%\documentstyle[art10,titlepage,makeidx,twoside,EPSF/epsf,mytabbing]{j-article}

% euslisp
\newif\ifeuslisp
\euslisptrue

%%% added 2004.12.14
\documentclass[]{jarticle}
\usepackage{makeidx,mytabbing,fancyheadings}


\usepackage[dvipdfmx]{graphicx,color,epsfig}
\let\epsfile=\epsfig
\usepackage[dvipdfmx,bookmarks=true,bookmarksnumbered=true,bookmarkstype=toc]{hyperref}
\ifnum 42146=\euc"A4A2 \AtBeginDvi{\special{pdf:tounicode EUC-UCS2}}\else
\AtBeginDvi{\special{pdf:tounicode 90ms-RKSJ-UCS2}}\fi

%%%
\newcommand{\eusversion}{9.00}
\newcommand{\irteusversion}{1.00}


\flushbottom
\makeindex
\pagestyle{myheadings}
\oddsidemargin=0cm
\evensidemargin=0cm

% A4 size
\textwidth=16.5cm
\textheight=24.6cm
\topmargin=-0.8cm
\oddsidemargin= 0.5cm
\evensidemargin=0.5cm

% Letter size
%\topmargin=0.5cm
%\textwidth=17.6cm
%\textheight=23cm
%\oddsidemargin= 0.2cm
%\evensidemargin=0.2cm

\parindent=10pt
\parskip=1mm
%\baselineskip 14pt

\setcounter{totalnumber}{3}
\renewcommand{\topfraction}{0.99}       % 85% of a page (from page
                                        % top)
                                        % can be occupied by tbl / fig
                                        %
\renewcommand{\bottomfraction}{0.99}    % 85% of a page (from page
                                        % bottom)
                                        % can be occupied by tbl / fig
\renewcommand{\textfraction}{0.0}      % text shoud occupy 15% or
                                        % more in
                                        % a page
%\renewcommand{\floatpagefraction}{0.99} % 70% or more shoud occupy in
                                        % a
                                        % a float page


%%% removed 2004.12.14 \jintercharskip=0pt plus3.0pt minus1pt%

\usepackage{amsmath,amssymb}
\usepackage{cases} %% subnumcases
\newcommand{\labfig}[1]{\label{fig:#1}}
\newcommand{\labtab}[1]{\label{tab:#1}}
\newcommand{\labeq}[1]{\label{eq:#1}}
\newcommand{\labsec}[1]{\label{sec:#1}}
\newcommand{\labchap}[1]{\label{chap:#1}}
\newcommand{\labitem}[1]{\label{item:#1}}
\newcommand{\figlab}[1]{\labfig{#1}} % alias
\newcommand{\tablab}[1]{\labtab{#1}} % alias
\newcommand{\eqlab}[1]{\labeq{#1}} % alias
\newcommand{\eqlabel}[1]{\labeq{#1}} % alias
\newcommand{\equlab}[1]{\labeq{#1}} % alias
\newcommand{\reffig}[1]{{Fig.\ref{fig:#1}}~}
\newcommand{\reftab}[1]{{Table~\ref{tab:#1}}~}
\newcommand{\refeq}[1]{{Equation~\ref{eq:#1}}~}
\newcommand{\refchap}[1]{第\ref{chap:#1}章}
\newcommand{\refitem}[1]{\ref{item:#1}}
\newcommand{\refsec}[1]{第\ref{seq:#1}節}
\newcommand{\figref}[1]{\reffig{#1}} % alias
\newcommand{\tabref}[1]{\reftab{#1}} % alias
\renewcommand{\eqref}[1]{\refeq{#1}} % alias
\newcommand{\chapref}[1]{\refchap{#1}} % alias
\newcommand{\secref}[1]{\refsec{#1}} % alias
\newcommand{\bm}[1]{\mbox{\boldmath{$#1$}}}
\makeatletter
\newcommand{\footnoteref}[1]{\protected@xdef\@thefnmark{\ref{#1}}\@footnotemark}
\makeatother



\begin{document}

\newcommand{\ptext}[1]
{\tt \begin{quote} \begin{tabbing} #1 \end{tabbing} \end{quote} \rm}

\newcommand{\desclist}[1]{
\begin{list}{ }{\setlength{\rightmargin}{0mm}\topsep=0mm\partopsep=0mm}
\item #1
\end{list}
\vspace{3mm}}

\newcommand{\functiondescription}[4]{
\index{#1}
{\bf #1} \em #2 \rm \hfill [#3] 
%\if#4 \vspace{3mm} \\ \else \desclist{#4} \fi
%\ifx#4 \vspace{3mm} \\ \else \desclist{#4} \fi
 \desclist{\hspace{0mm}#4}
}

\newcommand{\bfx}[1]{\index{#1}{\bf #1}}
\newcommand{\emx}[1]{\index{#1}{\em #1}}

\newcommand{\longdescription}[3]{
\index{#1}
\begin{emtabbing}
{\bf #1} 
\it #2
\rm
\end{emtabbing}
\desclist{#3}
}

\newcommand{\funcdesc}[3]{\functiondescription{#1}{#2}{関数}{#3}}
\newcommand{\macrodesc}[3]{\functiondescription{#1}{#2}{マクロ}{#3}}
\newcommand{\specialdesc}[3]{\functiondescription{#1}{#2}{特殊}{#3}}
\newcommand{\methoddesc}[3]{\functiondescription{#1}{#2}{メソッド}{#3}}
\newcommand{\vardesc}[2]{\functiondescription{#1}{}{変数}{#2}}

\newcommand{\fundesc}[2]{\functiondescription{#1}{#2}{関数}{\hspace{0mm}}}
\newcommand{\macdesc}[2]{\functiondescription{#1}{#2}{マクロ}{\hspace{0mm}}}
\newcommand{\spedesc}[2]{\functiondescription{#1}{#2}{特殊}{\hspace{0mm}}}
\newcommand{\metdesc}[2]{\functiondescription{#1}{#2}{メソッド}{\hspace{0mm}}}

\newcommand{\constdesc}[2]{\functiondescription{#1}{}{定数}{#2}}

\newcommand{\classdesc}[4]{	%class, super slots description
\vspace{2mm} 
\index{#1}
{\Large {\bf #1 }} \hfill [クラス]  %super
\begin{tabbing}
\hspace{30mm} :super \hspace{5mm} \= {\bf #2} \\
\hspace{30mm} :slots \> #3 
\end{tabbing}
\vspace{4mm}
\desclist{#4}}

\newenvironment{refdesc}{
 \vspace{5mm} \parindent=0mm \topsep=0mm \parskip=0mm \leftmargin=10mm}{
             \parindent=10mm \topsep=3mm \parskip=1mm \leftmargin=0mm }


\date{}
\title{{\Huge \bf EusLisp} \\
{\large \bf EusLisp version \eusversion / irteus version \irteusversion} \\
{\LARGE \bf リファレンスマニュアル} \\
{\large -ロボットモデリングの拡張-} \\
\vspace{10mm}
%ETL-RM-87-06E \\
{\large ETL-TR-95-19 + JSK-TR-10-03} \\
{\large \today} \\ }

\author{
irteus \irteusversion\\
東京大学大学院　\\
情報理工学系研究科　知能機械情報学専攻\\
{\large 野沢 峻一 , 植田 亮平, 岡田 慧} \\
ueda@jsk.t.u-tokyo.ac.jp nozawa@jsk.t.u-tokyo.ac.jp k-okada@jsk.t.u-tokyo.ac.jp\\
〒113-8656 東京都文京区本郷7-3-1 工学部2号館7階73B2 
\\
EusLisp \eusversion\\
通商産業省　工業技術院 \\
電子技術総合研究所 知能システム部 \\
{\large 松井 俊浩, 原 功, 中垣 博文(九州電力)} \\
matsui@etl.go.jp, hara@etl.go.jp, nakagaki@etl.go.jp\\
〒305 茨城県つくば市梅園1-1-4 \\
}

\thispagestyle{empty}
\maketitle
\pagenumbering{roman}
\tableofcontents
% \listoffigures
% \listoftables
\bibliographystyle{plain}
\newpage
\pagenumbering{arabic}

\ifeuslisp
\part{EusLisp 基本}
\markboth{EusLisp version \eusversion リファレンスマニュアル (Part I)}{はじめに}
\input{jintro}
\input{jgenerals}
\input{jcontrols}
\input{jobjects}
%\input{predicates}
\input{jarith}
\input{jsymbols}
\input{jsequences}
\input{jio}
\input{jevaluation}
\newpage
\part{EusLisp 拡張}
\markboth{EusLisp version \eusversion リファレンスマニュアル (Part II)}{システム関数}
\input{jsysfunc}
\input{jvxw}
\input{jmthread}
\input{jmatrix}
\input{jgeometry}
\input{jcontact}
\input{jvoronoi}
\input{jgraphics}
\input{jxwindow}
\input{jxtoolkit}
\fi
%

\part{irteus 拡張}
\markboth{EusLisp version \eusversion リファレンスマニュアル (Part  III)}{ロボットモデリング関数}

\input{irtmodel}
%% irtrobot.l
%% irtmodel.l
%% irtsensor.l
%% irtscene.l
%% irtdyna.l

\section{ロボットビューワ}
 \input{irtviewer-func}

\input{pqp}
%% pqp.l

\section{BVHデータ}
 \input{irtbvh-func}
\section{Colladaデータ}
 \input{irtcollada-func}
\section{ポイントクラウドデータ}
 \input{irtpointcloud-func}
\section{グラフ表現}
 \input{irtgraph-func}

%% irtbvh.l
%% irtcollada.l
%% irtgraph.l
%% irtimage.l
%% irtpointcloud.l
%% png.l

\section{irteus拡張}
 \subsection{GL/X表示}
  \input{irtgl-func}
  \input{irtx-func}
 \subsection{ユーティリティ関数}
 \input{irtutil-func}
 \subsection{数学関数}
 \input{irtmath-func}
 \subsection{画像関数}
 \input{irtimage-func}
 \input{png-func}
%% irtgl.l
%% irtutil.l
%% irtviewer.l
%% irtx.l
%% irtmath.l


\cleardoublepage
\markboth{Euslisp version \eusversion リファレンスマニュアル}{Index}
\footnotesize
\printindex
\end{document}

