thesis.tex

%----------------------------------------------------------------------
% Document class
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\documentclass[latexfonts,mas]{oru-thesis}

%What to include (useful if you want to send certain portions for review).
%\includeonly{
%  title,
%  abstract,
%  acknowledgements,
%  contents,
%  ch1,
%  ch2,
%  0_backmatter
%}
%----------------------------------------------------------------------


%----------------------------------------------------------------------
% Packages and macros
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%This needs to be before epsfig
%\usepackage[dvips]{graphicx}
%\usepackage{graphicx}
\usepackage{psfrag}

\usepackage{longtable}
\usepackage{listings}
\usepackage{textcomp}
\usepackage{url}
\usepackage{afterpage}
\usepackage{placeins}
\usepackage{amssymb} %\mathbb{R}

\usepackage{amsmath}
\usepackage{amsthm}
\usepackage{amsfonts}
\usepackage{pifont}
\usepackage{rotating}
\usepackage{latexsym}
\usepackage{verbatim}
\usepackage[latin1]{inputenc}
\usepackage{multirow}
\usepackage{afterpage}
%\usepackage{epsfig}
\usepackage{lscape}
\usepackage{makeidx}
\usepackage[printonlyused]{acronym}
\makeindex

%This needs to be before hyperref
%\usepackage{float}

% This should be after most packages
\usepackage[%ps2pdf, %debug,
            %pdftitle            = {{e.g. The Title}},
            %pdfsubject          = {e.g. Ph.D. Thesis},
            %pdfauthor           = {e.g. My Name},
            %pdfkeywords         = {{e.g. My Keywords}},
            %pdfpagemode         = {UseOutlines},
            colorlinks          = false,
            linkcolor           = {black},
            %citecolor           = {black},
            %urlcolor            = {black},
            pdfstartview        = {FitH},
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            bookmarksnumbered   = true,
            bookmarkstype       = {toc},
            raiselinks          = false,
            breaklinks          = false,
            pageanchor          = true,
            backref             = page]{hyperref}

% These need to be after hyperref
%\usepackage{algorithm}
%\usepackage{algorithmic}
%\usepackage[all]{hypcap}
\usepackage[ruled,noline,noend]{algorithm2e}
\usepackage[noabbrev]{cleveref} % nameinlink,
\usepackage[tight]{subfigure}

% This needs to be after backref, which is included by hyperref if backref is
% enabled.  The command is used to list locations of citations.
\renewcommand*{\backref}[1]{}
\renewcommand*{\backrefalt}[4]{
\ifcase #1
(Not cited.)
\or
(Cited on page #2.)
\else
(Cited on pages #2.)
\fi
}

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%----------------------------------------------------------------------
% Macros
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% For adding notes.  The first argument is optional, usually the note author's
% initials or a subject for the note.  The second argument is the note itself.
% Each note is numbered using the notecounter counter.
%\newcounter{notecounter}
%\setcounter{notecounter}{1}
%\newcommand{\note}[2][]{
%  \vspace{1ex}\noindent$\Rightarrow$
%  \fbox{\begin{minipage}[t]{0.85\columnwidth}{\sf\small \textbf{NOTE \arabic{notecounter} (#1):} #2}\end{minipage}}
%  \vspace{1ex}
%  \addtocounter{notecounter}{1}}

% For inserting definitions (use \begin{definition} and \end{definition}
%\theoremstyle{definition}
%\newtheorem{definition}{Definition}[section]

% For inserting ps figures, specifying size in various ways
%\def\epspath{./Figures/}
%\newcommand{\inps}[1]{\psfig{figure=\epspath#1.eps}}
%\newcommand{\inpss}[2]{\psfig{figure=\epspath#1.eps,width=#2}}
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%\newcommand{\centerpswh}[3]{\begin{center}\ \inpswh{#1}{#2}{#3} \end{center}}

% Used to set a minimum height for rows in tables
%\newcommand{\rowheight}[1]{\rule{-1pt}{#1}}


%----------------------------------------------------------------------
\newcommand{\RR}{\mathbb{R}}
\newcommand{\mbm}[1]{\mbox{\boldmath $#1$}}

% add \argmin command
\newcommand{\argmin}[1]{\underset{#1}{\operatorname{arg}\,\operatorname{min}}\;}
\newcommand{\minimize}[1]{\underset{#1}{\operatorname{minimize}}\quad}
\newcommand{\subjectto}{{\operatorname{subject\;to}}\quad}
\newcommand{\norm}[1]{\lVert#1\rVert}

% fix font in \dddot and \ddddot
\makeatletter
\renewcommand{\dddot}[1]{%
{\mathop{\kern\z@#1}\limits^{\vbox to-1.4\ex@{\kern-\tw@\ex@
\hbox{$...$}\vss}}}}
\renewcommand{\ddddot}[1]{%
{\mathop{\kern\z@#1}\limits^{\vbox to-1.4\ex@{\kern-\tw@\ex@
\hbox{$....$}\vss}}}}
\makeatother

% set font for acronyms
\renewcommand*{\acsfont}[1]{{\bf #1}}
\renewcommand*{\acffont}[1]{{\bf #1}}

% crossreferences -- cases when capital letter should be used
\crefname{table}{Table}{Tables}%
\crefname{subtable}{Table}{Tables}%
\crefname{part}{Part}{Parts}%
\crefname{chapter}{Chapter}{Chapters}%
\crefname{section}{Section}{Sections}%
\crefname{subsection}{Section}{Sections}%
\crefname{subsubsection}{Section}{Sections}%
\crefname{appendix}{Appendix}{Appendices}%
\crefname{subappendix}{Appendix}{Appendices}%
\crefname{subsubappendix}{Appendix}{Appendices}%
\crefname{subsubsubappendix}{Appendix}{Appendices}%
\crefname{theorem}{Theorem}{Theorems}%
\crefname{lemma}{Lemma}{Lemmas}%
\crefname{algorithm}{Algorithm}{Algorithms}%
\crefname{listing}{Listing}{Listings}%
\crefname{figure}{Figure}{Figures}%
%----------------------------------------------------------------------


%----------------------------------------------------------------------
% Title information
%----------------------------------------------------------------------
\title{Model predictive control of a walking bipedal robot using online optimization}
\author{Alexander Sherikov}
\date{\today}
%\oruseries{0} TODO
%\isbn{000-00-0000-000-0}
%\issn{1650-8580}
%\printer{Printer Name}
%\editor{...}
%\editoremail{...}
\supervisor{Dr. Dimitar Dimitrov}
%\supervisor{}
\examiner{Dr. Mathias Broxvall}
\examiner{Dr. Marcus Sundh\"all}
%\examiner{...}
%\examiner{...}
%----------------------------------------------------------------------


%---------------------------------------
\begin{document}
\sloppy
%---------------------------------------
\include{front}
%---------------------------------------
\mainmatter
%---------------------------------------
\include{ch-intro}
\include{ch-background}
\include{ch-mpc}
\include{ch-qp}
\include{ch-naomodule}
\include{ch-results}
\include{ch-conclusion}
%---------------------------------------
% Appendix
%---------------------------------------
\appendix
\include{app-schur}
%---------------------------------------
%\backmatter
%---------------------------------------
\include{backmatter}
%---------------------------------------
\end{document}