From 0ab91a6e9374f190c049a5d8ea1319b9b37529c1 Mon Sep 17 00:00:00 2001
From: cnlohr <lohr85@gmail.com>
Date: Sun, 15 Apr 2018 17:43:12 -0400
Subject: Move things into attic and update Makefile to do dependnencies.

---
 attic/dave/AffineSolve             |  Bin 0 -> 40104 bytes
 attic/dave/AffineSolve.c           |  783 +++++++++++++
 attic/dave/AffineSolve.c.CHARLES   |  643 +++++++++++
 attic/dave/HMD_normals.csv         |   32 +
 attic/dave/HMD_points.csv          |   32 +
 attic/dave/Makefile                |   21 +
 attic/dave/OrthoPlot.c             |  451 ++++++++
 attic/dave/dclapack_test           |  Bin 0 -> 12960 bytes
 attic/dave/dclapack_test.c         |   34 +
 attic/dave/errors.txt              | 2141 ++++++++++++++++++++++++++++++++++++
 attic/dave/fileutil.c              |  133 +++
 attic/dave/fileutil.h              |   35 +
 attic/dave/kalman_filter.c         |   72 ++
 attic/dave/kalman_filter.h         |  116 ++
 attic/dave/main.c                  |   29 +
 attic/dave/olddata/HMD_normals.csv |   32 +
 attic/dave/olddata/HMD_points.csv  |   32 +
 attic/dave/olddata/ptinfo.csv      |   88 ++
 attic/dave/ptinfo.csv              |   69 ++
 19 files changed, 4743 insertions(+)
 create mode 100755 attic/dave/AffineSolve
 create mode 100644 attic/dave/AffineSolve.c
 create mode 100644 attic/dave/AffineSolve.c.CHARLES
 create mode 100644 attic/dave/HMD_normals.csv
 create mode 100644 attic/dave/HMD_points.csv
 create mode 100644 attic/dave/Makefile
 create mode 100644 attic/dave/OrthoPlot.c
 create mode 100755 attic/dave/dclapack_test
 create mode 100644 attic/dave/dclapack_test.c
 create mode 100644 attic/dave/errors.txt
 create mode 100644 attic/dave/fileutil.c
 create mode 100644 attic/dave/fileutil.h
 create mode 100644 attic/dave/kalman_filter.c
 create mode 100644 attic/dave/kalman_filter.h
 create mode 100644 attic/dave/main.c
 create mode 100644 attic/dave/olddata/HMD_normals.csv
 create mode 100644 attic/dave/olddata/HMD_points.csv
 create mode 100644 attic/dave/olddata/ptinfo.csv
 create mode 100644 attic/dave/ptinfo.csv

(limited to 'attic')

diff --git a/attic/dave/AffineSolve b/attic/dave/AffineSolve
new file mode 100755
index 0000000..bd93cbd
Binary files /dev/null and b/attic/dave/AffineSolve differ
diff --git a/attic/dave/AffineSolve.c b/attic/dave/AffineSolve.c
new file mode 100644
index 0000000..685062e
--- /dev/null
+++ b/attic/dave/AffineSolve.c
@@ -0,0 +1,783 @@
+//
+//  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/attic/dave/AffineSolve.c.CHARLES b/attic/dave/AffineSolve.c.CHARLES
new file mode 100644
index 0000000..cb62ef6
--- /dev/null
+++ b/attic/dave/AffineSolve.c.CHARLES
@@ -0,0 +1,643 @@
+//
+//  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/attic/dave/HMD_normals.csv b/attic/dave/HMD_normals.csv
new file mode 100644
index 0000000..9abb886
--- /dev/null
+++ b/attic/dave/HMD_normals.csv
@@ -0,0 +1,32 @@
+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/attic/dave/HMD_points.csv b/attic/dave/HMD_points.csv
new file mode 100644
index 0000000..9c8f61d
--- /dev/null
+++ b/attic/dave/HMD_points.csv
@@ -0,0 +1,32 @@
+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/attic/dave/Makefile b/attic/dave/Makefile
new file mode 100644
index 0000000..330bda3
--- /dev/null
+++ b/attic/dave/Makefile
@@ -0,0 +1,21 @@
+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/attic/dave/OrthoPlot.c b/attic/dave/OrthoPlot.c
new file mode 100644
index 0000000..222828c
--- /dev/null
+++ b/attic/dave/OrthoPlot.c
@@ -0,0 +1,451 @@
+/*
+ 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/attic/dave/dclapack_test b/attic/dave/dclapack_test
new file mode 100755
index 0000000..bac05e7
Binary files /dev/null and b/attic/dave/dclapack_test differ
diff --git a/attic/dave/dclapack_test.c b/attic/dave/dclapack_test.c
new file mode 100644
index 0000000..3f48b08
--- /dev/null
+++ b/attic/dave/dclapack_test.c
@@ -0,0 +1,34 @@
+#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/attic/dave/errors.txt b/attic/dave/errors.txt
new file mode 100644
index 0000000..df2a094
--- /dev/null
+++ b/attic/dave/errors.txt
@@ -0,0 +1,2141 @@
+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/attic/dave/fileutil.c b/attic/dave/fileutil.c
new file mode 100644
index 0000000..04dc241
--- /dev/null
+++ b/attic/dave/fileutil.c
@@ -0,0 +1,133 @@
+#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/attic/dave/fileutil.h b/attic/dave/fileutil.h
new file mode 100644
index 0000000..e5da244
--- /dev/null
+++ b/attic/dave/fileutil.h
@@ -0,0 +1,35 @@
+#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/attic/dave/kalman_filter.c b/attic/dave/kalman_filter.c
new file mode 100644
index 0000000..3d3406a
--- /dev/null
+++ b/attic/dave/kalman_filter.c
@@ -0,0 +1,72 @@
+#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/attic/dave/kalman_filter.h b/attic/dave/kalman_filter.h
new file mode 100644
index 0000000..6511fac
--- /dev/null
+++ b/attic/dave/kalman_filter.h
@@ -0,0 +1,116 @@
+#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/attic/dave/main.c b/attic/dave/main.c
new file mode 100644
index 0000000..ff187aa
--- /dev/null
+++ b/attic/dave/main.c
@@ -0,0 +1,29 @@
+#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/attic/dave/olddata/HMD_normals.csv b/attic/dave/olddata/HMD_normals.csv
new file mode 100644
index 0000000..9abb886
--- /dev/null
+++ b/attic/dave/olddata/HMD_normals.csv
@@ -0,0 +1,32 @@
+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/attic/dave/olddata/HMD_points.csv b/attic/dave/olddata/HMD_points.csv
new file mode 100644
index 0000000..9c8f61d
--- /dev/null
+++ b/attic/dave/olddata/HMD_points.csv
@@ -0,0 +1,32 @@
+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/attic/dave/olddata/ptinfo.csv b/attic/dave/olddata/ptinfo.csv
new file mode 100644
index 0000000..2dbef65
--- /dev/null
+++ b/attic/dave/olddata/ptinfo.csv
@@ -0,0 +1,88 @@
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diff --git a/attic/dave/ptinfo.csv b/attic/dave/ptinfo.csv
new file mode 100644
index 0000000..f4c5ea9
--- /dev/null
+++ b/attic/dave/ptinfo.csv
@@ -0,0 +1,69 @@
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