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"""
Example recovering the C_x and C_y equations from OpenCV's rotation matrix

http://docs.opencv.org/2.4/modules/imgproc/doc/geometric_transformations.html?highlight=getrotationmatrix2d#getrotationmatrix2d
"""

from sympy.solvers import solve
from sympy import Symbol, Eq, simplify

Alpha = Symbol('α')

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CXX=g++
CPPFLAGS=
CXXFLAGS=-O3 -Wall -Wextra -Werror -flto -std=c++14 -g -DNDEBUG
LDFLAGS=-flto -g

%.o: %.cpp
	$(CXX) $(CXXFLAGS) $(CPPFLAGS) -c -o $@ $<

SOURCES = \
	src/main.cpp \

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import numpy as np


R = np.array([[0, 1],
              [1, 0]])
p = np.array([3, 5])

print(R @ p)
# > [5 3]

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  #pragma omp declare reduction( \
                  +: \
                  Matrix6d: \
                  omp_out= omp_out + omp_in) \
                  initializer(omp_priv=Matrix6d::Zero())
  #pragma omp declare reduction( \
                  +: \
                  Vector6d: \
                  omp_out = omp_out + omp_in) \
                  initializer(omp_priv=Vector6d::Zero())

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#include <cassert>
#include <iostream>
#include <map>
#include <unordered_map>


template <typename Map>
void
Remove(Map map)
{

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const VerticesData = [
  new Vertex(-12.9061002731, -0.974995017052, -1.30131995678),
  new Vertex(-12.9061002731, -0.974995017052, 1.27499997616),
  new Vertex(4.70302009583, -2.4135799408, -1.30131995678),
  new Vertex(4.70302009583, -2.4135799408, 2.47499990463),
  new Vertex(-14.3407001495, -2.97080993652, -1.30131995678),
  new Vertex(-14.3407001495, -2.97080993652, 2.47499990463),
  new Vertex(-13.8633003235, 7.62889003754, -1.30131995678),
  new Vertex(-13.8633003235, 7.62889003754, 1.57500004768),
  new Vertex(-7.00685977936, 13.7915000916, -1.30131995678),

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#include <iostream>

template <typename Scalar>
void
print_bits(Scalar s)
{
	static_assert(sizeof(Scalar) == 4, "NO no no ");
	uint32_t* k = (uint32_t*)&s;

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#include <iostream>
#include <map>
#include <string>

using std::string;


namespace {
enum class SomeThing {
	BLUE,

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#ifndef DOUGLASS_PEUKER_H_
#define DOUGLASS_PEUKER_H_

#include <stack>
#include <tuple>
#include <vector>


/// @{
/// @tparam InputIterator  Any STL style container

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#include <cassert>
#include <functional>
#include <iostream>
#include <vector>

std::vector<int> V;

template <typename Container1, typename Container2>
std::ostream&
operator<<(std::ostream& ostr, const std::pair<Container1&, Container2&> data)