if_practical.ps

这是移动机器人同时定位与地图创建的第三部分

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    2 { dstM concatmatrix } repeat pop
    getrepl /temp X
        S str convert get {
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            /aX cX def /aY cY def
            loc {
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            aX aY transform
            /temp temp 7 add def
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    temp setrepl
} B
/Rif {
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} B
/XA { bind [ /Kproc /str } B /XC { ] 2 array astore def } B
/xs   { pop } XA XC
/xks  { /kern load OE } XA /kern XC
/xas  { pop ax ay rmoveto } XA /ay /ax XC
/xws  { c eq { cx cy rmoveto } if } XA /c /cy /cx XC
/xaws { ax ay rmoveto c eq { cx cy rmoveto } if }
    XA /ay /ax /c /cy /cx XC
/raws { xaws { awidthshow } Rif } B
/rws  { xws { widthshow } Rif } B
/rks  { xks { kshow } Rif } B
/ras  { xas { ashow } Rif } B
/rs   { xs { show } Rif } B
/rrs { getrepl dup 2 add -1 roll //restore exec setrepl } B
PSfragDict begin
islev2 not { /restore { /rrs PSfrag } B } if
/show       { /rs   PSfrag } B
/kshow      { /rks  PSfrag } B
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/awidthshow { /raws PSfrag } B
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% File 8r.enc  TeX Base 1 Encoding  Revision 2.0  2002-10-30
%
% @@psencodingfile@{
%   author    = "S. Rahtz, P. MacKay, Alan Jeffrey, B. Horn, K. Berry,
%                W. Schmidt, P. Lehman",
%   version   = "2.0",
%   date      = "30 October 2002",
%   filename  = "8r.enc",
%   email     = "tex-fonts@@tug.org",
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% 
% (1) the Windows ANSI characters are almost all in their Windows ANSI
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% 
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% 
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% 
% (4) hyphen appears twice for compatibility with both ASCII and Windows.
%
% (5) /Euro was assigned to 128, as in Windows ANSI
%
% (6) Missing characters from MacRoman encoding incorporated as follows:
%
%     PostScript      MacRoman        TeXBase1
%     --------------  --------------  --------------
%     /notequal       173             0x16
%     /infinity       176             0x17
%     /lessequal      178             0x18
%     /greaterequal   179             0x19
%     /partialdiff    182             0x1A
%     /summation      183             0x1B
%     /product        184             0x1C
%     /pi             185             0x1D
%     /integral       186             0x81
%     /Omega          189             0x8D
%     /radical        195             0x8E
%     /approxequal    197             0x8F
%     /Delta          198             0x9D
%     /lozenge        215             0x9E
%
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% 0x20
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% 0x30
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% 0x70
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% 0x80
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% 0x90
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% 0xD0
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% 0xC0
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% 0xD0
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