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//====================================================== TestViolation: Violation = false rGPS Rx,Ry for j = 1 to MaxDim(Boundary,1)/2 -1 //--for each line mm = (j-1)*2 X1 = Boundary[mm] Y1 = Boundary[mm+1] X2 = Boundary[mm+2] Y2 = Boundary[mm+3] If j=1 then X1 = -X1 //due to MPolygon specs //--Line formula Y = mX+b m = 1.0*(Y2-Y1)/(X2-X1) b = Y1-m*X1 //--quadratic X=(-B+Sqrt(B*B-4*A*c))/2/A //-X=(-B-Sqrt(B*B-4*A*c))/2/A //--if there is a solution then the //--circle and line intersect (possibly) A = 1+m^2 B = 2*m*(b-Ry)-2*Rx C = Rx^2+(b-Ry)^2-625 //625=(20+5)^2 BB = B^2-4*A*C if (BB) >= 0 BB = Sqrt(BB) XX1 = (-B+BB)/2/A //--first intercept XX2 = (-B-BB)/2/A //--second intercept //--check if intercept is actual //--not on extended line if Within(XX1,X1,X2) OR Within(XX2,X1,X2) Violation = true break //no need to check any more boundary lines endif endif next Return //======================================================

append="hdc=ide-scsi"

append="hdc=ide-scsi hdd=ide-scsi"

If you are not using LILO or, for some reason, do not want to modify the /etc/lilo.conf file, you can instead configure the /etc/modules.conf file to load and implement the SCSI emulation for your IDE CD drives. This involves entering several module configuration commands in the /etc/modules.conf file. When your system starts up, it will load the modules as specified in that file. Initially, your IDE CD drives will be recognized and configured as IDE CD-ROMs by the ide-cd module. You will need to specify options for the ide-cd module to ignore the IDE CDR and CD-RW drives, as well as any CD-ROM drives you want to use in CD Writing applications. You do this with the options command and the ignore option. The following example instructs ide-cd to ignore an IDE CD-R that has been installed as an IDE CD-ROM at /dev/hdc, the secondary IDE master.

FIGURE 9.6 GPS con nement part II (line numbering starts at 15 there is no missing code).

You then have to enter alias commands to identify the scd SCSI drives as using the SCSI CD module, sr_mod. The following example aliases the /dev/scd0 device as using the sr_mod SCSI CD module.

There are also several pre-install commands that will load the ide-scsi module and that provide the SCSI emulation, as well as govern the sequence in which SCSI (sg and sr_mod) an IDE CD (ide-cd) modules are loaded.

Lines 25 to 28 are where we obtain the x, y coordinates of both ends of the line (this will be done for each line that de nes the boundary). Lines 31 to 32 are where we calculate the values m and b. Lines 37 to 39 are where we set the quadratic equation coef cients that will be used to solve the formula. Notice (Line 39) that the value 625 25^2. 25 is the robot s radius (20) plus an added buffer of 5. We write 625 directly so as to save time. This algorithm is very calculations intensive and any time saving we can do (such as this one) would help make the algorithm faster. This is an example of compromise between ef ciency and good programming practice. In good practice we ought to have set a constant for the robot s radius (e.g., R_Radius 20) and a constant for the buffer (e.g., Buffer 5) then we would write Line 39 as:

pre-install sg modprobe ide-scsi # load ide-scsi before sg pre-install sr_mod modprobe ide-scsi # load ide-scsi before sr_mod pre-install ide-scsi modprobe ide-cd # load ide-cd before ide-scsi

2.6.1 Scope and Coverage of Capital Charges The final version of the amendment to the capital accord to incorporate market risks regulates capital charges for interest-rate-related instruments and equities and applies to the current market value of items in the bank s trading books. By trading book is meant the bank s proprietary positions in financial instruments (including positions in derivative products and offbalance-sheet instruments) which are intentionally held for short-term resale. The financial instruments may also be acquired by the bank with the intention of benefiting in the short term from actual or expected differences between their buying and selling prices, or from other price or interest-rate variations; positions in financial instruments arising from matched principal brokering and market making; or positions taken in order to hedge other elements of the trading book.79 Capital charges for foreign exchange risk and for commodities risk apply to the bank s total currency and commodity positions, subject to some discretion to exclude structural foreign exchange positions:

The following example shows the lines to add to the /etc/modules.conf file to have two IDE CD drives (hdc and hddd) emulate SCSI CD drives (scd0 and scd1). Notice the double quotes around the ide-cd options on the first line.

alias scd1 sr_mod pre-install sg modprobe ide-scsi pre-install sr_mod modprobe ide-scsi pre-install ide-scsi modprobe ide-cd