
deleted file mode 100644
index 685062e..0000000
--- a/dave/AffineSolve.c
+++ /dev/null
@@ -1,783 +0,0 @@
-//
-//  main.c
-//  Aff
-//  Created by user on 3/2/17.
-//  Copyright © 2017 user. All rights reserved.
-//
-
-#include <stdio.h>
-#include <string.h>
-#include <stdlib.h>
-#include <math.h>
-#include "dclapack.h"
-#include <linmath.h>
-#define RegisterDriver(a,b)
-#include "poser_daveortho.c"
-#define LH_ID    0
-#define NUM_HMD 32
-#define INDIR "full_test_triangle_on_floor/"
-
-#define MAX_POINTS SENSORS_PER_OBJECT
-//#define _ABS(a)  ( (a)<=0 ? -(a) : (a) )
-#define _SIGN(a) ( (a)<=0 ? -1.0f : 1.0f )
-#define RANDF  ( (float)rand() / (float)RAND_MAX )
-#define PI 3.14159265358979323846264
-
-#define STEP_SIZE_ROT 1.0
-#define STEP_SIZE_POS 1.0
-#define FALLOFF   0.99999
-#define NITER     2000000
-#define TOO_SMALL 0.0001
-#define ORTHOG_PENALTY   1.0
-
-float hmd_pos[NUM_HMD][3];
-void ReadHmdPoints()
-{
-    int i;
-    FILE *fin = fopen(INDIR "HMD_points.csv","r");
-    if (fin==NULL) {
-        printf("ERROR: could not open HMD_points.csv for reading\n");
-        exit(1);
-    }
-    
-    for (i=0; i<NUM_HMD; i++) {
-        fscanf(fin, "%f %f %f", &(hmd_pos[i][0]), &(hmd_pos[i][1]), &(hmd_pos[i][2]));
-    }
-    
-    fclose(fin);
-}
-
-float hmd_angle[NUM_HMD][2];
-void ReadPtinfo()
-{
-    // Initialize to -9999
-    int i;
-    for (i=0; i<NUM_HMD; i++) { hmd_angle[i][0]=-9999.0; hmd_angle[i][1]=-9999.0; }
-
-    // Read ptinfo.csv
-    FILE *fin = fopen(INDIR "ptinfo.csv", "r");
-    if (fin==NULL) { printf("ERROR: could not open ptinfo.csv for reading\n"); exit(1); }
-    while (!feof(fin))
-    {
-        // Read the angle
-        int sen,lh,axis,count;
-        float angle, avglen, stddevang, stddevlen;
-        float max_outlier_length, max_outlier_angle;
-        int rt = fscanf( fin, "%d %d %d %d %f %f %f %f %f %f\n",
-                        &sen, &lh, &axis, &count,
-                        &angle, &avglen, &stddevang, &stddevlen,
-                        &max_outlier_length, &max_outlier_angle);
-        if (rt != 10) { break; }
-        
-        // If it's valid, store in the result
-        if (lh == LH_ID && sen < NUM_HMD) {
-            hmd_angle[sen][axis] = angle;
-        }
-    }
-    fclose(fin);
-}
-
-void AffineSolve(
-    float T[4][4],           // OUTPUT: transform
-    float O[MAX_POINTS][4],  // INPUT:  points, offsets
-    float N[MAX_POINTS][3],  // INPUT:  plane normals
-    float D[MAX_POINTS],     // INPUT:  plane offsets
-    int nPoints, int nIter,
-    float stepSizeRot, float stepSizePos, float falloff, int constrain)
-{
-    int i,j,k,iter;
-    //T[3][3] = 1.0f;
-    
-    printf("iter x y z error\n");
-    
-    float gradDot     = 1.0;
-    float prevGradDot = 1.0;
-    float de_dT[3][4];  // the gradient
-    float conj[3][4];   // the conjugate
-    float errorSq=0.0;
-    for (iter=0; iter<nIter; iter++)
-    {
-        //----------------------------------
-        // Calculate the gradient direction
-        //----------------------------------
-        errorSq = 0.0;
-        memset(de_dT, 0, 3*4*sizeof(float));
-        for (i=0; i<nPoints; i++)
-        {
-            // What is the plane deviation error
-            float Ei = -D[i];
-            for (j=0; j<3; j++) {
-                float Tj_oi = 0.0f;
-                for (k=0; k<4; k++) {
-                    Tj_oi += T[j][k] * O[i][k];
-                }
-                Ei += N[i][j] * Tj_oi;
-            }
-//            printf("E[%d] %f\n", i, Ei);
-        
-            // Figure out contribution to the error
-            for (j=0; j<3; j++) {
-                for (k=0; k<4; k++) {
-                    de_dT[j][k] += N[i][j] * O[i][k] * Ei;
-                }
-            }
-            
-            errorSq += Ei*Ei;
-        }
-
-//        printf("%d %f %f %f %f\n", iter, T[0][3], T[1][3], T[2][3], sqrt(errorSq));
-//exit(1);
-        // Constrain the gradient (such that dot products are zero)
-        if (constrain)
-        {
-            float T0T1 = 0.0, T1T2 = 0.0, T2T0 = 0.0;
-            for (k=0; k<3; k++) {
-                T0T1 += T[0][k] * T[1][k];
-                T1T2 += T[1][k] * T[2][k];
-                T2T0 += T[2][k] * T[0][k];
-            }
-//            printf("T0T1 %f T1T2 %f T2T0 %f\n", T0T1, T1T2, T2T0);
-            for (k=0; k<3; k++) {
-                de_dT[0][k] += ORTHOG_PENALTY * 2.0 * T0T1 * T[1][k];
-                de_dT[0][k] += ORTHOG_PENALTY * 2.0 * T2T0 * T[2][k];
-                de_dT[1][k] += ORTHOG_PENALTY * 2.0 * T1T2 * T[2][k];
-                de_dT[1][k] += ORTHOG_PENALTY * 2.0 * T0T1 * T[0][k];
-                de_dT[2][k] += ORTHOG_PENALTY * 2.0 * T1T2 * T[1][k];
-                de_dT[2][k] += ORTHOG_PENALTY * 2.0 * T2T0 * T[0][k];
-            }
-        }
-
-        // Calculate the gradient dot product
-        //  (used by conjugate gradient method)
-        prevGradDot = gradDot;
-        gradDot = 0.0;
-        for (j=0; j<3; j++) {
-            for (k=0; k<4; k++) {
-                gradDot += de_dT[j][k] * de_dT[j][k];
-            }
-        }
-
-//        printf("Iter %d error %f gradDot %f prevGradDot %f\n", iter, sqrt(errorSq), gradDot, prevGradDot);
-
-        //----------------------------------
-        // Calculate the conjugate direction
-        //----------------------------------
-//        if (iter==0) {
-            // First iteration, just use the gradient
-            for (j=0; j<3; j++) {
-                for (k=0; k<4; k++) {
-                    conj[j][k] = -de_dT[j][k];
-                }
-            }
-/*        } else {
-            // Calculate "beta" for Fletcher Reeves method
-            float beta = gradDot / prevGradDot;
-//printf("gradDot %f prevGradDot %f beta %f\n", gradDot, prevGradDot, beta);
-
-            // Update the conjugate
-            for (j=0; j<3; j++) {
-                for (k=0; k<4; k++) {
-                    conj[j][k] = beta*conj[j][k] - de_dT[j][k];
-                }
-            }            
-        }
-*/
-
-//        PRINT_MAT(de_dT,4,4);
-//        exit(1);
-
-        //----------------------------------
-        // How large is the gradient ?
-        //----------------------------------
-        
-        double gradSizeRot = 0.0;
-        double gradSizePos = 0.0;
-        for (j=0; j<3; j++) {
-            for (k=0; k<3; k++) {
-                gradSizeRot += _ABS(conj[j][k]);
-            }
-            gradSizePos += _ABS(conj[j][k]);
-        }
-        if (gradSizeRot <= TOO_SMALL && gradSizePos <= TOO_SMALL) { break; }  // Quit, we've totally converged
-        
-        //----------------------------------
-        // Descend in the gradient direction
-        //----------------------------------
-        if (gradSizeRot > TOO_SMALL) {
-            float scaleRot = stepSizeRot / gradSizeRot;
-            for (j=0; j<3; j++) {
-                for (k=0; k<3; k++) {
-                    T[j][k] += scaleRot * conj[j][k];
-                }
-            }
-            stepSizeRot *= falloff;
-        }
-        
-        if (gradSizePos > TOO_SMALL) {
-            float scalePos = stepSizePos / gradSizePos;
-            for (j=0; j<3; j++) {
-                T[j][3] += scalePos * conj[j][3];
-            }
-            stepSizePos *= falloff;
-        }
-        
-        // Constrain the gradient (such that scaling is one)
-        if (constrain)
-        {
-            // Measure the scales
-            float len[3] = {0.0, 0.0, 0.0};
-            for (j=0; j<3; j++) {
-                double lenSq = 0.0;
-                for (k=0; k<3; k++) { lenSq += (double)T[j][k] * (double)T[j][k]; }
-                len[j] = sqrt(lenSq);
-            }
-            
-            // How far off is the scale?
-            float xzLen = 0.5 * (len[0] + len[2]);
-            if (xzLen > TOO_SMALL) {
-                float inv_xzLen = 1.0 / xzLen;
-                for (j=0; j<3; j++) {
-                    T[3][j] *= inv_xzLen;
-                }
-            }
-            
-            // Rescale the thing
-            for (j=0; j<3; j++)
-            {
-                if (len[j] > TOO_SMALL) {
-                    float inv_len = 1.0 / len[j];
-                    for (k=0; k<3; k++) { T[j][k] *= inv_len; }
-                }
-            }
-        }
-    }
-    float dist = sqrt(T[0][3]*T[0][3] + T[1][3]*T[1][3] + T[2][3]*T[2][3]);
-    printf("AffineSolve: pos: %f %f %f dist: %f\n", T[0][3], T[1][3], T[2][3], dist);
-}
-
-int main()
-{
-    int i,j,k,sen,axis;
-        
-    // Read the data files
-    ReadHmdPoints();
-    ReadPtinfo();
-
-    //-------------------------
-    // Package the lighthouse data for "AffineSolve"
-    //-------------------------
-
-    // Data for the "iterative" affine solve formula
-    float Tcalc[4][4];
-    float O[MAX_POINTS][4];
-    float N[MAX_POINTS][3];
-    float D[MAX_POINTS];
-    int nPlanes = 0;
-
-    for (sen=0; sen<NUM_HMD; sen++)
-    {
-        for (axis=0; axis<2; axis++)
-        {
-            if (hmd_angle[sen][axis] != -9999.0)
-            {
-                // Set the offset
-                O[nPlanes][0] = hmd_pos[sen][0];
-                O[nPlanes][1] = hmd_pos[sen][1];
-                O[nPlanes][2] = hmd_pos[sen][2];
-                O[nPlanes][3] = 1.0;
-        
-                // Calculate the plane equation
-                if (axis == 0) {   // Horizontal
-                    N[nPlanes][0] = -cos(hmd_angle[sen][axis]);
-                    N[nPlanes][1] = -sin(hmd_angle[sen][axis]);
-                    N[nPlanes][2] = 0.0;
-                    D[nPlanes]    = 0.0;
-                } else {           // Vertical
-                    N[nPlanes][0] = 0.0;
-                    N[nPlanes][1] = -sin(hmd_angle[sen][axis]);
-                    N[nPlanes][2] =  cos(hmd_angle[sen][axis]);
-                    D[nPlanes]    = 0.0;
-                }
-
-                printf("plane %d O %.3f %.3f %.3f %.3f  N %.3f %.3f %.3f  D %.3f\n",
-                    nPlanes,
-                    O[nPlanes][0], O[nPlanes][1], O[nPlanes][2], O[nPlanes][3], 
-                    N[nPlanes][0], N[nPlanes][1], N[nPlanes][2], 
-                    D[nPlanes]);
-                nPlanes++;
-            }
-        }
-    }
-
-    
-    printf("nPlanes %d\n", nPlanes);
-        
-    //}
-    
-    PRINT_MAT(Tcalc,4,4);
-
-    
-    //--------------------------------------------------
-    // Package the data for "OrthoSolve"
-    //--------------------------------------------------
-
-    // Data for the "fake" ortho solve formula
-    float Tortho[4][4];         // OUTPUT: 4x4 transformation matrix
-    FLOAT S_out[2][MAX_POINTS];  // INPUT:  array of screenspace points
-    FLOAT S_in[2][MAX_POINTS];  // INPUT:  array of screenspace points
-    FLOAT X_in[3][MAX_POINTS];  // INPUT:  array of offsets
-    int nPoints=0;  
-
-    // Transform into the "OrthoSolve" format
-    for (sen=0; sen<NUM_HMD; sen++)
-    {
-        if (hmd_angle[sen][0] != -9999.0 && hmd_angle[sen][1] != -9999.0)
-        {
-            S_in[0][nPoints] = hmd_angle[sen][0];
-            S_in[1][nPoints] = hmd_angle[sen][1];
-            X_in[0][nPoints] = hmd_pos[sen][0];
-            X_in[1][nPoints] = hmd_pos[sen][1];
-            X_in[2][nPoints] = hmd_pos[sen][2];
-            nPoints++;
-        }
-    }
-    printf("OrthoSolve nPoints %d\n", nPoints);
-    
-    //--------------------------------------------------
-    // Run the "OrthoSolve" and then the "AffineSolve"
-    //--------------------------------------------------    
-    
-    int loop;
-    for (loop=0; loop<1; loop++)
-    {
-        // Run OrthoSolve
-        OrthoSolve(
-            Tortho,     // OUTPUT: 4x4 transformation matrix
-            S_out,      // OUTPUT: array of output screenspace points
-            S_in,       // INPUT:  array of screenspace points
-            X_in,       // INPUT:  array of offsets
-            nPoints);
-			printf( "POS: %f %f %f\n", Tortho[0][3], Tortho[1][3], Tortho[2][3]);
-
-		// Come up with rotation and transposed version of Tortho
-		FLT TorthoTr[4][4], Rortho[4][4], RorthoTr[4][4];
-		TRANSP(Tortho,TorthoTr,4,4);
-		memcpy(Rortho,Tortho,4*4*sizeof(FLT));
-		Rortho[3][0]=0.0;  Rortho[3][1]=0.0;  Rortho[3][2]=0.0;
-		TRANSP(Rortho,RorthoTr,4,4);
-		PRINT(Tortho,4,4);
-		PRINT(Rortho,4,4);
-
-		// Print out some quaternions
-		FLT Tquat[4], TquatTr[4], Rquat[4], RquatTr[4];
-		quatfrommatrix(Tquat,   &Tortho[0][0] );
-		quatfrommatrix(TquatTr, &TorthoTr[0][0] );
-		quatfrommatrix(Rquat,   &Rortho[0][0] );
-		quatfrommatrix(RquatTr, &RorthoTr[0][0] );
-		printf( "Tquat  : %f %f %f %f = %f\n", Tquat  [0], Tquat  [1], Tquat  [2], Tquat  [3], quatmagnitude(Tquat));
-		printf( "TquatTr: %f %f %f %f = %f\n", TquatTr[0], TquatTr[1], TquatTr[2], TquatTr[3], quatmagnitude(TquatTr));
-		printf( "Rquat  : %f %f %f %f = %f\n", Rquat  [0], Rquat  [1], Rquat  [2], Rquat  [3], quatmagnitude(Rquat));
-		printf( "RquatTr: %f %f %f %f = %f\n", RquatTr[0], RquatTr[1], RquatTr[2], RquatTr[3], quatmagnitude(RquatTr));
-
-		// Flip y and z axies
-		FLT T2[4][4] = {
-			{ Tortho[0][0], -Tortho[0][2], -Tortho[0][1], 0.0 },
-			{ Tortho[1][0], -Tortho[1][2], -Tortho[1][1], 0.0 },
-			{ Tortho[2][0], -Tortho[2][2], -Tortho[2][1], 0.0 },
-			{          0.0,           0.0,           0.0, 1.0 } };
-PRINT(T2,4,4);
-
-		// Print out the quaternions
-		FLT T2quat[4];
-		quatfrommatrix(T2quat,   &T2[0][0] );
-		printf( "T2quat : %f %f %f %f = %f\n", T2quat [0], T2quat [1], T2quat [2], T2quat [3], quatmagnitude(T2quat));
-    }
-
-    // Run the calculation for Tcalc
-    //int run;
-    //for (run=0; run<100; run++) {
-/*
-    // Initialize Tcalc to the identity matrix
-    memcpy(Tcalc, Tortho, 4*4*sizeof(float));
-    //memset(Tcalc, 0, 4*4*sizeof(float));
-    //for (i=0; i<4; i++) { Tcalc[i][i] = 1.0f; }
-
-    // Solve it!
-    AffineSolve(
-        Tcalc,           // OUTPUT: transform
-        O,  // INPUT:  points, offsets
-        N,  // INPUT:  plane normals
-        D,     // INPUT:  plane offsets
-        nPlanes, NITER,
-        STEP_SIZE_ROT, STEP_SIZE_POS, FALLOFF,
-        1);
-*/
-    // insert code here...
-    return 0;
-}
-
-
-
-
-
-#if 0
-#define PRINT_MAT(A,M,N) { \
-    int m,n; \
-    printf(#A "\n"); \
-    for (m=0; m<M; m++) { \
-        for (n=0; n<N; n++) { \
-            printf("%f\t", A[m][n]); \
-        } \
-        printf("\n"); \
-    } \
-}
-
-#define CrossProduct(ox,oy,oz,a,b,c,x,y,z) { \
-    ox=(b)*(z)-(c)*(y); \
-    oy=(c)*(x)-(a)*(z); \
-    oz=(a)*(y)-(b)*(x); }
-
-void OrthoSolve(
-    float T[4][4],               // OUTPUT: 4x4 transformation matrix
-    FLOAT S_out[2][MAX_POINTS],  // OUTPUT:  array of screenspace points
-    FLOAT S_in[2][MAX_POINTS],   // INPUT:  array of screenspace points
-    FLOAT X_in[3][MAX_POINTS],   // INPUT:  array of offsets
-    int nPoints)
-{
-    int i,j,k;
-    FLOAT R[3][3];           // OUTPUT: 3x3 rotation matrix
-    FLOAT trans[3];          // INPUT:  x,y,z translation vector
-
-    //--------------------
-    // Remove the center of the HMD offsets, and the screen space
-    //--------------------
-    FLOAT xbar[3] = {0.0, 0.0, 0.0};
-    FLOAT sbar[2] = {0.0, 0.0};
-    FLOAT S[2][MAX_POINTS];
-    FLOAT X[3][MAX_POINTS];
-    FLOAT inv_nPoints = 1.0 / nPoints;
-    for (i=0; i<nPoints; i++) {
-        xbar[0] += X_in[0][i];
-        xbar[1] += X_in[1][i];
-        xbar[2] += X_in[2][i];
-        sbar[0] += S_in[0][i];
-        sbar[1] += S_in[1][i];        
-    }
-    for (j=0; j<3; j++) { xbar[j] *= inv_nPoints; }
-    for (j=0; j<2; j++) { sbar[j] *= inv_nPoints; }
-    for (i=0; i<nPoints; i++) {
-        X[0][i] = X_in[0][i] - xbar[0];
-        X[1][i] = X_in[1][i] - xbar[1];
-        X[2][i] = X_in[2][i] - xbar[2];
-        S[0][i] = S_in[0][i] - sbar[0];
-        S[1][i] = S_in[1][i] - sbar[1];
-    }
-    
-    //--------------------
-    // Solve for the morph matrix
-    //  S = M X
-    // thus
-    // (SX^t)(XX^t)^-1 = M
-    //--------------------
-    FLOAT Xt[MAX_POINTS][3];
-    FLOAT XXt[3][3];
-    FLOAT invXXt[3][3];
-    FLOAT SXt[2][3];
-    FLOAT M[2][3];           // Morph matrix! (2 by 3)
-    TRANSP(X,Xt,3,nPoints);
-    MUL(X,Xt,XXt,3,nPoints,3);
-    MUL(S,Xt,SXt,2,nPoints,3);
-    INV(XXt,invXXt,3);
-    MUL(SXt,invXXt,M,2,3,3);
-//PRINT(M,2,3);
-
-// Double checking work
-FLOAT S_morph[2][MAX_POINTS];
-MUL(M,X,S_morph,2,3,nPoints);
-for (i=0; i<nPoints; i++) { S_morph[0][i]+=sbar[0]; S_morph[1][i]+=sbar[1]; }
-
-    //--------------------
-    // Solve for the non-trivial vector
-    //  uf -- vector that goes into the camera
-    //--------------------
-    FLOAT uM[3][3] = {
-        { M[0][0], M[0][1], M[0][2] },
-        { M[1][0], M[1][1], M[1][2] },
-        { 3.14567, -1.2345, 4.32567 } };      // Morph matrix with appended row
-//PRINT(uM,3,3);
-// ToDo: Pick a number for the bottom that is NOT linearly separable with M[0] and M[1]
-    FLOAT B[3][1] = { {0.0}, {0.0}, {1.0} };
-    FLOAT inv_uM[3][3];
-    FLOAT uf[3][1];
-    INV(uM,inv_uM,3);
-    MUL(inv_uM,B,uf,3,3,1);
-    
-    //--------------------
-    // Solve for unit length vector
-    //  f that goes into the camera
-    //--------------------
-    FLOAT uf_len = sqrt( uf[0][0]*uf[0][0] + uf[1][0]*uf[1][0] + uf[2][0]*uf[2][0] );
-    FLOAT f[3][1] = { {uf[0][0]/uf_len}, {uf[1][0]/uf_len}, {uf[2][0]/uf_len} };
-//PRINT(uf,3,1);
-//PRINT(f,3,1);
-
-//FLOAT check[3][1];
-//MUL(uM,uf,check,3,3,1);
-//PRINT(check,3,1);
-
-    //--------------------
-    // take cross products to get vectors u,r
-    //--------------------
-    FLOAT u[3][1], r[3][1];
-    CrossProduct(u[0][0],u[1][0],u[2][0],f[0][0],f[1][0],f[2][0],1.0,0.0,0.0);
-    FLOAT inv_ulen = 1.0 / sqrt( u[0][0]*u[0][0] + u[1][0]*u[1][0] + u[2][0]*u[2][0] );
-    u[0][0]*=inv_ulen; u[1][0]*=inv_ulen; u[2][0]*=inv_ulen;
-    CrossProduct(r[0][0],r[1][0],r[2][0],f[0][0],f[1][0],f[2][0],u[0][0],u[1][0],u[2][0]);
-//PRINT(u,3,1);
-//PRINT(r,3,1);
-
-    //--------------------
-    // Use morph matrix to get screen space
-    //  uhat,rhat
-    //--------------------
-    FLOAT uhat[2][1], rhat[2][1], fhat[2][1];
-    MUL(M,f,fhat,2,3,1);
-    MUL(M,u,uhat,2,3,1);
-    MUL(M,r,rhat,2,3,1);
-    FLOAT fhat_len = sqrt( fhat[0][0]*fhat[0][0] + fhat[1][0]*fhat[1][0] );
-    FLOAT uhat_len = sqrt( uhat[0][0]*uhat[0][0] + uhat[1][0]*uhat[1][0] );
-    FLOAT rhat_len = sqrt( rhat[0][0]*rhat[0][0] + rhat[1][0]*rhat[1][0] );
-    FLOAT urhat_len = 0.5 * (uhat_len + rhat_len);
-/*    
-printf("fhat %f %f (len %f)\n", fhat[0][0], fhat[1][0], fhat_len);
-printf("uhat %f %f (len %f)\n", uhat[0][0], uhat[1][0], uhat_len);
-printf("rhat %f %f (len %f)\n", rhat[0][0], rhat[1][0], rhat_len);
-*/
-//    FLOAT ydist1 = 1.0 /  uhat_len; //0.25*PI / uhat_len;
-//    FLOAT ydist2 = 1.0 /  rhat_len; //0.25*PI / rhat_len;
-    FLOAT ydist  = 1.0 / urhat_len;
-    //printf("ydist1 %f ydist2 %f ydist %f\n", ydist1, ydist2, ydist);
-
-    //--------------------
-    // Rescale the axies to be of the proper length
-    //--------------------
-    FLOAT x[3][1] = { {M[0][0]*ydist}, {0.0}, {M[1][0]*ydist} };
-    FLOAT y[3][1] = { {M[0][1]*ydist}, {0.0}, {M[1][1]*ydist} };
-    FLOAT z[3][1] = { {M[0][2]*ydist}, {0.0}, {M[1][2]*ydist} };
-
-    // we know the distance into (or out of) the camera for the z axis,
-    //  but we don't know which direction . . .
-    FLOAT x_y = sqrt(1.0 - x[0][0]*x[0][0] - x[2][0]*x[2][0]);
-    FLOAT y_y = sqrt(1.0 - y[0][0]*y[0][0] - y[2][0]*y[2][0]);
-    FLOAT z_y = sqrt(1.0 - z[0][0]*z[0][0] - z[2][0]*z[2][0]);
-
-	if( x_y != x_y ) x_y = 0;
-	if( y_y != y_y ) y_y = 0;
-	if( z_y != z_y ) z_y = 0;
-
-/*
-    // Exhaustively flip the minus sign of the z axis until we find the right one . . .
-    FLOAT bestErr = 9999.0;
-    FLOAT xy_dot2 = x[0][0]*y[0][0] + x[2][0]*y[2][0];
-    FLOAT yz_dot2 = y[0][0]*z[0][0] + y[2][0]*z[2][0];
-    FLOAT zx_dot2 = z[0][0]*x[0][0] + z[2][0]*x[2][0];
-    for (i=0;i<2;i++) {
-        for (j=0;j<2;j++) {
-            for(k=0;k<2;k++) {
-            
-                // Calculate the error term
-                FLOAT xy_dot = xy_dot2 + x_y*y_y;
-                FLOAT yz_dot = yz_dot2 + y_y*z_y;
-                FLOAT zx_dot = zx_dot2 + z_y*x_y;
-                FLOAT err = _ABS(xy_dot) + _ABS(yz_dot) + _ABS(zx_dot);
-                
-                // Calculate the handedness
-                FLOAT cx,cy,cz;
-                CrossProduct(cx,cy,cz,x[0][0],x_y,x[2][0],y[0][0],y_y,y[2][0]);
-                FLOAT hand = cx*z[0][0] + cy*z_y + cz*z[2][0];
-                printf("err %f hand %f\n", err, hand);
-                
-                // If we are the best right-handed frame so far
-                //if (hand > 0 && err < bestErr) { x[1][0]=x_y; y[1][0]=y_y; z[1][0]=z_y; bestErr=err; }
-				if ( i == 0 && j == 1 && k == 0) { x[1][0]=x_y; y[1][0]=y_y; z[1][0]=z_y; bestErr=err; }
-                z_y = -z_y;
-            }
-            y_y = -y_y;
-        }
-        x_y = -x_y;
-    }
-    printf("bestErr %f\n", bestErr);
-*/
-
-    //-------------------------
-    // A test version of the rescaling to the proper length
-    //-------------------------
-    FLOAT ydist2;
-    FLOAT bestBestErr = 9999.0;
-    FLOAT bestYdist = 0;
-    for (ydist2=ydist-0.1; ydist2<ydist+0.1; ydist2+=0.0001)
-    {
-        FLOAT x2[3][1] = { {M[0][0]*ydist2}, {0.0}, {M[1][0]*ydist2} };
-        FLOAT y2[3][1] = { {M[0][1]*ydist2}, {0.0}, {M[1][1]*ydist2} };
-        FLOAT z2[3][1] = { {M[0][2]*ydist2}, {0.0}, {M[1][2]*ydist2} };
-
-        // we know the distance into (or out of) the camera for the z axis,
-        //  but we don't know which direction . . .
-        FLOAT x_y = sqrt(1.0 - x2[0][0]*x2[0][0] - x2[2][0]*x2[2][0]);
-        FLOAT y_y = sqrt(1.0 - y2[0][0]*y2[0][0] - y2[2][0]*y2[2][0]);
-        FLOAT z_y = sqrt(1.0 - z2[0][0]*z2[0][0] - z2[2][0]*z2[2][0]);
-
-        // Exhaustively flip the minus sign of the z axis until we find the right one . . .
-        FLOAT bestErr = 9999.0;
-        FLOAT xy_dot2 = x2[0][0]*y2[0][0] + x2[2][0]*y2[2][0];
-        FLOAT yz_dot2 = y2[0][0]*z2[0][0] + y2[2][0]*z2[2][0];
-        FLOAT zx_dot2 = z2[0][0]*x2[0][0] + z2[2][0]*x2[2][0];
-        for (i=0;i<2;i++) {
-            for (j=0;j<2;j++) {
-                for(k=0;k<2;k++) {
-            
-                    // Calculate the error term
-                    FLOAT xy_dot = xy_dot2 + x_y*y_y;
-                    FLOAT yz_dot = yz_dot2 + y_y*z_y;
-                    FLOAT zx_dot = zx_dot2 + z_y*x_y;
-                    FLOAT err = _ABS(xy_dot) + _ABS(yz_dot) + _ABS(zx_dot);
-                
-                    // Calculate the handedness
-                    FLOAT cx,cy,cz;
-                    CrossProduct(cx,cy,cz,x2[0][0],x_y,x2[2][0],y2[0][0],y_y,y2[2][0]);
-                    FLOAT hand = cx*z2[0][0] + cy*z_y + cz*z2[2][0];
-//                  printf("err %f hand %f\n", err, hand);
-                
-                    // If we are the best right-handed frame so far
-                    if (hand > 0 && err < bestErr) { x2[1][0]=x_y; y2[1][0]=y_y; z2[1][0]=z_y; bestErr=err; }
-                    z_y = -z_y;
-                }
-                y_y = -y_y;
-            }
-            x_y = -x_y;
-        }
-        printf("ydist2 %f bestErr %f\n",ydist2,bestErr);
-        
-        if (bestErr < bestBestErr) {
-            memcpy(x,x2,3*sizeof(FLOAT));
-            memcpy(y,y2,3*sizeof(FLOAT));
-            memcpy(z,z2,3*sizeof(FLOAT));
-            bestBestErr = bestErr;
-            bestYdist = ydist2;
-        }
-    }
-    ydist = bestYdist;
-
-/*
-    for (i=0; i<nPoints; i++) {
-        float x1 = x[0][0]*X[0][i] + y[0][0]*X[1][i] + z[0][0]*X[2][i];
-        float y1 = x[1][0]*X[0][i] + y[1][0]*X[1][i] + z[1][0]*X[2][i];
-        float z1 = x[2][0]*X[0][i] + y[2][0]*X[1][i] + z[2][0]*X[2][i];
-        printf("x1z1 %f %f y1 %f\n", x1, z1, y1);
-    }
-*/
-/*    
-    //--------------------
-    // Combine uhat and rhat to figure out the unit x-vector
-    //--------------------
-    FLOAT xhat[2][1]  = { {0.0}, {1.0} };
-    FLOAT urhat[2][2] = {
-        {uhat[0][0], uhat[1][0]},
-        {rhat[0][0], rhat[1][0]} };
-    FLOAT inv_urhat[2][2];
-    FLOAT ab[2][1];
-    INV(urhat,inv_urhat,2);
-    MUL(inv_urhat,xhat,ab,2,2,1);
-PRINT(ab,2,1);
-    FLOAT a = ab[0][0], b = ab[1][0];
-
-    //-------------------
-    // calculate the xyz coordinate system
-    //-------------------
-    FLOAT y[3][1] = { {f[0][0]}, {f[1][0]}, {f[2][0]} };
-    FLOAT x[3][1] = { {a*u[0][0] + b*r[0][0]}, {a*u[1][0] + b*r[1][0]}, {a*u[2][0] + b*r[2][0]} };
-    FLOAT inv_xlen = 1.0 / sqrt( x[0][0]*x[0][0] + x[1][0]*x[1][0] + x[2][0]*x[2][0] );
-    x[0][0]*=inv_xlen; x[1][0]*=inv_xlen; x[2][0]*=inv_xlen;
-    FLOAT z[3][1];
-    CrossProduct(z[0][0],z[1][0],z[2][0],x[0][0],x[1][0],x[2][0],y[0][0],y[1][0],y[2][0]);
-*/
-    // Store into the rotation matrix
-    for (i=0; i<3; i++) { R[i][0] = x[i][0]; R[i][1] = y[i][0]; R[i][2] = z[i][0]; }
-//PRINT(R,3,3);
-
-    //-------------------
-    // Calculate the translation of the centroid
-    //-------------------
-    trans[0]=tan(sbar[0]);  trans[1]=1.0;  trans[2]=tan(sbar[1]);
-    FLOAT inv_translen = ydist / sqrt( trans[0]*trans[0] + trans[1]*trans[1] + trans[2]*trans[2] );
-    trans[0]*=inv_translen; trans[1]*=inv_translen; trans[2]*=inv_translen;
-
-    //-------------------
-    // Add in the centroid point
-    //-------------------
-    trans[0] -= xbar[0]*R[0][0] + xbar[1]*R[0][1] + xbar[2]*R[0][2];
-    trans[1] -= xbar[0]*R[1][0] + xbar[1]*R[1][1] + xbar[2]*R[1][2];
-    trans[2] -= xbar[0]*R[2][0] + xbar[1]*R[2][1] + xbar[2]*R[2][2];
-    FLOAT transdist = sqrt( trans[0]*trans[0] + trans[1]*trans[1] + trans[2]*trans[2] );
-
-    //-------------------
-    // Pack into the 4x4 transformation matrix
-    //-------------------
-    T[0][0]=R[0][0]; T[0][1]=R[0][1]; T[0][2]=R[0][2]; T[0][3]=trans[0];
-    T[1][0]=R[1][0]; T[1][1]=R[1][1]; T[1][2]=R[1][2]; T[1][3]=trans[1];
-    T[2][0]=R[2][0]; T[2][1]=R[2][1]; T[2][2]=R[2][2]; T[2][3]=trans[2];
-    T[3][0]=0.0;     T[3][1]=0.0;     T[3][2]=0.0;     T[3][3]=1.0;
-
-    PRINT_MAT(T,4,4);
-    //-------------------
-    // Plot the output points
-    //-------------------
-    for (i=0; i<nPoints; i++) {
-        float Tx = T[0][0]*X_in[0][i] + T[0][1]*X_in[1][i] + T[0][2]*X_in[2][i] + T[0][3];
-        float Ty = T[1][0]*X_in[0][i] + T[1][1]*X_in[1][i] + T[1][2]*X_in[2][i] + T[1][3];
-        float Tz = T[2][0]*X_in[0][i] + T[2][1]*X_in[1][i] + T[2][2]*X_in[2][i] + T[2][3];
-        S_out[0][i] = atan2(Tx, Ty);   // horiz
-        S_out[1][i] = atan2(Tz, Ty);   // vert
-        //S_out[0][i] = Tx;
-        //S_out[1][i] = Tz;
-        printf("point %i Txyz %f %f %f in %f %f out %f %f morph %f %f\n", i, Tx,Ty,Tz, S_in[0][i], S_in[1][i], S_out[0][i], S_out[1][i], S_morph[0][i], S_morph[1][i]);
-    }
-
-
-
-
-	float quat[4];
-	float posoff[3] = { trans[0], trans[1], trans[2] };
-	float MT[4][4];
-	//matrix44transpose( MT, &T[0][0] );
-	matrix44copy( &MT[0][0], &T[0][0] );
-
-//QUAT: 0.657864 -0.305763 0.128486 0.265895 = 0.783252
-//QUAT: 0.657864 0.305763 -0.128486 -0.265895 = 0.783252
-
-
-	quatfrommatrix( quat, &MT[0][0] );
-	printf( "QUAT: %f %f %f %f = %f\n", quat[0], quat[1], quat[2], quat[3], quatmagnitude(quat) );
-	//quat[2] -= 0.005; //fixes up lh0 in test data set.
-	quatnormalize( quat, quat );
-	printf( "QUAT: %f %f %f %f = %f\n", quat[0], quat[1], quat[2], quat[3], quatmagnitude(quat) );
-
-
-	for( i = 0; i <nPoints;i++ )
-	{
-		float pt[3] = { X_in[0][i], X_in[1][i], X_in[2][i] };
-		quatrotatevector( pt, quat, pt );
-		add3d( pt, pt, posoff );
-		printf( "%f %f %f OUT %f %f %f ANGLE %f %f AOUT %f %f\n", 
-			X_in[0][i], X_in[1][i], X_in[2][i], pt[0], pt[1], pt[2],
-			S_in[0][i], S_in[1][i], atan2( pt[0], pt[1] ), atan2( pt[2], pt[1] ) );
-	}
-	quattomatrix( &MT[0][0], quat );
-    PRINT_MAT(MT,4,4);
-
-
-
-//    printf("xbar %f %f %f\n", xbar[0], xbar[1], xbar[2]);
-//    printf("trans %f %f %f dist: %f\n", trans[0], trans[1], trans[2], transdist);
-}
-#endif
diff --git a/dave/AffineSolve.c.CHARLES b/dave/AffineSolve.c.CHARLES
deleted file mode 100644
index cb62ef6..0000000
--- a/dave/AffineSolve.c.CHARLES
+++ /dev/null
@@ -1,643 +0,0 @@
-//
-//  main.c
-//  Aff
-//  Created by user on 3/2/17.
-//  Copyright © 2017 user. All rights reserved.
-//
-
-#include <stdio.h>
-#include <string.h>
-#include <stdlib.h>
-#include <math.h>
-#include "dclapack.h"
-
-#define LH_ID    1
-#define NUM_HMD 32
-
-#define MAX_POINTS 128
-//#define _ABS(a)  ( (a)<=0 ? -(a) : (a) )
-#define _SIGN(a) ( (a)<=0 ? -1.0f : 1.0f )
-#define RANDF  ( (float)rand() / (float)RAND_MAX )
-#define PI 3.14159265358979323846264
-
-#define STEP_SIZE_ROT 1.0
-#define STEP_SIZE_POS 1.0
-#define FALLOFF   0.99999
-#define NITER     2000000
-#define TOO_SMALL 0.0001
-#define ORTHOG_PENALTY   1.0
-
-float hmd_pos[NUM_HMD][3];
-void ReadHmdPoints()
-{
-    int i;
-    FILE *fin = fopen("HMD_points.csv","r");
-    if (fin==NULL) {
-        printf("ERROR: could not open HMD_points.csv for reading\n");
-        exit(1);
-    }
-    
-    for (i=0; i<NUM_HMD; i++) {
-        fscanf(fin, "%f %f %f", &(hmd_pos[i][0]), &(hmd_pos[i][1]), &(hmd_pos[i][2]));
-    }
-    
-    fclose(fin);
-}
-
-float hmd_angle[NUM_HMD][2];
-void ReadPtinfo()
-{
-    // Initialize to -9999
-    int i;
-    for (i=0; i<NUM_HMD; i++) { hmd_angle[i][0]=-9999.0; hmd_angle[i][1]=-9999.0; }
-
-    // Read ptinfo.csv
-    FILE *fin = fopen("ptinfo.csv", "r");
-    if (fin==NULL) { printf("ERROR: could not open ptinfo.csv for reading\n"); exit(1); }
-    while (!feof(fin))
-    {
-        // Read the angle
-        int sen,lh,axis,count;
-        float angle, avglen, stddevang, stddevlen;
-        float max_outlier_length, max_outlier_angle;
-        int rt = fscanf( fin, "%d %d %d %d %f %f %f %f %f %f\n",
-                        &sen, &lh, &axis, &count,
-                        &angle, &avglen, &stddevang, &stddevlen,
-                        &max_outlier_length, &max_outlier_angle);
-        if (rt != 10) { break; }
-        
-        // If it's valid, store in the result
-        if (lh == LH_ID && sen < NUM_HMD) {
-            hmd_angle[sen][axis] = angle;
-        }
-    }
-    fclose(fin);
-}
-
-#define PRINT_MAT(A,M,N) { \
-    int m,n; \
-    printf(#A "\n"); \
-    for (m=0; m<M; m++) { \
-        for (n=0; n<N; n++) { \
-            printf("%f\t", A[m][n]); \
-        } \
-        printf("\n"); \
-    } \
-}
-
-#define CrossProduct(ox,oy,oz,a,b,c,x,y,z) { \
-    ox=(b)*(z)-(c)*(y); \
-    oy=(c)*(x)-(a)*(z); \
-    oz=(a)*(y)-(b)*(x); }
-
-void OrthoSolve(
-    float T[4][4],               // OUTPUT: 4x4 transformation matrix
-    FLOAT S_out[2][MAX_POINTS],  // OUTPUT:  array of screenspace points
-    FLOAT S_in[2][MAX_POINTS],   // INPUT:  array of screenspace points
-    FLOAT X_in[3][MAX_POINTS],   // INPUT:  array of offsets
-    int nPoints)
-{
-    int i,j,k;
-    FLOAT R[3][3];           // OUTPUT: 3x3 rotation matrix
-    FLOAT trans[3];          // INPUT:  x,y,z translation vector
-
-    //--------------------
-    // Remove the center of the HMD offsets, and the screen space
-    //--------------------
-    FLOAT xbar[3] = {0.0, 0.0, 0.0};
-    FLOAT sbar[2] = {0.0, 0.0};
-    FLOAT S[2][MAX_POINTS];
-    FLOAT X[3][MAX_POINTS];
-    FLOAT inv_nPoints = 1.0 / nPoints;
-    for (i=0; i<nPoints; i++) {
-        xbar[0] += X_in[0][i];
-        xbar[1] += X_in[1][i];
-        xbar[2] += X_in[2][i];
-        sbar[0] += S_in[0][i];
-        sbar[1] += S_in[1][i];        
-    }
-    for (j=0; j<3; j++) { xbar[j] *= inv_nPoints; }
-    for (j=0; j<2; j++) { sbar[j] *= inv_nPoints; }
-    for (i=0; i<nPoints; i++) {
-        X[0][i] = X_in[0][i] - xbar[0];
-        X[1][i] = X_in[1][i] - xbar[1];
-        X[2][i] = X_in[2][i] - xbar[2];
-        S[0][i] = S_in[0][i] - sbar[0];
-        S[1][i] = S_in[1][i] - sbar[1];
-    }
-    
-    //--------------------
-    // Solve for the morph matrix
-    //  S = M X
-    // thus
-    // (SX^t)(XX^t)^-1 = M
-    //--------------------
-    FLOAT Xt[MAX_POINTS][3];
-    FLOAT XXt[3][3];
-    FLOAT invXXt[3][3];
-    FLOAT SXt[2][3];
-    FLOAT M[2][3];           // Morph matrix! (2 by 3)
-    TRANSP(X,Xt,3,nPoints);
-    MUL(X,Xt,XXt,3,nPoints,3);
-    MUL(S,Xt,SXt,2,nPoints,3);
-    INV(XXt,invXXt,3);
-    MUL(SXt,invXXt,M,2,3,3);
-//PRINT(M,2,3);
-
-// Double checking work
-FLOAT S_morph[2][MAX_POINTS];
-MUL(M,X,S_morph,2,3,nPoints);
-for (i=0; i<nPoints; i++) { S_morph[0][i]+=sbar[0]; S_morph[1][i]+=sbar[1]; }
-
-    //--------------------
-    // Solve for the non-trivial vector
-    //  uf -- vector that goes into the camera
-    //--------------------
-    FLOAT uM[3][3] = {
-        { M[0][0], M[0][1], M[0][2] },
-        { M[1][0], M[1][1], M[1][2] },
-        { 3.14567, -1.2345, 4.32567 } };      // Morph matrix with appended row
-//PRINT(uM,3,3);
-// ToDo: Pick a number for the bottom that is NOT linearly separable with M[0] and M[1]
-    FLOAT B[3][1] = { {0.0}, {0.0}, {1.0} };
-    FLOAT inv_uM[3][3];
-    FLOAT uf[3][1];
-    INV(uM,inv_uM,3);
-    MUL(inv_uM,B,uf,3,3,1);
-    
-    //--------------------
-    // Solve for unit length vector
-    //  f that goes into the camera
-    //--------------------
-    FLOAT uf_len = sqrt( uf[0][0]*uf[0][0] + uf[1][0]*uf[1][0] + uf[2][0]*uf[2][0] );
-    FLOAT f[3][1] = { {uf[0][0]/uf_len}, {uf[1][0]/uf_len}, {uf[2][0]/uf_len} };
-	printf( "FFF: {%f %f %f}: %f\n", f[0][0], f[1][0], f[2][0], uf_len );
-//PRINT(uf,3,1);
-//PRINT(f,3,1);
-
-//FLOAT check[3][1];
-//MUL(uM,uf,check,3,3,1);
-//PRINT(check,3,1);
-
-    //--------------------
-    // take cross products to get vectors u,r
-    //--------------------
-    FLOAT u[3][1], r[3][1];
-    CrossProduct(u[0][0],u[1][0],u[2][0],f[0][0],f[1][0],f[2][0],1.0,0.0,0.0);
-    FLOAT inv_ulen = 1.0 / sqrt( u[0][0]*u[0][0] + u[1][0]*u[1][0] + u[2][0]*u[2][0] );
-    u[0][0]*=inv_ulen; u[1][0]*=inv_ulen; u[2][0]*=inv_ulen;
-    CrossProduct(r[0][0],r[1][0],r[2][0],f[0][0],f[1][0],f[2][0],u[0][0],u[1][0],u[2][0]);
-//PRINT(u,3,1);
-//PRINT(r,3,1);
-
-    //--------------------
-    // Use morph matrix to get screen space
-    //  uhat,rhat
-    //--------------------
-    FLOAT uhat[2][1], rhat[2][1], fhat[2][1];
-    MUL(M,f,fhat,2,3,1);
-    MUL(M,u,uhat,2,3,1);
-    MUL(M,r,rhat,2,3,1);
-    FLOAT fhat_len = sqrt( fhat[0][0]*fhat[0][0] + fhat[1][0]*fhat[1][0] );
-    FLOAT uhat_len = sqrt( uhat[0][0]*uhat[0][0] + uhat[1][0]*uhat[1][0] );
-    FLOAT rhat_len = sqrt( rhat[0][0]*rhat[0][0] + rhat[1][0]*rhat[1][0] );
-    FLOAT urhat_len = 0.5 * (uhat_len + rhat_len);
-/*    
-printf("fhat %f %f (len %f)\n", fhat[0][0], fhat[1][0], fhat_len);
-printf("uhat %f %f (len %f)\n", uhat[0][0], uhat[1][0], uhat_len);
-printf("rhat %f %f (len %f)\n", rhat[0][0], rhat[1][0], rhat_len);
-*/
-    FLOAT ydist1 = 1.0 /  uhat_len; //0.25*PI / uhat_len;
-    FLOAT ydist2 = 1.0 /  rhat_len; //0.25*PI / rhat_len;
-    FLOAT ydist  = 1.0 / urhat_len;
-    printf("ydist1 %f ydist2 %f ydist %f  FH: %f\n", ydist1, ydist2, ydist, fhat_len);
-
-    //--------------------
-    // Rescale the axies to be of the proper length
-    //--------------------
-    FLOAT x[3][1] = { {M[0][0]*ydist}, {0.0}, {M[1][0]*ydist} };
-    FLOAT y[3][1] = { {M[0][1]*ydist}, {0.0}, {M[1][1]*ydist} };
-    FLOAT z[3][1] = { {M[0][2]*ydist}, {0.0}, {M[1][2]*ydist} };
-printf( "YDIST: %f\n", ydist );
-printf( "{%f %f, %f %f, %f %f}\n", x[0][0], x[2][0], y[0][0], y[2][0], z[0][0], z[2][0] );
-printf( "{%f, %f, %f}\n", x[0][0]*x[0][0]+x[2][0]*x[2][0], y[0][0]*y[0][0]+y[2][0]*y[2][0], z[0][0]*z[0][0]+z[2][0]*z[2][0] );
-    // we know the distance into (or out of) the camera for the z axis,
-    //  but we don't know which direction . . .
-    FLOAT x_y = sqrt(1.0 - x[0][0]*x[0][0] - x[2][0]*x[2][0]);
-    FLOAT y_y = sqrt(1.0 - y[0][0]*y[0][0] - y[2][0]*y[2][0]);
-    FLOAT z_y = sqrt(1.0 - z[0][0]*z[0][0] - z[2][0]*z[2][0]);
-printf( "{%f %f %f}\n", x_y, y_y, z_y );
-    // Exhaustively flip the minus sign of the z axis until we find the right one . . .
-    FLOAT bestErr = 9999.0;
-    FLOAT xy_dot2 = x[0][0]*y[0][0] + x[2][0]*y[2][0];
-    FLOAT yz_dot2 = y[0][0]*z[0][0] + y[2][0]*z[2][0];
-    FLOAT zx_dot2 = z[0][0]*x[0][0] + z[2][0]*x[2][0];
-    for (i=0;i<2;i++) {
-        for (j=0;j<2;j++) {
-            for(k=0;k<2;k++) {
-            
-                // Calculate the error term
-                FLOAT xy_dot = xy_dot2 + x_y*y_y;
-                FLOAT yz_dot = yz_dot2 + y_y*z_y;
-                FLOAT zx_dot = zx_dot2 + z_y*x_y;
-                FLOAT err = _ABS(xy_dot) + _ABS(yz_dot) + _ABS(zx_dot);
-                
-                // Calculate the handedness
-                FLOAT cx,cy,cz;
-                CrossProduct(cx,cy,cz,x[0][0],x_y,x[2][0],y[0][0],y_y,y[2][0]);
-                FLOAT hand = cx*z[0][0] + cy*y_y + cz*z[2][0];
-                printf("err %f hand %f\n", err, hand);
-                
-                // If we are the best right-handed frame so far
-                if (err < bestErr) { x[1][0]=x_y; y[1][0]=y_y; z[1][0]=z_y; bestErr=err; }
-				//if (i ==  1 && j == 1 && k == 1) { x[1][0]=x_y; y[1][0]=y_y; z[1][0]=z_y; bestErr=err; }
-                z_y = -z_y;
-            }
-            y_y = -y_y;
-        }
-        x_y = -x_y;
-    }
-    printf("bestErr %f\n", bestErr);
-/*
-    for (i=0; i<nPoints; i++) {
-        float x1 = x[0][0]*X[0][i] + y[0][0]*X[1][i] + z[0][0]*X[2][i];
-        float y1 = x[1][0]*X[0][i] + y[1][0]*X[1][i] + z[1][0]*X[2][i];
-        float z1 = x[2][0]*X[0][i] + y[2][0]*X[1][i] + z[2][0]*X[2][i];
-        printf("x1z1 %f %f y1 %f\n", x1, z1, y1);
-    }
-*/
-/*    
-    //--------------------
-    // Combine uhat and rhat to figure out the unit x-vector
-    //--------------------
-    FLOAT xhat[2][1]  = { {0.0}, {1.0} };
-    FLOAT urhat[2][2] = {
-        {uhat[0][0], uhat[1][0]},
-        {rhat[0][0], rhat[1][0]} };
-    FLOAT inv_urhat[2][2];
-    FLOAT ab[2][1];
-    INV(urhat,inv_urhat,2);
-    MUL(inv_urhat,xhat,ab,2,2,1);
-PRINT(ab,2,1);
-    FLOAT a = ab[0][0], b = ab[1][0];
-
-    //-------------------
-    // calculate the xyz coordinate system
-    //-------------------
-    FLOAT y[3][1] = { {f[0][0]}, {f[1][0]}, {f[2][0]} };
-    FLOAT x[3][1] = { {a*u[0][0] + b*r[0][0]}, {a*u[1][0] + b*r[1][0]}, {a*u[2][0] + b*r[2][0]} };
-    FLOAT inv_xlen = 1.0 / sqrt( x[0][0]*x[0][0] + x[1][0]*x[1][0] + x[2][0]*x[2][0] );
-    x[0][0]*=inv_xlen; x[1][0]*=inv_xlen; x[2][0]*=inv_xlen;
-    FLOAT z[3][1];
-    CrossProduct(z[0][0],z[1][0],z[2][0],x[0][0],x[1][0],x[2][0],y[0][0],y[1][0],y[2][0]);
-*/
-    // Store into the rotation matrix
-    for (i=0; i<3; i++) { R[i][0] = x[i][0]; R[i][1] = y[i][0]; R[i][2] = z[i][0]; }
-//PRINT(R,3,3);
-
-    //-------------------
-    // Calculate the translation of the centroid
-    //-------------------
-    trans[0]=tan(sbar[0]);  trans[1]=1.0;  trans[2]=tan(sbar[1]);
-    FLOAT inv_translen = ydist / sqrt( trans[0]*trans[0] + trans[1]*trans[1] + trans[2]*trans[2] );
-    trans[0]*=inv_translen; trans[1]*=inv_translen; trans[2]*=inv_translen;
-
-    //-------------------
-    // Add in the centroid point
-    //-------------------
-    trans[0] -= xbar[0]*R[0][0] + xbar[1]*R[0][1] + xbar[2]*R[0][2];
-    trans[1] -= xbar[0]*R[1][0] + xbar[1]*R[1][1] + xbar[2]*R[1][2];
-    trans[2] -= xbar[0]*R[2][0] + xbar[1]*R[2][1] + xbar[2]*R[2][2];
-    FLOAT transdist = sqrt( trans[0]*trans[0] + trans[1]*trans[1] + trans[2]*trans[2] );
-
-    //-------------------
-    // Pack into the 4x4 transformation matrix
-    //-------------------
-    T[0][0]=R[0][0]; T[0][1]=R[0][1]; T[0][2]=R[0][2]; T[0][3]=trans[0];
-    T[1][0]=R[1][0]; T[1][1]=R[1][1]; T[1][2]=R[1][2]; T[1][3]=trans[1];
-    T[2][0]=R[2][0]; T[2][1]=R[2][1]; T[2][2]=R[2][2]; T[2][3]=trans[2];
-    T[3][0]=0.0;     T[3][1]=0.0;     T[3][2]=0.0;     T[3][3]=1.0;
-
-    //-------------------
-    // Plot the output points
-    //-------------------
-    for (i=0; i<nPoints; i++) {
-        float Tx = T[0][0]*X_in[0][i] + T[0][1]*X_in[1][i] + T[0][2]*X_in[2][i] + T[0][3];
-        float Ty = T[1][0]*X_in[0][i] + T[1][1]*X_in[1][i] + T[1][2]*X_in[2][i] + T[1][3];
-        float Tz = T[2][0]*X_in[0][i] + T[2][1]*X_in[1][i] + T[2][2]*X_in[2][i] + T[2][3];
-        S_out[0][i] = atan2(Tx, Ty);   // horiz
-        S_out[1][i] = atan2(Tz, Ty);   // vert
-        //S_out[0][i] = Tx;
-        //S_out[1][i] = Tz;
-        printf("point %i Txyz %f %f %f in %f %f out %f %f morph %f %f\n", i, Tx,Ty,Tz, S_in[0][i], S_in[1][i], S_out[0][i], S_out[1][i], S_morph[0][i], S_morph[1][i]);
-    }
-
-//    printf("xbar %f %f %f\n", xbar[0], xbar[1], xbar[2]);
-//    printf("trans %f %f %f dist: %f\n", trans[0], trans[1], trans[2], transdist);
-}
-
-void AffineSolve(
-    float T[4][4],           // OUTPUT: transform
-    float O[MAX_POINTS][4],  // INPUT:  points, offsets
-    float N[MAX_POINTS][3],  // INPUT:  plane normals
-    float D[MAX_POINTS],     // INPUT:  plane offsets
-    int nPoints, int nIter,
-    float stepSizeRot, float stepSizePos, float falloff, int constrain)
-{
-    int i,j,k,iter;
-    //T[3][3] = 1.0f;
-    
-    printf("iter x y z error\n");
-    
-    float gradDot     = 1.0;
-    float prevGradDot = 1.0;
-    float de_dT[3][4];  // the gradient
-    float conj[3][4];   // the conjugate
-    float errorSq=0.0;
-    for (iter=0; iter<nIter; iter++)
-    {
-        //----------------------------------
-        // Calculate the gradient direction
-        //----------------------------------
-        errorSq = 0.0;
-        memset(de_dT, 0, 3*4*sizeof(float));
-        for (i=0; i<nPoints; i++)
-        {
-            // What is the plane deviation error
-            float Ei = -D[i];
-            for (j=0; j<3; j++) {
-                float Tj_oi = 0.0f;
-                for (k=0; k<4; k++) {
-                    Tj_oi += T[j][k] * O[i][k];
-                }
-                Ei += N[i][j] * Tj_oi;
-            }
-//            printf("E[%d] %f\n", i, Ei);
-        
-            // Figure out contribution to the error
-            for (j=0; j<3; j++) {
-                for (k=0; k<4; k++) {
-                    de_dT[j][k] += N[i][j] * O[i][k] * Ei;
-                }
-            }
-            
-            errorSq += Ei*Ei;
-        }
-
-//        printf("%d %f %f %f %f\n", iter, T[0][3], T[1][3], T[2][3], sqrt(errorSq));
-//exit(1);
-        // Constrain the gradient (such that dot products are zero)
-        if (constrain)
-        {
-            float T0T1 = 0.0, T1T2 = 0.0, T2T0 = 0.0;
-            for (k=0; k<3; k++) {
-                T0T1 += T[0][k] * T[1][k];
-                T1T2 += T[1][k] * T[2][k];
-                T2T0 += T[2][k] * T[0][k];
-            }
-//            printf("T0T1 %f T1T2 %f T2T0 %f\n", T0T1, T1T2, T2T0);
-            for (k=0; k<3; k++) {
-                de_dT[0][k] += ORTHOG_PENALTY * 2.0 * T0T1 * T[1][k];
-                de_dT[0][k] += ORTHOG_PENALTY * 2.0 * T2T0 * T[2][k];
-                de_dT[1][k] += ORTHOG_PENALTY * 2.0 * T1T2 * T[2][k];
-                de_dT[1][k] += ORTHOG_PENALTY * 2.0 * T0T1 * T[0][k];
-                de_dT[2][k] += ORTHOG_PENALTY * 2.0 * T1T2 * T[1][k];
-                de_dT[2][k] += ORTHOG_PENALTY * 2.0 * T2T0 * T[0][k];
-            }
-        }
-
-        // Calculate the gradient dot product
-        //  (used by conjugate gradient method)
-        prevGradDot = gradDot;
-        gradDot = 0.0;
-        for (j=0; j<3; j++) {
-            for (k=0; k<4; k++) {
-                gradDot += de_dT[j][k] * de_dT[j][k];
-            }
-        }
-
-//        printf("Iter %d error %f gradDot %f prevGradDot %f\n", iter, sqrt(errorSq), gradDot, prevGradDot);
-
-        //----------------------------------
-        // Calculate the conjugate direction
-        //----------------------------------
-//        if (iter==0) {
-            // First iteration, just use the gradient
-            for (j=0; j<3; j++) {
-                for (k=0; k<4; k++) {
-                    conj[j][k] = -de_dT[j][k];
-                }
-            }
-/*        } else {
-            // Calculate "beta" for Fletcher Reeves method
-            float beta = gradDot / prevGradDot;
-//printf("gradDot %f prevGradDot %f beta %f\n", gradDot, prevGradDot, beta);
-
-            // Update the conjugate
-            for (j=0; j<3; j++) {
-                for (k=0; k<4; k++) {
-                    conj[j][k] = beta*conj[j][k] - de_dT[j][k];
-                }
-            }            
-        }
-*/
-
-//        PRINT_MAT(de_dT,4,4);
-//        exit(1);
-
-        //----------------------------------
-        // How large is the gradient ?
-        //----------------------------------
-        
-        double gradSizeRot = 0.0;
-        double gradSizePos = 0.0;
-        for (j=0; j<3; j++) {
-            for (k=0; k<3; k++) {
-                gradSizeRot += _ABS(conj[j][k]);
-            }
-            gradSizePos += _ABS(conj[j][k]);
-        }
-        if (gradSizeRot <= TOO_SMALL && gradSizePos <= TOO_SMALL) { break; }  // Quit, we've totally converged
-        
-        //----------------------------------
-        // Descend in the gradient direction
-        //----------------------------------
-        if (gradSizeRot > TOO_SMALL) {
-            float scaleRot = stepSizeRot / gradSizeRot;
-            for (j=0; j<3; j++) {
-                for (k=0; k<3; k++) {
-                    T[j][k] += scaleRot * conj[j][k];
-                }
-            }
-            stepSizeRot *= falloff;
-        }
-        
-        if (gradSizePos > TOO_SMALL) {
-            float scalePos = stepSizePos / gradSizePos;
-            for (j=0; j<3; j++) {
-                T[j][3] += scalePos * conj[j][3];
-            }
-            stepSizePos *= falloff;
-        }
-        
-        // Constrain the gradient (such that scaling is one)
-        if (constrain)
-        {
-            // Measure the scales
-            float len[3] = {0.0, 0.0, 0.0};
-            for (j=0; j<3; j++) {
-                double lenSq = 0.0;
-                for (k=0; k<3; k++) { lenSq += (double)T[j][k] * (double)T[j][k]; }
-                len[j] = sqrt(lenSq);
-            }
-            
-            // How far off is the scale?
-            float xzLen = 0.5 * (len[0] + len[2]);
-            if (xzLen > TOO_SMALL) {
-                float inv_xzLen = 1.0 / xzLen;
-                for (j=0; j<3; j++) {
-                    T[3][j] *= inv_xzLen;
-                }
-            }
-            
-            // Rescale the thing
-            for (j=0; j<3; j++)
-            {
-                if (len[j] > TOO_SMALL) {
-                    float inv_len = 1.0 / len[j];
-                    for (k=0; k<3; k++) { T[j][k] *= inv_len; }
-                }
-            }
-        }
-    }
-    float dist = sqrt(T[0][3]*T[0][3] + T[1][3]*T[1][3] + T[2][3]*T[2][3]);
-    printf("AffineSolve: pos: %f %f %f dist: %f\n", T[0][3], T[1][3], T[2][3], dist);
-}
-
-int main()
-{
-    int i,j,k,sen,axis;
-        
-    // Read the data files
-	printf( "...\n" );
-    ReadHmdPoints();
-    ReadPtinfo();
-
-    //-------------------------
-    // Package the lighthouse data for "AffineSolve"
-    //-------------------------
-
-    // Data for the "iterative" affine solve formula
-   // float Tcalc[4][4];
-    float O[MAX_POINTS][4];
-    float N[MAX_POINTS][3];
-    float D[MAX_POINTS];
-    int nPlanes = 0;
-
-    for (sen=0; sen<NUM_HMD; sen++)
-    {
-        for (axis=0; axis<2; axis++)
-        {
-            if (hmd_angle[sen][axis] != -9999.0)
-            {
-                // Set the offset
-                O[nPlanes][0] = hmd_pos[sen][0];
-                O[nPlanes][1] = hmd_pos[sen][1];
-                O[nPlanes][2] = hmd_pos[sen][2];
-                O[nPlanes][3] = 1.0;
-        
-                // Calculate the plane equation
-                if (axis == 0) {   // Horizontal
-                    N[nPlanes][0] = -cos(hmd_angle[sen][axis]);
-                    N[nPlanes][1] = -sin(hmd_angle[sen][axis]);
-                    N[nPlanes][2] = 0.0;
-                    D[nPlanes]    = 0.0;
-                } else {           // Vertical
-                    N[nPlanes][0] = 0.0;
-                    N[nPlanes][1] = -sin(hmd_angle[sen][axis]);
-                    N[nPlanes][2] =  cos(hmd_angle[sen][axis]);
-                    D[nPlanes]    = 0.0;
-                }
-
-                printf("plane %d O %.3f %.3f %.3f %.3f  N %.3f %.3f %.3f  D %.3f\n",
-                    nPlanes,
-                    O[nPlanes][0], O[nPlanes][1], O[nPlanes][2], O[nPlanes][3], 
-                    N[nPlanes][0], N[nPlanes][1], N[nPlanes][2], 
-                    D[nPlanes]);
-                nPlanes++;
-            }
-        }
-    }
-
-    
-    printf("nPlanes %d\n", nPlanes);
-        
-    //}
-    
-    //PRINT_MAT(Tcalc,4,4);
-
-    
-    //--------------------------------------------------
-    // Package the data for "OrthoSolve"
-    //--------------------------------------------------
-
-    // Data for the "fake" ortho solve formula
-    float Tortho[4][4];         // OUTPUT: 4x4 transformation matrix
-    FLOAT S_out[2][MAX_POINTS];  // INPUT:  array of screenspace points
-    FLOAT S_in[2][MAX_POINTS];  // INPUT:  array of screenspace points
-    FLOAT X_in[3][MAX_POINTS];  // INPUT:  array of offsets
-    int nPoints=0;  
-
-    // Transform into the "OrthoSolve" format
-    for (sen=0; sen<NUM_HMD; sen++)
-    {
-        if (hmd_angle[sen][0] != -9999.0 && hmd_angle[sen][1] != -9999.0)
-        {
-            S_in[0][nPoints] = hmd_angle[sen][0];
-            S_in[1][nPoints] = hmd_angle[sen][1];
-            X_in[0][nPoints] = hmd_pos[sen][0];
-            X_in[1][nPoints] = hmd_pos[sen][1];
-            X_in[2][nPoints] = hmd_pos[sen][2];
-            nPoints++;
-        }
-    }
-    printf("OrthoSolve nPoints %d\n", nPoints);
-    
-    //--------------------------------------------------
-    // Run the "OrthoSolve" and then the "AffineSolve"
-    //--------------------------------------------------    
-    
-    int loop;
-   // for (loop=0; loop<1000000; loop++)
-    {
-        // Run OrthoSolve
-        OrthoSolve(
-            Tortho,     // OUTPUT: 4x4 transformation matrix
-            S_out,      // OUTPUT: array of output screenspace points
-            S_in,       // INPUT:  array of screenspace points
-            X_in,       // INPUT:  array of offsets
-            nPoints);
-    }
-
-    // Run the calculation for Tcalc
-    //int run;
-    //for (run=0; run<100; run++) {
-/*
-    // Initialize Tcalc to the identity matrix
-    memcpy(Tcalc, Tortho, 4*4*sizeof(float));
-    //memset(Tcalc, 0, 4*4*sizeof(float));
-    //for (i=0; i<4; i++) { Tcalc[i][i] = 1.0f; }
-
-    // Solve it!
-    AffineSolve(
-        Tcalc,           // OUTPUT: transform
-        O,  // INPUT:  points, offsets
-        N,  // INPUT:  plane normals
-        D,     // INPUT:  plane offsets
-        nPlanes, NITER,
-        STEP_SIZE_ROT, STEP_SIZE_POS, FALLOFF,
-        1);
-*/
-    // insert code here...
-    return 0;
-}
diff --git a/dave/HMD_normals.csv b/dave/HMD_normals.csv
deleted file mode 100644
index 9abb886..0000000
--- a/dave/HMD_normals.csv
+++ /dev/null
@@ -1,32 +0,0 @@
-0.656529 0.080037 0.750042
-1.000000 0.000000 0.000000
-0.951033 0.192296 -0.241987
-0.863341 0.261141 -0.431796
-0.562083 0.827080 -0.000702
-0.556742 0.818617 -0.141085
-0.127514 0.360969 0.923819
-0.197328 0.721208 0.664019
-0.197328 -0.720504 0.664783
-0.460200 0.003066 0.887810
-0.025263 -0.748333 0.662842
-0.556742 -0.818766 -0.140217
-0.562083 -0.827081 0.000175
-0.863341 -0.261598 -0.431519
-0.951034 -0.192552 -0.241783
-0.656529 -0.079242 0.750127
--0.197328 0.721208 0.664019
--0.127514 0.360969 0.923819
--0.556742 0.818617 -0.141085
--0.562083 0.827080 -0.000702
--0.863341 0.261141 -0.431796
--0.951033 0.192296 -0.241987
--1.000000 0.000000 0.000000
--0.656529 0.080037 0.750042
--0.656529 -0.079242 0.750127
--0.951034 -0.192552 -0.241783
--0.863341 -0.261598 -0.431519
--0.562083 -0.827081 0.000175
--0.556742 -0.818766 -0.140217
--0.025263 -0.748333 0.662842
--0.460200 0.003066 0.887810
--0.197328 -0.720504 0.664783
diff --git a/dave/HMD_points.csv b/dave/HMD_points.csv
deleted file mode 100644
index 9c8f61d..0000000
--- a/dave/HMD_points.csv
+++ /dev/null
@@ -1,32 +0,0 @@
-0.085242 0.017104 0.046493
-0.093076 -0.000052 0.035027
-0.086979 0.016748 0.020598
-0.089932 0.029368 0.029518
-0.080100 0.045401 0.034918
-0.050949 0.052772 0.033339
-0.024403 0.019970 0.059476
-0.047578 0.033637 0.053722
-0.047777 -0.034022 0.053513
-0.057882 -0.000007 0.056592
-0.027400 -0.051728 0.046844
-0.051043 -0.052940 0.032966
-0.080512 -0.045486 0.034783
-0.090041 -0.029387 0.029598
-0.086948 -0.016462 0.020596
-0.085268 -0.017169 0.046332
--0.047738 0.033671 0.053643
--0.024283 0.020141 0.059533
--0.050979 0.052769 0.033118
--0.080175 0.045313 0.034850
--0.090020 0.029306 0.029481
--0.087090 0.016787 0.020453
--0.093113 0.000154 0.034906
--0.085269 0.017293 0.046345
--0.085128 -0.017079 0.046558
--0.086970 -0.016675 0.020667
--0.089911 -0.029458 0.029795
--0.080444 -0.045268 0.034661
--0.051102 -0.052996 0.033321
--0.027283 -0.051820 0.046794
--0.057974 -0.000051 0.056586
--0.047652 -0.033921 0.053604
diff --git a/dave/Makefile b/dave/Makefile
deleted file mode 100644
index 330bda3..0000000
--- a/dave/Makefile
+++ /dev/null
@@ -1,21 +0,0 @@
-UNAME:=$(shell uname)
-
-CFLAGS:= -lm -I../redist -I../src -I../include/libsurvive
-
-ifeq ($(UNAME), Linux)
-CFLAGS:= $(CFLAGS) -lGL -lGLU -lglut -lX11 -I../../redist -DLINUX -lm -lpthread -DLINUX
-endif
-
-# Darwin is Mac OSX !!
-ifeq ($(UNAME), Darwin)
-CFLAGS:= $(CFLAGS) -I../../redist -w -framework OpenGL -framework GLUT
-endif
-
-
-all:
-#	gcc -O3 -o kalman_filter kalman_filter.c main.c
-	gcc -O3 -o dclapack_test dclapack_test.c $(CFLAGS)
-	gcc  -O3 -o AffineSolve   AffineSolve.c $(CFLAGS) ../redist/linmath.c #-Wall
-	gcc -O3 -o OrthoPlot OrthoPlot.c fileutil.c ../redist/linmath.c ../redist/os_generic.c $(CFLAGS)
-clean:
-	rm -f kalman_filter dclapack_test
diff --git a/dave/OrthoPlot.c b/dave/OrthoPlot.c
deleted file mode 100644
index 222828c..0000000
--- a/dave/OrthoPlot.c
+++ /dev/null
@@ -1,451 +0,0 @@
-/*
- When creating your project, uncheck OWL,
- uncheck Class Library, select Static
- instead of Dynamic and change the target
- model to Console from GUI.
- Also link glut.lib to your project once its done.
- */
-
-#include <stdio.h>   // Standard Header For Most Programs
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-#include "os_generic.h"
-#include "linmath.h"
-#include "fileutil.h"
-
-#ifdef __APPLE__
-#include <OpenGL/gl.h>   // The GL Header File
-#include <GLUT/glut.h>   // The GL Utility Toolkit (Glut) Header
-#else
-#include <GL/gl.h>
-#include <GL/glu.h>
-#endif
-#ifdef __linux__
-#include <GL/freeglut.h>
-#endif
-
-#define RegisterDriver(a,b)
-#include "poser_daveortho.c"
-
-
-// Required to set up a window
-#define WIDTH  1280
-#define HEIGHT 1280
-#define FULLSCREEN 0
-int    keys[256];               // Regular keyboard keys
-int sp_keys[256];               // Special keyboard keycodes (GLUT specific)
-
-#define LH_ID    0
-#define NUM_HMD 32
-#define INDIR "dave/full_test_triangle_on_floor/"
-#define MAX_POINTS SENSORS_PER_OBJECT
-
-#define PI 3.1415926535897932386264
-#define MOVESPEED 1.0
-#define ROTSPEED  5.0
-
-// View space
-float posx=0.0f;
-float posy=0.0f;
-float posz=0.0f;
-float rotx=0.0f;
-float roty=0.0f;
-float rotz=0.0f;
-
-// Data for the "fake" ortho solve formula
-float Tortho[4][4];         // OUTPUT: 4x4 transformation matrix
-FLOAT S_out[2][MAX_POINTS];  // INPUT:  array of screenspace points
-FLOAT S_in[2][MAX_POINTS];  // INPUT:  array of screenspace points
-FLOAT X_in[3][MAX_POINTS];  // INPUT:  array of offsets
-int nPoints=0;  
-
-//--------------------------------------------------------------------
-// 
-//--------------------------------------------------------------------
-
-void DrawGrid(
-	float minX, float maxX,
-	float minY, float maxY,
-	float minZ, float maxZ,
-	float stepX, float stepY, float stepZ);
-
-void DrawCoordinateSystem(
-	float x, float y, float z,
-	float qx, float qy, float qz, float qr);
-
-
-float hmd_pos[NUM_HMD][3];
-void ReadHmdPoints()
-{
-    int i;
-    FILE *fin = fopen(INDIR "HMD_points.csv","r");
-    if (fin==NULL) {
-        printf("ERROR: could not open " INDIR "HMD_points.csv for reading\n");
-        exit(1);
-    }
-    
-    for (i=0; i<NUM_HMD; i++) {
-        fscanf(fin, "%f %f %f", &(hmd_pos[i][0]), &(hmd_pos[i][1]), &(hmd_pos[i][2]));
-    }
-    
-    fclose(fin);
-}
-
-float hmd_angle[NUM_HMD][2];
-void ReadPtinfo()
-{
-    // Initialize to -9999
-    int i;
-    for (i=0; i<NUM_HMD; i++) { hmd_angle[i][0]=-9999.0; hmd_angle[i][1]=-9999.0; }
-
-    // Read ptinfo.csv
-    FILE *fin = fopen(INDIR "ptinfo.csv", "r");
-    if (fin==NULL) { printf("ERROR: could not open ptinfo.csv for reading\n"); exit(1); }
-    while (!feof(fin))
-    {
-        // Read the angle
-        int sen,lh,axis,count;
-        float angle, avglen, stddevang, stddevlen;
-        float max_outlier_length, max_outlier_angle;
-        int rt = fscanf( fin, "%d %d %d %d %f %f %f %f %f %f\n",
-                        &sen, &lh, &axis, &count,
-                        &angle, &avglen, &stddevang, &stddevlen,
-                        &max_outlier_length, &max_outlier_angle);
-        if (rt != 10) { break; }
-        
-        // If it's valid, store in the result
-        if (lh == LH_ID && sen < NUM_HMD) {
-            hmd_angle[sen][axis] = angle;
-        }
-    }
-    fclose(fin);
-}
-
-
-//--------------------------------------------------------------------
-// 
-//--------------------------------------------------------------------
-
-/*
- * init() is called at program startup
- */
-void init()
-{
-    int i,j,k,sen,axis;
-        
-    // Read the data files
-    ReadHmdPoints();
-    ReadPtinfo();
-
-    //--------------------------------------------------
-    // Package the data for "OrthoSolve"
-    //--------------------------------------------------
-
-    // Transform into the "OrthoSolve" format
-    for (sen=0; sen<NUM_HMD; sen++)
-    {
-        if (hmd_angle[sen][0] != -9999.0 && hmd_angle[sen][1] != -9999.0)
-        {
-            S_in[0][nPoints] = hmd_angle[sen][0];
-            S_in[1][nPoints] = hmd_angle[sen][1];
-            X_in[0][nPoints] = hmd_pos[sen][0];
-            X_in[1][nPoints] = hmd_pos[sen][1];
-            X_in[2][nPoints] = hmd_pos[sen][2];
-            nPoints++;
-        }
-    }
-    printf("OrthoSolve nPoints %d\n", nPoints);
-    //--------------------------------------------------
-    // Run the "OrthoSolve" and then the "AffineSolve"
-    //--------------------------------------------------    
-    
-    // Run OrthoSolve
-    OrthoSolve(
-		Tortho,     // OUTPUT: 4x4 transformation matrix
-		S_out,      // OUTPUT: array of output screenspace points
-		S_in,       // INPUT:  array of screenspace points
-		X_in,       // INPUT:  array of offsets
-		nPoints);
-		//printf( "POS: %f %f %f\n", Tortho[0][3], Tortho[1][3], Tortho[2][3]);
-
-	//--------------------------------------------------
-	// Spawn a thread to read the HMD angles
-	//--------------------------------------------------
-	OGCreateThread(ThreadReadHmtAngles,0);
-
-    //--------------------------------------------------
-	// Initialize OpenGL
-    //--------------------------------------------------
-	glShadeModel(GL_SMOOTH);							// Enable Smooth Shading
-	glClearColor(0.0f, 0.0f, 0.0f, 1.0f);				// Black Background
-	glClearDepth(1.0f);									// Depth Buffer Setup
-	glEnable(GL_DEPTH_TEST);							// Enables Depth Testing
-	glDepthFunc(GL_LEQUAL);								// The Type Of Depth Testing To Do
-	glEnable ( GL_COLOR_MATERIAL );
-	glDisable(GL_CULL_FACE);
-	glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);
-}
-
-/*
- * draw() is called once every frame
- */
-void draw()
-{
-	int i,j;
-
-    //------------------------
-    // Check for keyboard input
-    //------------------------
-    if (keys['w'] || keys['W']) {
-        posz += MOVESPEED;
-    }
-    if (keys['s'] || keys['S']) {
-        posz -= MOVESPEED;
-    }
-    if (keys['a'] || keys['A']) {
-        roty += ROTSPEED;
-    }
-    if (keys['d'] || keys['D']) {
-        roty -= ROTSPEED;
-    }
-    if (keys[27]) {
-        exit(0);
-    }
-    
-    //------------------------
-    // Update the scene
-    //------------------------
-    
-    //------------------------
-    // Draw using OpenGL
-    //------------------------
-    
-    // Clear the screen
-    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);	// Clear Screen And Depth Buffer
- 
-    // Translate and rotate the camera
-    glLoadIdentity();  // Reset The Current Modelview Matrix
-//    glTranslatef(-posx,-posy,posz);						// Move Left 1.5 Units And Into The    
-
-	// Bouning box around the points (in radians)
-	float x0=-45.0 * (PI/180.0);
-	float x1= 45.0 * (PI/180.0);
-	float y0=-45.0 * (PI/180.0);
-	float y1= 45.0 * (PI/180.0);
-
-
-	//------------------------
-	// Read the angles from stdin
-	//------------------------
-	FLT hmdAngles[4][NUM_HMD];
-
-	// Read the hmd angles
-	OGLockMutex(read_mutex);
-	for (i=0; i<4; i++) {
-		for (j=0; j<NUM_HMD; j++) {
-			hmdAngles[i][j] = read_hmdAngles[i][j];
-		}
-	}
-	OGUnlockMutex(read_mutex);
-
-	// Draw the hmd bearing angles
-	nPoints=0;
-	for (i=0; i<NUM_HMD; i++) {
-		const double dist=10.0;
-		
-		int sweepx = (LH_ID==0) ? SWEEP_LX : SWEEP_RX;
-		int sweepy = (LH_ID==0) ? SWEEP_LY : SWEEP_RY;
-
-		// If the left lighthouse sees it
-		if (read_hmdAngleViewed[sweepx][i] >= read_frameno-6 &&
-		    read_hmdAngleViewed[sweepy][i] >= read_frameno-6 &&
-		    hmdAngles[sweepx][i]!=-9999.0 && hmdAngles[sweepy][i]!=-9999.0)
-		{
-			S_in[0][nPoints] = hmdAngles[sweepy][i];
-			S_in[1][nPoints] = hmdAngles[sweepx][i];
-            X_in[0][nPoints] = hmd_pos[i][0];
-            X_in[1][nPoints] = hmd_pos[i][1];
-            X_in[2][nPoints] = hmd_pos[i][2];
-printf("i %d S %f %f X %f %f %f frno %d %d currfr %d\n",
-	i, S_in[0][nPoints], S_in[1][nPoints],
-	X_in[0][nPoints], X_in[1][nPoints], X_in[2][nPoints],
-	read_hmdAngleViewed[sweepx][i], read_hmdAngleViewed[sweepy][i], read_frameno);
-			nPoints++;
-		}
-	}
-
-	read_frameno++;
-
-    //--------------------------------------------------
-    // Run the "OrthoSolve" and then the "AffineSolve"
-    //--------------------------------------------------    
-    
-    // Run OrthoSolve
-    OrthoSolve(
-		Tortho,     // OUTPUT: 4x4 transformation matrix
-		S_out,      // OUTPUT: array of output screenspace points
-		S_in,       // INPUT:  array of screenspace points
-		X_in,       // INPUT:  array of offsets
-		nPoints);
-		printf( "POS: %f %f %f\n", Tortho[0][3], Tortho[1][3], Tortho[2][3]);
-
-
-	//------------------------
-	// Draw the inputs
-	//------------------------
-	glPointSize(3.0);
-
-	// Draw the input points
-	glColor3f(1.0,0.5,0.5);
-	glBegin(GL_POINTS);
-	for (i=0; i<nPoints; i++) {
-		glVertex2f(  (S_in[0][i]-x0)/(x1-x0),  (S_in[1][i]-y0)/(y1-y0)  );
-	}
-	glEnd();
-
-	// Draw the output points
-	glColor3f(0.5,0.5,1.0);
-	glBegin(GL_POINTS);
-	for (i=0; i<nPoints; i++) {
-		glVertex2f(  (S_out[0][i]-x0)/(x1-x0),  (S_out[1][i]-y0)/(y1-y0)  );
-	}
-	glEnd();
-
-
-    //
-    // We're Done
-    //
-    glutSwapBuffers ( );         // Swap The Buffers To Not Be Left With A Clear Screen
-}
-
-/*
- * resize() is called when we change the screen size
- */
-void resize(int width, int height)		// Resize And Initialize The GL Window
-{
-    glViewport(0,0,width,height);						// Reset The Current Viewport
-    
-    glMatrixMode(GL_PROJECTION);						// Select The Projection Matrix
-    glLoadIdentity();									// Reset The Projection Matrix
-    
-    // Uncomment For a 3D perspective
-    //gluPerspective(45.0f,(float)width/(float)height,0.1f,1000.0f);
-    // Uncomment for a 2D perspective
-    glOrtho(0.0, 1.0, 0.0, 1.0, -10.0, 10.0);
-    
-    glMatrixMode(GL_MODELVIEW);							// Select The Modelview Matrix
-    glLoadIdentity();									// Reset The Modelview Matrix
-}
-
-/*
- * These functions are called whenever a key is pressed
- */
-void keyboardDown ( unsigned char key, int x, int y )  // Create Keyboard Function
-{
-    keys[key] = 1;
-}
-void keyboardUp ( unsigned char key, int x, int y )
-{
-    keys[key] = 0;
-}
-
-void specialKeyDown ( int key, int x, int y )  // Create Special Function (required for arrow keys)
-{
-    if (key<256) {
-        sp_keys[key] = 1;
-    }
-}
-void specialKeyUp (int key, int x, int y)
-{
-    if (key<256) {
-        sp_keys[key] = 0;
-    }
-}
-
-int main ( int argc, char** argv )   // Create Main Function For Bringing It All Together
-{
-    glutInit            ( &argc, argv ); // Erm Just Write It =)
-    glutInitDisplayMode ( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE ); // Display Mode
-    glutInitWindowSize  ( WIDTH, HEIGHT ); // If glutFullScreen wasn't called this is the window size
-    glutCreateWindow    ( "OpenGL" ); // Window Title (argv[0] for current directory as title)
-    if (FULLSCREEN) {
-        glutFullScreen      ( );          // Put Into Full Screen
-    }
-    glutDisplayFunc     ( draw );  // Matching Earlier Functions To Their Counterparts
-    glutIdleFunc        ( draw );
-    glutReshapeFunc     ( resize );
-    glutKeyboardFunc    ( keyboardDown );
-    glutKeyboardUpFunc  ( keyboardUp );
-    glutSpecialFunc     ( specialKeyDown );
-    glutSpecialUpFunc   ( specialKeyUp );
-    init ();
-    glutMainLoop        ( );          // Initialize The Main Loop
-    return 0;
-}
-
-
-
-void DrawGrid(
-	float minX, float maxX,
-	float minY, float maxY,
-	float minZ, float maxZ,
-	float stepX, float stepY, float stepZ)
-{
-	float x,y,z;
-	
-	glBegin(GL_LINES);
-
-	// X grid stripes
-	for (y=minY; y<maxY; y+=stepY) {
-		for (z=minZ; z<maxZ; z+=stepZ) {
-			glVertex3f(minX, y, z);
-			glVertex3f(maxX, y, z);
-		}
-	}
-
-	// Y grid stripes
-	for (x=minX; x<maxX; x+=stepX) {
-		for (z=minZ; z<maxZ; z+=stepZ) {
-			glVertex3f(x, minY, z);
-			glVertex3f(x, maxY, z);
-		}
-	}
-
-	// Z grid stripes
-	for (y=minY; y<maxY; y+=stepY) {
-		for (x=minX; x<maxX; x+=stepX) {
-			glVertex3f(x, y, minZ);
-			glVertex3f(x, y, maxZ);
-		}
-	}
-
-	glEnd();
-}
-
-
-void DrawCoordinateSystem(
-	float x, float y, float z,
-	float qx, float qy, float qz, float qr)
-{
-	FLT i0[3],j0[3],k0[3];
-	FLT i[3],j[3],k[3];
-	FLT q[4];
-	
-	i0[0]=1.0; i0[1]=0.0; i0[2]=0.0;
-	j0[0]=0.0; j0[1]=1.0; j0[2]=0.0;
-	k0[0]=0.0; k0[1]=0.0; k0[2]=1.0;
-	q [0]=qr;  q [1]=qx;  q [2]=qy;  q [3]=qz;
-	
-	quatrotatevector(i, q, i0);
-	quatrotatevector(j, q, j0);
-	quatrotatevector(k, q, k0);
-
-	glBegin(GL_LINES);
-	glColor3f(1, 0, 0); glVertex3f(x,z,y); glVertex3f(x+i[0],z+i[2],y+i[1]);
-	glColor3f(0, 1, 0); glVertex3f(x,z,y); glVertex3f(x+j[0],z+j[2],y+j[1]);
-	glColor3f(0, 0, 1); glVertex3f(x,z,y); glVertex3f(x+k[0],z+k[2],y+k[1]);
-	glEnd();
-}
-
-
diff --git a/dave/dclapack_test b/dave/dclapack_test
deleted file mode 100755
index bac05e7..0000000
--- a/dave/dclapack_test
+++ /dev/null
diff --git a/dave/dclapack_test.c b/dave/dclapack_test.c
deleted file mode 100644
index 3f48b08..0000000
--- a/dave/dclapack_test.c
+++ /dev/null
@@ -1,34 +0,0 @@
-#define FLOAT float
-#define ORDER 50
-#include "../redist/dclapack.h"
-
-#include <stdio.h>
-#include <stdlib.h>
-
-int main()
-{
-    float A[ORDER][ORDER];
-    float Ainv[ORDER][ORDER];
-    float Prod[ORDER][ORDER];
-
-    int i, j, n = 3;
-    srand(7779);
-
-    for(i=0; i<n; i++) {
-        for(j=0; j<n; j++) {
-            A[i][j] = (float)rand() / RAND_MAX;
-        }
-    }
-
-    for (i=0; i<10000; i++) {
-        INV(A,Ainv,n);
-    }
-
-    PRINT(A,n,n);
-    PRINT(Ainv,n,n);
-    MUL(A,Ainv,Prod,n,n,n);
-    PRINT(Prod,n,n);
-
-    return 0;
-}
-
diff --git a/dave/errors.txt b/dave/errors.txt
deleted file mode 100644
index df2a094..0000000
--- a/dave/errors.txt
+++ /dev/null
@@ -1,2141 +0,0 @@
-AffineSolve.c: In function ‘quattomatrix33’:
-AffineSolve.c:33:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-AffineSolve.c:50:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-AffineSolve.c:100:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-AffineSolve.c:362:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-AffineSolve.c:534:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-In file included from AffineSolve.c:12:0:
-../redist/linmath.h:106:6: error: old-style parameter declarations in prototyped function definition
- void quattomatrix33(FLT * matrix33, const FLT * qin)
-      ^
-AffineSolve.c:658:1: error: expected ‘{’ at end of input
- }
- ^
-In file included from /usr/include/math.h:48:0,
-                 from ../redist/linmath.c:4:
-/usr/include/x86_64-linux-gnu/bits/mathdef.h: In function ‘quattomatrix33’:
-/usr/include/x86_64-linux-gnu/bits/mathdef.h:28:15: error: storage class specified for parameter ‘float_t’
- typedef float float_t;  /* `float' expressions are evaluated as `float'.  */
-               ^
-/usr/include/x86_64-linux-gnu/bits/mathdef.h:29:16: error: storage class specified for parameter ‘double_t’
- typedef double double_t; /* `double' expressions are evaluated
-                ^
-In file included from /usr/include/features.h:367:0,
-                 from /usr/include/math.h:26,
-                 from ../redist/linmath.c:4:
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:54:1: error: storage class specified for parameter ‘acos’
- __MATHCALL (acos,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:54:1: error: storage class specified for parameter ‘__acos’
- __MATHCALL (acos,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:56:1: error: storage class specified for parameter ‘asin’
- __MATHCALL (asin,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:56:1: error: storage class specified for parameter ‘__asin’
- __MATHCALL (asin,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:58:1: error: storage class specified for parameter ‘atan’
- __MATHCALL (atan,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:58:1: error: storage class specified for parameter ‘__atan’
- __MATHCALL (atan,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:60:1: error: storage class specified for parameter ‘atan2’
- __MATHCALL (atan2,, (_Mdouble_ __y, _Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:60:1: error: storage class specified for parameter ‘__atan2’
- __MATHCALL (atan2,, (_Mdouble_ __y, _Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:63:1: error: storage class specified for parameter ‘cos’
- __MATHCALL_VEC (cos,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:63:1: error: storage class specified for parameter ‘__cos’
- __MATHCALL_VEC (cos,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:65:1: error: storage class specified for parameter ‘sin’
- __MATHCALL_VEC (sin,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:65:1: error: storage class specified for parameter ‘__sin’
- __MATHCALL_VEC (sin,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:67:1: error: storage class specified for parameter ‘tan’
- __MATHCALL (tan,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:67:1: error: storage class specified for parameter ‘__tan’
- __MATHCALL (tan,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:72:1: error: storage class specified for parameter ‘cosh’
- __MATHCALL (cosh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:72:1: error: storage class specified for parameter ‘__cosh’
- __MATHCALL (cosh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:74:1: error: storage class specified for parameter ‘sinh’
- __MATHCALL (sinh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:74:1: error: storage class specified for parameter ‘__sinh’
- __MATHCALL (sinh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:76:1: error: storage class specified for parameter ‘tanh’
- __MATHCALL (tanh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:76:1: error: storage class specified for parameter ‘__tanh’
- __MATHCALL (tanh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:88:1: error: storage class specified for parameter ‘acosh’
- __MATHCALL (acosh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:88:1: error: storage class specified for parameter ‘__acosh’
- __MATHCALL (acosh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:90:1: error: storage class specified for parameter ‘asinh’
- __MATHCALL (asinh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:90:1: error: storage class specified for parameter ‘__asinh’
- __MATHCALL (asinh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:92:1: error: storage class specified for parameter ‘atanh’
- __MATHCALL (atanh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:92:1: error: storage class specified for parameter ‘__atanh’
- __MATHCALL (atanh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:100:1: error: storage class specified for parameter ‘exp’
- __MATHCALL_VEC (exp,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:100:1: error: storage class specified for parameter ‘__exp’
- __MATHCALL_VEC (exp,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:103:1: error: storage class specified for parameter ‘frexp’
- __MATHCALL (frexp,, (_Mdouble_ __x, int *__exponent));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:103:1: error: storage class specified for parameter ‘__frexp’
- __MATHCALL (frexp,, (_Mdouble_ __x, int *__exponent));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:106:1: error: storage class specified for parameter ‘ldexp’
- __MATHCALL (ldexp,, (_Mdouble_ __x, int __exponent));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:106:1: error: storage class specified for parameter ‘__ldexp’
- __MATHCALL (ldexp,, (_Mdouble_ __x, int __exponent));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:109:1: error: storage class specified for parameter ‘log’
- __MATHCALL_VEC (log,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:109:1: error: storage class specified for parameter ‘__log’
- __MATHCALL_VEC (log,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:112:1: error: storage class specified for parameter ‘log10’
- __MATHCALL (log10,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:112:1: error: storage class specified for parameter ‘__log10’
- __MATHCALL (log10,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:115:1: error: storage class specified for parameter ‘modf’
- __MATHCALL (modf,, (_Mdouble_ __x, _Mdouble_ *__iptr)) __nonnull ((2));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:115:1: error: storage class specified for parameter ‘__modf’
- __MATHCALL (modf,, (_Mdouble_ __x, _Mdouble_ *__iptr)) __nonnull ((2));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:128:1: error: storage class specified for parameter ‘expm1’
- __MATHCALL (expm1,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:128:1: error: storage class specified for parameter ‘__expm1’
- __MATHCALL (expm1,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:131:1: error: storage class specified for parameter ‘log1p’
- __MATHCALL (log1p,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:131:1: error: storage class specified for parameter ‘__log1p’
- __MATHCALL (log1p,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:134:1: error: storage class specified for parameter ‘logb’
- __MATHCALL (logb,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:134:1: error: storage class specified for parameter ‘__logb’
- __MATHCALL (logb,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:141:1: error: storage class specified for parameter ‘exp2’
- __MATHCALL (exp2,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:141:1: error: storage class specified for parameter ‘__exp2’
- __MATHCALL (exp2,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:144:1: error: storage class specified for parameter ‘log2’
- __MATHCALL (log2,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:144:1: error: storage class specified for parameter ‘__log2’
- __MATHCALL (log2,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:153:1: error: storage class specified for parameter ‘pow’
- __MATHCALL_VEC (pow,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:153:1: error: storage class specified for parameter ‘__pow’
- __MATHCALL_VEC (pow,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:156:1: error: storage class specified for parameter ‘sqrt’
- __MATHCALL (sqrt,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:156:1: error: storage class specified for parameter ‘__sqrt’
- __MATHCALL (sqrt,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:162:1: error: storage class specified for parameter ‘hypot’
- __MATHCALL (hypot,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:162:1: error: storage class specified for parameter ‘__hypot’
- __MATHCALL (hypot,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:169:1: error: storage class specified for parameter ‘cbrt’
- __MATHCALL (cbrt,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:169:1: error: storage class specified for parameter ‘__cbrt’
- __MATHCALL (cbrt,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:178:1: error: storage class specified for parameter ‘ceil’
- __MATHCALLX (ceil,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:178:1: error: storage class specified for parameter ‘__ceil’
- __MATHCALLX (ceil,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:181:1: error: storage class specified for parameter ‘fabs’
- __MATHCALLX (fabs,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:181:1: error: storage class specified for parameter ‘__fabs’
- __MATHCALLX (fabs,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:184:1: error: storage class specified for parameter ‘floor’
- __MATHCALLX (floor,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:184:1: error: storage class specified for parameter ‘__floor’
- __MATHCALLX (floor,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:187:1: error: storage class specified for parameter ‘fmod’
- __MATHCALL (fmod,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:187:1: error: storage class specified for parameter ‘__fmod’
- __MATHCALL (fmod,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:192:1: error: storage class specified for parameter ‘__isinf’
- __MATHDECL_1 (int,__isinf,, (_Mdouble_ __value)) __attribute__ ((__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:195:1: error: storage class specified for parameter ‘__finite’
- __MATHDECL_1 (int,__finite,, (_Mdouble_ __value)) __attribute__ ((__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:204:1: error: storage class specified for parameter ‘isinf’
- __MATHDECL_1 (int,isinf,, (_Mdouble_ __value)) __attribute__ ((__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:208:1: error: storage class specified for parameter ‘finite’
- __MATHDECL_1 (int,finite,, (_Mdouble_ __value)) __attribute__ ((__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:211:1: error: storage class specified for parameter ‘drem’
- __MATHCALL (drem,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:211:1: error: storage class specified for parameter ‘__drem’
- __MATHCALL (drem,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:215:1: error: storage class specified for parameter ‘significand’
- __MATHCALL (significand,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:215:1: error: storage class specified for parameter ‘__significand’
- __MATHCALL (significand,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:221:1: error: storage class specified for parameter ‘copysign’
- __MATHCALLX (copysign,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:221:1: error: storage class specified for parameter ‘__copysign’
- __MATHCALLX (copysign,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:228:1: error: storage class specified for parameter ‘nan’
- __MATHCALLX (nan,, (const char *__tagb), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:228:1: error: storage class specified for parameter ‘__nan’
- __MATHCALLX (nan,, (const char *__tagb), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:234:1: error: storage class specified for parameter ‘__isnan’
- __MATHDECL_1 (int,__isnan,, (_Mdouble_ __value)) __attribute__ ((__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:241:1: error: storage class specified for parameter ‘isnan’
- __MATHDECL_1 (int,isnan,, (_Mdouble_ __value)) __attribute__ ((__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:247:1: error: storage class specified for parameter ‘j0’
- __MATHCALL (j0,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:247:1: error: storage class specified for parameter ‘__j0’
- __MATHCALL (j0,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:248:1: error: storage class specified for parameter ‘j1’
- __MATHCALL (j1,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:248:1: error: storage class specified for parameter ‘__j1’
- __MATHCALL (j1,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:249:1: error: storage class specified for parameter ‘jn’
- __MATHCALL (jn,, (int, _Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:249:1: error: storage class specified for parameter ‘__jn’
- __MATHCALL (jn,, (int, _Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:250:1: error: storage class specified for parameter ‘y0’
- __MATHCALL (y0,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:250:1: error: storage class specified for parameter ‘__y0’
- __MATHCALL (y0,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:251:1: error: storage class specified for parameter ‘y1’
- __MATHCALL (y1,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:251:1: error: storage class specified for parameter ‘__y1’
- __MATHCALL (y1,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:252:1: error: storage class specified for parameter ‘yn’
- __MATHCALL (yn,, (int, _Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:252:1: error: storage class specified for parameter ‘__yn’
- __MATHCALL (yn,, (int, _Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:259:1: error: storage class specified for parameter ‘erf’
- __MATHCALL (erf,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:259:1: error: storage class specified for parameter ‘__erf’
- __MATHCALL (erf,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:260:1: error: storage class specified for parameter ‘erfc’
- __MATHCALL (erfc,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:260:1: error: storage class specified for parameter ‘__erfc’
- __MATHCALL (erfc,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:261:1: error: storage class specified for parameter ‘lgamma’
- __MATHCALL (lgamma,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:261:1: error: storage class specified for parameter ‘__lgamma’
- __MATHCALL (lgamma,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:268:1: error: storage class specified for parameter ‘tgamma’
- __MATHCALL (tgamma,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:268:1: error: storage class specified for parameter ‘__tgamma’
- __MATHCALL (tgamma,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:274:1: error: storage class specified for parameter ‘gamma’
- __MATHCALL (gamma,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:274:1: error: storage class specified for parameter ‘__gamma’
- __MATHCALL (gamma,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:281:1: error: storage class specified for parameter ‘lgamma_r’
- __MATHCALL (lgamma,_r, (_Mdouble_, int *__signgamp));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:281:1: error: storage class specified for parameter ‘__lgamma_r’
- __MATHCALL (lgamma,_r, (_Mdouble_, int *__signgamp));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:289:1: error: storage class specified for parameter ‘rint’
- __MATHCALL (rint,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:289:1: error: storage class specified for parameter ‘__rint’
- __MATHCALL (rint,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:292:1: error: storage class specified for parameter ‘nextafter’
- __MATHCALLX (nextafter,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:292:1: error: storage class specified for parameter ‘__nextafter’
- __MATHCALLX (nextafter,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:294:1: error: storage class specified for parameter ‘nexttoward’
- __MATHCALLX (nexttoward,, (_Mdouble_ __x, long double __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:294:1: error: storage class specified for parameter ‘__nexttoward’
- __MATHCALLX (nexttoward,, (_Mdouble_ __x, long double __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:298:1: error: storage class specified for parameter ‘remainder’
- __MATHCALL (remainder,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:298:1: error: storage class specified for parameter ‘__remainder’
- __MATHCALL (remainder,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:302:1: error: storage class specified for parameter ‘scalbn’
- __MATHCALL (scalbn,, (_Mdouble_ __x, int __n));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:302:1: error: storage class specified for parameter ‘__scalbn’
- __MATHCALL (scalbn,, (_Mdouble_ __x, int __n));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:306:1: error: storage class specified for parameter ‘ilogb’
- __MATHDECL (int,ilogb,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:306:1: error: storage class specified for parameter ‘__ilogb’
- __MATHDECL (int,ilogb,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:311:1: error: storage class specified for parameter ‘scalbln’
- __MATHCALL (scalbln,, (_Mdouble_ __x, long int __n));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:311:1: error: storage class specified for parameter ‘__scalbln’
- __MATHCALL (scalbln,, (_Mdouble_ __x, long int __n));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:315:1: error: storage class specified for parameter ‘nearbyint’
- __MATHCALL (nearbyint,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:315:1: error: storage class specified for parameter ‘__nearbyint’
- __MATHCALL (nearbyint,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:319:1: error: storage class specified for parameter ‘round’
- __MATHCALLX (round,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:319:1: error: storage class specified for parameter ‘__round’
- __MATHCALLX (round,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:323:1: error: storage class specified for parameter ‘trunc’
- __MATHCALLX (trunc,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:323:1: error: storage class specified for parameter ‘__trunc’
- __MATHCALLX (trunc,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:328:1: error: storage class specified for parameter ‘remquo’
- __MATHCALL (remquo,, (_Mdouble_ __x, _Mdouble_ __y, int *__quo));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:328:1: error: storage class specified for parameter ‘__remquo’
- __MATHCALL (remquo,, (_Mdouble_ __x, _Mdouble_ __y, int *__quo));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:335:1: error: storage class specified for parameter ‘lrint’
- __MATHDECL (long int,lrint,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:335:1: error: storage class specified for parameter ‘__lrint’
- __MATHDECL (long int,lrint,, (_Mdouble_ __x));
- ^
-In file included from /usr/include/math.h:83:0,
-                 from ../redist/linmath.c:4:
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:336:1: error: expected declaration specifiers before ‘__extension__’
- __extension__
- ^
-In file included from /usr/include/features.h:367:0,
-                 from /usr/include/math.h:26,
-                 from ../redist/linmath.c:4:
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:337:1: error: storage class specified for parameter ‘__llrint’
- __MATHDECL (long long int,llrint,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:341:1: error: storage class specified for parameter ‘lround’
- __MATHDECL (long int,lround,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:341:1: error: storage class specified for parameter ‘__lround’
- __MATHDECL (long int,lround,, (_Mdouble_ __x));
- ^
-In file included from /usr/include/math.h:83:0,
-                 from ../redist/linmath.c:4:
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:342:1: error: expected declaration specifiers before ‘__extension__’
- __extension__
- ^
-In file included from /usr/include/features.h:367:0,
-                 from /usr/include/math.h:26,
-                 from ../redist/linmath.c:4:
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:343:1: error: storage class specified for parameter ‘__llround’
- __MATHDECL (long long int,llround,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:347:1: error: storage class specified for parameter ‘fdim’
- __MATHCALL (fdim,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:347:1: error: storage class specified for parameter ‘__fdim’
- __MATHCALL (fdim,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:350:1: error: storage class specified for parameter ‘fmax’
- __MATHCALLX (fmax,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:350:1: error: storage class specified for parameter ‘__fmax’
- __MATHCALLX (fmax,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:353:1: error: storage class specified for parameter ‘fmin’
- __MATHCALLX (fmin,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:353:1: error: storage class specified for parameter ‘__fmin’
- __MATHCALLX (fmin,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:357:1: error: storage class specified for parameter ‘__fpclassify’
- __MATHDECL_1 (int, __fpclassify,, (_Mdouble_ __value))
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:361:1: error: storage class specified for parameter ‘__signbit’
- __MATHDECL_1 (int, __signbit,, (_Mdouble_ __value))
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:366:1: error: storage class specified for parameter ‘fma’
- __MATHCALL (fma,, (_Mdouble_ __x, _Mdouble_ __y, _Mdouble_ __z));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:366:1: error: storage class specified for parameter ‘__fma’
- __MATHCALL (fma,, (_Mdouble_ __x, _Mdouble_ __y, _Mdouble_ __z));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:383:1: error: storage class specified for parameter ‘scalb’
- __MATHCALL (scalb,, (_Mdouble_ __x, _Mdouble_ __n));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:383:1: error: storage class specified for parameter ‘__scalb’
- __MATHCALL (scalb,, (_Mdouble_ __x, _Mdouble_ __n));
- ^
-In file included from ../redist/linmath.c:4:0:
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:54:1: error: storage class specified for parameter ‘acosf’
- __MATHCALL (acos,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:54:1: error: storage class specified for parameter ‘__acosf’
- __MATHCALL (acos,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:56:1: error: storage class specified for parameter ‘asinf’
- __MATHCALL (asin,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:56:1: error: storage class specified for parameter ‘__asinf’
- __MATHCALL (asin,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:58:1: error: storage class specified for parameter ‘atanf’
- __MATHCALL (atan,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:58:1: error: storage class specified for parameter ‘__atanf’
- __MATHCALL (atan,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:60:1: error: storage class specified for parameter ‘atan2f’
- __MATHCALL (atan2,, (_Mdouble_ __y, _Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:60:1: error: storage class specified for parameter ‘__atan2f’
- __MATHCALL (atan2,, (_Mdouble_ __y, _Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:63:1: error: storage class specified for parameter ‘cosf’
- __MATHCALL_VEC (cos,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:63:1: error: storage class specified for parameter ‘__cosf’
- __MATHCALL_VEC (cos,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:65:1: error: storage class specified for parameter ‘sinf’
- __MATHCALL_VEC (sin,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:65:1: error: storage class specified for parameter ‘__sinf’
- __MATHCALL_VEC (sin,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:67:1: error: storage class specified for parameter ‘tanf’
- __MATHCALL (tan,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:67:1: error: storage class specified for parameter ‘__tanf’
- __MATHCALL (tan,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:72:1: error: storage class specified for parameter ‘coshf’
- __MATHCALL (cosh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:72:1: error: storage class specified for parameter ‘__coshf’
- __MATHCALL (cosh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:74:1: error: storage class specified for parameter ‘sinhf’
- __MATHCALL (sinh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:74:1: error: storage class specified for parameter ‘__sinhf’
- __MATHCALL (sinh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:76:1: error: storage class specified for parameter ‘tanhf’
- __MATHCALL (tanh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:76:1: error: storage class specified for parameter ‘__tanhf’
- __MATHCALL (tanh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:88:1: error: storage class specified for parameter ‘acoshf’
- __MATHCALL (acosh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:88:1: error: storage class specified for parameter ‘__acoshf’
- __MATHCALL (acosh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:90:1: error: storage class specified for parameter ‘asinhf’
- __MATHCALL (asinh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:90:1: error: storage class specified for parameter ‘__asinhf’
- __MATHCALL (asinh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:92:1: error: storage class specified for parameter ‘atanhf’
- __MATHCALL (atanh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:92:1: error: storage class specified for parameter ‘__atanhf’
- __MATHCALL (atanh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:100:1: error: storage class specified for parameter ‘expf’
- __MATHCALL_VEC (exp,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:100:1: error: storage class specified for parameter ‘__expf’
- __MATHCALL_VEC (exp,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:103:1: error: storage class specified for parameter ‘frexpf’
- __MATHCALL (frexp,, (_Mdouble_ __x, int *__exponent));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:103:1: error: storage class specified for parameter ‘__frexpf’
- __MATHCALL (frexp,, (_Mdouble_ __x, int *__exponent));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:106:1: error: storage class specified for parameter ‘ldexpf’
- __MATHCALL (ldexp,, (_Mdouble_ __x, int __exponent));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:106:1: error: storage class specified for parameter ‘__ldexpf’
- __MATHCALL (ldexp,, (_Mdouble_ __x, int __exponent));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:109:1: error: storage class specified for parameter ‘logf’
- __MATHCALL_VEC (log,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:109:1: error: storage class specified for parameter ‘__logf’
- __MATHCALL_VEC (log,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:112:1: error: storage class specified for parameter ‘log10f’
- __MATHCALL (log10,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:112:1: error: storage class specified for parameter ‘__log10f’
- __MATHCALL (log10,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:115:1: error: storage class specified for parameter ‘modff’
- __MATHCALL (modf,, (_Mdouble_ __x, _Mdouble_ *__iptr)) __nonnull ((2));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:115:1: error: storage class specified for parameter ‘__modff’
- __MATHCALL (modf,, (_Mdouble_ __x, _Mdouble_ *__iptr)) __nonnull ((2));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:128:1: error: storage class specified for parameter ‘expm1f’
- __MATHCALL (expm1,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:128:1: error: storage class specified for parameter ‘__expm1f’
- __MATHCALL (expm1,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:131:1: error: storage class specified for parameter ‘log1pf’
- __MATHCALL (log1p,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:131:1: error: storage class specified for parameter ‘__log1pf’
- __MATHCALL (log1p,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:134:1: error: storage class specified for parameter ‘logbf’
- __MATHCALL (logb,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:134:1: error: storage class specified for parameter ‘__logbf’
- __MATHCALL (logb,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:141:1: error: storage class specified for parameter ‘exp2f’
- __MATHCALL (exp2,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:141:1: error: storage class specified for parameter ‘__exp2f’
- __MATHCALL (exp2,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:144:1: error: storage class specified for parameter ‘log2f’
- __MATHCALL (log2,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:144:1: error: storage class specified for parameter ‘__log2f’
- __MATHCALL (log2,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:153:1: error: storage class specified for parameter ‘powf’
- __MATHCALL_VEC (pow,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:153:1: error: storage class specified for parameter ‘__powf’
- __MATHCALL_VEC (pow,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:156:1: error: storage class specified for parameter ‘sqrtf’
- __MATHCALL (sqrt,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:156:1: error: storage class specified for parameter ‘__sqrtf’
- __MATHCALL (sqrt,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:162:1: error: storage class specified for parameter ‘hypotf’
- __MATHCALL (hypot,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:162:1: error: storage class specified for parameter ‘__hypotf’
- __MATHCALL (hypot,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:169:1: error: storage class specified for parameter ‘cbrtf’
- __MATHCALL (cbrt,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:169:1: error: storage class specified for parameter ‘__cbrtf’
- __MATHCALL (cbrt,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:178:1: error: storage class specified for parameter ‘ceilf’
- __MATHCALLX (ceil,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:178:1: error: storage class specified for parameter ‘__ceilf’
- __MATHCALLX (ceil,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:181:1: error: storage class specified for parameter ‘fabsf’
- __MATHCALLX (fabs,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:181:1: error: storage class specified for parameter ‘__fabsf’
- __MATHCALLX (fabs,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:184:1: error: storage class specified for parameter ‘floorf’
- __MATHCALLX (floor,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:184:1: error: storage class specified for parameter ‘__floorf’
- __MATHCALLX (floor,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:187:1: error: storage class specified for parameter ‘fmodf’
- __MATHCALL (fmod,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:187:1: error: storage class specified for parameter ‘__fmodf’
- __MATHCALL (fmod,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:192:1: error: storage class specified for parameter ‘__isinff’
- __MATHDECL_1 (int,__isinf,, (_Mdouble_ __value)) __attribute__ ((__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:195:1: error: storage class specified for parameter ‘__finitef’
- __MATHDECL_1 (int,__finite,, (_Mdouble_ __value)) __attribute__ ((__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:204:1: error: storage class specified for parameter ‘isinff’
- __MATHDECL_1 (int,isinf,, (_Mdouble_ __value)) __attribute__ ((__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:208:1: error: storage class specified for parameter ‘finitef’
- __MATHDECL_1 (int,finite,, (_Mdouble_ __value)) __attribute__ ((__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:211:1: error: storage class specified for parameter ‘dremf’
- __MATHCALL (drem,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:211:1: error: storage class specified for parameter ‘__dremf’
- __MATHCALL (drem,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:215:1: error: storage class specified for parameter ‘significandf’
- __MATHCALL (significand,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:215:1: error: storage class specified for parameter ‘__significandf’
- __MATHCALL (significand,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:221:1: error: storage class specified for parameter ‘copysignf’
- __MATHCALLX (copysign,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:221:1: error: storage class specified for parameter ‘__copysignf’
- __MATHCALLX (copysign,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:228:1: error: storage class specified for parameter ‘nanf’
- __MATHCALLX (nan,, (const char *__tagb), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:228:1: error: storage class specified for parameter ‘__nanf’
- __MATHCALLX (nan,, (const char *__tagb), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:234:1: error: storage class specified for parameter ‘__isnanf’
- __MATHDECL_1 (int,__isnan,, (_Mdouble_ __value)) __attribute__ ((__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:241:1: error: storage class specified for parameter ‘isnanf’
- __MATHDECL_1 (int,isnan,, (_Mdouble_ __value)) __attribute__ ((__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:247:1: error: storage class specified for parameter ‘j0f’
- __MATHCALL (j0,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:247:1: error: storage class specified for parameter ‘__j0f’
- __MATHCALL (j0,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:248:1: error: storage class specified for parameter ‘j1f’
- __MATHCALL (j1,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:248:1: error: storage class specified for parameter ‘__j1f’
- __MATHCALL (j1,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:249:1: error: storage class specified for parameter ‘jnf’
- __MATHCALL (jn,, (int, _Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:249:1: error: storage class specified for parameter ‘__jnf’
- __MATHCALL (jn,, (int, _Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:250:1: error: storage class specified for parameter ‘y0f’
- __MATHCALL (y0,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:250:1: error: storage class specified for parameter ‘__y0f’
- __MATHCALL (y0,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:251:1: error: storage class specified for parameter ‘y1f’
- __MATHCALL (y1,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:251:1: error: storage class specified for parameter ‘__y1f’
- __MATHCALL (y1,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:252:1: error: storage class specified for parameter ‘ynf’
- __MATHCALL (yn,, (int, _Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:252:1: error: storage class specified for parameter ‘__ynf’
- __MATHCALL (yn,, (int, _Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:259:1: error: storage class specified for parameter ‘erff’
- __MATHCALL (erf,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:259:1: error: storage class specified for parameter ‘__erff’
- __MATHCALL (erf,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:260:1: error: storage class specified for parameter ‘erfcf’
- __MATHCALL (erfc,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:260:1: error: storage class specified for parameter ‘__erfcf’
- __MATHCALL (erfc,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:261:1: error: storage class specified for parameter ‘lgammaf’
- __MATHCALL (lgamma,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:261:1: error: storage class specified for parameter ‘__lgammaf’
- __MATHCALL (lgamma,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:268:1: error: storage class specified for parameter ‘tgammaf’
- __MATHCALL (tgamma,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:268:1: error: storage class specified for parameter ‘__tgammaf’
- __MATHCALL (tgamma,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:274:1: error: storage class specified for parameter ‘gammaf’
- __MATHCALL (gamma,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:274:1: error: storage class specified for parameter ‘__gammaf’
- __MATHCALL (gamma,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:281:1: error: storage class specified for parameter ‘lgammaf_r’
- __MATHCALL (lgamma,_r, (_Mdouble_, int *__signgamp));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:281:1: error: storage class specified for parameter ‘__lgammaf_r’
- __MATHCALL (lgamma,_r, (_Mdouble_, int *__signgamp));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:289:1: error: storage class specified for parameter ‘rintf’
- __MATHCALL (rint,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:289:1: error: storage class specified for parameter ‘__rintf’
- __MATHCALL (rint,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:292:1: error: storage class specified for parameter ‘nextafterf’
- __MATHCALLX (nextafter,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:292:1: error: storage class specified for parameter ‘__nextafterf’
- __MATHCALLX (nextafter,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:294:1: error: storage class specified for parameter ‘nexttowardf’
- __MATHCALLX (nexttoward,, (_Mdouble_ __x, long double __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:294:1: error: storage class specified for parameter ‘__nexttowardf’
- __MATHCALLX (nexttoward,, (_Mdouble_ __x, long double __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:298:1: error: storage class specified for parameter ‘remainderf’
- __MATHCALL (remainder,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:298:1: error: storage class specified for parameter ‘__remainderf’
- __MATHCALL (remainder,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:302:1: error: storage class specified for parameter ‘scalbnf’
- __MATHCALL (scalbn,, (_Mdouble_ __x, int __n));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:302:1: error: storage class specified for parameter ‘__scalbnf’
- __MATHCALL (scalbn,, (_Mdouble_ __x, int __n));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:306:1: error: storage class specified for parameter ‘ilogbf’
- __MATHDECL (int,ilogb,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:306:1: error: storage class specified for parameter ‘__ilogbf’
- __MATHDECL (int,ilogb,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:311:1: error: storage class specified for parameter ‘scalblnf’
- __MATHCALL (scalbln,, (_Mdouble_ __x, long int __n));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:311:1: error: storage class specified for parameter ‘__scalblnf’
- __MATHCALL (scalbln,, (_Mdouble_ __x, long int __n));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:315:1: error: storage class specified for parameter ‘nearbyintf’
- __MATHCALL (nearbyint,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:315:1: error: storage class specified for parameter ‘__nearbyintf’
- __MATHCALL (nearbyint,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:319:1: error: storage class specified for parameter ‘roundf’
- __MATHCALLX (round,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:319:1: error: storage class specified for parameter ‘__roundf’
- __MATHCALLX (round,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:323:1: error: storage class specified for parameter ‘truncf’
- __MATHCALLX (trunc,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:323:1: error: storage class specified for parameter ‘__truncf’
- __MATHCALLX (trunc,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:328:1: error: storage class specified for parameter ‘remquof’
- __MATHCALL (remquo,, (_Mdouble_ __x, _Mdouble_ __y, int *__quo));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:328:1: error: storage class specified for parameter ‘__remquof’
- __MATHCALL (remquo,, (_Mdouble_ __x, _Mdouble_ __y, int *__quo));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:335:1: error: storage class specified for parameter ‘lrintf’
- __MATHDECL (long int,lrint,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:335:1: error: storage class specified for parameter ‘__lrintf’
- __MATHDECL (long int,lrint,, (_Mdouble_ __x));
- ^
-In file included from /usr/include/math.h:104:0,
-                 from ../redist/linmath.c:4:
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:336:1: error: expected declaration specifiers before ‘__extension__’
- __extension__
- ^
-In file included from ../redist/linmath.c:4:0:
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:337:1: error: storage class specified for parameter ‘__llrintf’
- __MATHDECL (long long int,llrint,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:341:1: error: storage class specified for parameter ‘lroundf’
- __MATHDECL (long int,lround,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:341:1: error: storage class specified for parameter ‘__lroundf’
- __MATHDECL (long int,lround,, (_Mdouble_ __x));
- ^
-In file included from /usr/include/math.h:104:0,
-                 from ../redist/linmath.c:4:
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:342:1: error: expected declaration specifiers before ‘__extension__’
- __extension__
- ^
-In file included from ../redist/linmath.c:4:0:
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:343:1: error: storage class specified for parameter ‘__llroundf’
- __MATHDECL (long long int,llround,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:347:1: error: storage class specified for parameter ‘fdimf’
- __MATHCALL (fdim,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:347:1: error: storage class specified for parameter ‘__fdimf’
- __MATHCALL (fdim,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:350:1: error: storage class specified for parameter ‘fmaxf’
- __MATHCALLX (fmax,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:350:1: error: storage class specified for parameter ‘__fmaxf’
- __MATHCALLX (fmax,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:353:1: error: storage class specified for parameter ‘fminf’
- __MATHCALLX (fmin,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:353:1: error: storage class specified for parameter ‘__fminf’
- __MATHCALLX (fmin,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:357:1: error: storage class specified for parameter ‘__fpclassifyf’
- __MATHDECL_1 (int, __fpclassify,, (_Mdouble_ __value))
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:361:1: error: storage class specified for parameter ‘__signbitf’
- __MATHDECL_1 (int, __signbit,, (_Mdouble_ __value))
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:366:1: error: storage class specified for parameter ‘fmaf’
- __MATHCALL (fma,, (_Mdouble_ __x, _Mdouble_ __y, _Mdouble_ __z));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:366:1: error: storage class specified for parameter ‘__fmaf’
- __MATHCALL (fma,, (_Mdouble_ __x, _Mdouble_ __y, _Mdouble_ __z));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:383:1: error: storage class specified for parameter ‘scalbf’
- __MATHCALL (scalb,, (_Mdouble_ __x, _Mdouble_ __n));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:383:1: error: storage class specified for parameter ‘__scalbf’
- __MATHCALL (scalb,, (_Mdouble_ __x, _Mdouble_ __n));
- ^
-In file included from ../redist/linmath.c:4:0:
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:54:1: error: storage class specified for parameter ‘acosl’
- __MATHCALL (acos,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:54:1: error: storage class specified for parameter ‘__acosl’
- __MATHCALL (acos,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:56:1: error: storage class specified for parameter ‘asinl’
- __MATHCALL (asin,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:56:1: error: storage class specified for parameter ‘__asinl’
- __MATHCALL (asin,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:58:1: error: storage class specified for parameter ‘atanl’
- __MATHCALL (atan,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:58:1: error: storage class specified for parameter ‘__atanl’
- __MATHCALL (atan,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:60:1: error: storage class specified for parameter ‘atan2l’
- __MATHCALL (atan2,, (_Mdouble_ __y, _Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:60:1: error: storage class specified for parameter ‘__atan2l’
- __MATHCALL (atan2,, (_Mdouble_ __y, _Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:63:1: error: storage class specified for parameter ‘cosl’
- __MATHCALL_VEC (cos,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:63:1: error: storage class specified for parameter ‘__cosl’
- __MATHCALL_VEC (cos,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:65:1: error: storage class specified for parameter ‘sinl’
- __MATHCALL_VEC (sin,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:65:1: error: storage class specified for parameter ‘__sinl’
- __MATHCALL_VEC (sin,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:67:1: error: storage class specified for parameter ‘tanl’
- __MATHCALL (tan,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:67:1: error: storage class specified for parameter ‘__tanl’
- __MATHCALL (tan,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:72:1: error: storage class specified for parameter ‘coshl’
- __MATHCALL (cosh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:72:1: error: storage class specified for parameter ‘__coshl’
- __MATHCALL (cosh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:74:1: error: storage class specified for parameter ‘sinhl’
- __MATHCALL (sinh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:74:1: error: storage class specified for parameter ‘__sinhl’
- __MATHCALL (sinh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:76:1: error: storage class specified for parameter ‘tanhl’
- __MATHCALL (tanh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:76:1: error: storage class specified for parameter ‘__tanhl’
- __MATHCALL (tanh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:88:1: error: storage class specified for parameter ‘acoshl’
- __MATHCALL (acosh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:88:1: error: storage class specified for parameter ‘__acoshl’
- __MATHCALL (acosh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:90:1: error: storage class specified for parameter ‘asinhl’
- __MATHCALL (asinh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:90:1: error: storage class specified for parameter ‘__asinhl’
- __MATHCALL (asinh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:92:1: error: storage class specified for parameter ‘atanhl’
- __MATHCALL (atanh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:92:1: error: storage class specified for parameter ‘__atanhl’
- __MATHCALL (atanh,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:100:1: error: storage class specified for parameter ‘expl’
- __MATHCALL_VEC (exp,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:100:1: error: storage class specified for parameter ‘__expl’
- __MATHCALL_VEC (exp,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:103:1: error: storage class specified for parameter ‘frexpl’
- __MATHCALL (frexp,, (_Mdouble_ __x, int *__exponent));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:103:1: error: storage class specified for parameter ‘__frexpl’
- __MATHCALL (frexp,, (_Mdouble_ __x, int *__exponent));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:106:1: error: storage class specified for parameter ‘ldexpl’
- __MATHCALL (ldexp,, (_Mdouble_ __x, int __exponent));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:106:1: error: storage class specified for parameter ‘__ldexpl’
- __MATHCALL (ldexp,, (_Mdouble_ __x, int __exponent));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:109:1: error: storage class specified for parameter ‘logl’
- __MATHCALL_VEC (log,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:109:1: error: storage class specified for parameter ‘__logl’
- __MATHCALL_VEC (log,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:112:1: error: storage class specified for parameter ‘log10l’
- __MATHCALL (log10,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:112:1: error: storage class specified for parameter ‘__log10l’
- __MATHCALL (log10,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:115:1: error: storage class specified for parameter ‘modfl’
- __MATHCALL (modf,, (_Mdouble_ __x, _Mdouble_ *__iptr)) __nonnull ((2));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:115:1: error: storage class specified for parameter ‘__modfl’
- __MATHCALL (modf,, (_Mdouble_ __x, _Mdouble_ *__iptr)) __nonnull ((2));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:128:1: error: storage class specified for parameter ‘expm1l’
- __MATHCALL (expm1,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:128:1: error: storage class specified for parameter ‘__expm1l’
- __MATHCALL (expm1,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:131:1: error: storage class specified for parameter ‘log1pl’
- __MATHCALL (log1p,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:131:1: error: storage class specified for parameter ‘__log1pl’
- __MATHCALL (log1p,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:134:1: error: storage class specified for parameter ‘logbl’
- __MATHCALL (logb,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:134:1: error: storage class specified for parameter ‘__logbl’
- __MATHCALL (logb,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:141:1: error: storage class specified for parameter ‘exp2l’
- __MATHCALL (exp2,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:141:1: error: storage class specified for parameter ‘__exp2l’
- __MATHCALL (exp2,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:144:1: error: storage class specified for parameter ‘log2l’
- __MATHCALL (log2,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:144:1: error: storage class specified for parameter ‘__log2l’
- __MATHCALL (log2,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:153:1: error: storage class specified for parameter ‘powl’
- __MATHCALL_VEC (pow,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:153:1: error: storage class specified for parameter ‘__powl’
- __MATHCALL_VEC (pow,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:156:1: error: storage class specified for parameter ‘sqrtl’
- __MATHCALL (sqrt,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:156:1: error: storage class specified for parameter ‘__sqrtl’
- __MATHCALL (sqrt,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:162:1: error: storage class specified for parameter ‘hypotl’
- __MATHCALL (hypot,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:162:1: error: storage class specified for parameter ‘__hypotl’
- __MATHCALL (hypot,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:169:1: error: storage class specified for parameter ‘cbrtl’
- __MATHCALL (cbrt,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:169:1: error: storage class specified for parameter ‘__cbrtl’
- __MATHCALL (cbrt,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:178:1: error: storage class specified for parameter ‘ceill’
- __MATHCALLX (ceil,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:178:1: error: storage class specified for parameter ‘__ceill’
- __MATHCALLX (ceil,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:181:1: error: storage class specified for parameter ‘fabsl’
- __MATHCALLX (fabs,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:181:1: error: storage class specified for parameter ‘__fabsl’
- __MATHCALLX (fabs,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:184:1: error: storage class specified for parameter ‘floorl’
- __MATHCALLX (floor,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:184:1: error: storage class specified for parameter ‘__floorl’
- __MATHCALLX (floor,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:187:1: error: storage class specified for parameter ‘fmodl’
- __MATHCALL (fmod,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:187:1: error: storage class specified for parameter ‘__fmodl’
- __MATHCALL (fmod,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:192:1: error: storage class specified for parameter ‘__isinfl’
- __MATHDECL_1 (int,__isinf,, (_Mdouble_ __value)) __attribute__ ((__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:195:1: error: storage class specified for parameter ‘__finitel’
- __MATHDECL_1 (int,__finite,, (_Mdouble_ __value)) __attribute__ ((__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:204:1: error: storage class specified for parameter ‘isinfl’
- __MATHDECL_1 (int,isinf,, (_Mdouble_ __value)) __attribute__ ((__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:208:1: error: storage class specified for parameter ‘finitel’
- __MATHDECL_1 (int,finite,, (_Mdouble_ __value)) __attribute__ ((__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:211:1: error: storage class specified for parameter ‘dreml’
- __MATHCALL (drem,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:211:1: error: storage class specified for parameter ‘__dreml’
- __MATHCALL (drem,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:215:1: error: storage class specified for parameter ‘significandl’
- __MATHCALL (significand,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:215:1: error: storage class specified for parameter ‘__significandl’
- __MATHCALL (significand,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:221:1: error: storage class specified for parameter ‘copysignl’
- __MATHCALLX (copysign,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:221:1: error: storage class specified for parameter ‘__copysignl’
- __MATHCALLX (copysign,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:228:1: error: storage class specified for parameter ‘nanl’
- __MATHCALLX (nan,, (const char *__tagb), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:228:1: error: storage class specified for parameter ‘__nanl’
- __MATHCALLX (nan,, (const char *__tagb), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:234:1: error: storage class specified for parameter ‘__isnanl’
- __MATHDECL_1 (int,__isnan,, (_Mdouble_ __value)) __attribute__ ((__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:241:1: error: storage class specified for parameter ‘isnanl’
- __MATHDECL_1 (int,isnan,, (_Mdouble_ __value)) __attribute__ ((__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:247:1: error: storage class specified for parameter ‘j0l’
- __MATHCALL (j0,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:247:1: error: storage class specified for parameter ‘__j0l’
- __MATHCALL (j0,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:248:1: error: storage class specified for parameter ‘j1l’
- __MATHCALL (j1,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:248:1: error: storage class specified for parameter ‘__j1l’
- __MATHCALL (j1,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:249:1: error: storage class specified for parameter ‘jnl’
- __MATHCALL (jn,, (int, _Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:249:1: error: storage class specified for parameter ‘__jnl’
- __MATHCALL (jn,, (int, _Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:250:1: error: storage class specified for parameter ‘y0l’
- __MATHCALL (y0,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:250:1: error: storage class specified for parameter ‘__y0l’
- __MATHCALL (y0,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:251:1: error: storage class specified for parameter ‘y1l’
- __MATHCALL (y1,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:251:1: error: storage class specified for parameter ‘__y1l’
- __MATHCALL (y1,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:252:1: error: storage class specified for parameter ‘ynl’
- __MATHCALL (yn,, (int, _Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:252:1: error: storage class specified for parameter ‘__ynl’
- __MATHCALL (yn,, (int, _Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:259:1: error: storage class specified for parameter ‘erfl’
- __MATHCALL (erf,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:259:1: error: storage class specified for parameter ‘__erfl’
- __MATHCALL (erf,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:260:1: error: storage class specified for parameter ‘erfcl’
- __MATHCALL (erfc,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:260:1: error: storage class specified for parameter ‘__erfcl’
- __MATHCALL (erfc,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:261:1: error: storage class specified for parameter ‘lgammal’
- __MATHCALL (lgamma,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:261:1: error: storage class specified for parameter ‘__lgammal’
- __MATHCALL (lgamma,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:268:1: error: storage class specified for parameter ‘tgammal’
- __MATHCALL (tgamma,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:268:1: error: storage class specified for parameter ‘__tgammal’
- __MATHCALL (tgamma,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:274:1: error: storage class specified for parameter ‘gammal’
- __MATHCALL (gamma,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:274:1: error: storage class specified for parameter ‘__gammal’
- __MATHCALL (gamma,, (_Mdouble_));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:281:1: error: storage class specified for parameter ‘lgammal_r’
- __MATHCALL (lgamma,_r, (_Mdouble_, int *__signgamp));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:281:1: error: storage class specified for parameter ‘__lgammal_r’
- __MATHCALL (lgamma,_r, (_Mdouble_, int *__signgamp));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:289:1: error: storage class specified for parameter ‘rintl’
- __MATHCALL (rint,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:289:1: error: storage class specified for parameter ‘__rintl’
- __MATHCALL (rint,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:292:1: error: storage class specified for parameter ‘nextafterl’
- __MATHCALLX (nextafter,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:292:1: error: storage class specified for parameter ‘__nextafterl’
- __MATHCALLX (nextafter,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:294:1: error: storage class specified for parameter ‘nexttowardl’
- __MATHCALLX (nexttoward,, (_Mdouble_ __x, long double __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:294:1: error: storage class specified for parameter ‘__nexttowardl’
- __MATHCALLX (nexttoward,, (_Mdouble_ __x, long double __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:298:1: error: storage class specified for parameter ‘remainderl’
- __MATHCALL (remainder,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:298:1: error: storage class specified for parameter ‘__remainderl’
- __MATHCALL (remainder,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:302:1: error: storage class specified for parameter ‘scalbnl’
- __MATHCALL (scalbn,, (_Mdouble_ __x, int __n));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:302:1: error: storage class specified for parameter ‘__scalbnl’
- __MATHCALL (scalbn,, (_Mdouble_ __x, int __n));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:306:1: error: storage class specified for parameter ‘ilogbl’
- __MATHDECL (int,ilogb,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:306:1: error: storage class specified for parameter ‘__ilogbl’
- __MATHDECL (int,ilogb,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:311:1: error: storage class specified for parameter ‘scalblnl’
- __MATHCALL (scalbln,, (_Mdouble_ __x, long int __n));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:311:1: error: storage class specified for parameter ‘__scalblnl’
- __MATHCALL (scalbln,, (_Mdouble_ __x, long int __n));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:315:1: error: storage class specified for parameter ‘nearbyintl’
- __MATHCALL (nearbyint,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:315:1: error: storage class specified for parameter ‘__nearbyintl’
- __MATHCALL (nearbyint,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:319:1: error: storage class specified for parameter ‘roundl’
- __MATHCALLX (round,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:319:1: error: storage class specified for parameter ‘__roundl’
- __MATHCALLX (round,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:323:1: error: storage class specified for parameter ‘truncl’
- __MATHCALLX (trunc,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:323:1: error: storage class specified for parameter ‘__truncl’
- __MATHCALLX (trunc,, (_Mdouble_ __x), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:328:1: error: storage class specified for parameter ‘remquol’
- __MATHCALL (remquo,, (_Mdouble_ __x, _Mdouble_ __y, int *__quo));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:328:1: error: storage class specified for parameter ‘__remquol’
- __MATHCALL (remquo,, (_Mdouble_ __x, _Mdouble_ __y, int *__quo));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:335:1: error: storage class specified for parameter ‘lrintl’
- __MATHDECL (long int,lrint,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:335:1: error: storage class specified for parameter ‘__lrintl’
- __MATHDECL (long int,lrint,, (_Mdouble_ __x));
- ^
-In file included from /usr/include/math.h:151:0,
-                 from ../redist/linmath.c:4:
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:336:1: error: expected declaration specifiers before ‘__extension__’
- __extension__
- ^
-In file included from ../redist/linmath.c:4:0:
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:337:1: error: storage class specified for parameter ‘__llrintl’
- __MATHDECL (long long int,llrint,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:341:1: error: storage class specified for parameter ‘lroundl’
- __MATHDECL (long int,lround,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:341:1: error: storage class specified for parameter ‘__lroundl’
- __MATHDECL (long int,lround,, (_Mdouble_ __x));
- ^
-In file included from /usr/include/math.h:151:0,
-                 from ../redist/linmath.c:4:
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:342:1: error: expected declaration specifiers before ‘__extension__’
- __extension__
- ^
-In file included from ../redist/linmath.c:4:0:
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:343:1: error: storage class specified for parameter ‘__llroundl’
- __MATHDECL (long long int,llround,, (_Mdouble_ __x));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:347:1: error: storage class specified for parameter ‘fdiml’
- __MATHCALL (fdim,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:347:1: error: storage class specified for parameter ‘__fdiml’
- __MATHCALL (fdim,, (_Mdouble_ __x, _Mdouble_ __y));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:350:1: error: storage class specified for parameter ‘fmaxl’
- __MATHCALLX (fmax,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:350:1: error: storage class specified for parameter ‘__fmaxl’
- __MATHCALLX (fmax,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:353:1: error: storage class specified for parameter ‘fminl’
- __MATHCALLX (fmin,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:353:1: error: storage class specified for parameter ‘__fminl’
- __MATHCALLX (fmin,, (_Mdouble_ __x, _Mdouble_ __y), (__const__));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:357:1: error: storage class specified for parameter ‘__fpclassifyl’
- __MATHDECL_1 (int, __fpclassify,, (_Mdouble_ __value))
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:361:1: error: storage class specified for parameter ‘__signbitl’
- __MATHDECL_1 (int, __signbit,, (_Mdouble_ __value))
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:366:1: error: storage class specified for parameter ‘fmal’
- __MATHCALL (fma,, (_Mdouble_ __x, _Mdouble_ __y, _Mdouble_ __z));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:366:1: error: storage class specified for parameter ‘__fmal’
- __MATHCALL (fma,, (_Mdouble_ __x, _Mdouble_ __y, _Mdouble_ __z));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:383:1: error: storage class specified for parameter ‘scalbl’
- __MATHCALL (scalb,, (_Mdouble_ __x, _Mdouble_ __n));
- ^
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:383:1: error: storage class specified for parameter ‘__scalbl’
- __MATHCALL (scalb,, (_Mdouble_ __x, _Mdouble_ __n));
- ^
-In file included from ../redist/linmath.c:4:0:
-/usr/include/math.h:168:12: error: storage class specified for parameter ‘signgam’
- extern int signgam;
-            ^
-/usr/include/math.h:354:3: error: storage class specified for parameter ‘_LIB_VERSION_TYPE’
- } _LIB_VERSION_TYPE;
-   ^
-/usr/include/math.h:359:26: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘_LIB_VERSION’
- extern _LIB_VERSION_TYPE _LIB_VERSION;
-                          ^
-/usr/include/math.h:385:12: error: storage class specified for parameter ‘matherr’
- extern int matherr (struct exception *__exc);
-            ^
-In file included from /usr/include/stdio.h:33:0,
-                 from ../redist/linmath.c:6:
-/usr/lib/gcc/x86_64-linux-gnu/5/include/stddef.h:216:23: error: storage class specified for parameter ‘size_t’
- typedef __SIZE_TYPE__ size_t;
-                       ^
-In file included from /usr/include/stdio.h:35:0,
-                 from ../redist/linmath.c:6:
-/usr/include/x86_64-linux-gnu/bits/types.h:30:23: error: storage class specified for parameter ‘__u_char’
- typedef unsigned char __u_char;
-                       ^
-/usr/include/x86_64-linux-gnu/bits/types.h:31:28: error: storage class specified for parameter ‘__u_short’
- typedef unsigned short int __u_short;
-                            ^
-/usr/include/x86_64-linux-gnu/bits/types.h:32:22: error: storage class specified for parameter ‘__u_int’
- typedef unsigned int __u_int;
-                      ^
-/usr/include/x86_64-linux-gnu/bits/types.h:33:27: error: storage class specified for parameter ‘__u_long’
- typedef unsigned long int __u_long;
-                           ^
-/usr/include/x86_64-linux-gnu/bits/types.h:36:21: error: storage class specified for parameter ‘__int8_t’
- typedef signed char __int8_t;
-                     ^
-/usr/include/x86_64-linux-gnu/bits/types.h:37:23: error: storage class specified for parameter ‘__uint8_t’
- typedef unsigned char __uint8_t;
-                       ^
-/usr/include/x86_64-linux-gnu/bits/types.h:38:26: error: storage class specified for parameter ‘__int16_t’
- typedef signed short int __int16_t;
-                          ^
-/usr/include/x86_64-linux-gnu/bits/types.h:39:28: error: storage class specified for parameter ‘__uint16_t’
- typedef unsigned short int __uint16_t;
-                            ^
-/usr/include/x86_64-linux-gnu/bits/types.h:40:20: error: storage class specified for parameter ‘__int32_t’
- typedef signed int __int32_t;
-                    ^
-/usr/include/x86_64-linux-gnu/bits/types.h:41:22: error: storage class specified for parameter ‘__uint32_t’
- typedef unsigned int __uint32_t;
-                      ^
-/usr/include/x86_64-linux-gnu/bits/types.h:43:25: error: storage class specified for parameter ‘__int64_t’
- typedef signed long int __int64_t;
-                         ^
-/usr/include/x86_64-linux-gnu/bits/types.h:44:27: error: storage class specified for parameter ‘__uint64_t’
- typedef unsigned long int __uint64_t;
-                           ^
-/usr/include/x86_64-linux-gnu/bits/types.h:52:18: error: storage class specified for parameter ‘__quad_t’
- typedef long int __quad_t;
-                  ^
-/usr/include/x86_64-linux-gnu/bits/types.h:53:27: error: storage class specified for parameter ‘__u_quad_t’
- typedef unsigned long int __u_quad_t;
-                           ^
-In file included from /usr/include/stdio.h:35:0,
-                 from ../redist/linmath.c:6:
-/usr/include/x86_64-linux-gnu/bits/types.h:124:25: error: storage class specified for parameter ‘__dev_t’
- __STD_TYPE __DEV_T_TYPE __dev_t; /* Type of device numbers.  */
-                         ^
-/usr/include/x86_64-linux-gnu/bits/types.h:125:25: error: storage class specified for parameter ‘__uid_t’
- __STD_TYPE __UID_T_TYPE __uid_t; /* Type of user identifications.  */
-                         ^
-/usr/include/x86_64-linux-gnu/bits/types.h:126:25: error: storage class specified for parameter ‘__gid_t’
- __STD_TYPE __GID_T_TYPE __gid_t; /* Type of group identifications.  */
-                         ^
-/usr/include/x86_64-linux-gnu/bits/types.h:127:25: error: storage class specified for parameter ‘__ino_t’
- __STD_TYPE __INO_T_TYPE __ino_t; /* Type of file serial numbers.  */
-                         ^
-/usr/include/x86_64-linux-gnu/bits/types.h:128:27: error: storage class specified for parameter ‘__ino64_t’
- __STD_TYPE __INO64_T_TYPE __ino64_t; /* Type of file serial numbers (LFS).*/
-                           ^
-/usr/include/x86_64-linux-gnu/bits/types.h:129:26: error: storage class specified for parameter ‘__mode_t’
- __STD_TYPE __MODE_T_TYPE __mode_t; /* Type of file attribute bitmasks.  */
-                          ^
-/usr/include/x86_64-linux-gnu/bits/types.h:130:27: error: storage class specified for parameter ‘__nlink_t’
- __STD_TYPE __NLINK_T_TYPE __nlink_t; /* Type of file link counts.  */
-                           ^
-/usr/include/x86_64-linux-gnu/bits/types.h:131:25: error: storage class specified for parameter ‘__off_t’
- __STD_TYPE __OFF_T_TYPE __off_t; /* Type of file sizes and offsets.  */
-                         ^
-/usr/include/x86_64-linux-gnu/bits/types.h:132:27: error: storage class specified for parameter ‘__off64_t’
- __STD_TYPE __OFF64_T_TYPE __off64_t; /* Type of file sizes and offsets (LFS).  */
-                           ^
-/usr/include/x86_64-linux-gnu/bits/types.h:133:25: error: storage class specified for parameter ‘__pid_t’
- __STD_TYPE __PID_T_TYPE __pid_t; /* Type of process identifications.  */
-                         ^
-/usr/include/x86_64-linux-gnu/bits/types.h:134:26: error: storage class specified for parameter ‘__fsid_t’
- __STD_TYPE __FSID_T_TYPE __fsid_t; /* Type of file system IDs.  */
-                          ^
-/usr/include/x86_64-linux-gnu/bits/types.h:135:27: error: storage class specified for parameter ‘__clock_t’
- __STD_TYPE __CLOCK_T_TYPE __clock_t; /* Type of CPU usage counts.  */
-                           ^
-/usr/include/x86_64-linux-gnu/bits/types.h:136:26: error: storage class specified for parameter ‘__rlim_t’
- __STD_TYPE __RLIM_T_TYPE __rlim_t; /* Type for resource measurement.  */
-                          ^
-/usr/include/x86_64-linux-gnu/bits/types.h:137:28: error: storage class specified for parameter ‘__rlim64_t’
- __STD_TYPE __RLIM64_T_TYPE __rlim64_t; /* Type for resource measurement (LFS).  */
-                            ^
-/usr/include/x86_64-linux-gnu/bits/types.h:138:24: error: storage class specified for parameter ‘__id_t’
- __STD_TYPE __ID_T_TYPE __id_t;  /* General type for IDs.  */
-                        ^
-/usr/include/x86_64-linux-gnu/bits/types.h:139:26: error: storage class specified for parameter ‘__time_t’
- __STD_TYPE __TIME_T_TYPE __time_t; /* Seconds since the Epoch.  */
-                          ^
-/usr/include/x86_64-linux-gnu/bits/types.h:140:30: error: storage class specified for parameter ‘__useconds_t’
- __STD_TYPE __USECONDS_T_TYPE __useconds_t; /* Count of microseconds.  */
-                              ^
-/usr/include/x86_64-linux-gnu/bits/types.h:141:31: error: storage class specified for parameter ‘__suseconds_t’
- __STD_TYPE __SUSECONDS_T_TYPE __suseconds_t; /* Signed count of microseconds.  */
-                               ^
-/usr/include/x86_64-linux-gnu/bits/types.h:143:27: error: storage class specified for parameter ‘__daddr_t’
- __STD_TYPE __DADDR_T_TYPE __daddr_t; /* The type of a disk address.  */
-                           ^
-/usr/include/x86_64-linux-gnu/bits/types.h:144:25: error: storage class specified for parameter ‘__key_t’
- __STD_TYPE __KEY_T_TYPE __key_t; /* Type of an IPC key.  */
-                         ^
-/usr/include/x86_64-linux-gnu/bits/types.h:147:29: error: storage class specified for parameter ‘__clockid_t’
- __STD_TYPE __CLOCKID_T_TYPE __clockid_t;
-                             ^
-/usr/include/x86_64-linux-gnu/bits/types.h:150:27: error: storage class specified for parameter ‘__timer_t’
- __STD_TYPE __TIMER_T_TYPE __timer_t;
-                           ^
-/usr/include/x86_64-linux-gnu/bits/types.h:153:29: error: storage class specified for parameter ‘__blksize_t’
- __STD_TYPE __BLKSIZE_T_TYPE __blksize_t;
-                             ^
-/usr/include/x86_64-linux-gnu/bits/types.h:158:28: error: storage class specified for parameter ‘__blkcnt_t’
- __STD_TYPE __BLKCNT_T_TYPE __blkcnt_t;
-                            ^
-/usr/include/x86_64-linux-gnu/bits/types.h:159:30: error: storage class specified for parameter ‘__blkcnt64_t’
- __STD_TYPE __BLKCNT64_T_TYPE __blkcnt64_t;
-                              ^
-/usr/include/x86_64-linux-gnu/bits/types.h:162:30: error: storage class specified for parameter ‘__fsblkcnt_t’
- __STD_TYPE __FSBLKCNT_T_TYPE __fsblkcnt_t;
-                              ^
-/usr/include/x86_64-linux-gnu/bits/types.h:163:32: error: storage class specified for parameter ‘__fsblkcnt64_t’
- __STD_TYPE __FSBLKCNT64_T_TYPE __fsblkcnt64_t;
-                                ^
-/usr/include/x86_64-linux-gnu/bits/types.h:166:30: error: storage class specified for parameter ‘__fsfilcnt_t’
- __STD_TYPE __FSFILCNT_T_TYPE __fsfilcnt_t;
-                              ^
-/usr/include/x86_64-linux-gnu/bits/types.h:167:32: error: storage class specified for parameter ‘__fsfilcnt64_t’
- __STD_TYPE __FSFILCNT64_T_TYPE __fsfilcnt64_t;
-                                ^
-/usr/include/x86_64-linux-gnu/bits/types.h:170:28: error: storage class specified for parameter ‘__fsword_t’
- __STD_TYPE __FSWORD_T_TYPE __fsword_t;
-                            ^
-/usr/include/x86_64-linux-gnu/bits/types.h:172:27: error: storage class specified for parameter ‘__ssize_t’
- __STD_TYPE __SSIZE_T_TYPE __ssize_t; /* Type of a byte count, or error.  */
-                           ^
-/usr/include/x86_64-linux-gnu/bits/types.h:175:33: error: storage class specified for parameter ‘__syscall_slong_t’
- __STD_TYPE __SYSCALL_SLONG_TYPE __syscall_slong_t;
-                                 ^
-/usr/include/x86_64-linux-gnu/bits/types.h:177:33: error: storage class specified for parameter ‘__syscall_ulong_t’
- __STD_TYPE __SYSCALL_ULONG_TYPE __syscall_ulong_t;
-                                 ^
-/usr/include/x86_64-linux-gnu/bits/types.h:181:19: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘__loff_t’
- typedef __off64_t __loff_t; /* Type of file sizes and offsets (LFS).  */
-                   ^
-/usr/include/x86_64-linux-gnu/bits/types.h:182:18: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘*’ token
- typedef __quad_t *__qaddr_t;
-                  ^
-/usr/include/x86_64-linux-gnu/bits/types.h:183:15: error: storage class specified for parameter ‘__caddr_t’
- typedef char *__caddr_t;
-               ^
-/usr/include/x86_64-linux-gnu/bits/types.h:186:25: error: storage class specified for parameter ‘__intptr_t’
- __STD_TYPE __SWORD_TYPE __intptr_t;
-                         ^
-/usr/include/x86_64-linux-gnu/bits/types.h:189:23: error: storage class specified for parameter ‘__socklen_t’
- __STD_TYPE __U32_TYPE __socklen_t;
-                       ^
-In file included from ../redist/linmath.c:6:0:
-/usr/include/stdio.h:48:25: error: storage class specified for parameter ‘FILE’
- typedef struct _IO_FILE FILE;
-                         ^
-/usr/include/stdio.h:64:25: error: storage class specified for parameter ‘__FILE’
- typedef struct _IO_FILE __FILE;
-                         ^
-In file included from /usr/include/_G_config.h:20:0,
-                 from /usr/include/libio.h:31,
-                 from /usr/include/stdio.h:74,
-                 from ../redist/linmath.c:6:
-/usr/include/wchar.h:94:3: error: storage class specified for parameter ‘__mbstate_t’
- } __mbstate_t;
-   ^
-In file included from /usr/include/libio.h:31:0,
-                 from /usr/include/stdio.h:74,
-                 from ../redist/linmath.c:6:
-/usr/include/_G_config.h:23:3: error: expected specifier-qualifier-list before ‘__off_t’
-   __off_t __pos;
-   ^
-/usr/include/_G_config.h:25:3: error: storage class specified for parameter ‘_G_fpos_t’
- } _G_fpos_t;
-   ^
-/usr/include/_G_config.h:28:3: error: expected specifier-qualifier-list before ‘__off64_t’
-   __off64_t __pos;
-   ^
-/usr/include/_G_config.h:30:3: error: storage class specified for parameter ‘_G_fpos64_t’
- } _G_fpos64_t;
-   ^
-In file included from /usr/include/libio.h:49:0,
-                 from /usr/include/stdio.h:74,
-                 from ../redist/linmath.c:6:
-/usr/lib/gcc/x86_64-linux-gnu/5/include/stdarg.h:40:27: error: storage class specified for parameter ‘__gnuc_va_list’
- typedef __builtin_va_list __gnuc_va_list;
-                           ^
-In file included from /usr/include/stdio.h:74:0,
-                 from ../redist/linmath.c:6:
-/usr/include/libio.h:150:14: error: storage class specified for parameter ‘_IO_lock_t’
- typedef void _IO_lock_t;
-              ^
-In file included from /usr/include/stdio.h:74:0,
-                 from ../redist/linmath.c:6:
-/usr/include/libio.h:270:3: error: expected specifier-qualifier-list before ‘__off_t’
-   _IO_off_t _old_offset; /* This used to be _offset but it's too small.  */
-   ^
-In file included from /usr/include/stdio.h:74:0,
-                 from ../redist/linmath.c:6:
-/usr/include/libio.h:310:25: error: storage class specified for parameter ‘_IO_FILE’
- typedef struct _IO_FILE _IO_FILE;
-                         ^
-/usr/include/libio.h:315:29: error: storage class specified for parameter ‘_IO_2_1_stdin_’
- extern struct _IO_FILE_plus _IO_2_1_stdin_;
-                             ^
-/usr/include/libio.h:316:29: error: storage class specified for parameter ‘_IO_2_1_stdout_’
- extern struct _IO_FILE_plus _IO_2_1_stdout_;
-                             ^
-/usr/include/libio.h:317:29: error: storage class specified for parameter ‘_IO_2_1_stderr_’
- extern struct _IO_FILE_plus _IO_2_1_stderr_;
-                             ^
-/usr/include/libio.h:333:19: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘__io_read_fn’
- typedef __ssize_t __io_read_fn (void *__cookie, char *__buf, size_t __nbytes);
-                   ^
-/usr/include/libio.h:341:19: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘__io_write_fn’
- typedef __ssize_t __io_write_fn (void *__cookie, const char *__buf,
-                   ^
-In file included from /usr/include/stdio.h:74:0,
-                 from ../redist/linmath.c:6:
-/usr/include/libio.h:350:43: error: expected declaration specifiers or ‘...’ before ‘__off64_t’
- typedef int __io_seek_fn (void *__cookie, _IO_off64_t *__pos, int __w);
-                                           ^
-In file included from /usr/include/stdio.h:74:0,
-                 from ../redist/linmath.c:6:
-/usr/include/libio.h:353:13: error: storage class specified for parameter ‘__io_close_fn’
- typedef int __io_close_fn (void *__cookie);
-             ^
-/usr/include/libio.h:385:25: error: expected declaration specifiers or ‘...’ before ‘_IO_FILE’
- extern int __underflow (_IO_FILE *);
-                         ^
-/usr/include/libio.h:386:21: error: expected declaration specifiers or ‘...’ before ‘_IO_FILE’
- extern int __uflow (_IO_FILE *);
-                     ^
-/usr/include/libio.h:387:24: error: expected declaration specifiers or ‘...’ before ‘_IO_FILE’
- extern int __overflow (_IO_FILE *, int);
-                        ^
-/usr/include/libio.h:429:22: error: expected declaration specifiers or ‘...’ before ‘_IO_FILE’
- extern int _IO_getc (_IO_FILE *__fp);
-                      ^
-/usr/include/libio.h:430:31: error: expected declaration specifiers or ‘...’ before ‘_IO_FILE’
- extern int _IO_putc (int __c, _IO_FILE *__fp);
-                               ^
-/usr/include/libio.h:431:22: error: expected declaration specifiers or ‘...’ before ‘_IO_FILE’
- extern int _IO_feof (_IO_FILE *__fp) __THROW;
-                      ^
-/usr/include/libio.h:432:24: error: expected declaration specifiers or ‘...’ before ‘_IO_FILE’
- extern int _IO_ferror (_IO_FILE *__fp) __THROW;
-                        ^
-/usr/include/libio.h:434:30: error: expected declaration specifiers or ‘...’ before ‘_IO_FILE’
- extern int _IO_peekc_locked (_IO_FILE *__fp);
-                              ^
-/usr/include/libio.h:440:28: error: expected declaration specifiers or ‘...’ before ‘_IO_FILE’
- extern void _IO_flockfile (_IO_FILE *) __THROW;
-                            ^
-/usr/include/libio.h:441:30: error: expected declaration specifiers or ‘...’ before ‘_IO_FILE’
- extern void _IO_funlockfile (_IO_FILE *) __THROW;
-                              ^
-/usr/include/libio.h:442:30: error: expected declaration specifiers or ‘...’ before ‘_IO_FILE’
- extern int _IO_ftrylockfile (_IO_FILE *) __THROW;
-                              ^
-/usr/include/libio.h:459:25: error: expected declaration specifiers or ‘...’ before ‘_IO_FILE’
- extern int _IO_vfscanf (_IO_FILE * __restrict, const char * __restrict,
-                         ^
-/usr/include/libio.h:460:4: error: expected declaration specifiers or ‘...’ before ‘__gnuc_va_list’
-    _IO_va_list, int *__restrict);
-    ^
-/usr/include/libio.h:461:26: error: expected declaration specifiers or ‘...’ before ‘_IO_FILE’
- extern int _IO_vfprintf (_IO_FILE *__restrict, const char *__restrict,
-                          ^
-/usr/include/libio.h:462:5: error: expected declaration specifiers or ‘...’ before ‘__gnuc_va_list’
-     _IO_va_list);
-     ^
-/usr/include/libio.h:463:20: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘_IO_padn’
- extern _IO_ssize_t _IO_padn (_IO_FILE *, int, _IO_ssize_t);
-                    ^
-/usr/include/libio.h:464:19: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘_IO_sgetn’
- extern _IO_size_t _IO_sgetn (_IO_FILE *, void *, _IO_size_t);
-                   ^
-/usr/include/libio.h:466:20: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘_IO_seekoff’
- extern _IO_off64_t _IO_seekoff (_IO_FILE *, _IO_off64_t, int, int);
-                    ^
-/usr/include/libio.h:467:20: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘_IO_seekpos’
- extern _IO_off64_t _IO_seekpos (_IO_FILE *, _IO_off64_t, int);
-                    ^
-/usr/include/libio.h:469:35: error: expected declaration specifiers or ‘...’ before ‘_IO_FILE’
- extern void _IO_free_backup_area (_IO_FILE *) __THROW;
-                                   ^
-In file included from ../redist/linmath.c:6:0:
-/usr/include/stdio.h:79:20: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘va_list’
- typedef _G_va_list va_list;
-                    ^
-/usr/include/stdio.h:90:17: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘off_t’
- typedef __off_t off_t;
-                 ^
-/usr/include/stdio.h:102:19: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘ssize_t’
- typedef __ssize_t ssize_t;
-                   ^
-/usr/include/stdio.h:110:19: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘fpos_t’
- typedef _G_fpos_t fpos_t;
-                   ^
-In file included from ../redist/linmath.c:6:0:
-/usr/include/stdio.h:168:25: error: storage class specified for parameter ‘stdin’
- extern struct _IO_FILE *stdin;  /* Standard input stream.  */
-                         ^
-/usr/include/stdio.h:169:25: error: storage class specified for parameter ‘stdout’
- extern struct _IO_FILE *stdout;  /* Standard output stream.  */
-                         ^
-/usr/include/stdio.h:170:25: error: storage class specified for parameter ‘stderr’
- extern struct _IO_FILE *stderr;  /* Standard error output stream.  */
-                         ^
-/usr/include/stdio.h:178:12: error: storage class specified for parameter ‘remove’
- extern int remove (const char *__filename) __THROW;
-            ^
-/usr/include/stdio.h:180:12: error: storage class specified for parameter ‘rename’
- extern int rename (const char *__old, const char *__new) __THROW;
-            ^
-/usr/include/stdio.h:185:12: error: storage class specified for parameter ‘renameat’
- extern int renameat (int __oldfd, const char *__old, int __newfd,
-            ^
-/usr/include/stdio.h:195:13: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘*’ token
- extern FILE *tmpfile (void) __wur;
-             ^
-/usr/include/stdio.h:209:14: error: storage class specified for parameter ‘tmpnam’
- extern char *tmpnam (char *__s) __THROW __wur;
-              ^
-/usr/include/stdio.h:215:14: error: storage class specified for parameter ‘tmpnam_r’
- extern char *tmpnam_r (char *__s) __THROW __wur;
-              ^
-/usr/include/stdio.h:227:14: error: storage class specified for parameter ‘tempnam’
- extern char *tempnam (const char *__dir, const char *__pfx)
-              ^
-/usr/include/stdio.h:237:20: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int fclose (FILE *__stream);
-                    ^
-/usr/include/stdio.h:242:20: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int fflush (FILE *__stream);
-                    ^
-/usr/include/stdio.h:252:29: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int fflush_unlocked (FILE *__stream);
-                             ^
-/usr/include/stdio.h:272:13: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘*’ token
- extern FILE *fopen (const char *__restrict __filename,
-             ^
-/usr/include/stdio.h:278:13: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘*’ token
- extern FILE *freopen (const char *__restrict __filename,
-             ^
-/usr/include/stdio.h:306:13: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘*’ token
- extern FILE *fdopen (int __fd, const char *__modes) __THROW __wur;
-             ^
-/usr/include/stdio.h:319:13: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘*’ token
- extern FILE *fmemopen (void *__s, size_t __len, const char *__modes)
-             ^
-/usr/include/stdio.h:325:13: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘*’ token
- extern FILE *open_memstream (char **__bufloc, size_t *__sizeloc) __THROW __wur;
-             ^
-/usr/include/stdio.h:332:21: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern void setbuf (FILE *__restrict __stream, char *__restrict __buf) __THROW;
-                     ^
-/usr/include/stdio.h:336:21: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int setvbuf (FILE *__restrict __stream, char *__restrict __buf,
-                     ^
-/usr/include/stdio.h:337:20: error: expected declaration specifiers or ‘...’ before ‘size_t’
-       int __modes, size_t __n) __THROW;
-                    ^
-/usr/include/stdio.h:343:24: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern void setbuffer (FILE *__restrict __stream, char *__restrict __buf,
-                        ^
-/usr/include/stdio.h:344:10: error: expected declaration specifiers or ‘...’ before ‘size_t’
-          size_t __size) __THROW;
-          ^
-/usr/include/stdio.h:347:25: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern void setlinebuf (FILE *__stream) __THROW;
-                         ^
-/usr/include/stdio.h:356:21: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int fprintf (FILE *__restrict __stream,
-                     ^
-/usr/include/stdio.h:362:12: error: storage class specified for parameter ‘printf’
- extern int printf (const char *__restrict __format, ...);
-            ^
-/usr/include/stdio.h:364:12: error: storage class specified for parameter ‘sprintf’
- extern int sprintf (char *__restrict __s,
-            ^
-/usr/include/stdio.h:371:22: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int vfprintf (FILE *__restrict __s, const char *__restrict __format,
-                      ^
-In file included from /usr/include/libio.h:31:0,
-                 from /usr/include/stdio.h:74,
-                 from ../redist/linmath.c:6:
-/usr/include/stdio.h:372:8: error: expected declaration specifiers or ‘...’ before ‘__gnuc_va_list’
-        _G_va_list __arg);
-        ^
-/usr/include/stdio.h:377:54: error: expected declaration specifiers or ‘...’ before ‘__gnuc_va_list’
- extern int vprintf (const char *__restrict __format, _G_va_list __arg);
-                                                      ^
-/usr/include/stdio.h:380:8: error: expected declaration specifiers or ‘...’ before ‘__gnuc_va_list’
-        _G_va_list __arg) __THROWNL;
-        ^
-In file included from ../redist/linmath.c:6:0:
-/usr/include/stdio.h:386:44: error: expected declaration specifiers or ‘...’ before ‘size_t’
- extern int snprintf (char *__restrict __s, size_t __maxlen,
-                                            ^
-/usr/include/stdio.h:390:45: error: expected declaration specifiers or ‘...’ before ‘size_t’
- extern int vsnprintf (char *__restrict __s, size_t __maxlen,
-                                             ^
-In file included from /usr/include/libio.h:31:0,
-                 from /usr/include/stdio.h:74,
-                 from ../redist/linmath.c:6:
-/usr/include/stdio.h:391:42: error: expected declaration specifiers or ‘...’ before ‘__gnuc_va_list’
-         const char *__restrict __format, _G_va_list __arg)
-                                          ^
-/usr/include/stdio.h:413:8: error: expected declaration specifiers or ‘...’ before ‘__gnuc_va_list’
-        _G_va_list __arg)
-        ^
-In file included from ../redist/linmath.c:6:0:
-/usr/include/stdio.h:415:12: error: storage class specified for parameter ‘dprintf’
- extern int dprintf (int __fd, const char *__restrict __fmt, ...)
-            ^
-/usr/include/stdio.h:425:20: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int fscanf (FILE *__restrict __stream,
-                    ^
-/usr/include/stdio.h:431:12: error: storage class specified for parameter ‘scanf’
- extern int scanf (const char *__restrict __format, ...) __wur;
-            ^
-/usr/include/stdio.h:433:12: error: storage class specified for parameter ‘sscanf’
- extern int sscanf (const char *__restrict __s,
-            ^
-In file included from /usr/include/features.h:367:0,
-                 from /usr/include/math.h:26,
-                 from ../redist/linmath.c:4:
-/usr/include/stdio.h:443:12: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int __REDIRECT (fscanf, (FILE *__restrict __stream,
-            ^
-/usr/include/stdio.h:446:12: error: storage class specified for parameter ‘scanf’
- extern int __REDIRECT (scanf, (const char *__restrict __format, ...),
-            ^
-/usr/include/stdio.h:446:12: error: redefinition of parameter ‘scanf’
-In file included from ../redist/linmath.c:6:0:
-/usr/include/stdio.h:431:12: note: previous definition of ‘scanf’ was here
- extern int scanf (const char *__restrict __format, ...) __wur;
-            ^
-In file included from /usr/include/features.h:367:0,
-                 from /usr/include/math.h:26,
-                 from ../redist/linmath.c:4:
-/usr/include/stdio.h:448:12: error: storage class specified for parameter ‘sscanf’
- extern int __REDIRECT_NTH (sscanf, (const char *__restrict __s,
-            ^
-/usr/include/stdio.h:448:12: error: redefinition of parameter ‘sscanf’
-In file included from ../redist/linmath.c:6:0:
-/usr/include/stdio.h:433:12: note: previous definition of ‘sscanf’ was here
- extern int sscanf (const char *__restrict __s,
-            ^
-/usr/include/stdio.h:471:21: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int vfscanf (FILE *__restrict __s, const char *__restrict __format,
-                     ^
-In file included from /usr/include/libio.h:31:0,
-                 from /usr/include/stdio.h:74,
-                 from ../redist/linmath.c:6:
-/usr/include/stdio.h:472:7: error: expected declaration specifiers or ‘...’ before ‘__gnuc_va_list’
-       _G_va_list __arg)
-       ^
-/usr/include/stdio.h:479:53: error: expected declaration specifiers or ‘...’ before ‘__gnuc_va_list’
- extern int vscanf (const char *__restrict __format, _G_va_list __arg)
-                                                     ^
-/usr/include/stdio.h:484:40: error: expected declaration specifiers or ‘...’ before ‘__gnuc_va_list’
-       const char *__restrict __format, _G_va_list __arg)
-                                        ^
-In file included from /usr/include/features.h:367:0,
-                 from /usr/include/math.h:26,
-                 from ../redist/linmath.c:4:
-/usr/include/stdio.h:494:12: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int __REDIRECT (vfscanf,
-            ^
-/usr/include/stdio.h:496:37: error: expected declaration specifiers or ‘...’ before ‘__gnuc_va_list’
-    const char *__restrict __format, _G_va_list __arg),
-                                     ^
-/usr/include/stdio.h:500:5: error: expected declaration specifiers or ‘...’ before ‘__gnuc_va_list’
-     _G_va_list __arg), __isoc99_vscanf)
-     ^
-/usr/include/stdio.h:505:8: error: expected declaration specifiers or ‘...’ before ‘__gnuc_va_list’
-        _G_va_list __arg), __isoc99_vsscanf)
-        ^
-In file included from ../redist/linmath.c:6:0:
-/usr/include/stdio.h:531:19: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int fgetc (FILE *__stream);
-                   ^
-/usr/include/stdio.h:532:18: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int getc (FILE *__stream);
-                  ^
-/usr/include/stdio.h:538:12: error: storage class specified for parameter ‘getchar’
- extern int getchar (void);
-            ^
-/usr/include/stdio.h:550:27: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int getc_unlocked (FILE *__stream);
-                           ^
-/usr/include/stdio.h:551:12: error: storage class specified for parameter ‘getchar_unlocked’
- extern int getchar_unlocked (void);
-            ^
-/usr/include/stdio.h:561:28: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int fgetc_unlocked (FILE *__stream);
-                            ^
-/usr/include/stdio.h:573:28: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int fputc (int __c, FILE *__stream);
-                            ^
-/usr/include/stdio.h:574:27: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int putc (int __c, FILE *__stream);
-                           ^
-/usr/include/stdio.h:580:12: error: storage class specified for parameter ‘putchar’
- extern int putchar (int __c);
-            ^
-/usr/include/stdio.h:594:37: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int fputc_unlocked (int __c, FILE *__stream);
-                                     ^
-/usr/include/stdio.h:602:36: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int putc_unlocked (int __c, FILE *__stream);
-                                    ^
-/usr/include/stdio.h:603:12: error: storage class specified for parameter ‘putchar_unlocked’
- extern int putchar_unlocked (int __c);
-            ^
-/usr/include/stdio.h:610:18: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int getw (FILE *__stream);
-                  ^
-/usr/include/stdio.h:613:27: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int putw (int __w, FILE *__stream);
-                           ^
-/usr/include/stdio.h:622:52: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern char *fgets (char *__restrict __s, int __n, FILE *__restrict __stream)
-                                                    ^
-/usr/include/stdio.h:665:20: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘__getdelim’
- extern _IO_ssize_t __getdelim (char **__restrict __lineptr,
-                    ^
-/usr/include/stdio.h:668:20: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘getdelim’
- extern _IO_ssize_t getdelim (char **__restrict __lineptr,
-                    ^
-/usr/include/stdio.h:678:20: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘getline’
- extern _IO_ssize_t getline (char **__restrict __lineptr,
-                    ^
-/usr/include/stdio.h:689:47: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int fputs (const char *__restrict __s, FILE *__restrict __stream);
-                                               ^
-/usr/include/stdio.h:695:12: error: storage class specified for parameter ‘puts’
- extern int puts (const char *__s);
-            ^
-/usr/include/stdio.h:702:29: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int ungetc (int __c, FILE *__stream);
-                             ^
-/usr/include/stdio.h:709:15: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘fread’
- extern size_t fread (void *__restrict __ptr, size_t __size,
-               ^
-/usr/include/stdio.h:715:15: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘fwrite’
- extern size_t fwrite (const void *__restrict __ptr, size_t __size,
-               ^
-/usr/include/stdio.h:737:15: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘fread_unlocked’
- extern size_t fread_unlocked (void *__restrict __ptr, size_t __size,
-               ^
-/usr/include/stdio.h:739:15: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘fwrite_unlocked’
- extern size_t fwrite_unlocked (const void *__restrict __ptr, size_t __size,
-               ^
-/usr/include/stdio.h:749:19: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int fseek (FILE *__stream, long int __off, int __whence);
-                   ^
-/usr/include/stdio.h:754:24: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern long int ftell (FILE *__stream) __wur;
-                        ^
-/usr/include/stdio.h:759:21: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern void rewind (FILE *__stream);
-                     ^
-/usr/include/stdio.h:773:20: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int fseeko (FILE *__stream, __off_t __off, int __whence);
-                    ^
-/usr/include/stdio.h:773:36: error: expected declaration specifiers or ‘...’ before ‘__off_t’
- extern int fseeko (FILE *__stream, __off_t __off, int __whence);
-                                    ^
-/usr/include/stdio.h:778:16: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘ftello’
- extern __off_t ftello (FILE *__stream) __wur;
-                ^
-/usr/include/stdio.h:798:21: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int fgetpos (FILE *__restrict __stream, fpos_t *__restrict __pos);
-                     ^
-/usr/include/stdio.h:798:48: error: unknown type name ‘fpos_t’
- extern int fgetpos (FILE *__restrict __stream, fpos_t *__restrict __pos);
-                                                ^
-/usr/include/stdio.h:803:21: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int fsetpos (FILE *__stream, const fpos_t *__pos);
-                     ^
-/usr/include/stdio.h:803:43: error: unknown type name ‘fpos_t’
- extern int fsetpos (FILE *__stream, const fpos_t *__pos);
-                                           ^
-/usr/include/stdio.h:826:23: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern void clearerr (FILE *__stream) __THROW;
-                       ^
-/usr/include/stdio.h:828:18: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int feof (FILE *__stream) __THROW __wur;
-                  ^
-/usr/include/stdio.h:830:20: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int ferror (FILE *__stream) __THROW __wur;
-                    ^
-/usr/include/stdio.h:835:32: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern void clearerr_unlocked (FILE *__stream) __THROW;
-                                ^
-/usr/include/stdio.h:836:27: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int feof_unlocked (FILE *__stream) __THROW __wur;
-                           ^
-/usr/include/stdio.h:837:29: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int ferror_unlocked (FILE *__stream) __THROW __wur;
-                             ^
-/usr/include/stdio.h:846:13: error: storage class specified for parameter ‘perror’
- extern void perror (const char *__s);
-             ^
-In file included from /usr/include/stdio.h:853:0,
-                 from ../redist/linmath.c:6:
-/usr/include/x86_64-linux-gnu/bits/sys_errlist.h:26:12: error: storage class specified for parameter ‘sys_nerr’
- extern int sys_nerr;
-            ^
-/usr/include/x86_64-linux-gnu/bits/sys_errlist.h:27:26: error: storage class specified for parameter ‘sys_errlist’
- extern const char *const sys_errlist[];
-                          ^
-In file included from ../redist/linmath.c:6:0:
-/usr/include/stdio.h:858:20: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int fileno (FILE *__stream) __THROW __wur;
-                    ^
-/usr/include/stdio.h:863:29: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int fileno_unlocked (FILE *__stream) __THROW __wur;
-                             ^
-/usr/include/stdio.h:872:13: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘*’ token
- extern FILE *popen (const char *__command, const char *__modes) __wur;
-             ^
-/usr/include/stdio.h:878:20: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int pclose (FILE *__stream);
-                    ^
-/usr/include/stdio.h:884:14: error: storage class specified for parameter ‘ctermid’
- extern char *ctermid (char *__s) __THROW;
-              ^
-/usr/include/stdio.h:912:24: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern void flockfile (FILE *__stream) __THROW;
-                        ^
-/usr/include/stdio.h:916:26: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern int ftrylockfile (FILE *__stream) __THROW __wur;
-                          ^
-/usr/include/stdio.h:919:26: error: expected declaration specifiers or ‘...’ before ‘FILE’
- extern void funlockfile (FILE *__stream) __THROW;
-                          ^
-../redist/linmath.c:27:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:34:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:41:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:48:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:55:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:63:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:68:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:80:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:87:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:92:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:111:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:116:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:124:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:146:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:154:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:168:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:173:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:179:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:185:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:226:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:259:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:291:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:299:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:306:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:314:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:322:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:330:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:339:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:344:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:351:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:359:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:366:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:402:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:425:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:449:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:458:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-../redist/linmath.c:480:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
- {
- ^
-In file included from ../redist/linmath.c:3:0:
-../redist/linmath.h:106:6: error: old-style parameter declarations in prototyped function definition
- void quattomatrix33(FLT * matrix33, const FLT * qin)
-      ^
-../redist/linmath.c:530:1: error: expected ‘{’ at end of input
- }
- ^
-make: *** [all] Error 1
diff --git a/dave/fileutil.c b/dave/fileutil.c
deleted file mode 100644
index 04dc241..0000000
--- a/dave/fileutil.c
+++ /dev/null
@@ -1,133 +0,0 @@
-#include "fileutil.h"
-#include <stdio.h>
-#include <stdlib.h>
-
-#define PI 3.14159265358979323846264
-
-
-og_mutex_t  read_mutex;
-og_thread_t read_thread;
-double read_hmdAngles[NUM_SWEEP][NUM_HMD];
-int read_hmdAngleViewed[NUM_SWEEP][NUM_HMD];
-int read_frameno=0;
-
-static FILE *fopen_orDie(const char *path, const char *flag)
-{
-	FILE *f = fopen(path, flag);
-	if (f == NULL) {
-		printf("ERROR could not oepn %s for %s\n", path, flag);
-		exit(1);
-	}
-	return f;
-}
-
-static void SeekToken(FILE *f, const char *keyword)
-{
-	char token[4096];
-	do {
-		fscanf(f, "%s", token);
-	} while( strcmp(token,keyword)!=0 && !feof(f) );
-}
-
-void LoadLighthousePos(
-        const char *path,
-        float *x, float *y, float *z,
-        float *qi, float *qj, float *qk, float *qreal)
-{
-	FILE *f = fopen_orDie(path,"r");
-	SeekToken(f, "POS:");
-	fscanf(f, "%f %f %f\n", x, y, z);
-	SeekToken(f, "QUAT:");
-	fscanf(f, "%f %f %f %f\n", qreal, qi, qj, qk);
-	fclose (f);
-}
-
-void LoadHmdProcessedDataAngles(
-	const char *path,
-	double angles[NUM_SWEEP][NUM_HMD])
-{
-	int i,j;
-	char   type[256];
-	char   sweep[256];
-	int    id;
-	int    nSweep;
-	double ang;
-	double d1,d2,d3;  // revisit these numbers later
-
-	// Initialize all of the angles to -9999
-	for (i=0; i<NUM_SWEEP; i++) {
-		for (j=0; j<NUM_HMD; j++) {
-			angles[i][j] = -9999.0;   // Initially no value
-		}
-	}
-
-	FILE *f = fopen_orDie(path, "r");
-
-	while (!feof(f))
-	{
-		// Read the line from the file
-		int rt=fscanf(f, "%s %s %d %d %lf %lf %lf %lf",
-			&type, &sweep, &id, &nSweep, &ang,
-			&d1,&d2,&d3);
-
-		if (rt<8) { break; }
-
-		// Only hmd points
-		if ( strcmp(type,"HMD")!=0 ) { continue; }
-
-		// Which sweep is it?
-		int sweepId=-1;
-		if      ( strcmp(sweep,"LX")==0 ) { sweepId=SWEEP_LX; }
-		else if ( strcmp(sweep,"LY")==0 ) { sweepId=SWEEP_LY; }
-		else if ( strcmp(sweep,"RX")==0 ) { sweepId=SWEEP_RX; }
-		else if ( strcmp(sweep,"RY")==0 ) { sweepId=SWEEP_RY; }
-		else { continue; }
-		
-		// Convert the angle from ticks to radians
-		angles[sweepId][id] = (PI / 400000.0) * ( ang-200000.0 );
-	}
-
-	fclose(f);
-}
-
-void *ThreadReadHmtAngles(void *junk)
-{
-	char house[256];
-	char xy[256];
-	char hmd[256];
-	double ts;
-	int id;
-	int syncid;
-	int timeInSweep;
-	int length;
-	//lighthouse sweep hmdOrwmd timestamp id syncid timeinsweep length
-
-	while(1) {
-		int rt=scanf("%s %s %s %lf %d %d %d %d", house, xy, hmd, &ts, &id, &syncid, &timeInSweep, &length);
-		if (rt==8)
-		{
-			//int rt=scanf("%s %s %s %lf %d %d %d %d", house, xy, hmd, &ts, &id, &syncid, &timeInSweep, &length);
-			//printf( "%s %s %s %f %d %d %d %d\n", house, xy, hmd, ts,id, syncid, timeInSweep, length );
-
-			if( id < 0 ) continue;
-			int sweepId=0;
-			if ( house[0]=='R' ) { sweepId+=2; }
-			if ( xy[0]   =='Y' ) { sweepId++; }
-			double angle = (PI / 400000.0) * ( (double)timeInSweep-200000.0 );
-		
-			if      ( strcmp(hmd,"HMD")==0 ) { id += 0;  } 
-			else if ( strcmp(hmd,"WM0")==0 ) { id += 32; }
-			else if ( strcmp(hmd,"WM1")==0 ) { id += 56; }
-			else    { continue; }
-		
-			if ( id<0 || id >NUM_HMD) { continue; }
-
-			OGLockMutex  (read_mutex);
-			read_hmdAngles[sweepId][id] = angle;
-			OGUnlockMutex(read_mutex);
-			read_hmdAngleViewed[sweepId][id] = read_frameno;
-		}
-	}
-}
-
-
diff --git a/dave/fileutil.h b/dave/fileutil.h
deleted file mode 100644
index e5da244..0000000
--- a/dave/fileutil.h
+++ /dev/null
@@ -1,35 +0,0 @@
-#ifndef _fileutil_h_
-#define _fileutil_h_
-
-#include <pthread.h>
-#include "os_generic.h"
-
-void LoadLighthousePos(
-	const char *path, 
-	float *x, float *y, float *z,
-	float *qi, float *qj, float *qk, float *qreal);
-
-
-// first 32 are hmd, next 24 wm0 next 24 wm1
-#define NUM_HMD   80
-#define NUM_SWEEP 4
-#define SWEEP_LX  0
-#define SWEEP_LY  1
-#define SWEEP_RX  2
-#define SWEEP_RY  3
-void LoadHmdProcessedDataAngles(
-	const char *path,
-	double angle[NUM_SWEEP][NUM_HMD]);
-
-
-extern og_mutex_t  read_mutex;
-extern og_thread_t read_thread;
-extern double read_hmdAngles[NUM_SWEEP][NUM_HMD];
-extern int read_hmdAngleViewed[NUM_SWEEP][NUM_HMD];
-extern int read_frameno;
-void *ThreadReadHmtAngles(void *junk);
-
-
-#endif // __fileutil_h_
-
-
diff --git a/dave/kalman_filter.c b/dave/kalman_filter.c
deleted file mode 100644
index 3d3406a..0000000
--- a/dave/kalman_filter.c
+++ /dev/null
@@ -1,72 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include "kalman_filter.h"
-
-void KalmanPredict(
-    KAL_VEC(xhat_k_km1),    /* OUTPUT: (S)     Predicted state at time 'k' */
-    KAL_MAT(P_k_km1),       /* OUTPUT: (S x S) Predicted covariance at time 'k' */
-    KAL_MAT(P_km1_km1),     /* INPUT:  (S x S) Updated covariance from time 'k-1' */
-    KAL_VEC(xhat_km1_km1),  /* INPUT:  (S)     Updated state from time 'k-1' */
-    KAL_MAT(F_k),           /* INPUT:  (S x S) State transition model */
-    KAL_MAT(B_k),           /* INPUT:  (S x U) Control input model */
-    KAL_VEC(u_k),           /* INPUT:  (U)     Control vector */
-    KAL_MAT(Q_k),           /* INPUT:  (S x S) Covariance of process noise */
-    int S,                  /* INPUT:          Number of dimensions in state vector */
-    int U)                  /* INPUT:          Size of control input vector */
-{
-    KAL_MAT(F_k_tran);
-    KAL_MAT(F_k__P_km1_km1);
-
-    //   Predicted state:     xhat_k_km1 = Fk * xhat_km1_km1    +  Bk * uk
-    MUL(F_k, xhat_km1_km1, xhat_k_km1, S,S,1);
-
-    //   Predicted covar:     P_k_km1 = Fk * P_km1_km1 * Fk' +  Qk
-    MUL(F_k, P_km1_km1, F_k__P_km1_km1, S, S, S);
-    TRANSP(F_k, F_k_tran, S, S);
-    MULADD(F_k__P_km1_km1, F_k_tran, Q_k, P_k_km1, S, S, S);
-}
-
-void KalmanUpdate(
-    KAL_VEC(xhat_k_k),      /* (S)     OUTPUT: Updated state at time 'k' */
-    KAL_MAT(P_k_k),         /* (S x S) OUTPUT: Updated covariance at time 'k' */
-    KAL_VEC(xhat_k_km1),    /* (S)     INPUT:  Predicted state at time 'k' */
-    KAL_MAT(P_k_km1),       /* (S x S) INPUT:  Predicted covariance at time 'k' */
-    KAL_VEC(z_k),           /* (B)     INPUT:  Observation vector */
-    KAL_MAT(H_k),           /* (B x S) INPUT:  Observational model */
-    KAL_MAT(R_k),           /* (S x S) INPUT:  Covariance of observational noise */
-    int B,                  /*         INPUT:  Number of observations in observation vector */
-    int S)                  /*         INPUT:  Number of measurements in the state vector */
-{
-    // UPDATE PHASE
-    //   Measurement residual:       yhat_k = zk - Hk * xhat_k_km1
-    KAL_MAT(yhat_k);        /* (B x 1) */
-    GMULADD(H_k,xhat_k_km1,z_k,yhat_k,-1.0f,1.0f,B,S,1);
-
-    //   Residual covariance:           S_k = H_k * P_k_km1 * H_k' + R_k
-    KAL_MAT(H_k_transp);            /* (S x B) */
-    KAL_MAT(P_k_km1__H_k_transp);   /* (S x B) */
-    KAL_MAT(S_k);                   /* (B x B) */
-    TRANSP(H_k,H_k_transp,B,S);
-    MUL(P_k_km1,H_k_transp,P_k_km1__H_k_transp,S,S,B);
-    MULADD(H_k,P_k_km1__H_k_transp,R_k,S_k,B,S,B);
-
-    //   Optimal Kalman gain:           K_k = P_k_km1 * H_k' * inv(S_k)
-    KAL_MAT(K_k);        /* (S x B) */
-    KAL_MAT(S_k_inv);    /* (B x B) */
-    INV(S_k,S_k_inv,B);
-    MUL(P_K_km1__H_k_transp,S_k_inv,K_k,S,B,B);
-
-    //   Updated state esti:       xhat_k_k = xhat_k_km1 + K_k * yhat_k
-    MULADD(K_k,yhat_k,xhat_k_km1,S,B,1);
-
-    //   Updated covariance:          P_k_k = (I - K_k * H_k) * P_k_km1
-    KAL_MAT(Ident);      /* (S x S) */
-    KAL_MAT(I_minus_K_k_H_k);
-    IDENTITY(Ident,S);
-    GMULADD(K_k,H_k,Ident,I_minus_K_k_H_k,1.0,-1.0,S,B,S);
-    MUL(I_minus_K_k_H_k,P_k_km1,P_k_k,S,S,1);
-}
-
-
-
diff --git a/dave/kalman_filter.h b/dave/kalman_filter.h
deleted file mode 100644
index 6511fac..0000000
--- a/dave/kalman_filter.h
+++ /dev/null
@@ -1,116 +0,0 @@
-#ifndef __KALMAN_FILTER_H__
-#define __KALMAN_FILTER_H__
-
-#include "dclapack.h"
-
-/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
- * Legend:
- *   xhat_k_km1    --   Predicted state at time 'k'   using information available at time 'k-1'
- *      P_k_km1    --   Predicted covariance at time 'k' using information available at time 'k-1'
- *      F_k        --   State transition model
- *      u_k        --   Control vector (i.e. external process)
- *      B_k        --   Control input model
- *      w_k        --   Gaussian White noise
- *      H_k        --   Observation model (to transform true state into measurements)
- *      Q_k        --   Covariance matrix of process noise
- *      R_k        --   Covariance of observational noise
- *      v_k        --   Gaussian white observational noise
- *
- * PREDICTION PHASE
- *   Predicted state:        xhat_k_km1 = Fk * xhat_km1_km1    +  Bk * uk
- *   Predicted covar:           P_k_km1 = Fk * P_km1_km1 * Fk' +  Qk
- *
- * UPDATE PHASE
- *   Measurement residual:       yhat_k = zk - Hk * xhat_k_km1
- *   Residual covariance:           S_k = H_k * P_k_km1 * H_k' + R_k
- *   Optimal Kalman gain:           K_k = P_k_km1 * H_k' * inv(S_k)
- *   Updated state esti:       xhat_k_k = xhat_k_km1 + K_k * yhat_k
- *   Updated covariance:          P_k_k = (I - K_k * H_k) * P_k_km1
- * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
-
-#define KAL_STRIDE 36
-#define KAL_MAT(_var)  float _var[ORDER][ORDER]
-#define KAL_VEC(_var)  float _var[ORDER][ORDER]
-
-void KalmanPredict(
-    KAL_VEC(xhat_k_km1),    /* OUTPUT: (S)     Predicted state at time 'k' */
-    KAL_MAT(P_k_km1),       /* OUTPUT: (S x S) Predicted covariance at time 'k' */
-    KAL_MAT(P_km1_km1),     /* INPUT:  (S x S) Updated covariance from time 'k-1' */
-    KAL_VEC(xhat_km1_km1),  /* INPUT:  (S)     Updated state from time 'k-1' */
-    KAL_MAT(F_k),           /* INPUT:  (S x S) State transition model */
-    KAL_MAT(B_k),           /* INPUT:  (S x U) Control input model */
-    KAL_VEC(u_k),           /* INPUT:  (U)     Control vector */
-    KAL_MAT(Q_k),           /* INPUT:  (S x S) Covariance of process noise */
-    int S,                  /* INPUT:          Number of dimensions in state vector */
-    int U);                 /* INPUT:          Size of control input vector */
-
-void KalmanUpdate(
-    KAL_VEC(xhat_k_k),      /* (S)     OUTPUT: Updated state at time 'k' */
-    KAL_MAT(P_k_k),         /* (S x S) OUTPUT: Updated covariance at time 'k' */
-    KAL_VEC(xhat_k_km1),    /* (S)     INPUT:  Predicted state at time 'k' */
-    KAL_MAT(P_k_km1),       /* (S x S) INPUT:  Predicted covariance at time 'k' */
-    KAL_VEC(z_k),           /* (B)     INPUT:  Observation vector */
-    KAL_MAT(H_k),           /* (B x S) INPUT:  Observational model */
-    KAL_MAT(R_k),           /* (S x S) INPUT:  Covariance of observational noise */
-    int B,                  /*         INPUT:  Number of observations in observation vector */
-    int S);                 /*         INPUT:  Number of measurements in the state vector */
-
-/* * * * * * * * * * * *
- * State vector format:
- *  xhat[12] = { x, y, z, ix, iy, iz, jx, jy, jz, kx, ky, kz, vx, vy, vz, vix, viy, viz, vjx, vjy, vjz, vkx, vky, vkz, ax, ay, az, aix, aiy, aiz, ajx, ajy, ajz, akx, aky, akz },
- *               0  1  2   3   4   5   6   7   8   9  10  11  12  13  14   15   16   17   18   19   20   21   22   23  24  25  26   27   28   29   30   31   32   33   34   35
- *  where,
- *    i  --  right direction vector
- *    j  --  forward direction vector
- *    k  --  up direction vector
- * * * * * * * * * * * */
-
-/* positional state */
-#define ST_X   0
-#define ST_Y   1
-#define ST_Z   2
-#define ST_IX  3
-#define ST_IY  4
-#define ST_IZ  5
-#define ST_JX  6
-#define ST_JY  7
-#define ST_JZ  8
-#define ST_KX  9
-#define ST_KY 10
-#define ST_KZ 11
-
-/* velocity state */
-#define ST_VX  12
-#define ST_VY  13
-#define ST_VZ  14
-#define ST_VIX 15
-#define ST_VIY 16
-#define ST_VIZ 17
-#define ST_VJX 18
-#define ST_VJY 19
-#define ST_VJZ 20
-#define ST_VKX 21
-#define ST_VKY 22
-#define ST_VKZ 23
-
-/* acceleration state */
-#define ST_AX  24
-#define ST_AY  25
-#define ST_AZ  26
-#define ST_AIX 27
-#define ST_AIY 28
-#define ST_AIZ 29
-#define ST_AJX 30
-#define ST_AJY 31
-#define ST_AJZ 32
-#define ST_AKX 33
-#define ST_AKY 34
-#define ST_AKZ 35
-
-
-/* * * * * * * * * * * *
- * Measurement:
- * * * * * * * * * * * */
-
-#endif
-
diff --git a/dave/main.c b/dave/main.c
deleted file mode 100644
index ff187aa..0000000
--- a/dave/main.c
+++ /dev/null
@@ -1,29 +0,0 @@
-#include <stdio.h>
-#include "kalman_filter.h"
-
-int main()
-{
-    KAL_VEC(xhat_k_km1);    /* OUTPUT: (S)     Predicted state at time 'k' */
-    KAL_MAT(P_k_km1);       /* OUTPUT: (S x S) Predicted covariance at time 'k' */
-    KAL_MAT(P_km1_km1);     /* INPUT:  (S x S) Updated covariance from time 'k-1' */
-    KAL_VEC(xhat_km1_km1);  /* INPUT:  (S)     Updated state from time 'k-1' */
-    KAL_MAT(F_k);           /* INPUT:  (S x S) State transition model */
-    KAL_MAT(B_k);           /* INPUT:  (S x U) Control input model */
-    KAL_VEC(u_k);           /* INPUT:  (U)     Control vector */
-    KAL_MAT(Q_k);           /* INPUT:  (S x S) Covariance of process noise */
-
-    KalmanPredict(
-        xhat_k_km1,    /* OUTPUT: (S)     Predicted state at time 'k' */
-        P_k_km1,       /* OUTPUT: (S x S) Predicted covariance at time 'k' */
-        P_km1_km1,     /* INPUT:  (S x S) Updated covariance from time 'k-1' */
-        xhat_km1_km1,  /* INPUT:  (S)     Updated state from time 'k-1' */
-        F_k,           /* INPUT:  (S x S) State transition model */
-        B_k,           /* INPUT:  (S x U) Control input model */
-        u_k,           /* INPUT:  (U)     Control vector */
-        Q_k,           /* INPUT:  (S x S) Covariance of process noise */
-        36,            /* INPUT:          Number of dimensions in state vector */
-        36);            /* INPUT:          Size of control input vector */
-
-    return 0;
-}
-
diff --git a/dave/olddata/HMD_normals.csv b/dave/olddata/HMD_normals.csv
deleted file mode 100644
index 9abb886..0000000
--- a/dave/olddata/HMD_normals.csv
+++ /dev/null
@@ -1,32 +0,0 @@
-0.656529 0.080037 0.750042
-1.000000 0.000000 0.000000
-0.951033 0.192296 -0.241987
-0.863341 0.261141 -0.431796
-0.562083 0.827080 -0.000702
-0.556742 0.818617 -0.141085
-0.127514 0.360969 0.923819
-0.197328 0.721208 0.664019
-0.197328 -0.720504 0.664783
-0.460200 0.003066 0.887810
-0.025263 -0.748333 0.662842
-0.556742 -0.818766 -0.140217
-0.562083 -0.827081 0.000175
-0.863341 -0.261598 -0.431519
-0.951034 -0.192552 -0.241783
-0.656529 -0.079242 0.750127
--0.197328 0.721208 0.664019
--0.127514 0.360969 0.923819
--0.556742 0.818617 -0.141085
--0.562083 0.827080 -0.000702
--0.863341 0.261141 -0.431796
--0.951033 0.192296 -0.241987
--1.000000 0.000000 0.000000
--0.656529 0.080037 0.750042
--0.656529 -0.079242 0.750127
--0.951034 -0.192552 -0.241783
--0.863341 -0.261598 -0.431519
--0.562083 -0.827081 0.000175
--0.556742 -0.818766 -0.140217
--0.025263 -0.748333 0.662842
--0.460200 0.003066 0.887810
--0.197328 -0.720504 0.664783
diff --git a/dave/olddata/HMD_points.csv b/dave/olddata/HMD_points.csv
deleted file mode 100644
index 9c8f61d..0000000
--- a/dave/olddata/HMD_points.csv
+++ /dev/null
@@ -1,32 +0,0 @@
-0.085242 0.017104 0.046493
-0.093076 -0.000052 0.035027
-0.086979 0.016748 0.020598
-0.089932 0.029368 0.029518
-0.080100 0.045401 0.034918
-0.050949 0.052772 0.033339
-0.024403 0.019970 0.059476
-0.047578 0.033637 0.053722
-0.047777 -0.034022 0.053513
-0.057882 -0.000007 0.056592
-0.027400 -0.051728 0.046844
-0.051043 -0.052940 0.032966
-0.080512 -0.045486 0.034783
-0.090041 -0.029387 0.029598
-0.086948 -0.016462 0.020596
-0.085268 -0.017169 0.046332
--0.047738 0.033671 0.053643
--0.024283 0.020141 0.059533
--0.050979 0.052769 0.033118
--0.080175 0.045313 0.034850
--0.090020 0.029306 0.029481
--0.087090 0.016787 0.020453
--0.093113 0.000154 0.034906
--0.085269 0.017293 0.046345
--0.085128 -0.017079 0.046558
--0.086970 -0.016675 0.020667
--0.089911 -0.029458 0.029795
--0.080444 -0.045268 0.034661
--0.051102 -0.052996 0.033321
--0.027283 -0.051820 0.046794
--0.057974 -0.000051 0.056586
--0.047652 -0.033921 0.053604
diff --git a/dave/olddata/ptinfo.csv b/dave/olddata/ptinfo.csv
deleted file mode 100644
index 2dbef65..0000000
--- a/dave/olddata/ptinfo.csv
+++ /dev/null
@@ -1,88 +0,0 @@
-0 0 0 1024 0.054304 8.087056 7.006970 0.000005 0.000095 49.911564
-0 0 1 1024 -0.091073 7.633667 2.124995 0.000002 0.000032 28.309638
-4 0 0 1024 0.046903 7.663818 9.134277 0.000014 0.000274 87.982354
-4 0 1 1024 -0.086459 8.770345 2.726730 0.000011 0.000192 29.506709
-5 0 0 1024 0.047980 4.033020 8.087671 0.000017 0.000218 50.499310
-5 0 1 1024 -0.077373 7.318115 2.557700 0.000005 0.000082 24.065775
-6 0 0 1024 0.062184 9.521423 7.429031 0.000003 0.000035 38.676732
-6 0 1 1024 -0.073973 9.523905 1.995981 0.000002 0.000029 26.113657
-7 0 0 1024 0.056254 9.999064 7.497290 0.000003 0.000044 38.734072
-7 0 1 1024 -0.079104 9.753560 2.103774 0.000004 0.000051 33.619688
-8 1 0 1024 -0.006291 9.665955 1.987640 0.000002 0.000028 15.453922
-8 1 1 1024 -0.117330 10.177124 1.600708 0.000001 0.000018 11.038096
-9 0 0 1025 0.062143 8.118984 6.820550 0.000004 0.000055 40.521475
-9 0 1 1023 -0.085365 8.509694 1.896965 0.000003 0.000091 21719098.365862
-9 1 0 1024 0.000557 6.315043 1.998499 0.000010 0.000087 21.686142
-9 1 1 1024 -0.113388 7.437968 1.836344 0.000002 0.000035 18.467548
-10 1 0 1024 -0.009943 9.343363 1.995316 0.000002 0.000031 17.584078
-10 1 1 1024 -0.124325 9.785502 1.689753 0.000002 0.000038 11.692163
-11 1 1 1024 -0.118290 6.393616 2.064949 0.000007 0.000127 19.804200
-12 1 0 1024 -0.014712 6.424642 2.678035 0.000011 0.000116 31.494265
-12 1 1 1024 -0.109233 7.731120 2.279953 0.000007 0.000190 18.323990
-15 0 0 1024 0.060565 6.858704 7.184426 0.000008 0.000088 44.052520
-15 0 1 1024 -0.094258 6.385498 2.018832 0.000010 0.000091 29.446135
-15 1 0 1024 -0.006425 3.219747 2.549749 0.000022 0.000239 26.656846
-15 1 1 1024 -0.106455 6.234049 1.960842 0.000006 0.000076 13.899017
-17 0 0 1024 0.066623 8.772827 6.714717 0.000003 0.000034 33.014899
-17 0 1 1024 -0.060226 8.462301 2.015937 0.000002 0.000022 32.443223
-23 1 1 1024 -0.155699 4.259481 2.133325 0.000009 0.000119 14.051344
-24 1 0 1024 0.004956 2.748250 3.060253 0.000032 0.000273 24.108629
-24 1 1 1024 -0.156870 7.030355 1.539771 0.000003 0.000047 11.937263
-27 1 0 1024 -0.004080 5.997660 2.117311 0.000010 0.000096 25.358188
-27 1 1 1024 -0.157007 8.123576 1.820049 0.000003 0.000063 11.321934
-28 1 0 1024 -0.007485 3.633423 2.815398 0.000022 0.000202 29.154675
-28 1 1 1024 -0.148765 6.027649 1.957405 0.000006 0.000081 13.776313
-29 1 0 1024 -0.006364 9.275757 2.122339 0.000002 0.000026 16.821591
-29 1 1 1024 -0.140631 9.910583 1.611250 0.000002 0.000023 13.197373
-30 0 0 1024 0.072943 3.733805 6.264887 0.000006 0.000071 35.965622
-30 0 1 1024 -0.052506 4.387878 3.479865 0.000009 0.000093 44.349223
-30 1 0 1024 0.008406 5.021810 2.308727 0.000008 0.000085 15.880164
-30 1 1 1024 -0.147555 8.227193 1.637723 0.000002 0.000022 13.866484
-31 1 0 1024 0.000033 9.308573 1.886001 0.000002 0.000017 19.936102
-31 1 1 1024 -0.145700 9.870667 1.610662 0.000001 0.000017 14.105948
-32 1 0 1016 -0.101837 5.457534 2.442544 0.000008 0.000085 16.869970
-32 1 1 1018 -0.100882 6.643766 1.484100 0.000002 0.000027 17.016439
-33 1 0 1019 -0.107913 5.854473 2.030354 0.000008 0.000111 17.656553
-33 1 1 1018 -0.104750 6.514285 1.579995 0.000002 0.000026 18.046024
-34 1 0 1020 -0.108257 6.882782 1.880494 0.000003 0.000038 14.125138
-34 1 1 1018 -0.110099 6.917526 1.892384 0.000002 0.000016 13.833723
-35 1 0 1022 -0.121796 8.334801 1.807161 0.000002 0.000028 14.423969
-35 1 1 1018 -0.107517 7.105231 1.554912 0.000002 0.000022 15.379143
-36 1 0 1021 -0.111978 8.395752 1.902573 0.000002 0.000021 12.684395
-36 1 1 1018 -0.103989 7.755075 1.513899 0.000002 0.000017 15.735186
-37 1 0 1022 -0.119498 8.144121 2.128056 0.000001 0.000016 11.799663
-37 1 1 1018 -0.086472 6.760928 1.440899 0.000002 0.000032 16.451576
-38 1 0 1022 -0.126362 8.366418 1.890943 0.000002 0.000024 15.547028
-38 1 1 1018 -0.099977 7.628377 1.647596 0.000003 0.000027 13.428394
-39 1 0 1022 -0.128867 8.546498 1.952486 0.000002 0.000020 13.761684
-39 1 1 1018 -0.091108 8.340987 1.392215 0.000002 0.000030 15.791367
-41 1 0 858 -0.117675 8.663534 2.024164 0.000002 0.000016 13.786543
-41 1 1 852 -0.083109 7.402558 1.346682 0.000001 0.000017 14.923250
-42 1 0 1020 -0.110949 8.397712 2.080674 0.000002 0.000028 16.436445
-42 1 1 1017 -0.080808 7.596423 1.468899 0.000002 0.000024 14.864047
-44 0 0 1021 0.098696 8.919217 4.402947 0.000003 0.000022 29.326257
-44 0 1 1023 -0.134452 8.670434 2.040941 0.000002 0.000027 25.185552
-54 0 0 1021 0.095352 9.054522 4.727093 0.000004 0.000049 27.342838
-54 0 1 1023 -0.158791 8.836144 2.087028 0.000003 0.000027 22.937738
-68 0 0 912 -0.126928 4.094275 2.984245 0.000000 0.000005 31.298089
-68 0 1 916 0.529440 2.825646 2.494563 0.000008 0.000066 26.030924
-68 1 0 916 0.282512 3.705604 1.662663 0.000004 0.000042 16.517113
-68 1 1 916 -0.382934 2.543668 1.671447 0.000012 0.000142 16.902817
-70 1 0 919 0.273220 2.914037 1.975858 0.000007 0.000072 16.422591
-70 1 1 911 -0.380586 2.538534 2.661676 0.000018 0.000189 21.306309
-71 1 0 927 0.270648 4.495415 1.832304 0.000003 0.000023 15.326381
-71 1 1 911 -0.374629 3.509147 1.960478 0.000007 0.000067 14.023731
-72 0 0 922 -0.139030 4.265365 3.092647 0.000001 0.000008 36.803851
-72 0 1 937 0.507338 4.919313 2.656878 0.000005 0.000087 28.489847
-72 1 0 918 0.273990 4.384191 1.657099 0.000003 0.000025 16.250508
-72 1 1 901 -0.365903 4.259850 1.754957 0.000004 0.000068 12.246038
-73 0 0 909 -0.131142 4.841928 3.053060 0.000001 0.000013 35.932353
-73 0 1 939 0.512391 5.133209 2.178137 0.000004 0.000025 26.796286
-73 1 0 915 0.278769 2.556967 1.691021 0.000006 0.000050 15.318204
-74 0 0 919 -0.135500 5.774937 2.990444 0.000000 0.000004 38.680779
-74 0 1 919 0.517127 8.180404 2.131625 0.000001 0.000012 24.272923
-74 1 0 916 0.282418 1.150973 1.692552 0.000023 0.000215 15.138841
-76 0 0 916 -0.136047 5.623431 3.027347 0.000001 0.000015 40.599860
-76 0 1 913 0.537758 7.682777 2.005741 0.000001 0.000008 23.670972
-86 0 0 925 -0.141096 6.131959 3.056302 0.000001 0.000009 37.086914
-86 0 1 929 0.512093 8.391079 2.034693 0.000001 0.000008 26.888878
diff --git a/dave/ptinfo.csv b/dave/ptinfo.csv
deleted file mode 100644
index f4c5ea9..0000000
--- a/dave/ptinfo.csv
+++ /dev/null
@@ -1,69 +0,0 @@
-0 0 0 1024 0.041750 3.356344 1.828998 0.000002 0.000021 49.839622
-0 0 1 1024 0.109967 4.153035 1.883659 0.000002 0.000017 18.750043
-0 1 1 838 -0.207362 0.514121 2.011177 0.000005 0.000146 20.057562
-4 1 0 1024 0.131400 2.764364 2.038156 0.000003 0.000066 21.627449
-4 1 1 1024 -0.201195 2.843648 1.844738 0.000003 0.000079 20.542771
-6 0 0 1024 0.023004 4.443075 1.777077 0.000001 0.000026 47.120957
-6 0 1 1024 0.113830 5.225403 1.653571 0.000001 0.000022 20.887187
-6 1 0 1024 0.146652 2.742981 2.012739 0.000001 0.000012 21.375524
-6 1 1 1024 -0.211721 2.358521 1.862361 0.000001 0.000015 20.053232
-7 1 0 1024 0.140333 3.198140 1.997439 0.000001 0.000018 18.166517
-7 1 1 1024 -0.208156 2.908244 1.892947 0.000001 0.000013 17.755360
-8 0 0 1024 0.036998 5.118429 1.829670 0.000001 0.000012 39.822422
-8 0 1 1024 0.126802 6.585714 1.734635 0.000002 0.000021 20.020662
-9 0 0 1024 0.035700 4.496134 1.846496 0.000001 0.000012 45.663926
-9 0 1 1024 0.115987 5.774577 1.682445 0.000002 0.000027 19.873340
-10 0 0 1024 0.032992 4.960815 1.840030 0.000002 0.000034 49.867023
-10 0 1 1024 0.134889 6.200765 1.801494 0.000004 0.000056 19.108826
-15 0 0 1024 0.046206 3.663981 1.957251 0.000001 0.000022 51.132112
-15 0 1 1024 0.119199 4.899963 1.761027 0.000002 0.000060 24.645105
-16 1 0 1024 0.167758 2.818949 2.055596 0.000001 0.000010 19.765362
-16 1 1 1024 -0.210253 2.650065 1.684485 0.000001 0.000010 20.046716
-17 0 0 1024 0.008123 4.042155 1.907654 0.000001 0.000016 44.942365
-17 0 1 1024 0.119126 5.346334 1.616305 0.000002 0.000038 23.873406
-17 1 0 1024 0.160551 2.538859 2.078290 0.000001 0.000011 18.503004
-17 1 1 1024 -0.212818 1.963074 1.653989 0.000001 0.000010 20.818517
-18 1 0 1024 0.169252 1.834696 2.095149 0.000003 0.000073 20.457114
-18 1 1 1024 -0.202781 1.857198 1.804126 0.000003 0.000083 25.433970
-19 1 0 1024 0.177362 2.038411 2.536636 0.000008 0.000194 22.828018
-19 1 1 1024 -0.204779 2.259420 2.005833 0.000009 0.000221 27.081790
-23 0 0 1025 -0.010332 3.968150 1.862948 0.000004 0.000068 45.777934
-23 0 1 1023 0.128696 6.093495 1.773672 0.000004 0.004550 19300251.477888
-24 0 0 993 -0.006030 4.369734 1.921640 0.000005 0.000129 48.222013
-24 0 1 992 0.138082 6.460706 1.786190 0.000005 0.000155 22.781613
-27 0 1 1024 0.147109 2.936829 2.604852 0.000022 0.000474 28.721504
-29 0 0 1024 0.016187 5.032145 1.921979 0.000003 0.000047 47.194243
-29 0 1 1024 0.140979 6.596395 1.815706 0.000005 0.000090 24.794637
-30 0 0 1024 0.000282 4.738342 1.756708 0.000001 0.000040 47.044401
-30 0 1 1024 0.128872 6.677734 1.748380 0.000002 0.000039 19.083389
-31 0 0 1024 0.007667 5.235433 1.898046 0.000001 0.000019 47.785930
-31 0 1 1024 0.137390 6.697835 1.762878 0.000002 0.000024 20.161993
-32 0 0 1019 -0.221131 4.109073 1.687081 0.000001 0.000008 39.847161
-32 0 1 1022 0.145009 4.683627 1.672801 0.000001 0.000004 18.169256
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