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thesis.tex
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thesis.tex
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%----------------------------------------------------------------------
% Document class
%----------------------------------------------------------------------
\documentclass[a4paper,twoside,openany,final,11pt]{book}
%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
%----------------------------------------------------------------------
\usepackage[a4paper]{meta-donnees}
%\usepackage[top=2.5cm, bottom=2.5cm, left=2.5cm, right=2cm]{geometry}
\usepackage[top=2.5cm, bottom=3cm, inner=3cm, outer=2.5cm]{geometry}
\usepackage{longtable}
\usepackage{listings}
\usepackage{textcomp}
\usepackage{url}
%\usepackage{afterpage} % conflicts with tcolorbox
\usepackage{placeins}
\usepackage{amsthm}
\usepackage{pifont}
\usepackage{rotating}
\usepackage{latexsym}
\usepackage{verbatim}
\usepackage[utf8]{inputenc}
\usepackage{multirow}
\usepackage{lscape}
%\usepackage{makeidx}
\usepackage{enumitem}
\usepackage{forest}
\usepackage{bibentry}
\nobibliography*
%\makeindex
% 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 = true,
linkcolor = {blue},
citecolor = {blue},
%urlcolor = {black},
pdfstartview = {FitH},
pdfdisplaydoctitle = true,
bookmarks = true,
bookmarksopen = false,
bookmarksnumbered = true,
bookmarkstype = {toc},
raiselinks = false,
breaklinks = true,
pageanchor = true,
backref = page]{hyperref}
% These need to be after hyperref
%\usepackage{algorithm}
%\usepackage{algorithmic}
%\usepackage[all]{hypcap}
%\usepackage[ruled,noline,noend]{algorithm2e}
\usepackage{mymath}
\usepackage{mynotation}
\usepackage{subcaption}
\usepackage[format=hang,font=small,labelfont=bf]{caption}
\usepackage[bordercolor=white,color=green!40]{todonotes}
\usepackage[noabbrev,sort]{cleveref} % nameinlink,
\usepackage[hyperref=true,list-style=longtable]{acro}
% 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
}
%----------------------------------------------------------------------
%----------------------------------------------------------------------
% Macros
%----------------------------------------------------------------------
% todo
\newcommand{\td}[1]{\todo[inline,noline]{TODO: #1}}
% name of a variable, software ...
\newcommand{\sn}[1]{{\ttfamily #1}}
% term
\newcommand{\tn}[1]{\emph{#1}}
%----------------------------------------------------------------------
\setcounter{secnumdepth}{3}
% 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}{Subsection}{Subsections}%
\crefname{subsubsection}{Subsection}{Subsections}%
\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}%
\crefname{Hierarchy}{Hierarchy}{Hierarchies}%
\crefname{HierarchyLevel}{}{}%
\crefname{Assumption}{Assumption}{Assumptions}%
\crefname{equation}{}{}%
\crefname{subequation}{}{}%
\crefname{parentequation}{}{}%
\crefformat{equation}{(#2#1#3)}
\crefformat{subequation}{(#2#1#3)}
\crefformat{parentequation}{(#2#1#3)}
%----------------------------------------------------------------------
\graphicspath{{.}{Figures/}{Styles/}}
%\setlist[itemize]{noitemsep, topsep=5pt}
%\setlist[enumerate]{noitemsep, topsep=5pt}
%\setlist[description]{noitemsep, topsep=5pt}
\setlist[itemize]{itemsep=0pt, topsep=5pt}
\setlist[enumerate]{itemsep=0pt, topsep=5pt}
\setlist[description]{itemsep=0pt, topsep=5pt, labelwidth=1cm, labelindent=8pt, leftmargin=\labelindent+\labelwidth+\labelsep}
% remove extra white space around long tables
\setlength{\LTpre}{4pt}
\setlength{\LTpost}{0pt}
\newcommand{\thesisHierarchyStyle}[1]{\changeHierarchyStyle{width=13cm,breakable,before=,after=\par}{#1}}
\thesisHierarchyStyle{}
%--
\DeclareAcronym{CPU}{ short = CPU, long = Central Processing Unit}
\DeclareAcronym{CAS}{ short = CAS, long = Computer Algebra System}
\DeclareAcronym{CoM}{ short = CoM, long = Center of Mass}
\DeclareAcronym{CoP}{ short = CoP, long = Center of Pressure}
\DeclareAcronym{FSM}{ short = FSM, long = Finite State Machine}
\DeclareAcronym{KKT}{ short = KKT, long = Karush-Kuhn-Tucker}
\DeclareAcronym{LIPM}{ short = LIPM, long = Linear Inverted Pendulum Model}
\DeclareAcronym{MPC}{ short = MPC, long = Model Predictive Control}
\DeclareAcronym{MMPC}{ short = MMPC, long = Mixed Model Predictive Control}
\DeclareAcronym{QP}{ short = QP, long = Quadratic Program}
\DeclareAcronym{WMG}{ short = WMG, long = Walking Motion Generation}
\DeclareAcronym{ZMP}{ short = ZMP, long = Zero Moment Point}
\DeclareAcronym{PD}{ short = PD, long = Proportional-Derivative}
\DeclareAcronym{PLLS}{ short = PLLS, long = Prioritized Linear Least-Squares}
\DeclareAcronym{SCARA}{ short = SCARA, long = Selective Compliance Assembly Robot Arm}
%--
%---------------------------------------
\begin{document}
\sloppy
%---------------------------------------
\include{front}
%---------------------------------------
\mainmatter
%---------------------------------------
\include{ch1-intro}
\include{ch2-balance}
\include{ch3-models}
\include{ch4-mpc}
\include{ch5-optimization}
\include{ch6-simulations}
\include{ch7-conclusion}
%---------------------------------------
% Appendix
%---------------------------------------
\appendix
\include{app1-dynamics}
\include{app2-collision}
\include{app3-jointconstraints}
\include{app4-surfacecontacts}
\include{app5-condensing}
\include{app6-swingfoot}
\include{app7-regularization}
%---------------------------------------
%\backmatter
%---------------------------------------
\include{backmatter}
%---------------------------------------
\end{document}